隔离开关机器人螺栓拆接系统设计与实现
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摘要
为了提高带电作业的智能性、安全性和时效性,减轻操作人员的劳动强度,降低高压强磁场对人体的危害,同时保证供电连续性及可靠性,本文提出将机器人技术引入到变电站隔离开关连接板带电检修作业中,研制特定的螺栓拆接装置,可以有效提升电力行业带电作业自动化水平,降低带电作业风险。
In order to improve the intelligence,safety and timeliness of live working,reduce the labor intensity of operators,reduce the harm of high-voltage and strong magnetic fields to the human body,and ensure the continuity and reliability of power supply,this paper proposes a method which introduces the robot technology into the live maintenance operation of junction plate of disconnectors in substations and develops a specific bolting &unbolting system.The system can effectively improve the automation level of living working and reduce the risk of live working in the power industry.
In order to improve the intelligence,safety and timeliness of live working,reduce the labor intensity of operators,reduce the harm of high-voltage and strong magnetic fields to the human body,and ensure the continuity and reliability of power supply,this paper proposes a method which introduces the robot technology into the live maintenance operation of junction plate of disconnectors in substations and develops a specific bolting &unbolting system.The system can effectively improve the automation level of living working and reduce the risk of live working in the power industry.
引文
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[2]Santamaria A,Aracil R,Tuduri A,et al.Teleoperated robots for live power lines maintenance(ROBTET)[C].Electricity Distribution,1997:3.
[3]Yano.K,Maruyama.Y,Morita.K,et al.Development of the semi-automatic hot-line work robot system"Phase II"[C].International Conference on Transmission and Distribution Construction and Live Line Maintenance,1995:212-218.
[4]朱兴龙,周骥平,王洪光,等.输电线巡检机器人越障机理与试验[J].机械工程学报,2009,45(2):119-125.
[5]鲁守银,傅孟潮,厉秉强,等.DWR-I遥操作高压带电作业机器人[J].上海交通大学学报,2005,39(6):910-913.
[6]吴轲,张建伟,华栋,等.高压带电作业机器人的现状和发展[J].电子技术与软件工程,2018(09):97-98.
[7]Fei Z,Liu G,Fang L,et al.Estimation of Battery State of Charge With H Observer:Applied to a Robot for Inspecting Power Transmission Lines[J].IEEE Transactions on Industrial Electronics,2011,59(2):1086-1095.
[8]Takaoka K,Yokoyama K,Wakisako H,et al.Development of the fully-automatic live-line maintenance robot-Phase III[C].IEEE International Symposium on Assembly and Task Planning,2002:423-428.
[9]Lu S Y,Huang X P,Tan J D,et al.Design of hot-line cleaning robot used in substation[C].IEEE International Conference on Robotics and Biomimetics,2014:2638-2642.
[10]李健,鲁守银,董旭.变电站带电作业水冲洗机器人的研制[J].制造业自动化,2015,37(10):67-71.
[11]赵玉良,戚晖,李健,等.高压带电作业机器人系统的研制[J].制造业自动化,2012,30(5):109-110.
[12]顾毅,翁新华,等.关节式超高压带电清扫机器人HVCR-Ⅱ[J].上海交通大学学报,2006,40(12):2173-2176,2181.
[13]部门中国电力企业联合会.110kV-750kV架空输电线路设计规范[M].北京:中国计划出版社,2010.
[14]徐涛.架空输电线路设计[J].城市建设理论研究:电子版,2013(24).
[15]浙西电力技工学校.输电线路设计基础[M].北京:水利电力出版社,1985.
[16]李瑞祥.高压输电线路设计基础[M].北京:水利电力出版社,1994.