高压变电站设备带电水冲洗机器人系统研究

发布时间：2019-03-21 12:20

【摘要】：水冲洗是高压变电站设备防污闪的主要措施之一,对高压变电站设备进行带电水冲洗是既简便有效、清洗彻底且冲洗效率高、经济效益高的方法。针对目前人工水冲洗方式存在的问题和安全隐患,设计了一种人机交互和局部智能控制的变电站带电水冲洗机器人系统,该机器人系统主要包括履带式水冲洗机器人,高压纯水制备装置和便于操作的手持终端。为保证系统安全性、稳定性、灵活性等和满足变电站复杂环境、带电水冲洗任务等需求,提出了水冲洗机器人分层式控制系统,给出了其有效的水冲洗方式和多种安全措施相结合的防护技术,解决了国内水冲洗机器人带电作业的安全性、操作灵活性等问题。高压变电站现场试验验证了变电站带电水冲洗机器人的可靠性、安全性、可行性,符合变电站带电作业标准要求。
[Abstract]:Water flushing is one of the main measures to prevent pollution flashover in high-voltage substation equipment. It is a simple and effective method to rinse high-voltage substation equipment with high washing efficiency and high economic benefit. Aiming at the existing problems and hidden dangers of artificial water flushing, a human-computer interaction and local intelligent control system for electric water flushing robot system in substation is designed. The robot system mainly includes crawler water washing robot, which is composed of two parts: human-computer interaction and local intelligent control. High-pressure pure water preparation device and easy-to-operate handheld terminal. In order to ensure the safety, stability and flexibility of the system, and to meet the needs of complex environment of substation, live water washing task and so on, a hierarchical control system of water flushing robot is proposed. The effective water flushing method and protection technology combined with various safety measures are given. The problems of safety and flexibility of live work of domestic water washing robot are solved. The field test of high voltage substation verifies the reliability, safety and feasibility of the live water washing robot in substation, which meets the requirements of substation live working standard.
【作者单位】：山东建筑大学机器人技术与智能系统研究院;国家电网公司电力机器人重点实验室;国网山东省电力公司电力科学研究院;
【基金】：国家高技术研究发展计划(863计划)(2012AA041506) 山东省科学技术发展计划资助项目(2014GGX103002)~~
【分类号】：TM63;TM507

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