全越障功能的架空输电线巡线机器人的研制
发布时间：2018-10-18 12:25
【摘要】：为了保证输电线路安全、稳定地运行,需要对输电线路进行定期的巡检。目前线路巡检的方式主要有人工目测和航测法,但是这两种方式在巡检效率和时间持续性方面都有一定局限性。对于线路的巡检工作,主要存在以下几个难点:首先,输电线路跨越范围广,途中经历各种复杂地形;同时巡检需检查的项目繁多,工作繁琐;并且在巡检的过程中还要应对各种外界气候环境的干扰。通过研制能跨越线路上各种金具障碍巡线机器人,利用携带的传感仪器对线路运行状况进行检测,可以有效的提高巡检作业效率和巡检精度。由于输电线跨越各种复杂地形这使得每级线路之间跨度较大,存在机器人需要攀爬陡坡的情况。线路上的各种金具,将要求机器人具有较强的越障能力。目前国内外研究机构设计制造的巡线机器人种类繁多,但是整体来看主要有重量过重,越障功能不完善,缺少对外界干扰的分析等问题。本文提出“一种单臂驱动双臂越障”的设计方案。这种全新的设计能够跨越地线上所有障碍,在遇上陡坡时能交替攀爬而行。对常见微风振动干扰进行动力学理论分析和模拟仿真。本文主要围绕以下的问题进行阐述:1.巡线机器人方案的设计。查阅相关文献资料,得到线路的结构特征和重要的数据尺寸。对作业中周围气象环境特征进行分析,明确巡线机器人的设计要求。针对国内外现有的设计方案无法跨越全部障碍的问题,提出一种“单臂驱动双臂越越障”的设计方案。2.巡线机器人本体机械结构的设计与运动学仿真。根据提出的方案对巡线机器人进行各模块机构的具体设计。建立巡线机器人上下线过程,越障关键动作的运动学模型。通过软件分析计算机器人的运动范围和模拟机器人的越障过程,确保方案跨越各种障碍的可行性。3.多外力耦合条件下的动力学建模与仿真。根据巡线机器人在实际的巡检过程中受到外力干扰的情况,分析机器人在运行过程中受到地线振动与风力干扰。首先建立地线动力学数学模型;然后利用Lagrange动力学建模方法建立机器人动力学模型。在机器人动力学仿真的过程中将两种数学模型进行耦合,仿真越障时关节动力学特点。得出的结果与理想状况进行比较,为巡线机器人的动力控制和机构优化设计提供参考。4.完成机器人的研制并进行相关检验性实验。在完成试验样机的制作之后,在实验室环境下搭建模拟线路,对新方案进行可行性验证。最后在真实的线路环境下完成越障实验。实验证明,本方案满足课题提要求,达到既定目标,为巡线机器人的进一步研究打下基础。最后对文章得出的结论进行总结,对不足的地方提出改进思路。
[Abstract]:In order to ensure the safe and stable operation of transmission lines, it is necessary to carry out regular inspection of transmission lines. At present, the main methods of route inspection are manual visual survey and aeronautical survey, but these two methods have some limitations in the aspects of patrol efficiency and duration of time. There are several difficulties in the inspection of transmission lines: first of all, the transmission lines span a wide range and experience a variety of complex terrain on the way, at the same time, there are many items to be inspected, and the work is tedious. And in the process of inspection, but also to deal with all kinds of external climate environment interference. By developing a robot that can cross all kinds of hardware obstacles on the line and use the sensor instrument to detect the running condition of the line, the efficiency and accuracy of the inspection can be improved effectively. Because the transmission lines span a variety of complex terrain, which makes the span between each stage of the line is large, there is a situation where robots need to climb steep slopes. All kinds of hardware on the line will require the robot to have strong ability of surmounting obstacles. At present, there are many kinds of inspection robots designed and manufactured by domestic and foreign research institutions, but on the whole there are many problems such as overweight, imperfect function of obstacle surmounting, lack of analysis of external interference and so on. In this paper, a design scheme of "one arm driving double arm crossing obstacle" is presented. This new design can cross all obstacles on the earth line and climb alternately on steep slopes. The dynamic theory analysis and simulation of the common wind vibration disturbance are carried out. This paper focuses on the following issues: 1. Design of inspection robot scheme. The structural characteristics and important data size of the circuit are obtained by consulting the relevant literature. The characteristics of the surrounding meteorological environment are analyzed, and the design requirements of the inspection robot are clarified. Aiming at the problem that the existing design schemes at home and abroad can not cross all obstacles, a design scheme of "one-arm drive arms overstepping obstacle" is proposed. Design and Kinematics Simulation of the Mechanical structure of the Loop Robot. According to the proposed scheme, the detailed design of each module mechanism of the inspection robot is carried out. The kinematics model of the critical action of the line patrol robot is established. By analyzing and calculating the motion range of the robot and simulating the obstacle surmounting process of the robot, the feasibility of the scheme surmounting all kinds of obstacles is ensured. 3. Dynamic modeling and simulation under the condition of multiple external forces coupling. According to the fact that the robot is disturbed by external forces during the actual inspection and inspection, the ground line vibration and wind disturbance are analyzed during the operation of the robot. Firstly, the dynamic mathematical model of earth wire is established, and then the dynamic model of robot is established by using Lagrange dynamic modeling method. In the process of robot dynamics simulation, the two mathematical models are coupled to simulate the characteristics of joint dynamics when the obstacle is crossed. The results obtained are compared with the ideal conditions, which provides a reference for the dynamic control and mechanism optimization design of the robot. Complete the development of the robot and carry out related testing experiments. After the prototype is made, the simulation circuit is built in the laboratory environment to verify the feasibility of the new scheme. Finally, the obstacle-surmounting experiment is completed in the real line environment. Experimental results show that the proposed scheme meets the requirements of the subject and achieves the established goal, which lays a foundation for further research of the rotors. Finally, the conclusion of the article is summarized, and the improvement ideas are put forward.
【学位授予单位】：南昌大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
[Abstract]:In order to ensure the safe and stable operation of transmission lines, it is necessary to carry out regular inspection of transmission lines. At present, the main methods of route inspection are manual visual survey and aeronautical survey, but these two methods have some limitations in the aspects of patrol efficiency and duration of time. There are several difficulties in the inspection of transmission lines: first of all, the transmission lines span a wide range and experience a variety of complex terrain on the way, at the same time, there are many items to be inspected, and the work is tedious. And in the process of inspection, but also to deal with all kinds of external climate environment interference. By developing a robot that can cross all kinds of hardware obstacles on the line and use the sensor instrument to detect the running condition of the line, the efficiency and accuracy of the inspection can be improved effectively. Because the transmission lines span a variety of complex terrain, which makes the span between each stage of the line is large, there is a situation where robots need to climb steep slopes. All kinds of hardware on the line will require the robot to have strong ability of surmounting obstacles. At present, there are many kinds of inspection robots designed and manufactured by domestic and foreign research institutions, but on the whole there are many problems such as overweight, imperfect function of obstacle surmounting, lack of analysis of external interference and so on. In this paper, a design scheme of "one arm driving double arm crossing obstacle" is presented. This new design can cross all obstacles on the earth line and climb alternately on steep slopes. The dynamic theory analysis and simulation of the common wind vibration disturbance are carried out. This paper focuses on the following issues: 1. Design of inspection robot scheme. The structural characteristics and important data size of the circuit are obtained by consulting the relevant literature. The characteristics of the surrounding meteorological environment are analyzed, and the design requirements of the inspection robot are clarified. Aiming at the problem that the existing design schemes at home and abroad can not cross all obstacles, a design scheme of "one-arm drive arms overstepping obstacle" is proposed. Design and Kinematics Simulation of the Mechanical structure of the Loop Robot. According to the proposed scheme, the detailed design of each module mechanism of the inspection robot is carried out. The kinematics model of the critical action of the line patrol robot is established. By analyzing and calculating the motion range of the robot and simulating the obstacle surmounting process of the robot, the feasibility of the scheme surmounting all kinds of obstacles is ensured. 3. Dynamic modeling and simulation under the condition of multiple external forces coupling. According to the fact that the robot is disturbed by external forces during the actual inspection and inspection, the ground line vibration and wind disturbance are analyzed during the operation of the robot. Firstly, the dynamic mathematical model of earth wire is established, and then the dynamic model of robot is established by using Lagrange dynamic modeling method. In the process of robot dynamics simulation, the two mathematical models are coupled to simulate the characteristics of joint dynamics when the obstacle is crossed. The results obtained are compared with the ideal conditions, which provides a reference for the dynamic control and mechanism optimization design of the robot. Complete the development of the robot and carry out related testing experiments. After the prototype is made, the simulation circuit is built in the laboratory environment to verify the feasibility of the new scheme. Finally, the obstacle-surmounting experiment is completed in the real line environment. Experimental results show that the proposed scheme meets the requirements of the subject and achieves the established goal, which lays a foundation for further research of the rotors. Finally, the conclusion of the article is summarized, and the improvement ideas are put forward.
【学位授予单位】：南昌大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
【参考文献】
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1 胡雨o，
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