【摘要】：為了保證輸電線路安全、穩(wěn)定地運行,需要對輸電線路進行定期的巡檢。目前線路巡檢的方式主要有人工目測和航測法,但是這兩種方式在巡檢效率和時間持續(xù)性方面都有一定局限性。對于線路的巡檢工作,主要存在以下幾個難點:首先,輸電線路跨越范圍廣,途中經(jīng)歷各種復雜地形;同時巡檢需檢查的項目繁多,工作繁瑣;并且在巡檢的過程中還要應對各種外界氣候環(huán)境的干擾。通過研制能跨越線路上各種金具障礙巡線機器人,利用攜帶的傳感儀器對線路運行狀況進行檢測,可以有效的提高巡檢作業(yè)效率和巡檢精度。由于輸電線跨越各種復雜地形這使得每級線路之間跨度較大,存在機器人需要攀爬陡坡的情況。線路上的各種金具,將要求機器人具有較強的越障能力。目前國內(nèi)外研究機構設計制造的巡線機器人種類繁多,但是整體來看主要有重量過重,越障功能不完善,缺少對外界干擾的分析等問題。本文提出“一種單臂驅(qū)動雙臂越障”的設計方案。這種全新的設計能夠跨越地線上所有障礙,在遇上陡坡時能交替攀爬而行。對常見微風振動干擾進行動力學理論分析和模擬仿真。本文主要圍繞以下的問題進行闡述:1.巡線機器人方案的設計。查閱相關文獻資料,得到線路的結構特征和重要的數(shù)據(jù)尺寸。對作業(yè)中周圍氣象環(huán)境特征進行分析,明確巡線機器人的設計要求。針對國內(nèi)外現(xiàn)有的設計方案無法跨越全部障礙的問題,提出一種“單臂驅(qū)動雙臂越越障”的設計方案。2.巡線機器人本體機械結構的設計與運動學仿真。根據(jù)提出的方案對巡線機器人進行各模塊機構的具體設計。建立巡線機器人上下線過程,越障關鍵動作的運動學模型。通過軟件分析計算機器人的運動范圍和模擬機器人的越障過程,確保方案跨越各種障礙的可行性。3.多外力耦合條件下的動力學建模與仿真。根據(jù)巡線機器人在實際的巡檢過程中受到外力干擾的情況,分析機器人在運行過程中受到地線振動與風力干擾。首先建立地線動力學數(shù)學模型;然后利用Lagrange動力學建模方法建立機器人動力學模型。在機器人動力學仿真的過程中將兩種數(shù)學模型進行耦合,仿真越障時關節(jié)動力學特點。得出的結果與理想狀況進行比較,為巡線機器人的動力控制和機構優(yōu)化設計提供參考。4.完成機器人的研制并進行相關檢驗性實驗。在完成試驗樣機的制作之后,在實驗室環(huán)境下搭建模擬線路,對新方案進行可行性驗證。最后在真實的線路環(huán)境下完成越障實驗。實驗證明,本方案滿足課題提要求,達到既定目標,為巡線機器人的進一步研究打下基礎。最后對文章得出的結論進行總結,對不足的地方提出改進思路。
[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.
【學位授予單位】：南昌大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

【參考文獻】

相關期刊論文 前10條

1 胡雨o，

本文編號：2279116