【摘要】：為了保證輸電線路安全、穩(wěn)定地運(yùn)行,需要對(duì)輸電線路進(jìn)行定期的巡檢。目前線路巡檢的方式主要有人工目測(cè)和航測(cè)法,但是這兩種方式在巡檢效率和時(shí)間持續(xù)性方面都有一定局限性。對(duì)于線路的巡檢工作,主要存在以下幾個(gè)難點(diǎn):首先,輸電線路跨越范圍廣,途中經(jīng)歷各種復(fù)雜地形;同時(shí)巡檢需檢查的項(xiàng)目繁多,工作繁瑣;并且在巡檢的過(guò)程中還要應(yīng)對(duì)各種外界氣候環(huán)境的干擾。通過(guò)研制能跨越線路上各種金具障礙巡線機(jī)器人,利用攜帶的傳感儀器對(duì)線路運(yùn)行狀況進(jìn)行檢測(cè),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(fù)雜地形這使得每級(jí)線路之間跨度較大,存在機(jī)器人需要攀爬陡坡的情況。線路上的各種金具,將要求機(jī)器人具有較強(qiáng)的越障能力。目前國(guó)內(nèi)外研究機(jī)構(gòu)設(shè)計(jì)制造的巡線機(jī)器人種類繁多,但是整體來(lái)看主要有重量過(guò)重,越障功能不完善,缺少對(duì)外界干擾的分析等問(wèn)題。本文提出“一種單臂驅(qū)動(dòng)雙臂越障”的設(shè)計(jì)方案。這種全新的設(shè)計(jì)能夠跨越地線上所有障礙,在遇上陡坡時(shí)能交替攀爬而行。對(duì)常見(jiàn)微風(fēng)振動(dòng)干擾進(jìn)行動(dòng)力學(xué)理論分析和模擬仿真。本文主要圍繞以下的問(wèn)題進(jìn)行闡述:1.巡線機(jī)器人方案的設(shè)計(jì)。查閱相關(guān)文獻(xiàn)資料,得到線路的結(jié)構(gòu)特征和重要的數(shù)據(jù)尺寸。對(duì)作業(yè)中周圍氣象環(huán)境特征進(jìn)行分析,明確巡線機(jī)器人的設(shè)計(jì)要求。針對(duì)國(guó)內(nèi)外現(xiàn)有的設(shè)計(jì)方案無(wú)法跨越全部障礙的問(wèn)題,提出一種“單臂驅(qū)動(dòng)雙臂越越障”的設(shè)計(jì)方案。2.巡線機(jī)器人本體機(jī)械結(jié)構(gòu)的設(shè)計(jì)與運(yùn)動(dòng)學(xué)仿真。根據(jù)提出的方案對(duì)巡線機(jī)器人進(jìn)行各模塊機(jī)構(gòu)的具體設(shè)計(jì)。建立巡線機(jī)器人上下線過(guò)程,越障關(guān)鍵動(dòng)作的運(yùn)動(dòng)學(xué)模型。通過(guò)軟件分析計(jì)算機(jī)器人的運(yùn)動(dòng)范圍和模擬機(jī)器人的越障過(guò)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(dòng)力學(xué)建模與仿真。根據(jù)巡線機(jī)器人在實(shí)際的巡檢過(guò)程中受到外力干擾的情況,分析機(jī)器人在運(yùn)行過(guò)程中受到地線振動(dòng)與風(fēng)力干擾。首先建立地線動(dòng)力學(xué)數(shù)學(xué)模型;然后利用Lagrange動(dòng)力學(xué)建模方法建立機(jī)器人動(dòng)力學(xué)模型。在機(jī)器人動(dòng)力學(xué)仿真的過(guò)程中將兩種數(shù)學(xué)模型進(jìn)行耦合,仿真越障時(shí)關(guān)節(jié)動(dòng)力學(xué)特點(diǎn)。得出的結(jié)果與理想狀況進(jìn)行比較,為巡線機(jī)器人的動(dòng)力控制和機(jī)構(gòu)優(yōu)化設(shè)計(jì)提供參考。4.完成機(jī)器人的研制并進(jìn)行相關(guān)檢驗(yàn)性實(shí)驗(yàn)。在完成試驗(yàn)樣機(jī)的制作之后,在實(shí)驗(yàn)室環(huán)境下搭建模擬線路,對(duì)新方案進(jìn)行可行性驗(yàn)證。最后在真實(shí)的線路環(huán)境下完成越障實(shí)驗(yàn)。實(shí)驗(yàn)證明,本方案滿足課題提要求,達(dá)到既定目標(biāo),為巡線機(jī)器人的進(jìn)一步研究打下基礎(chǔ)。最后對(duì)文章得出的結(jié)論進(jìn)行總結(jié),對(duì)不足的地方提出改進(jìn)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(xué)位授予單位】：南昌大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 胡雨o，

本文編號(hào)：2279116