超高压输电线悬垂绝缘子串激光除冰机器人构型设计研究

Research on Configuration Design of Laser Deicing Robot for UHV Transmission Lines Overhang Insulator Strings

绝缘子是超高压输电线路上的重要装备,由于长期服役于高空、高压恶劣作业环境,以及冬季极端低温环境下会造成的绝缘子串覆冰不仅增大了绝缘子串的重量,而且还会影响绝缘子的电气绝缘性能,特别是绝缘子串上片与片之间所形成的冰凌会直接导致绝缘子片间短路,因此,去除超高压输电线路绝缘子串间的冰凌是保证输电线路正常运行的一项常规作业任务。提出了一种基于激光技术的绝缘子新型除冰机构及除冰方法,设计了激光除冰机器人的基本机械构型,通过无人机的复合,搭载激光装备实现绝缘子串冰凌去除作业,提出了相应的激光除冰作业运动规划,相比传统机械除冰、热融冰等方法,激光除冰作业是一种非接触式的除冰方法,其作业效率高,更适用于远距离除冰,对于超高压多分裂输电线路所处的野外复杂作业环境具有更强的实用性。最后,通过激光装备的2自由度偏转角的测试实验和不同作业方式效率及性能对比测试实验,验证了所设计的激光除冰机构能够无盲区地实现绝缘子串除冰作业,同时输电线路激光除冰的可行性最高,激光除冰机器人虚拟样机系统的研究对于绝缘子激光除冰机器人物理样机开发及其实用化研究具有重要理论意义与实际应用价值。

Insulators are important equipment on ultra-high voltage transmission lines.Due to the long-term service in high-altitude and high-voltage operation environments,especially the extreme low temperature environment in winter,the icing of the insulator strings not only increases the weight of itself,but also influences the electrical insulation performance.Besides,the ice formed between the pieces on the insulator strings will directly cause the short circuit of the insulat or Therefore,removing the ice on the ultra-high voltage transmission line is a routine homework task to ensure the normal operation of the transmission line.Based on the above,the paper proposes a new type of deicing mechanism and method for insulators based on laser technology.The basic mechanical configuration of the laser deicing robot has been designed.The combination of drones and laser equipment has been used to achieve the insulator string deicing.The corresponding laser deicing operation plan has been proposed.Compared with traditional deicing methods such as mechanical deicing and thermal melting,laser deicing is a non-contact deicing method with high operation efficiency.It is more practical for long-distance deicing and has strong practicability for the complex operation environment of ultra-high voltage multi-split transmission lines in fields.Finally,through the test experiment of the 2 DOF deflection angle of the laser equipment and comparison test experiment of efficiency and performance of different operation modes,it has been verified that the designed laser deicing mechanism can realize the deicing operation of the insulator string without blind areas,and the laser deicing robot configuration designed in this paper is feasible and effective.The research on the virtual prototype system of the laser deicing robot in this paper has important theoretical significance and practical application value for the development and practical research of the insulator laser deicing robot physical prototype.