10kV配电网带电作业机器人及其作业臂绝缘分析

Insulation analysis of live working robot and its working arm in 10kV distribution network

随着我国电力系统的不断发展,用户对于用电的要求越来越高,配电网作为电力系统末端,必须保证其稳定可靠的运行。为实现不停电检修10kV配电网线路,满足各种复杂情况下的带电作业需求,本文设计一种可快速更换作业臂的带电作业机器人,介绍其整体结构设计,并详细描述带电作业机器人整体的绝缘设备,包括绝缘斗、无线传输台及作业臂。为验证机器人作业臂的绝缘性能,通过ATP-EMTP仿真软件,建立10kV配电网线路模型,仿真计算带电作业机器人在线路正常运行情况下,添加绝缘段与未添加绝缘段时作业臂上的电压与泄漏电流大小。结果表明,在未添加绝缘段时,作业臂上的电压及泄漏电流会对作业人员安全造成威胁;添加1cm尼龙材料绝缘段后,作业臂上电压为0.4μV,泄漏电流为0.4μA,远小于带电作业的安全规定限值。

With the continuous development of China’s power system,the user’s demand for electricity is higher and higher.As the terminal of power system,the distribution network must ensure its stable and reliable operation.In order to realize the maintenance of 10kV distribution network lines without power cut and meet the requirements of live working under various complicated conditions,this paper proposes a live working robot which can quickly replace the working arm,introduces its overall structure design,and describes the overall insulation equipment of the live working robot in detail,including insulating bucket,wireless transmission platform and working arm.In order to verify the insulation performance of the robot arm,a 10kV distribution network line model is established by using ATP-EMTP simulation software.The voltage and leakage current of the live working robot with and without insulation section are simulated and calculated under the normal operation of the line.The results show that the voltage and leakage current on the working arm will cause danger to the safety of operators when the insulation section is not added;the voltage on the working arm is 0.4μV and the leakage current is 0.4μA after adding 1cm nylon material,which is far less than the safety limit of live working.