【作者】 方斌；

【导师】 莫锦秋；

【作者基本信息】 上海交通大学 ， 机械设计及理论， 2007， 硕士

【摘要】 变电站支柱瓷绝缘子在户外环境下长期工作,受大风、雨雪、覆冰、日晒、母线振动等外界因素影响,由于本身陶瓷材料的特点在局部位置会出现裂纹并导致断裂,造成停电,给经济和生产带来巨大损失。本论文结合220kV支柱瓷绝缘子带电检测机器人的特点——绝缘,在高电压环境下的超声探伤工艺、机器人的设计、高电压环境下机器人的绝缘安全分析及绝缘控制系统等方面进行了研究。由于工作于高电压环境下,机器人进行了绝缘设计,采用伸缩式绝缘升降机构,剪叉式升降电瓶车作为移动载体,并以现有的超声探伤技术,结合检测目标支柱瓷绝缘子的特点,设计了一套新型的高电压环境下超声探伤机械结构。机器人解决了机械系统绝缘问题,控制系统绝缘问题,通讯系统绝缘问题等。当绝缘介质中掺杂有导体时,需要分析绝缘安全距离是否满足国家标准,本论文根据流柱放电机理,采用计算组合绝缘间隙的方法分析了新型机器人HLDR-I的设计。经过试验验证了机器人可以满足高电压下对绝缘操作工具的要求。机器人控制系统采用主控制系统和子控制系统两级控制系统的方案通过无线通讯,遥操作绝缘控制机器人的动作,完成带电检测支柱瓷绝缘子的任务,并由下位机探伤仪将检测数据无线传输给上位机处理,最后通过计算以报表的形式反映出被测绝缘子的缺陷情况。样机试用表明,研制的新型220kV支柱瓷绝缘子带电检测机器人HLDR-I功能样机很好地完成了变电站环境下带电检测支柱瓷绝缘子的任务,已经顺利通过项目鉴定,并投入实际应用。更多还原

【Abstract】 According to the insulation characteristic of the detecting robot, the research on ultrasonic inspection technics for insulators, the design of the robot, the insulating safety analysis of the robot and the insulating control of the robot are introduced.Insulation is one of the key issues when the detecting robot is working under circumstance of 220kV high voltage. The telescopic insulating mechanism was adopted as one of the elevating parts. A light mobile vehicle with scissors elevating booms was used as the moving carrier. According to the characteristic of post porcelain insulators, a new ultrasonic detecting mechanism was designed to work on 220kV high voltage. The robot solved insulating problems on the mechanical system, control system and communication system.When conductors existed in dielectric insulating gap should be conformed to national standards of China. According to streamer discharge theory, the design of the robot by calculating the complex insulating gap was analyzed. Test results had shown that the design of the robot could satisfy the insulation requirements for insulating devices at high-voltage.The control system was composed of insulating platform control subsystem and remote-operating control subsystem. To be insulating, the remote-operating control subsystem instructed the insulating platform control subsystem by wireless communication system to control the robot work. The detecting data which was got by Ultrasonic Inspection Instrument was wireless uploaded to main computer. Special software was programmed to calculate flaw depth and length using these data.更多还原