Abstract
In the current construction process of high-voltage transmission lines, the installation of spacer rods mainly adopts manual stepping on the line and high-altitude operation flying vehicles. However, the existing methods still have safety hazards and are not efficient. In the process of installing the spacer rod, it is necessary to measure and locate the installation position of the spacer rod. At present, measuring tape or ground theodolite is mainly used for measurement, which requires the cooperation of multiple people, which is inconvenient to operate. This paper proposes and designs a spacer rod installation robot, gives the basic structure and control system design of the robot, and completes the mechanical processing and assembly of the robot prototype. On this basis, the key components are debugged and tested. Finally, the prototype was tested in an experimental environment and related technical indicators were tested to verify the feasibility and effectiveness of the design scheme.
Highlights
EHV transmission technology[1] is a cutting-edge technology that has yet to mature in the world, but its core technology, reliability and environmental impact are still to be further studied, and the construction techniques used for the installation of spacer and other accessories are one of the significant topics of EHV research.At present, the spacer installation[2][3] methods are mainly: 1) construction personnel directly stepping out of line for spacer bar installation; 2) using an aerial work flyer[4] for spacer installation; 3) aircraft-assisted installation[5]
A key technology in the installation of spacer is to carry out the measurement of spacer span distance[6], and the current methods are mainly: 1) using tape measure or metric rope measurement; 2) using ground latitude and longitude meter measurement[7]
A modular design scheme[11] is adopted in the spacer installation robot proposed in this paper, as shown in Fig.1 and Fig.2, including: 1-mounted walking
Summary
EHV transmission technology[1] is a cutting-edge technology that has yet to mature in the world, but its core technology, reliability and environmental impact are still to be further studied, and the construction techniques used for the installation of spacer and other accessories are one of the significant topics of EHV research. A key technology in the installation of spacer is to carry out the measurement of spacer span distance[6], and the current methods are mainly: 1) using tape measure or metric rope measurement; 2) using ground latitude and longitude meter measurement[7]. Both of the above methods require the cooperation of more than one person to complete, which is inconvenient to operate and has a bad impact on the improvement of construction efficiency. A spacer installation robot based on RTK positioning technology[9][10] is designed, the basic structure and control system design of the robot are given, and the machining and assembly of the robot prototype are completed, based on which the key components are debugged and tested
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