CN110703007A - Method and device for testing inductive discharge immunity of distribution live working robot - Google Patents
Method and device for testing inductive discharge immunity of distribution live working robot Download PDFInfo
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention provides a method and a device for testing the inductive discharge immunity of a power distribution live working robot, wherein the method comprises the following steps: setting and storing a working path and action of a tested sample; making the induction discharge interference act on the tested sample; carrying out an induction discharge immunity test on a tested sample; in the testing process, the discharge intensity is gradually changed, and the actual working path and action of the tested sample in the process of changing the discharge intensity are recorded; and matching and comparing the actual working path and action of the tested sample with the stored working path and action to obtain the test result of the tested sample. The test method meets the requirement of the induction discharge immunity test of the distribution live working robot; the induction discharge electromagnetic interference and the induction discharge electromagnetic interference strength which are possibly encountered in the working environment of the distribution live working robot are covered; the testing precision is high, the reliability of the tested product is greatly improved, and the defective rate of the product is reduced.
Description
Technical Field
The invention relates to the technical field of electromagnetic compatibility of high-voltage power transmission and transformation engineering, in particular to a method and a device for testing the inductive discharge immunity of a power distribution live working robot.
Background
At present, the distribution network in China mainly adopts a manual live working mode to carry out system emergency repair and daily maintenance. In live working, operators are in an environment with high voltage and strong electric field, personal casualty accidents are easily caused, and the efficiency is difficult to guarantee. The voltage distribution network line with the voltage of more than 10kV in China reaches 440 kilometers, the hot-line work task is heavy, and the research and development of hot-line work robots to replace workers to carry out hot-line work on the distribution network is an inevitable direction of technical development. In order to meet the requirement of live working of a distribution line, a high-voltage live working robot meeting the requirement of a field working environment to the maximum extent is being developed at present, and various models exist, and an electromagnetic compatibility test is urgently needed.
When distributing electric robot live working, various ports are exposed in the complicated electromagnetism that high-voltage line produced, and the robot often moves by mistake, refuses to move because it is very close to high-voltage line to distribute electric robot, and is different with general industrial environment: the power frequency magnetic field that circuit through-flow brought, the power frequency electric field that second kind circuit high voltage produced. Ungrounded metal objects generate induced potentials in a power frequency electric field, and induced discharge can be caused when the electric field is strong. Especially, the induction discharge of the metal part of the distribution live working robot is stronger under a higher power frequency electric field, including corona discharge and arc discharge. The electromagnetic interference generated by the arc discharge is the strongest, for example, when the robot peels a wire, a tool repeatedly approaches and leaves the wire, and the arc discharge is inevitably generated. Electromagnetic disturbance sources formed by corona discharge and arc discharge enter an electric part of the robot through conduction or space coupling, so that the normal work of the robot is disturbed, and even the robot is damaged.
Disclosure of Invention
In view of this, the invention provides a method and a device for testing the inductive discharge immunity of a power distribution live working robot, and aims to test the inductive discharge immunity of the power distribution live working robot.
In one aspect, the invention provides a method for testing the inductive discharge immunity of a power distribution live working robot, which comprises the following steps: setting and storing a working path and action of a tested sample; making the induction discharge interference act on the tested sample; carrying out an induction discharge immunity test on a tested sample; in the testing process, the discharge intensity is gradually changed, and the actual working path and action of the tested sample in the process of changing the discharge intensity are recorded; and matching and comparing the actual working path and action of the tested sample with the stored working path and action to obtain the test result of the tested sample.
Further, in the method for testing the induced discharge immunity of the power distribution live working robot, the test items of the induced discharge immunity test include: corona discharge immunity and arc discharge immunity.
Further, in the method for testing the induction discharge immunity of the distribution live working robot, when a tested sample with 10kV of distribution is tested for corona discharge immunity, the test voltage is 10kV, the duration is at least 10min, and the test is repeated for 2-3 times; when a tested sample with 35kV of power distribution is subjected to a corona discharge immunity test, the test voltage is 35kV, the duration is at least 10min, and the test is repeated for 2-3 times.
Further, in the method for testing the induction discharge immunity of the distribution live working robot, when a tested sample with 10kV distribution is subjected to arc discharge immunity test, the test voltage is 35kV, the duration is at least 1min, and the test is repeated for 3-5 times; when a tested sample with 35kV of power distribution is subjected to a corona discharge immunity test, the test voltage is 50kV, the duration is at least 10min, and the steps are repeated for 2-3.
Further, in the method for testing the induction discharge immunity of the distribution live working robot, the test result includes: within the technical requirement limit value, the tested sample acts normally; the tested sample is short-term or temporarily mistakenly moved or refused to be moved, but can be recovered automatically; the detected sample is mistakenly moved or refused to be moved, and manual intervention or system resetting is needed; the function of the device of the tested sample is damaged or the control system of the tested sample is failed, and the device can not restore to the normal state by itself.
The test method provided by the invention meets the requirement of the induction discharge immunity test of the distribution live working robot; the induction discharge electromagnetic interference which is possibly encountered in the working environment of the distribution live working robot is covered, namely, the induction discharge electromagnetic interference comprises corona discharge and arc discharge; the electromagnetic interference intensity of induction discharge possibly encountered in the working environment of the distribution live working robot is covered, namely the intensity of corona discharge and arc discharge is included; the testing precision is high, the reliability of the tested product is greatly improved, and the defective rate of the product is reduced.
On the other hand, the invention also provides a testing device for the inductive discharge immunity of the distribution live working robot, which comprises the following components: an upper computer; the controller of the power supply unit is connected with the upper computer; the polar plate is connected with the output end of the power supply unit; the height-adjustable induction plate is opposite to the polar plate, and the tested sample can be connected with the height-adjustable induction plate.
Further, among the testing arrangement of above-mentioned distribution live working robot response discharge immunity ability, height-adjustable tablet includes: the metal plate is provided with a first metal tip end at the central position of a first surface of the metal plate, a plurality of insulating columns are arranged on the first surface in the circumferential direction, and the first surface faces the polar plate; a plurality of second metal tips are arranged on the second surface of the metal plate in the circumferential direction, the number of the second metal tips is equal to that of the insulating columns, the second metal tips and the insulating columns are arranged in a one-to-one correspondence mode, and the second surface is opposite to the first surface; the top of the telescopic rod is connected with the metal plate.
Further, among the testing arrangement of above-mentioned distribution live working robot response discharge immunity ability, height-adjustable tablet still includes: the driving mechanism is connected with the bottom of the telescopic rod to drive the telescopic rod to stretch.
Furthermore, in the testing device for the induction discharge immunity of the distribution live working robot, the bottom of the height-adjustable induction plate is arranged on the reference ground plane through the insulating support; and/or the tested sample is arranged on the reference ground plane through the insulating support.
Further, in the above testing apparatus for testing the induction discharge immunity of the distribution live working robot, the power supply unit includes: the input end of the voltage regulator can be connected with commercial power, and the voltage regulator is provided with a controller; and the input end of the power frequency voltage source is connected with the output end of the voltage regulator, and the output end of the power frequency voltage source is connected with the polar plate.
The discharge energy of the testing device provided by the invention is larger than that of the existing electrostatic discharge immunity equipment, the defect of the existing electrostatic discharge immunity test capability is overcome, and the induction discharge immunity test of the distribution live working robot is met; the induction discharge electromagnetic interference which is possibly encountered in the working environment of the power distribution operation robot is covered, namely, the induction discharge electromagnetic interference comprises corona discharge and arc discharge; the electromagnetic interference intensity of induction discharge possibly encountered in the working environment of the power distribution operation robot is covered, namely the intensity of corona discharge and arc discharge is included; the testing precision is high, the reliability of the tested product is greatly improved, and the defective rate of the product is reduced.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a flowchart of a method for testing inductive discharge immunity of a distribution live working robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a testing device for inductive discharge immunity of a distribution live working robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a height-adjustable sensing board in a testing apparatus for sensing discharge immunity of a distribution live working robot according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The method comprises the following steps:
referring to fig. 1, fig. 1 shows a flowchart of a method for testing an induced discharge immunity of a power distribution live working robot provided by the present embodiment. As shown in fig. 1, the method comprises the steps of:
step S110, a working path and an operation of the sample to be measured are set and stored.
Specifically, the tested sample is a distribution live working robot, and the working path and the action of the tested sample are set and stored.
Step S120, the induced discharge interference is applied to the sample to be measured.
Step S130, the tested sample is subjected to an induction discharge immunity test.
Specifically, the tested sample is subjected to an induction discharge immunity test, and the test items comprise corona discharge immunity and arc discharge immunity. When a tested sample is subjected to a corona discharge immunity test, the test voltage of the 10kV power distribution live working robot is 10kV, the duration time is at least 10min, and the test is repeated for 2-3 times; the test voltage of the 35kV distribution live working robot is 35kV, the duration time is at least 10min, and the test is repeated for 2-3 times. When the arc discharge immunity test is carried out on the tested sample, the test voltage of the 10kV distribution live working robot is 35kV, the duration time is at least 1min, and the test is repeated for 3-5 times; the test voltage of the 35kV distribution live working robot is 50kV, the duration time is at least 1min, and the test is repeated for 3-5 times.
And step S140, gradually changing the discharge intensity in the test process, and recording the actual working path and action of the tested sample in the process of changing the discharge intensity.
And step S150, matching and comparing the actual working path and action of the tested sample with the stored working path and action to obtain a test result of the tested sample.
Specifically, the actual working path and action of the tested sample are matched and compared with the stored working path and action to obtain the test result of the tested sample. The test results include: 1) within the technical requirement limit, the tested sample acts normally; 2) the detected sample is short-time or temporarily malfunction or refused to operate, but can be recovered automatically; 3) the detected sample is mistakenly moved or refused to be moved, and manual intervention or system resetting is needed; 4) the function of the device of the tested sample is damaged, or the control system of the tested sample is in failure, so that the device can not restore to the normal state by itself.
In conclusion, the test method provided by the embodiment meets the requirement of the induction discharge immunity test of the distribution live working robot; the induction discharge electromagnetic interference which is possibly encountered in the working environment of the distribution live working robot is covered, namely, the induction discharge electromagnetic interference comprises corona discharge and arc discharge; the electromagnetic interference intensity of induction discharge possibly encountered in the working environment of the distribution live working robot is covered, namely the intensity of corona discharge and arc discharge is included; the testing precision is high, the reliability of the tested product is greatly improved, and the defective rate of the product is reduced.
The embodiment of the device is as follows:
referring to fig. 2, fig. 2 shows a preferred structure of the testing device for the inductive discharge immunity of the distribution live working robot provided by the embodiment. As shown in fig. 2, the apparatus includes: the device comprises an upper computer (not shown in figure 2), a power supply unit 1, a polar plate 2 and a height-adjustable induction plate 3, wherein the upper computer can be connected with a video camera (not shown in figure 2), and the video camera can shoot the working path and the action of a sample 4 to be measured. The power supply unit 1 is provided with a controller, the controller is connected with an upper computer, and the upper computer controls the output voltage of the power supply unit 1. The polar plate 2 is a high-voltage polar plate, the diameter or the side length is not less than 2m, the hanging height is not less than 2.4m, the polar plate 2 keeps an electrical insulation distance from a roof, the polar plate 2 is connected with the output end of the power supply unit 1, and the test voltage is the voltage on the polar plate 2. The induction discharge interference generated by the height-adjustable induction plate 3 acts on the tested sample 4, namely acts on the distribution live working robot. The height-adjustable induction plate 3 is opposite to the polar plate 2, the tested sample 4 can be connected with the height-adjustable induction plate 3, and a power frequency electric field is formed between the height-adjustable induction plate 3 and the reference grounding surface 5. The center line of the height-adjustable induction plate 3 is positioned on the center line of the polar plate 2 and the reference ground plane 5, the height-adjustable induction plate 3 is of a T-shaped structure, and the distance between the height-adjustable induction plate 3 and the polar plate 2 can be adjusted by adjusting the height of the height-adjustable induction plate, so that the intensity of corona discharge or the intensity of arc discharge can be adjusted.
Referring to fig. 3, the height-adjustable sensing plate 3 includes: the metal plate 31 and the telescopic rod 32, wherein the metal plate 31 is a metal thin plate with a diameter or a side length not greater than 10cm, a first surface of the metal plate 31 is a top surface of the metal plate 31, the first surface faces the pole plate 2, a first metal tip 33 with a length of 2mm is arranged at a central position, and the first metal tip 33 is a starting point for generating arc discharge. The circumference of the first surface is provided with a plurality of insulating columns 34, for example, when the metal plate 31 is square, each corner of the square is provided with one insulating column 34, and the length of the insulating column 34 is greater than that of the first metal tip 33, so as to prevent the pole plate 2 from damaging the first metal tip 33. The second surface of the metal plate 31 is the bottom surface of the metal plate 31, and the second surface is opposite to the first surface. The second face is circumferentially provided with at least 4 second metal tips 35 of 2mm length, the second metal tips 35 being used for generating a corona discharge. The number of the second metal tips 35 is equal to the number of the insulating columns 34, and the second metal tips 35 are arranged in one-to-one correspondence with the insulating columns 34. The top of the telescopic bar 32 is connected to the second surface of the metal plate 31, and the telescopic bar 32 includes: a drooping column 36 and a metal column 37, wherein the drooping column 36 is a hollow metal column with the diameter not more than 5cm, and the drooping column 36 is connected with the metal part of the tested sample 4 through a metal flexible wire 8. The metal column 37 is nested in the drop column 36, and the telescopic rod 32 also has a self-locking function, so that the distance between the top of the drop column 36 and the reference ground plane 5 is fixed between 30cm and 200 cm. The distance between the metal plate 31 and the polar plate 2 can be adjusted between 0.2cm and 5cm through the telescopic rod 32, and the adjustment precision is 1 mm. The bottom of the telescopic rod 32 is connected with a driving mechanism 38, and the driving mechanism 38 comprises a motor which drives the drooping column 36 to rotate through gear transmission, so that the telescopic rod 32 can extend and retract. Referring to fig. 2 again, the bottom of the driving mechanism 38 is provided with an insulating support 6, the bottom of the sample 4 to be measured is provided with an insulating support 7, the height of the insulating support 7 is not lower than 20cm, and the insulating support 6 and the insulating support 7 are both arranged on the reference ground plane 5.
The power supply unit 1 includes: the power frequency voltage source 12 can be a power frequency high voltage source, the polar plate 2 is connected with the power frequency voltage source 12, the output end of the voltage regulator 11 is connected with the power frequency voltage source 12, the input end of the voltage regulator 11 is connected with a mains supply, a controller of the voltage regulator 11 is connected with an upper computer, the output voltage of the voltage regulator 11 is controlled through the upper computer, the voltage of the power frequency voltage source 12 is regulated, and a power frequency electric field is formed between the polar plate 2 and the reference ground plane 5.
The steps of testing by adopting the device provided by the embodiment are as follows:
1) placing the tested sample 4 into a testing device for the induced discharge immunity of the distribution live working robot, setting a working path and action of the tested sample 4 after the device is started normally, and storing the working path and action in an upper computer;
2) the distance between the metal plate 31 of the height-adjustable induction plate 3 and the polar plate 2 is 5cm, and the induction discharge interference generated by the metal plate 31 acts on the tested sample 4;
3) carrying out an inductive discharge immunity test on the tested sample 4 by using the inductive discharge immunity test device of the distribution live working robot;
4) in the testing process, the distance between the metal plate 31 of the height-adjustable induction plate 3 and the pole plate 2 is adjusted, the step length of 1mm is shortened, so that the discharge intensity is changed until the distance between the metal plate 31 and the pole plate 2 is 2mm, in the process of changing the discharge intensity, the actual working path and the action of the tested sample 4 are recorded through the video camera, and the video data are uploaded to the upper computer;
5) and the upper computer performs matching comparison on the received video data and the working path and the action data of the tested sample 4 which is stored in the upper computer at first, so as to obtain the test result of the tested sample 4.
In conclusion, the discharge energy of the testing device provided by the embodiment is larger than that of the existing electrostatic discharge immunity equipment, the defect of the existing electrostatic discharge immunity test capability is overcome, and the induction discharge immunity test of the distribution live working robot is met; the induction discharge electromagnetic interference which is possibly encountered in the working environment of the power distribution operation robot is covered, namely, the induction discharge electromagnetic interference comprises corona discharge and arc discharge; the electromagnetic interference intensity of induction discharge possibly encountered in the working environment of the power distribution operation robot is covered, namely the intensity of corona discharge and arc discharge is included; the testing precision is high, the reliability of the tested product is greatly improved, and the defective rate of the product is reduced.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for testing the inductive discharge immunity of a power distribution live working robot is characterized by comprising the following steps:
setting and storing a working path and action of a tested sample;
applying an inductive discharge disturbance to the sample under test;
carrying out an induction discharge immunity test on the tested sample;
in the testing process, gradually changing the discharge intensity, and recording the actual working path and action of the tested sample in the process of changing the discharge intensity;
and matching and comparing the actual working path and action of the tested sample with the stored working path and action to obtain the test result of the tested sample.
2. The testing method for the induction discharge immunity of the distribution live working robot according to the claim 1,
the test items of the inductive discharge immunity capability test comprise: corona discharge immunity and arc discharge immunity.
3. The testing method for the induction discharge immunity of the distribution live working robot according to claim 2,
when the tested sample with 10kV of power distribution is subjected to a corona discharge immunity test, the test voltage is 10kV, the duration time is at least 10min, and the test is repeated for 2-3 times;
when the tested sample with 35kV of power distribution is subjected to corona discharge immunity test, the test voltage is 35kV, the duration time is at least 10min, and the test is repeated for 2-3 times.
4. The testing method for the induction discharge immunity of the distribution live working robot according to claim 2,
when the arc discharge immunity test is carried out on the tested sample with 10kV of power distribution, the test voltage is 35kV, the duration time is at least 1min, and the test is repeated for 3-5 times;
when the tested sample with 35kV of power distribution is subjected to corona discharge immunity test, the test voltage is 50kV, the duration is at least 10min, and the steps are repeated for 2-3.
5. The method for testing the inductive discharge immunity of the distribution live working robot according to claim 1, wherein the test result comprises:
within the technical requirement limit, the tested sample acts normally;
the tested sample is short-term or temporarily malfunction or refusal, but can be recovered by self;
the detected sample is mistakenly moved or refused to be moved, and manual intervention or system resetting is required;
the function of the device of the tested sample is damaged, or the control system of the tested sample is in failure, so that the device can not restore to the normal state by itself.
6. The utility model provides a testing arrangement of distribution live working robot response discharge immunity ability which characterized in that includes:
an upper computer;
the controller of the power supply unit is connected with the upper computer;
the polar plate is connected with the output end of the power supply unit;
the height-adjustable induction plate is opposite to the polar plate, and the tested sample can be connected with the height-adjustable induction plate.
7. The testing device for the induction discharge immunity of the distribution live working robot according to claim 6, wherein the height adjustable induction plate comprises:
the metal plate is provided with a first metal tip end at the central position of a first surface of the metal plate, a plurality of insulating columns are arranged on the first surface in the circumferential direction, and the first surface faces the polar plate; a plurality of second metal tips are arranged on the second surface of the metal plate in the circumferential direction, the number of the second metal tips is equal to that of the insulating columns, the second metal tips and the insulating columns are arranged in a one-to-one correspondence mode, and the second surface is opposite to the first surface;
the top of the telescopic rod is connected with the metal plate.
8. The testing device for the induction discharge immunity of the distribution live working robot according to claim 7, wherein the height adjustable induction plate further comprises:
and the driving mechanism is connected with the bottom of the telescopic rod so as to drive the telescopic rod to stretch.
9. The testing device for the induction discharge immunity of the distribution live working robot according to the claim 6,
the bottom of the height-adjustable induction plate is arranged on the reference ground plane through an insulating support; and/or
The tested sample is arranged on the reference ground plane through the insulating support.
10. The testing device for the inductive discharge immunity of the distribution live working robot according to claim 6, wherein the power supply unit comprises:
a voltage regulator, an input of which is connectable to mains and which has the controller;
and the input end of the power frequency voltage source is connected with the output end of the voltage regulator, and the output end of the power frequency voltage source is connected with the polar plate.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110687370A (en) * | 2019-09-11 | 2020-01-14 | 中国电力科学研究院有限公司 | Method and device for testing induction discharge anti-interference capability of power transmission live working robot |
| CN113504426A (en) * | 2021-09-10 | 2021-10-15 | 中国电力科学研究院有限公司 | Device and method for testing inductive discharge anti-interference capability of intelligent equipotential operation equipment |
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Application publication date: 20200117 |