高压输电线路带电检修机器人机械系统设计  

Mechanical System Design of Live Maintenance Robot for High-Voltage Transmission Line

作　　者：张颉[1] 吴功平[1,2] 肖华[1,2] 邹德华 

机构地区：[1]武汉大学动力与机械学院,湖北武汉430072 [2]广东科凯达智能机器人有限公司,广东顺德528399 [3]国网湖南带电作业中心,湖南长沙410000

出　　处：《机械设计与制造》2017年第4期240-244,共5页Machinery Design & Manufacture

基　　金：国家高新技术研究发展计划(863计划)(2006AA04Z202)

摘　　要：针对高压输电线路人工带电检修作业存在的种种弊端、现有带电作业机器人技术尚不成熟且作业任务单一等问题,提出一种集绝缘子更换作业和螺栓拧紧作业为一体的末端可更换作业机器人,对机器人进行了构型分析、模块划分与集合、运动规划;研制了一台"非跨越越障平台+双机械手+4个作业末端"的机器人样机;通过了模拟线路试验、工频耐压试验,证明绝缘子更换作业和耐张线夹螺栓紧固作业的可实现性;展开了对带电作业多作业任务机器人的初步探索。For artificial live maintenance operations of high-voltage transmission lines exist drawbacks and technologies of robot traveling along high-voltage transmission lines are not yet mature and confined in single task ,a dual-task robot with re- configurable end actuators for insulator replacement and bolt tightening on high-voltage transmission line is proposed. The configurations of robot are analyzed ,motions are planned and modules of robot are classified and assembled. Robot prototype with non-obstacle platform,manipulators and four end actuators is manufactured. Simulation test and frequency voltage withstanding test are carried on to prove the reliability of insulator replacement and bolt tightening. Thence exploration of multitask robot on high-voltage transmission line is operated.

关 键 词：高压输电线路 螺栓紧固机器人 绝缘子更换机器人 末端可重构 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.3[自动化与计算机技术—检测技术与自动化装置]