输电线路带电紧固螺栓机器人的研制  

Development of Live-working Fastening Bolts Robot for Transmission Lines

作　　者：李稳[1,2] 邹德华[1,2] 刘夏清[1,2] 李游[3] 严宇[1,2] 刘兰兰[1,2] 龙洋[1,2] 

机构地区：[1]国网湖南省电力公司带电作业中心,长沙410007 [2]智能带电作业技术及装备(机器人)湖南重点实验室,长沙410007 [3]国网湖南省电力公司,长沙410007

出　　处：《高压电器》2017年第7期147-152,158,共7页High Voltage Apparatus

摘　　要：近年来,人工带电作业的局限性日渐突出,研究代替人工作业的机器人技术已经成为电力检修智能化研究的重要分支。文中对作业对象和任务进行了分析;介绍了机器人的机体构造,并基于运动学对带电作业机器人动作进行规划;阐述了该机器人系统的控制组成和软件设计。成功研制的输电线路带电紧固螺栓机器人主要由非越障移动平台、作业机械手和控制基站3部分组成,采用人机交互控制,具有视觉反馈和力反馈系统。试验和现场应用表明:紧固螺栓作业机器人运行可靠、平稳,控制方便,满足输电线路带电作业要求,能替代人工完成螺栓紧固作业。该研究为输电线路带电作业机器人的研制奠定了基础。In recent years, the limitation of artificial live-working has become increasingly serious. The research of robot technology instead of manual work has become an important branch of intelligent electric power maintenance. Firstly, the thesis analyzes the job objects and tasks, introduces the body structure of the robot, plans the live working robot action based on the kinematic, and expounds the control composition and software design of the robot system. The successfully researched charged fastening bolt robot in electric transmission line is mainly com- posed of non-obstacle mobile platform, operation manipulator and the control base station, adopts man-machine interactive control and with visual feedback and force feedback system. Test and field application shows that fas- tening boh operation robot is reliable, stable and easy transmission line and can replace the manual operation. the live working robot for transmission lines. to control. It meets the requirement of live working of the This research laid the foundation for the development of

关 键 词：带电作业 机器人 输电线路 紧固螺栓 

分 类 号：TM75[电气工程—电力系统及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]