高压输电线路带电检修机器人的研制  

Development of electric maintenance robot for transmission line

作　　者：严宇[1] 邹德华[1] 刘夏清[1] 李稳[1] 章健军[1] 龙洋[1] 徐显金[2] 

机构地区：[1]国网湖南省电力公司带电作业中心,长沙410100 [2]湖北工业大学机械工程学院,武汉430068

出　　处：《现代制造工程》2017年第9期29-35,共7页Modern Manufacturing Engineering

摘　　要：成功研制了国内首台可重构的输电线路带电检修机器人"Dream-Ⅰ",具有在导线上自主行走及准确定位功能。首先描述了机器人的作业任务及对象,然后设计了机器人通用平台、绝缘子更换末端及引流板螺栓紧固末端,给出了机器人的控制系统,并对机器人的作业规划进行了仿真分析,最后完成了在高压大厅的电场耐压试验和实际线路上的上线试验及试用。实验结果表明,机器人通过更换机械手末端,能带电完成悬式绝缘子更换及引流板螺栓紧固两大作业任务。The successful development of the first reconfigurable transmission line maintenance robot ＂Dream-I＂, with the autono- mous walking and accurate positioning function on the lead wire. The task and object was described firstly, and then design the general robot platform,insulator replacement terminal and drainage plate bolts to fasten the end,the robot control system and the robot task planning were simulation analysis, and finally completed the on-line test and trial in the high voltage of the hall electric field voltage withstand test and the actual line. The experimental results show that the robot can complete the suspended insulator replacement and bolt fastening two tasks by replacing the end of the manipulator.

关 键 词：输电线路 机器人 悬式绝缘子更换 引流板螺栓紧固 

分 类 号：TH17[机械工程—机械制造及自动化]