用于水泥电杆爬杆的配电带电作业机器人研制  

Development of Distribution Live Working Robot for Cement Pole Climbing

作　　者：张建飞[1] 廖德胜 梅雪川 叶敏 郭鹏 ZHANG Jianfei;LIAO Desheng;MEI Xuechuan;YE Min;GUO Peng(Dali Power Supply Bureau,Yunnan Power Grid Corporation,Dali Yunnan 671000,China;SINOMACH Intelligence Technology Co.,Ltd.,Guangzhou Guangdong 510700,China)

机构地区：[1]云南电网公司大理供电局,云南大理671000 [2]国机智能科技有限公司,广东广州510700

出　　处：《机床与液压》2021年第15期44-51,共8页Machine Tool & Hydraulics

基　　金：中国南方电网有限责任公司科技项目(050500KK5219001)。

摘　　要：目前的配电带电作业主要是通过绝缘斗臂车来实现,但是由于地形的限制,难以在山地、水田等环境中开展。为解决以上问题,提出一种适合配电带电作业的爬杆机器人平台。提出机器人平台的总体设计思想;介绍平台硬件和软件的设计原理和实现方法;形成实际的爬杆机器人。该机器人的主体既是一个操作臂又是一个爬行体。结果表明:该机器人可以实现自主爬杆,在到达电杆指定位置后可开展部分配电带电作业项目。At present,the distribution live work is mainly realized by using the aerial lift device with an insulated boom,but it is difficult to carry out in part of the complex environment,such as mountainous areas and paddy fields.In order to solve the above prob⁃lems,a live⁃work climbing robot platform was designed.The overall design idea of the robot platform was presented;the design princi⁃ples and implementation methods of the hardware and the software of the platform were introduced;then a live⁃work climbing robot was built.The robot main body was both a manipulator and a crawling body.The results show that the proposed robot can realize autonomous pole climbing,and can carry out some distribution live operation projects after reaching the designated position of the pole.

关 键 词：配电带电作业 攀爬机器人 操作臂 爬行体 夹持器 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]