高压带电作业双臂机器人系统设计  

Design of Dual-arm Robot System for High Voltage Power Live Working

作　　者：王康 刘亮[1] 李慧杰 余志森[1] 龙飞[1] 蒋鑫[1] 陈双叶[2] 白劲松 田悦谷 WANG Kang;LIU Liang;LI Huijie;YU Zhisen;LONG Fei;JIANG Xin;CHENG Shuangye;BAI Jinsong;TIAN Yuegu(North China Electric Power Research Institute Co.,Ltd.,Beijing 100045,China;School of Artificial Intelligence and Automation,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]华北电力科学研究院有限责任公司,北京100045 [2]北京工业大学人工智能与自动化学院,北京100124

出　　处：《计算机测量与控制》2023年第5期243-248,254,共7页Computer Measurement &Control

摘　　要：传统带电作业采用人工方式,但高空、高压危险作业环境与高劳动强度对作业人员人身安全构成一定威胁;针对10 kV配电网带电作业的实际需求,采用12米高液压升降平台和两台协作型六轴机械臂,设计开发了双臂六轴机器人系统;采用ARM嵌入式处理器,设计开发了双臂机器人控制器硬件和软件,根据实际作业应用需求,给出了机械臂运动路径规划方法,通过WiFi无线通讯方式和SOCKET编程实现了对双臂机器人的现场操作控制,采用LoRa无线通讯网络,设计开发了LoRa主站模块和LoRa专用工具模块,采用LoRa定点扫描通讯方式,实现了各工具模块和机器人控制器的相互通讯;在某培训实验基地10 kV配电线路上,对带电作业机器人系统进行了现场实验,验证了剥皮、接引流线等各项设计功能,机器人从接收到剥皮指令开始到剥皮作业完成,整个过程用时3分20秒;完成接引流线作业全程用时2分50秒。Ttraditional live working adopts in manual mode,but the environments of high altitude,high voltage hazardous working and high labor intensity have a certain threat to the personal safety of operators.Aimed at the actual requirement of live working in 10 kV distribution network,a dual-arm six-axis robot system is designed and developed using a 12 meters high hydraulic lifting platform and two cooperative six-axis mechanical arms.ARM embedded processor is used to develop the hardware and software of the dual arm robot controller.According to the actual operation application requirements,the path planning method of the manipulator is given.The field operation control of the dual arm robot is realized through WiFi wireless communication mode and SOCKET programming.LoRa wireless communication network is used to develop the LoRa master station module and LoRa special tool module.LoRa fixed-point scanning communication mode is adopted to realize the communication between each tool module and robot controller.On the 10 kV power distribution line of certain training and experimental base,the live working robot system was tested on the spot,and various design functions such as peeling and connecting drain lines were verified.The whole process took 3 minutes and 20 seconds from the beginning of the robot receiving the peeling command to the completion of the peeling operation;It took 2 minutes and 50 seconds to complete the whole process of connecting the drainage line.

关 键 词：10 kV配电网 带电作业 双臂机器人 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]