一种特定爪具的带电更换绝缘子作业机器人系统设计  

Design of Special Claw Tool for Live Insulator Replacement Robot System

作　　者：花国祥 王华建 李鹏 彭民[3] 陈果 HUA Guoxiang;WANG Huajian;LI Peng;PENG Min;CHEN Guo(School of Automation,Wuxi University,Wuxi 214105,China;School of Automation,Nanjing University of Information Science and Technology,Nanjing 210044,China;State Grid Zhejiang Taizhou Power Supply Company,Taizhou 318000,China)

机构地区：[1]无锡学院自动化学院,江苏无锡214105 [2]南京信息工程大学自动化学院,江苏南京210044 [3]国网浙江台州供电公司,浙江台州318000

出　　处：《仪表技术与传感器》2023年第11期65-72,共8页Instrument Technique and Sensor

基　　金：江苏省重点研发计划社会发展项目(BE2015692);国网浙江台州供电公司科技项目(031400KK52220012)。

摘　　要：针对传统人工更换绝缘子作业劳动强度大、效率低、危险性高等问题,设计了一种特定爪具的带电更换绝缘子作业机器人,包括塔上作业的执行装置和塔下人员远程操控装置2部分。首先,分析更换绝缘子原理,规划机器人更换绝缘子的动作流程,并设计机器人的整体结构,以提高绝缘子更换效果,减少动作失误。其次,开发了基于UCOS和QT的机器人远程控制硬软件系统,实现了操作人员对机器人进行远程实时监控。最后,搭建功能测试平台进行机器人推力及更换绝缘子能力实验,并在实际线路上进行应用试点实验。实验结果表明:当设定电机转速为50%~60%时,机器人能够完整地完成更换绝缘子作业流程,相较于传统人工作业,完成时间缩短了18 min,效率提升42.8%。In response to the problems of high labor intensity,low efficiency,and high danger in traditional manual insulator replacement operations,a live insulator replacement robot with specific claws was designed.It consists of two parts,including an execution device for tower operations and a remote control device for personnel below the tower.Firstly,the principle of replacing insulators was analyzed,the action process of robot replacing insulators was planned,and the overall structure of the robot was designed to improve the effect of insulator replacement and reduce action errors.Secondly,a robot remote control hardware and software system based on UCOS and QT was developed,which enables operators to remotely and real-time monitor the robot.Finally,a functional testing platform was established for robot thrust and insulator replacement capability experiments,and pilot experiments were conducted on actual lines.The experimental results show that when the motor speed is set to 50%~60%,the robot can complete the insulator replacement process completely.Compared with traditional manual operations,the completion time is relatively shortened by 18 minutes,and the efficiency is improved by 42.8%.

关 键 词：绝缘子更换 W销推出 机器人 UCOS实时操作系统 QT 

分 类 号：TP16[自动化与计算机技术—控制理论与控制工程] TP242[自动化与计算机技术—控制科学与工程]