电力金具螺栓紧固机器人研制  

Design of Electric Fittings Bolt Tightening Robot

作　　者：伍昆军 江励 颜才佳 汤健华 洪高天 Wu Kunjun;Jiang Li;Yan Caijia;Tang Jianhua;Hong Gaotian(School of Intelligent Manufacturing of Wuyi Univerity,Jiangmen,Guangdong 529000,China)

机构地区：[1]五邑大学智能制造学部,广东江门529000

出　　处：《机电工程技术》2024年第8期92-96,共5页Mechanical & Electrical Engineering Technology

基　　金：区域联合基金项目(2019A1515110258);2022年广东省“攀登计划”重点项目(pdjh2022a0521)。

摘　　要：在高压线路拆装螺栓时,螺母可能会随螺栓同步转动,很难保证工作的准确性。而且目前的工装只适用于一种规格的螺栓尺寸。以高压输电线路电力金具引流板螺栓为作业对象和任务进行了分析,研究提出了一种红外传感器检测电力金具螺母松动时可以到达指定位置并进行电力金具引流板螺栓紧固的机器人,所研制的电力金具螺栓紧固机器人主要由移动升降平台、机械臂、螺栓紧固工装组成。研究了螺栓拧紧工装的机械结构和万能套筒,分析了工装的性能以及万能套筒静应力学。通过试验和模拟现场验证了所提出的构型方案的正确性和有效性,能够为机器人系统拧紧螺栓提供帮助,并为后续的视觉方案提供设计思路。本设计的拧紧工装提高了在视觉识别过程中的容错率,解决了螺栓旋转螺母跟着转动的问题。When disassembling and assembling bolts on high-voltage lines,the bolts and nuts might also rotate synchronously,making it difficult to ensure the accuracy of the work.And the current tooling is only suitable for one specification of bolt size.An analysis is conducted on the operation object and task of the drainage plate bolt of high-voltage transmission line power fittings.A robot with infrared sensors is proposed to detect the loosening of the power fitting nut and reach the designated position to tighten the drainage plate bolt of the power fitting.The developed power fitting bolt tightening robot mainly consists of a mobile lifting platform,a mechanical arm,and a bolt tightening fixture.The mechanical structure of bolt tightening fixtures and universal sleeves is studied,the performance of the fixtures and the static stress of universal sleeves is analyzed.The correctness and effectiveness of the proposed configuration scheme are verified through experiments and simulations on site,which can provide assistance for tightening bolts in robot systems and design ideas for subsequent visual schemes.The tightening fixture of this design improves the fault tolerance in the visual recognition process and solves problems such as bolt rotation and nut rotation.

关 键 词：电力金具 螺栓紧固机器人 静应力学分析 螺栓紧固工装 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]