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近年来,人工带电作业的局限性日渐突出,研究代替人工作业的机器人技术已经成为电力检修智能化研究的重要分支。文中对作业对象和任务进行了分析;介绍了机器人的机体构造,并基于运动学对带电作业机器人动作进行规划;阐述了该机器人系统的控制组成和软件设计。成功研制的输电线路带电紧固螺栓机器人主要由非越障移动平台、作业机械手和控制基站3部分组成,采用人机交互控制,具有视觉反馈和力反馈系统。试验和现场应用表明:紧固螺栓作业机器人运行可靠、平稳,控制方便,满足输电线路带电作业要求,能替代人工完成螺栓紧固作业。该研究为输电线路带电作业机器人的研制奠定了基础。
In recent years, the limitations of artificial live work have become increasingly prominent. Research on robotic technology instead of manual work has become an important branch of intelligent research on power overhaul. In this paper, we analyze the work object and task, introduce the robot’s body structure, and plan the robot’s movement based on the kinematics. The control components and software design of the robot system are described. The successfully developed power transmission line bolt is mainly composed of non-obstacle mobile platform, manipulator and control base station 3 parts, using human-computer interaction control, with visual feedback and force feedback system. Tests and field applications show that the operation of the bolt-fastening robot is reliable, stable and easy to control, which meets the requirements of the live working of the transmission line and can replace the manual fastening of the bolt. The research lays the foundation for the development of live working robots for transmission lines.