输电线路带电更换绝缘子串机器人的研制

摘要

输电线路带电更换绝缘子串危险性大、事故率高。为便于带电更换，该文对等电位作业人员动作分解和模拟，设计可以取代等电位作业人员自主完成输电线路上绝缘子串更换作业的机器人。机器人包括非越障平台、控制平台和地面基地，其中非越障平台主要由机体、机械臂、机械手及执行末端等机构构成，控制平台由运动控制、通信、图像采集和电源管理系统组成，地面基站系统包含无线网卡和3 G上网卡的 PC机。地面基地通过无线网络对非越障平台和控制平台遥控。研制的机器人操作方便、灵活，通过了工频耐压试验、模拟线路作业试验及现场带电线路作业试验，满足110~220 kV输电线路上绝缘子串更换作业的需求，减轻了作业人员的劳动强度，提高了带电作业的安全系数。%Live replacement of the insulator string on the transmission line is dangerous and has a high accident rate.In order to solve this problem,it is necessary to decompose and simulate the operation process of the live working people.The insulator-replacing live working robot was re-searched to replace the live working people on transmission line in this paper.The designed robot was composed of a non-obstacle-surmounting platform,a control platform and a ground base sta-tion.The non-obstacle-surmounting platform was consisted of the robot body,two robot arms, two robot hands,and two end effectors.The control platform was consisted of a motion control system,a communication system,a video capture system and a power management system.The ground base included a PC which had the wireless card and the 3G card.The ground base station realized the remote control of the non-obstacle-surmounting platform and the control platform through the wireless network.The robot is easy to operate,which is passed through power-fre-quency withstand voltage test,simulated-operation test,and live-line working test.It is satisfy the needs for replacing the insulator string on 110-220kV transmission line.The robot improves the live working safety of insulator-replacing on transmission line.