Development of Live-working Fastening Bolts Robot for Transmission Lines

LI Wen; ZOU Dehua; LIU Xiaqing; LI You; YAN Yu; LIU Lanlan; LONG Yang

doi:10.13296/j.1001-1609.hva.2017.07.024

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Development of Live-working Fastening Bolts Robot for Transmission Lines

更新时间：2025-04-26

- Development of Live-working Fastening Bolts Robot for Transmission Lines
- High VoltageApparatus Vol. 53, Issue 7, Pages: 147-152+158(2017)
- 作者机构：
  
  1. 国网湖南省电力公司带电作业中心
  2. 2. 智能带电作业技术及装备(机器人)湖南重点实验室
  3. 国网湖南省电力公司
- 作者简介：
- 基金信息：
- DOI：10.13296/j.1001-1609.hva.2017.07.024
  CLC： TM75;TP242
- Published：2017
- 稿件说明：
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[1]李稳,邹德华,刘夏清,李游,严宇,刘兰兰,龙洋.输电线路带电紧固螺栓机器人的研制[J].高压电器,2017,53(07):147-152+158.

LI Wen, ZOU Dehua, LIU Xiaqing, et al. Development of Live-working Fastening Bolts Robot for Transmission Lines[J]. High voltageapparatus, 2017, 53(7): 147-152+158.
[1]李稳,邹德华,刘夏清,李游,严宇,刘兰兰,龙洋.输电线路带电紧固螺栓机器人的研制[J].高压电器,2017,53(07):147-152+158. DOI： 10.13296/j.1001-1609.hva.2017.07.024.

LI Wen, ZOU Dehua, LIU Xiaqing, et al. Development of Live-working Fastening Bolts Robot for Transmission Lines[J]. High voltageapparatus, 2017, 53(7): 147-152+158. DOI： 10.13296/j.1001-1609.hva.2017.07.024.

摘要

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。

Abstract

In recent years

the limitation of artificial live-working has become increasingly serious. The research of robot technology instead of manual work has become an important branch of intelligent electric power maintenance.Firstly

the thesis analyzes the job objects and tasks

introduces the body structure of the robot

plans the live working robot action based on the kinematic

and expounds the control composition and software design of the robot system. The successfully researched charged fastening bolt robot in electric transmission line is mainly composed of non-obstacle mobile platform

operation manipulator and the control base station

adopts man-machine interactive control and with visual feedback and force feedback system. Test and field application shows that fastening bolt operation robot is reliable

stable and easy to control. It meets the requirement of live working of the transmission line and can replace the manual operation. This research laid the foundation for the development of the live working robot for transmission lines.

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Related Author

YAN Yu

LIU Xiaqing

ZOU Dehua

LI Wen

ZHANG Jianjun

LONG Yang

XU Xianjin

WU Gongping

Related Institution

State Grid Hunan Electric Power Company Live Working Center

Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment (Robot)

School of Mechanical Engineering,Hubei University of Technology

School of Power and Mechanical Engineering, Wuhan University

Information & Telecommunication Branch Company, East Inner Mongolia Electric Power Co., Ltd.

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