高压输电线路带电更换防振锤机器人的研制

针对人工带电更换防振锤作业劳动强度大、效率低、危险性高的问题,研制具有双作业末端的带电更换防振锤机器人。首先,设计机器人行走轮、夹持机构、作业末端等构型,完成本体测控平台及远程管理主机控制平台的集成设计。其次,制定机器人更换防振锤的作业规划,并提出一种易于扩展、通用性强的多臂多动作机器人关节运动模型及其H∞控制方法,增强机器人关节运动的鲁棒性及其对作业环境的自适应能力。最后,通过对机器人进行工频耐压试验与实际线路作业试验,验证了该机器人结构设计合理,完成跨越防振锤及拆取、安装防振锤等作业任务连贯流畅,关键动作满足定位要求。

Development of stockbridge damper live replacing robot for high voltage transmission lines

Artificial live replacement for stockbridge damper is a labor-intensive process with low efficiency and high danger.In order to overcome those shortages,a kind of living work robot with double operation ends is developed to replace stockbridge damper.In this paper,the robot's walking wheel,clamping mechanism and operation end are designed.The integration design of ontology control platform and tele-management host control platform is completed.The replacing process of stockbridge damper by the robot is worked out.And an universal joint motion model of multi-arm robot as well as its H H-infinity control method are put forward to enhance the robustness and working environment-adaptive ability of the robot.Finally,the AC withstand voltage test and fielded experience test shows that the structural design of robot is reasonable.The robot action is coherent and fluent during the crossing,removing and installing the stockbridge damper.All key actions meet the positioning requirements.