【摘要】 针对高压输电线路人工带电检修作业存在的种种弊端、现有带电作业机器人技术尚不成熟且作业任务单一等问题,提出一种集绝缘子更换作业和螺栓拧紧作业为一体的末端可更换作业机器人,对机器人进行了构型分析、模块划分与集合、运动规划;研制了一台"非跨越越障平台+双机械手+4个作业末端"的机器人样机;通过了模拟线路试验、工频耐压试验,证明绝缘子更换作业和耐张线夹螺栓紧固作业的可实现性;展开了对带电作业多作业任务机器人的初步探索。更多还原

【Abstract】 For artificial live maintenance operations of high-voltage transmission lines exist drawbacks and technologies of robot traveling along high-voltage transmission lines are not yet mature and confined in single task,a dual-task robot with reconfigurable end actuators for insulator replacement and bolt tightening on high-voltage transmission line is proposed. The configurations of robot are analyzed 、motions are planned and modules of robot are classified and assembled. Robot prototype with non-obstacle platform、manipulators and four end actuators is manufactured. Simulation test and frequency voltage withstanding test are carried on to prove the reliability of insulator replacement and bolt tightening. Thence exploration of multitask robot on high-voltage transmission line is operated.更多还原