输电线路绝缘子辅助安装装置的研究

Research on Insulator Auxiliary Installation on Transmission Line

为了解决输电线路中绝缘子更换维护等高空带电作业带来的诸多不便与危险,研究制作了一套类似于机械手臂且有移动平台的绝缘子辅助安装装置,该装置包括移动站和基站,其移动站包括移动站控制系统、移动平台、六轴机械手臂、全方位跟踪云台、相机和图像传输装置,基站包括图像接收装置、图像处理和显示装置、操作手柄和信号发射装置,此外,还对机械臂各关节相关机械结构、路径规划和机械臂自身姿态优化过程进行了研究和优化。结果表明:采用的机械手臂末端控制方法对绝缘子安装有明显的辅助作用,使用的控制系统对绝缘子辅助安装装置的后续设计有一定的参考意义。

In order to solve the inconvenience and danger brought by the high-altitude live working of insulator replacement and maintenance in transmission lines,a set of insulator-assisted mounting device similar to a robot arm and having its own moving platform is researched and designed.The device includes a mobile station and a base station.The mobile station includes a mobile station Control system,mobile platform,six-axis robot,tracking all-round PTZ,camera and image transmission device.The base station includes an image receiving device,an image processing and display device,an operating handle and a signal transmitting device.In addition,the mechanical structure of each joint of the robotic arm,path planning and robotic arm attitude optimization process are studied.The results show that the end ofthe robot control method used for the auxiliary mounting insulators have a significant effect,and the control system used has certain reference meaning for the follow-up design ofthe auxiliary installation ofthe insulator.