带电作业机器人J型线夹安装工具的研制与TCP位置标定方法

Development of J-clamp Installation Tool for Live Working Robot and TCP Position Calibration Method

研制一种智能J型线夹安装工具,与机器人配合完成行线与引流线的搭接。该工具采用自动化控制、绝缘耐压和电磁兼容技术,由夹紧机构、拧紧装置、通信和控制系统等组成。文中提出一种实用性强的TCP位置标定方法。测试和试验结果表明,智能J型线夹安装工具可以作为机器人的末端工具,也可以安装在绝缘杆上完成带电接火作业,实用性高经济效益好。

An intelligent J-clamp installation tool is developed,which can be used to join the main line and branch line with the robot.The tool adopts the technology of automatic control,the insulation and the electromagnetic compatibility,it is composed of clamping mechanisms,tightening devices,communication and control systems.This paper presents a calibrating method of TCP position.The test and experiment results show that the intelligent j-clamp installation tool can be used as the end tool of the robot,and it can also be installed on the insulating rod to complete the live fire operation.It has high practicability and good economic benefit.