大荷载无人机-机器人高压输电线协同检修新方法研究

Research on New Method of High Voltage Transmission Line Coordinated Maintenance for Large Load Unmanned Aerial Vehicle and Robot System

输电线路带电检修机器人是一种辅助和代替人工进行输电线路带电作业检修的一种智能化装备,其对于提高作业效率、作业可靠性、作业安全性具有重要实际意义,然而机器人在上下线过程中耗费大量的人力物力,大大降低了整体作业效率,机器人上下线问题已经成为制约机器人实用化的一个重要瓶颈。针对上述问题,提出了大荷载无人机(unmanned aerial vehical,UAV)和机器人的输电线协同检修新方法,该系统分为无人机、机器人和联接件,联接件用于联接无人机和机器人,通过电磁铁磁力的控制实现无人机与机器人系统的对接与分离,同时,通过对机器人机械臂系统的运动学建模与分析,得到了作业末端套筒所能到达的运动空间,从而进一步优化机械臂的结构参数,最后,通过硬件系统、软件系统、机械系统的集成设计,开发了机器人物理样机系统,在四分裂输电线路上进行引流板拧紧作业实验。实验结果表明:改系统能够顺利完成四分裂引流板作业任务,具有较强工程实用性,研究结果对于输电线路智能运维管理具有重要理论意义和实际应用价值。

Transmission line live line maintenance robot is a kind of intelligent equipment to assist and replace manual live line maintenance.It has important practical significance to improve the work efficiency,reliability and safety.However,a lot of human and material resources have been consumed in the robot online and offline process,the overall work efficiency has been greatly reduced which has become an important bottleneck in restricting the application of robots.In view of the above problems,a new method of transmission line collaborative maintenance for large load unmanned aerial vehicle(UAV)and robot was proposed.The system was divided into three main parts,UAV,robot and connector.The connector was used to connect UAV and the robot.The docking and separation of UAV and robot system were realized through the control of electromagnet magnetic force.At the same time,the operation space that can be obtained through the operation of robot manipulator system kinematics modeling and analysis,thereby,the structural parameters of the robot arm have been further optimized.Finally,the design of hardware system,software system and mechanical system were integrated,the robot physical prototype system has been developed and the experiment of tightening the drainage plate on the four split transmission line has been carried out.The experimental results show that the system successfully completes the task of four split drainage board,and has strong engineering practicability.The research results have important theoretical significance and practical application value for intelligent operation and maintenance management of transmission line.