摘要
为了提高配网带电作业的安全性和作业效率,设计配网带电作业机器人系统,包括主从遥操作液压机械臂、控制系统、带电作业工具系统、绝缘防护系统和绝缘斗臂车等,描述其特有的结构、技术参数和工作原理。采用主从位置闭环随动控制,主从手同构,主手具备力反馈,提高操作的灵活性和工作效率。在10 kV配网带电线路进行试验,验证了设计的合理性和优越性。
In order to improve the safety and efficiency of live working on the distribution network,the distribution network live working robot system was designed,including the master-slave teleoperation hydraulic manipulator,the control system,the live working tool system,the insulation protection system and the insulated bucket truck,etc.Its unique structure,technical parameters and working principle were described.The master-slave position closed-loop follow-up control was adopted,the master hand and the slave hand were the same structure,and the master hand had force feedback,which improved the operation flexibility and work effi⁃ciency.Tests on live lines of 10 kV distribution network have verified the rationality and superiority of the design.
作者
李光茂
杨森
占鹏
陈勉之
乔胜亚
LI Guangmao;YANG Sen;ZHAN Peng;CHEN Mianzhi;QIAO Shengya(Power Test Research Institute of Guangzhou Power Supply Bureau,Guangdong Power Grid Co.,Ltd.,Guangzhou Guangdong 510410,China)
出处
《机床与液压》
北大核心
2022年第9期66-70,共5页
Machine Tool & Hydraulics
基金
南方电网公司科技项目(GZHKJXM20190004)。
关键词
液压机械臂
主从遥操作
力反馈
Hydraulic robotic arm
Master-slave remote operation
Force feedback
