高压带电作业机器人的研制

RESEARCH ON HIGH VOLTAGE ELECTRIC POWER LIVE LINE WORKING ROBOT

介绍了我国自行开发的 10kV高压带电作业机器人。该机器人是用于 10kV及以下电压等级配电系统带电维护和抢修的专用设备 ,它由安装在升降机构末端的两个机械臂组成 ,升降机构固定在一辆可移动的汽车上。机器人控制采用两层计算机 ,上层用于机器人管理和路径规划 ,下层用于机器人的姿态和运动控制。经工业现场试验表明 ,它能满足 10kV高压带电作业的绝缘要求 ,可以完成

As a kind of special device for 10 kV and lower voltage distribution power systems maintenance, a domestically-developed 10 kV high voltage electric power live line working robot is introduced. The robot consists of two manipulators placed on the end of the boom fixed on a mobile vehicle. Two hierarchy computers are adopted to control the robots movement. The upper level computer is used for the management and path planning of the robot, and the lower one is for the control of the moving and posture of the robot. The robot has been tested in actual operational situations and proved to satisfy the 10 kV voltage live line works insulating requirement and perform the main tasks of 10 kV voltage live line works by a human operator.