Development of Live-working Robot for Power Transmission Lines
[摘要] Dream-I, the first reconfigurable live-working robot for power transmission lines successfully developed in China, has the functions of autonomous walking on lines and accurately positioning. This paper firstly described operation task and object of the robot; then designed a general platform, an insulator replacement end and a drainage plate bolt fastening end of the robot, presented a control system of the robot, and performed simulation analysis on operation plan of the robot; and finally completed electrical field withstand voltage tests in a high voltage hall as well as online test and trial on actual lines. Experimental results show that by replacing ends of manipulators, the robot can fulfill operation tasks of live replacement of suspension insulators and live drainage plate bolt fastening.
[发布日期] [发布机构] State Grid Hunan Electric Power Company Live Working Center, Changsha; 410100, China^1;Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment (Robot), Changsha; 410100, China^2
[效力级别] 无线电电子学 [学科分类]
[关键词] Autonomous walkings;Bolt fastening;Electrical field;Operation plan;Reconfigurable;Simulation analysis;Suspension insulators;Withstand voltage [时效性]
