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输电线路螺栓紧固带电作业机器人及自提升上线装置的研究与应用 预览

Research and Application of Live Operation Robot and Self-elevating-to-line Device for Bolt Fastening of Transmission Line
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摘要 针对复杂的输电线路环境,研制了一种能够在输电线路上行走的螺栓紧固带电作业机器人及其自提升上线装置,旨在解决输电线路带电作业危险、复杂和繁重等问题。从螺栓松动引起的发热问题入手,利用螺栓图像的形状特点,采用了一种基于线性分类器的螺栓识别方法,结合螺栓六边形拟合及中心点的计算,通过预紧力控制的方式,实现了螺栓的识别定位、对准控制和紧固作业。同时,设计了一种机器人自提升装置,可在无人员登塔情况下提升机器人至输电线路。针对螺栓松动引起的发热问题,利用上述方法设计的机器人样机进行了螺栓紧固作业的试验验证,结果表明:该机器人可在无人登塔的情况下准确完成螺栓的识别定位、对准控制及紧固等作业,有效提高了带电作业的效率。 For the complicated environment of transmission lines,this paper introduces a kind of live operation robot for bolt fastening that can walk on transmission lines and its self-elevating-to-line device so as to solve problems of danger,complexity and heavy of live operation of transmission lines.Starting from the problem of heating caused by bolt looseness,it makes use of shape features of bolt images and adopts a kind of bolt recognition method based on linear classifier.Meanwhile,by combining with bolt hexagon fitting and center point calculation,it accomplishes bolt identification,positioning,alignment control and fastening by means of pre-tightening force control.It also designs a kind of self-elevating-to-line device that can be used to elevate the robot to transmission lines without human climbing the tower.For the heating problem due to bolt looseness,it uses the robot prototype for experimental verification on bolt fastening.The result indicates the robot can accurately accomplish operation such as bolt identification,positioning,alignment control and fastening.The result proves this robot can effectively improve efficiency of live operation.
作者 苏启奖 黄炎 钟力强 麦晓明 聂铭 SU Qijiang;HUANG Yan;ZHONG Liqiang;MAI Xiaoming;NIE Ming(Electric Power Research Institute of Guangdong Power Grid Co.,Ltd.,Guangzhou,Guangdong 510080,China)
出处 《广东电力》 2019年第9期115-123,共9页 Guangdong Electric Power
基金 中国南方电网有限责任公司科技项目(GDKJXM20173031).
关键词 机器人 输电线路 带电作业机器人 自提升上线装置 螺栓紧固 robot transmission line live operation robot self-elevating-to-line device bolt fastening
作者简介 苏启奖(1988),男,福建三明人,助理工程师,工学硕士,主要研究方向为电力机器人技术与应用,E-mail:260230871@qq.com;黄炎(1991),男,湖北武汉人,工程师,工程硕士,主要研究方向为电力机器人技术与应用、图像智能识别,E-mail:huangyan_dky@163.com;钟力强(1984),男,广东广州人,高级工程师,工学博士,主要研究方向为电力机器人技术与应用,E-mail:zhongliqiang@gddky.csg.cn。
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