Abstract:Abstract: The traditional live line work adopts manual mode, but the high altitude, high voltage hazardous working environment and high labor intensity pose a certain threat to the personal safety of operators. Aimed at the actual demand of live working in 10KV distribution network, a dual arm six axis robot system is designed and developed using a 12 meter high hydraulic lifting platform and two cooperative six axis mechanical arms. Using ARM embedded processor, the hardware and software of the dual arm robot controller are designed and developed. According to the actual operation application requirements, the path planning method of the manipulator is given. The field operation control of the dual arm robot is realized through WiFi wireless communication mode and SOCKET programming. Using LoRa wireless communication network, the LoRa master station module and LoRa special tool module are designed and developed. LoRa fixed-point scanning communication mode is adopted, The communication between each tool module and the robot controller is realized. On the 10KV power distribution line of a training and experimental base, the live working robot system was tested on the spot, and various design functions such as peeling and connecting drain lines were verified. The whole process took 3 minutes and 20 seconds from the beginning of the robot receiving the peeling command to the completion of the peeling operation; It takes 2 minutes and 50 seconds to complete the whole process of connecting the drainage line.
