Design and Application of High-Voltage Live Working Robot System

According to requirements of live working in 10KV distribution network, a mobile hydraulic lifting platform and two cooperative six-axis robotic arms are adopted, and a high-voltage live working robot system with visual positioning and LoRa (Long Range Radio) wireless network communication functions is developed. Using an ARM embedded processor, the hardware and software of a remote dual-arm robot controller are designed to achieve wireless operation of robot arms and operation tools. A LoRa main station module and a LoRa tool module are designed to realize the communication between the robot controller and various tools. Visual positioning methods of the robot is discussed, and relationship matrices between camera coordinate, robot arm end coordinate and tool end coordinate are obtained. The simulation and experimental results show that the electric field distribution of the robot arm is within the safe range, with a maximum of 96kV/ m and a minimum of 1.4kV/ m. The visual positioning accuracy of the work target is less than 6mm, and it takes 3 minutes and 20 seconds to strip the cable, 2 minutes and 50 seconds to connect the lead wire, and 1 minute and 57 seconds to screw the insulator, meeting the requirements of the distribution network.