Research on Medium Phase Operation Methods of Live Working Robots in Distribution Networks

The current live working robot adopts the integration of visual positioning and lidar positioning, and the autonomous cooperative operation mode of two robot arms, which can complete most of the scene operations, such as wire clamp bolt locking, laser wire stripping and live fire operation, electrical ground ring inspection, fault indicator and bird repeater installation, insulator deicing and flaw detection. Limited by the working stroke and load capacity of the robot arm, it is difficult to achieve in the triangular three-phase work scenario in the distribution network. Based on the analysis of the structure and characteristics of the live work robot arm and the actual situation of the working scene, a live work robot mode of UR10 working cooperative arm with outdoor special cooperative arm was proposed to increase the working travel and load capacity of the robot, and a wire positioning tool was developed to realize the working ability of the live working robot in distribution network.