The robot maintenance method for fitting bolt in high-altitude settlement environment

摘要

The live-working robot is of great significance to the fitting maintenance and personal safety in substation, where the high-precision positioning and maintenance work of the bolts in fittings is the foundation. However, when the robot at the end of the bucket car completes the bolts positioning and moves to the front of the target, the center of gravity of the robot platform will move forward and cause settlement, which will bring settlement errors to the visual data and cause the final maintenance to fail. Aiming at the problem, this paper proposes a robot maintenance method for fitting bolts (RMMFB) in high-altitude settlement environment. Firstly, aiming at the high-precision 3D (three-dimensional) positioning requirements of the bolts in the fittings, the RGB-D camera is used to calculate the position and posture of the bolts. Secondly, Aiming at the jamming problem when the tooling motor unloads the bolts in 3D space, the robot arm is carried out the motion decomposition to realize the posture alignment and unloading work of the motor to the fitting. Finally, Aiming at the problem of visual data invalidation due to high-altitude settlement, the manual monitoring is used for error compensation. The experimental results show that the RMMFB method can be applied to high-altitude live working robot effectively, and realize the maintenance work of fittings well.