文中针对电网高空作业的检修需求进行高空全自动化接线机器人设计，从高空自动化接线机器人机械臂功能设计和接线功能实现方面进行了介绍。高空自动化接线机器人机械臂的结构设计分为机械臂和绝缘设计。采用嵌入“准时”（Just in Time, JIT）调度思想的基于优先级的立即抢先算法实时处理接线多任务，新增绝缘防护失效控制模块，目的是提高处理效率和人机交互的智能化。该系统包括机械臂控制系统、电动机驱动电路系统、移动平台系统等多个模块。通过现场实施测试，证实该系统可以根据任务程序有序、高效地执行实时维护。与传统人工接线相比，高空自动化接线装置具有效率高，安全性好等优越性。
英文摘要:
In this paper, the design of fully-automatic wiring robots for high-altitude automatic wiring robots is designed according to the maintenance requirements of aerial work in the power grid. The structure design of the robotic arm of the air automation wiring robot is divided into a mechanical arm and an insulation design. A priority-based immediate preemption algorithm based on the just in time (JIT) scheduling idea is used to handle multi-tasking in real time, and a new insulation protection failure control module is added to improve processing efficiency and intelligent human-computer interaction. The system includes multiple modules such as a robotic arm control system, a motor drive circuit system, and a mobile platform system. Through on-site testing, it is confirmed that the system can perform real-time maintenance in an orderly and efficient manner according to the task program. Compared with the traditional manual wiring, the high-altitude automatic wiring device has the advantages of high efficiency and good safety.
