架空电力线绝缘漆自动喷涂行走机器人设计  

Design of Automatic Spraying Walking Robot for Overhead Power Line Insulation Paint

作　　者：沈治[1] SHEN Zhi(Department of Electrical and Electronic Engineering,Changzhou Vocational Institute of Light Industry,Jiangsu Changzhou213164,China)

机构地区：[1]常州轻工职业技术学院电子电气工程系,江苏常州213164

出　　处：《机械设计与制造》2020年第7期241-245,共5页Machinery Design & Manufacture

基　　金：2015年江苏高校品牌专业建设工程资助项目TAPP(PPZY2015C236);2016年江苏省青蓝工程资助项目;院重点科研团队“智能装备与控制技术团队”(ZD201813101001)。

摘　　要：目前的架空电力线采用人工喷涂的方式,存在着效率低、速度慢、喷涂绝缘层不均匀等缺陷,现设计能够在高空行走并对架空电力线实现自动喷涂绝缘漆的机器人。该机器人以PLC为控制核心,通过无线传输与地面HMI通信,能够在架空电力线上自动行走,采用模糊控制策略调节机器人行走速度和绝缘漆喷涂量,实现特定厚度的绝缘漆自动喷涂作业。该系统已成功应用于广西电力电网系统,通过运行发现该系统设计合理、运行可靠、喷涂均匀,在自动喷涂过程中实现了全自动化和智能化。At present,the overhead power line adopts the way of artificial spraying,which has the defects of low efficiency,slow speed and uneven insulating layer,etc.Now a robot is designed to automatically spray insulation paint on overhead power lines while walking at high altitude.The robot uses PLC as the control core,communicates with the ground HMI through wireless transmission,can walk automatically on overhead power line.The walking speed of the robot and the amount of insulating paint spraying can be adjusted by fuzzy control strategy,so as to realize the automatic spraying of insulating paint with a specific thickness.The system has been successfully applied to Guangxi Electric Power Grid System.Through operation,it is found that the system is reasonable in design,reliable in operation,uniform in spraying,and fully automated and intelligent in the process of automatic spraying.

关 键 词：自动喷涂 行走机器人 PLC 模糊控制策略 架空电力线 

分 类 号：TH16[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]