架空高压输电线路爬绳式重物自输送机器人无线控制系统设计  

Design of Wireless Control System for Rope-Climbing Heavy Self-Conveying Robot for Overhead High Voltage Transmission Line

作　　者：王海生 翟欣欣 李树红 毛若宇 崔云龙 WANG Haisheng;ZHAI Xinxin;LI Shuhong;MAO Ruoyu;CUI Yunlong(Inner Mongolia UHV Power Supply Bureau,Hohhot 010050,China)

机构地区：[1]内蒙古超高压供电局,呼和浩特010050

出　　处：《内蒙古电力技术》2020年第5期85-88,共4页Inner Mongolia Electric Power

摘　　要：设计了爬绳式重物自输送装置及其控制系统,实现了载重机器人上行、暂停与下行的远程无线控制,并可对减速器温度、电源电压、最高点位置等进行实时监测。实测结果表明,该控制系统的双向无线通信距离不低于80 m,爬绳机器人的工作电压范围为20~25 V,最大载重质量35 kg;在电池电量充足、载重质量30 kg的条件下,载重机器人可在距地面30 m的范围内连续升降24次,最大上行、下行时间分别不超过150 s、90 s,系统工作稳定可靠。The rope-climbing heavy self-conveying device and its control system are designed to realize the remote wireless control of the up,down and pause of the load-bearing robot,and the real-time monitoring of the reducer temperature,power supply voltage and the position of the highest point.The experimental results show that the two-way wireless communication distance of the control system is not less than 80 m,the working voltage range of the rope climbing robot is from 20 V to 25 V,and the maximum load capacity is 35 kg.Under the condition of sufficient battery power and 30 kg load,the load-bearing robot can continuously lift and descend for 24 times within the range of 30 m from the ground,and the maximum uplink and downlink time are not more than 150 s and 90 s respectively.The system is stable and reliable.

关 键 词：架空高压输电线路 爬绳式重物自输送装置 电力巡检 无线控制 

分 类 号：TM755[电气工程—电力系统及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]