火电厂灰库安全清理机器人控制系统设计

Control System Design for Ash Warehouse Safe Cleaning Robot in Coal-fired Power Plant

目前火电厂灰库的清理工作主要由人工完成,由于危险系数高屡屡爆出安全事故,造成一定的人员伤亡。开发了一套火电厂灰库安全清理机器人,首先介绍了该机器人的结构设计及关键模块,以实现机器人的基本功能,然后对机器人控制系统软件以及硬件进行了设计。试验结果表明,该安全清理机器人能够较好地完成灰库清理工作。

At present,the coal-fired power plant ash warehouse is mainly cleaned manually,and the high-risk factors result in frequent accidents,even casualties.A set of safe clearing robot is developed for ash warehouse in coal-fired power plant.The structure design and key modules of the robot are introduced to realize the basic functions of the safe clearing robot.Finally,the software and hardware of the safe clearing robot control system are designed.The experimental results show that the safe clearing robot can clean up the ash storage well.