高压输电线路清杂物机器人清除机构设计及其控制系统

Clearing institutions design and control system of removing debris robot for the high voltage transmission

设计一种可以为高压输电线路清除杂物的机器人,其主体包括机械机构和控制系统。根据高压输电线路清除杂物作业需求,设计了清除杂物机器人的机械机构。由于清除机构机械自由度高、整体质量大,给机器人越障带来困难。采用欠驱动的设计思想,对清除机构进行优化设计,以减少驱动电动机个数,达到机器人整体质量下降的目的,为缓解机器人越障困难提供方法。根据清除杂物控制要求,对机器人控制系统的软件、硬件进行设计,利用S3C6410单片机对机器人清除机构进行试验,试验结果符合设计要求。

Design a robot that can remove debris for high voltage transmission lines, and its main body includes mechanical mechanism and controller system. According to the high pressure transmission line to clear the debris operation needs, designed to remove the debris robot mechanical mechanism. As the removal mechanism of mechanical freedom is high, the overall weight, to the robot obstacle difficult. The design of the cleaning mechanism is adopted to optimize the design of the removal mechanism to reduce the number of motor drives and to reduce the overall weight of the robot. It provides a method to alleviate the difficulties of the robot. According to the requirements of debris control, the software and hardware of the robot control system are designed, and the robot removal mechanism is tested with S3C6410 single chip microcomputer. The result is in accordance with the design requirements.