更换绝缘子串等电位机器人控制系统的设计与实现

Design and Implementation of Replacement Insulator String Equipotential Robot Control System

为了实现带电环境下的绝缘子串更换,提出了一种带电更换绝缘子串等电位机器人的控制系统方案,并完成了软硬件系统设计。针对绝缘子串更换环境对机器人尺寸小、重量轻等要求,控制系统采用了以Beckhoff嵌入式控制器C6015为核心控制器,并带有可见光相机、限位开关等传感器的硬件控制系统,以LabVIEW和TwinCat3为上下位机软件开发环境的软件控制系统。通过测试表明,该控制系统能够完成带电更换绝缘子串过程中所需要的弹簧销的插拔,以及碗头的脱出与装入等操作。

A control system for hot-line working robots is proposed in order to implement the insulator strings replacement during hot-line working, and the hardware and software system for the robots is also designed. On the situation of requirements for small size and light weight robots during insulator strings replacement, this control system adopts a Beckhoff embedded controller C6015 , with cameras, limited switches, and other sensor hardware. It is also designed on the development environment of using LabVIEW and TwinCat3 as its host and subordinate computer. The testing results show that this control system can complete the assignments of spring cotter hot plugging and socket connection and disconnection under the needs of replacement insulator strings during hot-line working.