摘要
高压电线铁塔防腐工作是确保安全供电的重要基础维护工程。为了解决目前人工铁塔防腐作业效率低下且存在安全隐患的问题,本文尝试用工业机器人技术研究解决当前落后的铁塔防腐工艺问题,实现用先进的机器人替代人工喷涂。本文所建立的系统包括供机器人自动识别铁塔类型的描述模型、喷涂轨迹控制和喷涂质量检测部分。仿真和实验均验证了设计的可行性。
The anti-corrosion of high-voltage wire towers is an important basic maintenance project to ensure safe power supply.We propose a scheme to promote efficiency of anti-corrosion with robot technique that can overcome those limited such as lower efficiency and safety level of work by hand.The designed painting system is to prevent tower off corrosion,which consists of geometry model of tower,painting trajectory controller and painting quality monitor.The simulation and laboratory tests verify the design presented is valid.
作者
黎永强
李江成
王能
张志飞
Li Yongqiang;Li Jiangcheng;Wang Neng;Zhang Zhifei(Guangdong Raising Synthesis Energy Services Co.,Ltd,Foshan,Guangdong 528000;Guangdong Origin Intelligent Technology Co.,Ltd,Nanhai,Guangdong 528216;Foshan University,School of Automation,Foshan,Guangdong 528000)
出处
《电气技术》
2019年第10期46-52,61,共8页
Electrical Engineering
基金
国家自然科学基金(61803087)
关键词
铁塔建模
铁塔喷涂
喷涂轨迹规划
质量检测
tower modeling
tower painting
painting trajectory planning
quality monitoring
