配网导线绝缘漆喷涂机器人及控制系统设计

Development of Automatic Painting Robot and Its Control System for Over-head Electrical Power-line

摘要:

综合嵌入式系统、自动化、虚拟样机、无线通信、智能控制等技术、模块化设计及嵌入式系统方法,设计了配网导线自动喷涂机器人系统;该系统包括线上行走机器人机械移动本体、机载控制系统及地面站三部分,机械本体采用模块化结构形式,机载控制系统采用ATmega128A 8位MCU；地面站软件采用TurboDelphi设计,与机载控制系统之间采用433 MHz无线通信形式,系统工作电压为24 V；实验表明,该系统最大运行速度约12 m/s,最大涂漆厚度2 mm,鲁棒性强,可稳定、高效地实现配网导线的绝缘漆自动喷涂作业。

Abstract:

Combining such technologies as embedded control system, automation, virtual machine, wireless communication, intelligent control, modular design with embedded control method, an automatic insulation-painting robot was designed and developed. The robot consists of mechanical mobile carrier on the power-line, on-board MCU control system and station controller designed with TurboDelphi. Meanwhile,the modular method and embedded method were adopted to design the mechanical mobile carrier and the on-board ATmega128A 8-bit MCU control system respectively. The station controller connects with the on-board control system with 433MHz wireless module, and the motors run in 24V DC voltage.The site experiments indicate the robot moves in about 12m/s velocity, the paint thickness is 2mm, together with its robustness of the on-board MCU control system and high-performance of the painting robot.