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除冰機(jī)器人的設(shè)計 摘 要 如今對輸電線路實施除冰是防止冰災(zāi)的有效途徑，如何具體的除冰方法則應(yīng)用了除 冰機(jī)器人，除冰機(jī)器人造價低，工作效率高，安全可靠，能夠?qū)崿F(xiàn)在線除冰作業(yè)，不影 響電力的輸送，是一項很有發(fā)展前景的課題。目前機(jī)器人在高壓輸電線路上的應(yīng)用主要 是線路巡檢。而對線路除冰的應(yīng)用還鮮有研究。本文對除冰機(jī)器人本體設(shè)計、越障規(guī)劃。 主要研究內(nèi)容如下。首先，在分析了輸電線路結(jié)構(gòu)和除冰作業(yè)要求的基礎(chǔ)上，指出現(xiàn)有 巡線機(jī)器人結(jié)構(gòu)運用到除冰作業(yè)中的缺陷，設(shè)計了一種除冰機(jī)器人本體機(jī)構(gòu)，并對其越 障的動作進(jìn)行了規(guī)劃。所選的減速器和電機(jī)仍能滿足要求，從而證明了除冰機(jī)器人的合 理性，為了保證電力系統(tǒng)的可靠性，提高高壓輸電線除冰的效率，減少損失，維護(hù)工人 的安全，開發(fā)一種可以替代或部分替代工人進(jìn)行除冰作業(yè)的新型設(shè)備一直是國內(nèi)外相關(guān) 研究的熱點。因此，研制安全有效的除冰機(jī)械以代替人進(jìn)行導(dǎo)線除冰具有較好的應(yīng)用前 景和實用意義。 關(guān)鍵詞：除冰機(jī)器人；機(jī)構(gòu)設(shè)計；電動機(jī)；越障規(guī)劃 Abstract Now on the transmission line icing is to prevent the implementation of ice disaster in an effective way, how specific deicing method is applied the deicing robot, deicing robot has the advantages of low cost, high work efficiency, safety and reliability, can realize online deicing operation, does not affect the transmission of electricity, is a promising subject. The current robot on HV power transmission lines is mainly applied to transmission line inspection. On line deicing application is little research. The deicing robot design, planning, negotiation dynamics analysis are studied. The main research contents are as follows. Firstly, on the analysis of the transmission line structure and deicing operation on the basis of the requirements of inspection robot for power transmission lines, design a kind of deicing robot body mechanism, and the obstacle of action planning. improve the high voltage transmission line deicing efficiency, reduce the loss, maintain the safety of workers, the development of a replacement or partial replacement workers were deicing operation of new equipment has been in the domestic and foreign related research. Therefore, the development of safe and effective deicing machine to replace the human to lead deicing and has better application prospect and practical significance Key words：Deicing robot; mechanism design; Motor; rigid-flexible coupling dynamics 目 錄 摘 要 .................................................................................1 1 引言 .................................................................................1 1.1 問題的提出及研究意義 ..............................................................1 1.2 國內(nèi)外研究現(xiàn)狀 ....................................................................1 1.3 工業(yè)機(jī)器人的發(fā)展史 ................................................................2 1.4 導(dǎo)線覆冰的原因 ....................................................................3 2 高壓輸電線路的覆冰 ...................................................................4 2.1 不規(guī)則覆冰和不同期脫冰 ............................................................4 2.2 除冰的方式方法 ....................................................................4 2.3 輸電線路的抗冰 ....................................................................5 3 除冰機(jī)器人機(jī)構(gòu) .......................................................................7 3.1 除冰機(jī)器人種類 ....................................................................7 3.1.1 線纜除冰機(jī)器人 ...............................................................7 3.1.2 可跨躍障礙多分裂機(jī)器人 .......................................................8 3.1.3 電力設(shè)施的微波除冰裝置 .......................................................9 3.2 前端多環(huán)銑刀 ......................................................................9 3.2.1 成型銑刀的結(jié)構(gòu)參數(shù) ..........................................................10 3.2.2 成型銑刀截面的計算 ..........................................................13 3.3 機(jī)械升降平臺 .....................................................................14 3.3.1 升降平臺的機(jī)械結(jié)構(gòu)形式 ......................................................14 3.3.2 升降平臺零件設(shè)計 ............................................................15 3.4 電機(jī)的選擇 .......................................................................17 3.4.1 升降步進(jìn)電機(jī) .................................................................17 3.4.2 回轉(zhuǎn)驅(qū)動電機(jī) ................................................................19 4 控制系統(tǒng)的設(shè)計 ......................................................................21 4.1 機(jī)器人的控制系統(tǒng) .................................................................21 4.2 基于運動卡的控制系統(tǒng)的建立 .......................................................22 4.2.1 總體方案的確定 .................................................................22 4.2.2 機(jī)器人控制工作原理 .............................................................23 4.3 軟件編程語言的特點 ...............................................................24 4.4 指令系統(tǒng) .........................................................................24 4.5 運動控制程序運行過程的簡介 .......................................................25 參考文獻(xiàn) ..............................................................................26 致 謝 ................................................................................27 1 引言 1.1 問題的提出及研究意義 現(xiàn)如今西南的很多地方出現(xiàn)了連續(xù)的低溫雨雪冰凍天氣，并且遭受了很嚴(yán)重的冰雪災(zāi)害。 國家減災(zāi)委員會專家已定性為：“西南地區(qū)發(fā)生的冰雪災(zāi)害，是世界上比較大面積、極 端性氣候事件，影響的地區(qū)人口之多是世界罕見的” 。冰災(zāi)造成中心的城區(qū)正值春節(jié)期間 停電、停水很多天，交通、通訊、電視均