摘要
针对目前电力顶管(拉管)测距技术所采用的自动跟踪测量系统存在结构复杂、成本较高以及操作困难等问题,设计了一种测量精度高、可准确观测电力顶管(拉管)内部阻塞情况且成本相对低廉的电力管线行走机器人。介绍了可自动调节适应管径范围为160～200 mm的电力顶管(拉管)且具备一定爬坡能力的电力管线机器人机械结构,阐述了为整个系统配置的控制电路以及蜗轮蜗杆电机、自适应测距轮、测距码盘、摄像头和图像传输等硬件模块的功能,在160 mm直径的电力管线的环境中进行实地测量与调试,可实现对电力顶管(拉管)长度的精确测量。
Regarding the existing problems of the automatic tracking measurement system in the current power pipe jacking(pull pipe) ranging technology,i.e.,complex structure,high cost and operational difficulties,a kind of power pipeline walking robot,with high measurement accuracy,accurate observation of the internal obstruction of power pipe jacking(pull pipe) and relatively low cost,is designed.The power pipeline robot structure,which not only can automatically adjust to the power pipe jacking(pull pipe) of a diameter range of 160 ~ 200 mm,but also has certain climbing ability,is introduced.The control circuit of the whole system and the functions of the hardware modules,such as turbine and worm motor,adaptive ranging wheel,ranging code plate and camera and image transmission,are described.In field measurement and commissioning in the environment of 160 mm diameter power pipeline,the robot can make accurate measurements of the length of power pipe jacking(drawing).
作者
俞沛宙
杨继辉
陈德军
王成龙
薛花
YU Peizhou;YANG Jihui;CHEN Dejun;WANG Chenglong;XUE Hua(State Grid Zhejiang Ningbo Yinzhou District Power Supply Co.,Ltd.,Ningbo 315100;School of Electrical Engineering,Shanghai University of Electric Power,Shanghai 200090)
出处
《电力与能源》
2019年第2期184-186,190,共4页
Power & Energy
关键词
电力顶管
行走机器人
自适应杆
自适应测距轮
码盘
electric pipe jacking
walking robot
adaptive bar
adaptive ranging wheel
encoder
