摘要
在户外电线、高压电线等电力设施周围经常长有较高的树木,这些树木的修剪成为难题。为解决这一问题,基于机械设计理论、电气步进控制、无线智能通讯等原理技术研制了一套高空切枝装置。该装置以剪叉式升降平台为升降机构承载机械手实现高空作业,以落地支架电动转盘作为旋转台控制机械手旋转定位;采用PLC控制步进电机的方向电平置位、复位和高频脉冲输入来实现机械手的X轴平移、Z轴升降以及肘关节旋转;通过PLC控制电动推杆伸缩实现Y轴伸缩运动。切枝时,只需要用遥控器控制X轴、Y轴和Z轴的平移运动、肘关节的旋转运动以及链锯的启、停即可实现对横向树枝或竖向树枝的剪切。此外,切枝装置还包含进给缓冲装置和防触电装置。经过现场试用,该切枝装置能够胜任高空树枝的剪切工作及保证操作人员的安全。
There are often tall trees around outdoor power lines,high-voltage power lines and other power facilities,and the pruning of these trees becomes a difficult problem.In order to solve this problem,a set of high altitude pruning device was developed based on mechanical design theory,electrical step control,wireless intelligent communication and other principle technologies.In this device,the scissor type lifting platform was used as the lifting mechanism to carry the manipulator to realize the high altitude operation,and the electric rotary table of the landing bracket was used as the rotating platform to control the rotation and positioning of the manipulator.PLC was used to control the direction level setting/resetting and high frequency pulse input of the stepping motor to realize the X-axis translation,Z-axis lifting and elbow joint rotation of the manipulator.The extension and shortening of Y-axis were realized by controlling the extension and contraction of electric push rod through PLC.When cutting branches,it is only necessary to use the remote control to control the translation movement of X-axis,Y-axis and Z-axis,the rotation movement of elbow joint and the start and stop of chain saw to realize the cutting of horizontal branches or vertical branches.In addition,the branch cutting device also comprises a feed buffer device and an anti-electric shock device.After field trial,the branch cutting device can be competent for the work of cutting high-altitude branches and ensure the safety of operators.
作者
万旭
敖娟
肖依梦
朱军
耿威
熊胜
WAN Xu;AO Juan;XIAO Yimeng;ZHU Jun;GENG Wei;XIONG Sheng(College of Mechatronics and Control Engineering,Hubei Normal University,Huangshi 435000,Hubei,China)
出处
《电气传动》
2021年第19期65-71,76,共8页
Electric Drive
基金
2019年大学生创新创业计划国家级项目(201910513005)
智能物流输送装备湖北省工程实验室开放项目(2019011)。
关键词
可编程逻辑控制器
切枝装置
链锯
机械手
机构设计
programmable logic controller(PLC)
cutting device
chain saw
manipulator
mechanism design
