立式金属罐容积检定爬壁机器人本体设计.pdf

l:2009-11-09Te:fS(1985),3,a,_/1,1VY1NVa?NZb立式金属罐容积检定爬壁机器人本体设计张立国,肖军,佟仕忠,李会举,付贵增(辽宁石油化工大学信息与控制工程学院,辽宁抚顺113001)K1:介绍一种用于对立式金属罐容积检定的爬壁机器人设计方案b该爬壁机器人具有永磁吸附方式组成的吸附系统和四轮驱动式的轮式移动机构,其吸附系统镶嵌在轮式移动机构的车体中,且和壁面非接触b这种设计改进了传统爬壁机器人机械结构中存在的转向困难和容易对油罐壁造成损坏的缺陷,同时对其稳定性及可靠性进行了力学分析,并对总体控制系统设计进行了说明b着重阐述了直流电机与减速器的选型以及以AT89C51微控制器为核心构成的下位机硬件控制电路和相应的软件设计方法b1oM:爬壁机器人；看门狗；倾角传感器；电源模块ms|:TP242DS:AcI|:1000-0682(2010)02-0037-05Designonawall-climbingrobotforcapacitymeasurementofverticalmetaltankZHANGLiguo,XIAOJun,TONGShizhong,LIHuiju,FUGuizeng(SchoolofControlandInformationEngineering,LiaoningShihuaUniversity,LiaoningFushun113001,China)Abstract:Onekindofwall-climbingrobotsareintroducedthatitusetomeasuretheverticalmetaltank1Thewall-climbingrobotiscomposedofapermanentmagneticadsorptionsystemandafour-wheeldrivemechanism,andtheadsorptionsystemismountedonbodyofthewheellocationmechanismandnon-contactwiththewallcssurface1Thisdesignimprovedthetraditionalwall-climbingrobotme-chanicalstructuredefectsthataredifficulttosteeredandeasytodamagedonthetankwal,lmeanwhileitanalysistoitsstabilityandthereliability,andexplaintotheoverallcontrolsystemdesign1Therearespe-cialexplainedtheselectionofDCmotorandreducer,aswellasAT89C51microcontrollerasthecoreconsistingofunder-machinehardwaresystemandthecorrespondingsoftwaredesignmethod1Keywords:wall-climbingrobo；twatchdog；tiltsensor；powersourcemodule0T7FFKni%!b-T7_WP_N,L=4by_1qymOE+7,7HM_NS,FvBbT?Cz_NS,P_7pEM,iM_T=,L_SM,|,9|41b1C98!91118!981VaVaVaaaaaqF,m1UbC1CM?,N$ML=,iLCM2aTel1pbV?A,.dHCHvO3ki7C(ZT,/_4Ok7C/b.d,CZTHvO387O7Cd(ZTbZT?4?,7OL_7C/#37#2010M2NV1b|,YV8sfs,14Kl,K%MN35rH8Tb=aHVhPH+,a7aaQHf/2b7M?5AT89C51eeQLCb11V；21V；31V；41；51；61；71；81；91g；101；111Fm1C8m112CVLsm2CsUimm2CsUimbP7C,?2M,/Hq:(1)HqHv3KvEifi?h1&:EiNi=EiFi；EiGi=Eifi(1)OEifi=EiLNi=EiLFi(2)TNi7C0；Fi0s；Gi0s；fi0s；LMbZ_s/T:EifiG2,EiLFiG2,EiLFi=nLF(3)NV:FG2nL(4)TnHv；FHvsb(2)C8CHqv,:2Fi#S-G9#h0(5)TS-W；hCbT(5)V:FiG9#h/2S(6)#T(4)V,|n,5V9Kv4,nH?3bT(6)V,!9CH,V?PCLC,1phV?l,HV?f/,FS,V?7-W,44b2ed98!9Ceda/Fb1d5,?,TCRTAU,d1a1#aTbHtoTT?o,YV1gY,oTASCII.edbHl1/QbW#,V7CLHeb/AT89C51,emc7,YVze,LCMTb/YRS485S,a.7T1pbed98!9mm3Ub#38#NV12010M2m3ed98!9m3/q!9/qqCPUATMEL3AT89C51,zMAX-ONb311zv!9(1)!9V,n5hQ,ed!9bhQMAXONDCX6000r/min,7h1915r/min,h1:i1=6000B1915=307169B1(7)7iL=115N#m；KvMmax118N#mb,4MAXONA-max26,11Walt；hQ4h1295B1GP32CQ4b(2)zd+?eZ,YV?YsYeY_bm4Bz,VmVAAT89C51VVP1emc|7,P315KM,P314H,；U2P?K2,VBgAgCFP_bP314P315HKMH,；U1P?K1,HVAgBgCFPQ_bNVP315eY,7P314eQbD1D4eAUbedT,eeL,qb(3)PC?VLT,AFSjb!9X5045LCSj?,X5045BV!200msa600msa114sAHbX5045$!114sHb,BHWWbBH/07(P111B/),HWWl114s,HX5045n；Cs,HWW|V114sX5045n,iYVRSTB|P,7S5b312_vC17_,Av5?Sb:7L_/Sb1pC40M,5CCLfbzj#C7CVC/u0C,(/M,7PZ_L,7P?3|,#1!9(ed,LH_(bi?(1,1,V7LChl(b!9(edLAM-TD-360.6,SMAX232gAT89C51Y7bLAM-TD-360em5Ub313v!9edzdedsbzd24V,ed5Vb/ed24Vs4byNzs24Vz,7es5V5MC34063qyvLC24V5V4bMC34063TDC/DCMbm6MC34063718b=715YH,MC340631a2L1aL2aC3,HL1aL2#39#2010M2NV1i%?；=7157H,?C3b71Wu,+5Vb#40#ebH/LH.,/|SLHe%bm8/qm5Cd!9,8ed!9d1obC8d,d78d(ZT?%.diBt,H!9qedeL,TbCkC2#:zaTaza+bID:1D,L,17_CedJ1NV1,1997,(6):7-1112Z,b,L；,1T7_CJ11NV,2007,28(8):45-4713bI1/w1!8D1qv,2003:20