履带管道机器人——毕业设计

1 2 nRF905 DS18B20 MLX90601EZA CAA Abstract With the development of science and technology the application of robots has been in the field of experiment or in other areas and people s daily work and life In some specific environments such as high pressure oxygen free or corrosion under harsh conditions etc the robot has played a huge role Tracked robot 1 can adapt to the changing environment can achieve long distance drive and the traction force is excellent It is particularly important to strengthen the detection and improve the safety of pipeline transportation in the construction and in service transportation pipeline The design of the robot sensors wireless communication technology such as organic combination to achieve a natural gas pipeline environment and temperature for effective real time monitoring to provide a lot of convenience for the maintenance personnel This topic mainly for crawler pipe robot structure design using special pressing structure enables the robot to walk for pipeline in various directions and has certain ability of obstacle surmounting 2 the pipeline pass smoothly In the control design of the robot the information exchange between the robot and the host computer is realized Among them the transceiver module is based on the nRF905 RF transceiver chip temperature acquisition chip select DS18B20 and non contact infrared temperature sensor MLX90601EZA CAA Through the test of the system and the related literature this topic crawler pipe robot device design of the overall structure of the right each function module of the software and hardware design collocation to meet the requirements stable operation basically meet the application requirements Key words crawler typepipeline robottemperature sensor 1 1 1 1 1 2 1 1 3 1 3 2 1 3 2 2 4 2 3 6 2 4 7 2 5 11 2 6 12 2 7 12 14 3 1 14 3 2 14 3 3 15 17 4 1 17 4 2 18 4 3 18 22 5 1 22 5 2 22 5 3 23 24 25 26 2016 1 1 1 20 70 1 2 3 20 80 NUGV URBOT Talon 4 CLIMBER 1 3 2016 2 CAD Pro E 2016 3 2 1 5 1 a 2 b 2 1 45cos 2 45sin 2 2 45cos 2 0 max dDRDRL DRDRd 2 1 22 max 2 2 2 0 dDRDRL Dd 2 2 1 2 1 0 2 45cos 2 DRDR R 3 DRmm 3 Rmm 1000 Dmm 2016 4 22 max 2 2 2dDRDRL R 4D 2400mm D 1000mm d 600mm 2939 Lmm Dd 600 dmmLmm 2 2 1 2 0 99 3 80m s 4 5 6 6 GGfTTT if sin 2 3 f T N i T N f N 28kg 280 G 350 FN 2 1 0 6 0 850 45 0 750 70 8 2016 5 85 0 5 29735085 0 FF 2 4 29428090sin28005 0sin GGfF 2 5 f 0 05 2 2 610sin 350260 1 0sin GGGfF 2 6 10m min 496010224 vFP 2 7 2016 6 d 100mm v 10m min 84 31 1 014 3 10 d v n r min 2 8 XL d 100mm XL d 112 68mm d0 113 19mm z 70 a 600mm 4166 15519 11314 326002 daL mm 2 9 b 146mm 2 3 P 37 33W 50 99 0 49 P PM 2 10 113 19mm 10mm v 10m min 91 23 19 13314 3 10000 0 d v n r min 2 11 47 82r min 2016 7 2 3 2 4 0 5 0 6 7075 250 C 700 C 250 C 160M Pa 545M Pa 8 3 164 1 MPa 294 95 1 MPa 24V 3000 0 52r min 80 80mm 34mm 124mm 10mm 25 5mm 60w 5 04Nm 2016 8 1 7075 3 0 3 2 0 9550000 n p A n p d T 2 12 3 0 2 0 9550000 T A 2 12 d mm p kW n r min T MPa 7075 T 60MPa p 60W 95 0 a 5795 060 I p n 23 91r min 38 12 91 23602 0 057 09550000 2 0 9550000 3 3 n p d T I mm 2 13 3 7 12 38 1 0 07 13 25mm d 14mm min d 2 FHN FNV 2016 9 0 97 80mm 62 2276691 23 057 09550000 9550000 npT II N mm 2 14 17 56980 62 227662 2 dTF It 2 15 94cos63tan2017 569costan 2 tr FF 2 16 185sin63tan2017 569sintan 2 ta FF 2 17 arv FdLFLF 2 1 2 1 1 2 18 134 85 1852 802 8594 1 v FN 40 134 94 12 vrv FFF 2 19 185 aA FFN 5 6585 1 th FF 7 468 1 h FN 5 1985 2 th FF 4 100 2 h FN 20105 19134 11 lFM vv N mm 28005 6540 22 lFM vv N mm 2 20 5 70305 197 468 11 lFM hh N mm 2 21 2016 10 2 73125 70302010 222 2 vh MMMN mm 2 22 6 75675 70302800 2222 vh MMMN mm 2 4 2016 11 6 15615 6 227656 0 6 7567 2222 TMMd N mm 2 23 7075 545 b MPa3 164 1 MPa 83 9 3 1641 0 6 15615 1 0 3 3 1 d M dmm 2 24 4 22 10 dmm 15mm 2 5 90 20 1 z 40220 2 z 40 m 2mm 40 11 mzdmm80 22 mzdmm 2 mhamm 4 22 1 mhfmm 6 42 1 a dmm6 82 2 a dmm 2 2 m saFat F bm YYkF 2 25 1 1 2 m t d T F 20 42 6163518331022 40 82 6166619291244 2016 12 5 01 5 3 1 2 1 H RR EH ud kT Z 2 26 MpaMpa MpaMpa H F 4025 4030 2 27 2 6 2 7 61802 2 3 mm mm mm 61802 15245 Cr kN Cor kN r min 2 11 3220000 185N 94N 0 5Cor 25r min 2016 13 20 250 200 2016 14 3 1 600 1000mm 28kg 3km 30mm 0 10m min 3 1 3 2 2016 15 7 3 3 3 2 3 4 2016 16 3 3 60Si2Mn 4 30 100mm 11 8 11mm 14 73N mm 24mm 3 5 2016 17 4 1 4 1 4 2 2016 18 DN6837 4 1 4 2 10mm 1mm 4 2 HK33 2 LPC2106 4 3 4 3 4 3 8 2016 19 MLX90601EZA CAA SPI PWM 0 2 C MLX90601EZA CAA DS18B20 700ms 0 5 C DS18B20 Melexis MLX90601 MLX90247 MLX90247 MLX90313 A D 0 2 PWM SPI MLX90601 CAA MLX90601EZA CAA PWM SPI SPI MLX90601EZA CAA MLX90601EZA CAA MLX90601 SPI PWM DS1820 Dallas 2016 20 DS18B20 0 5 3 0 5 5V DS18B20 I O DS18B20 DS18B20 55 125 10 85 0 5 0 5 EEPROM 93 75ms 12 750ms CPU CentralProcessingUnit 12 0 5 0 25 0 125 0 0625 10 4 4 9 UWB LED UWB FSK ISM 2016 21 Nordic nRF905 10 nRF905 nRF905 Nordic VLSI ShockBurst ShockBurst nRF905 MCU TRX CE TX EN nRF905 ShockBurst ShockBurst RX AM DR MCU ShockBurstTX 905 CRC DR MCU MCU MCU nRF905 433 868 915MHZ ISM ShockBurst CRC SPI lOdBrn 11mA 12 5mA POWERDOWN 2016 22 5 1 PC PC PLC IPC 5 2 802 11g CPU 2016 23 5 3 CPU CPU 5 1 CPU CPU CPU 2016 24 1 4 2016 25 2016