中英文文献翻译—特种机器人

摘要摘要：PLC 作为一种高性能的控制装置，在分布式系统中得到了越来越广泛的应用。在这种控制方式中，上位监控机系统是其中重要的组成部分。PLC 可以多种方式如直接采用现有的组态监控软件与上位监迭机通信，但针对小规模的控制系统，找到一种高性能价格比的通信方法，具有积极的实际意义。工业机器人的兴起和发展是制造业为提高产品质量、缩短产品制造周期和提高劳动生产率而推动的 .回顾 20 世纪 50 年代以来制造业的发展历程 ,工业机器人的发展源于制造业自动化发展需求 ,成为制造自动化生产线的关键设备 .工业机器人的发展推动了制造思想进步 ,同时工业机器人技术及系统也获得了飞速发展 .因此特种机器人的发展也要以需求为原则 ,充分研究我国非制造业自动化的实际需要 ,确定特种机器人的研究领域和需发展的关键技术 ,有所为有所不为 ,发展具有我国特色的特种机器人技术 。特种机器人研究一方面不能回避制约国家经济建设与产业化发展中的自动化关键技术问题 ,另一方面又要抢占战略性关键技术和未来可能形成新的经济增长点的竞争前核心技术 ,因此我国特种机器人研究既要满足当前国民经济发展的需要又要有前瞻性 .前瞻性研究是企业掌握市场主动权的前提 ,是国家竞争力的源动力 ,因此前瞻性研究是高技术研究的真正内涵 .在进行特种机器人研究时我们既要学习国外特别是西方发达国家的先进技术和先进经验 ,又要注意知识的原创新 ,掌握战略必争关键技术和竞争前技术 ,在基础和关键技术研究方面具有相当大的广度和深度 ,实现我国特种机器人的跨越式发展 。特种机器人研究以增强国家综合经济实力、保证国家安全、提高国际竞争力为己任。特种机器人种类多 ,应用领域广 ,自动化程度高 ,因此比传统的工业机器人有更广阔的前景 .立足于国民经济发展的需要 ,开展特种机器人研究 .今后 10 年我国基础设施建设处于高速发展阶段 ,对智能化工程机械有巨大需求 ,在筑路、管道作业、石油钻井等方面研制机器人化智能机械满足国家经济建设发展的需要 .特种机器人在 21 世纪的服务行业自动化过程中也大有作为 ,医疗机器人、娱乐机器人、康复机器人、导游机器人和家庭服务机器人等都值得关注和研究 。S7-200 系列 PLC 是德国西门子公司设计和生产的一类小型 PLC，它具有功能强大（许多功能已经能够达到大、中型 PLC 的水平）、体积小、价格低廉等很多优点。因此，S7-200 系列 PLC 一经推出就受到了广大技术人员的关注和青睐。S7-200 系列 PLC 从生产至今已经经历了两代产品的发展。第一代产品的 CPU 模块为 CPU22*，主机都可以扩展，它有CPU212、CPU214、CPU215 、CPU216 等四种不同结构配置的 CPU 单元，不过现在已经停止生产。第二代产品的 CPU 模块为 CPU22*，它于 21 世纪投放市场，它具有速度快，通信能力强的特点，有 5 种不同的 CPU 结构配置单元。S7-200 推出的 CPU22*系列 PLC（它是 CPU21*的替代产品）系统具有多种可供选择的特殊功能模块和人机界面，所以其系统容易集成，并且可以非常方便地组成PLC 网络，它同时拥有功能齐全的编程和工业控制组态软件，因此在设计控制系统时更加方便、简单、可以完成大部分的功能控制任务。可编程控制器（PLC ）是一种以微处理器为核心，综合了计算机技术、电器控制技术、自动控制技术和通讯技术而发展起来的一种新型、通用的自动控制装置。在电子技术与计算机技术日新月异的今天，许多新技术也盈盈在 PLC 中。随着集成电路技术和计算机技术的发展，PLC 得到了飞速发展，在概念、设计、性能价格比等方面有了重大突破它以功能齐全、稳定可靠、维护方便等优点，在工业自动化控制中得到，广泛的应用。然而一些弊端却制约了其发展：PLC 的软、硬体系结构封闭而不开放如：专用总线、通信网络协议、各模块不通用，其至机柜、电源模块亦各不相同；编程语研虽多数是梯形图但其组态、寻址、语言结构都不一致，各厂家的 PLC 并不能兼容。为了是各个厂家的 PLC 能够连接在同一个控制网络里面也为了减少用户学习各种不同编程语言的麻烦。IECll3I 标准出现了。IECll31 标准是有关可编程序控制器的硬件、安装、试验、编程、通信等方面的国际标准它共分 5 个部分IECll313 是有关编程的标准。该标准共规定了 5 种编程语言，图形化语言有梯形图(LD)，顺序功能图(SFC)，功能块图(FBD)。文本化语言有指令表(IL)和结构文本（ ST）。开放化有两层含义：一、各个 PLC 生产厂家之间的将相互兼容，可以连接在同一个网络里面而不是象现在一样。同一个网络里面只能够有一家 PLC 生产商的产品这样用户就能够有更多选择的自由；二、自从IECll313 标准发布以来，各个 PLC 生产厂家都尽量在向这一标准靠拢。高度的机械化和自动化是机械化大生产的标志，对生产设备和生产工艺进行人性化设计则是社会进步的展现，也是实际需要。高新技术高度集成的机械设备，受到世界各国越来越多的重视。具有一定智能性的机械设备也纷纷出现，并且涉及到各个行业。随着现代技术的迅速发展，智能机械设备的品种和数量大幅度增加，成为当今世界机械设备中的一道亮丽的风景，这是半个世纪来综合运用计算机，自动控制，精密测量等先进技术的理想成果。随着工业化大生产的推进，厂矿企业的生产规模不断扩大，排污沟渠的清淤问题也受到越来越多的重视。而市场上的通用清淤设备如挖泥机，灌渠清淤机等无法适用于厂矿企业的清淤环境。目前厂矿企业排污清淤只要靠人力进行清淤，这种方法不但清淤效率低，成本高，而且对人的身体健康造成很大的危害，在某些情况下无法进行人力清淤。为此设计了一种机械自动化清淤装置，本次设计主要完成清淤机器人载体控制部分。我们生活的周围，各种水体环境由于淤泥治理难度大，多少年来都没有对这些水域开展清淤工作，在水底堆积了不少的淤泥，严重影响了水体质量使得水质变黑发臭。如何合理的清淤一直是个问题。中小型河道的清淤工作尤其难以实现它一般是指县级及其以下的河道，包括乡级、村级和各类中小型排灌沟渠。这些河道的主要渠道，有的还承担者生产与生活用水的供应。据调查，目前我国许多省市的中小型河道淤积现象已十分严重，给工农业生产及居民生活带来很大影响。长期以来，河道的疏浚清淤大多依靠人力，随着我国商品经济的发展和农村劳动力的转移，特别在乡镇企业较为发达的地区，再想依靠人力清淤已十分困难，迫切要求实现清淤工作机械化、自动化。过去，对于大型河道的清淤，通过从国外引进或自行生产的大型挖泥船舶，就生产能力上讲，已基本能满足要求，但对中小型河道的疏浚清淤机械的开发起步较晚，加之各类河道情况各异，施工条件比较复杂，需要针对不同类别河道的具体情况，分别配备与之相适应的清淤机，才能更好的满足施工要求。中小型清淤机械的主要类型根据工作方式不同大体分为以下几类：（1）陆用长臂湿地型挖掘机（2）两栖式清淤机（3）自航式清淤机（4）中小型绞吸式挖泥船（5）水力开挖机组（6）超小型清淤施肥多用机还有一些正在研制的中小类型。清淤机的控制部分也是多种多样，有 PC 机、单片机、可编程控制器（PLC）、微型计算机等。研制本机的构想是一种轻型渠道清淤机在渠道底部自动行走，自动挖掘，自动运摔，下上位机的控制选择了可编程控制器。根据我国目前的排水管道清淤的现状，常用的清淤方法有人工清淤，和水利清淤法（高压水射流清淤法和水冲刷清淤法）和机械清淤法等方式。1）人工清淤法工作人员在配备安全保护措施的情况下借助简单的工具，进入沟渠内部进行清淤工作，并通过手推车将淤泥送到井口，达到一定量后由井口挖掘机挖出。但这些设备需要人工进入管道进行实地操作，并且只适用于人可进入的沟渠，劳动强度大，清淤速度慢，对工作人员的人身安全无法很好的保障。2）水利清淤法水利清淤法包括高压水射流清淤法和水冲刷清淤法。高压水射流清淤法是用一台高压喷射车，装备有大型水罐，激动卷管器，高压水泵，射射水喷头等。操作时由车上的引擎驱动高压泵，将水加压后送入射水喷头，通过高压水清洗管道壁，将渠道内的沉淀物冲入检查井中，然后由吸泥车将其吸走。这种方法是用于各种直径的水下管道，但是由于需要干净水，所以成本较高。为降低成本，现在的清淤车多备有污水净化装置，以利用下水道中的污水。水冲刷清淤法是制作一种能挡水的清淤装置，由检查井放入管道内，利用该装置把管道中的污水阻挡在其上游。当水位达到一定高度后便放水，使上游水形成水流来清除管道内的沉积物。一旦足够多的沉积物被冲走，这个装置就向下游移动一段距离，这种方法需要在管道内进行大量的工作。由于下水管道中的污水通常能析出硫化氢等有害气体或爆炸气体，因此养护人员井下工作检查时要采取相应的安全措施。3）机械清淤法由于管道内的工业废水和工业废渣，其腐蚀性水质还会腐蚀水泥管道和金属管道，严重时会引起管道破裂，管道破裂处或接口损坏处常有地下水夹杂的泥沙渗入，造成接口错位，管道堵塞等严重情况，再加上管道内空间狭小等特殊情况。上述情况，严重制约了管道清淤机械的尺寸、体积，也给清淤机械的行走方式，作业姿态、操作工具、载体动力、检测动力、检测手段、控制方式等关键技术的研制增加很大难度。因为动力的限制，清淤机械应设计成以自动检测为主，兼做人力不可及和危险性，危害性较大的环境下的自动清淤工作。清淤机械的机构宜采用组合型体，分成机械载体，检测控制装置和清淤装置三大部分。机械载体和作业装置之间的连接可采用搭勾脱扣机构能方便的连接和解脱。机械载体装有机械用的动力源，除担负机械部分行走任务外，还向检测装置提供电源和清淤装置提供动力。由于载体受井口和管道的限制，其长度和体积都不能做大，故动力电机必须从特殊设计制造，采用步进电机或直流低压大电流结构电机，以提供传动力矩。机械载体的行走方式以发行为宜，其正下方的驱动轮设计成链轮式，以增加在水泥中的爬行力度。电动机机壳必须严格防爆密封，以防电火花引起易燃易爆气体燃烧爆炸。清淤机械进行作业时，载体携带检测装置进入管道，检测装置上可同时安装有害气体浓度，及堵塞状态传感器。检测出来的管道的内部状况传送到计算机，进行分析后在显示装置上现实清淤机和管道内部的情况，并根据管道内的情况控制清淤机进行相应的动作。总体控制是该清淤机械的关键技术。总体控制包含机械载体的运行速度控制，清淤作业方式控制，传感器运动规律控制，事故处理控制等。事故处理控制及清淤机行走时的拖拽电缆，还包括各种检测信号的变传、采集、接受、程序运算处理、记录等项信息处理内容。完成这些内容的研制，有赖于高新传感器检测技术及计算机控制技术。为清淤机械之上下井道服务的起吊装置，提供电源的发电机组，电源变流装置，同步收放的电缆，滚筒装置等属于辅助设施。这些设施连同清淤机械。微机控制装置都放在工程车上，以便移动作业。本课题的研究和设计旨在解大型耗水工厂的沟渠清淤问题。因为排水沟渠中的杂物的组成及其复杂，在微生物的参与下可能分解并释放出硫化氢，甲烷，二氧化碳等有害或者易燃气体，这会给从事人工清淤的工人带来极大地人身伤害；而且某些生产污水中会残留一些有机物，因此会挥发出甲醛，酚，苯等有害气体。另外，当有机物气体达到一定浓度后，遇明火极易引发爆炸事故，这将给工人的人身安全带来极大的威胁。所以我们急需寻求一种替代人工作业的方案和作业机械。大型工厂的排污沟渠系统主要用来收集生产污水及雨水。排污沟渠内还有其他管道通过，主干道和支道均可进入人。排污沟渠的分布情况如下：我们所考虑的知识厂区内部下水道对接市政管网的部分。通常厂内排污沟渠截面为矩形，只有极少数位圆形截面。所以我们考虑大多数的情况，即排污沟渠截面为矩形且尺寸分布为深 1500mm 到3000mm，厂区部分不同，宽为 1000mm 到 1600mm，每间隔 10m 到 30m 有一处井口存在，且不考虑排污沟渠的拐弯和其它管道的横穿等情况，对于有拐弯和管道横穿时，可从它们的两边分别进行清淤，便可解决问题。据厂方给的测定数字：排污沟渠的主干流量大约为 1700 立方米每小时，支道流量小，不会对清淤小车造成很大的冲击，但仍需考虑对小车采用防滑措施，另外除淤泥淤积很厚或淤积时间很长之外，一般情况下比较软，甚至是成糊状的物质。目前厂矿企业排污沟渠主要靠人力进行清淤，这种方法不但清淤效率低，成本高，而且对人的身体健康造成很大的危害，在某些情况下无法进行人力清淤。为此设计了一种机械自动化清淤装置，本次设计主要完成清淤机器人的载体控制部分，采用西门子公司的 S7-200 系列 PLC 作为微控制器和无线串口模块实现对清淤机器人的无线控制，同时采用红外传感器实现避障，对清淤机器人自身携带的蓄电池进行电量的检测。采用步进电机作为机器人提供驱动力矩。本设计采用上下位机的控制，上位机用于发送控制指令并显示清淤机器人的运行状态，机械载体接受上位机的指令进行相应动作，并向上位机发送清淤作业过程中的状态。AbstractPLC took one kind of high performance the control device, obtained the more and more widespread application in the distributional system. In this control mode, on the position monitoring machine system is important constituent. PLC may many kinds of ways like use the existing configuration monitoring software directly with on position jail repeat machine correspondence, but in view of the small scale control system, found one kind of high performance price compared to the means of communication, has the positive practical significance. The rise and development of industrial robot is to improve the product quality and shorten the cycle of product manufacturing and improve labor productivity and review of since 1950s manufacturing development, the development of industrial robots from manufacturing automation development needs, become the key equipment manufacturing automation line, the development of industrial robots promote manufacturing ideological progress, and industrial robot technology and also won the rapid development of the special robot to demand for the development and research in China, the principle of the actual needs of manufacturing automation, special robot research and development of the key technology, making the right choices, developing the special robot technology.Special robot hand cannot avoid restricting the national economic construction and development of the industrialization of automation key technical issues, on the other hand, to occupy the strategic key technology and the future may form the new economic growth point before the competition in core technologies, so as to satisfy the special robot research at the national economic development and forward-looking. Prospective studies is the premise, grasps the market initiative is the motive force of the national competitiveness, therefore prospective study is high technology research in the connotations of special robot research on when we should study abroad in the western developed countries, especially the advanced technology and advanced experience, but also pay attention to the original innovation, master knowledge to be the key technology and strategic competition in the foundation, the former technology and key technology research has quite big, realize the breadth and depth of our special robot great-leap-forward development.Special robot research to strengthen national comprehensive economic strength, ensure national security, improve the international competitivenessMany kinds of special robot, application field, a high degree of automation, therefore than traditional industrial robots have more broad prospects, based on the needs of economic development, the compilation of special robot research in future ten years Chinas infrastructure construction in high speed development stages of intelligent construction machinery, which has huge need in the road, pipe, oil drilling, etc, robotic Nan manipulation intelligent machine developed meets the needs of the development of national economy construction, special robot in 21st century of service industry automation process is also a medical robot, and entertainment robot, rehabilitation robots, guide robot and family services robot are of concern and research.Series s7-200 PLC is Germany Siemens company design and production of a class of small PLC, it has powerful (many function has been able to achieve big, medium-sized PLC level), small volume, price is low wait for many advantages. Therefore, series s7-200 PLC once rolls out was the technical personnels attention and favor.Series s7-200 PLC from production has been through two generation product development。The first generation of products for the CPU module CPU22 *, the host can expanded, it has CPU212, CPU214, CPU215, CPU216 of four kinds of different structure configuration CPU unit, but has now stop the production. The second generation product CPU module for CPU22 *, it in the 21st century on the market, it has the speed, communication ability strong characteristic, five different CPU structure configuration unit. The launch of the CPU22 s7-200 PLC (it is * series CPU21 * alternative products) system has lot of alternative special function module and man-machine interface, so the system is easy to integration, and can be very convenient PLC members of network, it also has fully functional programming and industrial control configuration software, so in design control system is more convenient, simple, can complete most of the function control task. Programmable controller (PLC) is a microprocessor as the core, comprehensive computer technology, electrical control technology, automatic control technology and communication technology and developed a kind of new type, general automatic control equipment. In the electronic technology and computer technology is developing rapidly today, many new technology is also used in PLC. With integrated circuit technology and the development of computer technology, the PLC develops fast, get in concept, design, performance to price has made a breakthrough in the function is all ready, it is stable and reliable, and the maintenance convenience etc, in industrial automation control get and widely used. However some drawbacks but restricting its development: PLC soft and hard system structure and closed dont open such as: special bus, communication network protocol, each module, the general not to tracks, power supply module also each are not identical; Programming language research is most is ladder diagram. But its configuration, addressing, language structure are not consistent, each manufacturer PLC and not compatible. In order to connect to each of manufacturer PLC in the same control network inside. IECll3I standard appeared. IECll31 standard is about programmable controller hardware, installation, test, programming, communication, and other aspects of the international standard. It is divided into five parts. IECll31-3 is about programming standards. The standard provisions of the 5 kinds of programming language, the graphic language have ladder diagram (LD), sequence diagram (SFC), functions block diagram (FBD). Traditional language has instruction table (IL) and structure of the text (ST). The digitalizing has two meanings: one, each PLC production between the manufacturers will be matching, can be connected in the same network inside. Not like this. The same network inside can only has a PLC manufacturers product. So that the user can have more freedom of choice; since IECll31-3 standard released since each PLC, manufacturers are in the standard to try to close. High mechanization and automation production mechanization is the symbol of production equipment and production process design is social progress, and the actual needs. High-tech highly integrated world, mechanical equipment, more and more attention. Have certain cancroid of mechanical equipment also appear, and involves various sectors. Along with the rapid development of modern technology, the intelligence of mechanical equipment, and greatly increase the mechanical equipment in the beautiful scenery, this is the comprehensive application of computer in half a century, the automatic control precision measurement, the ideal of advanced technologies.With the advancing industrialized production factories and enterprises, the production scale expands unceasingly, the drainage ditch of problems are also more and more attention. But the general market, bait-casting equipment such as dredgers Guan Quiz bait-casting machine etc cannot applies to corporations of environment. Currently corporations for as long as a human emission bait-casting, this method not only bait-casting low efficiency and high cost bait-casting, and to the health of the human body cause great harm, and in some cases cannot human bait-casting. This design is a mechanical device, the design of automatic bait-casting main bait-casting robot control parts, including the PC, machine, wireless communications, energy storage obstacle-avoiding and testing etc.We live, all kinds of water environment around because of silt is difficult, and management for many years is not for these waters, in the work in s shape up a lot of silt, the serious influence water quality makes water quality black stunk. How to reasonably the s shape has always been a problem. Small and Medium River the s shape especially hard to achieve it work usually refers to the river, the county and township levels, including all kinds of small and medium-sized irrigation canals and village level. According to investigation, at present in many cities and provinces of small and medium-sized phenomenon has very serious, to industrial and agricultural production and living affect greatly. Long-term since, the river dredging bait-casting mainly rely on human, along with the development of commodity economy and rural labor force shift, especially in the town enterprise more developed regions, again want to rely on human bait-casting already very difficult, pressing for the s shape to realize mechanization, automation work. In the past, for large river the s shape, through the imported from abroad or production itself of large ship, dredging production ability of speaking, already basic can meet demands, but to small and medium-sized river dredging bait-casting machine development start later, together with all kinds of different situation, construction conditions of the river is complex, according to different category to the specific situation of the river, respectively and equipped with suitable bait-casting machine, can better meet the construction requirements. The main types of small and medium-sized bait-casting machine According to the different work can be divided into the following categories: (1) Land use long arm wetland type excavator (2) Amphibious type bait-casting machine (3) Self-propelled type bait-casting machine (4) Small and medium ground suction hoper dredger (5) Hydraulic excavation units (6) Mini s shape fertilization And some are developing small and medium type. Bait-casting machine control section lot is diversiform, have PC, SCM, programmable controller (PLC), micro computer, etc. Developed the idea of the machine is a kind of light channel bait-casting machine in the channel bottom to be automatic walk, automatic mining, automatic fall under the control of the upper machine, choose the programmable controller. According to Chinas present drainage pipe s shape, the current situation of the s shape method commonly used to make artificial s shape, and water conservancy s shape method (high pressure water jet s shape method and water erosion bait-casting method) and mechanical bait-casting method way. 1) Artificial s shape method Workers in equipped with safety measures to protect the case with simple tools, into the ditch, and internal s shape by trolley will be sent to the mouth of the well and reach a certain amount of silt after a covering over the wells mouth could dig out by. But this equipment need artificial in piping field operation, and only applies to the people to enter into the ditch; labor intensive, bait-casting speed is slow, to the personal safety of the staff cant very good protection. 2) Water conservancy s shape method High pressure water jet s shape method is to use a high pressure jet equipped with large car, the pitcher, excited the pig, high pressure pump and volume of water injection nozzle shot. When operating on the engine driven by high pressure pumps, water pressure will be sent after the incident water nozzle, through the high pressure water cleaning of pipe wall, will channels into the sediment inspection Wells, and then by sucking car will attract the. This method is used for various the diameter of the underwater pipeline, but the need to, so high cost. Filtered water In order to reduce the cost, and now the s shapes more cars have sewage purification devices, in order to use the sewage sewer. Water flushing s shape method is making a can block water the s shape device, inspection Wells in pipe by using the device to the sewage pipe in the stop upstream. When the water level to a certain height, making water and water formation water to remove the upstream in the piping sediments. Once enough sediment washed away, the device is a distance to move downstream, this method needs to be in the pipeline in much of the work. Because of the water pipe sewage can usually precipitating the harmful gas such as hydrogen su