摘要
基于生产生活中的管道除锈工作和功能需求,设计了一款利用双向螺纹的螺杆来控制机器人展臂的自适应管径的机器人。以嵌入式单片机STM32F03为控制中心,通过42大扭矩步进电机带动螺杆转动操控展臂的收缩伸展,利用大扭矩直流减速电机带动机器人在金属管道中移动。用户通过显示屏可实时观察到摄像头拍摄到的管道内情况,操作手柄遥感控制舵机云台执行激光除锈操作。通过现场调试,最终实现了操控机器人即可观察检测到管道内的情况以及完成除锈操作。该类机器人的稳定性与可操作性强,有推广价值。
Based on the rust removal work and functional requirements of pipelines in production and life,a robot that uses a bidirectional threaded screw to control the self-adapting pipe diameter of the robot's boom is designed.With the embedded single-chip STM32F03 as the control center,the 42 high-torque stepper motor drives the screw to control the contraction and extension of the boom,and the large-torque DC gear motor drives the robot to move in the metal pipe.The user can observe the situation in the pipeline through the camera in real time through the display screen,and control the steering gear pan/tilt to perform the laser descaling operation through the remote sensing of the operating handle.Through on-site debugging,it is finally realized that the robot can be operated to observe and detect the situation in the pipeline and complete the rust removal operation.This type of robot has strong stability and operability and is valuable for promotion.
出处
《工业控制计算机》
2022年第5期140-141,共2页
Industrial Control Computer
基金
国家级大学生创新训练计划(202110594181)。
