摘要
设计了一种由西门子S7-1200PLC控制的管道机器人控制系统,包括管道机器人的本体机械结构和主控系统。管道机器人的电气控制系统包括机器人动力驱动的两个步进电机,这两台电机使用S7-1200PLC进行运动控制。该管道机器人的本体为履带式运输结构,可以在凹凸不平或者粘性大的管道内行走,翻越障碍物也比较容易。机器人本体在履带式搬运机器人的基础上进行改进,增加的锂电池除了给车体的前后轮提供驱动电源以外,也为后期整体调试时加载PLC控制系统、视觉系统、触摸屏等终端保证持续电能。视觉控制系统与PLC、触摸屏之间使用F49DL无线终端和RS485协议进行数据交换,可以实现管道机器人的远程控制和图片传输,更加便于监控机器人的工作环境和工作状态。
This paper designs a pipe robot control system controlled by Siemens S7-1200 PLC,including the mechanical structure of the pipe robot and the main control system.The electric control system of the pipeline robot includes two stepper motors driven by the power of the robot,and S7-1200plc is used for motion control of the two motors.The main body of the pipeline robot is a crawler type transport structure,which can walk in uneven or viscous pipelines,and it is easy to climb over obstacles.The robot body is improved on the basis of the crawler type handling robot.The added lithium battery not only provides driving power for the front and rear wheels of the vehicle body,but also ensures continuous power for loading PLC control system,vision system,touch screen and other terminals during the later overall commissioning.The visual control system uses F49DL wireless terminal and RS485 protocol to exchange data with PLC and touch screen,which can realize the remote control and picture transmission of the pipeline robot,and is more convenient to monitor the working environment and working state of the robot.
作者
凌双明
Ling Shuangming(Changsha Aeronautical Vocational and Technical College,Changsha Hunan 410124,China)
出处
《山西电子技术》
2023年第3期1-3,9,共4页
Shanxi Electronic Technology
基金
湖南省2021年自然科学基金教联合项目“基于视觉技术的管道机器人控制系统研究科”(2021JJ60084)。
