| 可变径管道机器人结构及控制系统设计 |
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| 引用本文： | 刘勇.可变径管道机器人结构及控制系统设计[J].农业装备与车辆工程,2022,60(2):114-116. |
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| 作者姓名： | 刘勇 |
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| 作者单位： | 200093 上海市 上海理工大学 机械工程学院 |
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| 摘 要： | 分析管道运输在当今社会生活中的重要性,提出了一种轮式可变径管道机器人机械结构和控制系统总体方案,能够适应机器人对120~220 mm管径变化的需求。设计了管道机器人驱动装置和自适应调节机构,同时设计了管道机器人的控制系统。该控制系统上采用了上、下位机控制方式,下位机以Arduino单片机为中央控制器,上位机使用LabVIEW搭建人机交互界面,实现机器人前进、后退、速度调节图像采集等功能,从而完成管道内部检测的任务。
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| 关 键 词： | 管道机器人 自适应调节机构 控制系统 图像采集 |
Structure and Control System Design of Variable-diameter Pipeline Robot |
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| Liu Yong.Structure and Control System Design of Variable-diameter Pipeline Robot[J].Agricultural Equipment & Vehicle Engineering,2022,60(2):114-116. |
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| Authors: | Liu Yong |
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| Institution: | (School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China) |
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| Abstract: | By analyzing the importance of pipeline transportation in today's social life,this paper puts forward an overall scheme for mechanical structure and control system of wheeled variable diameter pipeline robot,which can adapt to the robot's demand for 120~220 mm pipe diameter change.The driving device and adaptive adjustment mechanism of the pipeline robot are designed,and the control system of the pipeline robot is designed.The upper and lower computer control mode is adopted in the control system,and the lower computer takes Arduino MCU MicroController as the central controller,the upper computer uses LabVIEW to build the human-computer interaction interface to realize the robot forward,backward,speed adjustment,image acquisition and other functions,so as to complete pipeline internal detection. |
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| Keywords: | pipeline robot adaptive adjustment mechanism control system image acquisition |
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