论文部分内容阅读
介绍了一种用于排水管道清淤的机器人机构及工作原理,该机器人采用周向120°等间距布置的三副齿轮齿条结构,由三台电机分别控制,并且以AT89S51单片机为控制核心,通过压力传感器MCL-L测量轮子对管壁的压力值与设定值进行比较来实现控制适径机构的伸缩,增强了系统的鲁棒性和适应性;通过光电传感器来检测机器人是否到达检查井口来实现机器人的自主性行为;用超声波传感器实现绞刀机构的径向移动,以满足不同管径清淤的需要。方案论证表明:该系统具有结构紧凑、适应性强、牵引力大、去淤彻底等特点。
A kind of robot mechanism and working principle for dredging drainage pipelines is introduced. The robot adopts three pairs of rack and pinion structures arranged at equal intervals of 120 ° circumferentially and is controlled respectively by three electric motors. At the core of AT89S51 microcontroller, Through the pressure sensor MCL-L measurement of the wheel pressure on the wall compared with the set value to achieve control of the diameter of the telescopic mechanism, and enhance the robustness and adaptability of the system; through the photoelectric sensor to detect whether the robot reaches the inspection wellhead To achieve the robot’s autonomous behavior; ultrasonic sensor to achieve radial movement of the cutter mechanism to meet the needs of different diameter dredging. Program demonstration shows that: The system has the characteristics of compact structure, strong adaptability, great traction, thoroughly silt removal and so on.