| 管道机器人智能电缆绞盘研究 |
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| 引用本文： | 郭超,郝静如,刘相权,李天剑,高宏. 管道机器人智能电缆绞盘研究[J]. 机械制造与自动化, 2011, 0(3) |
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| 作者姓名： | 郭超 郝静如 刘相权 李天剑 高宏 |
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| 作者单位： | 北京信息科技大学智能机器人技术研究所,北京,100192 |
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| 摘 要： | 设计开发了一种以AVR单片机为核心的智能电缆绞盘系统.包括系统的机械结构和软件结构,机械结构实现了收线盘上不同层面电缆线的有序缠绕,排线整齐.软件设计实现了C语言环境下基于AVR单片机控制绞盘电动机的恒转矩输出、绞盘下位机与控制箱上位机的串行通信.绞盘收线系统可以保障电缆线一直处于恒张力状态,实现管道机器人在管道内自由移动.实验表明智能电缆绞盘系统运行稳定、可靠性高.
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| 关 键 词： | 管道机器人 电缆绞盘 自动收线 恒扭矩 同步排线 |
Sduty of Intelligent Cable Winch of Pipeline Robot |
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| GUO Chao,HAO Jing-ru,LIU Xiang-quan,LI Tian-jian,GAO Hong. Sduty of Intelligent Cable Winch of Pipeline Robot[J]. Machine Building & Automation, 2011, 0(3) |
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| Authors: | GUO Chao HAO Jing-ru LIU Xiang-quan LI Tian-jian GAO Hong |
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| Affiliation: | GUO Chao,HAO Jing-ru,LIU Xiang-quan,LI Tian-jian,GAO Hong(Intelligent Robot Technology Research Institute,Beijing Information Science and Technology University,Beijing 100192,China) |
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| Abstract: | The paper researches on intelligent control system for pipeline robots.Firstly,the same level on the winch cable and no gap between line and line can be guaranteed by the system design of mechanical structure.Then,hardware of control system is designed and software is developed.The serial communication between winch machine and control box is realized in the system.The pipeline robots can be controlled to move freely in pipe and the winch cable can be kept in constant tension state.This experiments show tha... |
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| Keywords: | pipeline robot cable winch automatic take-up line constant torque sync cable |
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