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履带管道机器人——毕业设计

时间:2017-08-20


[1]

[2]

nRF905 MLX90601EZA-CAA

DS18B20

Abstract
With the development of science and technology, the application of robots has been in the field of experiment or in other areas and people's daily work and life. In some specific environments, such as high pressure, oxygen free or corrosion under harsh conditions, etc., the robot has played a huge role. Tracked robot [1] can adapt to the changing environment, can achieve long distance drive, and the traction force is excellent. It is particularly important to strengthen the detection and improve the safety of pipeline transportation in the construction and in service transportation pipeline. The design of the robot, sensors, wireless communication technology, such as organic combination, to achieve a natural gas pipeline environment and temperature for effective real-time monitoring, to provide a lot of convenience for the maintenance personnel. This topic mainly for crawler pipe robot structure design, using special pressing structure, enables the robot to walk for pipeline in various directions, and has certain ability of obstacle surmounting
[2]

, the pipeline pass smoothly. In the control design of the robot,

the information exchange between the robot and the host computer is realized. Among them, the transceiver module is based on the nRF905 RF transceiver chip, temperature acquisition chip select DS18B20 and non contact infrared temperature sensor MLX90601EZA-CAA. Through the test of the system and the related literature, this topic crawler pipe robot device design of the overall structure of the right, each function module of the software and hardware design, collocation to meet the requirements, stable operation, basically meet the application requirements.
Key words: crawler-type pipeline robot temperature sensor

................................................................................................................................... 1 1.1 1.2 1.3 2.1 2.2 2.3 2.4 2.5 2.6 2.7 3.1 3.2 3.3 4.1 4.2 4.3 5.1 5.2 5.3 ............................................................................................................... 1 ................................................................................................................... 1 ..................................................................................1 .............................................................................................................. 3 ...................................................................................................... 3 ........................................................................................................... 4 ............................................................................................................... 6 ................................................................................................................... 7 ................................................................................................ 11 ......................................................................................................... 12 ........................................................................... 12 ............................................................................................................ 14 ................................................................................14 ............................................................................................ 14 ......................................................................................................... 15 ........................................................................................................17 ........................................................................................ 17 ............................................................................................................. 18 ............................................................................................................. 18 ............................................................................................................ 22 ......................................................................................................... 22 .....................................................................................................22 ..................................................................................................................... 23 ................................................................................................................................. 24 ..............................................................................................................................................25 ......................................................................................................................................... 26

2016

1.1
20 70

1.2

[3]

20 NUGV CLIMBER

80 URBOT Talon
[4]

1.3

1

2016

CAD Pro/E

2

2016

2.1

[5]

1. 2.

(a) (b)

2-1

0 d ( R D / 2) cos 45 ( R D / 2) Lmax ( R D / 2) sin 45 ( R D / 2 d ) cos 45

2-1

0

d

D 2 (R D / 2) 2 (R D / 2 d )2

Lmax
1.2.1
D 1000 mm

2-2

(R
R/D

D / 2) cos 45
3 mm

( R D / 2)

0
R 3 mm

R

3

2016

Lmax
d=600mm

2 (R

D / 2) 2
L

(R

D / 2 d )2

R=4D=2400mm D=1000mm
d D

2939 mm

L

mm, d

600 mm

2.2

1. 2. 3. 4. 5. 6.
[6]

0.99 80m/s

T T f ——

Tf

Ti

f G sin

G

2-3

,N ,N ,N ,° 28kg
G 280

Ti ——

f ——
——

F

350 N

2-1

0.6-0.85

0.45-0.75

0.7

0.8

4

2016

0.85
F F 0.85 350 297.5

2-4 294 2-5

F

f G sin

G

0.05 280 sin 90 280

f

0.05

2-2

F

f G sin

G

0.1 (260 350) sin 0 G

61

2-6

10m/min
P F v 224 10 60 49

2-7

5

2016

d=100mm
v d 10 3.14 0.1

v=10m/min

n

31.84 r/min

2-8 XL

d=100mm d0=113.19mm a=600mm
L 2 a d

XL

d=112.68mm

z=70.
600 2 3.14 113.19 155.4166 mm

2-9

b=146mm

2.3

P=37.33W
P

PM

49 0.99

50

2-10

113.19mm 10mm v=10m/min

n

v d0

10000 3.14 133.19

23.91 r/min

2-11

47.82r/min

6

2016

24V 3000 0-52r/min 80*80mm 34mm 124mm 10mm 25.5mm 60w 5.04Nm
2-3

2.4

0.5

0.6

7075

250°C 700°C 160M Pa 545M Pa 8% —— —— —— 250°C

-1

164.3 MPa

-1

95.294 MPa

7

2016

(1) 7075

d
A0

3

9550000 p 0.2[ T ].n
3

A0 3

p n
T

2-12 2-12

9550000 / 0.2[

]

d —— p —— n —— kW r/min

mm

[ T ] ——
p=60W, n=23.91r/min,
d
3

MPa
a

7075

[ T] pI

60MPa

0.95

60 0.95

57

9550000 p I 0.2[ T ].n

3

9550000 0.057 0.2 60 23.91

12.38 mm

2-13

3% 12.38× d=14mm 1+0.07

7% =13.25mm

d min
(2)

FHN

FNV

8

2016

0.97 80mm

TI

9550000 p I / n

9550000 0.057 / 23.91 22766.62 N·mm

2-14

Ft

2TI / d

2 22766.62 / 80

569.17

2-15

Fr

Ft tan cos

2

569.17 tan20 cos63 94

2-16

Fa

Ft tan sin

2

569.17 tan20 sin63 185

2-17

Fv1 L Fv1

Fr

1 L 2

1 d Fa 2

2-18

94 85 / 2 80 / 2 185 134 N 85

Fv 2

Fr

Fv1 FA

94 - 134 Fa

-40

2-19

185 N

Fh1 85 Fh1 Fh 2 85 Fh 2

Ft

65.5

468.7 N Ft 19.5 100.4 N

M v' Mv

Fv1 l1 Fv 2 l 2

134 19.5 40 65.5

2010 N·mm 2800 N·mm

2-20

Mh

Fh1 l1

468.7 19.5
9

7030.5 N·mm

2-21

2016

M' M

2 Mh 2 Mh

M v' 2 M v2

2010 2 2800 2

7030.5 2 7030.5 2

7312.2 N·mm 7567.6 N·mm

2-22

2-4

10

2016

Md

M2

( T )2

7567.6 2

(0.6 22765.6) 2

15615.6 N·mm 2-23

7075
d

b

545 MPa
3

-1

164.3 MPa
9.83 mm
d 10.22 mm

Md 0.1

3 1

15615.6 0.1 164.3

2-24

4% 15mm

2.5

90°

z1 z2
m=2mm, ha m d a1

20 20 2
2 mm 42.6 mm da2
2-2

40 d1 mz1 40 mm
hf 1.2m

40

d2

mz 2

80 mm

2.4 mm

82.6 mm

20 40

42.6 82.6

16 16

35 66

18 19

33 29

10 12

22 44

F

kFt YFa Ysa bm m

[ ]

2-25

Ft

2T1 d m1

11

2016

H

5Z E

kT1 2 3 R (1 0.5 R ) d 1 u

[

H

]

2-26

F H

30 Mpa 25Mpa

40 Mpa 40 Mpa

2-27

2.6

2.7

61802
2-3 mm 15 61802 Cr kN 2.1 24 Cor kN 1.3 mm 5 r/min 220000 mm

185N 0.5Cor
12

94N

25r/min

2016

-20

+250 200

13

2016

3.1
,

600—1000mm : 28kg 0—10m/min 3km 30mm

3-1

3.2
,

14

2016
[7]

3.3

3-2

3-4

15

2016

3-3

60Si2Mn 4*30*100mm 8.11mm 14.73N/mm 24mm

11

3-5

16

2016

4.1

4-1

4-2
17

2016

DN6837 4-1 4-2 10mm 1mm

4.2
HK33-2

LPC2106 4-3

4-3

4.3
[8]

18

2016

MLX90601EZA CAA, SPI PWM (±0.2°C); MLX90601EZA—CAA DS18B20, 700ms); ±0.5°C: DS18B20 Melexis MLX90601

MLX90247 MLX90313 A/D 0.2 PWM MLX90601—CAA MLX90601EZA—CAA SPI PWM SPI

MLX90247

SPI

MLX90601EZA—CAA, MLX90601EZA-CAA MLX90601 SPI PWM

DS1820 Dallas

19

2016

DS18B20 ±0.5 DS18B20 DS18B20 DS18B20 -55 0.5 EEPROM 93.75ms 12 750ms CPU (Central Processing Unit +125 -10 +85 ±0.5 3.0 5.5V I/O

12 0.0625 10

0.5

0.25

0.125

4.4
[9]

UWB LED UWB FSK ISM

20

2016

Nordic
[10]

nRF905 VLSI ShockBurst nRF905 DR 905 nRF905 ShockBurst MCU

nRF905 ShockBurst ShockBurst ShockBurst RX CRC MCU 433/868/915MHZ DR nRF905

nRF905 MCU AM

Nordic TRX_CE TX_EN

ShockBurstTX MCU MCU ISM CRC -lOdBrn POWERDOWN 11mA SPI

12.5mA

21

2016

5.1

PC

PC

PLC IPC+

5.2

802.11g

CPU

22

2016

5.3
CPU CPU

5-1

CPU CPU

CPU

23

2016

: 1.

4.

24

2016

25

2016

[1] [2] [3] [4] [5] [6] [7]

.TL-I [J]. [J].

[J]. ROBOT

2005.4 2000.7 1997.9 [J]. 2001.12 2011.1 , 1991,13(6): 53 58 2011.7

[J]. [M]. [J].

[8] LiMinHui, Jung Deqiong. A Device of Temperature Measuremen Made up of DS1820 and AT89C205. Journal of Sichan Normal University.1997,(5):93-96 [9] 2009.01 [10] nRF905 [J]. 2010 [J]. [M].

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