摘要
为了更好地应对斜拉桥钢索检查和维修工作,设计一种基于单片机的拟人爬杆机器人。设计了抓手、上下底座机械结构,针对步进电机及其驱动模块进行了选型,为保障爬杆手臂系统顺利升降,以STC89C52单片机作为控制核心,以步进电机作为执行机构,通过对舵机的控制实现抓手握住爬杆的稳定性,并辅以限位模块提高系统安全性。经测试,拟人爬杆机器人整体结构稳定,可附带重量为2.5 kg的设备,爬升速度可达1.2 m/min。拟人爬杆机器人攀爬动作灵活、迅速、准确,可以使检查人员免于受到高空作业危险性的影响,具有较强的实用性。
In order to better deal with the cable inspection and maintenance of cable-stayed bridge,a humanoid pole climbing robot based on MCU is designed.The mechanical structure is designed for the gripper and upper/lower base.The stepping motor and its driving module are selected.To ensure the smooth lifting of the climbing arm system,the STC89C52 MCU is taken as the control core,the stepping motor is taken as the actuator,the stability of the grab grasping the climbing rod is realized by controlling the steering gear,and the system security is improved with the aid of limit module.According to the testing,the humanoid pole climbing robot has a stable overall structure and can be attached with a device with a weight of 2.5 kg,and the climbing speed can reach 1.2 m/min.The humanoid pole climbing robot is with a flexible,quick and accurate climbing movement,can protect the inspectors from the risk of high-altitude operation,and has relatively strong practicability.
作者
藕艳萍
史建国
张捷
孟瑞
OU Yan-ping;SHI Jian-guo;ZHANG Jie;MENG Rui(School of Electronics and Electrical Engineering,Xiamen Institute of Technology,Xiamen 361021,China)
出处
《工业技术创新》
2020年第5期38-45,共8页
Industrial Technology Innovation
关键词
拟人爬杆机器人
斜拉桥
步进电机
爬杆手臂
单片机
Humanoid Pole Climbing Robot
Cable-Stayed Bridge
Stepping Motor
Climbing Arm
Microcontroller Unit
作者简介
通信作者:藕艳萍(1987-),女,汉族,安徽池州人,工学硕士,讲师。研究方向:计算机测控技术。E-mail:283772579@qq.com。
