摘要
为解决船舶手工除锈、机械除锈劳动强度大、效率低的问题,设计了一种攀爬除锈机器人,其主要由四足机构、脚部机构、除锈模块、安全模块、视觉模块、运动控制模块组成。四足机构采用了大扭力舵机,具有12个自由度;脚部机构采用强吸力电磁铁,可以牢牢地吸附在钢铁表面;除锈模块采用360°舵机,效率高,速度块;安全模块采用了安全绳,用来保护机器人;视觉模块采用OpenMV摄像头和与OpenMV配套的WIFI模块;运动控制模块采用ESP32单片机控制,可靠性高。制作了样机,经测试,该机器人接收指令后实现了监测和除锈等功能。
In order to solve the problem of manual rust removal and mechanical rust removal with high labor intensity and low efficiency,a climbing derusting robot is designed in this paper,which includes quadruped mechanism,foot mechanism,derusting module,safety module,vision module and motion control module.The quadruped mechanism is made of high-torque steering gear with 12 degrees of freedom;the foot mechanism adopts a strong suction electromagnet,which can be firmly adsorbed on the steel surface;the derusting module adopts a 360-degree steering gear,which has high efficiency and high speed;safety rope is used in the safety module to protect the robot;the vision module adopts the OpenMV camera and the WIFI module matched with the OpenMV;the motion control module is controlled by ESP32 single chip microcomputer,with high reliability.A prototype has been made.After testing,the robot has realized the functions of monitoring and rust removal after receiving instructions.
作者
赫乾辰
施嘉胜
李小鹏
乔俊福
HE Qian-chen;SHI Jia-sheng;LI Xiao-peng;QIAO Jun-fu(Taiyuan Institute of Technology,Taiyuan 030008,China)
出处
《机械工程与自动化》
2023年第6期118-119,共2页
Mechanical Engineering & Automation
基金
山西省大学生创新创业训练项目(S202214101030)。
关键词
攀爬除锈机器人
结构设计
控制系统
climbing derusting robot
structural design
control system
作者简介
赫乾辰(2002-),男,山西忻州人,本科在读,专业为机器人工程。
