【作者】 杨军亮；

【导师】 杨崇倡； 毛立民；

【作者基本信息】 东华大学 ， 机械设计及理论， 2009， 硕士

【摘要】 以餐饮业中油烟管道的清洗为主要应用背景,本文介绍了一款用于清洗油烟管道的机器人,该机器人提高了油烟管道的清洗效率,减少了人的体力劳动,具有很好的研究价值和市场前景。本文介绍了机器人的机械结构,分析了机器人的移动方法和摆臂方法,并基于通用计算机和DSP运动控制卡,设计了油烟管道清洗机器人的运动控制系统、姿态控制系统、摆臂控制系统和传感器系统,为高压射流技术应用在清洗油烟管道提供了一个可靠的平台。根据设计背景,本文创新性的提出了一种可用于清洗油烟管道的行走机构,该行走机构具有磁吸附功能,不仅可以用于水平管道,也可用于竖直管道,同时也克服了普通橡胶式履带不能用于油烟管道内部行走的缺点。依据清洗要求,本文设计了行走姿态的控制方案,即在清洗过程中,通过自动纠偏功能,确保机器人的移动轨迹和姿态。本文将高压射流清洗技术应用到油烟管道的清洗中,根据高压射流的技术特点,设计了具有双自由度的摆臂机构,该机构可以实现摆杆向任意方向移动,解决了现有单自由度的摆杆不能实现任意方向移动的问题,增加了摆臂运动的灵活性。此外,在保证清洗过程中入射角不变,靶距不变的情况下,本文设计了摆臂机构的控制策略,控制摆杆按照约定轨迹移动,保证了清洗效果。本课题采用了一种基于通用计算机、DSP运动控制卡和驱动器的运动控制系统,采用分级控制策略,充分发挥各个级别的控制优势,可实时、迅速地实现对机器人的控制。此外,本课题还设计了一种无线遥控装置,该装置可与计算机键盘无线通信,进而通过控制计算机来控制机器人动作,消除了对机器人操作空间和地点的约束,实现了对机器人的随时随地控制、多点控制,增加了控制的灵活性。采用模块化思想,基于Visual basic语言,论文设计了控制系统的软件程序,包括行走控制、摆臂控制程序、DSP数据采集、接近开关信号处理和红外传感器的数据信号处理程序。通过人机交互界面,实现了对行走和摆臂的控制。最后,对油烟管道机器人的相关性能进行了实验,验证了控制系统的可靠性,并总结了全文的研究成果,展望了今后的研究方向。更多还原

【Abstract】 Based on the flue pipe cleaning which applied in the catering industry, this paper introduces a new type of cleaning robot. The robot can improve the cleaning efficiency and decrease the manual labor, which has a good research value and market prospect.This paper introduces the robot’s mechanism, researches the robot’s moving methods and swing methods. Based on computer and DSP motion controller, the moving control system, attitude control system, swing control system and sensor system for the robot are developed. It provides a reliable platform for the flue pipe cleaning by high pressure water jet.Based on the design background, a creative moving mechanism used in the flue pipe is put forwarded in this paper. The mechanism has magnetic ability, can not only be used on horizontal pipe, but also be used on vertical pipe, and also overcomes shortcomings of rubber caterpillar can’t be used on the flue pipes. According to the cleaning request, this paper designs the attitude control strategies, can ensure the robot’s moving track and moving attitude in cleaning.In this thesis, high pressure water jet is applied to the cleaning of the flue pipes. According to the character of high pressure water jet cleaning technology, a swinging mechanism of two degrees of freedom, which can drive swinging arm to any direction, is designed. This mechanism solved the problem that single degree of freedom mechanism couldn’t move free, and improved the flexibility of swinging. Furthermore, in order to control the swinging arm moved by intended track and ensure the cleaning effect, a control strategy of swinging mechanism was designed on the condition of angle of incidence steady and target distance steady in this thesis.Based on the all-purpose computer, DSP motion controller and motor servo drivers, a control system was applied to control robot, which uses a hierarchical-controlling method, each hierarchy can exert its advantage, and the robot ; could be controlled very real-time and speedy.In addition, a wireless remote controlled device is designed in this paper, which can control robot through communicate with keyboard of computer, solves the problem that time and room’s shortage when you operate robot. Also, this device can complete the intent that the operator can control the robot anywhere or anytime, the flexibility is enhanced.According to the method of modularize, based on VB language the program of control system are designed in paper. The program include moving control, swing control, data sampling, process of proximity switch signal and process of DSP signal program. Moreover, the mobile control program and swing control program achieve human-machine communication.Finally, some experiments about the performance of the flue pipe robot were carried out, which showed the control system is reliable.Furthermore, the research achievements are summarized and the further improvements are put forward.更多还原