立式金属罐非接触轮式爬壁检定机器人的研究  

Research on the Wheeled Wall-climbing Robot for Non-contact Capacity Measurement of Vertical Metal Tanks

作　　者：李昌海[1] 吴云[1] 佟仕忠[1] 付贵增[1] 丁启敏[2] 

机构地区：[1]辽宁石油化工大学信息与控制工程学院,辽宁抚顺113001 [2]辽宁石油化工大学机械工程学院,辽宁抚顺113001

出　　处：《自动化仪表》2009年第10期5-8,共4页Process Automation Instrumentation

摘　　要：针对传统大容量立式金属罐检定方法效率低、操作危险等一系列问题,研制了一种立式金属罐非接触轮式爬壁检定机器人。该机器人采用非接触永磁式吸附4轮结构,以单片机作为下位机控制系统的核心,并配以倾角传感器、速度编码器等多种功能传感器;通过上位机,有缆遥控爬壁机器人的作业姿态。现场实验表明,该机器人不但运动灵活,而且解决了原样机在金属罐壁上的压痕问题,大幅度提高了大容量立式金属油罐的检定效率和检定精度。Aiming at the problems of traditional measuring method for vertical metal tanks, e.g. low efficiency, and dangerous operation, etc., a wheeled wall-climbing robot for non-contact measurement is researched. The robot is structured with four non-contact permanent magnetic wheels, and equipped with tile angle sensor, speed encoder, multiple functional sensors, as well as slave control system with single chip computer as the core. The operating posture of robot is controlled by host computer remotely. The field experiment shows that the robot is moving flexibly, and the surface of metal tank is not pressed, it greatly increases the measuring efficiency and accuracy for large vertical metal tanks.

关 键 词：立式金属罐 轮式爬壁机器人 非接触 倾角传感器 FUZZY-PID 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]