管道内行走机器人设计  

Design of a pipe robot

作　　者：代小林[1] 周志鹏[1] 张彬彬[1] 张云鹏[1] 陈龙庭[1] 

机构地区：[1]电子科技大学机械电子工程学院,四川成都611731

出　　处：《实验技术与管理》2014年第5期102-106,共5页Experimental Technology and Management

基　　金：中央高校基本科研业务费专项资金资助项目(ZYGX2012J106)

摘　　要：设计了一种适用于管道内工作的机器人,采用双平行四边形机构扩大其管径适应范围,以STM32F207ZG为主控芯片,外扩SRAM进行信息缓存,利用TCP/IP协议进行上下位机通信,通过搭载各类传感器完成管道内的检测任务。该管道机器人具有转弯灵活、攀爬能力强等特点,在实践教学活动中取得了良好的效果,有效提高了学生的学习兴趣。The research and competition of robots is an important platform of college student training. A kind of robot which could working in pipe have been designed, and the dual parallelogram mechanism was incorporated to enlarge the applicable ranges of pipe diameters, the STM32F207ZG chip was used as main control chip and an SRAM was added as an information register, then the TCP/IP was acted as ttle communication method between upper and lower computers. The detection task was accomplished by piggyback various sensors. This pipe robot has many characteristics including flexibility of turning and strong climbing ability, and it has achieved a good result in practice teaching activity, and students＇ interest in learning was stimulated greatly.

关 键 词：行走机构 管道机器人 双平行四边形 TCP IP 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]