文档介绍：山东科技大学工程硕士学位论文摘要摘要本课题是针对青岛市政府2003年一项重点招标项目“大型油罐除锈”的主要研究内容而提出的。本课题首先通过多方资料查找,在除锈方式上选用了除锈效果最佳的喷砂除锈技术。其次,总结前人的经验,充分考虑油罐形体的特点,结合低成本、平稳可靠的基本思路经过多次讨论、反复比较成功地设计出本系统的基本原理方案。随后从整体上围绕此原理方案,反复推理验证,完成了喷砂机器人的机械部分和电器部分的设计和研究。最终成功设计出一个能实际应用、技术领先的智能喷砂除锈机器人。基本原理方案:借助罐顶中央孔定位,安装一个与油罐轮廓线相似的小车导轨,导轨下端装电动机,电动机驱动导轨绕中心轴转动;机械手及行走机构通过卷扬机钢丝绳的牵引沿导轨上下移动。机械部分:本文主要详细介绍了机械手及行走机构、珩架拖动小车、珩架、卷扬机、上支架、下支架、滚轮等的设计。电控系统:喷砂机器人采用全自动控制方式;计算机控制系统采用二级分布式控制; 通过红外测距模块调控喷枪与油罐内壁距离;选用组合变流器相移SPWM技术,通过简单的编程控制电机。视觉监视系统:选用SonyE、,][-_D31摄像头和Moka_PlusA型号的图像采集卡,,开发出一个有友好界面的控制和监视平台。气动系统:气动系统设计原理图。关键词:喷砂,除锈,喷砂除锈机器人,机械手及行走机构,珩架拖动小车,珩架, 上支架,下支架,二级分布式控制,红外测距模块,喷枪,组合变流器相移SPWM 技术山东科技大学工程硕士学位论文摘要 Abstract The present sunect was given by themain research content of‘‘RustRemoval ofThe Large—scale Oilcan”.It was akeystone public bidding item invited by thegovernment of Qingdao in2003. Firstly,the bestof rustremoval technique ofsandblast was selected as thefusion of rust removal bysearching many ,the basicprincipleproject was essfully designed bysumming up theexperience oftheformer,considering fully theformand structure oftheoilcan,basing on thebasic l={巳agonof low cost,steady and credibility,discussing time paring again , we investigated anddesigned the equipment ofsand blast robot inmechanicalpart and electricalpart from theinteger ofthe theory project and by reading a lotofinformation and consequence ,a practicable,advanced and intelligent rust removal robot ofsand blast was essfully designed. Basic principleprojects:a trackWas fixed withthehelp of center holeinthetop ofpot which likes thefigure of was installedunder electromotor drove thetrackrunning around the axiswhich Was and bogiel move up and down along thetrackwiththetowing ofthewindlass’S wirerope. Partsofthe mechanical structure:thischapter introduced thed。sign ofmanipulator and bo萄e、honing trailer、honingrack、windlass、upper support frame、low supp