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摘要：进入21 世纪以来，机器人在各行各业中都得到了广泛的应用和发展，其研究与应用水平已成为一个国家经济实力和科技发展水平的重要标志。爬壁机器人是特种机器人的一种，是在恶劣、危险、极限等情况下进行特定作业的一种自动化机械装置，如今越来越受到人们的重视。为使其尽快完善，对壁面移动机器人的研究已成为机器人技术发展的热点之一。目前爬壁机器人已在核工业、石化工业、建筑工业、消防部门、造船业等领域得到了应用。7201
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随着科技的不断进步, 人类对工作环境的改造愈来愈完善, 开发出具有智能化的机器人以取代人在危险恶劣环境下难以完成的工作, 一直是科研工作者努力解决的课题之一。在石化企业, 诸多的石油、储水罐需定期喷砂除锈、喷漆, 因而提高石油储罐涂层厚度测量的精确性及可靠性是石化企业急待解决的关键问题之一。目前大多数石油储罐的喷砂除锈、喷漆工作, 大都是先搭脚手架, 由测量人员站在脚手架上手持测量仪器进行随机测量, 不仅测量的精度较低, 且难以全面掌握涂层厚度。为此, 本文进行了磁吸附检测爬壁机器人的研制。该机器人能按照测量人员的要求自动在罐壁四周进行遥控检测, 具有自动校准垂直检测手, 能实现对测头的自动校准, 保证测头与被测罐面的垂直关系。另外, 爬壁机器人工作在较高的罐壁上时, 操作者无法观察到显示数据, 因而必须进行测量信号的传输, 通过开发的单片机系统与测厚仪的串行通讯最终解决了这一问题, 使操作者可以随时观察到检测结果, 并可进行存储、打印等操作。
磁吸附爬壁机器人是根据对石化工业中大量大容积金属储罐定期进行除锈、喷漆防腐作业这一目标而研制的。如采用爬壁机器人作业，可完全不用脚手架、同时节省人工、提高工效。因此，此项目的研制成功具有重要的经济意义和社会效益，并有着广阔的应用前景。采用了磁吸附，满足了机器人吸附、负重、作业的多功能要求（机器人可负重物40～60km）。机器人还采用了抗倾覆机构，使爬行稳定、可靠，并能安全跨越5~10mm的搭接焊缝，且具有二文喷砂、喷漆功能，成功地实现了大型储罐内、外壁的防腐作业。还比如大型高楼大厦的外表清洗等等，都可以采用爬壁机器人来进行作业，应用前景广泛。
关键词：磁吸附 ；爬壁 ；机器人；
Magnetic adsorption climbing robot structure and control system design
Abstract：Since the 21st century, the robot has been widely used in all walks of life and development, its research and application level has become a national economic strength and scientific and technological development level of important symbol. Is a kind of special robot, robot which is in bad, dangerous, extreme cases such as particular operation of an automated machinery, now more and more get the attention of people. To make it perfect as soon as possible, on the wall of mobile robot research has become a hot topic of robot technology development. Now climbing robot has been in the nuclear industry, petrochemical industry, building industry, fire departments, shipbuilding and other fields.
develop intelligent robots to replace people hard to complete work under dangerous conditions, has been one of researchers trying to work out the issue. In petrochemical enterprises, oil, water storage tank sandblasting derusting, paint on a regular basis, thus increasing the oil storage tank coating thickness measurement accuracy and reliability is one of the key problems petrochemical enterprise presses for solution. At present, most of the oil storage tank sandblasting derusting, paint job, mostly scaffolding first, standing on the scaffold with measuring instrument by measuring personnel random measurement, not only the accuracy of measurement is low, and difficult to fully grasp the coating thickness. Therefore, this article has carried on the magnetic adsorption testing the development of the robot. The robot can automatically according to the requirements of measurement personnel around the tank wall is used to detect the remote control, with a vertical hand detection, automatic calibration can realize automatic calibration of measuring head, ensure that measuring head and vertical relations between measured on the surface of the tank. Besides, climbing robots work in the higher tank wall, the operator cannot be observed data, and therefore must be measured signal transmission, through the development of single chip microcomputer system and the thickness gauge of serial communication finally solved this problem, make the operator can observe to the test results, and can operate for storage, printing, etc.