【摘要】 拆除机器人是为适应高温、高辐射、高噪声等恶劣工作环境而开发的一种遥控多功能作业机器人,它可以在遥控指令控制下完成柴油发动机的点火或熄火、油门大小调节、工作或行走状态选择、摄像系统开或关、控制电源开或关、紧急情况下紧急制动和出现故障报警时自动停车等功能。拆除机器人如何在控制指令下完成各项功能是拆除机器人控制系统设计的关键部分。从拆除机器人要实现的功能要求出发,介绍了控制系统的组成及工作原理,并对工作机构、行走机构、电子油门调速系统、传感器和摄像系统的控制、发射系统遥控器的控制面板设计做了重点阐述。拆除机器人操作方便、性能完善,已在实际中获得应用,其控制系统至今尚没出现问题,该系统不仅适用于拆除机器人,对于一般工程机械的机器人化改造同样具有参考价值。更多还原

【Abstract】 Demolition robot is a kind of remote multi-functional operation robot that is developed for rigorous work conditions such as high temperature, high radiation or high noise. Under remote commands, it can fulfill the functions of engine start and stop, throttle adjustment, selection in work and travel modes, camera system on-off, control power supply on-off, emergency brake under emergency situation, automatic stop when a failure alarm occurs, and etc. So how the robot realizes each function under control commands is the key part in control system design. Starting from the function realizing, composition and operation principle of the control system on a demolition robot is briefly described. Its operation mechanism, travel mechanism, electronic throttle adjusting system, control on sensors and camera system, control panel design of the remoter in transmitting system are emphasized. The robot has been put into practical application due to its simple operation and perfect performances, and until today, no problems have occurred in its control system. Not only is the control system applicable to demolition robot but also a reference for robot modification on ordinary construction machinery is provided.更多还原