Study Of The Blasting-Sand And Spraying-Paint Robot For Larger Oilcans

Now, the blasting-sand for rust removal, and spraying-paint for antisepsis for larger oilcans in our country use primarily the traditional way in which workes make use of falseworks, but its working intension is greater, and engineering quality is worse, working environment is harder. With rapid development of the petrochemical industry, especially foundation of national strategic storage oil bases (Shandong's huangdao is one of four national strategic storage oil bases which are firstly builded by ou nation), it is imperative under the situation to develop a blasting-sand and spraying-paint roboticized device for larger oilcans. Researchers at home and abroad focus on wall climbing robots, but its structure is complicated, its load is small, it may be falling easily, especially it can only work on the inner wall of oilcans and can't work on the outer wall of oilcans, its stability is worse, so it haven't real practicability. With the support of Qidao's important program- blasting-sand to remove rust and spraying-paint robot, the robot research centre of shandong university of science and technology has developed a new blasting-sand and spraying-paint robot for oilcans, this robot is low-cost and disassembles easily and have real practicability.The dissertaton introduces the general structure and key components, preventing-blast measure, emphatically describes the software and hardware design of its control system, which includes system basic circuit, AI signal-processing circuit, SPI circuit, LED-display and key-input circuit, power interface circuit, remote circuit, porting μC/OS-Ⅱ at LPC2210, real-time multitask program design based on μC/OS-Ⅱ. Its important innovation is as follow. ①The particular structure makes that it have real practicability. It solves serious disadvantage of wall climbing robots, its structure is simple, its load is great, it disassembles easily, its stability is good, it can work on the outer wall of oilcans if it is refit lightly. ②The security is good. All driver units are out of oilcans, operators can remote this robot out of oilcans, operators and devices are in essence security.③The function of control system is powerful and stable and reliable because it adopts the embedded RTOS μC/OS-Ⅱ and LPC2210 which is one of ARM7 microcontrollers.Experimental results showed that all design requests of this robot has been realized and it can be wide applied.