3HAA3573-ABA DSQC 301
价格:999.00
机器故障?购置更换零件?停产设备麻烦?不要犹豫,请速与我们联系,我们可以快速提供优质、合格的工业备件,解决您各处寻找的烦恼!--------------------------------------------------允许我给您介绍下这个产品和我们的服务:现货全新原装***15天质量问题无条件包退换一年质保完善的***服务雄厚的技术人才后盾真正的为客户排忧解难客户的满意是对我们的肯定更是我们的动力单子,得之,我幸。不得,我力争到底全心服务--------------------------------------------------ABB3HAA3573-ABADSQC301优质的产品★优质的价格★优质的***★优质的服务,是您***佳的选择!机器人寻迹控制示意图如图3所示,机器人采用前轮驱动后轮辅助的三轮差动式行走方式。车体前部两轮均为主动轮,由两个电机分别驱动,利用它们的转速差来控制机器人运动方向;后轮为从动万向轮,仅起着支撑车体的作用。车底板前部以车体中心线为轴线对称放置着3个自制的红外光电传感器,作为机器人的寻迹传感器。机器人寻迹场地中除了黑线,其他区域均为白色。当传感器正下方为黑线时,输出“0”状态,当其为白***域时,输出“1”状态。因此,理论上3个传感器输出的组合状态会有8种,如表1所列。每一种组合状态都对应着一种机器人下一步的行走动作,共有前进、左转、快速左转、右转、快速右转、原地旋转、停止7种动作。注:“+”指车轮向前运动,“-”表示车轮向后运动,“1.0”、“0.3”指的是控制相应电机转速的PWM波的占空比,可根据实际需要在程序中修改。本机器人有着双级转弯的设计,即普通转弯和快速转弯。当机器人对黑线的偏离量比较小时,使用普通转弯,即两个驱动轮都向前运动,速度一大一小,依靠两轮的速度差来实现转弯;而当机器人偏离黑线较远时,使用快速转弯,即两个驱动轮一个向前运动,一个向后运动,这样能迅速实现转弯。普通转弯用于大半径弯道、大角度折道,而快速转弯则用于小半径弯道和直角锐角折道等非平滑过渡路线。对于非封闭路线,还设计了原地旋转的动作,来实现原路返回:一旦机器人小车走完全程,3个传感器将均检测到白***域,输出组合状态“111”,此时一轮全速前进,一轮全速后退,小车原地旋转,直到掉过头来传感器检测到黑线为止。3程序设计程序设计时,采用汇编语言编程。其思路为:第1步,系统初始化后,读取单片机P2口的值,然后对其P2.0、P2.1、P2.2按位取与,得到传感器模块的组合值。第2步,将得到的组合值与预定的值比较,若相等则执行相应的动作,否则继续比较,直到获得正确的动作。比较完全部动作后,转到第1步重新扫描传感器的状态值。为了进一步提高系统的安全性和可靠性,还需增加异常处理算法。可能出现的异常情况有:过小弯道或小角度折道时,机器人还来不及转过弯来,就已经完全偏离黑线。这种情况下,3个传感器都输出“1”,检测不到黑线,若不及时处理,机器人将无法继续寻迹。针对该情况,设计了原地旋转动作来找回预定路线,不过原地旋转有顺、逆时针之分,因此还得区分开来。改进后编程的思路为:每次读取P2口值之前,将其上一次的传感器组合值存入某个寄存器,当出现组合值为“111”的情况时,立即查询上一次的值,根据该值,可以判断出机器人是从哪一侧偏离黑线的,从而进行顺或逆时针原地旋转。其主要程序如下:A10B100CA/X101AA68A7004RESISTORA10B1250CARESISTORA10B1BA/X101AARESISTORA10B330BA/X101AARESISTOR330OHM10WATTA10B820BA/X101AARESISTOR10W820OHMA160H100EATH68A7004RESISTORA160H360EATHRESISTORA160H390EATHRESISTORA***A200J100EA68A7004RESISTORA200J2500EATH68A7004RESISTORA200J4500EATHRESISTORA200J50EA68A7004RESISTORA20C75DARESISTORA25D10000DA68A7004RESISTORA25D100DA68A7004RESISTORA25D100DA/X103AM68A7004RESISTOR25WA25D1200DARESISTOR12K5%25WWWA25D1DA68A7004RESISTORA25D1DA/X101ADRESISTORA25D2DA1/2/X101ADRESISTORA25D2DA1/2X101ADRESISTORA25D300DA1/3RESISTORA25D470DA/X101AHRESISTORA25D500DA68A7004RESISTORA25D7500DA68A7004RESISTORA25D750DA68A7004RESISTORA50E10DA68A7004RESISTORA50E150DA68A7004RESISTORA50E150DATH68A7004RESISTORA50E200000DATHRESISTOR200K5%50WA50E2000DA68A7004RESISTORA50E250DATHRESISTORA50E25DATHRESISTORA50E300DATHRESISTORA50E400DA/X119AERESISTORA50E50DATH68A7004RESISTORA50E680DATH680OHMRESISTORA50E75DATH68A7004RESISTORA5470542P1RHEOSTATABB#CS129A555G01FT1FLEXITESTSWITCHABD#1SVR011712R1700ANALOGSIGNALCONVERTERABD#CAL1611ACONTAUXINTERLOCKABD#CAL1611B1NONCADDBLKEHCOAGA#7012ACTIMERRELAYAMP#1721651PLUG2POSMINIUNIVMATENLATO#030BKPRINTERCART***M#HT20BOOMSENTRY/WALK***M#HTT20100BRUSHLESSRESOLVERB100G1000KATHRESISTORB100G100KATHRESISTORB100G10KATHRESISTORB100G1500KA68A7004RESISTORB100G200KATH68A7004RESISTORB100G2500KA68A7004RESISTORB100G250KARESISTORB100G4KARESISTORB100G500KARESISTOR100WATT500OHMB100G50KATH68A7004RESISTORB200J150KATHRESISTORB25D100DARESISTOR1005%25WB25D500DA68A7004RESISTORB4001A1213JPP001CARBONBRUSHB4001A1217AHP001COLRINGAIRFILTERB4003C1187***007FILTER***E1500JATHRESISTOR15K5%50WWW***E400JATH68A7004RESISTORBEC#PRS250RELAYBMC#FRNR3FUSEBMC#FWP10A14F10A660/700VFERRULFUSEBMC#LPJ100SPFUSECLASSJ100AMPBMC#LPJ10SPFUSE10A600VBMC#LPJ15SPFUSE15A600VBMC#LPJ20SPFUSE20A600VCLASSBMC#LPJ25SPFUSE25A600VDUALEBMC#LPJ30SPFUSE30A600VDUALEBMC#LPJ5SPFUSE5A600VDUEBMC#LPSRK20SPFUSEBMC#LPSRK35SPFUSEBSLR2KSURGESUPPRESSORRCC155EX108RECTIFIER108MAOUTPUTC155EX122RECTIFIER122MAOUTPUTC50DTHYRISTORC50MRECTIFIERCAR#MC15FLEXFUSESWITCHCAR#MR36FUSECLIPCCS#HACOOLDP55G11AFLIPCHIPBALLBEARINGFANCCS#HDFUMPG3102AT35"UATA/66IDEHDDCOR#25FC1025AFILTERCR104PLG32WILSTDTRANSFORMERBAY120VWHICR104PXL01RLENSREDCRY#D4D12RELAYCSC#A70P3004FUSE300A700VCSC#A70P6004FUSECSC#AJT5FUSE5AMPCSC#OT25FUSE250V/25AMPCSC#OT3FUSE250V3AMPCSC#OT5FUSE5AMP250VCSC#OT6FUSE250V/6AMPCSC#OTS20FUSE600V20AMPCSC#OTS6USEOTS6CUS#MALSB5GEG1LIGHTSWITCHA***D500SRB020QLS600IMFUSEDIN7500SEM5X10A2JTAPTITESCREW5X10MM&WAXDIN7500SEM5X12A2JTAPTITESCREW5X12MM&WAXDS200AAHAH1AEDARCNETACTHUBLANDRIVERDS200AAHAH2ADCARCNETACTHUBLANDRIVERDS200ACNAG1ACARDARCNETDS200ADCIH1ADBDC2KCPL/CBUSINTERFACEDS200ADGIH1AAAAUXILIARYDC2KGENINTR/CODS200ADMAH1AAAANALOGTODIGMODULECONF/COATDS200ADMAH1AACANALOGTODIGMODULECONF/COATDS200ADPAG1AGENIUSADAPTCARDDS200ADPBG1AGENIUSADAPTERDS200CDAAG1ACONTACTORDRIVERCARDS200CDBAG1BCONTACTORDRIVERCARDDS200CLACG1ACELLLAMPATTENUATORDS200CPCAG1ACONTACTORPILOTCARDDS200CSSAG1BCELLSTATESENSORASDS200CVMAG1ACAP/FUSEVOLTAGEMONDS200CVMAG3ACAP/FUSEVOLTAGEMONDS200DCFBG1BCARDDCPOWERANDFEEDBACKDS200DCFBG2BDCPOWERANDFEEDBACKDS200DCVAG1ADCPOWER&INSTRUMENTDS200DCVAG2ADCPOWER&INSTRUMENTDS200DDTBG1AADMATERMINALBOARDDS200DMCAG1AGENLOGKEYINTERFACEDS200DMCBG1ADOSDUPPROCESSORDS200DPCAG1APOWERCONNECTCARDDS200DSFBG1ADRIVER/SHUNTFEEDBACKDS200DSFBG2ADRIVER/SHUNTFEEDBACKDS200DSPCH1ADADSPDRIVECONTROLCARDDS200FCGDH1ABAUSELCICONTROLANDGATINGDS200FCGDH1BLCICONTROL&GATINGCARDDS200FCRLG1AFIRINGCIRCUITREPLDS200FCRRG1AFIRINGCIRCUITREPLDS200FCSAG1ACURRENTSENSINGINTEDS200FCSAG2ACURRENTSENSINGINTEDS200FECBG1AFIELDEXCITERCROWBARDS200FGPAG1ALCIGATEPULSEAMPLIFIERDS200FHVAG1AHIGHVOLTAGEGATEINDS200FHVAG2AHIGHVOLTAGEGATEIN)
厦门莫格电气自动化有限公司
业务 QQ: 1982497648