自動蓋樓競賽機器人——底盤與機械手設(shè)計

3.6萬字 77頁



[摘要] ：自動蓋樓競賽機器人由計算機編程控制，能夠搬運、裝載積木。機器人的行走機構(gòu)采用車輪驅(qū)動的方式，左右輪為驅(qū)動輪，前后輪為支撐輪，由此構(gòu)成四輪機構(gòu)。機器人的具體功能可以概括為：由一定的驅(qū)動電路驅(qū)動電機使機器人從自動啟動區(qū)按照指定的路徑尋跡到達工地區(qū)中指定的位置，完成裝載積木的動作之后再尋跡到達下一個目標位置完成特定的動作。在行進的過程中，機器人由競賽場地上縱橫交錯的白線來作引導(dǎo)，通過光電傳感器檢測地板上白線的位置，并通過白線來判斷機器人是否到達指定的位置。機器人運動的具體路徑可以任意改變。在設(shè)計自動蓋樓競賽機器人時，我們將其分為五大部分：行走系統(tǒng)機構(gòu)設(shè)計、底盤結(jié)構(gòu)設(shè)計、水平往返輸送結(jié)構(gòu)設(shè)計（包括積木箱的設(shè)計與放置）、螺旋傳動機械手夾持結(jié)構(gòu)設(shè)計、升降機構(gòu)設(shè)計。
[關(guān)鍵詞] ：自動蓋樓競賽機器人，計算機編程，尋跡，驅(qū)動。



[ABSTRACT]: Auto-building contest robot is a machine which programmable controlled by computer, can move and load the toy bricks. The robot is driven by wheels. And the left and the right wheels are driving wheels, the other two wheels are sustaining wheels. They together consist of four wheels mechanism. The robot’s idiographic function can be generalized by that: the robot driven by the stated electric motors, will start from the auto-startup area following the desired path trace to the purpose position where locate in the building site, after loading the toy bricks, it will trace to the next purpose position and accomplish the specific action. While in the process of moving, the robot is channeled off by the crossing white-lines in the contest field, through photoelectric sensors it can detect the position of the white-lines in the floor. And we can judge the robot whether get to the desire　　

position. The robot’s idiographic movement path can change arbitrarily. While designing the Auto-building contest robot, we can divide it into five parts: movement system mechanism design, batholith structure design, level out and home arbitrarily structure design (including the toy bricks box design and placement), screw drive robot grippers structure design and the lift-fall structure design.
[Key Words]: Auto-building contest robot , computer program,
trace , drive.




目 錄
前言-------------------------------------------------------------- ( 1 )
第一章 機器人大賽的主題與規(guī)則----------------------- ( 2 )
第二章 方案設(shè)計與選擇---------------------- ( 13 )
第三章 尋跡行走系統(tǒng)設(shè)計------------------------------- ( 16 )
第四章 底盤機構(gòu)設(shè)計------------------------ ( 23 )
第五章 水平往返輸送機構(gòu)設(shè)計------------------------- ( 29 )
第六章 機械手夾持機構(gòu)設(shè)計---------------------------- ( 38 )
第七章 升降機構(gòu)設(shè)計------------------------------------- ( 50 )
第八章 蓄電池的選擇------------------------------------- ( 54 )
參考文獻------------------------------------------------------- ( 57 )
謝 辭----------------------------------------------------------- ( 58 )
翻 譯----------------------------------------------------------- ( 60 )