新型自主乒乓球收集机器人设计研发  

Design of a New Automatic Table Tennis Collecting Robot

作　　者：张行 石晶 丁华锋 朱银 ZHANG Hang;SHI Jing;DING Hua-feng;ZHU Yin(Hubei Key Laboratory of Power System Design and Test for Electrical Vehicle,Xiangyang Hubei 441053,China;Hubei Tri-Ring Forging Co.,Ltd,Xiangyang Hubei 441700,China)

机构地区：[1]纯电动汽车动力系统设计与测试湖北省重点实验室,湖北襄阳441053 [2]湖北三环锻造有限公司,湖北襄阳441700

出　　处：《机械研究与应用》2019年第5期143-145,共3页Mechanical Research & Application

基　　金：湖北省教育厅科学技术研究项目:基于细观损伤力学的汽车复杂锻件的控形控性研究(编号:Q20192605)

摘　　要：为了解决乒乓球馆或乒乓球训练场地散落乒乓球的问题,基于inventor软件进行建模仿真以及运动分析,设计出一种便携式乒乓球自动收集机器人,采用ARM9开发板来作为主控制器实现整体控制,设计分流缸配合槽轮机构运动,通过风机把乒乓球吸入分流缸中,麦卡姆轮导向,CMOS图像传感器寻找乒乓球的位置以及通过红外线传感器避障。该机器人具有自动寻找、自动避障、自动收集等功能,能有效收集散落的乒乓球。In order to solve the problem of table tennis scattered in the table tennis hall or table tennis training ground,a type of portable table tennis automatic collecting robot is designed in this article based on the inventor software for modeling simulation and motion analysis.The ARM9 development board is used as the main controller to realize the overall control;the shunt cylinder is designed to cooperate with the motion of the geneva mechanism;the table tennis is sucked into the shunt cylinder through fan and guided by the Mackam wheel;position of the table tennis could be found by the CMOS image sensor,and obstacles could be avoided through the infrared sensors.The robot has the functions of automatic searching,automatic obstacle avoidance and automatic collection,etc.,so it can effectively collect the scattered table tennis balls.

关 键 词：机器人 槽轮机构 分流缸 麦卡姆轮 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]