一种教学用采摘竞赛机器人  

A Picking Competition Robot for Teaching

作　　者：罗家宁 贺泉 张思豪 史颖刚[1] 刘利[1] 王转卫[1] Luo Jianing;He Quan;Zhang Sihao;Shi Yinggang;Liu Li;Wang Zhuanwei(College of Mechanical and Electronic Engineering,Northwest A&F University,Xianyang,Shaanxi 712100,China)

机构地区：[1]西北农林科技大学机械与电子工程学院,陕西咸阳712100

出　　处：《机电工程技术》2021年第12期131-134,共4页Mechanical & Electrical Engineering Technology

基　　金：西北农林科技大学省级“大学生创新创业训练计划”项目(编号:S202010712700)。

摘　　要：针对中国机器人大赛采摘机器人子项目,设计了一种教学用采摘竞赛机器人。首先,根据竞赛要求,设计教学用采摘机器人的机械系统,确定了四轮独立驱动的电机布局及差速转向的轮式结构;设计了四自由度串联机械臂,二指回转型机械爪和自动卸载的储物筐。以STM32F103ZET6单片机为核心,搭载底盘控制模块、颜色识别模块和采摘机械臂模块,构建了采摘机器人的控制系统。根据比赛要求和流程,编写了机器人基本运动子程序、颜色识别子程序、机械臂控制子程序以及系统整体流程。并搭建实物进行测试,结果显示该设计满足竞赛基本要求,能够为学生参加竞赛提供一定的参考。Aiming at the picking robot sub project of China robot competition,a picking competition robot for teaching was designed.Firstly,according to the competition requirements,the mechanical system of the picking robot for teaching was designed,and the motor layout of four-wheel independent drive and the wheel structure of differential steering were determined.Four degree of freedom series manipulator,two finger rotary mechanical claw and automatic unloading storage basket were designed.Taking STM32 F103 ZET6 single chip microcomputer as the core,equipped with chassis control module,color recognition module and picking manipulator module,the control system of picking robot was constructed.According to the competition requirements and process,the robot basic motion subroutine,color recognition subroutine,manipulator control subroutine and the overall process of the system were written.The results show that the design meets the basic requirements of the competition and can provide some reference for students to participate in the competition.

关 键 词：教学机器人 机械系统 控制系统 程序设计 视觉识别 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]