基于“探索者”创新平台的图书搬运机器人设计与实现  

Design and Implementation of a Book Handling Robot Based on the"Explorer"Innovation Platform

作　　者：韩洋 胡文双 赵华[1] HAN Yang;HU Wen-shuang;ZHAO Hua(School of Intelligent Manufacturing,Nanyang Institute of Technology,Nanyang 473004,China)

机构地区：[1]南阳理工学院智能制造学院,南阳473004

出　　处：《价值工程》2023年第28期94-96,共3页Value Engineering

基　　金：南阳理工学院2020年度教育教学改革研究项目,工程教育认证背景下基于探索者创新平台的传感器课程教学改革研究(项目编号NIT2020JY-167)。

摘　　要：本文以高校图书馆为场景,基于“探索者”创新平台,设计了一种具有循迹、避障、拾取等功能的图书搬运机器人。在机械结构上,采用滚珠丝杠、直齿圆柱齿轮和平行四杆等机构,实现了机器人的自由运动,提高了机器人的拾取精度;在控制系统上,采用US-100超声波测距、KEYES红外循迹等多种传感器,完成对工作环境的感知和运动路径的规划,提高了拾取效率;基于STM32进行程序的编写,通过分块化输出的控制方式,对其全部传感器及机械驱动装置进行精确控制,使其完成机器人自主寻找和拾取图书的功能,达到自动循迹、实时避障、精准拾取、省时及节能的标准。Taking the university library as a scenario,this paper designed a book handling robot with the functions such as tracking,obstacle avoidance and picking based on the"Explorer"innovation platform.In terms of mechanical structure,ball screw,spur gear and parallel four-bar mechanism were used,which enabled the free movement of the robot and improved the picking accuracy.In terms of control system,sensors such as US-100 ultrasonic rangefinder,KEYES infrared tracking,etc.were used to complete the perception of the working environment and the planning of the movement path,which improved the efficiency of picking.The program was written based on STM32.Through modular outputs,all the sensors and mechanical drives were precisely controlled to complete the functions of autonomously searching for and picking up the books,which met the standards of automatic tracking,real-time obstacle avoidance,accurate picking up,time-saving and energy saving.

关 键 词：探索者 图书 机器人 设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]