自动捡球机器人的机械结构设计

摘要该机器人主要应用在乒乓球比赛场和训练场上，它有自动捡乒乓球和自动送乒乓球的功能。虽然，现在市面上有很多智能的机器人已经应用到我们的日常生活当中，但是并没有专门应用在乒乓球场上的机器人。在乒乓球场上，在比赛或者训练的时候，地面上肯定会有很多出界和无效的乒乓球。现在，我们一般主要还是通过人工的方法来捡球和送球，这明显降低了工作的效率和提高了工作人员的劳动强度。因此，如果我们将智能机器人应用在乒乓球场上，实现捡球和送球的自动化，这将会大大提高我们的工作效率和降低了工作人员的劳动强度。所以将自动捡球机器人应用在乒乓球场上，这将会有很大的市场发展潜力。在本设计论文中，主要是自动捡球机器人机械结构部分的设计。用UGNX6.0软件构建出自动捡球机器人的立体模型，并对各部分的运动机构进行分析说明。最后，用AutoCAD2008软件绘制出相应零部件的工程图和机器人的装配图。本文详细讨论了机器人机械结构的设计。首先，为了更好地理解机械结构的设计思路，在开始的时候，就引入了总体的设计方案。然后，对各个主要的机构进行详细的设计和分析。最后，介绍了设计的总体效果。关键词：机器人，机械结构，UGNX6.0三号黑体加粗AbstractThisdesignedrobotwhichcanpickuptabletennisandtakebacktabletennisautomaticallyisusedinthecompletiveandtrainingfield.Althoughitisalotofintelligentrobotsonthemarkethavebeenappliedtoourdailylife,seldomofdeliberaterobotsareusedinthefieldoftabletennis.Inthetabletennisfield,whenweareinthetrainingorcompetition,therewillbealotoftabletenniswhichareoutofpooltableandinvalidtabletennisinthegroundcertainly.Today,weoftenpickupandtakebacktabletennisartificially,anditcanreducesworkefficiencyandraiseourlaborintensityobviously.Therefore,ifwecanapplytheintelligentrobotstothetabletennisfield,whichcanpickupandtakebacktabletennisautomatically,thatwillgreatlyimproveourworkefficiencyandreducetheworkefficiencyofthestaffgreatly.Therefore,inthetabletennisfield,theapplicationsofrobotwhichcanpickupandtakebacktabletennisautomaticallywillhaveagreatcommercialpotential.Inthisdissertationaboutthedesignconcerningtherobot,itmainlyrelatetothedesignofmechanicalstructure.Andalso,IconstructthestereoscopicmodeloftherobotwhichcanpickupandtakebacktabletennisautomaticallywiththehelpoftheUGNX6.0software,andmakeananalysisshowofthekinematicalmechanism.Finally,IdrawtheengineeringdrawingoftheappropriatepartsandassemblydrawingwiththehelpoftheAutoCAD2008software.Thispaperdiscussesmechanicalstructureoftherobotminutely.firstofall，Iintroducetheoveralldesignideasinordertomakeabettercomprehension..Afterwards,Ianalyzethedesignedmechanismindetail.Atlast,Iintroducethegrossimpressionsofthedesign.Keywords：Robot,Mechanicalstructure,UGNX6.0目录1绪论............................................................................................................................11.1背景..................................................................................................................11.2本课题研究的内容..........................................................................................11.3论文的构成......................................................................................................22总体设计方案............................................................................................................32.1行走方式..........................................................................................................32.2捡球方式..........................................................................................................32.3驱动和转向的方式..........................................................................................42.4主体材料的选择..............................................................................................63结构的设计................................................................................................................73.1驱动机构..........................................................................................................73.1.1电源的选择............................................................................................73.1.2电机的选择............................................................................................83.1.3车轮的确定............................................................................................83.1.4驱动装置................................................................................................93.2捡球机构........................................................................................................113.2.1捡球的总装置......................................................................................113.2.2微型真空泵的选择..............................................................................133.2.3堵气机构..............................................................................................143.2.4存放腔的设计......................................................................................204机器人的传感器......................................................................................................224.1机器人的视觉................................................................................................224.2机器人的触觉................................................................................................224.3机器人的计数功能........................................................................................235设计的总效果与工作过程......................................................................................245.1设计的总效果................................................................................................245.2工作过程........................................................................................................25结论..................................................................