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

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.