自动(智能)扫地机器人设计

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Design of Automatic Sweeping Robot

ABSTRACT

With the continuous progress and development of technology and society, the application of robots has expanded from industry to other fields. In particular, service robots have penetrated our lives, work and economic aspects, and have played a great role. The sweeper robot is the most close to the human robot, it can replace people to complete the cleaning of the family ground, most likely to enter thousands of families to become part of the family life. It involves mechanical, electronic and computer related knowledge. It integrates mobile robot technology and cleaning technology into one. The research and Realization of automatic sweeping robot technology is aimed at changing people's life through technology. It has become the most challenging research topic in the field of household appliances. This paper mainly introduces the mechanical structure design and control system design of the automatic sweeping robot. The whole shape uses round cake, the motion mechanism adopts three wheels, and the rear wheel of the front wheel is driven by two

-可编辑修改-

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motors respectively. The cleaning mechanism adopts the transmission scheme of the worm drive and the belt wheel, and the control part adopts the switch circuit. Starting brush motor, The drive motor is controlled by the L298 motor drive module. using infrared sensor and photoelectric sensor to transmit the signal to AT89C51 single chip microcomputer to complete the automatic obstacle avoidance and fall prevention function of the robot. It can effectively complete the cleaning work under the coordination of the related mechanical structure.

Key word: Sweeping robot, Intelligentization, Sensor, Singlechip, Dodge obstacles

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目 录

摘 要................................................................................................................................................. I ABSTRACT .................................................................................................................................... III 1 前言 ............................................................................................................................................. 1

1.1 设计要求 .......................................................................................................................... 2 1.2 课题国内外的研究现状 ................................................................................................. 2

1.2.1 课题国外研究现状 ............................................................................................... 3 1.2.2 课题国内研究现状 ............................................................................................... 6 1.3 设计的目的和意义 ......................................................................................................... 7 1.4 设计的重点难点.............................................................................................................. 8 1.5 本章小结 .......................................................................................................................... 9 2 机器人的机械结构设计 ..........................................................................................................10

2.1 机械结构组成 ................................................................................................................10 2.2 机械结构设计选择 .......................................................................................................10

2.2.1 机器人外形设计 .................................................................................................10 2.2.2 机器人运动机构选择 ........................................................................................11 2.2.3 清扫机构的设计 .................................................................................................14

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2.3 本章小结 .......................................................................................... 错误!未定义书签。 3 机械部分设计计算 .................................................................................... 错误!未定义书签。

3.1 驱动电机的选择.............................................................................. 错误!未定义书签。 3.2 清扫机构电机的选择 ..................................................................... 错误!未定义书签。 3.3 蜗轮蜗杆的设计计算 ..................................................................... 错误!未定义书签。 3.4 各个轴的设计计算 ......................................................................... 错误!未定义书签。

3.4.1 蜗杆轴结构设计计算 .......................................................... 错误!未定义书签。 3.4.2 蜗杆轴结构设计计算 .......................................................... 错误!未定义书签。 3.4.3 清扫轴结构设计计算 .......................................................... 错误!未定义书签。 3.5 轴的强度校核 .................................................................................. 错误!未定义书签。 3.6 本章小结 .......................................................................................... 错误!未定义书签。 4 机器人的控制系统设计 ............................................................................ 错误!未定义书签。

4.1 单片机简介 ...................................................................................... 错误!未定义书签。 4.2 单片机的选择及I/O口设计 ........................................................ 错误!未定义书签。

4.2.1 AT89C51单片机简介 ......................................................... 错误!未定义书签。 4.2.2 I/O口定义 ............................................................................. 错误!未定义书签。 4.3 控制电路的设计.............................................................................. 错误!未定义书签。