摘 要
本设计是针对中央电视台举办的第四届CCTV全国大学生机器人电视大赛，即ABU Robocon 2005（亚太大学生机器人电视大赛）国内选拔赛而设计的参赛机器人。本次比赛的主题是“登长城，点圣火”。针对比赛，本文分析了比赛的规则和特点，讨论比赛的战术和策略，对各种设计方案进行讨论和比较，最终选出适合的设计方案。
此次比赛我队有两台机器人参加，本文的主要研究方向是其中的手动机器人控制系统设计。首先对手动机器人的行走方案、吃球方案、投球方案进行讨论和设计，随后又对投球装置使用的气动控制系统进行了设计。接着对各部分使用的零件和材料进行设计和选用。简单介绍了为手动机器人设计的以单片机为核心的控制系统。同时出于对稳定性的考虑，设计了以PLC为核心的控制系统，并以此为重点，对机器人的功能进行设计和扩展。
作者参与了机器人的制作，对各部分进行详细的论证。比赛的结果表明，本次设计的机器人结构简单，操作方便，运行平稳，达到设计要求。
关键词：机器人、投球、气动控制、PLC控制
ABSTRACT
The aim of this paper is designed for the the fourth session of CCTV nation university student robot television competition, Namely ABU Robocon 2005 (Asian and Pacific university student robot television competition) Domestic trials . This competition subject is “to ascend the Great Wall, to ignite the ceremonial fire”. In allusion to the competition, the rule and the characteristic of the competition are analyzed. The tactic and the strategy are discussed. Carries on the discussion and the comparison to each kind of design proposal, finally selects the suitable design proposal.
There are two robots of our take part in the competition. The main research direction of this article is manual robot control system design. First of all we carry on the discussion and the design to the manual robot walking plan, ball collecting plan, ball shooting plan , afterwards to design the pneumatic control system of ball shooting system. Then carries on to design and select various part of the used components and the material. Simply introduced the control system takes SCM as the core designed for the manual robot. Simultaneously base on the stable consideration, we designed a control system takes PLC as the core, and take this as the key point, carries on the design and the expansion to the robot function.http://www.16sheji8.cn
The author participated in the robot manufacture, carries on the detailed proof to various part. The competition result indicated that, this design of the robot has simple structure, and easy to operate, the movement is steady, meets the design requirements.
Keywords: robot, shooting ball, pneumatic control, PLC control
目录http://www.16sheji8.cn
1.问题的提出 ………………………………………………………………………1
1.1机器人概述…………………………………………………………………1
1.2目前研究的概况和发展趋势 ………………………………………………2
1.3机器人竞赛介绍 ……………………………………………………2
1.4机器人大赛的主题和规则……………………………………………………4
2.总体方案分析与策略…………………………………………………………10
2.1 整体设计思想……………………………………………………………12
2.2规则要点分析………………………………………………………………13
2.3“点燃圣火”战术…………………………………………………………14
2.4防守反击战术…………………………………………………………16
2.5全攻全守战术…………………………………………………………18
3.手动投球机器人整体方案设计…………………………………………………19
3.1总体设计思想………………………………………………………19
3.2底盘及行驶机构的设计………………………………………………21
3.3吃球部分设计…………………………………………………………25
3.4投球部分设计…………………………………………………………27
4.机器人气动回路设计………………………………………………………22
4.1总体设计……………………………………………………………32http://www.16sheji8.cn
4.2控制回路设计…………………………………………………………33
4.3射击角度调整模块…………………………………………………………34
4.4电磁阀的控制……………………………………………………………35
5.零部件的选择…………………………………………………………32
5.1行走电动机的选择……………………………………………………36
5.2方向舵机的选用……………………………………………………39
5.3吃球电动机和送球电动机的选用…………………………………40
5.4气动部件的选择……………………………………………………40
5.5其他零件及材料的选用……………………………………………………43
6.单片机控制系统…………………………………………………………44
6.1 AVR单片机的特性……………………………………………………44
6.2 控制电路介绍………………………………………………………………46
7. 以PLC为核心的控制系统方案 ………………………………………………50
7.1 整体构思……………………………………………………………………50
7.2 PLC介绍 ……………………………………………………………………50
7.3 PLC的选择…………………………………………………………………52
7.4 PLC各单元介绍 ……………………………………………………………53
7．5 控制系统功能介绍…………………………………………………………57
7.6 前进/后退及变速控制 ……………………………………………………57
7.7 自动送球控制………………………………………………………………62
7.8 特别设计的“一键瞄准”功能……………………………………………65
8.经济技术分析…………………………………………………………68http://www.16sheji8.cn
致谢 ………………………………………………………………………………69
参考文献……………………………………………………………………………70
附录1：外文翻译…………………………………………………………………72
附录2：外文原文………………………………………………………………78
附录3：机器人主要参数……………………………………………………82
附录4：机器人实物图……………………………………………………………82
附录5：气动回路图……………………………………………………………83
