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UG NX 6.0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，UG NX 6.0

Abstract

This designed robot which can pick up table tennis and take back table tennis automatically is used in the completive and training field. Although it is a lot of intelligent robots on the market have been applied to our daily life, seldom of deliberate robots are used in the field of table tennis. In the table tennis field, when we are in the training or competition, there will be a lot of table tennis which are out of pool table and invalid table tennis in the ground certainly. Today, we often pick up and take back table tennis artificially, and it can reduces work efficiency and raise our labor intensity obviously. Therefore, if we can apply the intelligent robots to the table tennis field, which can pick up and take back table tennis automatically, that will greatly improve our work efficiency and reduce the work efficiency of the staff greatly. Therefore, in the table tennis field, the applications of robot which can pick up and take back table tennis automatically will have a great commercial potential.

In this dissertation about the design concerning the robot, it mainly relate to the design of mechanical structure. And also, I construct the stereoscopic model of the robot which can pick up and take back table tennis automatically with the help of the UG NX 6.0 software, and make an analysis show of the kinematical mechanism. Finally, I draw the engineering drawing of the appropriate parts and assembly

drawing with the help of the AutoCAD2008 software. This paper discusses mechanical structure of the robot minutely. first of all，I introduce the overall design ideas in order to make a better comprehension.. Afterwards, I analyze the designed mechanism in detail. At last, I introduce the gross impressions of the design.

Key words：Robot, Mechanical structure, UG NX 6.0

目录

1 绪论 (1)

1.1 背景 (1)

1.2 本课题研究的内容 (1)

1.3 论文的构成 (2)

2 总体设计方案 (3)

2.1 行走方式 (3)

2.2 捡球方式 (3)

2.3 驱动和转向的方式 (4)

2.4 主体材料的选择 (6)

3 结构的设计 (7)

3.1 驱动机构 (7)

3.1.1 电源的选择 (7)

3.1.2 电机的选择 (8)

3.1.3 车轮的确定 (8)

3.1.4 驱动装置 (9)

3.2 捡球机构 (11)

3.2.1 捡球的总装置 (11)