自动搬运机器人论文.docVIP

自动搬运机器人 成员：周丽丽 刘蕾 张长春 时间：8月4号----8月8号 摘要 本设计采用STC89C52单片机作为主控制器芯片，辅以木块探测模块、液晶显示、电源等模块，以实现对自动搬运机器人的自动控制。搬运机器人在移动过程中通过红外线探测技术来感测木块的位置，然后传给STC89C52单片机，通过单片机处理后控制PWM波来改变机器人的运动方向，然后通过控制机械手上的舵机来实现对木块的抓取。另外本设计可以通过显示模块显示每次运行时间。 Abstract This design uses STC89C52 microcontroller as the main controller chip, with wooddetection module, liquid crystal display, power supply module, in order to realize the automatic control of automatic guided robot. Handling robot in the process of moving through the infrared detection technology to sense the block position, and then transmitted to the STC89C52 microcontroller, control the direction of movement to change the robot PWM processed by the single chip, and then by controlling the servo manipulator to realize the catch block. In addition the design can be displayed through the display module for each run time. 目 录 1系统方案的设计、比较与论证 1 1.1电源模块的论证与选择 1 1.2 的论证与选择1 1.3 电机驱动模块的论证与选择1 1.4红外避障模块的论证与选择 1 1.5显示模块的论证与选择 1 1.6机械手模块的论证与选择 1 2硬件电路的设计1..........................................................................................................................7 .2.1 硬件电路设计院与分析1...............................................................................................7 2.2 机械手工作模块的1.................................................................................................7 2.3红避避障探测电路2..........................................................................................................8 2.4显示电路的设计2 3系统软件设计2 3.1整体程序流程图2...............................................................................................................9 3.2红外避障传感器程序流程图设计2 4系统测试3...........................................................................................................................14 4.1测试3..........................................................................................................................14 4.2 测试仪器3 4.3 测试结果35 总结5............................................