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针对2011年全国职业院校技能竞赛机器人项目“模拟高铁建造过程”的任务要求,设计了一种基于STC单片机、以一个可升降作业平台和两个单自由度机械臂为主体机构的四轮自动机器人。该机器人通过光电循迹电路获取路径信息,经单片机识别处理、产生两路PWM信号驱动行走电机运转,实现工件的车载运输;产生另外两路PWM信号经脉冲分配器和驱动电路,控制多个机构电机按顺序运转,实现工件的识别、抓取和投放。针对竞赛场地,设计了循迹行走算法,研究了多电机分步工作方式,并进行现场试验。结果表明,该机器人运行稳定可靠、作业效率高,完成了全部任务要求。
In order to meet the task requirements of the robot race project “Simulated high-speed rail construction process” of the National Vocational College in 2011, a quadruplex system based on STC single-chip microcomputer with a lifting platform and two single-degree-of-freedom robots as the main body Wheel robot. The robot obtains the path information through the photoelectric tracking circuit. The single-chip microcomputer recognizes the processing to generate two PWM signals to drive the traveling motor to realize the on-board transportation of the workpiece. Two additional PWM signals are generated by the pulse distributor and the driving circuit to control multiple mechanisms The motors run in sequence to identify, pick up, and place workpieces. For the competition venue, the tracking algorithm is designed, the multi-motor working method is studied, and the field test is carried out. The results show that the robot runs stably and reliably, and has high work efficiency and fulfills all the task requirements.