垃圾捡拾机器人控制结构设计（含CAD图纸及说明书）

A0总装图

本设计说明书主要是参考各种文献资料，在课题中列举各种不同形式的方案，并且通过反复思考选择最佳方案，然后计算，使得数据更加精确具体，设计出垃圾捡拾机器人的捡拾机构、行走机构以及相应的控制方式，并且对系统进行校核。在此项研究中，我们设计的垃圾捡拾机器人，使用的基本上是液压控制系统，通过液压系统的控制，来操作机器人的拾取工作，使得任务完成得更加完美。同时，了解行走机器人的历史，便于更好地设计一个垃圾捡拾机器人，为保护环境做出贡献。

关键词垃圾捡拾机器人；液压控制；PLC控制

Abstract
With the overall progress of social members’ quality, the people’s environmental protection consciousness is more and more intense .However,there are still some litter uncivilized behaviors, these actions not only undermine the environment, resulting in a series of pollution ,such as haze, etc., every hour and moment affect human development, there are more or less on the threat to human health, affect the ability of sustainable development of human society. This can be seen, for the garbage clean-up, we also need to invest more energy and research.If the design of a garbage collection robot come true, the garbage can be effectively removed, but also make a little contribution to the green for the city and add some momentum for the sustainable development of society . Therefore, it is very necessary to design a robot which can clean up the garbage. Such a robot with garbage removal ability will make great contributions to urban greening.
The design specification is mainly referring to various documents and materials.In the subject, we will list various forms of programs, and select the best program through repeated thinking, and then calculate, make the data more accurate and concrete.Also,we will design the picking up mechanism, the walking mechanism and the corresponding control mode of the garbage pick-up robot and check the system.In this study, the hydraulic control system is basically used in the garbage pick-up robot that we design . Through the control of the hydraulic system, we operate the picking-up work of the robot, making the task more perfect.At the same time, the history of the walking robot is also known,in order to design a robot to pick up garbage,and then make contributions to protect the environment.

Keywords Garbage pick-up robot Hydraulic control PLC control

目录
摘要II
Abstract III
1绪论1
1.1概述1
1.1.1背景及意义1
1.1.2移动机器人的发展及其应用1
1.1.3研究内容与方法2
1.2垃圾捡拾机器人工作框图2
2方案设计及其选择4
2.1捡拾结构的设计4
2.1.1方案一：铲斗车型结构4
2.1.2方案二：旋转毛刷收集结构4
2.1.3方案三：机械手抓取型结构4
2.1.4机器人捡拾方案的确定5
2.2机器人移动形式的确定5
3机器人工作过程分析及机械手臂结构设计6
3.1机器人工作过程分析6
3.1.1垃圾捡拾机器人驱动分析6
3.1.2机器人机械手工作分析6
3.1.3机器人支撑座7
3.2机械臂机构设计7
3.2.1机械臂机构设计要求7
3.2.2机械臂机构具体设计7
4液压控制环节9
4.1液压控制优点9
4.2液压系统油路图9
4.3液压缸选型11
4.3.1手臂1与手臂2的液压缸选型11
4.3.2摆动液压缸的选型12
4.3.3机械手手爪活塞缸选型13
4.4液压泵的选型15
4.5系统校核16
4.6液压系统中其他元件的选择19
5机器人的控制机构设计21
5.1 PLC控制21
5.2机械手的控制21
5.3驱动系统的控制24
结论26
致谢27
参考文献28

A0摆动缸

A1爪子

A2活塞缸

A4摆动台

A4摆动轴

目录