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专业课程设计说明书

题目：水面垃圾清理机器的设计

指导教师：何韶君

班级：机械设计制造及其自动化专业142班 设计者：杨威威 学号：2014031224 校院：大连民族大学机电工程学院

目录

专业课程设计说明书 ....................................................................................................................... 1

一．摘要 ................................................................................................................................... 2 二．Abstract ............................................................................................................................. 3 三．引言 ................................................................................................................................... 4 四． 机器人结构设计 ........................................................................................................... 4

四．1 整体结构设计理念 ............................................................................................... 4 四．2 整体结构设计 ..................................................................................................... 5 四．3 垃圾收集装置设计 ............................................................................................. 6 四．4 垃圾辅助收集装置设计 ..................................................................................... 7 五．船重和排水量的计算 ....................................................................................................... 7 六．最大吃水深度的计算 ....................................................................................................... 8 七．动力装置设计 ................................................................................................................... 8 八．硬件设计 ......................................................................................................................... 10

八.1系统总体设计 ......................................................................................................... 10 八．2电源模块 .............................................................................................................. 11 八.3电机驱动模块 ......................................................................................................... 11 八．4无线传输模块 ...................................................................................................... 12 八．5继电器模块 .......................................................................................................... 12 八.6主程序设计 ............................................................................................................. 13 九． 影像收集系统设计 ..................................................................................................... 13 十． 工作参数，待机和工作时长 ....................................................................................... 14 十一. 垃圾收集特性及参数 ................................................................................................ 14 十二.外观特性 ........................................................................................................................ 15 十三. 控制方式 .................................................................................................................... 15 十四. 成本报告 .................................................................................................................... 15 十六. 市场分析 ...................................................................................................................... 19

十六.1 市场推广 ............................................................................................................ 19 十六.2 盈利模式 .......................................................................................................... 20 结束语..................................................................................................................................... 20 参考文献： ............................................................................................................................. 20

一．摘要

本文为解决现如今小型封闭水面垃圾清理耗费人力物力等问题，设计制作了一款由人工辅助远程遥控进行水面垃圾清理的机器人。水面垃圾打捞船针对水面环境污染的问题，主要致力于中小型湖泊河流等水域的固体垃圾清理，如塑料袋、饮料瓶，树枝树叶以及其它易清理的水面垃圾。实现水面垃圾清理的机械化与自动化，整个打捞过程无需人工直接参与，安全性非常好，效率大约是人工打捞的几十倍，水面越大、距离越远效果越显著。本文主要对水面垃圾自动打捞船进行了船体结构、动力装置、打捞及传输装置、垃圾存储装置以及其他零部件的设计、计算及校核等。分析了水面垃圾自动打捞船需要实现的功能要求，

在实际环境背景下，研究了水面垃圾自动打捞船的系统构成及功能、各零部件的的设计方法以及系统的实现方式。该机器人采用稳定性较高的双船体结构，通过预估的船体大小及载重，选用合理尺寸的PVC方形管作为船体，利用网状式垃圾收集箱存放垃圾，采用旋转滚刷辅助收集垃圾，通过图传系统采集远距离水面垃圾影像，用基于STM32芯片的控制系统进行方向、速度的控制。整个机器人结构合理稳定，外观简洁美观，制作材料合理，成本低廉，采用电力驱动节约能源、无污染，且收集垃圾快速有效。

关键词：人机交互；节约能源；效率高；双船体；图传；STM32；旋

转滚刷

二．Abstract

In order to solve the problem of the waste disposal of small enclosed water surface, this paper designs a robot which can be used to clean the surface of water. Garbage salvage ship the water on the surface of the water environment pollution problem, is mainly engaged in small and medium such as lakes and rivers clear waters of the solid waste, such as plastic bags, bottles, branches and leaves other easy to clean up the water waste. Realize the rubbish the mechanization and automation of the water, the whole process without human directly involved in the salvage, security is very good, efficiency is about artificial fishing a few times, the bigger surface, the farther the distance effect more significant. In this paper, the design, calculation and check of the hull structure, power plant, salvage and transmission device, garbage storage device and other parts are carried out. Analyzed the water garbage salvage ship automatically the function of the need to implement, under the background of the actual environment, studied the water garbage salvage ship automatic system structure and function, the design method and the realization of the system of parts of the way. The robot adopts the high stability of double hull structure, through the forecast of the load and the size of hull, choosing reasonable size of the square tube as hull, PVC using mesh type junk boxes store garbage, USES the rotating roller assisted garbage collection, collection and long distance water waste