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 e
nviro
nme
ntal protectio
n co
nscious
ness is more a
nd more i
nte
nse .However,there are still some litter u
ncivilized behaviors, these actio
ns
not o
nly u
ndermi
ne the e
nviro
nme
nt, resulti
ng i
n a series of pollutio
n ,such as haze, etc., every hour a
nd mome
nt affect huma
n developme
nt, there are more or less o
n the threat to huma
n health, affect the ability of sustai
nable developme
nt of huma
n society. This ca
n be see
n, for the garbage clea
n-up, we also
need to i
nvest more e
nergy a
nd research.If the desig
n of a garbage collectio
n robot come true, the garbage ca
n be effectively removed, but also make a little co
ntributio
n to the gree
n for the city a
nd add some mome
ntum for the sustai
nable developme
nt of society . Therefore, it is very
necessary to desig
n a robot which ca
n clea
n up the garbage. Such a robot with garbage removal ability will make great co
ntributio
ns to urba
n gree
ni
ng. The desig
n specificatio
n is mai
nly referri
ng to various docume
nts a
nd materials.I
n the subject, we will list various forms of programs, a
nd select the best program through repeated thi
nki
ng, a
nd the
n calculate, make the data more accurate a
nd co
ncrete.Also,we will desig
n the picki
ng up mecha
nism, the walki
ng mecha
nism a
nd the correspo
ndi
ng co
ntrol mode of the garbage pick-up robot a
nd check the system.I
n this study, the hydraulic co
ntrol system is basically used i
n the garbage pick-up robot that we desig
n . Through the co
ntrol of the hydraulic system, we operate the picki
ng-up work of the robot, maki
ng the task more perfect.At the same time, the history of the walki
ng robot is also k
now
n,i
n order to desig
n a robot to pick up garbage,a
nd the
n make co
ntributio
ns to protect the e
nviro
nme
nt. Keywords Garbage pick-up robot Hydraulic co
ntrol PLC co
ntrol 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