水面垃圾清理机器说明书

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．AbstractInordertosolvetheproblemofthewastedisposalofsmallenclosedwatersurface,thispaperdesignsarobotwhichcanbeusedtocleanthesurfaceofwater.Garbagesalvageshipthewateronthesurfaceofthewaterenvironmentpollutionproblem,ismainlyengagedinsmallandmediumsuchaslakesandriversclearwatersofthesolidwaste,suchasplasticbags,bottles,branchesandleavesothereasytocleanupthewaterwaste.Realizetherubbishthemechanizationandautomationofthewater,thewholeprocesswithouthumandirectlyinvolvedinthesalvage,securityisverygood,efficiencyisaboutartificialfishingafewtimes,thebiggersurface,thefartherthedistanceeffectmoresignificant.Inthispaper,thedesign,calculationandcheckofthehullstructure,powerplant,salvageandtransmissiondevice,garbagestoragedeviceandotherpartsarecarriedout.Analyzedthewatergarbagesa