| 轨道式垃圾回收机器人设计与分析 |
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| 引用本文： | 李阿为,张广良.轨道式垃圾回收机器人设计与分析[J].机械制造与自动化,2020,49(2):158-161. |
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| 作者姓名： | 李阿为 张广良 |
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| 作者单位： | 西安航空学院 机械工程学院,陕西 西安710077;西安航空学院 机械工程学院,陕西 西安710077 |
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| 基金项目： | 陕西省教育厅科学研究项目;西安航空学院校级科研基金项目 |
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| 摘 要： | 针对高速公路高峰期拥挤产生的垃圾等问题,设计一种轨道式垃圾回收机器人,由光伏发电装置、机器人壳体、末端手爪、关节臂以及控制系统等组成,主体结构采用双臂三关节结构,采用西门子PLC控制系统,通过控制关节臂的旋转以及偏转、末端手爪的旋转及开合等动作来实现工作的目的。结合外场作业的特殊性,采用光伏能源装置,对其结构及控制系统进行设计,通过对机器人进行三维建模、运动和控制仿真分析,验证系统的可行性及有效性。
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| 关 键 词： | 垃圾回收机器人 运动仿真 PLC控制 |
Design and Analysis of Track Type Garbage Collection Robot |
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| LI Awei,ZHANG Guangliang.Design and Analysis of Track Type Garbage Collection Robot[J].Machine Building & Automation,2020,49(2):158-161. |
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| Authors: | LI Awei ZHANG Guangliang |
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| Affiliation: | (School of Mechanical Engineering,Xi’an Aeronautical University,Xi’an 710077,China) |
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| Abstract: | Aiming at the garbage caused by the peak congestion on highways,a kind of orbital garbage recycling robot is studied and designed.It is composed of photovoltaic power generation device,robot shell,end gripper,joint arm and control system.The main structure consists of two arms and three joints,and Siemens PLC control system is used to control the garbage.The rotation and deflection of the articulated arms and the rotation and opening and closing of the ends of the claw are used to do this operation.Considering the particularity of field operation and the actual functional requirements,the structure and control system of the robot are designed,in which the photovoltaic power generation is used as the energy device.The feasibility and effectiveness of this system are verified by three-dimensional modeling and motion and control system simulation. |
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| Keywords: | garbage collection robot motion simulation PLC control |
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