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市政下水道疏通机器人设计说明书
学 院:机电工程系
学生姓名:
指导教师:
设计说明 时间:
中文摘要
针对市政下水道疏通贵、疏通难、疏通不彻底等问题,本组提出设计“市政下水道疏通机器人”。机器人采用自身携带的液态氮降低堵塞物强度硬度的方法,辅助切割机械臂将堵塞物打成极小的碎块,可自行被下水道水流冲走,以达到疏通效果。
本小组设计的机器人相对于传统非智能设备具有通过性好,稳定性强,智能化程度高,市场需求广泛的特点。极大的减少了人工费用,节约时间,且疏通效果良好。机器人采用CY8C3866AXI-040芯片为控制核心,以传感器反馈信号为控制目标,对仿生的六足结构及其机械臂、上臂等原件进行协调控制。配合具有创新意识的机械结构来实现机器人的稳定运行,完成工作内容,达到疏通效果。
关键字:疏通机器人,智能程度,控制
Abstract
In?view?of?the?expensive?of?municipal?sewer?dredging,?the?difficult?of?municipal?sewer?dredging,?and?the?sewer?can’t?dredge?thoroughly.?
The?group?propose?the?design?of?the?robot?of?municipal?sewer?dredging.?Using?the?liquid?nitrogen?which?carried?by?the?robot?to?reduce?the?strength?and?the?hardness?of?the?bulkhead.?Assisting?the?cutting?mechanical?arm?to?cut?the?bulkhead?into?tiny?pieces?which?can?be?washed?away?on?its?own?by?sewage?water?so?that?can?achieve?a?better?effect.?The?robot?designed?by?the?group?has?better?trafficability,?stronger?stability?and?higher?intelligent?than?the?traditional?and?unintelligent?one.
This robot,which takes CY8C3866AXI-040 as control core,and make transducer feedback signal as control goal.Control the mechanisms and parts in harmony ,such as the six-jaw structure,mechanical arm,and upper-arm,etc.The steady working operation and good dredge effect content are achieved taking advantanges of this creative mechanical structure.
Key words:Dredging?robot,?intelligent?degree,?control.
目录
引言……………………………………………………………………………1
产品设计背景及市场分析…………………………………………………2
1.1产品设计背景………………………………………………………………2
1.2市场分析……………………………………………………………………3
产品概述……………………………………………………………………4
产品硬件设计原理…………………………………………………………5
3.1六足结构……………………………………………………………………6
3.2脚部贴合……………………………………………………………………7
3.3液氮及喷射臂原理…………………………………………………………8
3.4机械臂………………………………………………………………………9
软件设计……………………………………………………………………11
4.1模块化设计………………………………………………………………11
4.2主板模块芯片控制………………………………………………………11
4.4单片机置步汇编程序……………………………………………………13
产品有限元分析……………………………………………………………22
结论………………………………………