复杂地形下无人机搭载的智能垃圾拾取机器人设计  

Design of Intelligent Garbage Picking Robot Carried by UAV Under Complex Landform

作　　者：邹欣桐 王晓媛 彭辰 马一鸣 于听雨 Zou Xintong;Wang Xiaoyuan;Peng Chen;Ma Yiming;Yu Tingyu(School of Mechanical and Power Engineering,East China University of Science and Technology,Shanghai 200237,China)

机构地区：[1]华东理工大学机械与动力工程学院,上海200237

出　　处：《机电工程技术》2023年第2期159-162,181,共5页Mechanical & Electrical Engineering Technology

摘　　要：针对复杂地形下的垃圾拾取困难问题,设计一款智能垃圾拾取机器人。该装置通过图传设备以及SSD算法完成垃圾的识别,由Pixhawk第四代飞控系统控制无人机的飞行状态,树莓派控制动力源,从而实现二级伸缩式机械臂的拾取垃圾动作的控制以及垃圾收纳装置动作的控制。装置的重心位置由无人机、机械臂和垃圾收纳装置共同决定,应用Solidworks软件对其进行建模以及重心位置分析。结果表明,水平面上装置重心位于几何中心,不存在重心位置的偏移;垂直轴上,该装置重心位于云台正下方,可以保证飞行的平稳性和机动性。机械手作为最危险部件,利用ANSYS软件对其进行受力、变形、应变以及应力分析,该分析基于机械手与机械臂的连接面为固定面以及机械手与垃圾的接触面为受力面的边界条件。变形、应力、应变分析数据表明,机械手内部最大变形量为1.395×10^(-7)m,最大应变量为6.1355×10^(-5),说明该部件变形微小,可忽略不计;最大应力值为1.2271×10^(7)Pa,小于部件材料的许用应力值,说明该部件工作安全可靠。The intelligent garbage picking robot was designed for the problem of which garbage pickup was difficult in complex terrain.The recognition of the garbage was realized by the image-transmitting equipment and the SSD algorithm.The flying attitude could be controlled by the Pixhawk 4 system.A Raspberry Pi was utilized as the controlling power source to control the garbage picking of the telescopic mechanical arm and the motion of the garbage withdrawing device.The barycenter of the design was decided by all the parts which include the UAV,the mechanical arm and the garbage withdrawing device.Solidworks was applied in the modeling and the analysis of the barycenter.The result of the barycenter analysis shows that the barycenter of the design is located at the geometric center in the horizontal plane,which means the location of the barycenter won′t skew.In the vertical plane,the barycenter located directly below the pan-tilt,which can ensure the stability and the flexibility of flying.The mechanical claw is the most dangerous component.So ANSYS was used to accomplish the force analysis deformation analysis,strain analysis and stress analysis.The analysis was based on the boundary condition that the junction surface of the mechanical claw and mechanical arm was considered as the fixed surface while the contact surface of the mechanical claw and the garbage was considered as the thrust face.The analyze data of the deformation,stress and strain can show that the maximal deformation in the mechanical claw is 1.395×10^(-7)m and the maximal strain in the mechanical claw is 6.1355×10^(-5),which can tell that the deformation of the component is too tidy to consider.While the maximal stress is 1.2271×10^(7)Pa,which is less than the allowable stress value of the component material.It can fully illustrate the safety and reliability of the component.

关 键 词：无人机 机械臂 垃圾拾取 树莓派 有限元分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]