Wasted mask collection robot

Abstract

With the spread of major respiratory infectious diseases such as the new coronavirus pneumonia on a large scale worldwide, various countries and regions have taken medical supplies such as disposable medical masks (DMMs, mainly composed of a large variety of polymer material polypropylene PP). The demand is constantly rising. A large number of discarded masks are mixed in the streets and alleys, and the recycling process is extremely risky. In this era, it is particularly important to realize manual remote control of the collection of discarded masks. The waste mask collection robot mentioned in this article adopts a modular design method and carries out the system design, control system design, and hardware structure design for each part of the waste mask collection. In terms of the hardware system, a detailed analysis has been made on the chip model and the specifications of each application device and a reasonable design have been carried out. The design requirements of various parts are introduced, and their structure and function in the device are described in detail. Related hardware circuits are designed, such as the manipulator motor drive circuit and its control circuit. In terms of the software system, the driver program, the function program of the host computer, and the STM32 single-chip microcomputer, such as PWM motor driver and serial port communication, are designed. In terms of control system design, based on the Robot-link Wi-Fi wireless data transmission module, a set of information interaction codes between the host computer and the STM32 single-chip microcomputer is designed, which can realize ultra-low delay control. The PWM motor drive and serial communication were tested for the function. After the program was burned, the expected function was completed, and the actual product was finally assembled and tested to achieve the expected function.