饮料生产线码垛机器人的设计原理  

Design Principle of the Stacking Robot for Beverage Production Line

作　　者：郭小宝[1] 赵振[1] 黄伟[1] 贾志闻[1] 

机构地区：[1]杭州娃哈哈集团有限公司机电研究院智能装备研究所,杭州310020

出　　处：《装备机械》2018年第2期1-4,9,共5页The Magazine on Equipment Machinery

基　　金：国家科技重大专项(编号:2011ZX04013-011)

摘　　要：对应用于饮料生产线的双平行四边形结构码垛机器人的设计原理进行了研究。设计了机器人的机构原理图,开发了机器人的运动学算法,进而建立起机器人运动控制系统与机械系统的连接。采用几何包络方法绘制了机器人的工作空间,为机器人在生产线中的布局提供了依据。借助激光追踪仪标定了机器人的几何参数,保证了机器人的定位精确性。The design principle of slacking robot with double parallelogram structure applied to the beverage production line was studied. The mechanism diagram of the robot was designed, and the kinematics algorithm of the robot was developed. Then the connection between the control system for robot motion and the mechanical system was established. The geometric envelope method was used to draw the working space of the robot and provide the reference for the arrangement of the robot in the production line. The geomelrie parameters of the robot were calibrated by a laser tracker to ensure the positioning accuracy of the robot.

关 键 词：生产线 码垛机器人 机构 控制 布局 定位 

分 类 号：TH165[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]