快递柜存件六自由度机械臂设计  

Design of a 6-DOF Manipulator for Express Cabinet

作　　者：王桂香[1] 何全燕 李为端 张浩[1] 宗润峰 王晨[1] WANG Gui-xiang;HE Quan-yan;LI Wei-duan;ZHANG Hao;ZONG Run-feng;WANG Chen(Hebei University, Baoding Hebei 071002)

机构地区：[1]河北大学,河北保定071002

出　　处：《数字技术与应用》2019年第3期6-7,共2页Digital Technology & Application

基　　金：河北大学2018年大学生创新创业训练计划项目(项目编号2018174)

摘　　要：为实现快递的智能分拣装柜,设计了一款可在小型快递收发站应用的快递柜自动存件的六自由度机械臂。该机械臂通过扫描装置识别快递上的条形码,按照快件的质量、体积等因素进行分类,再进行存件工作。该机械臂采用球坐标形式,使用全液压驱动方式,模仿人的手臂和手腕运动,通过手部结构、腕部结构、臂部结构的设计,各部分缸体的设计计算,实现预定的功能。In order to realize intelligent sorting and storing of express delivery, a 6-DOF manipulator for automatic storage of express cabinet which can be used in small express delivery stations is designed. The manipulator recognizes bar codes on express delivery through the scanning device, and classifies and store them according to mass, volume and other factors of express delivery. The manipulator uses the spherical coordinate and full hydraulic drive to imitate the movement of human's arm and wrist. By structure design of hand, wrist and arm, the design and calculation of the 6-DOF manipulator can realize the predetermined function.

关 键 词：快递柜 机械臂 六自由度 液压驱动 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]