集装箱绑扎机械手总体设计及工作空间分析  

An overall design and workspace analysis of container securing manipulator

作　　者：张艳伟[1] 刘恒飞 ZHANG Yanwei;LIU Hengfei(School of Logistics Engineering,Wuhan University of Technology,Wuhan 430063,Hubei,China)

机构地区：[1]武汉理工大学物流工程学院,湖北武汉430063

出　　处：《中国工程机械学报》2020年第4期330-335,342,共7页Chinese Journal of Construction Machinery

基　　金：国家自然科学基金资助项目(60904067);教育部高等学校物流类专业教学指导委员会教研项目(JZW2017115)。

摘　　要：针对当前全集装箱船集装箱系固操作主要依靠人工、装卸效率较低等问题,提出一种采用工业机械手进行集装箱系固的方法。首先,对全集装箱船集装箱系固方案进行分析,梳理适合采用机械手进行装卸的绑扎件,根据绑扎件使用需求,提出集装箱绑扎机械手在全集装船上的安装方案。然后,对绑扎件系固动作顺序进行分解规划,得出集装箱绑扎机械手末端执行器运行动作。最后,根据集装箱绑扎机械手作业边界空间,采用线性规划方式,设计机械手各连杆参数,并用蒙特卡洛法验证机械手模型工作空间。结果表明:特定几种集装箱绑扎件可以在全集装箱船上采用工业机械手进行系固操作,得到的机械手连杆参数能够满足系固操作空间大小要求。In view of the problem that the container securing operation of full container ship depends on manual operation and the loading and unloading efficiency is low,a new method of container securing by industrial manipulator is proposed. First of all,the container fastening scheme of the full container ship is analyzed,the binding parts suitable for loading and unloading by manipulator are sorted out. And the installation scheme of container binding manipulator on full container shipment is put forward according to the use requirements of the binding parts. Then,the binding action sequence of the binding parts is decomposed and planned,and the operation steps of the terminal actuator of the container binding manipulator are obtained. Finally,according to the operation boundary space of container binding manipulator,the parameters of each link are designed by linear programming,and the workspace of manipulator model is verified by Monte Carlo method. The results show that the industrial manipulator can be used to tie down certain kinds of container lashing parts on the full container ship,and the parameters of the manipulator connecting rod can meet the space requirements of the fastening operation.

关 键 词：集装箱绑扎件 工业机械手 连杆参数 工作空间 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]