应用于智能仓储的AGV货架搬运机器人  

AGV Shelf Handling Robot Applied for Intelligent Storage

作　　者：牟胜辉 王有亮 张成 蒋修华 何伟锋[2] Mou Shenghui;Wang Youliang;Zhang Cheng;Jiang Xiuhua;He Weifeng(Jir Fine Intelligent Equipment Co.,Ltd.,Dongguan,Guangdong 523000,China;Dongguan University of Technology,School of Mechanical Engineering,Dongguan,Guangdong 523808,China)

机构地区：[1]乔锋智能装备股份有限公司,广东东莞523000 [2]东莞理工学院机械工程学院,广东东莞523808

出　　处：《机电工程技术》2021年第7期56-59,153,共5页Mechanical & Electrical Engineering Technology

基　　金：2020年广东省企业科技特派员项目(编号:GDKTP2020065800)。

摘　　要：以智能、高效的仓储物流搬运设备为研究对象,设计出一款智能仓储AGV货架搬运机器人,通过标签传感器读取地标识别卡,运用导航磁条自动行驶到货架底部,通过蜗轮蜗杆机构抬升货架并行走到目标位置。根据当前AGV货架搬运机器人主流的驱动方式及其举升机构中电动抬升的工作原理,运用公式算法,确定其驱动方式,针对驱动电机、举升电机、固定螺丝和弹簧等进行选型。AGV货架搬运机器人采用Arduino芯片进行集中控制和分散模块化设计,通过摄像头和超声波实现路线规划和避障,增加MPU6050平衡模块实现姿态误差调整。实际应用结果表明,该设备具有工作稳定、性能可靠、操作简单、功能实现效果良好的特点,能为物流仓储行业的货物智能分类及搬运提供参考。Based on the intelligent and efficient storage and logistics handling equipment,an intelligent storage AGV shelf handling robot was designed,which could read the landmark identification card through the label sensor,automatically drive to the bottom of the shelf by using the navigation magnetic strip,lift the shelf through the worm gear and worm mechanism and walk to the target position.According to the current mainstream driving mode of AGV rack handling robots and the working principle of electric lifting in the lifting mechanism,formula algorithms were used to determine the driving mode,and the type of driving motor,lifting motor,fixing screws and springs were selected.The AGV rack handling robot adopts Arduino chip for centralized control and decentralized modular design,realized route planning and obstacle avoidance through camera and ultrasonic,and added MPU6050 balance module to realize attitude error adjustment.The results show that the equipment has the characteristics of stable work,reliable performance,simple operation and good function realization,which can provide reference for intelligent classification and handling of goods in logistics and warehousing industry.

关 键 词：AGV 智能 仓储 搬运 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]