基于上下料机器人的农机部件智能自动化组装系统  

Intelligent Automatic Assembly System of Agricultural Machinery Parts Based on Loading and Unloading Robot

作　　者：张丽[1] 周航 Zhang Li;Zhou Hang(Henan Polytechnic Institute, Nanyang 473000, China)

机构地区：[1]河南工业职业技术学院,河南南阳473000

出　　处：《农机化研究》2022年第12期216-220,共5页Journal of Agricultural Mechanization Research

基　　金：河南省高等学校重点科研项目(21B460002);河南工业职业技术学院青年骨干教师培养计划项目(201904)。

摘　　要：为了实现农机部件自动化组装系统,提出了一种基于上下料机器人的农机部件组装生产线,并完成了系统平台的搭建。首先,设计了农机部件自动化组装系统整体方案,完成了上下料机器人机械结构和控制系统的设计,分析了器人上下料运动学模型,实现了智能自动化组装设备布局。实验结果表明:上下料机器人能够准确地从初始位姿运行到取料位置进行取料,再将物料送到上料位置,系统具有较好的应用推广价值。In order to realize the intelligent automatic assembly system of agricultural machinery parts,it proposed an assembly line of agricultural machinery parts based on the loading and unloading robot,and built the system platform.Firstly,it designs the whole scheme of the automatic assembly system of agricultural machinery components,completes the design of the mechanical structure and control system of the loading and unloading robot,analyzes the kinematic model of the loading and unloading robot,and realizes the layout of the intelligent automatic assembly equipment.The experimental results show that the loading and unloading robot can accurately move from the initial position to the picking position,and then deliver the material to the loading position,which proves that the system has good application and promotion value.

关 键 词：农机部件 自动化组装 上下料机器人 控制系统 运动学 

分 类 号：S24[农业科学—农业电气化与自动化] TP242[农业科学—农业工程]