箱柜车箱式货物自动装卸机器人设计  

Design of an automatic loading and unloading robot for box-cargo cargo

作　　者：顾绮芳[1] Gu Qifang(Wuxi City College of Vocational Technology,Wuxi 214000,China)

机构地区：[1]无锡城市职业技术学院,江苏无锡214000

出　　处：《无线互联科技》2022年第14期71-73,共3页Wireless Internet Technology

摘　　要：目前,物流末端装卸大部分是在货柜车箱内作业,操作空间狭窄,货柜车周转时间短,货物包装类型、尺寸及重量变化范围很大,实现无人化、智能化、自动化装卸都是亟待解决的技术关键难题。要研究实现货柜车厢空间内全方位货物装卸的空间机构运动模型及优化,文章设计了空间七连杆机构,通过输送大臂和连接前端伸缩摆动小臂的多自由度结构,在有效行程范围内使小臂前端能够到达装卸作业空间上的任意位置;研发机器视觉系统和空间轨迹控制算法,实现货物位置连续智能识别和规划,智能控制输送大臂和伸缩摆动小臂快速精确移动定位,实现货箱装卸的自动化、智能化作业。At present, most of the logistics terminal loading and unloading is operated in the container truck, the operating space is narrow, the container truck turnover time is short, and the type, size and weight of the cargo packaging vary widely, and there is an urgent need to solve the problem of unmanned, intelligent and automatic loading and unloading. key technical problems.It is necessary to study and optimize the spatial mechanism motion model and optimization of all-round cargo loading and unloading in the space of the container compartment, and design a spatial seven-bar linkage mechanism. The front end of the forearm can reach any position on the loading and unloading work space;the machine vision system and space trajectory control algorithm are developed to realize continuous and intelligent identification and planning of the position of the goods, and intelligently control the conveying boom and the telescopic swinging forearm to move and position quickly and accurately, so as to realize the rapid and precise movement and positioning of the goods.Automatic and intelligent operation of box loading and unloading.

关 键 词：箱式货物 装卸装置 大臂 小臂 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]