工业机械臂可变工位仓储分拣系统设计  

Design of Variable Station Storage and Sorting System for Industrial Mechanical Arm

作　　者：彭可[1] 杨陈浩 刘明[1] 邵添 周稼辉 宋雨情 PENG Ke;YANG Chenhao;LIU Ming;SHAO Tian;ZHOU Jiahui;SONG Yuqing(College of Engineering and Design,Hunan Normal University,Changsha 410081,China)

机构地区：[1]湖南师范大学工程与设计学院,长沙410081

出　　处：《机械设计与研究》2023年第2期40-44,共5页Machine Design And Research

摘　　要：目前仓储物流行业多采用固定式机械臂工作站进行物料存放。针对固定式机械臂工作站操作空间有限和使用多台机械臂成本过高的问题提出了一种利用单台工业机械臂进行多工位仓储分拣作业的解决方案。使用激光测距仪获得目标位置数据,进行坐标变换后利用KUKA EthernetKRL网络通讯方式实时改变机械臂内部程序位移变量,配合AGV小车将机械臂带到对应工作位置进行作业,达到单台工业机械臂对多个工位进行仓储分拣工作的目的。At present,the storage and logistics industry mostly adopts the fixed mechanical arm workstation for material storage.To address the problems of limited operating space of the fixed mechanical arm workstation and high cost of using multiple mechanical arms,a single industrial mechanical arm is proposed.The laser rangefinder is used to obtain the target location data,and the internal program displacement variable of the mechanical arm is changed in real time through the KUKA EthernetKRL network communication mode,thus bringing the robotic arm to the corresponding working position for operation,so as to achieve the purpose of warehousing and sorting with a single industrial mechanical arm for multiple stations.

关 键 词：工业机械臂 可变工位 AGV小车 坐标变换 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]