一种集装箱卸货机器人控制系统设计  

Design of Control System for Container Unloading Robot

作　　者：徐志祥[1] 高东 赵炎 刘玮 XU Zhixiang;GAO Dong;ZHAO Yan;LIU Wei(School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China;Jiuyi Hangyu(Dalian)Technology Co.,Ltd.,Dalian 116085,China)

机构地区：[1]大连理工大学机械工程学院,大连116024 [2]久亿航宇科技(大连)有限公司,大连116085

出　　处：《自动化与仪表》2023年第9期62-67,共6页Automation & Instrumentation

基　　金：大连市揭榜挂帅科技攻关项目(2022YJ11SN00103)。

摘　　要：目前物流行业的集装箱卸货设备控制系统智能化水平低,集装箱卸货作业往往需要多人辅助,存在卸货效率低、人工劳动强度大等问题。对此该文设计了一种集装箱卸货机器人控制系统,采用先进的机器视觉结合现代总线式交流伺服系统,对卸货机器人进行运动控制,实现集装箱卸货的全自动化。并利用伺服电机的转动惯量在线识别与参数自整定,对卸货机器人的电机稳定性进行优化。实验表明,该卸货机器人能够完成针对冷链标准40尺集装箱的盒装货物的全自动化卸货,卸货效率可达5 s/件,并在大连市辽渔集团有限公司得到初步现场试验,通过大连市科技攻关项目验收。At present,the intelligence level of the container unloading equipment control system in the logistics industry is low,and the container unloading operation often requires the assistance of multiple people,which has problems such as low unloading efficiency and high manual labor intensity.In this paper,a container unloading robot control system is designed,which uses advanced machine vision combined with modern bus AC servo system to control the motion of the unloading robot and realize the full automation of container unloading.The motor stability of the unloading robot is optimized by using the online identification of the moment of inertia of the servo motor and parameter self-tuning.The experiment shows that the unloading robot can complete the fully automatic unloading of boxed goods aiming at the cold chain standard 40-foot container,and the unloading efficiency can reach 5 s/piece.The unloading robot has obtained the preliminary field test in Dalian Liaoyu Group Co.,Ltd.and passed the acceptance of Dalian science and technology project.

关 键 词：卸货机器人 交流伺服系统 运动控制 参数整定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]