一种自适应的双臂协作码垛机器人的研发  

Research and development of an adaptive two-arm cooperative palletizing robot

作　　者：刘丹丹 王珺 刘杰 马超 何程 Liu Dandan;Wang Jun;Liu Jie;Ma Chao;He Cheng(Anyang Cigarette Factory,Henan Zhongyan Industry Co.,Ltd.,Henan Anyang,455004,China;Shanghai Zhiyuan Automation Technology Co.,Ltd.,Shanghai,200086,China;School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Hubei Wuhan,430074,China)

机构地区：[1]河南中烟工业有限责任公司安阳卷烟厂,河南安阳455004 [2]上海致元自动化科技有限公司,上海200086 [3]华中科技大学机械科学与工程学院,湖北武汉430074

出　　处：《机械设计与制造工程》2023年第10期79-83,共5页Machine Design and Manufacturing Engineering

摘　　要：针对烟草物流行业中纸箱包装品种多、物流量大以及物流空间封闭和狭窄等特点,结合机器视觉、机器人等先进技术,采用自动轨迹规划以及自适应的多阶S型曲线速度控制方法,研发了一种自适应的六轴双臂协作码垛机器人。测试结果表明:该码垛机器人的适应性强,码垛平稳快速,大大提高了烟草物流行业的码垛效率。In view of the characteristics of the tobacco logistics industry,such as many types of carton packaging,large logistics volume,and closed and narrow logistics space,it combines with advanced technologies such as machine vision and robotics,develops an adaptive six-axis dual-arm collaborative palletizing robot in automatic trajectory planning and an adaptive multi-stage S-curve speed control method.The test results show that the palletizing robot has strong adaptability,stable and fast palletizing,and greatly improves the palletizing efficiency of tobacco industry logistics.

关 键 词：双臂协作 码垛机器人 S型曲线 自适应控制 纸箱包装 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]