一种搭载机械臂的瓷砖铺贴末端执行器的设计  

Design of Ceramic Tile Laying End Effector Equipped with a Robotic Arm

作　　者：陆亮[1,2] 孙宁 王志鹏 LU Liang;SUN Ning;WANG Zhipeng(College of Mechanical and Energy Engineering,Tongji University,Shanghai 201804,China;Shanghai Research Institute for Intelligent Autonomous Systems,Shanghai 201210,China)

机构地区：[1]同济大学机械与能源工程学院,上海201804 [2]上海自主智能无人系统科学中心,上海201210

出　　处：《自动化应用》2024年第1期123-126,共4页Automation Application

基　　金：上海市级科技重大专项——人工智能基础理论与关键核心技术(2021SHZDZX0100);中央高校基本科研业务费专项资金项目(2022-1-ZD-04)。

摘　　要：针对手工铺贴瓷砖成本高、工作效率低、劳动强度大等问题,设计了一种搭载机械臂的瓷砖铺贴末端执行器。设计真空系统实现瓷砖吸放,设计惯性式激振器实现振动压实,利用激光测距传感器与边缘搜索方法检测定位。基于ROS开发了铺贴系统,实现了搭载机械臂的瓷砖铺贴实验。结果表明,该装置能够实现300 mm×300 mm的瓷砖铺贴作业,重复定位标准偏差小于0.343 mm。A tile laying end effector equipped with a robotic arm was designed to address the issues of high cost,low work efficiency,and high labor intensity in manual tile laying.The vacuum system is designed to realize tile suction and release,the inertial shaker is designed to realize vibratory compaction,and the laser ranging sensor is used to detect and locate the tiles with the edge search method.Based on ROS,a tiling system was developed to realize the tiling experiment with robotic arm on board.The result shows that the device can finish 300 mm×300 mm tile paving operation,the repeated positioning standard deviation for tile positioning is lower than 0.343 mm.

关 键 词：机器人 瓷砖铺贴 末端执行器 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TU767.4[自动化与计算机技术—控制科学与工程]