桁架机器人系统的研发及其在电缆保护管仓储中的应用  

The development of truss robot system andapplication in the cable protection pipe storage

作　　者：丁安琪 丁伟 Ding Anqi;Ding Wei(State Grid Taizhou Power Supply Company,Jiangsu Taizhou,225300,China)

机构地区：[1]国网江苏省电力有限公司泰州供电分公司,江苏泰州225300

出　　处：《机械设计与制造工程》2024年第5期78-82,共5页Machine Design and Manufacturing Engineering

基　　金：国网江苏省电力有限公司双创中心孵化项目(JF2021005)。

摘　　要：介绍桁架机器人系统的研发过程及其在电缆保护管自动垂直存储中的应用,主要包括系统方案设计、仓储桁架机器人设计、仓储自动控制系统设计和其他主要部件的设计、分析及其制造工艺,其技术核心是多自由度的桁架机器人系统及仓储控制系统;详细介绍了仓储桁架机器人立柱及横梁、大车、小车、提升机构和手抓机构5个组成部分的结构设计及其技术参数,以及仓储自动控制系统的构成及原理。该桁架机器人系统首次实现了电缆保护管的自动识别、搬运及堆叠作业,大大降低了人员劳动强度,提高了工作效率,可精准控制电缆保护管的用量,促进了电力电缆保护管仓储智能化水平的提高。It introduces the development of warehouse truss robot system and its application in the automatic vertical storage of power cable protection pipe,which mainly includes scheme design,storage truss robot,warehouse control system,design and manufacturing process of main components.The technical core of this system is the multi-degree-of-freedom robot system and its storage control system.Further,the structure design and the technical parameters of the robot truss column-beam,cart,trolley,lifting mechanism and the storage automatic control system are introduced.The system realizes the automatic identification,handling and stacking of cable protection pipes.It greatly reduces the labor intensity of personnel,improves the work efficiency,can accurately control the amount of cable protection pipe.The system promotes the improvement of the intelligent level of power cable protection pipe storage.

关 键 词：桁架机器人 电缆保护管 控制系统 

分 类 号：TH16[机械工程—机械制造及自动化]