食用菌工厂化生产线多工位搬运机器人的设计

Design of Multi-station Conveying Robot for Edible Fungus Factory Production Line

针对国内食用菌工厂化生产线菌筐搬运频繁的情况,需要设计一款占用空间小、效率高的专用搬运机器人。通过对搬运现场的了解,确定了六自由度以及电气液结合的关节型机器人方案。对机器人的基座、腰部、大中小臂、手腕和手抓进行了结构设计,并进行了气液压系统和PLC控制系统的设计。该机器人基本能够满足食用菌工厂化生产线搬运的需要。

In view of the frequent handling of mushroom baskets in domestic mushroom factory production lines, it is necessary to design a special carrying robot with small space occupation and high efficiency. Through the understanding of the handling site, the joint robot scheme with six degrees of freedom and the combination of electric and hydraulic is determined. The base, waist, middle and small arms, wrist and hand grip of the robot are designed,and the pneumatic hydraulic system and PLC control system are designed. The robot can basically meet the needs of transporting the edible fungus industrial production line.