一种装车机器人结构设计及控制系统开发

Structure Design and Control System Development of A Vehicle Loading Robot

目前货物装车技术发展处于半自动化阶段,人工结合机器一起完成整个工作流程。装车机器人主要是解决从仓库运输箱式货物到货车集装箱全自动化问题。介绍了装车机器人机构设计及控制系统开发。机器人的机械结构由六个模块组成,分别是基座模块、后端平移转盘模块、前端平移转盘模块、竖直变幅模块、伸缩机械臂模块和末端执行机构模块。控制系统由上位机软件和下位机各种硬件设备组成。

At present,the development of cargo loading technology is in the stage of semi-automatization. The loading robot mainly solves the problem of fully automatic transportation from warehouse to truck container. This paper mainly introduces the design and control system development of the loader robot. The mechanical structure of the robot is composed of six modules,namely,the base module,the rear horizontal transfer disk module, the front translation rotary disk module, the vertical amplitude variation module, the telescopic mechanical arm module and the end executive mechanism module. The control system is divided into upper computer software and lower computer hardware.