箱式农作物搬运机器人的设计

Design of the handing robot for the box crops

为实现农业生产管理的智能化,设计一种在仓储物流中搬运箱式农作物的机器人。以西门子1200型PLC为核心搭建机器人运动控制系统,由带编码器的直流减速电机驱动机器人行走,选用步进电机驱动机器人各关节运动,通过蓝牙建立手机APP软件与机器人的交互,利用安装在机器人前端的传感器完成寻迹、避障和定位,最优化分析该机器人在运行速度、轨道宽度、地面粗糙度等方面的影响。试验表明:在光滑和粗糙地面上,分别以每4000脉冲和6000脉冲为单位运行时定位最准;而机器人在运行速度为5 m/min、直线方向轨道宽度为20 mm时,偏离度为8 mm;运行速度为5 m/min、转弯方向轨道宽度为30 mm时,偏离度为10 mm,此时机器人运行稳定性最高。

In order to realize intelligent for the production management in agriculture.This paper designs a kind of robot for transporting box crops in warehouse logistics.It built the motion control system of the robot based on the Siemens 1200 PLC.The robot walking is driven by a DC deceleration motor with encoder.The motion of the joints is driven by stepping motor.The interaction between the Mobile Phone and the robot is established by the Bluetooth.The implementation for the tracking,obstacle avoidance and positioning are accomplished by the sensors installed in the front.The influence of the robot on speed,track width and ground roughness is analyzed optimally.The results shows that on the smooth and rough ground,the most accurate position for each 4000 pulse and 6000 pulse.When the robot is running at a speed of 5 m/min,the width of straight track is 20 mm,the deviation is 8 mm.When the robot is running at a speed of 5 m/min,the width of turning track is 30 mm,the deviation is 10 mm.At this point,the robot has the highest stability.