大型重载无动力船舶的助力搬运机器人系统

Design of large and heavy load powerless ship's power-assisted handling robot system

传统重载无动力船舶的助力搬运机器人搬运速率较差,对此设计船舶搬运机器人系统。利用六轴垂直多关节技术,设计助理搬运机器人整体结构,利用相机小孔成像模型,根据搬运目标通过相机中心点投射到平面的成像,完善搬运机器人视觉定位,最后利用坐标定位算法,将助力搬运机器人关节坐标转化为圆柱坐标,实现助理搬运机人高速率搬运。实验证明,设计的助力搬运机人和传统搬运机器人相比,单位时间内搬运的货品重量多1.7 t,固定重量货品搬运时间缩短1.25 min,可以有效提高对大型重载无动力船舶货品的搬运速率。

The traditional heavy duty unpowered ship's power-assisted transport robot has a poor handling rate, so the ship transport robot system is designed. Using more than six axis vertical joint technology, overall structure design assistant handling robot, using the camera hole imaging model, according to the moving target by a camera center store onto the imaging plane, improve the handling robot vision orientation, finally using coordinate localization algorithm, the power handling robot joint coordinates are converted into cylindrical coordinates, realize the assistant handling machine high speed handling. Experiments show that the design of assistant handling machine and compared with the traditional handling robot,handling of goods weight more than 1.7 t per unit time, fixed weight goods handling time of 1.25 min, can effectively improve the large heavy-duty unpowered ships goods transport rate.