摘要
高速搬运机器人是代替人类劳动,完成搬运工作的一种工业机器人,广泛用于工业生产中产品的包装与运输。文中阐述了高速搬运机器人包括串联和并联2种类型的发展现状、开发基础以及应用前景。通过对以往高速搬运机器人的研究和分析,在三自由度Delta并联机器人基础上,增加旋转自由度,并利用照相视觉技术,实现水平移动中不同姿态吸管及胶体炸药卷的抓取和装箱;开发四自由度搬运机器人,通过2组串接的平行四边形机构,确保终端抓取器姿态始终保持水平,实现各类成品的码垛包装。
The high-speed transfer robot is a kind of industrial robot which can replace human labor and do transfer work. It is widely used in the packing and transport of industrial production. The general situation such as development status and foundation, application prospects of high-speed transfer robots including serial and parallel robots are elaborated. Based on the previous research and analysis for high-speed transfer robots, the paper realized grasping and packaging of straws and explosive with different poses in horizontal movement by increasing rotational degrees of freedom and vision technology on the foundation of three degrees of freedom Delta parallel robots, as well as developed four degrees of freedom serial robots with two serial parallelogram mechanism to realize stacking and packing of a variety of products which can ensure that the terminal grabbing device always maintains horizontal pose. I Ch,ll fig. 2 tab. 21 ref. ]
出处
《轻工机械》
CAS
2012年第2期108-112,共5页
Light Industry Machinery
基金
工信部科技重大专项课题(2011ZX04013-011)
关键词
高速搬运机器人
发展现状
开发基础
应用前景
high-speed transfer robots
development status
development foundation
application prospects
