摘要
针对当前生产制造中物料分拣搬运任务的自动化需求,设计出的一款智能物料搬运机器人,分别从机械结构设计、硬件设计、程序设计3个方面对机器人进行研究分析。基于Arduino Mega2560芯片的主控制系统,通过二维码扫描模块获取待搬运物料信息,信息通过串口通信传入主控制器后将搬运信息显示在液晶屏上,机器人通过寻迹到达所需物料区域,通过OpenMV识别搬运物料,将所需物料位置发送给主控制器,控制舵机控制板使机械臂完成对应物料的抓取,运送到物料放置区,识别放置位置并进行物料放置。底盘采用4个麦克纳姆轮,通过灰度传感器,实现机器人的自主运动。根据结构设计,搭建智能物料搬运机器人物理样机,用物理样机进行实验室物料搬运试验,验证了物料搬运过程的稳定性和有效性。
Aimed at the automation requirements of material sorting and handling tasks in current production and manufacturing,an intelligent material handling robot is designed.The robot is studied and analyzed from three aspects:mechanical structure design,hardware design,and program design.The main control system based on the Arduino Mega2560 chip obtains information about the materials to be transported through the QR code scanning module.The information is transmitted to the main controller through serial communication and displayed on the LCD screen.The robot reaches the required material area through tracking,identifies the material to be transported through OpenMV,sends the required material position to the main controller,and controls the servo control board to enable the mechanical arm to complete the corresponding material grasping.Transport to the material placement area,identify the placement location,and place the material.The chassis adopts four McNum wheels and achieves autonomous motion of the robot through grayscale sensors.Based on the structural design,a physical prototype of an intelligent material handling robot is built,and laboratory material handling experiments are conducted using the physical prototype to verify the stability and effectiveness of the material handling process.
作者
宋振伟
孙玉忠
李永华
吴鑫辉
Song Zhenwei;Sun Yuzhong;Li Yonghua;Wu Xinhui(Kede CNC Co.,Ltd.,Dalian,Liaoning 116600,China;Dalian Jiaotong University,Dalian,Liaoning 116028,China;Dalian Minzu University,Dalian,Liaoning 116600,China)
出处
《机电工程技术》
2024年第3期181-186,共6页
Mechanical & Electrical Engineering Technology
基金
辽宁省线上线下混合一流课程(232021)。
