[1]曾国耀,曾国艺,肖小华.基于机械手搬运工件的生产线高效智能拣配系统[J].机械与电子,2023,41(09):37-41.
 ZENG Guoyao,ZENG Guoyi,XIAO Xiaohua.High Efficiency Intelligent Picking System for Production Line Based on Manipulator Handling Workpieces[J].Machinery & Electronics,2023,41(09):37-41.
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基于机械手搬运工件的生产线高效智能拣配系统()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年09期
页码:
37-41
栏目:
智能工程
出版日期:
2023-09-25

文章信息/Info

Title:
High Efficiency Intelligent Picking System for Production Line Based on Manipulator Handling Workpieces
文章编号:
1001-2257 ( 2023 ) 09-0037-05
作者:
曾国耀 1 曾国艺 2 肖小华 1
1. 福建科盛智能物流装备有限公司,福建 泉州 362104 ;
2. 泉州市科盛包装机械有限公司,福建 泉州 362104
Author(s):
ZENG Guoyao1 ZENG Guoyi2 XIAO Xiaohua1
( 1.Fujian Kesheng Intelligent Logistics Equipment Co. , Ltd. , Quanzhou 362104 , China ;
2.Quanzhou Kesheng Packing Machinery Co. , Ltd. , Quanzhou 362104 , China )
关键词:
机械手运动学模型智能生产线拣配系统轨迹规划PI 控制
Keywords:
manipulator kinematic model intelligent production line picking system trajectory planning PI control
分类号:
TP241 ; TP399
文献标志码:
A
摘要:
为提高企业生产线的拣配效率和质量,设计了基于机械手搬运工件的生产线高效智能拣配系统。在构建系统整体结构的基础上,建立机械手运动学方程,获得机械手关节角信息及其坐标状态,将其输入伺服电机中,控制机械手搬运工件时的轨迹,完成机械手轨迹规划。然后,在建立机械手欧拉方程的基础上设计 PI 控制策略,根据规划的机械手轨迹控制机械手完成工件搬运,实现生产线的高效智能拣配。实验结果表明,应用该系统后,机械手规划轨迹、角位移和运动位移的误差较小,能够可靠地完成生产线高效智能拣配。
Abstract:
In order to improve the picking efficiency and quality of the production line , a high efficiency intelligent picking system for production line based on manipulator handling workpieces is designed.On the basis of constructing the overall structure of the system , firstly , the kinematics equation of the manipulator is established , the joint angle information and the coordinate state of the manipulator are obtained , which are input into the servo motor to control the trajectory of the manipulator when handling the workpiece and complete the trajectory planning of the manipulator.Then the PI control strategy is designed based on the Euler equation of the manipulator.According to the planned trajectory of the manipulator , the manipulator is controlled to complete the workpiece handling and realize the efficient intelligent picking of the production line.The experimental results show that after the application of the system , the errors of the robot ’ s trajectory planning , angular displacement and motion displacement are small , and the efficient intelligent picking of the production line can be completed reliably.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2022-09-07
作者简介:曾国耀 ( 1981- ),男,福建泉州人,高级机械工程师,研究方向为物流分拣包装设备工艺设计;曾国艺 ( 1981- ),男,福建泉州人,高级机械工程师,研究方向为机器人控制运用;肖小华 ( 1983- ),女,福建宁德人,中级机械工程师,研究方向为物流分拣规划设计。
更新日期/Last Update: 2023-09-27