智能化物料搬运机器人的系统开发与结构分析

System Development and Structure Analysis of Intelligent Material Handling Robot

摘要: 本文对当前市面热门的机器视觉模块以及各类机械手进行分析，通过筛选组成实现对二维码信息的自主读取，对物料颜色、形状的识别以及抓取的智能抓取系统。通过对现有市面电机进行筛选以及由正交编码器和全向轮组成的全场定位系统实现可自主对路径的规划的定位移动系统；通过以上系统的组合从而实现自主读取信息，识别、抓取、堆放物料。并使用MATLAB软件对定位速度、位置等进行计算与调节，并针对以上模块进行机器人的整体设计与三维建模，并且通过Solidworks Simulation模块完成对机器人主要零部件的静态载荷分析，并进行模拟实验。对机器人的功能集成总结后，笔者提出应用场景假设，针对此场景假设提出应用推广范围，并进行模拟实验。结果表明：机器人设计简单, 易于实现与批量生产，实用可靠，定位、抓取、识别效果良好，可在自动化领域广泛推广。

Abstract: This paper analyzes the currently popular machine vision module and various types of manipulator in the market, and realizes the independent reading of two-dimensional code information, the recognition of material color and shape, and the intelligent grabbing system of grabbing by screening and composing. Secondly, this paper realizes the positioning and moving system that can plan the path autonomously by screening the existing motors in the market and the full-court positioning system composed of orthogonal encoder and omnidirectional wheel. Then, through the combination of the above systems, this paper realizes self-reading information, identifying, grabbing, and stacking materials. It uses MATLAB software to calculate and adjust the positioning speed, position, etc, performs the overall design and 3D modeling of the robot for the above mod-ules, completes the static load analysis of the main components of the robot through the Solidworks Simulation module, and performs simulation experiments. Finally, after summarizing the functional integration of the robot, the author proposes the application scenario hypothesis, carries out the application promotion scope for this scenario hypothesis, and conducts the simulation experiment. The results show that the robot is simple in design, easy to implement with mass production, practical and reliable, and has good positioning, grabbing and recognition effects, and can be widely promoted in the field of automation.