基于3D视觉引导的移动式复合机器人设计
Design of Mobile Composite Robot Based on 3D Vision Guidance
李忠鹏 1赵鑫 1许晓川 1刘洪志 1李海军1
作者信息
- 1. 青岛新松机器人自动化有限公司,山东 青岛 266109
- 折叠
摘要
随着工业自动化的发展,传统AGV与工业六轴机械臂复合机器人在狭小空间作业时存在诸多局限.为此,设计一种基于自行搭建的四轴直角坐标机器人与高精度3D视觉组合的工件抓取系统.详细介绍了四轴直角坐标机器人、3D视觉定位系统和机器人控制系统的设计,该系统作业占用空间小、抓取负载大且取放精度可达±0.5 mm,与基于SLAM导航的全向AGV配合,能有效满足狭小空间搬运大质量工件的需求.
Abstract
With the advancement of industrial automation,traditional composite robots consisting of Automated Guided Vehicles(AGVs)and industrial six-axis robotic arms exhibit numerous limitations when operating in confined spaces.To address this,a workpiece grasping system based on a self-built four-axis Cartesian robot combined with a high-precision 3D vision system is designed.The design of the four-axis Cartesian robot,the 3D vision positioning system,and the robot control system are introduced in detail.This system occupies a small operational space,possesses a large grasping load capacity,and achieves a placement and retrieval accuracy of±0.5 mm.When integrated with an omnidirectional AGV based on Simultaneous Localization and Mapping(SLAM)navigation,it effectively meets the requirements for handling heavy workpieces in confined spaces.
关键词
3D视觉引导/四轴直角坐标机器人/标定/控制系统/狭小空间作业Key words
3D vision guidance/four-axis Cartesian robot/calibration/control system/narrow-space operation引用本文复制引用
出版年
2025
NETL
NSTL
万方数据