高速搬运机器人产业应用及发展

·DOI10．3969/j．issn．1005-2895．2012．02．0302011-07-182011-09-302011ZX04013-0111964、。[e-mail]310009。2、。Delta2。11221TP242．2A1005-2895201202-0108-05DevelopmentandApplicationofHigh-SpeedTransferRobotsIndustryLIUFeng-chenYAOYun-fengLIULi-mingJINJie-fengLINJi-liangGUOHu-bingHangzhouWahahaGroupCo．Ltd．Hangzhou310009ChinaAbstractThehigh-speedtransferrobotisakindofindustrialrobotwhichcanreplacehumanlaboranddotransferwork．Itiswidelyusedinthepackingandtransportofindustrialproduction．Thegeneralsituationsuchasdevelopmentstatusandfoundationapplicationprospectsofhigh-speedtransferrobotsincludingserialandparallelrobotsareelaborated．Basedonthepreviousresearchandanalysisforhigh-speedtransferrobotsthepaperrealizedgraspingandpackagingofstrawsandexplosivewithdifferentposesinhorizontalmovementbyincreasingrotationaldegreesoffreedomandvisiontechnologyonthefoundationofthreedegreesoffreedomDeltaparallelrobotsaswellasdevelopedfourdegreesoffreedomserialrobotswithtwoserialparallelogrammechanismtorealizestackingandpackingofavarietyofproductswhichcanensurethattheterminalgrabbingdevicealwaysmaintainshorizontalpose．Ch11fig．2tab．21ref．Keywordshigh-speedtransferrobotsdevelopmentstatusdevelopmentfoundationapplicationprospects0。、。2。、、、、。1①、②PC③④⑤⑥。1-2。ABB、KUKA、FANUCCOMAU。30220124LightIndustryMachineryVol．30No．2Apr．2012、、、、、。、、、、、、、3。64ABB16IRB760024IRB660。1IRB76002IRB660Figure1IRB7600robotFigure2IRB660robot6、、4、。SCARA4。3。3SCARAFigure3SCARArobot2～4Delta。1987DemaurexDeltaPack-Placer、Line-Placer、Top-placerPresto、、。1999ABB44IRB340FlexPickerDeltaCognex、。10g150。ABB15g180。4FlexPickerFigure4FlexPickerrobot80“”、、。、。2001。2002Diamond5。52-DOFFigure52-DOFparallelrobotDeltaDelta-S6。·901··6Delta-SFigure6Delta-Sparallelrobot2。ABB、KUKA、COMAU。“”、、。、、、、、。2．1、、650/。、、、、。。2．2、、、、、。、、。。、。。320050。3．1。2080。。、、、。4。5。、、6-13。3．2。14-19“863”2Diamond3Delta-S、、、、。。4、、、、5、。4．14．1．12074、、3、3。8。·011·LightIndustryMachinery201227333。141。3。xyz3。z4。1。4．1．29210。OABCD。1Table1Maintechnicalrequirementsofhigh-speedparallelrobot/kg×/mm×mm/mm/·min－1/m·s－2Delta-Ⅰ1600×2004±0．1120100Delta-Ⅱ11100×2004±0．11001009Figure9Palletizingrobot2Table2Maintechnicalrequirementsofpalletizingrobot/kg/m/mm/·h－11201202．304±0．512003003003．154±0．580010Figure10Operationspacediagram4、、、4311。11aⅠ11bⅡ、Ⅲ·111··21。11Figure11Palletizingrobotstructurediagram4．2232。、、、。2。、、、、。。、、。2。。。5。。、。、。References1．J．200875－7．2．J．1988324－26．3．J．2009275128－130．4．120kgJ．2002679－81．5．AW600J．199921446－49．6．J．199024140－46．7．LinuxC//．．2001326－334．8．M．2009．9．J．2002868－70．10．ADAMSMOTOMANJ．200520415－19．11．J．20038416－40．12．PMACJ．2009957－60．13．J．20093168－170．14．DelataJ．20104631－7．15．DeltaJ．2005738－40．16．J．200426929－32．17．DiamondJ．200421116－8．18．OpenGLDELTAJ．200421374－77．19．J．2009235430－433．20．DeltaJ．200839193－96．21．J．201028551－55．·211·LightIndustryMachinery20122