毕业设计（论文）-快递自动分拣机器人设计.docx

PAGE \* ROMAN PAGE \* ROMANII · 快递自动分拣机器人设计 摘 要 基于视觉的快递分拣机器人在当今自动化生产线上，作为工业机器人的一员起着重大的作用，在国内外相当多物流业内都有使用。随着我国工业的不断发展， 机器人在工业领域运用的十分广泛，这次毕业设计主要进行的机械设计和电气控制，辅助以工业相机配套的视觉识别功能，对部分非标零件进行设计，并进行有限元分析与优化。并且，绘制出与之对应的电气原理图，实现机械与电气的一体化，是机器人更好地完成指定的工作。 本次毕业设计的重点除了机器人本体的非标件设计之外，还包括末端执行器机械手爪的结构设计，主要包括齿轮臂、手掌等设计。末端执行器具有两个自由度，一个是旋转自由度，另一个是夹取的自由度，可以使机器人的路径规划更为灵活多选，二者均是由舵机驱动。在电路原理图中均有体现。 机器人本体以及传送带，相机调整机构，承载平台之间的配合组成了这个快递分拣系统，传送带运送物件到相机调整机构下拍照，将获得的信息发送至控制柜，再由机器人本体负责执行工作。系统正常运转的情况下，可以有序地完成所指定的快递分拣的任务。 该论文有图 42 幅，表 9 个，参考文献 41 篇。 关键词：快递分拣；工业机器人；视觉；伺服电机；有限元分析 全套图纸加扣 3346389411或3012250582 Vision-based express sorting robots play an important role as members of industrial robots in todays automated production lines, and are used in many logistics industries at home and abroad. With the continuous development of Chinas industry, robots are widely used in the industrial field. This graduation project mainly carries out mechanical design and electrical control, assists with the visual recognition function of the industrial camera, and designs and performs some non-standard parts. Finite element analysis and optimization. And, drawing the corresponding electrical schematic diagram to realize the integration of machinery and electrical is better for the robot to complete the specified work. The focus of this graduation project is not only the design of the non- standard parts of the robot body, but also the structural design of the end effector manipulator claw, mainly including the design of the gear arm and palm. The end effector has two degrees of freedom, one is the rotation degree of freedom, and the other is the degree of freedom of gripping, which can make the robots path planning more flexible and multiple choices, both of which are driven by the servo. It is reflected in the circuit schematic diagram. The cooperation between the robot body, conveyor belt, camera adjustment mechanism, and carrier platf