广东工业大学学报2026，Vol.43Issue(3)：82-92,11.DOI:10.12052/gdutxb.250225
面向集装箱底板固定的移动机械臂锁付系统设计
A Design of a Mobile Robotic Arm Locking System for Container Floor Plates
摘要
Abstract
In this research,an automated screw fastening robot system for container floors is designed and implemented,aiming to resolve the issues of low efficiency,high labor intensity,and safety deficiencies resulting from the long-term dependence on manual operation in the container floor screw fastening process.The system integrates a mobile chassis,a multi-joint robotic arm,a high-precision visual positioning module,an end-effector,and an automatic screw feeder for automated identification,positioning,and fastening of screw holes.A mechanical model is constructed to guide the development of a pneumatic fastening device.Experimental results demonstrate that the visual module achieves a 96.5%recognition rate for unfastened holes,with mean positioning errors of 0.50 mm(x-axis)and 0.47 mm(y-axis).The feeder delivers screws in 0.21 s at pressures above 0.35 MPa,enabling a total fastening cycle time of 4.5 s per screw.The system proves stable,significantly enhancing operational automation,efficiency,and consistency,thereby offering a viable solution for intelligent upgrading in container manufacturing.关键词
机械臂锁付系统/自攻螺丝/气动锁付装置/自动送钉装置/视觉系统Key words
robotic arm locking system/self-tapping screw/pneumatic fastening device/automatic nail feeding device/vision system分类
信息技术与安全科学引用本文复制引用
吴鹏,黄之峰,饶家豪,陈维耀,李奇昆,刘启辉..面向集装箱底板固定的移动机械臂锁付系统设计[J].广东工业大学学报,2026,43(3):82-92,11.基金项目
广东省基础与应用基础研究基金资助项目(2022A1515010364) （2022A1515010364）
