摘要
Abstract
The storage materials in the aviation material warehouse are characterized by a wide variety of types and large size differences,while the traditional storage robots still have problems such as single operation,insufficient adaptability,low efficiency of cargo classification and handling in the process of cargo transportation and picking.In view of the above shortcomings,this paper proposes a multi-functional cargo transportation robot with a mechanical arm and a three-way forklift mechanism to achieve efficient and automated processing of multiple types of goods.The robot system combines the two functional modes of flexible operation of the manipulator and high-load transportation of the forklift mechanism.It can automatically switch the operation mode according to the size of the goods.The small aerial materials are accurately grasped by the manipulator,and the large materials are stably transported by the three-way forklift.At the same time,the system integrates the functions of picking,storage and unloading,and realizes the intelligent operation of the whole process inside the warehouse.Through the verification of structural strength,stiffness,stability and kinematics,the results show that the two actuators meet the strength requirements under the maximum design load,and the overall static stability margin Δ>0 under the worst working condition,and there is no roll risk.The design realizes the full coverage picking of large and small goods,reduces transfer scheduling and manual intervention,and effectively improves the level of warehousing automation and overall operating efficiency.关键词
航材库/仓储机器人/欠驱动机械手/三向货叉机构/储运一体化Key words
aviation materials warehouse/warehousing robot/underactuated manipulator/three-way fork mechanism/storage and transportation integration分类
信息技术与安全科学
