【摘要】 为了解决在造船、造桥、建筑等钢结构制造工业中,实现钢质型材弯曲机、焊接机和切割机自动搬运上下料这一关键技术问题,本文提出了一种型材自动搬运上下料机器人的设计方案。作者较为详尽地阐述了它的主体结构设计原理,提出了计算机视觉定位及控制方法,并对重型超长钢质型材搬运机器人进行了技术探讨。更多还原

【Abstract】 In our country,the profile-processing machines in shipyards,such as welding machine,cutting machine and bending machine,are often fed or unloaded with the cranes.Cooperated with cranes,the operators can simply use a length of cable to hold,lift and transfer the workpieces in vertical and horizontal paths.However,swing motion and rotation are generated because of profiles’ weight center and length,and it is rather difficult to control them and to obtain accurate located position and to finish the feeding favorably.Meanwhile,starting or stopping cranes and manual controlling the transit routes may bring uncertainty and blindness,which results in the low efficiency,the waste of electrical power and the increase of ship-building cost.Furthermore,operators must handle heavy profiles to suppress vibration and to position them.These tasks are danger for operators.Therefore,a robot technology is introduced to replace the traditional cranes feeding and unloading profiles.The high-performances of robots,such as excellent repeatability,positioning accuracy,and high-speed motion,contribute to increasing the profile-processing efficiency,reducing the ship-building cost,and liberating the operators from the danger working conditions.This paper puts forward a design on automatic transfer and feeding robot,and describes the design principle of the main structure,computer vision orientation and the control method in detail.It puts technical discusses on the transit robot for the over-long heavy profiles steel,and tries to entirely realize the full automation of profile process and sets up the automatic profile process line.更多还原