一种抓取、存储和放置一体化货运机器人的设计
苏垌锟，朱毓正，陈佳鸿，蔡佳鸿，蒋雨岐，汪朋飞*
（深圳大学 机电与控制工程学院，广东 深圳 518060）
摘要：针对仓储物流行业智能搬运机器人需求的急剧增长情况，设计了一款抓取、存储和放置一体化的小型智能货运机器人，该机器人主要由麦克纳姆轮底盘、抬升机构、平移机构和夹爪等四部分组成，具备在地面全向移动的能力，可以实现一次抓取多个和放置多个货物的操作。货运机器人以STM32作为主控芯片，实现对货物准确定位和抓取功能。通过理论校核分析和实物样机验证，表明该货运机器人满足设计需求，能够大幅提高货运效率，操作简单，具备较好的推广价值和市场应用前景。
关键词：货运机器人；抓取机构；平移机构；抬升机构
中图分类号：TP242 文献标志码：A doi：10.3969/j.issn.1006-0316.2023.07.007
文章编号：1006-0316 (2023) 07-0044-07
Design of an Integrated Freight Robot for Grasping, Storing and Placing
SU Tongkun，ZHU Yuzheng，CHEN Jiahong，CAI Jiahong，JIANG Yuqi，WANG Pengfei
( College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China )
Abstract：Aiming at the extensive demanding for the intelligent delivery robots in warehousing and logistics industry, a small intelligent freight robot with integrated grasp, storage and placement is designed. The robot is mainly composed of a McNamm wheel chassis, a lifting mechanism, a translation mechanism and a gripper. It can move in all directions on the ground and, particularly, it can grasp and place multiple goods at the same time. The robot uses STM32 as the main control chip to achieve accurate positioning and grasping of goods. According to theoretical analysis and physical prototype test, it clearly indicates that the freight robot satisfies the design requirements with high efficiency and easy operation. Therefore, it has preferable promotion value and market application prospects.
Key words：freight robot；grasp mechanism；translation mechanism；lifting mechanism
———————————————
收稿日期：2022-10-08
基金项目：深圳大学聚徒教学项目（202208）
作者简介：苏垌锟（2000－），男，广东汕头人，主要研究方向为机械设计制造及其自动化，E-mail：124235606@qq.com。*通讯作者：汪朋飞（1983－），男，湖北天门人，博士，副教授，主要研究方向为机械创新设计与摩擦学，E-mail：wangpf@szu.edu.cn。
（深圳大学 机电与控制工程学院，广东 深圳 518060）
摘要：针对仓储物流行业智能搬运机器人需求的急剧增长情况，设计了一款抓取、存储和放置一体化的小型智能货运机器人，该机器人主要由麦克纳姆轮底盘、抬升机构、平移机构和夹爪等四部分组成，具备在地面全向移动的能力，可以实现一次抓取多个和放置多个货物的操作。货运机器人以STM32作为主控芯片，实现对货物准确定位和抓取功能。通过理论校核分析和实物样机验证，表明该货运机器人满足设计需求，能够大幅提高货运效率，操作简单，具备较好的推广价值和市场应用前景。
关键词：货运机器人；抓取机构；平移机构；抬升机构
中图分类号：TP242 文献标志码：A doi：10.3969/j.issn.1006-0316.2023.07.007
文章编号：1006-0316 (2023) 07-0044-07
Design of an Integrated Freight Robot for Grasping, Storing and Placing
SU Tongkun，ZHU Yuzheng，CHEN Jiahong，CAI Jiahong，JIANG Yuqi，WANG Pengfei
( College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China )
Abstract：Aiming at the extensive demanding for the intelligent delivery robots in warehousing and logistics industry, a small intelligent freight robot with integrated grasp, storage and placement is designed. The robot is mainly composed of a McNamm wheel chassis, a lifting mechanism, a translation mechanism and a gripper. It can move in all directions on the ground and, particularly, it can grasp and place multiple goods at the same time. The robot uses STM32 as the main control chip to achieve accurate positioning and grasping of goods. According to theoretical analysis and physical prototype test, it clearly indicates that the freight robot satisfies the design requirements with high efficiency and easy operation. Therefore, it has preferable promotion value and market application prospects.
Key words：freight robot；grasp mechanism；translation mechanism；lifting mechanism
———————————————
收稿日期：2022-10-08
基金项目：深圳大学聚徒教学项目（202208）
作者简介：苏垌锟（2000－），男，广东汕头人，主要研究方向为机械设计制造及其自动化，E-mail：124235606@qq.com。*通讯作者：汪朋飞（1983－），男，湖北天门人，博士，副教授，主要研究方向为机械创新设计与摩擦学，E-mail：wangpf@szu.edu.cn。
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