基于PLC的快递分拣系统

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摘要

随着人们生活水平的不断提高，网购成了人们生活中的主流消费模式，邮递行业

的工作量日渐繁重。建立高速分拣机系统能够减少人员的使用，减轻员工的劳动强度，

提升人员的使用效率，不会受到气候、时间、人的体力等限制可连续运行。传统的人

工分拣效率很低，工作效率也不高，每小时最多分拣 150 件，而且会受到体力、精力

感冒等多种因素影响。越来越多的邮递快递用分拣机械手应用于物流工作当中。

现阶段常用的物流分拣机械手大多为直角坐标系形分拣机械手以及关节形式的分

拣机械手。本课题所采用的分拣机械手结构为较新的并联式机械手。其于视觉系统及

其他传感器行程一套自动化的分拣系统，实现快速分类和快递分拣的工作。课题所需

要进行分拣的类别为地址，将所有的快递分成三个大的区域，通过扫描快递上的二维

码，对快递所处的地区进行识别和判断，判断过后由控制系统控制并联机械手对快递

进行抓取和分类放置。设计中使用输送线对快递进行输送，共分为三条输送线，每条

输送线负责分拣后的一个地区的快递的输送工作。

关键词：邮递快递、并联机械手、快速分拣

Abstract

With the continuous improvement of people's living standards, online shopping has become

the mainstream consumption pattern in people's lives, and the workload of the postal industry

is becoming increasingly heavy. The establishment of a high-speed sorter system can reduce

the use of personnel, reduce the labor intensity of employees, improve the efficiency of

personnel use, and can be continuously operated without restrictions of climate, time, and

physical strength. The efficiency of traditional manual sorting is very low, and the work

efficiency is not high. It can sort up to 150 pieces per hour, and it will be affected by many

factors such as physical strength, energy, cold and so on. More and more postal parcels are

used in logistics by sorting robots.

At present, most of the logistics sorting manipulators commonly used are rectangular

coordinate system sorting manipulators and joint-type sorting manipulators. The sorting

manipulator structure adopted in this subject is a newer parallel manipulator. It is an automatic

sorting system for the vision system and other sensor strokes to achieve rapid sorting and

parcel sorting. The type of sorting required for the subject is the address. All the packages are

divided into three large areas. By scanning the QR code on the package, the area where the

package is located is identified and judged. After the judgment, the parallel robot is controlled

by the control system Grab and sort the packages. In the design, the conveyor line is used to

convey the parcels, which are divided into three conveying lines, and each conveying line is

responsible for the parcel delivery work of a region after sorting.

Keywords: postal parcel, parallel manipulator, fast sorting

目     录
第1章 绪论...............................................................................................................................1
1 课题研究内容...............................................................................................................1
2 物流行业国内外发展现状...........................................................................................1
2.1 分拣系统的定义................................................................................................1
2.2 分拣系统的发展概况........................................................................................2
2.3 国内外分拣模式比较........................................................................................2
3 人工与机器的优劣势分析...........................................................................................4
4 课题研究内容...............................................................................................................5
5 本章小结.......................................................................................................................6
第2章 总体方案设计...............................................................................................................7
1 分拣结构的确定...........................................................................................................7
2 输送机构.......................................................................................................................7
2.1 输送机介绍........................................................................................................7
2.2 输送机的分类及选择........................................................................................7
3 分拣装置总体工作流程...............................................................................................8
4 本章小结.......................................................................................................................8
第3章 输送装置的设计和计算...............................................................................................9
1 已知数据和工作条件...................................................................................................9
2 选择传动形式盒驱动装置...........................................................................................9
3 带宽的选择...................................................................................................................9
4 圆周驱动力..................................................................................................................9
5 输送机电机的选择.....................................................................................................11
6 本章小结.....................................................................................................................12
第4章 并联分拣机械手设计.................................................................................................13
1 机构简述.....................................................................................................................13
1.1 三自由度并联机械手......................................................................................13
1.2 机构简介..........................................................................................................13
2 自由度分析.................................................................................................................14
3 运动学分析.................................................................................................................15
3.1 运动学逆解......................................................................................................16
III

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摘要：

摘要随着人们生活水平的不断提高，网购成了人们生活中的主流消费模式，邮递行业的工作量日渐繁重。建立高速分拣机系统能够减少人员的使用，减轻员工的劳动强度，提升人员的使用效率，不会受到气候、时间、人的体力等限制可连续运行。传统的人工分拣效率很低，工作效率也不高，每小时最多分拣150件，而且会受到体力、精力感冒等多种因素影响。越来越多的邮递快递用分拣机械手应用于物流工作当中。现阶段常用的物流分拣机械手大多为直角坐标系形分拣机械手以及关节形式的分拣机械手。本课题所采用的分拣机械手结构为较新的并联式机械手。其于视觉系统及其他传感器行程一套自动化的分拣系统，实现快速分类和快递分拣的工作。课题所需要进行分拣的...

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