摘要：今年随着工业4.0的发布和中国智造的不断发展，机器人自动化越来越受到人们的关注。发展迎来了发展的黄金期，越来越多的企业通过“机器人换人”实现转型升级; 电子商务的快速发展也对仓储系统的自动化和智能化提出了更高的要求。 既然有了更高的要求，一些公司就开始建立自动化的快递分拣以及仓储物流系统，试图在激烈的市场竞争中取得一席之地。由机器人引起的技术在这样的背景下围绕着仓储和物流的领域迅速展开。

论文从AGV技术在国内外智能仓储系统的发展背景出发，对配送中心基于机器人拣选总体方案设计，到机器人的各个部位的选型、比较以及使用，具体研究内容如下：

首先，本文介绍了快递分拣技术的历史背景，它的来历，了解分析国内外快递分拣机器人技术现状，以及分析了分拣机器人技术在快递行业中的应用。

其次，通过快递分拣机器人的需求，将电机、电池、驱动方式进行了各种计算以及对比，最后选出了具体的型号以及做出了总结方案，使用的锂电池、直流无刷电机以及二轮差速驱动。

再者，在基础参数选定的情况下，设计了小车的电气连接图。以及导航避障的方案和流程图、PLC部分控制程序，本AGV小车选用了惯性制导和二维码视觉辅助的导航方式。

最后，设计了人机交互界面，使得小车各项性能符合了所需指标。

关键字：快递分拣：导航：电气设计

ABSTRACT：With the release of Industry 4.0 this year and the continuous development of China's wisdom, robot automation has received more and more attention. The development has ushered in the golden period of development. More and more companies have achieved transformation and upgrading through “robot replacement”; the rapid development of e-commerce has also put forward higher requirements for the automation and intelligence of warehousing systems. Since there are higher requirements, some companies have begun to establish automated express sorting and warehousing logistics systems, trying to gain a place in the fierce market competition. The technological revolution caused by robots has rapidly developed in this context around the fields of warehousing and logistics.

From the background of the development of AGV technology in domestic and international intelligent storage systems, the paper makes a selection, comparison and use of various parts of the robot based on the overall design of the robotic picking in the distribution center. The specific research contents are as follows:

First of all, this article introduces the historical background of express sorting technology, its origins, understanding and analysis of the current status of express sorting robot technology at home and abroad, and the application of sorting robot technology in the express delivery industry.

Secondly, through the needs of courier sorting robots, various calculations and comparisons of motors, batteries, and driving methods were carried out. Finally, specific models were selected and a summary scheme was made for the use of lithium batteries, DC brushless motors, and two Wheel differential drive.

In addition, the electrical connection diagram of the trolley is designed with the basic parameters selected. And navigation obstacle avoidance program and flow chart, PLC part of the control program, the AGV car chose inertial guidance and two-dimensional code visual aided navigation.

Finally, the human-computer interaction interface is designed so that the performance of the car meets the required indicators.

Keywords: Express Picking: Navigation: Electrical Design

目录

摘要..Ⅰ

ABSTRACT.Ⅱ

1研究目的以及意义1

1.1快递分拣历史背景.1

1.2快递分拣调研报告.2

1.1.1调研目标..2

1.1.2国内外技术比较..2

1.1.3分拣机器人技术在快递行业中的应用分析..4