Design of structure and control system of automatic handling robot

The mechanical structure, driving loop structure and control system are designed for a robot that can recognize the color of cylinder and carry it to a designated place. In the mechanical mechanism part, the hand, wrist, arm, body, base and connecting parts are calculated. In the driving part, the air pressure and motor are combined, and the components in the air pressure circuit (pneumatic motor, control valve, cylinder, pneumatic actuator, etc.) are selected. The control part uses embedded raspberry pie and Open CV motion detection and color recognition system to complete the detection and resolution of handling objects, Firstly, the processed data is transmitted to K60 single chip microcomputer (SCM) by serial protocol instruction. After operation, analysis and processing, the SCM issues action instructions to each executive component, thus completing the action control of robot traveling, grasping, lifting and putting down objects. It cooperates with various sensors for information feedback to realize accurate closed-loop control of the robot. After physical assembly and debugging, the robot can realize the color recognition of the cylinder, and carry the cylinder to the designated position.