【摘要】：隨著近年來物流產(chǎn)業(yè)的快速發(fā)展,自動化立體倉庫應(yīng)運而生,與之相關(guān)的技術(shù)裝備逐漸成為研究的重點。本文以遼河油田管泵類產(chǎn)品自動化立體倉庫建設(shè)要求為依據(jù),對自動化立體倉庫中的油管堆垛機器人的機械結(jié)構(gòu)和控制系統(tǒng)進行了設(shè)計研究。主要包括以下內(nèi)容:1)對自動化立體倉庫和存取堆垛機的國內(nèi)外發(fā)展現(xiàn)狀和發(fā)展趨勢進行了調(diào)查研究。2)按照遼河油田自動化立體倉庫設(shè)計方案的技術(shù)要求,確定了油管類堆垛機器人的性能參數(shù)和結(jié)構(gòu)形式,并運用CAD和Pro-E三維設(shè)計軟件進行了機械結(jié)構(gòu)設(shè)計。3)運用ANSYS分析軟件對堆垛機器人關(guān)鍵零部件進行了靜剛度分析,并結(jié)合實際計算分析結(jié)果對伸縮臂和堆垛機器人簡化機構(gòu)提出了改進設(shè)計方案。4)初步設(shè)計確定堆垛機器人的控制系統(tǒng),并對控制系統(tǒng)進行初步設(shè)計規(guī)劃。5)本課題尚需結(jié)合油管類堆垛機器人的實際運行情況對堆垛機器人進行實驗、數(shù)據(jù)核算和設(shè)計。本文設(shè)計的堆垛機器人還未生產(chǎn)安裝調(diào)試,整體運行效果需通過調(diào)試檢測,總體設(shè)計初步滿足了油田自動化立體倉庫中油管類產(chǎn)品堆垛機器人的性能要求,并且為遼河油田自動化倉庫及相關(guān)設(shè)備前期設(shè)計提供技術(shù)方案和技術(shù)參考。
[Abstract]:With the rapid development of the logistics industry in recent years, the automatic three-dimensional warehouse has emerged, and the related technical equipment has gradually become the focus of the research. In this paper, the mechanical structure and control system of the oil pipe stacking robot in the automatic three-dimensional warehouse are designed and studied based on the requirements of the construction of the automatic three-dimensional warehouse of the pipe-pump products in Liaohe Oilfield. The paper mainly includes the following contents:1) The present situation and the development trend of the domestic and foreign development of the automatic three-dimensional warehouse and the access stacker are investigated and studied. The performance parameters and the structure form of the tubing-type stacking robot are determined, and the mechanical structure design is carried out by using the CAD and Pro-E three-dimensional design software.3) The static stiffness analysis of the key parts of the stacking robot is carried out by using the ANSYS analysis software. in combination with that practical calculation and analysis, the simplified design of the telescopic arm and the stacking robot is put forward, and 4) the control system of the stacking robot is determined in the preliminary design, And the preliminary design planning of the control system is carried out.5) The subject needs to carry out the experiment, data accounting and design of the stacking robot in combination with the actual operation of the oil pipe-type stacking robot. The stacking robot designed in this paper has not yet produced the installation and debugging, the overall operation result needs to be tested by the debugging, the overall design basically meets the performance requirements of the oil pipe product stacking robot in the oil field automatic three-dimensional warehouse, And provides a technical scheme and a technical reference for the early design of the automation warehouse and related equipment of the Liaohe oil field.
【學位授予單位】：沈陽理工大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TP242

【參考文獻】

相關(guān)期刊論文 前3條

1 張海濤;林輝;;高精度機電伺服控制系統(tǒng)[J];微特電機;2007年02期

2 劉輝;劉丁菡;;現(xiàn)代物流系統(tǒng)中自動化立體倉庫優(yōu)勢分析[J];陜西科技大學學報(自然科學版);2008年03期

3 呂全海;;堆垛機速度優(yōu)化控制研究[J];職業(yè);2010年33期

，

本文編號：2438920