發(fā)布時(shí)間：2018-11-03 20:09

【摘要】：隨著現(xiàn)代化大生產(chǎn)的發(fā)展,企業(yè)在提高加工制造能力的同時(shí),也在不斷的挖掘生產(chǎn)物流潛力,以提高生產(chǎn)系統(tǒng)的總體效益。自動(dòng)化立體倉(cāng)庫(kù)的應(yīng)用使得企業(yè)的生產(chǎn)物流速度大大提高,而堆垛機(jī)作為自動(dòng)化立體倉(cāng)庫(kù)的核心物流設(shè)備,其工作效率的高低直接影響著自動(dòng)化立體倉(cāng)庫(kù)的運(yùn)行效率和經(jīng)濟(jì)效益。 本文以沈陽(yáng)新松機(jī)器人有限公司的某型號(hào)雙立柱巷道堆垛機(jī)為研究對(duì)象,分析影響巷道堆垛機(jī)水平運(yùn)行速度及加速度的因素,闡述堆垛機(jī)水平運(yùn)行機(jī)構(gòu)和輪軌附著系數(shù)對(duì)水平運(yùn)行加速度的影響,提出增加輪軌附著系數(shù)的措施。結(jié)合以前基礎(chǔ)完善“側(cè)輪式”水平驅(qū)動(dòng)結(jié)構(gòu)的輪軌接觸條件,并用有限元分析軟件仿真驗(yàn)證其機(jī)構(gòu)的可行性。 在分析雙立柱巷道堆垛機(jī)結(jié)構(gòu)特點(diǎn)的基礎(chǔ)上,用三維軟件構(gòu)建堆垛機(jī)虛擬樣機(jī)。通過(guò)仿真分析和實(shí)際運(yùn)行經(jīng)驗(yàn),對(duì)堆垛機(jī)結(jié)構(gòu)和輪軌系統(tǒng)采取措施,以減小高速高加速堆垛機(jī)的噪音和振動(dòng)。研究過(guò)程中,基于有限元理論和經(jīng)驗(yàn)公式,運(yùn)用ANSYS和Matlab軟件對(duì)巷道堆垛機(jī)高速高加速運(yùn)行時(shí),立柱撓度和振幅、載貨臺(tái)結(jié)構(gòu)動(dòng)態(tài)和疲勞強(qiáng)度、貨叉撓度等所關(guān)心的問(wèn)題進(jìn)行計(jì)算和分析。通過(guò)仿真分析,驗(yàn)證它們是否能夠滿足堆垛機(jī)高速高加速運(yùn)行要求,并對(duì)其結(jié)構(gòu)改進(jìn)優(yōu)化。 通過(guò)對(duì)高速高加速堆垛機(jī)運(yùn)行過(guò)程和功能分析,確立堆垛機(jī)控制系統(tǒng)的硬件、認(rèn)址檢測(cè)方式、通訊和總線方式。結(jié)合模糊控制理論,設(shè)計(jì)模糊PID多模速度控制器,該控制器在堆垛機(jī)加速段運(yùn)行時(shí)采用速度模糊PID控制器,在勻速段運(yùn)行時(shí)采用常規(guī)PI控制器,在減速段運(yùn)行時(shí)采用位置模糊PID控制器,并借助Matlab軟件和實(shí)驗(yàn)系統(tǒng)對(duì)其速度控制器進(jìn)行分析研究。 本文旨在為自動(dòng)化立體倉(cāng)庫(kù)巷道堆垛機(jī)高速高加速化提供系統(tǒng)的研究方法,為解決高速高加速堆垛機(jī)設(shè)計(jì)和分析提供依據(jù),提高自動(dòng)化立體倉(cāng)庫(kù)的倉(cāng)儲(chǔ)效率,其研究成果具有重要的社會(huì)和經(jīng)濟(jì)意義。
[Abstract]:With the development of modern mass production, enterprises are constantly excavating the potential of production logistics in order to improve the overall efficiency of the production system while improving the processing and manufacturing capacity. The application of automated three-dimensional warehouse greatly improves the production and logistics speed of the enterprise, and the stacker is the core logistics equipment of the automated three-dimensional warehouse. The working efficiency directly affects the operation efficiency and economic benefit of the automated warehouse. In this paper, taking a type of double pillar stacker in Shenyang Xinsong Robot Co., Ltd as the research object, the factors influencing the horizontal running speed and acceleration of the stacker are analyzed. This paper expounds the influence of horizontal running mechanism and wheel / rail adhesion coefficient of stacker crane on the horizontal running acceleration, and puts forward some measures to increase the wheel / rail adhesion coefficient. The wheel / rail contact conditions of the lateral wheel type horizontal drive structure were improved by the former foundation, and the feasibility of the mechanism was verified by the finite element analysis software. Based on the analysis of the structural characteristics of the double pillar stacker, the virtual prototype of the stacker is constructed with three dimensional software. Through simulation analysis and practical operation experience, measures are taken for stacker structure and wheel-rail system to reduce noise and vibration of high speed and high speed stacker. In the course of the research, based on the finite element theory and empirical formula, the deflection and amplitude of the column, the dynamic and fatigue strength of the loading platform structure are studied by using ANSYS and Matlab software when the stacker is running at high speed and high speed. Forks deflection and other concerns are calculated and analyzed. The simulation results show that they can meet the requirements of high speed and high speed operation of stacker, and the structure of stacker is improved and optimized. By analyzing the running process and function of high speed and high speed stacker, the hardware, address detection, communication and bus mode of stacker control system are established. Combined with the fuzzy control theory, a fuzzy PID multimode speed controller is designed. The speed fuzzy PID controller is used in the stacker acceleration section, and the conventional PI controller is used in the uniform speed stage. The position fuzzy PID controller is used in the operation of the deceleration section, and the speed controller is analyzed with the help of the Matlab software and the experimental system. The purpose of this paper is to provide a systematic research method for the high speed and high acceleration of the stacker crane in the automatic stereo warehouse, to provide the basis for the design and analysis of the high speed and high speed stacker, and to improve the storage efficiency of the automated warehouse. The research results have important social and economic significance.
【學(xué)位授予單位】：沈陽(yáng)建筑大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH246

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