發(fā)布時間：2019-03-12 15:49

【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(yùn)而生,與之相關(guān)的技術(shù)裝備逐漸成為研究的重點(diǎn)。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(jī)器人的機(jī)械結(jié)構(gòu)和控制系統(tǒng)進(jìn)行了設(shè)計(jì)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(jī)的國內(nèi)外發(fā)展現(xiàn)狀和發(fā)展趨勢進(jìn)行了調(diào)查研究。2)按照遼河油田自動化立體倉庫設(shè)計(jì)方案的技術(shù)要求,確定了油管類堆垛機(jī)器人的性能參數(shù)和結(jié)構(gòu)形式,并運(yùn)用CAD和Pro-E三維設(shè)計(jì)軟件進(jìn)行了機(jī)械結(jié)構(gòu)設(shè)計(jì)。3)運(yùn)用ANSYS分析軟件對堆垛機(jī)器人關(guān)鍵零部件進(jìn)行了靜剛度分析,并結(jié)合實(shí)際計(jì)算分析結(jié)果對伸縮臂和堆垛機(jī)器人簡化機(jī)構(gòu)提出了改進(jìn)設(shè)計(jì)方案。4)初步設(shè)計(jì)確定堆垛機(jī)器人的控制系統(tǒng),并對控制系統(tǒng)進(jìn)行初步設(shè)計(jì)規(guī)劃。5)本課題尚需結(jié)合油管類堆垛機(jī)器人的實(shí)際運(yùn)行情況對堆垛機(jī)器人進(jìn)行實(shí)驗(yàn)、數(shù)據(jù)核算和設(shè)計(jì)。本文設(shè)計(jì)的堆垛機(jī)器人還未生產(chǎn)安裝調(diào)試,整體運(yùn)行效果需通過調(diào)試檢測,總體設(shè)計(jì)初步滿足了油田自動化立體倉庫中油管類產(chǎn)品堆垛機(jī)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(jì)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(xué)位授予單位】：沈陽理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TP242

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本文編號：2438920