單軸抬升車輛搬運器動力學(xué)分析及運動規(guī)律研究
發(fā)布時間：2019-04-29 13:13
【摘要】：隨著車輛保有量的增加，土地資源緊張是大都市的現(xiàn)狀，在亞洲各國大城市表現(xiàn)尤為突出，傳統(tǒng)停車場由于空間利用不充分，遠不能滿足車輛的增長對車位的要求。機械式停車系統(tǒng)是解決大都市出現(xiàn)的停車難問題的有效方法。根據(jù)堆垛式立體車庫的運行原理及結(jié)構(gòu)特點，其關(guān)鍵技術(shù)之一在于實現(xiàn)對車輛在車庫中搬運定位的車輛搬運器。堆垛式立體車庫中現(xiàn)存的整體抬升式車輛搬運器必須把待搬運車輛完全抬離地面進行搬動，，需要克服車輛的全部重力做功，耗費能量較大；滾道存放式車輛運載裝置由于每個泊車位上都需要安裝較多的取送裝置，而使得建設(shè)成本相對高很多。針對此問題，本文研究了用于堆垛式立體車庫中的各種車輛搬運設(shè)備的工作原理與結(jié)構(gòu)形式之后，提出一種新型的單軸抬升式車輛搬運器。其特點是，只抬升待搬運車輛的后輪，用轉(zhuǎn)向限定裝置來限定車輛前輪左右轉(zhuǎn)動，對車輛進行推拉式搬動，從而能夠有效節(jié)省搬運車輛的能耗與時間，降低立體車庫的運營成本，應(yīng)用前景遼闊。 本文分析了單軸抬升式車輛搬運器的系統(tǒng)組成、工作原理和機械結(jié)構(gòu)形式，研究其搬運能耗，并與整體抬升式車輛搬運器進行對比分析，通過計算論證了單軸抬升式車輛搬運器更節(jié)省搬運車輛的能耗。依據(jù)單軸抬升式車輛搬運器的特點，本文在SolidWorks中完成了其機械設(shè)計，包括如何抬升車輛后輪及限定車輛前輪轉(zhuǎn)向裝置的機械結(jié)構(gòu)設(shè)計以及動力、傳動和行走裝置的設(shè)計。計算了單軸抬升式車輛搬運器抬升車輛后輪和水平搬動車輛的電機功率需求。對不帶執(zhí)行器的搬運器分別采用傳統(tǒng)的數(shù)學(xué)建模方法和ADAMS剛體動力學(xué)分析軟件建立了動力學(xué)模型，同時分別用MATLAB/Simulink軟件和ADAMS軟件對其進行了仿真和異同性分析，探索了用不同方法建立搬運器動力學(xué)模型的特點和結(jié)果一致性問題。研究了帶執(zhí)行器的單軸抬升式車輛搬運器在后輪抬升運動及車輛水平搬動的系統(tǒng)仿真，驗證了單軸抬升式車輛搬運器的可行性，對實際工程設(shè)計和使用具有意義。
[Abstract]:With the increase of vehicle ownership, the shortage of land resources is the present situation of metropolis, especially in the big cities of Asian countries. The traditional parking lot is far from enough to meet the demand of vehicle growth because of insufficient utilization of space. Mechanical parking system is an effective method to solve the problem of parking difficulty in metropolis. According to the operation principle and structural characteristics of stacker-type three-dimensional garage, one of the key technologies is to realize the vehicle loader which can carry and locate the vehicle in the garage. The existing integral lift vehicle movers in the stacker-type three-dimensional garage must lift the vehicle to be carried completely off the ground for moving, and need to overcome the full gravity of the vehicle to do work and consume a great deal of energy. Because each parking space requires more pick-up and delivery devices, the construction cost is much higher than that of the Raceway Storage vehicle delivery device (RVs), which requires more pick-up and delivery devices in each parking space. In order to solve this problem, this paper studies the working principle and structure of various vehicle handling equipment used in stacker-type three-dimensional garage, and then presents a new type of single-axle lift vehicle carrier. It is characterized by only lifting the rear wheels of the vehicle to be moved, using a steering device to limit the left and right rotation of the front wheels of the vehicle, and carrying out the push-pull movement of the vehicle, thereby effectively saving the energy consumption and time of handling the vehicle. Reduce the operation cost of the three-dimensional garage, the application prospect is vast. In this paper, the system composition, working principle and mechanical structure of the single-axle lift vehicle carrier are analyzed, and the energy consumption of transportation is studied, and compared with the whole lift vehicle carrier, the system composition, the working principle and the mechanical structure of the single-axle lift-up vehicle carrier are analyzed. Through the calculation, it is proved that the single-axle lift vehicle carrier can save the energy consumption of the moving vehicle. According to the characteristics of the single-axle lift vehicle loader, this paper completes its mechanical design in SolidWorks, including how to lift the rear wheel of the vehicle and the mechanical structure design of the limited vehicle front wheel steering device, as well as the design of the power, transmission and walking device. The motor power requirements of the rear wheels and horizontal moving vehicles of the single-axle lift-up vehicle are calculated. The traditional mathematical modeling method and ADAMS rigid body dynamics analysis software are used to establish the dynamic model of the porter without actuator. At the same time, it is simulated and analyzed by ADAMS software and MATLAB/Simulink software, respectively. In this paper, the characteristics and the consistency of the results of different methods to build the dynamics model of the porter are explored. In this paper, the system simulation of the rear wheel lifting motion and the vehicle horizontal moving of the single-axle lift vehicle with actuator is studied. The feasibility of the single-axle lift vehicle carrier is verified, which is of significance to the practical engineering design and application.
【學(xué)位授予單位】：重慶交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：U491.7
本文編號：2468267
[Abstract]:With the increase of vehicle ownership, the shortage of land resources is the present situation of metropolis, especially in the big cities of Asian countries. The traditional parking lot is far from enough to meet the demand of vehicle growth because of insufficient utilization of space. Mechanical parking system is an effective method to solve the problem of parking difficulty in metropolis. According to the operation principle and structural characteristics of stacker-type three-dimensional garage, one of the key technologies is to realize the vehicle loader which can carry and locate the vehicle in the garage. The existing integral lift vehicle movers in the stacker-type three-dimensional garage must lift the vehicle to be carried completely off the ground for moving, and need to overcome the full gravity of the vehicle to do work and consume a great deal of energy. Because each parking space requires more pick-up and delivery devices, the construction cost is much higher than that of the Raceway Storage vehicle delivery device (RVs), which requires more pick-up and delivery devices in each parking space. In order to solve this problem, this paper studies the working principle and structure of various vehicle handling equipment used in stacker-type three-dimensional garage, and then presents a new type of single-axle lift vehicle carrier. It is characterized by only lifting the rear wheels of the vehicle to be moved, using a steering device to limit the left and right rotation of the front wheels of the vehicle, and carrying out the push-pull movement of the vehicle, thereby effectively saving the energy consumption and time of handling the vehicle. Reduce the operation cost of the three-dimensional garage, the application prospect is vast. In this paper, the system composition, working principle and mechanical structure of the single-axle lift vehicle carrier are analyzed, and the energy consumption of transportation is studied, and compared with the whole lift vehicle carrier, the system composition, the working principle and the mechanical structure of the single-axle lift-up vehicle carrier are analyzed. Through the calculation, it is proved that the single-axle lift vehicle carrier can save the energy consumption of the moving vehicle. According to the characteristics of the single-axle lift vehicle loader, this paper completes its mechanical design in SolidWorks, including how to lift the rear wheel of the vehicle and the mechanical structure design of the limited vehicle front wheel steering device, as well as the design of the power, transmission and walking device. The motor power requirements of the rear wheels and horizontal moving vehicles of the single-axle lift-up vehicle are calculated. The traditional mathematical modeling method and ADAMS rigid body dynamics analysis software are used to establish the dynamic model of the porter without actuator. At the same time, it is simulated and analyzed by ADAMS software and MATLAB/Simulink software, respectively. In this paper, the characteristics and the consistency of the results of different methods to build the dynamics model of the porter are explored. In this paper, the system simulation of the rear wheel lifting motion and the vehicle horizontal moving of the single-axle lift vehicle with actuator is studied. The feasibility of the single-axle lift vehicle carrier is verified, which is of significance to the practical engineering design and application.
【學(xué)位授予單位】：重慶交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：U491.7
【參考文獻】
相關(guān)期刊論文 前2條
1 王新生,張華強;基于PLC的立體車庫控制系統(tǒng)設(shè)計[J];工業(yè)控制計算機;2005年03期
2 張煒;沈林勇;章亞男;錢晉武;;用于堆垛式立體車庫中的自動泊車機器人[J];機械制造;2008年06期
本文編號：2468267
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