【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,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。自動化立體倉庫的應(yīng)用使得企業(yè)的生產(chǎn)物流速度大大提高,而堆垛機作為自動化立體倉庫的核心物流設(shè)備,其工作效率的高低直接影響著自動化立體倉庫的運行效率和經(jīng)濟(jì)效益。 本文以沈陽新松機器人有限公司的某型號雙立柱巷道堆垛機為研究對象,分析影響巷道堆垛機水平運行速度及加速度的因素,闡述堆垛機水平運行機構(gòu)和輪軌附著系數(shù)對水平運行加速度的影響,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)動結(jié)構(gòu)的輪軌接觸條件,并用有限元分析軟件仿真驗證其機構(gòu)的可行性。 在分析雙立柱巷道堆垛機結(jié)構(gòu)特點的基礎(chǔ)上,用三維軟件構(gòu)建堆垛機虛擬樣機。通過仿真分析和實際運行經(jīng)驗,對堆垛機結(jié)構(gòu)和輪軌系統(tǒng)采取措施,以減小高速高加速堆垛機的噪音和振動。研究過程中,基于有限元理論和經(jīng)驗公式,運用ANSYS和Matlab軟件對巷道堆垛機高速高加速運行時,立柱撓度和振幅、載貨臺結(jié)構(gòu)動態(tài)和疲勞強度、貨叉撓度等所關(guān)心的問題進(jìn)行計算和分析。通過仿真分析,驗證它們是否能夠滿足堆垛機高速高加速運行要求,并對其結(jié)構(gòu)改進(jìn)優(yōu)化。 通過對高速高加速堆垛機運行過程和功能分析,確立堆垛機控制系統(tǒng)的硬件、認(rèn)址檢測方式、通訊和總線方式。結(jié)合模糊控制理論,設(shè)計模糊PID多模速度控制器,該控制器在堆垛機加速段運行時采用速度模糊PID控制器,在勻速段運行時采用常規(guī)PI控制器,在減速段運行時采用位置模糊PID控制器,并借助Matlab軟件和實驗系統(tǒng)對其速度控制器進(jìn)行分析研究。 本文旨在為自動化立體倉庫巷道堆垛機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設(shè)計和分析提供依據(jù),提高自動化立體倉庫的倉儲效率,其研究成果具有重要的社會和經(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】：沈陽建筑大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2011
【分類號】：TH246

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