自动化立体仓库智能穿梭车设计及其运动学分析

发布时间：2018-01-19 23:48

本文关键词： 智能穿梭车结构设计运动学分析在线诊断　出处：《合肥工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：自动化立体仓库是近年来随着现代物流业的迅猛发展而被广泛应用起来的一种新型仓储设施,利用各种立体仓库设备可使仓储管理实现存取自动化、操作简便化。穿梭车作为其中最重要的搬运和存取设备,对自动化立体仓库的出入库效率有着极其重要的影响。目前,国内的智能穿梭车系统起步较晚,车体自动化程度不够高,软硬件技术还不够成熟,本文正是针对这一现状,提出能够快速运输、存取货物的穿梭车结构,并进行相应的结构设计、在线诊断和运动学分析。本文首先结合实际应用场合,确定了穿梭车的设计需求,并完成行走机构和伸叉机构的结构设计。文中重点对伸叉机构提出了多种设计方案,对比不同方案的优缺点,选定最佳方案完成伸叉机构的设计。在此基础上,进行相关零部件的尺寸计算、选型、强度和刚度的校核,并运用UG软件完成车体三维模型的建立。其次,运用了ANSYS Workbench软件对加速启动和匀速运行状态下的穿梭车三维实体模型进行仿真分析,检测所设计穿梭车的整机稳定性。为提高穿梭车运行的可靠性,本文设计了一套穿梭车轴承的在线诊断系统。该系统通过布置在穿梭车上的自取能RFID振动传感标签对相应轴承的振动信号进行采集,随后通过KPCA进行降噪以及特征提取,通过LS-SVR模型对处理后的振动信号进行分析,从而实现对轴承的在线诊断。
[Abstract]:Automated warehouse is a new storage facility widely used in recent years with the rapid development of modern logistics industry. The use of a variety of three-dimensional warehouse equipment can enable storage management to achieve access automation. As one of the most important handling and access equipment, the shuttle vehicle has an extremely important impact on the efficiency of entering and leaving of the automated warehouse. At present, the intelligent shuttle vehicle system in China started relatively late. The automatization degree of carbody is not high enough, and the technology of hardware and software is not mature enough. In view of this situation, this paper puts forward the shuttle structure which can quickly transport and access goods, and carries on the corresponding structure design. Online diagnosis and kinematics analysis. Firstly, the design requirements of the shuttle vehicle are determined by combining the practical applications. And the structure design of walking mechanism and fork extension mechanism is completed. In this paper, several design schemes are put forward, the advantages and disadvantages of different schemes are compared, and the best scheme is selected to complete the design of fork extension mechanism. The dimensions of the relevant parts, selection, strength and stiffness of the check, and the use of UG software to complete the establishment of the three-dimensional model of the car body. Secondly. ANSYS Workbench software is used to simulate and analyze the 3D solid model of the shuttle vehicle under the condition of accelerating startup and uniform speed running. Check the stability of the designed shuttle vehicle. In order to improve the reliability of the shuttle vehicle operation. In this paper, an on-line diagnosis system of shuttle bearings is designed. The system collects the vibration signals of the corresponding bearings by the RFID vibration sensor label arranged in the shuttle vehicle. Then the noise reduction and feature extraction are carried out by KPCA and the vibration signal after processing is analyzed by LS-SVR model to realize the on-line diagnosis of bearing.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH692.3

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