基于油田泵类产品自动化立体仓库堆垛机器人的技术研究
发布时间：2019-03-12 15:49
【摘要】：随着近年来物流产业的快速发展,自动化立体仓库应运而生,与之相关的技术装备逐渐成为研究的重点。本文以辽河油田管泵类产品自动化立体仓库建设要求为依据,对自动化立体仓库中的油管堆垛机器人的机械结构和控制系统进行了设计研究。主要包括以下内容:1)对自动化立体仓库和存取堆垛机的国内外发展现状和发展趋势进行了调查研究。2)按照辽河油田自动化立体仓库设计方案的技术要求,确定了油管类堆垛机器人的性能参数和结构形式,并运用CAD和Pro-E三维设计软件进行了机械结构设计。3)运用ANSYS分析软件对堆垛机器人关键零部件进行了静刚度分析,并结合实际计算分析结果对伸缩臂和堆垛机器人简化机构提出了改进设计方案。4)初步设计确定堆垛机器人的控制系统,并对控制系统进行初步设计规划。5)本课题尚需结合油管类堆垛机器人的实际运行情况对堆垛机器人进行实验、数据核算和设计。本文设计的堆垛机器人还未生产安装调试,整体运行效果需通过调试检测,总体设计初步满足了油田自动化立体仓库中油管类产品堆垛机器人的性能要求,并且为辽河油田自动化仓库及相关设备前期设计提供技术方案和技术参考。
[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.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242
本文编号：2438920
[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.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242
【参考文献】
相关期刊论文 前3条
1 张海涛;林辉;;高精度机电伺服控制系统[J];微特电机;2007年02期
2 刘辉;刘丁菡;;现代物流系统中自动化立体仓库优势分析[J];陕西科技大学学报(自然科学版);2008年03期
3 吕全海;;堆垛机速度优化控制研究[J];职业;2010年33期
，本文编号：2438920
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