单轴抬升车辆搬运器动力学分析及运动规律研究
发布时间：2019-04-29 13:13
【摘要】：随着车辆保有量的增加，土地资源紧张是大都市的现状，在亚洲各国大城市表现尤为突出，传统停车场由于空间利用不充分，远不能满足车辆的增长对车位的要求。机械式停车系统是解决大都市出现的停车难问题的有效方法。根据堆垛式立体车库的运行原理及结构特点，其关键技术之一在于实现对车辆在车库中搬运定位的车辆搬运器。堆垛式立体车库中现存的整体抬升式车辆搬运器必须把待搬运车辆完全抬离地面进行搬动，，需要克服车辆的全部重力做功，耗费能量较大；滚道存放式车辆运载装置由于每个泊车位上都需要安装较多的取送装置，而使得建设成本相对高很多。针对此问题，本文研究了用于堆垛式立体车库中的各种车辆搬运设备的工作原理与结构形式之后，提出一种新型的单轴抬升式车辆搬运器。其特点是，只抬升待搬运车辆的后轮，用转向限定装置来限定车辆前轮左右转动，对车辆进行推拉式搬动，从而能够有效节省搬运车辆的能耗与时间，降低立体车库的运营成本，应用前景辽阔。 本文分析了单轴抬升式车辆搬运器的系统组成、工作原理和机械结构形式，研究其搬运能耗，并与整体抬升式车辆搬运器进行对比分析，通过计算论证了单轴抬升式车辆搬运器更节省搬运车辆的能耗。依据单轴抬升式车辆搬运器的特点，本文在SolidWorks中完成了其机械设计，包括如何抬升车辆后轮及限定车辆前轮转向装置的机械结构设计以及动力、传动和行走装置的设计。计算了单轴抬升式车辆搬运器抬升车辆后轮和水平搬动车辆的电机功率需求。对不带执行器的搬运器分别采用传统的数学建模方法和ADAMS刚体动力学分析软件建立了动力学模型，同时分别用MATLAB/Simulink软件和ADAMS软件对其进行了仿真和异同性分析，探索了用不同方法建立搬运器动力学模型的特点和结果一致性问题。研究了带执行器的单轴抬升式车辆搬运器在后轮抬升运动及车辆水平搬动的系统仿真，验证了单轴抬升式车辆搬运器的可行性，对实际工程设计和使用具有意义。
[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.
【学位授予单位】：重庆交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U491.7
本文编号：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.
【学位授予单位】：重庆交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U491.7
【参考文献】
相关期刊论文 前2条
1 王新生,张华强;基于PLC的立体车库控制系统设计[J];工业控制计算机;2005年03期
2 张炜;沈林勇;章亚男;钱晋武;;用于堆垛式立体车库中的自动泊车机器人[J];机械制造;2008年06期
本文编号：2468267
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