立体仓储高位拣选车辆的可靠性与路径优化

发布时间：2018-05-29 15:51

本文选题：立体仓储 + 高位拣选车辆　；参考：《吉林大学》2012年硕士论文

【摘要】：随着现代物流运输业的高速发展，立体仓储日益增多。高位拣选车辆属于仓储车辆的范畴，是立体仓储中进行拣选作业必不可少的运载工具，对减轻工人劳动强度、提高作业效率具有重要意义。目前，市场上的国产高档仓储车辆非常之少，尤其是起升高度在7m以上的高位拣选车辆完全依赖进口。本文以区域合作项目“高位拣选设备关键技术的研究和开发”为支撑，对立体仓储高位拣选车辆的可靠性、样机的设计与开发、稳定性与路径优化进行研究。本文对高位仓储类车辆的可靠性进行了系统研究。根据采集的现场故障数据对高位仓储车辆进行了FMECA分析及FTA分析，通过分析发现该类车辆的可靠性薄弱环节及潜在缺陷，为高位拣选车辆的总体方案设计、结构优化设计、控制策略设计、液压系统设计、制造工艺改进及故障诊断与维修等提供参考。在高位仓储车辆的可靠性分析基础上，对高位拣选车辆的机械系统、液压系统、电气控制系统进行设计，开发出了货物起升高度可达9m的车辆。首先，采用模块化思想将车辆分为底盘单元、门架系统单元及操纵台单元三部分，然后根据各自的功能特点分别进行了具体结构的设计，在设计开发过程中利用有限单元法、数字仿真技术等不断优化车辆结构。其次，对高位拣选车辆的液压系统回路进行设计，实现了其门架系统及操纵台的升降。最后，对高位拣选车辆的电气控制系统进行设计与开发，搭建了以CAN总线进行通信的控制系统硬件平台，保证了电控系统数据传输的高效性和高可靠性。本文对高位拣选车辆的稳定性进行了全面的研究。首先，抽象出高位拣选车辆的物理模型，运用达朗贝尔原理建立其不同运动状态下的动力学方程，并以本文开发的样机为例进行求解，分析了其动态稳定性。其次，利用虚拟样机技术对高位拣选车辆的运动过程进行动态仿真，并将仿真结果和理论结果进行比较，验证了建立的动力学模型的合理性。此外，采用倾斜平台测试法对高位拣选车辆样机的稳定性进行了验证。最后，为进一步提高高位拣选车辆的稳定性，同时保证车辆的机动性能，本文首次提出了一种高位拣选车辆的重心自平衡技术。根据立体仓储中高位拣选车辆的作业特点，建立了其三维空间的拣选路径优化数学模型，并设计构造了一种遗传-蚁群混合算法对其进行求解。仿真结果表明，该算法具有较强的全局搜索能力和收敛性能，较好地解决了高位拣选车辆的作业路径优化问题，提高了其作业效率，且可在一定程度上节约车辆蓄电池能量，延长其持续作业时间。
[Abstract]:With the rapid development of modern logistics transportation industry, three-dimensional storage is increasing day by day. The high picking vehicle belongs to the category of storage vehicles and is an indispensable vehicle for sorting in three-dimensional storage. It is of great significance to lighten the labor intensity of workers and improve the working efficiency. At present, there are very few domestic high-grade storage vehicles in the market, especially the high-level pick-up vehicles with a lifting height of more than 7m are totally dependent on imports. In this paper, the reliability, design and development of prototype, stability and path optimization of high picking vehicles are studied based on the regional cooperation project "Research and Development of key Technologies of High picking equipment". In this paper, the reliability of high storage vehicles is studied systematically. According to the field fault data collected, the FMECA analysis and FTA analysis of high storage vehicles are carried out. Through the analysis, it is found that the reliability of this kind of vehicles is weak and the potential defects, which are the overall scheme design and structural optimization design of high position picking vehicles. Control strategy design, hydraulic system design, manufacturing process improvement and fault diagnosis and maintenance. On the basis of reliability analysis of high storage vehicle, the mechanical system, hydraulic system and electrical control system of high position picking vehicle are designed, and a vehicle with a lifting height of 9 m is developed. Firstly, the vehicle is divided into three parts: chassis unit, gantry system unit and joystick unit. Then, the specific structure is designed according to their functional characteristics, and the finite element method is used in the process of design and development. Digital simulation technology and other continuous optimization of vehicle structure. Secondly, the hydraulic system loop of the high position picking vehicle is designed to realize the lifting and lowering of the gantry system and the operating table. Finally, the design and development of the electrical control system of the high position picking vehicle is carried out, and the hardware platform of the control system based on CAN bus is built, which ensures the high efficiency and reliability of the data transmission of the electronic control system. In this paper, the stability of high picking vehicles is studied. Firstly, the physical model of high position picking vehicle is abstracted, and the dynamic equations under different motion states are established by using the Darembert principle, and the dynamic stability is analyzed by taking the prototype developed in this paper as an example. Secondly, the dynamic simulation of the high position picking vehicle is carried out by using virtual prototyping technology, and the simulation results are compared with the theoretical results to verify the rationality of the established dynamic model. In addition, the stability of high picking vehicle prototype is verified by tilting platform test method. Finally, in order to further improve the stability of high position picking vehicles and ensure the vehicle's maneuverability, this paper presents for the first time a technique of gravity center self-balancing for high position picking vehicles. According to the operation characteristics of high position picking vehicles in stereoscopic storage, a three-dimensional picking path optimization mathematical model is established, and a genetic ant colony hybrid algorithm is designed to solve the problem. The simulation results show that the algorithm has strong global searching ability and convergence performance, and it can solve the problem of operating path optimization of high position picking vehicle, improve its working efficiency, and save the energy of vehicle battery to some extent. Extend its continuous working time.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH22

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