钢瓶自动化仓库优化设计与轨道布置研究

The Cylinder Automated Warehouse Optimization Design and Track Layout Research

根据实际要求,设计钢瓶自动化仓库结构,包括货架的设计和机器人的设计,该机器人应该具有良好的状态保持性、稳定性、足够的刚度和合理的机构以保证运输钢瓶过程中的安全性。利用有限元的方法对关键零部件校核,同时确定在振动、行走机器人加减速以及轨道换向时各部分的受力及变形情况。最后选择轨道形式并对自动化仓库轨道布置进行规划,根据钢瓶自动化仓库的基本特征,建立自动化仓库的数学模型,以机器人完成取放钢瓶任务的时间为评判标准,讨论了几种轨道布置形式,通过对比最终确定一条主干道加上两条辅道的轨道布置形式。

According to the demand, the structure of the whole system is designed, including the shelves and the operation robot, which requests high level of persistence, stability, adequate stiffness, and reasonable mechanism to ensure the safety and accuracy of the storage process. Then, finite element method is taken to verify the key components and analysis the stress condition and the deformation under the condition of vibration, acceleration and orbital transfer, to refine the structure where needs to improve the stiffness. In the last part, orbit choosing is introduced in detail and orbit deployment is researched. Based on the mathematic model and the parameters of the robot operation, different kinds of orbit deployment are discussed respectively. The operation time is taken as the criterion to choose the best orbit deployment, finding out that the orbit deployment with one main vertical orbit and two assistant vertical orbits is a preferable one.