双立柱式堆垛机三级货叉刚度建模与优化

Stiffness modeling and optimization of multi-stages fork of double column stacking machine

堆垛机的多级货叉在叉取货物时易产生较大的变形,为了解决多级货叉取货的精度问题,基于力学理论与有限元方法,对多级货叉进行了末端刚度建模与优化设计。首先,提出了一种堆垛机的整体结构与工作原理,详细地分析了货叉组件的结构与多级直线差动式货叉的工作原理;其次,基于理论力学与材料力学建立了货叉组件的力学模型,并求解了货叉在多组载荷下的挠度值;然后,建立了货叉组件的有限元模型,求解出了货叉组件的刚度并与理论计算结果进行了对比,验证了理论计算的准确性;最后,对货叉组件进行了参数优化,选取了三级货叉的最优截面参数,并完成了优化后货叉组件的静力学有限元分析。研究结果表明:优化后的三级货叉整体刚度提升了14.5%,在实际应用中效果良好。

To solve the problem that the multi-stages forks of stacking machine were prone to large deformation when picking up the goods,the end stiffness modeling and design optimization of the multi-stage forks were carried out based on the mechanical theory and the finite element method.Firstly,the overall structure and working principle of stacking machine were presented,and the structure of fork component and the working principle of the multi-stage linear differential forks were analyzed in detail.Secondly,based on theoretical mechanics and material mechanics,the mechanics model of fork component was established,and the deflections of fork component under multiple sets of loads were solved.Then,the finite element model of fork component was established to solve the end stiffness of fork component and compare with the theoretical calculation results to verify the accuracy of theoretical calculation.Finally,the parameters of fork component were optimized,the optimal cross-section parameters of the multi-stage fork were selected,and the static finite element analysis of the fork component after optimization was completed.The research results show that the overall stiffness of the optimized multi-stage is increased by 14.5%,the effect is good in practical application.