蜂窝式仓储托盘存取技术研究

Research on access technology of the cellular storage pallet

该文针对左、右对称分布蜂窝库结构以及重载托盘,设计了一种三自由度机械手及其测控系统,可将此类管材存取于横梁式货架蜂窝库中。为减轻托盘自重,其底盘采用了刚度较大的框架结构减小弯曲变形,两侧受力较小,采用分布式立柱实现挡料;通过霍尔传感器实现移载小车减速位及机械手允许旋转位的检测,通过机械开关实现机械手臂摆动到位检测,以及手腕扭转到位检测;在机械手手掌上安装了漫反射光电传感器,利用传感器的迟滞特性实现了机械手对于托盘拉杆的精确定位和柔顺抓取。给出了移载小车和机械手的结构设计,以及三相交流电机和直流电机的驱动控制策略。系统实现了3000 kg负载托盘的快速、可靠存取,移载小车纵向定位误差为1 mm。

In this paper,a 3-degree-of-freedom robot and its measurement and control system are designed for the left-and right-symmetrical distribution of honeycomb warehouse structure and heavy-duty pallets,which can access such tubes in a beam-rack honeycomb warehouse.In order to reduce the self-weight of the pallet,the chassis adopts a frame structure with higher stiffness to reduce the bending deformation,the force on both sides is smaller,and the distributed columns are used to realize the material blocking,the detection of the deceleration position of the load shifting trolley and the allowed rotation position of the manipulator is realized by Hall sensors,the detection of the swing of the manipulator arm in place by mechanical switches,and the detection of the wrist twist in place,diffuse reflection photoelectric sensors are installed on the palm of the manipulator,and the hysteresis characteristics of the sensors are used to realize the detection of the manipulator arm.The hysteresis characteristics of the sensor are used to achieve the precise positioning and soft gripping of the pallet puller by the robot.The structural design of the load shifting trolley and manipulator,the drive control strategy of three-phase AC motor and DC motor are given.The system achieves fast and reliable access to 3000 kg pallets,and the longitudinal positioning error of the trolley is 1 mm.