【作者】 占少民；

【导师】 崔贤玉；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2009， 硕士

【摘要】 自动化立体仓库是现代物流的代表技术,具备提升物流管理水平、提高作业效率、节省占地等诸多优点。近年来欧美等发达国家在对自动化程度要求不高并在人工叉车装卸货环境下,均有自动穿梭板这种存取半自动化机器的使用。自动穿梭板是一种应用于密集式立体仓库的托盘式自动搬运设备,由于其采用了贯通式货架,能够最大限度地利用仓库空间,而且工作方式灵活,提高了存取效率。由于自动穿梭板在特定的货架上运行,因而限制了自动穿梭板在高度上的结构尺寸。因此,在设计自动穿梭板的行进系统时在使其结构简单化、性能可靠化的条件下,尽量使其体积最小化、结构最优化。文中在综合考虑其各个功能模块的前提下,设计了自动穿梭板的机械结构。在步进电机与滚轴之间采用齿轮减速器对步进电机进行增矩减速,并使系统运转平稳,而在两个滚轴之间采用链传动形式。然后对步进电机的型号进行了选择计算,文中选用MOTEC公司的SM3913步进电机作为行进系统的动力输出部件。随后对其关键部件进行了有限元分析。自动穿梭板在贯通式货架上的轨道上运行时,需要经历启动、加速、恒速、减速以及停止的过程。为了对其进行位置及速度控制进行精确控制,文中对现在常用的加减速曲线做了原理上的分析,在不影响系统性能的条件下,选用分段式加减速曲线作为其控制算法。为了实现对穿梭板的运动控制,文中选用三相混合式步进电机作为动力来源,以实现对穿梭板的运动控制。最后对穿梭板的硬件及软件控制结构进行了设计。更多还原

【Abstract】 Automatic multi-level represents the technology of modern logistics system which improve the supply chain management level through increasing the work efficiency, reducing manpower and utilizing limited usable construction area, etc. Awarehouse utomatic shuttle has been used in the environment that do not need high degree of automation and artificial forklift in the developed country of Europe and the United States. Automatic shuttle is the equipment that can handle cargo automatic in the stereoscopic warehouse. With the use of through rack, the space utilization of warehouse can be high, and the flexible working mode of automatic shuttle can meet the requirement of handing cargo.In the designing of automatic shuttle we need to consider the working condition on the shelf, so the size of structure of automatic shuttle need to be small and the reliability and stability need to be high . In this paper design the mechanical structure of automatic shuttle based on the function module of automatic shuttle. Used the gear reducer between the stepper motor and roller which used the chain transmission system to increase the torque and reduce the speed and make the motion system running stable. Choose and calculate the stepper motor base on the demand of drive the motion system of automatic. The paper chooses the stepper motor which the type is SM3913 made by the company of MOTEC.Automatic shuttle need experience the he process of start, acceleration, constant speed, deceleration and stop. In order to improve the control precision of automatic shuttle, the paper made some research on the principle of acceleration and retardation curve of stepper. Choose the special speed curve as the motion control algorithm which do not effect the system performance. At last choose a kind of three-phase hybrid stepping motor as a power source in order to achieve the motion control of automatic shuttle. And design the hardware circuit and the program of the motion control system of automatic shuttle.更多还原