219mze 发表于 2024-8-4 11:53:42

超长型桁架式堆垛机的设计


    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;">摘 要：本文<span style="color: black;">重点</span>讲述一种用于桁架式钢结构货架间运输货物的堆垛机，此类堆垛机行走方向、伸叉方向与常规堆垛机<span style="color: black;">区别</span>，并且在货架顶部进行巷道更换，类似于行车，但具备堆垛机的水平取放货功能。此类堆垛机的金属结构宽度<span style="color: black;">尤其</span>大，载货台<span style="color: black;">尤其</span>宽，其运载的货物尺寸远超过<span style="color: black;">通常</span>托盘物料等常规货物，这类货物<span style="color: black;">运用</span>传统行车、<span style="color: black;">或</span>常规堆垛机<span style="color: black;">已然</span><span style="color: black;">没法</span>满足取货<span style="color: black;">需求</span>。<span style="color: black;">因此呢</span>设计桁架式堆垛机<span style="color: black;">重点</span>用于船厂、钢管厂等货物超宽且横向<span style="color: black;">安置</span>的仓储系统中。本文采用有限元分析与项目试制验证的方式，<span style="color: black;">思虑</span>了桁架式堆垛机挠度过大、驱动轮偏差<span style="color: black;">区别</span>步等<span style="color: black;">原因</span>，设计了一种刚度较好、制作工艺简单的结构，达到了客户的<span style="color: black;">运用</span><span style="color: black;">需求</span>，设备运行稳定<span style="color: black;">靠谱</span>。</p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;">关键词：桁架式堆垛机、超宽堆垛机</p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">随着物流仓储行业的快速发展，各个行业对仓储效率、仓储智能化的需求日益<span style="color: black;">增多</span>。不只是现代化工业，传统行业如船厂、钢管厂等对自动化仓储<span style="color: black;">亦</span>有<span style="color: black;">必定</span>的需求。<span style="color: black;">这里</span>背景下，不管是传统的行车、还是自动化程度较高的堆垛机，均<span style="color: black;">不可</span>完全满足运输该类货物的工况，<span style="color: black;">必须</span>非标定制专用设备。该设备不仅<span style="color: black;">必须</span>满足传统行车的桁架式钢结构，以克服超宽货物带来的挠度过大问题，<span style="color: black;">亦</span><span style="color: black;">必须</span>带有货叉的堆垛取放功能，<span style="color: black;">因此呢</span>融合两种设备的优点进行专用设备<span style="color: black;">研发</span>。在铸造钢管、天然气管、型钢等生产企业，<span style="color: black;">因为</span>物料过长，占地空间<span style="color: black;">很强</span>，耗时耗力，储存物料困难。该机型<span style="color: black;">能够</span>为这类特殊货物节约成本，<span style="color: black;">加强</span>存储效率，实现仓储自动化。</span></span></p>
    <h1 style="color: black; text-align: left; margin-bottom: 10px;"><span style="color: black;">1、</span>设计特点与分析</h1>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">常规堆垛机金属结构为上横梁、立柱、下横梁组合而成的金属框架，在巷道内水平运行，结构<span style="color: black;">通常</span>较为稳定。<span style="color: black;">因为</span>堆垛机<span style="color: black;">必须</span><span style="color: black;">协同</span>常规托盘<span style="color: black;">运用</span>，其大致结构与尺寸大同小异。而桁架式<span style="color: black;">区别</span>于常规堆垛机，它的应用工况是在货架顶部进行水平运行，<span style="color: black;">因此呢</span>其金属结构无立柱，其框架结构<span style="color: black;">必须</span>融合上横梁、下横梁的功能，既要安装行走轮，<span style="color: black;">亦</span><span style="color: black;">必须</span>安装起升链条卷筒，使其能够在货架顶部运行。</span></span></p>
    <div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p3-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/9ecd282ece154e8a8f45f247a60e82fd~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1723341451&amp;x-signature=k3e8VF3qp2Azo9n5g0Q%2FI7U7zEQ%3D" style="width: 50%; margin-bottom: 20px;"></div>
    <div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p3-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/30cb91c6679d4881b3e71e04fa266b0b~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1723341451&amp;x-signature=AfF88g93H8iNeo7%2FWTLodtGazG8%3D" style="width: 50%; margin-bottom: 20px;"></div>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;"><span style="color: black;">因为</span>钢管结构等货物的规格特殊，其长度<span style="color: black;">尤其</span>长，<span style="color: black;">已然</span>远远超过国际托盘的尺寸，<span style="color: black;">因此呢</span><span style="color: black;">必须</span>将金属结构、载货台宽度加宽到十余米。<span style="color: black;">因为</span>框架、载货台的尺寸过宽，<span style="color: black;">因此呢</span>该结构静载挠度远大于常规堆垛机。在<span style="color: black;">研发</span>设计的过程中<span style="color: black;">必须</span>经过严格计算与软件分析，<span style="color: black;">才可</span><span style="color: black;">保准</span>结构的刚度，防止挠度过大<span style="color: black;">导致</span>的取货偏差与运行问题。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">设计<span style="color: black;">制品</span>实施项目后，<span style="color: black;">针对</span>制作工艺与结构变形量与软件模拟还是存在<span style="color: black;">必定</span>区别。现场在安装设备时，<span style="color: black;">因为</span>横梁、载货台过宽，安装轨道时，<span style="color: black;">因为</span>距离较远，<span style="color: black;">测绘</span>工具<span style="color: black;">不可</span>满足<span style="color: black;">测绘</span><span style="color: black;">需求</span>，只能<span style="color: black;">运用</span>激光测距，<span style="color: black;">因此呢</span><span style="color: black;">必须</span><span style="color: black;">尤其</span><span style="color: black;">重视</span>轨道的安装平行度。且<span style="color: black;">针对</span>货架的承重、安装精度要有较严格的<span style="color: black;">需求</span>。</span></span></p>
    <h1 style="color: black; text-align: left; margin-bottom: 10px;"><span style="color: black;">2、</span>结构设计</h1>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">金属结构<span style="color: black;">重点</span>由槽钢、型钢、钢板、矩形管等焊接<span style="color: black;">构成</span>。金属框架主体结构<span style="color: black;">是由于</span>钢板焊合或槽钢焊接的开口断面，由钢板、方管焊接而成，焊接时严格<span style="color: black;">掌控</span>焊缝宽度及焊接件结构的垂直度、平行度，以<span style="color: black;">保准</span>整体结构安装尺寸。内部设有<span style="color: black;">海量</span>的工字钢加强筋，以<span style="color: black;">保准</span>整体结构的挠度和<span style="color: black;">运用</span>寿命。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">在金属框架上设置有水平运行<span style="color: black;">公司</span>和起升运行<span style="color: black;">公司</span>，<span style="color: black;">包含</span>主动车轮、被动车轮、驱动电机、同步带轮组等。在金属框架上设有安装链条的导槽、支撑架等<span style="color: black;">公司</span>，<span style="color: black;">全部</span>金属结构设计优化<span style="color: black;">恰当</span>，<span style="color: black;">经过</span>有限元分析模拟超长框架的挠度，再<span style="color: black;">经过</span>加强筋与焊接加强版进行加固。这种超长堆垛机用的起升<span style="color: black;">安装</span><span style="color: black;">重点</span>由同步伺服电机、辅助导向轮组、集油盒<span style="color: black;">安装</span>、起升链条、导轨固定支架组、马达固定座、带座轴承、双排链轮、驱动轴、导轨、防护罩、弹簧<span style="color: black;">安装</span>及挡板<span style="color: black;">构成</span>。</span></span></p>
    <div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p3-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/bd46a1c02dc7483eaa516d08b4391281~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1723341451&amp;x-signature=BWCyDZQ7ruBQEFsPIU3Evylbspo%3D" style="width: 50%; margin-bottom: 20px;"></div>
    <div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p3-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/2e3711d61c634bd3bd4ce3e77d5aa0ff~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1723341451&amp;x-signature=MbheWbZjtA7dj1vKF%2Fn7U3Xu0bk%3D" style="width: 50%; margin-bottom: 20px;"></div>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">设计该结构的参数：载重500<span style="color: black;">公斤</span>，货架总高约8.2m，金属框架总宽度约17m。货物规格为8000mm～16200mm，货物宽度60mm～300mm。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">《JB/T7016-2003巷道堆垛起重机》规定：悬挂起重设备主梁的挠度容许值，其挠度值应不大于L/1500，L为堆垛机主梁总长=18000mm，<span style="color: black;">因此呢</span>理论刚度<span style="color: black;">需求</span><span style="color: black;">少于</span>12mm。静态状态下时上横梁最大变形量为8.256mm＜12mm，刚度符合<span style="color: black;">需求</span>。</span></span></p>
    <div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p3-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/9b28084192ca4c4e83e4969c845641b5~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1723341451&amp;x-signature=HjMCYMHT%2FC4oOJ1lhnZLcjbLjPY%3D" style="width: 50%; margin-bottom: 20px;"></div>
    <div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p3-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/fb5e69c914224942a83eb6402187285f~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1723341451&amp;x-signature=cNZ8jERj3PhSxLSBmJBKFeGTzb8%3D" style="width: 50%; margin-bottom: 20px;"></div>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">载货台<span style="color: black;">重点</span>由起升导向轮、金属框架等<span style="color: black;">构成</span>。载货台上装有存取货物的货叉伸缩<span style="color: black;">公司</span>，防止意外坠落的安全<span style="color: black;">守护</span><span style="color: black;">安装</span>，以及用于距离和位置检测的开关等。<span style="color: black;">经过</span>起升<span style="color: black;">公司</span>的电动机使同步带上下移动，从而带动载货台沿立柱的垂直方向升降。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">设计输入：货物额定载荷M=500<span style="color: black;">公斤</span>；货叉自重M2=750<span style="color: black;">公斤</span>；水平框架承载F=ma=12000N。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">《JB/T7016-2003巷道堆垛起重机》规定：悬挂起重设备主梁的挠度容许值，其挠度值应不大于L/1500，L为载货台水平框架总长=16600mm，<span style="color: black;">因此呢</span>理论刚度<span style="color: black;">需求</span><span style="color: black;">少于</span>11.067mm。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">静态状态下时上横梁最大变形量为9.176mm＜11.067mm，刚度符合<span style="color: black;">需求</span>。</span></span></p>
    <h1 style="color: black; text-align: left; margin-bottom: 10px;"><span style="color: black;">3、</span>驱动<span style="color: black;">公司</span>设计</h1>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">堆垛机<span style="color: black;">经过</span>水平运行<span style="color: black;">公司</span>在巷道中运动，水平运行<span style="color: black;">公司</span><span style="color: black;">包含</span>两套主动车轮组、两套被动车轮组、双电机减速器、水平导向轮组、夹钩等。主动车轮与被动车轮置于地轨上，水平导向轮与地轨<span style="color: black;">协同</span>，使堆垛机能沿轨道运行，并且下横梁内侧还装有夹钩，防止堆垛机侧翻。被动车轮组中有调节<span style="color: black;">安装</span>，能自动<span style="color: black;">调节</span>车轮平行度。在地轨两头还设有聚氨酯缓冲器，在堆垛机接触时能够减少碰撞产生的冲击力。堆垛机运行<span style="color: black;">公司</span>电动机功率<span style="color: black;">选取</span>,除了<span style="color: black;">思虑</span>稳定运行的静功率外，还<span style="color: black;">必要</span><span style="color: black;">思虑</span>克服移动质量和旋转质量所<span style="color: black;">导致</span>的惯性载荷所需的加速功率。</span></span></p>
    <div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p3-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/8f8105357ff64f6fb49013bfe0e8f552~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1723341451&amp;x-signature=Nr0BqYcimi0yxPL%2FEsiYrYcZq%2Bs%3D" style="width: 50%; margin-bottom: 20px;"></div>
    <div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p3-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/36aa376f0f90497188d0f63e1a08ac1b~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1723341451&amp;x-signature=Z4diI7nTnbak8szqFTOJX%2BZc8yQ%3D" style="width: 50%; margin-bottom: 20px;"></div>
    <div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p3-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/6792450e3a954c3bb288dca69f95c370~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1723341451&amp;x-signature=rtxtIp2U0frlOy4cqlqaKgotteo%3D" style="width: 50%; margin-bottom: 20px;"></div>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">水平运行<span style="color: black;">公司</span><span style="color: black;">是由于</span>动力驱动和主被动轮组<span style="color: black;">构成</span>，用于<span style="color: black;">全部</span>设备巷道方向的运行。<span style="color: black;">咱们</span><span style="color: black;">选择</span>了德国SEW<span style="color: black;">机构</span>的螺旋伞齿轮直交轴电机减速机直接驱动车轮，质量<span style="color: black;">靠谱</span>、<span style="color: black;">守护</span>方便、噪声低。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;"><span style="color: black;">运用</span>双电机驱动时<span style="color: black;">因为</span>设备两电机距离较远，钢结构刚度不足极可能<span style="color: black;">导致</span>双电机运行<span style="color: black;">区别</span>步，<span style="color: black;">运用</span>西门子电机同步功能进行矫正，<span style="color: black;">能够</span><span style="color: black;">保准</span>两电机输出轴转速与力矩保持一致。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">该桥式堆垛机设计的运行速度为30m/min，加速度为0.5m/s2。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">电动机的静功率：</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">式中：——静功率（kW）；</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">——堆垛机的运行速度（m/min）；</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">——<span style="color: black;">公司</span>的总效率；设=0.8。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">加速时所需功率:</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">载荷转矩：(单位为kW时，Nm为1450)；</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">载荷转动惯量：；</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">带载加速功率：</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">,a是平均加速度。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">电动机的制动力矩MB：</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">式中：MB——制动力矩（Nm）；ε——平均角加速度（rad/s2）;</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">∑J——<span style="color: black;">公司</span>旋转件的总转动惯量（<span style="color: black;">公斤</span>·m2）;</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">ML——负载力矩， (Nm);</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">——电动转速（r/min）;</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">JM——电动机的转动惯量（<span style="color: black;">公斤</span>·m2）;</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">JL——电动机轴上的等效转动惯量，（kg·m2）；</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">tB——制动时间（s）；</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;"><span style="color: black;">按照</span>Pm和MB，查看电机选型样册，初选电动机型号。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">减速器功率PJ：</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">Md——轮轴扭矩,（Nm）;</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">——电机转速（r/min），；</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">D——走轮直径（m）;</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">——频率（Hz）</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">可查看电机选型样册，找出速比i和减速器功率PJ对应的减速器型号。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">将所选的减速器的i值带入反算额定速度，若额定速度＞堆垛机水平运行速度，则符合设计<span style="color: black;">需求</span>，<span style="color: black;">选择</span>减速器型号，反之则重新<span style="color: black;">选择</span>。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">经负载功率与运行参数计算，<span style="color: black;">思虑</span>到设备宽度过长，<span style="color: black;">必须</span>双驱<span style="color: black;">起步</span>来<span style="color: black;">保准</span>运行的稳定，电机<span style="color: black;">选择</span>SEW<span style="color: black;">机构</span>KA87/DRL100L4BE伺服电机。<span style="color: black;">因为</span>金属结构的宽度过大，双电机驱动时，非常容易<span style="color: black;">导致</span>电机<span style="color: black;">区别</span>步的<span style="color: black;">状况</span>，从而<span style="color: black;">导致</span>设备报警。设计采用西门子电机<span style="color: black;">掌控</span>程序，<span style="color: black;">经过</span>程序自优化功能改善驱动运行<span style="color: black;">区别</span>步<span style="color: black;">导致</span>的误差。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">这种超长堆垛机用的起升<span style="color: black;">安装</span><span style="color: black;">重点</span>由同步伺服电机、辅助导向轮组（1）、集油盒<span style="color: black;">安装</span>、起升链条、辅助导向轮组（2）、导轨固定支架组、马达固定座、带座轴承、双排链轮、驱动轴、导轨、防护罩、弹簧<span style="color: black;">安装</span>及挡板<span style="color: black;">构成</span>。柔性件分为链条和钢丝绳两种。链条传动的优点是承载能力大，<span style="color: black;">然则</span>自重大，有可能<span style="color: black;">忽然</span>断裂、安全性差。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">动作原理：起升过程，起升链条一端与载货台固定，一端挂在双排链轮上，<span style="color: black;">经过</span>载货台自重及货物重量，可使链条得到张紧，双排链轮另一端的起升链条为松弛状态，因起升链条自重，自由下垂，<span style="color: black;">由于</span>有双排两轮的齿形加持，起升链条在运行过程中不会存在跳齿现象，起升链条<span style="color: black;">经过</span>辅助导向轮组（1）进度导轨，因链条滚轮间隔设置，链条成段堆叠<span style="color: black;">自动</span>收集；下降过程，双排两轮带动链条向下释放，与载货台连接侧始终<span style="color: black;">处在</span>张紧状态，<span style="color: black;">本来</span>链轮松弛状态的链条<span style="color: black;">因为</span>辅助导向轮组（2）的导向，<span style="color: black;">亦</span>形<span style="color: black;">成为了</span>张紧状态，避免了链条的跳齿现象。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">链条设计采用滚子链，极限拉伸载荷不<span style="color: black;">少于</span>280kN，链条<span style="color: black;">牢靠</span>度<span style="color: black;">需求</span>小周和外链板、套筒和内链板均应链接<span style="color: black;">牢靠</span>，常规车辆<span style="color: black;">要求</span>下，测得链条两端的相对扭转<span style="color: black;">方向</span>不大于4°/m。链条铰链应灵活，滚子和边滚轮能在360°范围内自由转动，销轴两端铆合<span style="color: black;">牢靠</span><span style="color: black;">靠谱</span>。</span></span></p>
    <div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p3-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/71e2f655d24a4ad595ce56f73682d63b~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1723341451&amp;x-signature=yps%2F4FcTUGXBPQzSXN%2BYNoQXnxk%3D" style="width: 50%; margin-bottom: 20px;"></div>
    <div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p3-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/34d0fab2dcab4ab4b67b58755735b063~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1723341451&amp;x-signature=e4lQyQp9MFaOwpAQ07LNXvkxuwk%3D" style="width: 50%; margin-bottom: 20px;"></div>
    <div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p3-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/a0bc5ad8d26f4d729ffd31c2e1609da3~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1723341451&amp;x-signature=lJR06WBtDceR2ZSWCZ%2FeSOEu3Iw%3D" style="width: 50%; margin-bottom: 20px;"></div>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">该桥式堆垛机设计的起升速度为20m/min，加速度为0.5m/s2。经负载功率与运行参数计算，电机<span style="color: black;">选择</span>SEW<span style="color: black;">机构</span>KA127/DRL160M4伺服电机。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">货叉伸缩<span style="color: black;">公司</span>是堆垛机存取货物的执行<span style="color: black;">公司</span>，装设在载货台上。为减小巷道的宽度，且<span style="color: black;">拥有</span>足够的伸缩行程，本<span style="color: black;">公司</span>采用三级直线差动式伸缩货叉，由伸缩货叉（上）、伸缩货叉（中）、固定货叉及导向轮等<span style="color: black;">构成</span>。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">固定货叉安装在载货台上，固定货叉、伸缩货叉（中）、伸缩货叉（上）之间由链轮链条进行连接。电机减速器<span style="color: black;">经过</span>链轮由链条驱动链轮轴上的链轮，再由链轮轴上两个链轮带动链条、链条、链条驱动伸缩货叉（中）从固定货叉中点向左或向右伸缩时，又带动伸缩货叉（上）以三倍的速度进行伸缩。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;"><span style="color: black;">因为</span>货物规格较宽<span style="color: black;">必须</span><span style="color: black;">运用</span>多套货叉取货，货叉之间<span style="color: black;">运用</span>万向联轴器进行串联，电机驱动<span style="color: black;">公司</span><span style="color: black;">起步</span>时货叉伸出，并借助联轴器牵引各个位置的货叉伸出取货。</span></span></p>
    <h1 style="color: black; text-align: left; margin-bottom: 10px;"><span style="color: black;">4、</span>机电结合<span style="color: black;">安装</span>设计</h1>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">堆垛机在巷道中运行时，依靠认址<span style="color: black;">安装</span>及限位<span style="color: black;">安装</span>来确定运行的相对距离与位置。在<span style="color: black;">这次</span>堆垛机设计中，采用<span style="color: black;">靠谱</span>的激光测距认址进行位置判定，定位精度<span style="color: black;">达到</span>到±3mm。设备<span style="color: black;">外边</span>设有集电臂，采用滑触线供电。端部设有红外通讯<span style="color: black;">安装</span>，与金属框架的接受<span style="color: black;">安装</span>配套<span style="color: black;">运用</span>。<span style="color: black;">针对</span>货物，货位检测<span style="color: black;">安装</span>设有超高、超宽、外形坍塌、探测货物等多组传感器。使该设备能够<span style="color: black;">拥有</span>堆垛机完备的大<span style="color: black;">都数</span>功能。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">该设备<span style="color: black;">持有</span>链条断裂检测、<span style="color: black;">叫作</span>重检测功能，<span style="color: black;">运用</span>四个探测传感器对链条进行探测，当链条断裂时触发传感器报警，设备停止运行。链条固定杆下方安装有<span style="color: black;">叫作</span>重传感器，当载货质量超过额定载荷时，触发<span style="color: black;">叫作</span>重传感器报警。</span></span></p>
    <h1 style="color: black; text-align: left; margin-bottom: 10px;"><span style="color: black;">5、</span>结论</h1>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">随着常规立库的需求<span style="color: black;">逐步</span>饱和，及较低的技术门槛，传统堆垛机<span style="color: black;">已然</span><span style="color: black;">不可</span>完全满足现代工业发展的<span style="color: black;">必须</span>, 特殊行业市场对特殊机型的堆垛机需求反而越来越多，尤其在钢材等行业, 设备所处的工作环境对效率的<span style="color: black;">需求</span>不是<span style="color: black;">尤其</span>高，但<span style="color: black;">需求</span>可用空间的利用率相对较高，且<span style="color: black;">传送</span>料件较长，<span style="color: black;">因此呢</span><span style="color: black;">必须</span>一款超长又<span style="color: black;">能够</span>实现多条巷道共用特点的堆垛机。针对这些特殊需求，本文介绍的这款新机型桁架式堆垛机<span style="color: black;">能够</span>完全满足，在<span style="color: black;">保准</span><span style="color: black;">制品</span>功能的前提下，完成超长型桁架式堆垛机的设计，<span style="color: black;">加强</span>了仓储空间利用率。</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">参考文献：</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;"> 吴双. 自动化立体仓库.2007(12).</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;"> JB7016巷道堆垛起重机.2017.</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;"> 张铁异,黎毓鹏,曹晓中.堆垛机运行<span style="color: black;">公司</span>电机的功率计算与<span style="color: black;">选取</span>确定.装备制造技术,2011(1).</span></span></p>
    <p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;"> 胡万飞,张贺.巷道式堆垛机升降<span style="color: black;">公司</span>的设计.防护工程,2018(6).</span></span></p>




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