基于油田泵类产品自动化立体仓库堆垛机器人的技术分析-technical analysis of stacking robot based on automatic three-dimensional warehouse for oil field pump products.docxVIP

摘要随着近年来物流产业的快速发展，自动化立体仓库应运而生，与之相关的技 术装备逐渐成为研究的重点。本文以辽河油田管泵类产品自动化立体仓库建设要 求为依据，对自动化立体仓库中的油管堆垛机器人的机械结构和控制系统进行了 设计研究。主要包括以下内容：1）对自动化立体仓库和存取堆垛机的国内外发展现状和发展趋势进行了调查 研究。2）按照辽河油田自动化立体仓库设计方案的技术要求，确定了油管类堆垛机 器人的性能参数和结构形式，并运用 CAD 和 Pro-E 三维设计软件进行了机械结构 设计。3）运用 ANSYS 分析软件对堆垛机器人关键零部件进行了静刚度分析，并结 合实际计算分析结果对伸缩臂和堆垛机器人简化机构提出了改进设计方案。4）初步设计确定堆垛机器人的控制系统，并对控制系统进行初步设计规划。5）本课题尚需结合油管类堆垛机器人的实际运行情况对堆垛机器人进行实 验、数据核算和设计。本文设计的堆垛机器人还未生产安装调试，整体运行效果需通过调试检测， 总体设计初步满足了油田自动化立体仓库中油管类产品堆垛机器人的性能要求， 并且为辽河油田自动化仓库及相关设备前期设计提供技术方案和技术参考。关键词：油泵类；堆垛机器人；机械结构；控制系统ABSTRACTWith the rapid development of logistics industry in recent years, automated stereoscopic warehouse arises at the historic moment, the related technology and equipment has gradually become the focus of research. In liaohe oilfield pipe pump products automated stereoscopic warehouse construction requirements, on the basis of automation stereoscopic warehouse tubing stacking robot mechanical structure and control system to carry on the design research.Access to automated multi-layered storehouse and the stackers development present situation and development trend at home and abroad research.According to the liaohe oilfield automation stereoscopic warehouse design scheme of technical requirements, determine the tubing such stacking and the performance parameters of the robot structure, and the CAD and Pro - E 3-D design software for the mechanical structure design.Using the ANSYS analysis software to stacking robot key components of the static stiffness analysis, combined with the actual calculation and analysis results of telescopic boom and stacking robot simplify the machine structure design scheme is presented.Determine the stacking robot control system, the preliminary design and preliminary design of control system planning.This topic is combined with the practical operation of tubing class stacking robot for stacking robot experiment, data calculation and design. Stacking robot designed in this paper has not been production installation and debuggin