Design And Kinematics Analysis Of Smart Shuttle In Automated Warehouse

The automatic solid warehouse is a new type of the storage facilities that has been widely employed due to the rapid development of modern logistics industry in recent years,which can realize automatically fetch and convenient operation.Playing a dominant role in the automatic solid warehouse,the shuttle has significant impact on the access efficiency of the warehouse.At present,the study on intelligent shuttle has just begun in China,the automation degree of the shuttle is low and the hardware and software is still at its early stage of development.To solve these problems,an shuttle structure which can realize rapid material handling and accessing is proposed.In this paper,the shuttle structure is designed and the kinematics analysis is performed,besides,an on-line diagnosis system is exploited.Firstly,the structure design of running gear structure and fork structure has been proposed based on the application scenarios.This paper mainly focuses on the design of fork structure and proposed several different structures.By comparing the merits and faults of the proposed structures,a preferred structure is finally adopted.Based on the adopted structure design,the components size are calculated,then the type,strength,and stiffness of the components are verified.The three-dimensional model of the shuttle is then established by UG.Moreover,the three-dimensional entity model of shuttle in accelerating and uniform motion is analyzed by ANSYS Workbench software to detect its machine stability.To further improve the operation reliability,an on-line diagnosis system based on RFID sensor tag is exploited.It can accumulated the bearing vibration signal by the self-powered RFID vibration sensor tag mounted on the shuttle.The raw signal is then de-noised and the eigenvector is extracted by KPCA.Finally,a LS-SVR model is proposed and trained to realize on-line diagnosis.