Research On The Structural Design And Control System Of Four-way Shuttle For The Finished Granary

With the arrival of the intelligent era of manufacturing industry,the modern logistics and storage industry is developing rapidly,especially the intelligent handling equipment used in the intelligent finished grain warehouse-RGV(rail guided vehicle),which can realize the functions of automatic identification,flexible access and precise positioning,greatly improving the storage efficiency of the finished grain warehouse.At present,most of the shuttles can only travel in two directions along the track,relying on the elevator for layer change,which is not very practical.The goods carried by the shuttles during acceleration and deceleration will be impacted and easily overturned.This paper analyzes the storage requirements of the finished product granary,develops a new type of fourway shuttle car,which adopts a new reversing mechanism and a double station storage and retrieval mechanism.While realizing four-way driving,flexible lane changing and fast storage and retrieval of goods on the cross track,critical tipping conditions are introduced to ensure the stable and efficient storage and retrieval of goods by the car.The research content of this paper is as follows:(1)According to the storage demand of the finished grain warehouse and the limitation of the existing shuttle structure,this paper analyzes the characteristics of the finished grain warehouse,compares the existing four-way shuttle walking mode,reversing structure and the structure scheme of the storage and retrieval goods,demonstrates the feasibility and limitations of each scheme,and designs a new four-way shuttle structure with better effect.In order to ensure that the car meets the performance requirements,the optimal design of grab and reversing push rod is carried out with the help of the Design exploration in ANSYS/Workbench.(2)According to the structural characteristics and functional requirements of the four-way shuttle developed in this project,the control system of the four-way shuttle is designed,mainly including the frame structure design of the control system,the hardware function module and selection,the overall control process and the software program development of each function module.At the control level,the four-way shuttle's walking,reversing and storage of goods are realized Function.(3)In order to improve the anti-overturning performance of the four-way shuttle under different load conditions,the anti-overturning model of the four-way shuttle is established,and the critical overturning condition is found out.The condition is used in the speed control,and the fuzzy PID control algorithm is used to improve the control performance of the system.MATLAB/Simulink is used to solve the problem.The comparative simulation model of fuzzy PID and conventional PID is established to verify the superiority of fuzzy PID control algorithm to the speed control of four-way shuttle.(4)Aiming at the design feasibility of the four-way shuttle's mechanical structure and control system,a four-way shuttle prototype test platform was built to verify the feasibility of the four-way shuttle's walking,reversing and picking actions and functions,thus further verifying the design of this paper The rationality of the four-way shuttle's mechanical structure and control system.