Static And Dynamic Characteristics Analysis And Optimization Design Of High-Height And High Speed Double Column Stacker

With the continuous development of the national economy and the continuous improvement of industrial automation,the logistics and storage industry has developed rapidly.As an important part of modern logistics,automated three-dimensional warehouses are adapted to the general trend of the country's "Made in China 2025".As an indispensable lifting device in the automated warehouse,the stacker's overall performance advantages and working efficiency will directly affect the operating efficiency of the automated warehouse.In this paper,the double-height and double-column stacker is taken as the research object.Firstly,the stacker is theoretically modeled by traditional mechanical methods and a comprehensive structural analysis is carried out,including strength,static stiffness,dynamic stiffness,fatigue strength and stability.The finite element model of the stacker is built by finite element method,and static analysis and modal analysis are carried out.The correctness of the finite element model is verified by comparing traditional mechanics and finite element analysis.The kinematics model of the multi-rigid-body system of the stacker was constructed by the multi-rigid-body system kinematics method,and a complete simulation process of the actual working conditions of the stacker was carried out to simulate the movement of the stacker.By using the dynamics of the multi-body system Methods The rigid-flexible coupling dynamic model of the stacker was constructed,and the response of the main column and the auxiliary column under three different speed control modes of the operation process and lifting process of the double-height double-column stacker were studied to determine the best Control speed control form.Aiming at the problems of heavy stacker structure and low efficiency in direct optimization,due to the large size of stacker structure design,sensitivity analysis is adopted to screen the main size.Based on the experimental design by using the best sample filling space(OSF),Kriging proxy model is constructed,and the accuracy of the proxy model is verified.If the accuracy requirement is met,the complex real model is replaced.Based on the proxy model,NSGA-II algorithm is used for multi-objective optimization.Compared with direct optimization,the proposed method reduces the number of calls to the direct optimization model and improves the optimization efficiency significantly.