| With rapid development of industrialization and computer integrated technology, the automated storage and retrieval warehouse is being applied extensively because of its high speed, high efficiency and low cost etc. As an important logistics equipment of auto-warehouse, the dynamical performance and operational efficiency of stacker crane will directly affect the working level of auto-warehouseThe research object of this thesis is based on TD115stacker crane developed by Kunming Shipbuilding Equipment Co. Ltd, proceed several kinds of work followed:First of all, through the mechanics calculation, acquired the structure stability, then analysed separately the effect on the mast’s displacement of the main parts in the case of static and dynamic states;and the low order natural frequency and its mode shape was obtained and analysis of response to the general force after vibration analysis. Secondly, the finite element model was built and the following analyses were proceeded:the displacement of the mast in the case of different loads and inertia force were obtained by the method of static analysis;The natural frequency of different locations of work table and top restraint and the effect on the frequency though adding different ribbed plate were got;Simulated separately the mast’dynamical response of static state, accelerating, free sliding and braking in different acceleration cases on forward and backward movement by the method of transient response analysis and got the graph of the vibration displacement at the top of the crane’s mast and the graph of the stress variation at the bottom of the crane’s mast. Thirdly,the dynamic response curves of the stacker crane were obtained by building the multi-body dynamics model and simulating a whole process; Regarding rack section as flexibility, the graph of the vibration displacement at the top were obtained in different acceleration cases on backward movement; Considering the impact between the stacker crane and the bumper block,analyzed its stiffness coefficient and damping coefficient at the speed of3m/s,then simulated to get its deformation and force. Finally,conducted the experiment test for the physical prototype in the different cases, the graphs of the vibration displacement at the top and the stress variation at the bottom were gained. Compared with the datas of calculate,simulation and experiment, the research shows that the results are smaller than those of calculation and simulation,and when high speed running,the deformation of the mast presents geometrical nonlinear.Consider the effect of track irregularity on its performance,according to the relation of PSD(power spectrum density)and random track irregularity, a method to numerical simulation of track irregularities based on Blackman-Tukey was adopted, and analysed dynamic response in the cases of different grade roughness and velocity.The finite element model and the multi-body dynamics model of the stacker crane were built, analyzed dynamic response in normal and extreme cases in order to obtain the entirety property.In the process of analysis,some problems that the nonlinear problem in the high velocity, building the model of chain or the steel wire rope,setting these parameters of damping and stiffness in the multi-body dynamics model,could not be solved though taking into account all kinds of influencing factor as far as possible. |
