Research On The Omni-directional Motion System Of The Stacking Crane Based On Mecanum Wheel

Warehousing logistics, as an important part of modern logistics, plays an important role in the logistics system.Efficient and reasonable storage can help enterprises to improve the material flow of operation efficiency and reduce the cost of resources and ensure smooth production, the effective control and management.At present, with the rising cost of land,warehouse covers an area of more and more small and the use of warehouse stacker are increasingly high requirements.Currently, most stacking machine used in warehouse owned the characteristics of large volume, required turning radius when cornering. Stacker of full range of motion can achieve well at handling and palletizing the goods in the warehouse whith's space is limited, it can greatly improves the efficiency of logistics and shorten the time of stacking goods,ensures the uniformity of stacked goods and generates significant economic benefits? The structure of the all direction moving crane is complex,the research and application of our country about it is still in its infancy.In this paper, for the use of the requirements of the crane, Based on Mecanum round development of a full range of motion systems , And using the virtual simulation technology to carry on the kinematics and the reliability analysis of the omni-directional motion system.The main research contents are as follows:Firstly, the structure and characteristics of omni-directional motion mechanism are studied and analyzed.Considering the use requirements of the stacking crane in the warehouse,determined to use the Mecanum wheel as the structure of the omni-directional wheel.The structure design of omni-directional wheel is completed.Second,the kinematics and dynamics characteristics of the omni-directional motion system of the stacking crane are studied and analyzed.Then the general kinematics equation of the four wheel crane based on Mecanum wheel is established and gave out the forward and inverse kinematics solutions,determined the best layout of the wheel group.The dynamic model of the whole plane motion of the stacking crane is established and gave the simulation.Third, doing the research and analysis on the model about the roller in contact with the ground and the stress situation.The contact model was established by Hertz theory.The maximum stress and deformation of the roll contact is calculated and obtained the reason for the vibration of Mecanum wheel.Finite element model about the roller in contact with the ground is established,get the roll deformation and stress distribution and the universal property of Hertz theory is verified.Finally, error analysis and virtual simulation are made on the motion system of the whole movement stacking machine, the law of motion error is obtained, and the velocity error is compensated.