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下载后包含有CAD图纸和说明书,咨询Q197216396或11970985I本科毕业设计学院专业学生姓名班级学号指导教师下载后包含有CAD图纸和说明书,咨询Q197216396或11970985I本科毕业论文巷道式单立柱型堆垛机设计THEDESIGNOFROADWAYSINGLECOLUMNSTACKER下载后包含有CAD图纸和说明书,咨询Q197216396或11970985II毕业设计（论文）任务书学院名称学生姓名指导教师下载后包含有CAD图纸和说明书,咨询Q197216396或11970985III毕业设计（论文）题目巷道式单立柱型堆垛机设计一、毕业设计（论文）内容及要求（包括原始数据、技术要求、达到的指标和应做的实验等）1提供条件堆垛机设计参数、工作环境；2设计内容（1）对单立柱型堆垛机总体结构进行设计；（2）对单立柱型堆垛机载货台进行设计；（3）对单立柱型堆垛机提升机构进行设计；（4）对单立柱型堆垛机行走机构进行设计；（5）对单立柱型堆垛机其他一些重要部件进行设计；（6）对单立柱型堆垛机的一些重要结构件进行校核计算。3设计要求（1）具备三维运动功能，即堆垛机沿巷道来回运动、载货台垂直运动、存取货装置沿货架方向双向伸缩运动；（2）满足一定的定位精度，重复定位精度误差不超过10MM；（3）具备安全保护措施；（4）在满足强度、刚度和可靠性的前提下，尽量减小堆垛机各下载后包含有CAD图纸和说明书,咨询Q197216396或11970985IV部分的重量，从而减小提升功率和行走时的摩擦阻力；（5）保护仓库环境，避免货物污染受损。4设计参数（1）额定起重量（KG）300；（2）起升范围M071KW，因此本次选择的电动机合适。42提升机构电机选择KW（4ZVFPF1063）V20M/S,代入数据后，得P109KW。经查表，选择选用电动机Y90L4实际功率150791185KW109KW,选择的电机型号合适。43行走电机选用（4ZVFPF1064）行走速度V100M/S,代入数据可得P133KW，查表得，选择电机动型号为Y90L2，实际功率为2208051771KW133KW。因此选择的电机型号合适。下载后包含有CAD图纸和说明书,咨询Q197216396或119709851544本章小结本章主要根据三大机构所需的速度和动力，选择合适的电机进行动力驱动，根据静功率公式进行计算，分别选择的电机型号为载货装置Y90S6，提升机构Y90L4，行走装置Y90L2。第五章堆垛机各部分的力学分析及计算51堆垛机载荷分析与计算堆垛机的载荷主要由以下几方面组成图中1货叉系统和额定载荷，其重力记为G1。2载物台，其重力记为G2。3立柱，其重力记为G34电机柜，其重力记为G4。5水平驱动系统，其重力记为G5。6货叉电机驱动系统，其重力记为G6。下载后包含有CAD图纸和说明书,咨询Q197216396或1197098516设滚轮压力为P,。图51堆垛机简图下载后包含有CAD图纸和说明书,咨询Q197216396或1197098517图52堆垛机载物台简图1载物台滑轮压力由图51,52所示载物台在OYZ平面内载荷图，由M0，得正下方滚轮压力（5KNSLGP轮32611）由图53所示立柱在XOZ平面内的载荷图，根据M0，可得侧边滚轮所受压力，即（5KNSLGP轮122）图53XOZ平面受力图2总提升力受力分析，由FZ0，可得下式53KNGT6213立柱顶部作用力下载后包含有CAD图纸和说明书,咨询Q197216396或1197098518图54表示堆垛机载物台钢丝绳收卷系统的力学简图，经过受力分析后可以发现立柱顶部作用力来源主要有起升载荷，滚轮产生的摩擦力，钢丝绳的提升张力和上横梁组件自身的重力。（1）起升载荷计算54KNGW621其中为动力系数,一般可取值为10511。2滚轮摩擦力计算（55）FPFF221其中F称为滚动摩擦系数，经查表可知，取008。图54提升钢丝绳的受力简图3提升钢丝绳的张力计算（5KNMFTF16）式中为提升系统效率，一般可取的值为098099。M为绕绳倍率，一般取值为2。4立柱顶部压力计算KN（5梁滑GTF137）式中的G轮和G梁分别表示顶部滑轮和上横梁的重力。下载后包含有CAD图纸和说明书,咨询Q197216396或1197098519511沿巷道纵向平面（YOZ平面）受力分析因为堆垛机基本上是沿巷道平面相对称的结构，因此我们主要研究堆垛机平行巷道平面即（YOZ平面）的时候的受力状况。当载物台处于额定载荷状况下，且位于最高位置时，若此时堆垛机以最大加速度进行启动或者制动，立柱受力将处于最不利情况。7因此我们研究堆垛机处于这种状态下的受力，在YOZ平面堆垛机尺寸及结构如图55所示图55YOZ平面受力简图H堆垛机高度B左右行走轮间距，PH水平惯性力，H上滚轮到顶端距离，A,立柱中心到右行走轮中心距离，B立柱中心到左行走轮中心距离立柱横向力矩为KN/M（58）STM正将51式代入上式有KN/M（5261LG正下载后包含有CAD图纸和说明书,咨询Q197216396或11970985209）立柱横向力PH用下式计算（510）WEHASM式中A表示最大加速度，SW表示立柱振动系数，其最大值取2。ME为堆垛机的等效质量。是通过堆垛机各部分的结构的质量换算的，其公式为（5柱升滑上（）41313HME11）其中M上表示上横梁重量，M滑表示滑轮重量，M升表示货叉系统和额定载荷的总重量，M柱表示立柱重量8。52单立柱堆垛机静刚度分析与计算立柱的静刚度是通过载货台位于立柱的最高位置时，顶端在巷道纵向平面内的挠度得到体现的，要求设计挠度应当小于许用值，即FF9。顶部产生的挠度F产生因素有1在M作用下，立柱顶部产生的挠度F0；2在M作用下，下滚轮处截面的转角引起的挠度F1；1H3下横梁和立柱连接处截面转角引起的立柱顶部水平位移F27。2H521F0的计算图56堆垛机刚度计算简图由外载荷弯矩图MP和单位载荷弯矩图M2两图计算有下载后包含有CAD图纸和说明书,咨询Q197216396或1197098521（512）梁柱EIBBMHIHF2320AI柱立柱截面垂直纵向平面的惯性距；I梁下横梁截面垂直纵向平面的惯性距；E材料的惯性模量。522F1的计算由外载荷弯矩图MP和单位载荷弯矩图M1计算得（5232231BABEIHHEIMBA梁柱梁柱13）（5231BABEIHEIMHF梁柱14）523F2的计算57下横梁的计算取下横梁为研究对象，进行F2的计算，57为其计算简图，G0为下横梁支撑上部重量。（515）654310GG下载后包含有CAD图纸和说明书,咨询Q197216396或1197098522516BEIABHGHF梁320由上述计算可见，立柱一般处于下横梁的中间，因此两个滚轮到立柱中间的距离一般相差不大，所以，BA数值很小，由下横梁的变形所引起的挠度可以忽略不计，即F20所以可得517233A232310BABEIHHEIMHBBHEIHMFF梁柱梁柱F目前没有统一的标准，根据设计人员的经验，一般F为51810F53弯矩放大系数及临界载荷分析与计算从图55中可以看出，立柱产生挠度的原因为轴向压力F，横向力PH和横向力矩M正，是压弯构件，简化为如图58所示图中F0表示在顶端由横向载荷PH与M正共同作用产生的挠度。由于轴向力F的作用，轴向力在立柱上产生一个力矩，因此挠度由F0增大为F，F与F0的关系为5191（5KF20）FK表示立柱中心受压临界载荷。立柱任意截面弯矩公式为（5正MZHPYFFMZ21）令横向弯矩下载后包含有CAD图纸和说明书,咨询Q197216396或1197098523522ZHPMZX正则523ZXZYFF图58结构挠曲变形示意图由上式可知，当Z0，Y0，立柱根部具有最大弯矩（5XMXFMF10AX24）下载后包含有CAD图纸和说明书,咨询Q197216396或1197098524，称为等效弯矩系数525KMFF10M即为弯矩放大系数，对于本文的结构，值为18，则弯矩放大系数为。X1当在立柱顶端受到临界力FK作用时，并产生挠度，此时下横梁的抗弯刚度会阻碍其产生挠度，因而会产生一个弹性转角用表示，其值确定方式为（5CHIBACTGX21326）I1X立柱截面X方向的惯性矩；I2X下横梁截面X方向的惯性矩。由公式425可得（527）HIBACX213C可由堆垛机尺寸决定，当图像与图像相交时，即可得到方程525的CTGC解。从而能够得到堆垛机的临界力FK528XKEIH1254单立柱堆垛机强度计算541立柱强度计算立柱的强度计算公式为（5NXWMAN29）式中NKN轴向压力，ACM2横截面积。MXNMX轴最大弯矩，X方向X下载后包含有CAD图纸和说明书,咨询Q197216396或1197098525的塑形发展系数,本文的立柱为箱型结构，所以105，为许用应力，本文选择X钢材作为立柱的材料，所以为450MPA。堆垛机立柱和下横梁之间的连接面为危险截面，其弯矩最大，因此选择该面进行强度校核，即（530）NYNXWMAN542下横梁强度计算图59下横梁受力分析图Q梁下横梁自重均布载荷；M立柱与下横梁连接面截面弯矩；P下横梁上方所有的载荷的总和；G电电机柜自重。其公式为531XWMAXMMAX可以通过公式424获得，WX为下横梁在X方向的抗弯模量。55本章小结本章主要进行的是堆垛机的力学分析计算，主要有（1）外载荷计算，通过分析计算可得，堆垛机的载物台的滑轮所受压力，堆垛机的立柱在顶端所受力有起升载荷，滚轮所产生的摩擦力，钢丝绳的张力和上横梁组件自身的压力。（2）堆垛机沿巷道纵向平面（YOZ平面）的受力，通过分析和计算得。当堆下载后包含有CAD图纸和说明书,咨询Q197216396或1197098526垛机的载物台处于最高位置且满载时其受力最严重，在这种情况下分析立柱横向力的大小即为其受力。（3）堆垛机的静刚度分析与计算，通过分析和计算得，当堆垛机载物台处于最高位置时且为满载时，其挠度的来源有三个,分别为立柱顶端受M的作用产生的挠度，下滚轮截面转角引起的挠度F1，下横梁和立柱连接处的转角引起的挠度F2,但由于F2与两边车轮和立柱距离的差值成正比，而一般两边车轮是对称放置，所以F2一般可以忽略。（4）弯矩放大系数及临界载荷计算（5）单立柱的强度计算，主要为立柱的强度计算，下横梁的强度计算，分别选择立柱和下横梁之间的截面，下横梁截面作为危险截面进行强度计算。下载后包含有CAD图纸和说明书,咨询Q197216396或1197098527结论经过努力调查和学习，在几个月的时间内最终完成了巷道式单立柱型堆垛机的机械部分的结构设计。本文将单立柱堆垛机的运动方式和工作原理作为研究对象，从中入手，主要研究了单立柱堆垛机的运动方式，结构特点，受力情况，。最终设计出一台满足要求的巷道式单立柱型堆垛机，并绘制出了单立柱堆垛机的装配图和一些重要零件的二维图。本次设计的研究成果有（1）设计了巷道式单立柱型堆垛机的载物台装置，实现了堆垛机伸缩取物的功能；（2）设计了巷道式单立柱型堆垛机的行走装置，实现了堆垛机水平方向行走的功能；（3）设计了巷道式单立柱型堆垛机的提升装置，实现了堆垛机的载物台在垂直方向运动的功能；（4）设计了断绳保护装置和断电紧急停车装置和一些其他安全保护装置，保证堆垛机在使用时的安全；（5）对堆垛机的外载荷，静刚度，强度分别进行了计算和分析。同时设计中存在有以下不足，有待完善（1）由于时间紧迫，本次设计只考虑了机械部分的设计，电控部分没有进行设计；下载后包含有CAD图纸和说明书,咨询Q197216396或1197098528（2）由于能力的欠缺，且超载保护装置结构比较复杂本次设计中没有对超载保护装置进行设计。致谢这次毕业设计的完成，离不开各位在在毕业设计期间对我的帮助，尤其是我的指导老师金琦淳老师，从毕业设计的一开始确定选题，到之后的资料的收集到论文的撰写，每一步都得到了金琦淳老师的悉心指导。金老师平易近人，学识广博，耐心细致，每天都工作到很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