码垛机器人外文文献及翻译

外文文献: Technology status and Development trend of Stacking crane 1 Overview Stacking crane is a special crane as of version of the warehouse and developed to appearSpecial crane, commonly referred to as the pile of chop machine, piling machine is three-dimensional storehouse of the most important lifting transportation equipment, represents the sign of three-dimensional warehouse characteristics. Its main use is: In the top shelf of the warehouse in orbit, will be located at the mouth of the goods in goods mesh; Or the opposite, take out loans in case the goods to the mouth of roadway, the loading and unloading finish homework. 20 the early 70 s, China began to research the type of machine of roadway when the three-dimensional warehouse, according to not complete count, up to now has been built more than three hundred seats. Stacking machine as a three-dimensional storehouse of the most important lifting transportation equipment, also obtained fast development. 2 version of the present situation of stacking crane technology. According to the current machinery industry standard, the position of the stacking crane classification of ways. E.g. by supporting mode, use, the method of control, structure, operation such as classified track. But no matter what type of stacking machine, is general by the mobile mechanism, level of lifting mechanism, manifest Taiwan and goods fork institutions, frame and electrical equipment, and other basic parts. In the present application of three-dimensional warehouse, stacking machine is the most common in the form of the structure and operation track classification. 2.1 version of the good way of spider crane structure From the structure form difference at present in the warehouse stacker has a double set on structure and single pillar structure. 2.1.1 double pillar stacker. Double post the stacker frame structure by two root made on the beams, and to form a rectangle beam under the framework. Pillar form well pipe and pipe. Square tube and be lifting guide rail, pipe additional hoisting guide double pillar stacker the biggest advantage is the strength and the brush sex are quite good, and smooth operation. General for lifting height, weight and higher up large speed high level of three-dimensional storehouse stacker, many with double pillar structure, double pillar stackers lifting mechanism, widespread use of the chain transmission, by motor reducer drive sprockets rotation, through the chain traction machine parts made on or along the hoisting guide for lifting movement. Due to the chain transmission used more closed chain or balance by empty asked size limit device, transmission and decorate a complicated. But positioning precision. 2.1.2 single pillar stacker. Single pillar of stacker frame structure by a root of the pillar and beam. Pillar used more larger h-beam or welding production, pillar additional guide. The weight of the lighter, consume little material, so manufacturing relatively low cost, but the rigid is a bit poor. Because parts of Taiwan and the goods on the eccentricity of the opposite effect, and walk, the braking force level from the effect, make single pillar stacker in used on have limitations. Not suitable for lifting weight and the running speed of the high level of stacking machine. Single pillar stackers hoisting structure, the widespread use of the wire rope transmission, by motor reducer drive drum rotating, through the wire rope traction machine parts made on or along the lifting rails for lifting movement. For wire rope transmission, transmission and decorate relatively easy, but positioning accuracy is a bit poor. Version 2.2 of stacking crane to track the performance Stacker level drive general installation in stacker next beam, through the electricity Machine speed reducer drive wheel rotation, make stacker level concerning the direction. This ground driving way most common use. General use two bearing wheel, and along the laying on the ground track (usually also called to rail) operation. Through the bottom two groups of level round orbit direction, the top two groups in stacker guide wheel along in orbit (usually also called day rail) operation auxiliary oriented. According to the running track form difference, there is a straight line type stacker and curve operation type stacking machine. 2.2. L straight lines type stacking machine. Straight line type stacker can only be in the roadway straight orbit, unable to convert roadways. Only through the other transportation equipment of transformation, such as stacker car transport. Straight line type stacker can realize the operation, and can satisfy the loading and unloading higher frequency three-dimensional storehouse homework, most widely used. 2.2.2 curve operation type stacking machine. Curve operation type stacking locomotive wheels and the beam under the vertical axis of the hinged, can be in the ring or other curve orbit, can go curve, not through the other transportation equipment can then from a roadway to transfer to another roadways. Such stacker usually also called transition stacker. Curve operation type stacker in used on have limitations, only applies to the loading and unloading frequency low three-dimensional storehouse. Because not only by the turning radius to the limit, and turning special slow speed, and can't meet the person library of frequency and high warehouse operation. 3. The position of the roadway stacking crane development trend. Along with the development of modern industrial production, stacking crane technology of version continuously improved and perfected. The world's major industrial countries starting point on the development of new products and reliable performance and high on the operation on pay more attention to the practicality and safety. In stacker, we shall see and world advanced nation gap, summarizing the experience find out the deficiency, break traditional ideas, has introduced new appearance and higher performance stacker. In make stacking machine has higher precision at the same time, increase speed to get shorter operation cycle and more production ability. Believe that, through our continuous efforts more high speed, safe and reliable heap when the machine will continue to digest imported from abroad domestic, make the position of stacking crane development roadway to an update to the stage. 中文翻译: 有轨巷道堆垛机技术现状及发展趋势 1 概述 有轨巷道堆垛起重机是随着立体仓库的出现而发展起来的专用起重机,通常简称为堆剁机,堆垛机是立体仓库中最重要的起重运输设备,是代 表 关于同志近三年现实表现材料材料类招标技术评分表图表与交易pdf视力表打印pdf用图表说话 pdf 立体仓库特征的标志。其主要用途是:在高层货架仓库的巷道内沿轨道运行,将位于巷道口的货物存入货格;或者相反,取出贷格内的货物运送到巷道口,完成出入库作业。2O世纪70年代初期,我国开始研究采用巷道式堆垛机的立体仓库,据不完全统计,到目前已建成三百余座。 堆垛机做为立体仓库中最重要的起重运输设备,也得到了较快的发展。 2 有轨巷道堆垛起重机的技术现状 按现行机械行业 标准 excel标准偏差excel标准偏差函数exl标准差函数国标检验抽样标准表免费下载红头文件格式标准下载 ,有轨巷道堆垛起重机分类方式多种多样。如按支承方式、用途,控制方式、结构、运行轨迹等分类。但无论何种类型的堆垛机,一般都由水平行走机构、起升机构、载货台及货叉机构、机架和电气设备等基本部分组成。 在目前立体仓库应用中,堆垛机最常见的是按结构形式和运行轨迹分类。 2.1 有轨巷道堆垛起重机的结构形式 从结构形式上区别目前立体仓库中堆垛机有双立拄结构和单立柱结构。 2.1.1双立柱堆垛机 双立柱结构的堆垛机机架由两根立往和上横粱、下横梁组成一个长方形框架。立柱形式有方管和圆管。方管兼作起升导轨,圆管附加起升导轨双立柱堆垛机的最大优点就是强度和 刷性都比较好,并且运行平稳。一般对于起升高度较高、起重量较大和水平运行速度高的立体仓库堆垛机、多采用双立柱结构,双立柱堆垛机的起升机构、普遍采用链条传动,由电机减速机驱动链轮转动,通过链条牵引载货台沿立拄或 起升导轨作升降运动。由于链条传动多采用封闭链或配重装置受空问尺寸限制,传动和布置较复杂,但定位精准。 2.1.2 单立柱堆垛机 单立柱结构的堆垛机机架由一根立柱和下横梁组成。立柱多采用较大的H型钢或焊接制作,立柱上附加导轨。整机重量较轻,消耗材料少,因此制造成本相对较低,但刚性稍差。由于载货台及货物对立拄的偏心作用,以及行走、制动时产生的水平惯性力作用,使单立柱堆垛机在使用上有局限性。不适于起重量大和水平运行速度高的堆垛机。单立柱堆垛机的起升结构,普遍采用钢丝绳传动,由电机减速机驱动卷筒转动,通过钢丝绳牵引载货台沿立拄或起升钢轨作升降运动。对于钢丝绳传动,传动和布置相对容易,但定位准确性稍差。 2.2 有轨巷道堆垛起重机的运行轨迹 堆垛机水平驱动装置一般安装在堆垛机下横梁上,通过电机减速机驱动车轮转动,使堆垛机措水平方向运行。此种地面驱动方式使用最为普遍。一般用两个承重车轮,沿敷设在地面上的轨道(通常亦叫地轨)运行。通过下部两组水平轮沿轨道运行导向,在堆垛机顶部两组导向轮沿上轨道(通常亦叫天轨)运行辅助导向。按其运行轨迹形式区别,有直线运行型堆垛机和曲线运行型堆垛机。 2.2.l 直线运行型堆垛机 直线运行型堆垛机只能在巷道内直线轨道上运行,不能自行转换巷道。只能通过其他输送设备转换巷道,如堆垛机转运车。直线运行型堆垛机可以实现高速运行,能够满足出入库频率较高的立体仓库作业,应用最为广泛。 2.2.2 曲线运行型堆垛机 曲线运行型堆垛机车轮与下横梁是通过垂直轴铰接的,能够在环形或其他曲线轨道上运行,即可走曲线,不通过其他 输送设备便可以从一个巷道自行转移到另一个巷道。此种堆垛机通常亦叫做转轨堆垛机。曲线运行型堆垛机在使用上有局限性,只适用于出入库频率较低的立体仓库。因为不但场地要受到转弯半径的限制,而且转弯时速度特别慢,不能满足出人库频率高的立体仓库作业。 3.有轨巷道堆垛起重机的发展趋势 随着现代工业生产的发展,有轨巷道堆垛起重机技术也在不断提高和完善。世界主要工业国家都把着眼点放在开发性能可靠的新产品和采用高新拄术上更加注重实用性和安全性。 在堆垛机方面,我们应当看到和世界先进国家的差距,总结经验找出不足,打破传统思路,推出具有新的外形和更高性能的堆垛机。在使堆垛机具有更高定位精度的同时,提高运行速度,以获得更短的操作周期和更大的生产能力。 相信,通过我们的不断努力更加高速、安全、可靠的堆垛机将不断从国外引进消化到国内,使有轨巷道堆垛起重机发展到一个更新的阶段。