论文总字数：26354字

摘 要

自动化立体仓库是实现物流系统合理化以及改善并提高物流系统的有效途径。堆垛机在自动化立体式仓库中发挥着重要的作用,比如堆垛、搬运以及起重过程，对于自动立体仓库的工作效率影响极大。本文就双伸缩堆垛机进行研究，保证在完成任务的情况下，尽可能的减少数量，并减少占地面积。在同等的面积条件下，可以实现更好的仓库利用率以及工作效率，从而降低成本。正式双伸缩堆垛机所特有的结构特点，使得该装置在领域内大范围的被推广，已经具有了广阔的市场空间和发展潜力。

通过双伸缩堆垛机可以扩大原动机的运动行程，属于一种双向驱动的机械机构。在整体系统中选择链条传动作为传动系统。根据仓库对取货过程与存货过程的要求，简单的选用双层货叉的机构是无法满足要求的，还要设置第三层货叉的行程增倍装置。但是在上述的过程中会造成悬臂增加，从而产生较大的力矩，所以在设计的过程中，要对整体系统的进行计算验证，并结合经验数值对货叉的挠量进行验证。

在本次系统设计过程中，选择绘图工具Pro/E进行建模，并且导入仿真软件进行运动仿真。建模工件主要有上叉、中叉、下叉、齿条、齿轮以及链条和链轮等。

关键词：货叉；Pro/E；挠性；

Abstract

Automated warehouse is an effective way to rationalize the logistics system and improve and improve the logistics system. In the automated warehouse, stacker is one of the most important equipment for lifting, handling and stacking, which plays an important role in the efficiency of the warehouse. This paper will focus on the study of double telescopic stacker, which can not only reduce the land occupation of the roadway, but also reduce the number of stacking machines. Under the same area conditions, the efficiency of the ground utilization and access is greatly improved. At the same time, users can save a lot of money. It is precisely because of the unique features of the double telescopic stacker. At present, it has been popularized rapidly, and has broad market space and huge market potential.

The telescopic fork of the stacker adopts a bidirectional driving linear motion mechanism which can increase the action stroke of the prime mover. Therefore, in the scheme design, the transmission mechanism composed of chain sprockets is selected. According to the requirements of two-way telescopic travel of cargo forked goods, it is not enough to use only double deck fork stroke doubling mechanism. It is also necessary to realize the linear differential of the third ply fork. However, because the fork of the fork is lengthened, the torque increases correspondingly. Therefore, it is necessary to control the deflection of fork by strict theoretical calculation and practical experience.

In the process of this design, Pro/E will be used to model and carry out motion simulation. The main parts of the modeling include sprocket, chain, gear, rack, lower fork, middle fork, upper fork and so on.

Keywords：Cargo fork；Pro/E ；Flexible；

目 录

摘要 Ⅰ

Abstract Ⅱ

第一章 绪 论 1

1.1自动化立体仓库地位及堆垛机的意义 1

1.1.1自动化立体仓库 1

1.1.2有轨巷道堆垛机的意义 1

1.2课题研究的目的及意义 2

第二章 货叉方案设计 4

2.1液压传动 4

2.1.1双杆活塞缸 4

2.2机械传动 5

2.2.1链传动 5

2.2.2齿轮齿条传动 6

第三章 结构设计 7

3.1电动机、减速器的选择 7

3.1.1电动机的选择 7

3.1.2减速器的选择 8

3.2货叉的力学计算 10

3.2.1货叉弯矩的计算 10

3.2.2堆垛机货叉强度的计算 12

3.2.3货叉变形计算 12

3．3链轮链条传动计算 16

3.3.1链传动的优缺点 16

3.3.2链条链轮的确定 19

3.4单个螺栓联接的受力分析和强度计算 19

3.4.1货叉没展开时 19

3.4.2货叉展开时（极限位置） 21

第四章 零件建模仿真 24

4.1Pro/E零件建模仿真 24

4.1.1螺栓的设计过程 24

4.1.2螺母制作过程 24

4.2链条链轮的设计过程 27

4.3零件的装配 29

4.4链传动及总装图 31

结论 33

致谢 34

参考文献 35

第一章 绪 论

1.1自动化立体仓库的地位及堆垛机的意义

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