The structure scheme of heavy-duty intelligent stacking equipment was proposed aiming at the goods handling requirements of heavy duty, high precision, high reliability and long distance. The calculation method of the comprehensive stiffness of stacking equipment based on the calculation method of the contact force of V-type roller was proposed through the analysis of working principle and bearing force of stacking equipment. A calculation example of stacking equipment was given. The finite element method was used to solve contact stiffness of V-type guide rail and comprehensive deformation of stacking equipment compared with the theoretical calculation results. The accuracy of the theoretical method was verified. The structure of the gantry column and the three-level cargo fork was optimized by establishing optimization models for maximizing stiffness as optimization objective. The optimal structure of the column and the optimal section parameters of fork were obtained. The actual operation of stacking equipment was conducted, and its comprehensive deflections under static loads were tested. Results show that the optimized stacking equipment can meet the requirements of engineering applications.
Fig.2Stretching principle diagram of three-stage fork
Fig.3Working principle of stacking equipment
Fig.4Flowchart of stiffness modeling
Fig.5Mechanical model of stacking equipment
Fig.6Installation diagram of V-type roller groups
Fig.7Stress of V-type rollers in steady state
Fig.8Stress of V-type rollers in overturning state
Fig.9Stress analysis of gantry column
Fig.10Stress analysis of three-stage cargo fork
Fig.11Calculation of comprehensive deflection
组件
材料
ρ /（g·cm?3）
E /GPa
ν
货叉、底座
不锈钢
7.75
193
0.31
立柱、底板
Q345
7.85
206
0.28
滚轮、导轨
轴承钢
7.81
206
0.30
Tab.1Material properties of stacking equipment
部件
i
mi /kg
zi /mm
底板
1
630
0
龙门立柱
2
1040
?130
货叉支架
3
350
?200
货叉
4
180
850
货物
5
800
1700
Tab.2Component parameters of stacking equipment
参数
数值
参数
数值
I1
9.45×105 mm4
b
400
I2
1.71×106 mm4
c
200
I3
5.21×105 mm4
d
400
a
600
e
600
Tab.3Structural parameters of three-stage cargo fork
V型导轨
龙门立柱
三级货叉
α/rad
δq/mm
β/rad
u/mm
θ/rad
w/mm
5.25×10?6
0.005
2.6×10?4
0.416
1.5×10?2
12.818
Tab.4Calculation results of deflection and angle
Fig.12Calculation model of V-type rollers
滚轮编号
Fx /N
Fy /N
Fz /N
F /N
1
2 148
5 431
1 397
6 005
2
1 253
4 385
?850
4 639
3
?2 752
3 579
1 509
4 760
4
2 038
6 143
967
6 544
5
1 351
6 854
3 530
7 827
Tab.5Calculation results of inner rollers
Fig.13Rigidness curves under stable and overturning state
Fig.14Calculation result of total deformation of equipment
方向
dT /mm
dF /mm
Ed /%
y
13.297
13.924
4.7
z
0.426
0.463
8.7
Tab.6Comparison of comprehensive stiffness of stacking equipment under 800 kg cargo weight
Fig.15Preliminary structure of gantry columns
Fig.16Topology optimization result and optimized model
状态
dco /mm
σco /MPa
mco /kg
优化前
0.765
104.682
856.4
优化后
0.794
117.406
749.4
Tab.7Comparisons of calculation results before and after optimization of column
Fig.17Parameters optimization of cargo fork
Fig.18Preliminary structure of cargo fork
变量
名称
当前取值
取值下限
取值上限
D1
上叉宽
160
150
170
D2
上叉高
55
50
60
D3
中叉宽
140
130
150
D4
中叉高
55
50
60
Tab.8Parameter setting of design variables mm
Fig.19Sensitivity analysis of cargo fork parameters
方案序号
D1/mm
D2/mm
D3/mm
D4/mm
da/mm
σre/MPa
mf1/kg
mf2/kg
1
160
55
140
55
20.18
196.59
19.63
34.77
2
150.26
54.09
130.55
58.44
18.88
178.45
18.72
33.96
3
151.24
56.97
131.27
59.85
17.21
182.97
19.25
34.25
4
151.49
57.21
130.37
52.82
18.27
179.27
19.30
33.14
5
151
57
131
60
17.43
189.26
19.21
34.51
Tab.9Comparison of calculation results of reference points
步骤
dy /mm
dz /mm
da /mm
优化前
24.859
0.965
24.934
优化后
18.860
0.841
18.968
Tab.10Comparisons of comprehensive stiffness before and after optimization of stacking equipment
Fig.20Testing principles of stacking equipment
Fig.21Leica laser tracker and target
m5 /kg
dvt /mm
dvf /mm
dte /mm
100
1.351
1.404
1.712
300
4.053
4.211
4.441
500
6.754
7.020
7.227
800
10.805
11.231
11.335
Tab.11Comparisons of vertical deflections of cargo fork
Fig.22Comparison of vertical comprehensive deflections
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