目的 解决袋装成品粮集装箱内自动码垛时码放位置精度低的问题。方法 本文基于柔性体动力学理论,采用ANSYS/LS-DYNA对集装箱智能装卸装备中码垛装置的码放过程进行等效建模与仿真分析,并通过装备样机进行实验。分析袋体码放过程中由几何非对称引起的转动趋势及其对码放位置偏差的作用机制,重点研究等效合成速度、平板后撤速度和码放下落高度对码放位置精度的影响,并使用灰色关联度分析法评估各参数的相对影响程度。结果 研究结果表明,当平板后撤速度为500 mm/s、码放下落高度为250 mm、等效合成速度为590 mm/s时,袋体码放效果最佳。在所研究参数范围内,等效合成速度灰色关联度最高。结论 等效合成速度是调节码放位置最直接且可控的参数,应以等效合成速度作为主调节参数,协同优化平板后撤速度与码放下落高度,以实现高精度的自动码垛作业。研究结果为该类自动码垛装备的运动参数匹配与精准控制提供技术基础。
Abstract
The work aims to address the issue of low stacking position accuracy in the automated palletizing of bagged finished grain inside containers. Based on the flexible body dynamics theory, equivalent modeling and simulation was conducted on the palletizing process in a containerized intelligent handling system using ANSYS/LS-DYNA, and experiments were carried out on a prototype. Using this model, the rotation tendency induced by geometric asymmetry during the stacking process and its influence mechanism on stacking deviation were analyzed. The effects of equivalent resultant velocity, plate retraction velocity, and stacking drop height on stacking position accuracy were investigated, and the grey relational analysis method was employed to evaluate the relative effect of each parameter. The research results showed that optimal stacking performance was achieved when the plate retraction velocity, drop height, and equivalent resultant velocity were 500 mm/s, 250 mm, and 590 mm/s, respectively. Within the studied parameter range, the equivalent resultant velocity exhibited the highest grey relational degree, making it the most direct and controllable parameter for adjusting stacking position. Therefore, it should be used as the primary adjustment variable, coordinated with the optimization of plate retraction velocity and drop height, to achieve high-precision automated palletizing. The findings provide a technical basis for motion parameter matching and precise control in this type of automated palletizing equipment.
关键词
袋装成品粮 /
自动码垛 /
动力学仿真 /
位置精度 /
灰色关联度
Key words
bagged finished grain /
automated palletizing /
dynamic simulation /
position accuracy /
grey relational degree
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基金
国家“十四五”重点研发计划（2022YFD2100200）
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