交叉带分拣机上包台的建模与仿真
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摘要
本文系统地分析了自动分拣在物流业的技术要点,并对交叉带分拣机的总体设计作了全面的论述。通过对分拣机的整体分析,得出上包系统在包裹分拣环节中的重要地位。本课题的目的是利用上包设计方法建立上包台模型,同时利用协同仿真技术对建立的模型进行仿真校核。
通过对上包系统设计原理的深入研究,从理论上分析了目前常用的两种上包方案,同时结合上海邮政通用技术设备公司的现有设计技术对两种方案的可行性进行了对比研究,得到最可行的设计方案。所设计的上包系统应该满足对不同的大小、形状、材质的包裹的分拣。同时上包台的设计应该满足上包准确性、可靠性和上包效率的要求。基于上包台的几个重要设计指标,本课题对上包台尺寸进行优化与校核,得到更精确的尺寸,并推导出完整的上包台参数化尺寸关系。利用Pro/E三维建模功能和参数化工具,在Pro/E中建立上包台的参数化模型,完成交叉带分拣机上包台普遍性模型设计。
为实现模型仿真的可靠性,系统在ADAMS中对上包台运行环境进行设定,如设定整体模型的重力、包裹与皮带间的摩擦系数、环境噪声振动对模型运行的影响等因素。同时,设定上包台的控制接口,使得模型仿真运行能够反映实际的上包运行控制情况。仿真中测试的主要参数为包裹中心位置与小车中心位置的坐标值差,目的是为检测按照头定位设计方案和基于上包效率、准确性等参数校核优化设计的上包台尺寸的准确性。利用模型的仿真结果对比实际样机的测试结果,分析模型的准确性。
本项目利用了协同仿真技术对设计模型进行校核,该设计模式为交叉带分拣机的研究开发提供了坚实的理论基础,具有重要的参考价值。
In this thesis, the technical main points of automatically sorting in logistics industry are analyzed systematically, and cross-belt sorter of the overall design is comprehensively discussed. From the analysis of sorting machines, the parcel system has confirmed an important position in the parcel sorting sections. The purpose of this project is using the design methods of the parcel sorting to build up a parcel sorting model, and using the Co-simulation technology to check the designed model.
By studying the design principles of the parcel system and with combination of Shanghai Postal General Technology and Equipment Company's current technologies and equipments, the thesis analyzed the two parcel sorting methods from the commonly used theories. The thesis compared the two methods and got the most feasible design result. The design of the sorting system should fulfill sorting parcels in different sizes, shapes and materials. Meanwhile, the design also should meet the requirements of veracity, reliability and efficiency. Based on some important criteria of the parcel sorting system, the thesis optimized the parcel system to get a more precise design and deduced the complete model parameters in correlation dimensions. By using Pro/E for building three-dimensional model, a parametric model for parcel sorting system has been built to get a general sorting model.
To achieve the reliability of model simulation, the parameters of the parcel sorting system in simulation environment of ADAMS are set, such as the model gravity, the friction between the belt and parcel, the coefficient of the environmental noise vibration. At the same time, the control interface of the parcel sorting system is set, for the correct reflection of model simulation for the actual operation on the parcel sorting. With the position coordinates different between the car's center and the parcel's center as the main parameter, the simulation is designed to test the design of the parcel sorting system according to the first location method, and the veracity and efficiency of the optimized design parameters. The thesis compared the simulation results with the actual prototype test results to determine correctness of the model.
This project uses the Co-simulation technology to design the parcel sorting model. The design pattern for cross-belt sorter establishes a theoretical foundation, providing an important reference value.
通过对上包系统设计原理的深入研究,从理论上分析了目前常用的两种上包方案,同时结合上海邮政通用技术设备公司的现有设计技术对两种方案的可行性进行了对比研究,得到最可行的设计方案。所设计的上包系统应该满足对不同的大小、形状、材质的包裹的分拣。同时上包台的设计应该满足上包准确性、可靠性和上包效率的要求。基于上包台的几个重要设计指标,本课题对上包台尺寸进行优化与校核,得到更精确的尺寸,并推导出完整的上包台参数化尺寸关系。利用Pro/E三维建模功能和参数化工具,在Pro/E中建立上包台的参数化模型,完成交叉带分拣机上包台普遍性模型设计。
为实现模型仿真的可靠性,系统在ADAMS中对上包台运行环境进行设定,如设定整体模型的重力、包裹与皮带间的摩擦系数、环境噪声振动对模型运行的影响等因素。同时,设定上包台的控制接口,使得模型仿真运行能够反映实际的上包运行控制情况。仿真中测试的主要参数为包裹中心位置与小车中心位置的坐标值差,目的是为检测按照头定位设计方案和基于上包效率、准确性等参数校核优化设计的上包台尺寸的准确性。利用模型的仿真结果对比实际样机的测试结果,分析模型的准确性。
本项目利用了协同仿真技术对设计模型进行校核,该设计模式为交叉带分拣机的研究开发提供了坚实的理论基础,具有重要的参考价值。
In this thesis, the technical main points of automatically sorting in logistics industry are analyzed systematically, and cross-belt sorter of the overall design is comprehensively discussed. From the analysis of sorting machines, the parcel system has confirmed an important position in the parcel sorting sections. The purpose of this project is using the design methods of the parcel sorting to build up a parcel sorting model, and using the Co-simulation technology to check the designed model.
By studying the design principles of the parcel system and with combination of Shanghai Postal General Technology and Equipment Company's current technologies and equipments, the thesis analyzed the two parcel sorting methods from the commonly used theories. The thesis compared the two methods and got the most feasible design result. The design of the sorting system should fulfill sorting parcels in different sizes, shapes and materials. Meanwhile, the design also should meet the requirements of veracity, reliability and efficiency. Based on some important criteria of the parcel sorting system, the thesis optimized the parcel system to get a more precise design and deduced the complete model parameters in correlation dimensions. By using Pro/E for building three-dimensional model, a parametric model for parcel sorting system has been built to get a general sorting model.
To achieve the reliability of model simulation, the parameters of the parcel sorting system in simulation environment of ADAMS are set, such as the model gravity, the friction between the belt and parcel, the coefficient of the environmental noise vibration. At the same time, the control interface of the parcel sorting system is set, for the correct reflection of model simulation for the actual operation on the parcel sorting. With the position coordinates different between the car's center and the parcel's center as the main parameter, the simulation is designed to test the design of the parcel sorting system according to the first location method, and the veracity and efficiency of the optimized design parameters. The thesis compared the simulation results with the actual prototype test results to determine correctness of the model.
This project uses the Co-simulation technology to design the parcel sorting model. The design pattern for cross-belt sorter establishes a theoretical foundation, providing an important reference value.
引文
[1]时良平.现代邮政技术概论[M].北京：中国人民大学出版社,1999年11月.
[2]许胜余.配送中心的现化物流技术[J].物流技术与应用,1999,No3：33-37.
[3]蒋长兵,白丽君.物流自动化识别技术[M].北京：中国物质出版社,2009.
[4]蔡宏,吴亚娟.我国包裹分拣机应用的现状及分析冲[J].中国机械工程,1995,9No：69-71.
[5]沈为民,张稳.物流分拣与自动化[J].黑龙江自动化技术与应用,1997,9.No3：36-38.
[6]伍方智,王家善.分拣系统[J].现代物流,1998.No6：9-12.
[7]时良平.邮政机械设计[M].北京：人民邮电出版社,1993年6月.
[8]高华兰.托盘式包裹分拣机[J].现代通信,1997：No9：15-16.
[9]常发亮,刘长有.自动化立体仓库输送系统调度的优化仿真及应用研究[J].系统仿真学报,1998.No5：14-19.
[10]杨海荣.邮政概论[M].北京：北京邮电大学出版社.2005年1月.
[11]傅涵东.自动分拣技术亟待创新[J].物流技术与应用,2001年1月,27-28.
[12]方庆琯,王转.现代物流设施与规划(第2版)[M].机械工业出版社,2006.
[13]程国全.物流设施规划与设计[M].中国物资出版社,2003年9月.
[14]Kyasacic. Computer controlled conveying system and automatic picking[J]. Proc of the 6th international Conf on Automation in warehousing,1994,177-317.
[15]田国会,徐心和.自动化仓库输送过程调度问题研究[J].计算机集成制造系统,1998,No2：51-55.
[16]周志成,林同曾.运筹学教程[M].立信会计图书用品社,1988：536-581.
[17]张根保.自动化制造系统[M].机械工业出版社,1995：144-151.
[18]姜玉宪.控制系统仿真[M].北京航空航天大学出版社,1998：1-12.
[19]王维平,朱一凡.离散事件系统建模与仿真[M].国防科技大学出版社,1997：80-178.
[20]杨盛.递归网系统--种新的网系统模型的初步研究[J].清华大学研究生学报,1994,Nol：10-15.
[21]葛玮,张建军.一种基于Pet网的半形式化面向对象的开发方法[D].第三届中国计算机集成制造系统学术会议论文集,1994：127-132.
[22]Tian GH,Liu Ch Y. Modeling, analysis and control of DEDS in the framework of temporal logical case study[J]. Automatic(IFAC96), San Francisco, California, USA,1996:82-90.
[23]周德译,袁南儿.计算机智能监测控制系统的设计及应用[M].清华大学出版社,2001.
[24]王加林,张雷丽.物流系统工程[M].北京：中国物资出版社,1987：12-62.
[25]张晓萍,颜永年.现代生产物流及仿真[M].清华大学出版社,2001：2-6.
[26]时良平.邮政技术设备与管理[M].北京邮电大学出版社,1998年7月.
[27]时良平.邮政现代化[M].北京邮电大学出版社,2000年1月.
[28]洪嘉振.计算机多体动力学[M].北京：高等教育出版社,1999.
[29]吴启迪.柔性制造自动化的原理与实践[M].清华大学出版社,1997：43-95.
[30]Robert,Eastman. Materials Handling[J].1987, No2:15-25.
[31]Shabana. Dynamics of Multi-body System[M]. Cambridge University Press, 1998.
[32]James rumbaugh,Michael Blaha,William Premerlani. Object-oriented Modeling and design[M]. Prentice Hall,1991:23-27.
[33]Solberg JJ. A mathematical models of computerized manufacturing systems[M]. Proceedings of the 4th International Conference on Production Research. Tokyo: 1977:281-289.
[34]闵春平.机电一体化设计基于VHDL-AMS的多刚体系统建模与仿真方法[J].电子学报,2002,11(11)
[35]Schielhlen,W.O. Multibody system Dynamics-Roots and perspectives[J]. MultibodySystemDynamics,1997.
[36](德)施普尔.克劳舍.虚拟产品开发技术[M].北京：机械工业出版社,2000.
[37]魏孝斌,王宁生.基于虚拟环境下的产品开发技术研究.机械设计与制造2002,3(6):114-116
[38]黄圣杰,张益三,洪立群.Pro/ENGINEER 2001高级开发实例[M].北京：电子工业出版社,2002.
[39]郑建荣.ADAMS--虚拟样机技术入门与提高[M].北京：机械工业出版社,2001.
[40]Adigaetal. Object-oriented software modeling of a flexible manufacturing system[J]. Journal Intelligent and Robotics system,1990:147-165.
[2]许胜余.配送中心的现化物流技术[J].物流技术与应用,1999,No3：33-37.
[3]蒋长兵,白丽君.物流自动化识别技术[M].北京：中国物质出版社,2009.
[4]蔡宏,吴亚娟.我国包裹分拣机应用的现状及分析冲[J].中国机械工程,1995,9No：69-71.
[5]沈为民,张稳.物流分拣与自动化[J].黑龙江自动化技术与应用,1997,9.No3：36-38.
[6]伍方智,王家善.分拣系统[J].现代物流,1998.No6：9-12.
[7]时良平.邮政机械设计[M].北京：人民邮电出版社,1993年6月.
[8]高华兰.托盘式包裹分拣机[J].现代通信,1997：No9：15-16.
[9]常发亮,刘长有.自动化立体仓库输送系统调度的优化仿真及应用研究[J].系统仿真学报,1998.No5：14-19.
[10]杨海荣.邮政概论[M].北京：北京邮电大学出版社.2005年1月.
[11]傅涵东.自动分拣技术亟待创新[J].物流技术与应用,2001年1月,27-28.
[12]方庆琯,王转.现代物流设施与规划(第2版)[M].机械工业出版社,2006.
[13]程国全.物流设施规划与设计[M].中国物资出版社,2003年9月.
[14]Kyasacic. Computer controlled conveying system and automatic picking[J]. Proc of the 6th international Conf on Automation in warehousing,1994,177-317.
[15]田国会,徐心和.自动化仓库输送过程调度问题研究[J].计算机集成制造系统,1998,No2：51-55.
[16]周志成,林同曾.运筹学教程[M].立信会计图书用品社,1988：536-581.
[17]张根保.自动化制造系统[M].机械工业出版社,1995：144-151.
[18]姜玉宪.控制系统仿真[M].北京航空航天大学出版社,1998：1-12.
[19]王维平,朱一凡.离散事件系统建模与仿真[M].国防科技大学出版社,1997：80-178.
[20]杨盛.递归网系统--种新的网系统模型的初步研究[J].清华大学研究生学报,1994,Nol：10-15.
[21]葛玮,张建军.一种基于Pet网的半形式化面向对象的开发方法[D].第三届中国计算机集成制造系统学术会议论文集,1994：127-132.
[22]Tian GH,Liu Ch Y. Modeling, analysis and control of DEDS in the framework of temporal logical case study[J]. Automatic(IFAC96), San Francisco, California, USA,1996:82-90.
[23]周德译,袁南儿.计算机智能监测控制系统的设计及应用[M].清华大学出版社,2001.
[24]王加林,张雷丽.物流系统工程[M].北京：中国物资出版社,1987：12-62.
[25]张晓萍,颜永年.现代生产物流及仿真[M].清华大学出版社,2001：2-6.
[26]时良平.邮政技术设备与管理[M].北京邮电大学出版社,1998年7月.
[27]时良平.邮政现代化[M].北京邮电大学出版社,2000年1月.
[28]洪嘉振.计算机多体动力学[M].北京：高等教育出版社,1999.
[29]吴启迪.柔性制造自动化的原理与实践[M].清华大学出版社,1997：43-95.
[30]Robert,Eastman. Materials Handling[J].1987, No2:15-25.
[31]Shabana. Dynamics of Multi-body System[M]. Cambridge University Press, 1998.
[32]James rumbaugh,Michael Blaha,William Premerlani. Object-oriented Modeling and design[M]. Prentice Hall,1991:23-27.
[33]Solberg JJ. A mathematical models of computerized manufacturing systems[M]. Proceedings of the 4th International Conference on Production Research. Tokyo: 1977:281-289.
[34]闵春平.机电一体化设计基于VHDL-AMS的多刚体系统建模与仿真方法[J].电子学报,2002,11(11)
[35]Schielhlen,W.O. Multibody system Dynamics-Roots and perspectives[J]. MultibodySystemDynamics,1997.
[36](德)施普尔.克劳舍.虚拟产品开发技术[M].北京：机械工业出版社,2000.
[37]魏孝斌,王宁生.基于虚拟环境下的产品开发技术研究.机械设计与制造2002,3(6):114-116
[38]黄圣杰,张益三,洪立群.Pro/ENGINEER 2001高级开发实例[M].北京：电子工业出版社,2002.
[39]郑建荣.ADAMS--虚拟样机技术入门与提高[M].北京：机械工业出版社,2001.
[40]Adigaetal. Object-oriented software modeling of a flexible manufacturing system[J]. Journal Intelligent and Robotics system,1990:147-165.
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