关键词: 智能仓储, 有轨制导车堆垛, 动态稳定性, 可承载加速度, 阻倒力

Abstract: Rail Guided Vehicle (RGV) stack is a key part of intelligent warehouse,which collapse during movement will not only reduce efficiency,but also bring safety hazards such as cargo damage and rail deformation.To improve the efficiency o intelligent warehouse system,a method to calculate the tolerable acceleration (i.e.the maximum acceleration with no boxes ever collapse) of RGV stack was proposed from the perspective of box position and rigid body force.Based on the acceleration direction and the position of the boxes in the stack,the boxes were divided into multiple rigid bodies,and each rigid body contained boxes that would collapse together;then the rigid body tree was constructed according to the position of rigid bodies,and the resisting force transmitted between the rigid bodies through the tree was analyzed;the tolerable acceleration of the RGV stack was calculated according to the resisting force.The proposed tolerable acceleration could be used to limit the acceleration of RGV motion,and could also be used to quantitatively evaluate the dynamic stability of the stack.The experimental results showed that there was a very strong linear correlation between tolerable acceleration and the dynamic stability of the Unity simulation stack,with a Pearson correlation coefficient >0.8,which was better than the existing stack dynamic stability evaluate methods.

Key words: intelligent warehouse, rail guided vehicle stack, dynamic stability, tolerable acceleration, resisting force