1、 The Design of Stereoscopic Warehouse Stacker Motionand Control SystemAbstract. With the continuous improvement of industrial automation, automated warehouse has been widely used in various industries to improve the production efficiency and Logistics speed to a great extent. As an essential equipme
2、nt of automated warehouse, stacker working efficiency and stable performance will affect the usability of the warehouse directly. This essay studies the tunnel type stacking in machine speed control system of an automated warehouse, and analysis its motion curves. Then we combine it with the stacker
3、s composite material structure to guarantee better motion control accuracy and motion reliability.Keywords: stereoscopic warehouse, stacker, motion control.1 IntroductionModern automated warehouse is a modern warehouse which uses high-dimensional shelf to store materials, and to control management b
4、y computers and making access role by automatic stacking trucks. In recent years, stereoscopic warehouses has highly improved related enterprises production and logistics speed. Stacker is an important and indispensable equipment in a stereoscopic warehouse, its working efficiency and stable functio
5、n affects stereoscopic warehouse efficiency and economic benefits fundamentally. As a whole, stackers evaluation performance includes：lifting speed, running speed, goods forking speed, and stability and address recognition accuracy. Among all the evaluation performances, the stackers speed is the es
6、sential factor, because it can control can deeply affect the stability, the vibration situation, and address recognition accuracy of stackers operation. So, making In-depth research in stackers motion situation and speed control system is extremely important, it can help us to make sackers with high
7、efficiency, more stable and larger motion range.2 Motion Control of the Stacker2.1 AbstractAn stackers motion control technology mainly reflects in its motion speed control,Nowadays there are several methods of stackers motion speed control, as beenshowed below：1） Multi-range speed control mode. Thi
8、s control mode is built in a certain usage foundation. When its working, we must consider the stackers actual control need and it also can use sub-file operation mode according to relevant experience. To a large extent, this mode needs coordination exercise control and it also requires dealing with
9、Inverters performance.2) Using inverter to complete the closed-loop speed stacker and stacker control displacements open-loop control, usually, the Stackers ideal motion curve can be concluded to Standard acceleration and deceleration curves. After one motions experimental curve being confirmed, it
10、can be stored in a stored and we can use PLC to control the inverter to change the motion curve, thus we achieve the purpose of accurate speed and stop.3) There are some problems in the turning point in speed and acceleration switch of stacker movement functions. To solve this problem, we can use th
11、e fuzzy control technology to make reasonable improvement.A mechanical processing factorys warehouse is mainly used for mould、the storage of semi-finished products and finished products processing. It has the function of automatic management store items. The deposit product for stacker deposit requi
12、rement is taken must be fast, stable and reliable. The control system adopts PLC as the master components; it has a greater flexibility and high reliability. Warehouse stacker uses common stacker machine, the weight is of 0.25-1.5 tons, and its operation speed is from twenty five to one hundred and
13、eighty meters per minute. It mainly composed of the body, the level of operating agencies, vertical hoisting mechanism, telescopic fork loading station and institutions and several other components. The main structure of stacker machine is as shown in figure 1 below: Fig. 1. Stacker machines main st
14、ructure2.2 The Set of the Velocity of the StackerFrom the main structure of stacker machine ,we can also know, tuckers major sports includes three basic action, these are：level of movement mechanism、the vertical lifting mechanisms up and down movement、adjustable action in goods fork telescopic machi
15、ne. So, stackers final task efficiency, its movement and performance is also decided by these three movements of the basic control degree. When stacking machine is moving, to ensure the movement is smooth and reliable, we must ensure that the stop registration of movements accuracy and its movements
16、 flatness by some certain control strategy. The method of motion speed is to adjust the operating curve, and then stored it in control memory. When PLC is controlling the motion, through changing the curve which is stored in the inverter we can achieve the purpose of accurate speed and stop.Level sp
17、eed setting mechanism is settled for four gears, these are crawling, low speed, middle and high speed. When PLC is controlling the motion, it receives the destination address from a controller, then it Compare the current address to the destination address, and calculate the distance from current ad
18、dress distance to destination address. Make a goods distance as a unit distance. When the distance is larger than six units distance, it use the motion mode of curve a, and use proper acceleration speed when starts and stops, to ensure the precision of the prospective stop. It also use maximum speed
19、 to operate in the middle location. Thus it can improve the efficiency. When the distance is less than six units distance yet greater than two units distance, it use the motion mode of curve b. And when the distance is less than two units distance, it use the motion mode of curve c.Fig. 2. The graph
20、 of level mechanisms speedSimilarly, the vertical lifting operation of lifting mechanism sets three different speeds. When the operation is normal, it adopts high speed to improve efficiency. When it approaches the target, it down to low speed in order to raise the stop precision. Vertical lifting m
21、echanisms speed curve is as shown in Fig. 3:Fig. 3. The graph of Vertical lifting mechanismThe role of the fork telescopic machine goods is through the telescopic movement to put corresponding goods to goods box. The speed of expansion movement can not be too fast, so it can reduce the impact of the
22、 equipment action. In this system, adjustable speed of goods fork is been settled to two gears, normal expansion speed is 10 m/min speed, and when is close to the goods the speed is 4m/min.2.3 Positioning Control of StackerBesides controlling the motion speed, stackers positioning control directly a
23、ffects the stop precision. So, the position control of stacker system is an important indicator of stacker motion control system.Stackers positioning control includes the above three positioning accuracy of motion organizations, among them, the level address system is the foundation of stackers moti
24、on position. Its function deeply affects the stackers working efficiency and mechanical properties. In the motion aspect, the stackers access to goods is very frequent, so it requires high efficiency and positioning correct in motion. From stacker mechanical structure, the stacker which used this sy
25、stem can move heavier goods. So it requires when a stacker is in acceleration and deceleration, column of the deformation must be in the allowable range.As for stackers automatic control system, automatic stop bit is the most fundamental question. Now the widely used reorganization address location
26、technology, it can be divided into photoelectric sensor address technology, rotary encoder address technology and laser ranging address technology in general. This system uses the photoelectric sensor obtain address, uses the recognition of address and machine of address to compose the stackers auto
27、matic device of address. It also uses relative obtain address, that means uses photoelectric switch when passing the corresponding goods position, through the photoelectric sensor to produce electrical impulses, according to different moving direction, to address code add one or minus one operation,
28、 use PLC count to record the current address,. In the car body, we put two position different photoelectric switches. When PLC captures the first switchs moves, it makes car body to slow down; when it captures the second switch moves, it makes the car body stop. The motion control method vertical mo
29、vement mechanism, goods fork telescopic machine and level control method is similar. The location of the device level control is as shown in Fig.4: Fig. 4. Level control positioning schemeAs the scheme shows, when it making horizon movement, PLC figures out the distance from current position to the
30、target position. In place of the other position before the orientation patch is used to count, after getting to the destination address, the first action photoelectric switches, car body slows down, through reasonable control of haste and slow acceleration, to ensure when the latter photoelectric sw
31、itch moves, then the car body just stop. Thus, it can guarantee the car body operates in reasonable speed and acceleration. Slow speed operation time is short. This improves the operation condition of the motor to greater extent. It also has much advantage in reliability and stability of the system.
32、3 Conclusion These above design process ensure the stacker machine movements performance in movement of speed and positioning accuracy. After the motion control method being used in the actual operation of the factory warehouse, it get a good effect. But as for the influence on the performance of th
33、e movement in actual movement speed and acceleration, we still need making deeper analysis to a large extent.立体仓库码垛机的设计及控制系统摘要：随着工业化的不断提高，自动化立体仓库已被广泛应用于各个行业，在很大程度上提高了生产效率和物流速度。作为必不可少的设备的自动化立体仓库，码垛机的工作效率和稳定的性能将直接影响仓库的可用性。本文研究了巷道式码垛机的速度控制系统的自动化立体仓库，分析其运动曲线。然后，我们把它与堆垛机的复合材料结构，以保证更好的运动控制精度和运动的可靠性。1关键词：立
34、体仓库，堆垛机，运动控制。 现代自动化立体仓库是一个现代化的仓库，它采用立体货架存储材料，并控制由计算机和访问管理的作用，自动码垛。近年来，立体仓库，高度提高了相关企业的生产和物流速度。在立体仓库，码垛机是不可缺少的重要设备，它的工作效率和稳定的功能从根本上影响立体仓库的工作效率和经济效益。作为一个整体，堆垛机性能评估包括：提升速度，运行速度快，商品分叉速度，稳定和地址的识别精度。在所有的评价性能，码垛机的速度是重要的因素，因为它可以控制可以深刻地影响稳定性，振动的情况下，堆叠器的操作和地址识别精度。所以，在码垛机的运动情况和速度控制系统的深入研究是非常重要的，它可以帮助我们使码垛机具有高效率
35、更稳定和更大的运动范围。2码垛机的运动控制2.1摘要堆垛机的运动控制技术主要体现在它的运动速度控制，现在有几种方法堆垛机运动速度控制，显示如下：1） 多范围的速度控制模式。这种控制方式是建立在一定的使用基础。它的工作时，我们必须考虑堆垛机的实际控制需要，并根据相关的经验，也可以使用子文件操作模式。在很大程度上，这种模式需要协调运动的控制，同时也需要处理与逆变器的性能。2） 通常情况下，使用变频器来完成闭环高速码垛机，码垛机控制位移的开环控制，码垛机的理想运动曲线可以得出结论为标准的加速和减速曲线。一个运动的实验曲线被证实后，它可以存储在存储，我们可以用PLC控制变频器来改变运动曲线，从而实现
36、精确的速度和停止的目的。3） 在堆垛机移动功能的开关速度和加速度的转折点也存在一些问题。为了解决这个问题，我们可以采用模糊控制技术，使合理的改善。机械化立体仓库主要用于模具，储存的半成品和成品加工。它具自动管理存储项目的功能，立体化仓库储存产品要求必须具有快速、稳定、可靠性。控制系统采用PLC作为主要部件，它有更大的柔性和高的可靠性。仓库码垛机使用常见的码垛机，重量为0.25-1.5吨，其运算速度是每分钟25180米。它构架主要部分，水平的经营机构，垂直起升机构，伸缩臂叉装车站和机构等几个部分组成。堆垛机的主要结构的示出在图1所示： 图1 码垛机主要构架2.2码垛机的速度集 从码垛机的主要构架
37、我们可以知道，码垛机的主要运动包括三个基本动作，它们是：水平，垂直升降机构运行机制的向上和向下运动，可调货叉伸缩机的行动。因此，码垛机的最终任务的效率，它的运动和性能还决定于这三个运动的基本控制程度。当码垛机运动时，我们必须确保运动的平稳于可靠。我们也必须通过一些策略来控制它运动的精度于平整度。这种方法是调整过的速度曲线存到储存器中。当PLC控制的运动，通过改变储存在逆变器中的曲线来达到精确控制速度和听的目的。 速度等级设置四档，爬行，低速，中高速。当PLC控制的运动，它从控制器接收目的地址，然后，它比较当前地址到目的地址，并计算距离从当前地址到目的地址的距离。使货物的地址作为一个单位地址，当
38、该距离大于六个单位的距离时，它使用的曲线a的运动模式，在启动和停止时使用适当的加速度，以确保准停止精度。它还使用最大速度在中间的位置进行操作。因此，可以提高工作效率。当该距离小于6个单位的距离大于两个单元的距离，它使用曲线b的运动模式。当距离小于两个单位的距离，使用曲线c的运动模式。图2 水平运动速度 同样地，在垂直升降的升降机构的操作设置三种不同的速度。当操作是正常的，它采用高速，以提高效率。当它接近目标时，它下降到低转速，以提高的停止精度。垂直升降机构的速度曲线图3所示：图3 垂直升降图 叉伸缩机的作用是通过叉伸缩运动把货物送到正确的位置。扩展运动的速度不能太快，它可以降低设备的动作的影响
39、在这个系统中，速度可调的货叉被算到两个齿轮，正常扩张速度是10米/分钟的速度，并且当接近速度为4m/min的货物。2.3定位控制码垛机除了控制运动速度，码垛机的定位控制直接影响到停止精度。因此，堆垛机运动控制系统，堆垛机的位置控制系统的一个重要指标。码垛机定位控制包括上述三个定位精度的运动组织，其中，地址系统的基础码垛机运动位置。其功能深深影响的堆垛机的工作效率和机械性能。在运动方面，货物堆垛机的访问是很频繁的，因此需要高效率和定位正确的运动。由于码垛机的机械结构使得它可以搬用较重的产品。因此，码垛机是在加速和减速时，柱的变形必须是在允许范围内。堆垛机的自动控制系统，自动停机位是最根本的问题
40、现在广泛使用的重组的地址位置技术，它一般可分为光电传感器址技术，旋转编码器地址技术和激光测距址技术。此系统使用的光电传感器获取地址，使用的地址组成的堆叠器的自动装置的地址的地址和机器的识别。它也使用相对获取地址，这意味着使用光电开关，通过相应的货物的位置时，通过光电传感器，以产生电脉冲，根据不同的移动方向，以解决代码加1或减一操作，使用PLC计数记录当前地址。在车身上，我们把两个位置不同的光电开关。当PLC捕捉到的第一个开关的动作，它使车身放慢，它抓住了第二次的开关动作时，它使车身停止。垂直运动机构的运动控制方法，货叉伸缩机和电平控制的方法是相似的。电平控制的位置如图3所示：图3 水平位置控
41、制方案 按计划显示，当它使地平线运动，PLC的距离计算出从当前位置到目标位置。在其他位置的方向修补程式之前，后到目的地址是用来计数的，第一个动作光电开关，车身减慢，通过合理控制加速和减速加速，以确保后者光电开关动作，然后在车身上就停止了。因此，它可以保证车体工作在合理的速度和加速度。速度慢的操作时间很短。这更大程度上提高电机的运转状态。它有很大的优势在于该系统的可靠性和稳定性。3结论这些上述的设计过程中的运动速度和定位精度确保堆叠器的运动性能。运动控制方法运用在实际操作中的工厂仓库后，取得了良好的效果。但在实际的运动速度和加速度的运动性能的影响，我们还需要在很大程度上更深入的分析。The fl
42、exible manufacturing systemThe flexible manufacturing system(FMS) train points to have the high manufacturing system of the automation degree.The FMS speak about usually means in the lot size, batch size machining of metals currently with the forerunners automation and Gao level of flexible is the m
43、anufacturing system of target.Along with society to product diversification, the low manufacturing cost and short manufacturing periods etc.s need be gradually urgent, the FMS deveolps very and quickly, and because of micro-electronics technique, calculator technique, correspondence technique, machi
44、nery and the development of controlgear, also urge flexible manufacturing technique day attain mature, in 80s after, the manufacturing industry automation gets into for a brand-new ages, namely according to calculator of integrated manufacturing(CIMS) ages, the FMS has become the national machinery
45、manufacturing of each industrialization to automate of develop and deveolp point. A, scale Press the scale all of the FMSs can be is divided into as follows 4 types: 1.Flexible Manufacturing Cellular(FMC) The FMC publish and use to invite ratio FMS late in the manufacturing for 68 years, it is proce
46、ssed a centre, industrial robot by 12 and counts to control engine bed and material carrying to save to store equipments composing and have an adaptation to process have another species product of vivid.The FMC can be regarded as a FMS with minimum scale, is a FMS to cheap turn and small scaled turn
47、 direction development and a kind of outcome, its characteristics is to carry out single machine flexible turn and automate, have already get into up to the present universal application step. 2.Flexible Manufacturing System(FMS) Usually include 4 or more full-automatic numbers to control engine bed
48、process centre and truning centre etc.), from concentrate the handling system of control system and material to connect, can under the sistuation that not shut down realization have another species, in process of small lot size, batch size and manage. 3.Flexible Manufacturing Line(FML) It is be pla
49、ced in the quantisty not- flexible and automatic line of single or little species large quantity with medium small lot size, batch size have another of species FMS of manufacturing line.It processes an equipments and can be an in general use earth, ground to process a centre, CNC engine bed;May also adopt definite
免费区 
