自动化立体仓库双轨道堆垛机控制系统设计

哈尔滨理工大学学士学位论文

自动化立体仓库双轨道堆垛机控制系统设计

摘要

在现代的物流仓储系统中，自动化立体仓库应用日益广泛。而堆垛机是立体仓库的关键组成部分，堆垛机性能的优劣对整个立体仓库的运行起到至关重要的作用，所以设计与开发自动化程度较高的堆垛机控制系统成为当前立体仓库的发展趋势，开展与此有关的研究具有重要的理论和应用价值。对提高生产率、降低成本有着重要意义。

近些年来，越来越多的企业在企业生产与管理的不断提高中慢慢的认识到物流系统的改善与合理性对企业的发展非常重要。在自动化立体仓库中堆垛机是非常重要的起重堆垛设备，它能够在自动化立体的巷道中来回穿梭运行，将位于巷道口的货物存入货格；或者相反取出货格内的货物运送到巷道口。

本设计详细论述了双轨道堆垛机控制系统设计的方案。设计的重点放在三个部分：升降机构、行走机构、货叉伸缩机构的PLC控制上。

首先，我们提出了各个机构的总体设计方案以及其在系统运行中的相关原理；其次，在整个控制系统中我们以三菱FX2N系列PLC作为核心控制元件，从而对变频器进行速度控制，通过认址挡板和计数器来实现在取货和存货中对各个货格地址的认定，当PLC接受到键盘输入的命令后，则开始进行相应的工作，以完成货物的存取功能；最后，为了保证整个控制系统运行的稳定性和可靠性，我们还采用了限位开关对其进行限位保护。

关键词 可编程控制器；堆垛机；变频器；认址

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哈尔滨理工大学学士学位论文

The Control System Design of Double Track Stacker

in Automatic Stereoscopic Warehouse

Abstract

In modern logistics warehousing systems, automated storage is increasingly widespread. Hay stackers are the key equipment, Performance of the stacker plays an important role. Design and Development of a higher degree of automation Stacker Control System become Warehouse trend of development, Therefore related research has important theory and application value. To improve productivity, reduce costs of great significance.

In recent years, more and more enterprises release that it is very important to improve the rationality of the development of enterprises in enterprise production and management which continue to improve slowly. stacking crane is a very important lifting and stacking apparatus in stereoscopic warehouse, it can tunnel back and forth on automatic three-dimensional, it can deposited the goods in the prices of goods which located in the lane crossing; or take out the goods from shelf delivery to the roadway crossing.

This design was discussed the system design program in detail which in most enterprises generally use about stacking crane. Our design focus on three parts: elevating mechanism, running mechanism, fork telescoping mechanism control. First, we put forward the overall design scheme of every organization and its operation theory in the system; secondly, we select and design the hardware about this system ,including indeed the searching address system, the mode selection of PLC ,the mode selection of frequency transformer, the selection of motor and the way of selection about how to control the frequency transformer by PLC. we use Mitsubishi FX2N series PLC as the core control element in the whole control system, and we can make speed control to a frequency transformer, we can get the realization of the collection and inventory of all goods cell by addressing baffle and counter, when PLC receive keyboard input command, begin corresponding work, in order to complete the

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哈尔滨理工大学学士学位论文

goods access function; finally, on the base of acquaintance about the control procedure of stacking crane and mode selection of hardware on this control system we have designed flow chart about three-direction motion of stacking crane, deposited and take out the goods, addressing confirm and speed control and then we have designed the process of this control system.

Keywords confirm

programmable control; stacker; frequency transformer; addressing - III -

哈尔滨理工大学学士学位论文

目 录

摘要…… ....................................................................................................................... I Abstract ........................................................................................................................II

第1章 绪论 ................................................................................................................ 1 1.1 自动化立体仓库的定义 ................................................................................... 1 1.2 自动化立体仓库的特点 ................................................................................... 1 1.3 堆垛机的发展及其研究现状 ........................................................................... 2 1.4 本课程的研究目标及内容 ............................................................................... 2 1.4.1 研究目标 .................................................................................................... 2 1.4.2 研究的内容 ................................................................................................ 3 第2章 堆垛机运行系统机械结构的确定 ................................................................ 4 2.1 堆垛机的结构 ................................................................................................... 4 2.2 堆垛机的运行功能分析 ................................................................................... 4 2.3 行走机构模块 ................................................................................................... 5 2.4 起升机构模块 ................................................................................................... 5 2.5 载货台模块 ....................................................................................................... 5 2.5.1 模块的结构 ................................................................................................ 5 2.5.2 关于载货台的安全保护措施 .................................................................... 5 2.6 载货台保护装置 ............................................................................................... 6 2.6.1 滑楔式安全防坠器 .................................................................................... 6 2.6.2 偏心轮式安全防坠器 ................................................................................ 6 2.6.3 销式安全防坠器 ........................................................................................ 6 2.6.4 安全防坠器总体方案的确定 .................................................................... 6 2.7 货叉机构模块 ................................................................................................... 7 2.8 本章小结 ........................................................................................................... 7 第3章 堆垛机控制系统的硬件设计 ........................................................................ 8 3.1 堆垛机的位置检测 ........................................................................................... 8 3.2 光电传感器 ..................................................................................................... 10 3.3 变频器的选择 ................................................................................................. 11 3.3.1 变频器的结构及工作原理 ...................................................................... 11 3.3.2 变频器的分类 .......................................................................................... 12 3.3.3 PLC概述 .................................................................................................. 13 3.3.4 PLC的选型 .............................................................................................. 14 3.3.5 PLC对变频器的控制 .............................................................................. 16 3.3.6 通讯方案的确定 ...................................................................................... 18 3.3.7 PLC原理图 .............................................................................................. 19

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