Study On The System Of The Stacking Crane Walking Of Automated Warehouse

The Storage management is an extremely important link in the project of Logistics in current era .The appearance of automated warehouse has enormously satisfied and promoted the development of Logistics in a large extent. The automated warehouse, a kind of new technique, which is an important part of Computer Integrated Manufacturing System (CIMS) and modern technique of Logistics, is comprehensive engineering of science and technology on the pretreated of maternal in the science of warehouse. With the increasing development of modern commodity storage, shipment, management and the city modernization, the need for automated warehouse has became significant, for example, various aspects function, the performances request and so on.The automated warehouse has many advantages. Such as effective storage space, optimum storage management, fast and accurate operation, economical resource use and so on. Because of so many features, it has been widely used to improve productivity. However, there are several problems which is unsolved, including the design of structure and shelf, the loader orientation technology and the way of selection, correspondence between the main computer and the stacking crane and so on, all these has greatly limited the utilization of automated warehouse.The aisle stacking crane which is the most significant loader equipment, is the heart of automated warehouse. The superiority of automated warehouse must be able fully to embody through it. There are several performances to show the advantage of the equipment: the walking speed, the promotion speed, the fork of speed, the stability of crane , the vibration and the noise of crane, the accuracy of orientation and so on.The main content of this paper would discuss about aisle stacking crane automatic addressing and precise orientation, speed control in the course of the walking, column flexibility and vibration analysis while stacking crane walk . The walking speed of aisle stacking crane has been limited for dated the technology of orientation in some extent, especially in lager-scale automated warehouse. In long and narrow aisle ,the walking speed has the significant influence in regarding to the deposit and withdrawal cargo time: the lower ratio of walking speed increase the round-trip cycle, decrease the working efficiency. This paper based on the newest orientation technology and the innovation of addressing device to improve the old control technology, enhance the stacking crane walking speed, reduce the time of circulation; at the same time, as a result of the enhancement of speed, the control project and its hardware device also occurrence change corresponding.Let us introduced each chapter in short.In the second chapter, I briefly introduced the concept of the automated warehouse, sketch map of warehouse, the classification and construction of the aisle stacking crane, the sort and characteristic of transducer as well as the development of history in briefly, building the foundation for the later research.In the third chapter, I briefly introduced the principle of location measure control, could be classified the location measure as absolute location and relative location. The effect of absolute location has a good accuracy with few position error except for the complicated installation and adjustment and expensive cost; with the lower cost of relative location,the way of position take the beforehand position as the reference. If one location was wrong, others would make a mistake too. So,we had to attach the certain procedure in software to carry on the adjustment. In this chapter, we generalized to analyze several kinds of orientation and to select a new control method which could adopt laser distance measuring address. The laser distance measuring address has certain shortcoming in application because this technology is not very mature. So, we put forward a means that combine the laser distance measuring address and photo-electricity switch to solve this shortcoming in practical.In the fourth chapter, the main content was about frequency converter velocity and closed-loop control in detail. On the basis of the third chapter mentioned the updated of new position method, the aisle stacking crane has been enhanced the walking speed and controlled the velocity. The result of research and practice indicated that frequency converter velocity modulation in each kind of velocity modulation project was quite ideal. Because of slight volume, light weight, high precise control, protection function consummating, job safe reliably, simple operating process, strong versatility, objective energy conservation effect, transducer had a good capacity. The entire control system has used the double closed-loop control before improved. For the new location modes, we could control the distance concerning the order address by opened-loop control system, and, speed controlled by closed-loop. When we getting the signal of the distance, we transited it to speed feedback through differentiator. Under the function of differentiator, we converted the signal of distance into the signal of speed and adjusted to appropriate velocity in line with the curve of run.In the fifth chapter, as a result of location mode renewal and walking speed enhanced, we had to confirm the validity of the conclusions. The flexibility and the vibration of column had to effect the enhancement of velocity during walking. At first, we established the stacking mathematical model and worked out the stress analysis concerning column, then, lists the column the equation of flexibility and the equation of vibration, what's more, according to each kind of technical parameter, we obtained the value of column flexibility and the vibration amplitude ,at finally, we carried on the simulation analysis. On the basis of the result of analysis and the professional standard, we could conclude that:(1) The column might to bend in the course of walking, flexibility not only related to the acceleration of stacking but also had something to the coordinates caused in the cargo unit vertical during the forks raising and falling. With invariable situation in the cargo vertical direction, the flexibility of column correspondingly increased along with the acceleration increase; the maximize displacement must occur in the end of column; under the same condition the cargo arrived at the top when the elevating mechanism goods did, the flexibility of column also maximum.(2) Through the analysis on the vibration of column in the process of walking, we got the vibration of equation and the response pictures, and, according to the analysis of simulation ,we learned that the amplitude in the column tip had related to the acceleration and the cargo vertical position. When acceleration and cargo vertical position reach maximum, the amplitude of the end of the column maximized, the value of flexibility and amplitude had been controlled in a limited scope according to professional standard. Consequently, we got a accurate conclusion.