| Automated warehouse system combines computer technology,automation technology and modem management technology,the transformation of traditional logistics industry mode has become an advanced storage mode in twenty-first Century.The stereoscopic warehouse system is being promoted and applied by more and more enterprises,transforming the traditional logistics transportation industry with high and new technology is the development goal of China's industrial automation in the next 10 years.Based on the development direction of industry and enterprise,and combining the characteristics of Qingdao Metro M3 line automatic storage system,a small automated warehouse experimental system is built in the transportation promotion Laboratory of Shandong University of Science and Technology,this paper is based on the experimental system,and the key equipment stacker is researched and designed.Stacker is the most important handling equipment in the automated warehouse.In order to ensure the safe and reliable operation,this paper has studied and designed a kind of mechanical chain broken chain protection mechanism,when the lifting chain of the stacker is broken,the time of the falling carrier can be shortened.In order to verify the reliability of the design,the finite element analysis of the cam connecting rod of the chain breaking protection mechanism is carried out by SolidWorks/Simulation,the virtual prototype of the chain breaking protection mechanism is established based on the ADAMS software,at the same time,the simulation analysis is carried out,by observing the curve of the spring elongation,the curve of the drop displacement of the loading platform and the curve of force variation between the column and the guide rail,the correctness of the structure design and the feasibility of the braking scheme are verified,it is of great significance to improve the safety of stacker operation.This paper studies and designs the control system of the small stacker,determines the overall plan of the control system,and completes the function design of the control modules,including the speed control,position control and safety protection,etc;The type selection of controller PLC is completed according to I/O allocation,according to the working process of the stacker,the flow chart of PLC control system is designed;And use WinCC flexible software to design the touch screen,monitoring and monitoring the running state of the stacker in real time.In order to improve the operating efficiency and positioning accuracy of the stacker,using ADAMS software to plan the horizontal motion track of the stacker,setting up a model of S velocity curve,using PLC,frequency converter and asynchronous motor to realize speed control of stacker,and the fuzzy control technology is introduced into the control system of the stacker,a two-dimensional fuzzy PID controller is designed,on-line self tuning of PID parameters,a control method using fuzzy PID switching,establishing a simulation model of horizontal running speed under MATLAB Simulink,the results show that the response speed of fuzzy PID control system is fast,small overshoot during the running process of the stacker,no oscillation,can effectively improve the operation efficiency of stacker. |
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