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摘要：随着我国国民经济迅速的发展和企业现代化生产规模的不断扩大，现代物流仓储系统从751十年代刚刚起步到现在正蓬勃发展，其中立体仓库设备是不可缺少的重要部分。利用立体仓库设备可以较合理的提高仓库的空间使用率并且实现货物存取自动化使操作更加的简便，是当前仓储系统中较为先进的模式。而堆垛机是自动化立体仓库中不可缺少的一部分，堆垛机性能的好坏直接影响了整个立体仓库的运行，所以设计并优化堆垛机的控制系统已成为当今立体仓库设备的发展趋势之一。本文按照自动化立体仓库堆垛机的系统控制要求，进行了自动化立体仓库堆垛机PLC控制系统的具体硬件设计、PLC编程并在实验室进行了模拟调试。30023
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为了能使堆垛机正常运作，本次设计中堆垛机的水平认址和垂直认址均采用了光电开关和金属认址片的组合定位。变频调速系统中由西门子PLC S7-200及其相应的扩展模块EM221通过变频器MM420来控制三相交流电机，用二进制编码的方式来实现多段速的控制。其中堆垛机的升降电机单独使用一个变频器，而行走电机和伸叉电机共同使用一个变频器，由继电器来控制相互转换。此外本次设计应控制系统的要求还进行了PLC和变频器的选型，并绘制了硬件的电气原理图，最后通过step7编程软件设计了堆垛机的控制程序。
毕业论文关键词：自动化立体仓库；堆垛机；变频器；PLC
Abstract
With the rapid development of our national economy and the continuous expansion of the scale of enterprise modernization production.The Modern logistics storage system from the sixty's just started to now is booming. And the stereoscopic warehouse equipment is an important part of it.It is a more advanced mode for the warehouse system to improve the utilization rate of warehouse and realize the operation of the goods by using the equipment of the warehouse.And the stacker crane is an indispensable part in automated warehouse,the performance of the stacking machine directly affects the operation of the whole solid warehouse , so the design and optimization of the stacker control system has become one of the development trend of the modern warehouse equipment.This paper according to the automatic warehouse stacking machine system control requirements, conducted the hardware design, PLC programming and simulation debugging of the PLC control system for the automatic warehouse stacking machine in laboratory.
In order to enable the proper functioning of Stacker, the horizontal and vertical identification of the stacking crane are used for the combination of photoelectric switch and metal recognition site.The frequency conversion speed control system is controlled by the SIEMENS S7-200 PLC and its corresponding extended module EM221 through the converter MM420 to control the three-phase AC motor, and the feedback speed signal is from the photoelectric encoder. The elevator motor of the Stacking machine uses a frequency converter alone, the walking motor and the fork motor useing a motor together, are controlled by the relay. In addition, this design also conducted selection PLC and inverter, And draw a Hardware electrical diagram, and finally designed stacker control program by step7 programming software.
Key Words: Automated warehouse；Stacker；Frequency converter；PLC
目录
1. 绪论 1
1.1 自动化立体仓库简介 1
1.1.1 自动化立体仓库的发展 1
1.1.2 自动化立体仓库的分类 2
1.1.3 自动化立体仓库的组成 2
1.2 堆垛机简介 3
1.2.1 巷道式单立柱堆垛机的机构 4
1.2.2 堆垛机的研究现状 4
1.3 本次堆垛机设计的控制要求 5