672 Z -A0E1A1

672 Z -A0E1A1

672 Z -A0E1A1

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自动化立体仓库的出现是物流技术的一个划时代的革新。它不仅彻底改变了仓储行业劳动密集、效率低下的落后面貌，而且大大拓展了仓储的管理概念，并使仓储管理由简单的保管型向综合的流通型方向发展。堆垛机是自动化立体仓库的主要搬运设备，是实现立体仓库高效、安全、可靠运行的关键机构之一。它在高层货架的巷道内来回穿梭运行，负责货物在立体仓库货位的存放和取出。玉溪红塔集团生产二部的物流系统共有八台堆垛机，其中三台辅料堆垛机、五台成品堆垛机。由于辅料的堆码比较紧密，重量也比较轻，工作效率较高。下面主要对成品堆垛机进行分析研究。


2 堆垛机存取成品的不可靠因素分析及改造方案
  在自动物流的正常作业过程中，堆垛机在存取整托盘卷烟成品时，常常会发生整托盘成品歪斜的故障，甚至会发生整盘成品从高架上翻倒下来，究其原因主要有几个方面：一是堆垛机的提升控制方法落后，在水平和纵向的定位不准，造成倒塌。二是堆垛机超尺寸检测系统不完善造成成品翻倒。三是由于其他各种因素造成成品翻倒，第三种情况由于所占比例非常小，故不在文章分析之列。
2.1 堆垛机提升控制方法落后造成成品倒塌现象分析
原来设计堆垛机的载货台提升控制是由提升电机直接驱动，由于是直接驱动，载货台与成品卷烟在堆垛机运行起步时有一个速度突变，即从0m／min到最高速的60m／min。根据物体运动的规律，相邻的两个物体在速度突变时，会产生相对位移，在此主要是成品与成品之间会产生滑动，造成倒塌。二是在减速阶段，在即将到达预存取货位时，堆垛机的速度又从60m／min到0m／min，由于又是突变，烟箱之间又会产生相对滑动。同时，堆垛机在水平和垂直方向上也造成定位误差。堆垛机的伸叉伸出时会顶在货架上，也造成倒塌。在实际使用中，尽管发生这种现象的频率不太高，但每次倒塌却造成很大的损失，一方面损坏了卷烟成品，另一方面给库区设备及工作人员的人身安全带来极大威胁。所以，降低烟箱倒塌事故率，提高堆垛机的运行效率，是我们的技改方向。


2.2 堆垛机提升控制方法落后改造
  从上面的分析可以看出，堆垛机提升系统控制的主要问题是没有速度过度。为了解决这个问题，我们制定了一套改进方案，为堆垛机进行变频器改造。经过方案论证和查阅相关资料，决定选定罗克韦尔(rockwell)公司的1336FORCE为备选变频器。

Indramat DZF 03.1M neuwertig im OVP versiegelt

Indramat TVP 231-100-W0 top

Indramat permanent Magnet Motor MHD115B-024-NG0-AN

Indramat TBM 1.2-040-W1

Indramat Memory Card DIAX04 HSM01.1

Indramat Power Line Filter NFD-02.2-480-055

Indramat Karte DEA 28.1 Umrichter Frequenzumrichter

Indramat KDS 1.1-150-300 W1-220 Spindelregler

Indramat TBM 1.1-20-W1 Servo Bleeder

Indramat TBM 1.2-40-W Servo Bleeder

Indramat TBM 1.20-40-W1/220V Servo Bleeder

Indramat TCM 1.1-08-W0 Servo Kondensator

Indramat TDM 1.2-030-300-W0 Servo Controller

Indramat TDM 1.2-050-300 W1 Servo Controller

Indramat TDM 1.2-100-300 W1 Servo Controller

Indramat TDM 1.2-100-300-W1-2 Servo Controller

Indramat TDM 2.1-030-300 W0 Servo Controller

Indramat TDM 3.2-020-300 W0 Servo Controller

Indramat TDM 3.2-030-300 W1 Servo Controller

Indramat TVM 1.2-050-WO-220V Versorgungsmodul

Indramat TVM 2.1-50/220/300-W1-220/380 Versorgungsmodul

Indramat TVM 2.2-050-220/300-W1-220/380

Indramat TVM 2.2-050-W1 220V Versorgungsmodul

Indramat TVM 2.4-050-220/300-W1 Versorgungsmodul

Indramat TVD1.2-08-03 AC Servo Power Supply Top

Indramat MOD21 1X0002-507 TDM7..- inkl. MwSt./Garantie

Reparatur Indramat Umrichter RAC 3.5-200-460-L00-W1-220

Indramat NAM 1.2-08 AC Servo Line Former TOP

Indramat NAM 1.3-15 Netzanschlussmodul NEU inkl. MwSt.

Indramat NAM 1.2-08 Netzanschlussmodul NEU inkl. MwSt.

INDRAMAT 2AD160C-B35OA1-BS03-B2N1

Indramat Bleeder Modul für DKC BZM BZM01.3-01-07

Indramat Bleeder Modul für DKC BZM BZM01.1-01-07

Indramat Versorgungsmodul TVM 2.2-050-220/300-W1/220

Indramat Antriebsregelger?t DDS 02.1-W100-D

Indramat Antriebsregler DDS 02.1-W050-D

Indramat RAC 3.6-150-460-L00-Z1-2 - Umrichter

INDRAMAT Permanent Magnet Motor MDD 093C-N-030-N2L-110G

INDRAMAT Permanent Magnet Motor MDD 093C-N-030-N2M-110G

INDRAMAT Permanent ServoMotor MDD 093C-N-030-N2L-110PA0

Indramat HDS03.2-W100N-HS12-0

INDRAMAT DLF1.1 INTERFACE BOARD tested warranty 1 month

Indramat NAM 1.2-08 AC Servo Line Former TOP

Indramat DDS03.1-W030-DA02-00 D AC Servo Controller

Indramat Modul DF 1

Indramat TVM 1.2-050-220/300-W0/220/380

Indramat AC Servo Bleeder TBM 1.2-40-W1/220

Indramat BZM Bleeder NEU OVP inkl. MwSt & Garantie

Indramat BZM Bleeder 01.1-01-07 inkl. MwSt & Garantie

INDRAMAT VERSORGUNGSMODUL TVD 1.2-15-03

INDRAMAT SERVOANTRIEBSMODUL TDM 1.2-100-300-W1

Indramat Modul DZF 1

Indramat SEK 1.4-26/1 Selector Regelverst?rker

Indramat NAM 1.2-08 AC Servo Line Former TOP

KDV 2.3-100-220/300-000 INDRAMAT, 1 month warranty

Programmierungsmodul Indramat 3TRM2 für MAHO 700C Fr?se

Programmierungsmodul Indramat 1TRM3 für MAHO 700C Fr?se

Programmierungsmodul Indramat TRK6 für MAHO 700C Fr?se

Indramat permanent Magnet Motor MHD115B-024-NG0-BN

Indramat permanent Magnet Motor MHD115B-024-NG0-RN

Indramat permanent Magnet Motor MHD071B-035-PG1-UN

Indramat Servo Controller Regler DKC 03.3-040 Profibus

Indramat DDS03.1-W030-DA02-00 D AC Servo Controller

Phoenix Contact Interbus-S Indramat IBS SAB 24 DI 8/8-I

Indramat Servo Motor MKD MKD090B-047-KG0-KN

Indramat DDS02.1-W050-DS01-02-FW Servo Controller

Indramat Karte DLF1.1 Umrichter Frequenzumrichter

Indramat Karte DZF1 Umrichter Frequenzumrichter

Indramat MAC 093B-0-GS-2-C/110-A-2 (MAC093B AC Motor)

Indramat Rexroth PPC-R02.2N-N-V2-NN-NN-FW PPC-R02.2 NEU

Rexroth Indramat RD52.2-4B-007-LA-2-FW/S133 Servo

DCK01.3-040-7-FW REM DCK-01.3-040-7-FW Indramat

Indramat System 200 DIAX04 AC Power Supply HVE03.2-W030

INDRAMAT A C SERVO POWER SUPPLY TVM 1 2 50W1 220V

Indramat DDC DDC01.1-N200A-DA01-00 Digital AC Servo

Indramat DDS 2.1-W050-D A.C Servo Controller

Indramat DDS 2.1-W050-DS04-00 A.C Servo Controller

Indramat HDC 01.1-A040N -PB01-01-FW Servomotor Steuer.

Indramat Reco-G.06/01 Rack 8 Pl?tze + Stromversogrung

Indramat A.C Servo Controller DDS 2.1-W050-DA02-01-FW

INDRAMAT Servo Controller CLM 01.2 CLM01.2

INDRAMAT Servo Controller HDS04.2-W200N-HS12-01-FW

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Indramat DDC DDC01.2-N200A-D Digital AC Servo

INDRAMAT AC-Controller HDS03.1-W075N-HS37-01-FW A0075

INDRAMAT AC-Controller HDS02.1-W040N-HS45-01-FW A0070

INDRAMAT AC-Controller HDS03.1-W100N-HS32-01-FW A0073

INDRAMAT AC Controller HDS03.2-W100N-HS32-01-FW

INDRAMAT Servo Controller HDS04.2-W200N-HA01-01-FW

INDRAMAT Servo Controller HDS04.2-W200N-HS45-01-FW

INDRAMAT AC- Servo Diax04 HDD02.2-W040N-HD12-01-FW

Indramat DDC DDC01.1-K100A-DL04-01-FW Digital AC Servo

INDRAMAT AC-Controller HDS02.2-W040N-HS45-01-FW A0069

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Indramat DDC DDC01.1-K200A-DL02-01-FW Digital AC Servo

INDRAMAT AC-Controller HDS02.2-W040N-HS12-01-FW A0068

INDRAMAT AC-Controller HDS04.2-W200N-HA06-01-FW AS0034

Indramat DDC01.1-K200A-DL02-01-FW DDC A.C Controller

Indramat DDC01.1-K200A-DL05-01-FW DDC A.C Controller

Indramat DDC01.1-K200A-DL05-01-FW DDC A.C Controller

Indramat DDC DDC01.2-N100A-DL01-01-FW Digital AC Servo

Indramat DDC DDC01.2-N200A-DL09-01-FW Digital AC Servo

Indramat DDC DDC01.2-N200A-DA01-01-FW Digital AC Servo

Indramat DDC DDC01.2-N200A-DL01-01-FW Digital AC Servo

Indramat DDC DDC01.2-N200A-DL01-01-FW Digital AC Servo

Indramat DDC DDC01.2-N200A-DL05-01-FW Digital AC Servo

Indramat DDC01.2-N100A-DL02-01-FW DDC A.C Controller

Indramat DDC01.2-N100A-DL03-01-FW DDC A.C Controller

Indramat DDC01.2-N100A-DL01-01-FW DDC A.C Controller

Indramat DDC01.2-N100A-DL05-01-FW DDC A.C Controller

Indramat DDC01.2-N200A-DL02-01-FW DDC A.C Controller

Indramat DDC01.2-N200A-DL05-01-FW DDC A.C Controller

Indramat DDC01.2-N200A-DA01-01-FW DDC A.C Controller

Indramat DDC01.2-N200A-DA01-01-FW DDC A.C Controller

Indramat DDC01.2-N200A-DL01-01-FW DDC A.C Controller

Indramat DDC01.2-N200A-DL01-01-FW DDC A.C Controller

Indramat DDC01.2-N200A-DL05-01-FW DDC A.C Controller

INDRAMAT Servo-Controller DDS02.1-F200-D Neu

INDRAMAT Servo-Controller DDS02.1-F100-D Neu

Indramat Drossel Typ KD 28D 80/240 Ampere Servomotor

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Indramat Rexroth Bosch Aktorbox Sensorbox

EXPERT Rundtisch E55/1570/FLEX mit INDRAMAT Motor

INDRAMAT TRK6-4U-380/100-G1 warranty 1 month

BOHRSPINDEL INDRAMAT ADM112-B05BB1-ASF5-N3K5/S010

Heidenhain Indramat Drehgeber ERN 431.051-1024 B12

Heidenhain Indramat Drehgeber RON 275.0009-18000 W3

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REXROTH INDRAMAT Drossel GLD 20

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INDRAMAT RECO RMA 12.2-16-DC024-200 Output-Modul

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Indramat 1TRM2 (TRM2-G11-W0/005 dc servo drive)

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Indramat Motor MDC3.10C/SS-1/S034 MDC

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