基于PLC的智能倉(cāng)庫(kù)系統(tǒng)設(shè)計(jì),基于PLC的智能倉(cāng)庫(kù)系統(tǒng)設(shè)計(jì),基于,plc,智能,倉(cāng)庫(kù),系統(tǒng),設(shè)計(jì) 密 級(jí) 分類號(hào) 編 號(hào) 成 績(jī) 本科生畢業(yè)設(shè)計(jì) (論文) 外 文 翻 譯 原 文 標(biāo) 題 An Analysis of Dual shuttle Automated Storage/Retrieval systems 譯 文 標(biāo) 題 關(guān)于立體化倉(cāng)庫(kù)使用雙貨叉的探討 作者所在系別 作者所在專業(yè) 作者所在班級(jí) 作 者 姓 名 作 者 學(xué) 號(hào) 指導(dǎo)教師姓名 指導(dǎo)教師職稱 完 成 時(shí) 間 譯文標(biāo)題 關(guān)于立體化倉(cāng)庫(kù)使用雙貨叉的探討 原文標(biāo)題 An?Analysis?of?Dual?Shuttle?Automated Storage/Retrieval?Systems 作 者 Brett?A.?Peters 譯 名 布雷特 A.彼得 國(guó) 籍 美國(guó) 原文出處 愛(ài)思唯爾期刊 摘要：本文主要探討的是可以提高生產(chǎn)效率的雙貨叉立體倉(cāng)庫(kù)系統(tǒng)。通過(guò)使用該系統(tǒng)，可以縮短堆垛機(jī)在一個(gè)雙任務(wù)流程中的運(yùn)行時(shí)間，從而大大提高了倉(cāng)庫(kù)的工作效率。雙貨叉?zhèn)}庫(kù)系統(tǒng)相當(dāng)于一個(gè)四任務(wù)指令模（uadruple?command?mode簡(jiǎn)稱QC）中的雙指令任務(wù)書流程。一個(gè)很有建設(shè)性的思想被提出來(lái)，即通過(guò)堆垛機(jī)按某一順序運(yùn)行可以縮短在一個(gè)（QC）中的運(yùn)行時(shí)間，蒙地卡羅對(duì)此進(jìn)行了模擬對(duì)比實(shí)驗(yàn)，實(shí)驗(yàn)結(jié)果證明確實(shí)提高了堆垛機(jī)的搬運(yùn)效率，這就說(shuō)明了這種方案的可行性。 關(guān)鍵詞：自動(dòng)化立體倉(cāng)庫(kù) 自動(dòng)化立體倉(cāng)庫(kù)的控制 功能模擬和分析 1. 緒論 自動(dòng)化立體倉(cāng)庫(kù)被廣泛地應(yīng)用于倉(cāng)儲(chǔ)和制造設(shè)備當(dāng)中。典型的單位貨物裝卸立體倉(cāng)庫(kù)由儲(chǔ)藏架，堆垛機(jī)，自動(dòng)運(yùn)輸小車，和入庫(kù)/出庫(kù)臺(tái)組成。衡量一個(gè)立體倉(cāng)庫(kù)系統(tǒng)的優(yōu)劣的主要標(biāo)準(zhǔn)是倉(cāng)庫(kù)系統(tǒng)的工作效率。立體倉(cāng)庫(kù)的工作效率與堆垛機(jī)運(yùn)行一個(gè)工作流程所需的時(shí)間成反比，這個(gè)工作流程時(shí)間包括堆垛機(jī)裝卸貨物的時(shí)間，顯然堆垛機(jī)裝卸貨物的時(shí)間在一定程度上取決于堆垛機(jī)和貨架的具體結(jié)構(gòu)和規(guī)格。 Han通過(guò)立體倉(cāng)庫(kù)返回站點(diǎn)的排列提高了立體倉(cāng)庫(kù)的工作能力，合理的排列返 回站點(diǎn)堆垛機(jī)能減少不必要的行程，從而縮短了時(shí)間，提高了效率。這樣他們就提出了一種最大限度提高效率理論，即如果堆垛機(jī)在雙指令模塊流程中可以縮短運(yùn)行時(shí)間那么這將最大程度的提高立體倉(cāng)庫(kù)的工作效率。也就是說(shuō)，如果堆垛機(jī)運(yùn)行的是單命令路線，卻能完成存貨和返回的動(dòng)作，則工作效率的提高也就實(shí)現(xiàn)了。 在論文中，我們分析了一種可供選擇的堆垛機(jī)設(shè)計(jì)方法，這種設(shè)計(jì)出來(lái)的堆垛機(jī)與一般的堆垛機(jī)不同，在原來(lái)的基礎(chǔ)增加了一個(gè)貨叉，這種新穎設(shè)計(jì)的堆垛機(jī)擁有兩個(gè)貨叉，它在運(yùn)作中可以縮短在貨架到返回點(diǎn)之間的運(yùn)行時(shí)間。這種設(shè)計(jì)方案符合Han?所說(shuō)的最大效率理論。雙貨叉堆垛機(jī)主要是針對(duì)如何提高堆垛機(jī)的工作能力這一問(wèn)題所設(shè)計(jì)的一種新穎堆垛機(jī)。目前，立體倉(cāng)庫(kù)系統(tǒng)的研究是以單貨叉堆垛機(jī)為主要對(duì)象。在本文關(guān)于雙貨叉堆垛機(jī)功能的分析也是建立有前人研究的基礎(chǔ)上的。 2. 可供選擇的堆垛機(jī)設(shè)計(jì) 一個(gè)基本的單一裝載立體倉(cāng)庫(kù)系統(tǒng)中，每一個(gè)貨架巷道內(nèi)都有一臺(tái)可供操作的堆垛機(jī)，每臺(tái)堆垛機(jī)有一根立柱被固定在天花板和地面之間，這根立柱可以在巷道內(nèi)的水平位置移動(dòng)。與立柱相連的是一個(gè)貨叉機(jī)構(gòu)，它可以載著貨物沿著立柱上下移動(dòng)，貨叉也可以作相對(duì)于貨格的水平取貨和存貨運(yùn)動(dòng)。 一個(gè)基本的單貨叉堆垛機(jī)立體倉(cāng)庫(kù)系統(tǒng)能夠完成一個(gè)單指令作業(yè)流程也能完成一個(gè)雙指令作業(yè)流程。一個(gè)單指令作業(yè)流程由存貨和取貨組成，對(duì)于一個(gè)存貨過(guò)程所需時(shí)間包括堆垛機(jī)在入庫(kù)處裝載貨物，行駛到目標(biāo)貨格，卸下貨物，然后回到倉(cāng)庫(kù)入口處這一連串動(dòng)作總共所需的時(shí)間。同樣可以分析取貨過(guò)程所需時(shí)間。 一個(gè)雙指令流程就是在同一個(gè)工作流程中完成存貨和取貨的操作。這個(gè)過(guò)程時(shí)間包括從入口處裝貨，運(yùn)行到存貨貨格位置，把貨放在貨架上，空運(yùn)行到取貨貨格位置，從貨架上取下貨物，回到倉(cāng)庫(kù)入口處，并卸下貨物這一過(guò)程總共需要的時(shí)間。 如果我們對(duì)堆垛機(jī)的雙指令工作流程路線稍加分析就會(huì)發(fā)現(xiàn)，當(dāng)在完成一個(gè)取貨運(yùn)作時(shí)，就暗示著可以進(jìn)行下一個(gè)存貨運(yùn)作，而且，如果在同一地方可以進(jìn)行存貨和取貨運(yùn)作，那么運(yùn)行時(shí)間將被縮短，這個(gè)運(yùn)行時(shí)間相當(dāng)于運(yùn)行一個(gè)單指令流程所需的時(shí)間。就目前已存在的立體倉(cāng)庫(kù)設(shè)計(jì)，要實(shí)現(xiàn)這種操作是不可能的，因此，另外一種雙貨叉式的堆垛機(jī)就應(yīng)運(yùn)而生了。 3. 堆垛機(jī)的運(yùn)作 設(shè)想一臺(tái)安裝了兩個(gè)貨叉的堆垛機(jī),這種新穎的堆垛機(jī)可以同時(shí)裝載兩件貨物,為了兩件貨物分別能存庫(kù)和出庫(kù),所以堆垛機(jī)的兩個(gè)貨叉機(jī)構(gòu)能夠相互獨(dú)立運(yùn)行,具體結(jié)構(gòu)如圖3所示,這種堆垛機(jī)的工作過(guò)程將在下文詳細(xì)介紹。 ? 堆垛機(jī)從倉(cāng)庫(kù)入口處將要被儲(chǔ)存的貨物裝載到第一個(gè)貨叉平臺(tái)上，然后向貨 的位置移動(dòng).到達(dá)要取貨的位置之后，第二個(gè)貨叉臺(tái)伸貨格內(nèi)取貨，當(dāng)取貨的動(dòng)作完成之后，堆垛機(jī)控制第一個(gè)貨叉臺(tái)卸貨。堆垛機(jī)然后再回到入口處。這整個(gè)操作流程就像是一個(gè)單指令運(yùn)作再加上一小段重新定位運(yùn)行過(guò)程（即堆垛機(jī)第二個(gè)貨叉平臺(tái)裝載和卸載過(guò)程），這樣一來(lái)，其運(yùn)作就像一臺(tái)堆垛機(jī)完成先完成取貨然后再存貨的一個(gè)雙任務(wù)命令。 因?yàn)檫@種堆垛機(jī)有兩個(gè)貨叉平臺(tái)，所以兩個(gè)貨叉的定位控制將是系統(tǒng)的一個(gè)很重要的功能。堆垛機(jī)用兩個(gè)貨叉可以在某個(gè)貨架的同一位置完成一個(gè)存、取雙任務(wù)指令，先在空貨駐臺(tái)上取下要出庫(kù)的貨物，再移動(dòng)第二貨叉到指定位置把貨物放在空貨格內(nèi)。然而，貨叉平臺(tái)結(jié)構(gòu)的選擇與本文的討論內(nèi)容無(wú)關(guān)。 為了實(shí)現(xiàn)上述操作，堆垛機(jī)的第二個(gè)貨叉必須在第一個(gè)貨叉完成取貨動(dòng)作之后才能進(jìn)行定位操作。由于貨叉的定位移動(dòng)量是較小的，堆垛機(jī)采用的是低速爬行方式來(lái)實(shí)現(xiàn)貨叉微小的定位移動(dòng)量，在這個(gè)過(guò)程中所耗費(fèi)的時(shí)間與堆垛機(jī)在裝貨卸貨耗費(fèi)的時(shí)間相比一般是微乎其微的。倉(cāng)庫(kù)設(shè)計(jì)的另外一個(gè)特點(diǎn)是第一排貨格和最后一排貨格的兩端要留有位置余量，以便在堆垛機(jī)超程時(shí)給兩個(gè)貨叉平臺(tái)留有運(yùn)動(dòng)余地。 4. 工作效率的提高 為了估算正在設(shè)計(jì)的雙貨叉系統(tǒng)工作量的提高，我們引用Bozer?和White提出的有關(guān)單任務(wù)和雙任務(wù)指令所需時(shí)間理論和Han?et?al.提出的最近有意義想法價(jià)值理論，這些理論家都作了種種設(shè)想，他們?cè)O(shè)想的共同部分就是我們要引用的內(nèi)容，下面就是這些理論的內(nèi)容。倉(cāng)庫(kù)的貨架被考慮成為連續(xù)矩形框架，貨物出/入處被設(shè)置在貨格的左下角位置。貨架的長(zhǎng)度和寬度以及堆垛機(jī)水平和垂直運(yùn)行的速度應(yīng)該明確。堆垛機(jī)貨叉臺(tái)能同時(shí)在水平和垂直兩個(gè)方向運(yùn)動(dòng)，在計(jì)算運(yùn)行時(shí)間方面作如下處理，貨叉在水平和垂直方向時(shí)進(jìn)行勻速運(yùn)動(dòng)，加速和減速緩沖極限速度，爬行速度用來(lái)定位兩個(gè)貨叉臺(tái)。假設(shè)與物流過(guò)程相關(guān)的裝載貨物和卸載貨物所用的時(shí)間為常量，因此，可以把它簡(jiǎn)單的加到運(yùn)行時(shí)間中去。堆垛機(jī)只能以單指令要求和雙指令要求為基礎(chǔ)，例如，不允許堆垛機(jī)在巷道內(nèi)多次啟停。（這個(gè)分假設(shè)后來(lái)應(yīng)用于新設(shè)計(jì)的堆垛機(jī)完成四重作業(yè)流程。為了符合最短鄰近的啟發(fā)思想，取貨數(shù)n可用來(lái)排列，且在貨格內(nèi)有m個(gè)開(kāi)放的位置。 5. 雙貨叉堆垛機(jī)系統(tǒng) 新設(shè)計(jì)的堆垛機(jī)有兩個(gè)貨叉臺(tái),因此可以對(duì)其進(jìn)行雙貨叉系統(tǒng)的操作:同時(shí)搬運(yùn)兩件貨物并分別把它們放置在指定的位置,在不同位置取兩件貨物并回到出入口.上述工作流程能通過(guò)在四個(gè)不同的位置存、取操作來(lái)實(shí)現(xiàn)。因此，運(yùn)行時(shí)間將由一個(gè)單指令任務(wù)時(shí)間再加上三個(gè)運(yùn)行時(shí)間。為了更有效的完成上述四個(gè)操作，在完成一個(gè)雙指令任務(wù)操作中就包含完成了在一個(gè)位置存、取操作。這種被稱為四指令任務(wù)流程的模擬操作系統(tǒng)能減少運(yùn)行時(shí)間，因而比此前的所提的模擬系統(tǒng)要更能提高效率。四重指令任務(wù)流程能在倉(cāng)庫(kù)的任意一位置完成存儲(chǔ)操作，而取貨程序是按照先到先服務(wù)的原則處理。即使如此，合理的按排取貨的順序也能顯著的減少四種操作中的運(yùn)行時(shí)間，Han曾經(jīng)這樣分析以提高單貨臺(tái)立體倉(cāng)庫(kù)系統(tǒng)的工作效率。本文的分析也是以他們的研究為基礎(chǔ)的。 6. 結(jié)論 本文對(duì)自動(dòng)化立體倉(cāng)庫(kù)中的一種雙貨架堆垛機(jī)進(jìn)行了較為詳細(xì)的分析，應(yīng)用這種倉(cāng)儲(chǔ)系統(tǒng)所帶來(lái)的好處表現(xiàn)在以下兩個(gè)方面：1．四種操作運(yùn)行中與單一貨叉的堆垛機(jī)相比，雙貨叉堆垛機(jī)可以提高工作效率的范圍是40%到45%。 2．一個(gè)雙任務(wù)操作中，雙貨叉的設(shè)計(jì)顯著縮短了運(yùn)行時(shí)間。雙貨叉系統(tǒng)使提高倉(cāng)庫(kù)的工作效率成為可能。這種設(shè)計(jì)主要的缺點(diǎn)是要增加堆垛機(jī)的額外成本。在決定是否適合于某一特定情況時(shí)，對(duì)其經(jīng)濟(jì)估算通常是必要的。盡管如此，基于立體倉(cāng)庫(kù)工作效率的考慮，雙設(shè)計(jì)貨叉臺(tái)堆垛機(jī)系統(tǒng)還是大有前景的。雙貨架系統(tǒng)的概念也可延伸到其它物流系統(tǒng)中去。因此，在這項(xiàng)工作時(shí)有必要對(duì)其它倉(cāng)庫(kù)系統(tǒng)（比如基本的倉(cāng)儲(chǔ)系統(tǒng)）進(jìn)行戰(zhàn)略考慮，相比之下以便于發(fā)現(xiàn)它們?cè)谔岣吖ぷ餍史矫娴牟蛔氵@處，本文還提供了一種雙貨叉自動(dòng)化立體倉(cāng)庫(kù)的分析框架并為其它與之相關(guān)的一些研究提供了基礎(chǔ)。 ? ? An?Analysis?of?Dual?Shuttle?Automated Storage/Retrieval?Systems Abstract:This?paper?addresses?the?throughput?improvement?possible?with?the?use?of?adual?shuttle?automated?storage?and?retrieval?system.?With?the?use?of?such?asystem,?travel?between?time?in?a?dual?command?cycle?is?virtually?eliminatedresulting?in?a?large?throughput?improvement.?The?dual?shuttle?system?is?thenextended?to?perform?an?equivalent?of?two?dual?commands?in?one?cycle?in?aquadruple?command?mode?(QC).?A?heuristic?that?sequences?retrievals?tominimize?travel?timein?QC?mode?is?developed.?Monte?Carlo?simulation?resultsare?providedfor?evaluating?the?heuristic's?performance?and?show?that?it?performswell,achieving?large?throughput?improvementscompared?with?that?of?the?dualcommand?cycle?operating?under?the?nearest?neighbor?retrieval sequencing heuristic. Keywords:Automated warehouse Automatic control of the three-dimensional werhouse Funcyional simuiation and analysis 1. Introduction Automated warehouse is widely used in warehousing and manufacturing equipment. The unit cargo warehouse by typical storage shelves, stacking machine, automatic transport vehicle, and import and export platform. The main standard to measure a warehouse system is warehouse system efficiency. The work efficiency of warehouse and stacker the operation required a work flow time is inversely proportional to the flow time including stacker loading time, stacker loading time obviously depends on the stacker and shelf structure and specifications. Han through three-dimensional warehouse return site arrangement, improve the three-dimensional warehouse work ability, reasonable arrangement back Back to the site of stacking to reduce unnecessary travel function, so as to shorten the time and improve the efficiency. So they proposed to maximize the efficiency of theory, namely if the stacker in double instruction module process can shorten the running time it will maximize warehouse efficiency. That is to say, if the stacker is running a single command line, it can complete the inventory and return to action, improve the work efficiency is also achieved. In this paper, we analyze an alternative stacker stacker design method, and the general design of the stacking machine this is different, a fork are added, the novel design of stacker has two forks, it can shorten the operation time to return to the point between the on the shelf in the operation. The design conforms to the theoretical maximum efficiency Han said. Double fork stacker is mainly for a novel stacker stacker to improve the ability to work the problem of design. At present, research on warehouse system is to fork stacker as the main object. In this paper, a double fork stacker function The analysis is based on previous studies. 2. Alternative stacker design A basic loading single warehouse system, each shelf tunnel have a stacker for stacking machine operation, each one upright post is fixed between the ceiling and the ground, this column can move the horizontal position in the tunnel. And the column is connected to a goods fork mechanism, it can be loaded with goods moving along the column, the fork can also be compared with the level of prices of goods and goods inventory movement. A basic single fork stacker warehouse system can complete a single instruction process can complete a double instruction process. A single instruction process by the goods, the time required for an inventory process including the stacker in storage at the loading of the goods, driving to the target prices of goods and unloading of cargo, and then returned to the warehouse at the entrance of the total time required for a series of actions. The same can analyze the time required to pick up. A dual instruction process is the completion of inventory and delivery operations in the same working process. This process includes the time from the entrance to the inventory of goods loading, operation location, put the goods on the shelves empty run to the prices of goods location pick up, take the goods from the shelves, back to the warehouse at the entrance and discharge this process requires a total time of goods. If we double the stacker work instruction process route some analysis will be found, when completed in a freight operation, suggests that the inventory can the next operation, and, if in the same place to goods operation, so the running time will be shortened, the running time of the equivalent of running a single instruction, the time required to process. The existing warehouse design, the operation is not possible, therefore, in addition to a double fork type stacking machine came into being. 3. The operation of a stacker Imagine a computer installed stacker two fork, this novel stacker can be loaded at the same time two pieces of goods, in order to two pieces of goods can respectively store and warehouse, so the two fork mechanism of stacker can run independently, the specific structure as shown in Figure 3, the working process of the stacker in the following details. The stacker loads the stored goods from the entrance of the warehouse to the first pallet platform and then supplies the goods. The location of the mobile. After arriving to pick up the position, the second fork Taiwan extension goods shelf pick up, when to pick up the finished stacking machine to control the first fork stacker. Taiwan unloading and then return to the entrance. The whole process is like a single instruction operation plus a short re positioning operation the process (i.e. second stacker fork platform for loading and unloading process, as a result, its operation) is like a stacking machine to complete the first complete a double task and then pick up the inventory orders. Because the stacker two fork platform, so the positioning control two fork will be a very important function of the system. The two fork can complete a deposit in the same location of a shelf stacker, taking double task instructions, to take in air cargo warehouse in Taiwan the goods, then move second fork to the specified location of the goods on the goods shelf. However, regardless of the content selection and the discussion of the fork platform structure. In order to achieve the above operation, second fork stacker must complete the pickup action only after the positioning operation in the first fork. The positioning fork movement amount is small, stacker is used to realize the positioning of crawling fork small amount of movement of the time of discharge time and stacking machine the cost in the process of loading in general is very little compared. Another characteristic of warehouse design is the two ends of the first and last row row goods lattice SKUs to leave the position to give allowance, two fork left room for movement in the platform stacker overrun. 4. Improved work efficiency In order to work double fork system is designed to improve the estimation, we refer to the single task and dual task command Bozer and White proposed the time required for Han et al. theory and proposed recently meaningful ideas of value theory, these theorists have made assumptions, they want to set common part is that we will quote the content the following is the content of the theory, warehouse shelves were considered. A continuous rectangular frame, the goods / office is set in the prices of goods in the lower left corner position. Speed rack length and width and vertical and horizontal stacker operation should be clear. The fork stacker can be the same In the horizontal and vertical direction of the two movement, following treatment in the calculation of the running time, the fork of the uniform motion in the horizontal and vertical direction, acceleration and deceleration buffer limit speed, crawl speed used to locate the two fork. Assumption and logistics process related loading and unloading of goods in time therefore, it can be a constant, simple to operation time. The stacker only to single instruction requirements and dual instruction requirements for the foundation, for example, does not allow multiple stacking machine start and stop in the tunnel. (stacker this hypothesis was later applied to the new design of finishing four in line with the short process. Adjacent to the Enlightenment of thoughts, N can be used to pick up the number and arrangement of m open position in the cargo box. 5. Double pallet stacker system The new design of the stacker two fork, so you can double fork on the operation of the system. At the same time handling two pieces of goods are placed in the specified position in a different location from two pieces of goods and return to the entrance. The work flow can pass in four different positions. To achieve the operation. Therefore, the running time will be from a single instruction task time plus three hours of operation. In order to complete the four operations, after the completion of a dual task operation contains instructions completed in a position, take the operation. This is called the simulation operating system the four task flow instructions can reduce the running time, so it is better than the The simulation system had asked more. It can improve the efficiency of four instruction can complete the task flow storage operation in the warehouse at any location, and pick up program is on a first come, first served principle. Even so, reasonable arrange pick up the order also can significantly reduce the running time of operation in four once, Han analysis to improve single cargo warehouse system working efficiency. The analysis is based on their research. 6. Conclusion This paper makes a detailed analysis of a double shelf stacker in automated warehouse, the warehouse application system of the benefits in the following two aspects: four compared to the 1. stacker operation with a single fork, the range of double fork stacker can improve the work efficiency is 40% 45%. 2. a dual task operation, the design of double fork significantly shortened the running time. The double fork system to improve the warehouse work efficiency becomes possible. This design main disadvantage is to increase the additional cost of stacker. In deciding whether or not suitable for a particular situation, it is often necessary to the economic estimate Nevertheless, warehouse work efficiency based on the design of double fork stacker system is promising. The concept of double shelf system can also be extended to other logistics system. Therefore, it is necessary for other warehouse system in this work (for example the basic strategic storage system) consider, in contrast to find their problems at the Department to improve work efficiency, this paper also provides an analytical framework of double fork automated warehouse and provide a basis for other related studies. 指 導(dǎo) 教 師 評(píng) 語(yǔ) 外文翻譯成績(jī)： 指導(dǎo)教師簽字： 年 月 日 注：1. 指導(dǎo)教師對(duì)譯文進(jìn)行評(píng)閱時(shí)應(yīng)注意以下幾個(gè)方面：①翻譯的外文文獻(xiàn)與畢業(yè)設(shè)計(jì)（論文）的主題是否高度相關(guān)，并作為外文參考文獻(xiàn)列入畢業(yè)設(shè)計(jì)（論文）的參考文獻(xiàn)；②翻譯的外文文獻(xiàn)字?jǐn)?shù)是否達(dá)到規(guī)定數(shù)量（3 000字以上）；③譯文語(yǔ)言是否準(zhǔn)確、通順、具有參考價(jià)值。 2. 外文原文應(yīng)以附件的方式置于譯文之后。 12