The Control System Design Of High Density Agile Delivery System Prototyping Platform

Logistics has become the "third profit source" after resource and manpower. China’s logistics continues to expanding, but the overall level is not high, resulting in high cost and low efficiency. So, raise higher requirements to the development of logistics technology and equipments. Warehousing is an important link of logistics, the warehousing equipments is developing rapidly like AS/RS, but their advantage is no longer obvious when face of large-scale storage and fast sorting. Therefore, the research group put forward the High Density Agile Delivery System based on AS/RS and through shelf.The key equipment of the High Density Agile Delivery System include grantry lifting shuttle, transplanting rail car, through shelf and conveyor, the system can achieve high-density storage, cargo automatic advance and continuous agile delivery. We analysed the system control strategy and workflow firstly, designed the storage process. Then, proposed the control system structure based CAN bus. Take each equipment as a key node to connect with the PC by CAN bus, and designed the interface circuit of CAN bus.Design the walking, lifting and transporting function of the Grantry lifting shuttle. Include the selection and driving control of the motor, the control model of running speed, the mode of operation identify and position detection. For walking, designed the function of precision control, locked position and return to zero calibration. For lifting, designed agencies fall protection, stability-oriented mechanism and detection systems. For transport, designed tray detection system primarily, and analysed the power supply mode of the Grantry lifting shuttle. Finally, designed the main control module of the Grantry lifting shuttle, including the main control module, motor drive module, the location detection module and power module, completed the build of the entire control system circuits.Design the walking and lifting function of the Transplanting rail car and the transport function of the Conveyor. For walking, include the selection and driving control of motor, the design of rail and tray running guide mechanism. For lifting, include the design of lifting mechanism, lifting driving lifting lock and lifting platform. For the Conveyor, designed the control program, motor driving and the detection of cargo. Finally, completed the control system design of the Transplanting rail car, including the DC motor drive, the stepper motor drive and the input control module, to build the entire control system circuits.Finally, do reliability design of the High Density Agile Delivery System. Analysed the fault part, fault mode, fault reason and fault level of the system using FMEA. And do fault tree analysis of the Grantry lifting shuttle using FTA, put the shuttle does not running as the top event, established the fault tree model according to walking failure, lifting failure, transmission failure, control system failure and circuit failure.