Static deflection calculation method, electronic equipment and computer readable storage medium

Abstract

The invention discloses a static deflection calculation method, electronic equipment and a computer readable storage medium. The static deflection calculation method comprises the steps that the mass equivalent total bending moment of a cargo carrying table is obtained; the anti-bending section inertia moment of the stand column in the walking direction of the cargo carrying table is obtained; acquiring the height of the upright post, the elasticity modulus of the upright post, a first distance from the top end of the upright post to a forward wheel at the upper part of the cargo platform and the tread of the forward wheel of the cargo platform along the walking direction; based on the equivalent total bending moment, the anti-bending section inertia moment, the height, the elastic modulus, the first distance and the wheel track, the static deflection of the stand column is obtained. By means of the mode, parameters such as the mass equivalent total bending moment, the neutral plane of the stand column and the geometric position and structure of the cargo carrying table are determined, and then the static deflection of the stand column is subjected to structural parameterization analysis and calculation through the deflection curve equation, so that a rapid and effective calculation scheme is provided for the static deflection of the stand column; and the workload of measuring the deflection of the stand column is also saved.

Description

Technical Field

[0001] The present application relates to the field of mechanical calculation of stackers, and in particular to a static deflection calculation method, an electronic device and a computer-readable storage medium. Background Art

[0002] At present, with the rapid development of the logistics industry, there is an urgent need for single-column stackers whose stiffness meets the design requirements. In today's logistics industry, there is an increasing need for stackers that can be designed in combination with the on-site assembly environment of the stacker. Therefore, when assembling the stacker, the calculation and evaluation of the deflection in the walking direction of the stacker is particularly important. Under the action of load, the deflection of the stacker is closely related to the load, structural parameters and physical properties of the material. For the single-column stacker, the commonly used calculation methods and adjustment measurement measures for deflection are all discrete analysis methods of deflection, which cannot be systematically associated with the geometric structure and parameters of the stacker, which is not conducive to user differentiation and customization of products. Therefore, there is an urgent need for a method for calculating the static deflection of a single-column stacker. Summary of the invention

[0003] The present application proposes a static deflection calculation method, an electronic device and a computer-readable storage medium, aiming to solve the above-mentioned problems.

[0004] In order to solve the above technical problems, a technical solution adopted in the present application is: to provide a static deflection calculation method, which is applied to the column of a single-column stacker, and a movable cargo platform is arranged on one side of the column, and the static deflection calculation method includes: obtaining the equivalent total bending moment of the mass of the cargo platform; obtaining the moment of inertia of the bending section of the column along the walking direction of the cargo platform; obtaining the height of the column, the elastic modulus of the column, the first distance from the top of the column to the upper positive wheel of the cargo platform and the wheelbase of the positive wheel of the cargo platform along the walking direction; obtaining the static deflection of the column based on the equivalent total bending moment, the moment of inertia of the bending section, the height, the elastic modulus, the first distance and the wheelbase.

[0005] Among them, the step of obtaining the mass equivalent total bending moment of the cargo platform includes: obtaining the first equivalent bending moment of the cargo platform and the second equivalent bending moment of the load on the cargo platform; calculating the sum of the first equivalent bending moment and the second equivalent bending moment as the mass equivalent total bending moment of the cargo platform.

[0006] Among them, the steps of obtaining the first equivalent bending moment of the cargo platform and the second equivalent bending moment of the load on the cargo platform include: obtaining the mass of the cargo platform and the first lever arm from the cargo platform to the neutral plane of the column; calculating the first equivalent bending moment of the cargo platform based on the mass of the cargo platform and the first lever arm; obtaining the mass of the load on the cargo platform and the second lever arm from the load to the neutral plane of the column, and calculating the second equivalent bending moment of the load based on the mass of the load on the cargo platform and the second lever arm.

[0007] Among them, the step of obtaining the moment of inertia of the bending section of the column along the moving direction of the cargo platform includes: determining the equivalent section of the column along the moving direction of the cargo platform; and determining the moment of inertia of the bending section of the column based on the equivalent section.

[0008] In order to solve the above technical problems, another technical solution adopted in the present application is: to provide a static deflection calculation method, which is applied to the lower beam of a single-column stacker. The single-column stacker includes a column and a lower beam. A movable loading platform is provided on one side of the column, and the column is arranged above the lower beam. The static deflection calculation method includes: obtaining the rotation angle of the lower beam under the action of the column; obtaining the second distance from the neutral plane of the moment load of the lower beam to the top of the column; and calculating the static deflection of the lower beam based on the rotation angle and the second distance.

[0009] Among them, the step of obtaining the rotation angle of the lower beam of the column under the action of load includes: obtaining the total equivalent bending moment of the mass of the cargo platform, the cross-sectional moment of inertia of the lower beam, the elastic modulus of the lower beam and the geometric parameters of the lower beam; calculating the rotation angle based on the equivalent total bending moment, cross-sectional moment of inertia, elastic modulus and geometric parameters.

[0010] Among them, a first threaded hole and a second threaded hole for connecting with the column are arranged on the lower cross beam, and the geometric parameters include the total length of the lower cross beam, the first distance between the first threaded hole and the second threaded hole, the second distance between the first threaded hole and the neutral plane of the column, the third distance between the second threaded hole and the neutral plane of the column, the fourth distance between the first threaded hole and the end of the lower cross beam close to the first threaded hole, and the fifth distance between the second threaded hole and the end of the lower cross beam close to the second threaded hole.

[0011] In order to solve the above technical problems, another technical solution adopted in the present application is: to provide a static deflection calculation method, which is applied to a single-column stacker. The single-column stacker includes a column and a lower beam. The static deflection calculation method includes: using any of the above-mentioned static deflection calculation methods for the column to obtain the first static deflection of the column under the action of load; using any of the above-mentioned static deflection calculation methods for the lower beam to obtain the second static deflection of the lower beam under the action of cargo; superimposing the first static deflection and the second static deflection to obtain the total static deflection of the single-column stacker.

[0012] In order to solve the above technical problems, another technical solution adopted in the present application is: to provide an electronic device, which includes a processor and a memory connected to the processor, wherein program data is stored in the memory, and the processor executes the program data stored in the memory to execute the static deflection calculation method of the column of any one of the above items, the static deflection calculation method of the lower beam of any one of the above items and / or the static deflection calculation method of the single-column stacker.

[0013] In order to solve the above technical problems, another technical solution adopted in the present application is: providing a computer-readable storage medium, which stores program instructions, and the program instructions are executed by a processor to implement any of the above-mentioned methods for calculating the static deflection of the column, any of the above-mentioned methods for calculating the static deflection of the lower beam and / or the above-mentioned method for calculating the static deflection of the single-column stacker.

[0014] The beneficial effects of the present application are as follows: Different from the prior art, the static deflection calculation method of the present application first obtains the total mass equivalent bending moment of the cargo platform, the moment of inertia of the bending section of the column along the traveling direction of the cargo platform, and the moment of inertia of the bending section of the column along the traveling direction of the cargo platform; then obtains the height of the column, the elastic modulus of the column, the first distance from the top of the column to the upper positive wheel of the cargo platform, and the wheelbase of the positive wheel of the cargo platform along the traveling direction, and the static deflection of the column can be calculated based on the equivalent total bending moment, the moment of inertia of the bending section, the height, the elastic modulus, the first distance, and the wheelbase. In the above manner, the static deflection calculation method of the present application can determine the parameters such as the total mass equivalent bending moment, the neutral plane of the column, and the geometric position and structure of the cargo platform, and then use the deflection curve equation to perform structural parameterized analysis and calculation of the static deflection of the column, thereby providing a quick and effective calculation scheme for the static deflection of the column, and also saving the workload of measuring the deflection of the column. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0016] Figure 1 It is a flow chart of an embodiment of a method for calculating static deflection of a column of the present application;

[0017] Figure 2 It is a structural schematic diagram of a first embodiment of a single-column stacker;

[0018] Figure 3 yes Figure 1 A flowchart of a specific embodiment of step S101;

[0019] Figure 4 yes Figure 3 A flowchart of a specific embodiment of step S201;

[0020] Figure 5 yes Figure 1 A flowchart of a specific embodiment of step S102;

[0021] Figure 6 It is a flow chart of an embodiment of a method for calculating the static deflection of a beam in the present application;

[0022] Figure 7 It is a structural schematic diagram of the second embodiment of the single-column stacker of the present application;

[0023] Figure 8 yes Figure 7 A flowchart of a specific embodiment of step S501;

[0024] Fig. 9 It is a flow chart of an embodiment of a method for calculating static deflection of a single-column stacker of the present application;

[0025] Fig.10 It is a structural schematic diagram of an embodiment of the electronic device of the present application;

[0026] Fig.11 It is a structural diagram of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0027] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0029] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0030] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0031] At present, with the rapid development of the logistics industry, there is an urgent need for single-column stackers whose stiffness meets the design requirements. In today's logistics industry, there is an increasing need for stackers that can be designed in combination with the on-site assembly environment of the stacker. Therefore, when assembling the stacker, the calculation and evaluation of the deflection in the walking direction of the stacker is particularly important. Under the action of load, the deflection of the stacker is closely related to the load, structural parameters and physical properties of the material. For the single-column stacker, the commonly used calculation methods and adjustment measurement measures for deflection are all discrete analysis methods of deflection, which cannot be systematically associated with the geometric structure and parameters of the stacker, which is not conducive to user differentiation and customization of products. Therefore, there is an urgent need for a method for calculating the static deflection of a single-column stacker.

[0032] In order to solve the above problems, the present application first proposes a static deflection calculation method, which is applied to the column of a single-column stacker, and a movable cargo platform is provided on one side of the column. Figure 1 , Figure 1 1 is a flow chart of an embodiment of a method for calculating the static deflection of a column of the present application. Figure 1 As shown, in this embodiment, the column static deflection calculation method specifically includes steps S101 to S104:

[0033] Step S101: Obtain the mass equivalent total bending moment of the cargo platform.

[0034] In this example, see Figure 2 , Figure 2 Schematic diagram of the structure of the first embodiment of the single-column stacker of the present application. Figure 2 As shown, the single-column stacker 100 in this embodiment is set on a rigid ground, wherein the single-column stacker 100 includes a column 10, a base 20 and a cargo platform 30, and the cargo platform 30 is set on one side of the column 10 and is slidably connected to the column through a first positive wheel 41 and a second positive wheel 42.

[0035] by Figure 2 Taking the single-column stacker shown as an example, when calculating the static deflection of the column 10 of the single-column stacker 100, it is first necessary to obtain the mass equivalent total bending moment of the cargo platform 30 arranged on one side of the column 10. The mass equivalent total bending moment includes the equivalent bending moment of the cargo platform 30 and the equivalent bending moment of the load arranged on the cargo platform 30. The calculation method of the equivalent bending moment is described below and will not be described in detail here.

[0036] Step S102: Obtain the moment of inertia of the bending section of the column along the traveling direction of the cargo platform.

[0037] Secondly, when calculating the static deflection of the column 10, it is also necessary to obtain the moment of inertia of the bending section of the column 10 along the walking direction of the cargo platform 30. When obtaining the moment of inertia of the bending section of the column 10, the equivalent section of the column 10 is first determined, and then the neutral axis coordinates of the equivalent section are determined with the help of third-party software, and the moment of inertia of the bending section of the equivalent section on the XOY plane is calculated.

[0038] Step S103: Obtain the height of the column, the elastic modulus of the column, the first distance from the top of the column to the upper positive wheel of the cargo platform, and the wheelbase of the positive wheel of the cargo platform along the traveling direction.

[0039] In addition, when calculating the static deflection of the column 10, some structural parameters of the column 10 need to be obtained, such as Figure 2 As shown, it is also necessary to obtain the height H of the column 10 cp , elastic modulus E of column 10 1 , the first distance h from the top of the column 10 to the upper positive wheel (i.e., the first positive wheel 41) of the cargo platform 30 tx and the wheelbase L of the positive wheels of the cargo platform 30 along the travel direction tx ; Among them, Figure 2 In the embodiment shown, the wheelbase L tx That is, the distance between the first positive wheel 41 and the second positive wheel 42.

[0040] Step S104: Obtain the static deflection of the column based on the equivalent total bending moment, the moment of inertia of the bending section, the height, the elastic modulus, the first distance and the wheelbase.

[0041] Finally, after obtaining the equivalent bending moment, the moment of inertia of the bending section, and the height H of the column 10, cp , elastic modulus E of column 10 1 , the first distance h from the top of the column 10 to the upper positive wheel (i.e., the first positive wheel 41) of the cargo platform 30 tx and the wheelbase L of the positive wheels of the cargo platform 30 along the travel direction tx Then, the static deflection f of the column 10 can be calculated based on formula (1): 1 , where formula (1) is as follows:

[0042]

[0043] Among them, f 1 M is the static deflection value at the top of the column 10; e E is the mass equivalent total bending moment of the cargo platform 30 (N·m); 1 is the elastic modulus of the material of the column 10 (Pa); zl is the moment of inertia of the bending section of the column 10 along the walking direction of the cargo platform 30 (m 4 );H cp h is the height of the column 10 (m);tx L is the distance from the top of the column 10 to the first positive wheel of the cargo platform 30 (m); tx It is the wheelbase (m) between the first positive wheel 41 and the second positive wheel 42 of the cargo platform 30.

[0044] Different from the prior art, the static deflection calculation method of the column in this embodiment first obtains the mass equivalent total bending moment of the cargo platform, the moment of inertia of the bending section of the column along the traveling direction of the cargo platform, and the moment of inertia of the bending section of the column along the traveling direction of the cargo platform; then obtains the height of the column, the elastic modulus of the column, the first distance from the top of the column to the upper positive wheel of the cargo platform, and the wheelbase of the positive wheel of the cargo platform along the traveling direction, and the static deflection of the column can be calculated based on the equivalent total bending moment, the moment of inertia of the bending section, the height, the elastic modulus, the first distance and the wheelbase. In the above manner, the static deflection calculation method of the present application can determine the parameters such as the mass equivalent total bending moment, the neutral plane of the column and the geometric position and structure of the cargo platform, and then use the deflection curve equation to perform structural parameterized analysis and calculation of the static deflection of the column, thereby providing a quick and effective calculation scheme for the static deflection of the column, and also saving the workload of measuring the deflection of the column.

[0045] Alternatively, the method for obtaining the mass equivalent total bending moment is as follows: Figure 3 See Figure 3 , Figure 3 yes Figure 1 FIG. 1 is a flow chart of a specific embodiment of step S101. Figure 3 As shown, this embodiment can be Figure 3 The method shown implements step S101, and the specific implementation steps include steps S201 to S202:

[0046] Step S201: Obtain a first equivalent bending moment of a cargo platform and a second equivalent bending moment of a load on the cargo platform.

[0047] In this embodiment, when obtaining the mass equivalent total bending moment of the cargo platform, it is necessary to obtain the first equivalent bending moment of the cargo platform itself and the second equivalent bending moment of the load on the cargo platform respectively.

[0048] Step S202: Calculate the sum of the first equivalent bending moment and the second equivalent bending moment as the mass equivalent total bending moment of the cargo platform.

[0049] The sum of the first equivalent bending moment and the second equivalent bending moment is the mass equivalent total bending moment of the cargo platform.

[0050] Optionally, a method for obtaining the first equivalent bending moment of the cargo platform and the second equivalent bending moment of the load on the cargo platform is as follows: Figure 4 See Figure 4 , Figure 4 yes Figure 3Schematic diagram of a specific embodiment of step S201 in FIG. Figure 4 As shown, this embodiment can be Figure 4 The method shown implements step S201, and the specific implementation steps include steps S301 to S304:

[0051] Step S301: Obtain the mass of the cargo platform and the first lever arm from the cargo platform to the neutral plane of the column.

[0052] When calculating the first equivalent bending moment of the cargo platform, it is necessary to obtain the mass of the cargo platform and the first force arm of the neutral plane from the cargo platform to the column.

[0053] Among them, Figure 2 As shown, the center plane of the column is the YOZ plane where the dotted line G is located.

[0054] Step S302: Calculate the first equivalent bending moment of the cargo platform based on the mass of the cargo platform and the first lever arm.

[0055] The first equivalent bending moment of the cargo platform can be obtained by calculating the product of the mass of the cargo platform and the first lever arm.

[0056] Step S303: Obtain the mass of the load on the cargo platform and the second lever arm of the load to the neutral plane of the column.

[0057] When calculating the second equivalent bending moment of the load on the cargo platform, it is necessary to obtain the mass of the load and the second force arm of the load to the neutral plane of the column.

[0058] Step S304: Calculate the second equivalent bending moment of the load based on the mass of the load on the cargo platform and the second lever arm.

[0059] The second equivalent bending moment of the load can be obtained by calculating the product of the mass of the load and the second lever.

[0060] In a specific embodiment, the mass of the cargo platform is 2567.172 kg, and the rated load on the cargo platform is 1200 kg. When obtaining the mass equivalent total bending moment Me of the cargo platform, the calculation process is as follows:

[0061] First calculate the first equivalent bending moment M of the cargo platform 1 , where M 1 =2567.172*g*l 1 (N·m), where g is the acceleration due to gravity, l 1 It is the first force arm from the neutral plane of the cargo platform to the column.

[0062] Then calculate the second equivalent bending moment M of the load 2 , where M 2 =1200*g*l 2 (N·m), where g is the acceleration due to gravity, l2 is the first moment arm of the load to the neutral plane of the column.

[0063] The first equivalent bending moment M 1 and the second equivalent bending moment M 2 The combined mass equivalent total bending moment M can be obtained e , where M e =M 1 +M 2 .

[0064] Among them, the first force arm l from the cargo platform to the neutral plane of the column 1 and the second force arm l loaded to the neutral plane of the column 2 It can be measured and obtained by other methods, which are not limited here.

[0065] Optionally, the method for obtaining the moment of inertia of the bending section is as follows: Figure 5 See Figure 5 , Figure 5 yes Figure 1 FIG. 1 is a flow chart of a specific embodiment of step S102. Figure 5 As shown, this embodiment can be Figure 5 The method shown implements step S102, and the specific implementation steps include step S401 to step S402:

[0066] Step S401: Determine the equivalent cross-section of the column along the traveling direction of the cargo platform.

[0067] In this embodiment, when obtaining the moment of inertia of the bending section of the column, it is first necessary to determine the equivalent cross-section of the column along the traveling direction of the cargo platform.

[0068] Step S402: Determine the bending section moment of inertia of the column based on the equivalent cross section.

[0069] After determining the equivalent cross-section of the column, the neutral axis coordinates of the equivalent cross-section can be determined with the help of third-party software, and the bending section moment of inertia of the equivalent cross-section on the XOY plane of the column can be calculated.

[0070] In other embodiments, other methods may be used to obtain the moment of inertia of the bending section of the column, which is not limited here.

[0071] Optionally, the present application further proposes a static deflection calculation method, which is applied to the lower beam of a single-column stacker, the single-column stacker comprising a column and a lower beam, a movable cargo platform is arranged on one side of the column, and the column is arranged above the lower beam. Figure 6 , Figure 6 1 is a flow chart of an embodiment of a method for calculating the static deflection of a beam in this application. Figure 6As shown, in this embodiment, the method for calculating the static deflection of the lower beam specifically includes steps S501 to S503:

[0072] Step S501: Obtain the rotation angle of the lower beam of the column under the load.

[0073] In this example, see Figure 7 , Figure 7 Schematic diagram of the structure of the second embodiment of the single-column stacker of the present application. Figure 7 As shown, the single-column stacker 100 in this embodiment is arranged above the lower beam 50 and is fixedly connected to the lower beam 50 through the base 20, wherein the single-column stacker 100 includes a column 10, a base 20 and a cargo platform 30, and the cargo platform 30 is arranged on one side of the column 10 and is slidably connected to the column through a first positive wheel 41 and a second positive wheel 42.

[0074] by Figure 7 Taking the single-column stacker shown as an example, when calculating the static deflection of the lower beam 50 of the single-column stacker 100, it is first necessary to obtain the rotation angle of the lower beam 50 under the load of the column 10. The calculation method of the rotation angle of the lower beam 50 is as follows, which will not be described in detail here.

[0075] Step S502: Obtain a second distance from the neutral plane of the moment load of the lower beam to the top of the column.

[0076] When calculating the static deflection of the lower beam 50 of the single-column stacker 100, it is also necessary to obtain the second distance from the neutral plane of the moment load of the lower beam to the top of the column, such as Figure 7 As shown, Figure 7 H 2 .

[0077] Step S503: Calculate the static deflection of the lower beam based on the rotation angle and the second distance.

[0078] Finally, after obtaining the rotation angle θ and the second distance H 2 After that, the static deflection f of the lower beam 50 can be calculated based on formula (2): 2 , where formula (2) is as follows:

[0079] f 2 =1000*θ*H 2 .....................(2)

[0080] Among them, f 2 H is the deflection value of the top of the column 10 caused by the rotation angle θ of the lower beam 50 under the load; 2 is the distance (m) from the neutral plane of the moment load of the lower beam 50 to the top of the column 10.

[0081] Different from the prior art, the static deflection calculation method of the lower beam in this embodiment establishes a load distribution model of the lower beam in the walking direction, determines the geometric parameters of the lower beam and the load it bears, constructs a deflection curve equation, and performs structural parametric analysis and calculation of the cross-section deflection and rotation angle of the lower beam, providing a quick and effective calculation solution for the static deflection calculation of the lower beam in the stacker, and also saves the workload of measuring the deflection of the entire stacker.

[0082] Optionally, the method for obtaining the rotation angle of the lower beam of the column under the load is as follows: Figure 8 See Figure 8 , Figure 8 yes Figure 7 FIG. 5 is a flow chart of a specific embodiment of step S501. Figure 8 As shown, this embodiment can be Figure 8 The method shown implements step S501, and the specific implementation steps include steps S601 to S602:

[0083] Step S601: Obtain the total equivalent bending moment of the cargo platform, the section moment of inertia of the lower beam, the elastic modulus of the lower beam, and the geometric parameters of the lower beam.

[0084] When obtaining the rotation angle of the lower beam of the column under the load, it is first necessary to obtain the total mass equivalent bending moment M of the cargo platform. e , the section moment of inertia of the lower beam I z , elastic modulus E of the lower beam 2 And the geometric parameters of the lower beam. Among them, the total equivalent bending moment of the cargo platform is M e The calculation method of is the same as above and will not be repeated here.

[0085] Among them, Figure 7 As shown, the lower cross beam 50 is provided with a first threaded hole and a second threaded hole (not shown) for connecting with the column. Specifically, the geometric parameters of the lower cross beam 50 include the total length L of the lower cross beam, the first spacing d between the first threaded hole and the second threaded hole, the second spacing d between the first threaded hole and the neutral plane G of the column 10, and the second spacing d between the first threaded hole and the neutral plane G of the column 10. 1 , the third distance d between the second threaded hole and the neutral plane of the column 2 , a fourth distance a between the first threaded hole and the end of the lower beam 50 close to the first threaded hole, and a fifth distance b between the second threaded hole and the end of the lower beam 50 close to the second threaded hole.

[0086] Step S602: Calculate the rotation angle based on the equivalent total bending moment, section inertia moment, elastic modulus and geometric parameters.

[0087] Finally, the equivalent total bending moment M e , the section moment of inertia of the lower beam I z, elastic modulus E of the lower beam 2 After the geometric parameters of the lower cross beam are determined, the rotation angle θ of the lower cross beam 50 can be calculated based on formula (3), wherein the calculation formula (3) of the rotation angle θ is as follows:

[0088]

[0089] Among them, M e E is the mass equivalent total bending moment of the cargo platform 30 (N·m); 2 is the elastic modulus of the material of the lower cross beam 50 (Pa); z is the moment of inertia of the bending section of the lower beam 50 (m 4 ); L is the total length of the lower cross beam 50; d is the first distance between the first threaded hole and the second threaded hole; d 1 is the second distance between the first threaded hole and the neutral plane G of the column 10; d 2 is the third distance between the second threaded hole and the neutral plane of the column; a is the fourth distance between the first threaded hole and the end of the lower beam 50 close to the first threaded hole; b is the fifth distance between the second threaded hole and the end of the lower beam 50 close to the second threaded hole; g is the acceleration of gravity, and m is the mass carried by the lower beam 50, wherein the mass carried by the lower beam 50 mainly comes from the mass of the column 10, the mass of the cargo platform 30 and the load.

[0090] Optionally, the present application further proposes a static deflection calculation method, which is applied to a single-column stacker, wherein the single-column stacker includes a column and a lower crossbeam. Fig. 9 , Fig. 9 1 is a flow chart of an embodiment of a method for calculating the static deflection of a single-column stacker of the present invention. Fig. 9 As shown, in this embodiment, the static deflection calculation method of the single-column stacker specifically includes steps S701 to S703:

[0091] Step S701: using any one of the above static deflection calculation methods for a column to obtain a first static deflection of the column under load.

[0092] First, the first static deflection f of the column under load needs to be calculated using the method and formula (1) as described above. 1 .

[0093] Step S702: using any of the above methods for calculating the static deflection of the lower beam, to obtain a second static deflection of the lower beam under the action of the cargo.

[0094] Then, the second static deflection f of the lower beam under load is calculated by the method and formulas (2) and (3) as described above: 2 .

[0095] Step S703: superimpose the first static deflection and the second static deflection to obtain the total static deflection of the single-column stacker.

[0096] Finally, the first static deflection f 1 and the second static deflection f 2 By superimposing them, the total static deflection F of the single-column stacker can be obtained.

[0097] In an application scenario, taking a certain type of single-column stacker as an example, its load distribution and key parameters are as follows: Figure 7 As shown, the load comes from the cargo platform 30 (the load is loaded on the cargo platform 450), the mass of the column 10, the mass of the lower beam 50, etc. Among them, the load change is mainly caused by the cargo platform 30 carrying the load and lifting along the column height.

[0098] In this embodiment, after determining the mass of the cargo platform 30, the rated load of the load and the relevant geometric parameters of the column 10, and obtaining the bending section moment of inertia of the column 10 through third-party software, this embodiment obtains the first static deflection of the column 10 through the above-mentioned static deflection calculation method and formula of the column 10.

[0099] The second static deflection of the lower cross beam 50 is obtained by obtaining the cross-sectional inertia moment of the lower cross beam 50 and the geometric parameters of the lower cross beam 50 and using the above-mentioned static deflection calculation method and formula of the lower cross beam 50 to calculate.

[0100] In summary, the first static deflection f 1 and the second static deflection f 2 The total static deflection F is obtained by superposition.

[0101] In addition, after obtaining the above-mentioned total static deflection, the present application also analyzes the above-mentioned single-column stacker 100 through finite element analysis software, and compares the total static deflection of the single-column stacker 100 obtained by the finite element analysis with the total static deflection obtained in this embodiment. After comparison, it is found that the error between the total static deflection F of the present application and the total static deflection obtained by the finite element analysis is only -1.89%.

[0102] Different from the prior art, the static deflection calculation method of the single-column stacker of this embodiment comprehensively considers the key loads of the single-column stacker, improves the calculation efficiency of the static deflection of the single-column stacker, and provides a convenient and effective deflection calculation and structural parameter optimization tool for the serialized structural design of new stackers. The static deflection calculation method proposed in this embodiment comprehensively calculates and evaluates the static deflection in the walking direction of the stacker from a design perspective, which not only reduces the workload of adjusting the deflection of the stacker and saves the workload of measuring the deflection of the stacker, but also does not significantly reduce the calculation accuracy of its static deflection.

[0103] Optionally, the present application further provides an electronic device. Please refer to Fig.10 , Fig.10 which is a schematic structural diagram of an embodiment of the electronic device of the present application. The electronic device 200 includes a processor 201 and a memory 202 connected to the processor 201.

[0104] The processor 201 can also be referred to as a CPU (Central Processing Unit). The processor 201 may be an integrated circuit chip with signal processing capabilities. The processor 201 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0105] The memory 202 is used to store program data required for the operation of the processor 201.

[0106] The processor 201 is further configured to execute the program data stored in the memory 202 to implement the static deflection calculation method of any one of the above.

[0107] Optionally, the present application further provides a computer-readable storage medium. Please refer to Fig.11 , Fig.11 which is a schematic structural diagram of an embodiment of the computer-readable storage medium of the present application.

[0108] The computer-readable storage medium 300 of the embodiment of the present application stores program instructions 310 internally, and the program instructions 310 are executed to implement the static deflection calculation method of any one of the above.

[0109] Among them, the program instructions 310 can form a program file and be stored in the above storage medium in the form of a software product, so that an electronic device (which can be a personal computer, a server, or a network device, etc.) or a processor can execute all or part of the steps of the methods of various embodiments of the present application. And the foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes, or a terminal device such as a computer, a server, a mobile phone, or a tablet.

[0110] The computer-readable storage medium 300 of this embodiment can be, but is not limited to, a USB flash drive, an SD card, a PD optical drive, a mobile hard disk, a large-capacity floppy drive, a flash memory, a multimedia memory card, a server, etc.

[0111] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs the steps in the above-mentioned method embodiments.

[0112] In addition, if the above functions are implemented in the form of software functions and sold or used as independent products, they can be stored in a storage medium readable by a mobile terminal, that is, the present application also provides a storage device storing program data, the program data can be executed to implement the method of the above embodiment, and the storage device can be, for example, a USB flash drive, an optical disk, a server, etc. In other words, the present application can be embodied in the form of a software product, which includes a number of instructions for enabling an intelligent terminal to execute all or part of the steps of the methods of each embodiment.

[0113] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0114] Any process or method description in a flowchart or otherwise described herein may be understood to represent a mechanism, segment or portion of a code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0115] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (which can be a personal computer, server, network device or other system that can fetch instructions from the instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable storage medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0116] The above are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A static deflection calculation method, It is characterized in that The column used for a single-column stacker, one side of which is provided with a movable cargo platform, the static deflection calculation method includes: Obtaining the mass equivalent total bending moment of the cargo platform; Obtaining the moment of inertia of the bending section of the column along the traveling direction of the cargo platform; Obtaining the height of the column, the elastic modulus of the column, the first distance from the top of the column to the upper positive wheel of the cargo platform, and the wheelbase of the positive wheel of the cargo platform along the walking direction; The static deflection of the column is obtained based on the equivalent total bending moment, the moment of inertia of the bending section, the height, the elastic modulus, the first distance and the wheelbase.

2. The static deflection calculation method according to claim 1, It is characterized in that The step of obtaining the mass equivalent total bending moment of the cargo platform comprises: Obtaining a first equivalent bending moment of the cargo platform and a second equivalent bending moment of the load on the cargo platform; The sum of the first equivalent bending moment and the second equivalent bending moment is calculated as the mass equivalent total bending moment of the cargo platform.

3. The static deflection calculation method according to claim 2, It is characterized in that The step of obtaining a first equivalent bending moment of the cargo platform and a second equivalent bending moment of the load on the cargo platform comprises: Obtaining the mass of the cargo platform and the first force arm from the cargo platform to the neutral plane of the column; Calculating a first equivalent bending moment of the cargo platform based on the mass of the cargo platform and the first lever arm; The mass of the load on the cargo platform and a second lever arm from the load to the neutral plane of the column are obtained, and a second equivalent bending moment of the load is calculated based on the mass of the load on the cargo platform and the second lever arm.

4. The static deflection calculation method according to claim 1, It is characterized in that The step of obtaining the moment of inertia of the bending section of the column along the walking direction of the cargo platform comprises: Determine the equivalent cross-section of the column along the traveling direction of the cargo platform; The moment of inertia of the bending section of the column is determined based on the equivalent cross section.

5. A static deflection calculation method, It is characterized in that The method for calculating the static deflection of a single-column stacker is applied to a lower crossbeam of a single-column stacker, wherein the single-column stacker comprises a column and the lower crossbeam, a movable cargo platform is arranged on one side of the column, and the column is arranged above the lower crossbeam. Obtaining the rotation angle of the lower beam of the column under the load; Obtaining a second distance from the neutral plane of the moment load of the lower beam to the top of the column; The static deflection of the lower beam is calculated based on the rotation angle and the second distance.

6. The static deflection calculation method according to claim 5, It is characterized in that The step of obtaining the rotation angle of the lower beam of the column under the load comprises: Obtaining the mass equivalent total bending moment of the cargo platform, the section inertia moment of the lower cross beam, the elastic modulus of the lower cross beam, and the geometric parameters of the lower cross beam; The rotation angle is calculated based on the equivalent total bending moment, the section moment of inertia, the elastic modulus and the geometric parameters.

7. The static deflection calculation method according to claim 6, It is characterized in that The lower cross beam is provided with a first threaded hole and a second threaded hole for connecting with the column, and the geometric parameters include the total length of the lower cross beam, the first distance between the first threaded hole and the second threaded hole, the second distance between the first threaded hole and the neutral plane of the column, the third distance between the second threaded hole and the neutral plane of the column, the fourth distance between the first threaded hole and the end of the lower cross beam close to the first threaded hole, and the fifth distance between the second threaded hole and the end of the lower cross beam close to the second threaded hole.

8. A static deflection calculation method, It is characterized in that Applied to a single-column stacker, the single-column stacker includes a column and a lower beam, and the static deflection calculation method includes: Obtaining a first static deflection of the column under load using the method described in any one of claims 1 to 4; Using the method described in any one of claims 5 to 7 to obtain the second static deflection of the lower beam under the action of the cargo; The first static deflection and the second static deflection are superimposed to obtain a total static deflection of the single-column stacker.

9. An electronic device, It is characterized in that The electronic device includes a processor and a memory connected to the processor, wherein the memory stores program data, and the processor executes the program data stored in the memory to implement the static deflection calculation method described in any one of claims 1 to 4, the static deflection calculation method described in any one of claims 5 to 7, and / or the static deflection calculation method described in claim 8.

10. A computer-readable storage medium, It is characterized in that Program instructions are stored therein, and the program instructions are executed to implement the static deflection calculation method described in any one of claims 1-4, the static deflection calculation method described in any one of claims 5-7 and / or the static deflection calculation method described in claim 8.

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