Stereo garage stacking machine multi-mechanism cooperative vibration suppression control method

Abstract

The embodiment of the application provides a kind of stereo garage stacker multi-mechanism collaborative vibration control method, it is related to automation control technical field, the method is by various sensors real-time acquisition stacker operating state parameters, and calculate vibration-tension coupling coefficient;When coupling coefficient exceeds preset threshold, the dynamic adjustment of chain tension is carried out to improve structural stiffness, in the process of vehicle taking and placing, the theoretical braking distance is calculated, and when meeting triggering condition, fork buffer assembly is started in advance to realize pre-buffer control;When detecting that column inclination exceeds set threshold, reduce the running speed of lifting drive mechanism, improve chain tension and start column anti-shake mechanism to realize collaborative adjustment.The method can realize the collaborative control of stacker multi-mechanism, reduce running vibration and vehicle taking impact, improve equipment running stability and safety.

Description

Technical Field

[0001] This invention relates to the field of automated equipment control technology, and in particular to a multi-mechanism collaborative vibration suppression control method for stacker cranes in automated parking garages. Background Technology

[0002] With the increasing demand for urban parking, stacker cranes in automated parking garages are widely used as core equipment for automated vehicle storage and retrieval. During operation, stacker cranes are prone to structural vibration and instantaneous impact. Long-term operation can lead to problems such as chain slack, increased column sway, decreased positioning accuracy, and excessive impact when the forks are picking up vehicles, thereby affecting the safety and service life of the equipment.

[0003] In existing technologies, in order to reduce the impact of vibration, structures such as chain tensioning devices, column anti-sway mechanisms, or fork buffer devices are usually set on the equipment. However, most of these structures work independently and lack a unified dynamic collaborative control mechanism. Although existing control systems can collect some sensor data through PLC, most of them are only used for single equipment control or safety monitoring. They have not established a dynamic correlation between vibration and structural tension, nor have they formed a multi-mechanism linkage adjustment mechanism. Therefore, it is still difficult to achieve stable control under high-speed operation.

[0004] To address the aforementioned issues, stacker cranes urgently need to achieve coordinated vibration suppression and stable operation among their key mechanisms. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a multi-mechanism collaborative vibration suppression control method for stacker cranes in automated parking garages.

[0006] This application provides a multi-mechanism collaborative vibration suppression control method for stacker cranes in automated parking systems, which adopts the following technical solution: A multi-mechanism coordinated vibration suppression control method for an automated parking garage stacker crane is applied to an automated parking garage stacker crane including a lifting drive mechanism, a chain drive mechanism, a chain tensioning mechanism, a column guide structure, and a fork extension mechanism. This method collects the equipment's operating status through vibration sensors, chain tension sensors, position encoders, and tilt sensors installed on the stacker crane, and uses a controller to coordinately adjust the chain tensioning mechanism, fork drive mechanism, lifting drive mechanism, and column anti-sway mechanism. The method includes the following steps: S1. Operation status acquisition: During the operation of the stacker crane, the vibration acceleration value a of the main structure of the stacker crane is obtained by the vibration sensor, the chain tension force T is obtained by the chain tension sensor, the operating speed v of the fork extension mechanism and the remaining distance d between the fork and the target pick-up and put-down position are obtained by the position encoder, and the tilt angle θ of the column structure is obtained by the tilt sensor. The above data are input to the controller to form real-time operation status data. S2. Vibration-Tension Coupling Assessment: The controller calculates the vibration-tension coupling coefficient K based on the collected vibration acceleration a and chain tension T, and compares the coupling coefficient K with the preset stability range. When the coupling coefficient K exceeds the first threshold, it is determined that the stacker crane has a tendency for increased structural vibration or chain slack. S3, Chain tension adjustment: When the coupling coefficient K exceeds the first threshold, the controller drives the chain tensioning mechanism to increase the chain tension T and continuously monitors the vibration acceleration a, so that the coupling coefficient K returns to the preset stable range; S4. Fork pre-buffering control: During the vehicle pick-up and drop operation of the stacker crane, the controller calculates the theoretical braking distance S of the forks based on the fork running speed v and the remaining distance d. When the theoretical braking distance S reaches the preset trigger condition, the controller reduces the running speed of the fork drive mechanism in advance and starts the fork buffer component, so that the forks gradually decelerate before approaching the target position. S5. Anti-sway control of columns: When the tilt sensor detects that the tilt angle θ of the column exceeds the set threshold, the controller simultaneously reduces the running speed of the lifting drive mechanism, increases the chain tension, and activates the anti-sway mechanism of the column to improve the structural rigidity, thereby suppressing the structural sway generated during the operation of the stacker crane. S6. Closed-loop adjustment: The controller periodically repeats steps S1 to S5 to continuously monitor and dynamically adjust the stacker crane's operating status. When the coupling coefficient K exceeds the stable range for multiple consecutive cycles, it automatically switches to a low-speed stable operation mode to reduce equipment vibration.

[0007] Optionally, the vibration-tension coupling coefficient K is determined by the ratio of vibration acceleration a to chain tension T, and is used to characterize the coupling relationship between the vibration state of the stacker crane structure and the chain tension state.

[0008] Optionally, in step S3, the chain tensioning mechanism drives the tensioning motor to move the tensioning wheel to change the effective length of the chain, thereby realizing the dynamic adjustment of the chain tension.

[0009] Optionally, in step S4, the theoretical braking distance S of the fork is calculated based on the fork running speed v and the system's preset deceleration parameters, and the fork pre-buffering control is triggered when the theoretical braking distance S and the remaining distance d satisfy a preset proportional relationship.

[0010] Optionally, the anti-sway mechanism of the column in step S5 is a locking device or damping structure installed on the column guide structure. When the column tilt angle θ exceeds the threshold, the anti-sway mechanism of the column is activated to increase the lateral stiffness of the column.

[0011] Optionally, in step S6, when the controller detects that the vibration-tension coupling coefficient K is higher than the stable range for multiple consecutive sampling periods, it automatically reduces the operating speed of the lifting drive mechanism and the fork drive mechanism to enter a low-speed stable operation mode.

[0012] In summary, this application includes at least one of the following beneficial technical effects: By real-time acquisition of operating parameters such as vibration acceleration, chain tension, fork travel speed, and column tilt angle, and calculating the vibration-tension coupling coefficient to determine the structural stability of the equipment, the chain tensioning mechanism can dynamically adjust according to vibration changes, thereby improving the overall structural rigidity of the stacker crane and suppressing operational vibration. By calculating the theoretical braking distance based on the fork travel speed and remaining distance, the buffer component is activated in advance and the drive speed is reduced before the forks approach the target position, allowing the forks to gradually decelerate before contacting the vehicle or pallet, thus avoiding impact at the moment of contact and improving stability and safety during vehicle storage and retrieval. By reducing the operating speed of the lifting drive mechanism, increasing the chain tension, and activating the column anti-sway mechanism, multi-mechanism coordinated adjustment is achieved, thereby quickly suppressing structural sway and restoring a stable operating state. Through the above-mentioned coordinated control mechanism, this invention can effectively reduce the operating vibration and impact of the stacker crane without significantly increasing the complexity of the hardware structure, improving the operational stability and safety of the equipment, while extending the service life of the chain drive mechanism and structural components. Attached Figure Description

[0013] Figure 1 This is the overall flowchart of this method. Detailed Implementation

[0014] The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to also include expressions such as “one or more,” unless the context clearly indicates otherwise. It should also be understood that in the following embodiments of this application, “at least one” and “one or more” refer to one, two, or more than two. The term “and / or” is used to describe the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can indicate: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character “ / ” generally indicates that the preceding and following related objects are in an “or” relationship.

[0015] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0016] The following is in conjunction with the appendix Figure 1 The present invention will be described in further detail below.

[0017] This application discloses a multi-mechanism collaborative vibration suppression control method for a stacker crane in an automated parking garage. It is applied to the control system of the stacker crane, which includes a lifting drive mechanism, a chain tensioning mechanism, a column anti-sway mechanism, and a fork extension mechanism. This method uses vibration sensors, tension sensors, position encoders, and tilt sensors to collect the operating status in real time, and dynamically adjusts the operating parameters of each actuator based on the coupling relationship between vibration and chain tension. Figure 1 This includes the following steps: S1. Operation Status Acquisition: After the stacker crane starts running, the control system collects the equipment's operating status in real time through various sensors set at key structural positions of the stacker crane. Among them, the vibration sensor is used to obtain the vibration acceleration value a of the main structure of the stacker crane during operation, the chain tension sensor is used to obtain the current tension T of the transmission chain, the position encoder is used to obtain the operating speed v of the fork extension mechanism and the remaining distance d between it and the target vehicle position, and the tilt angle sensor is used to obtain the tilt angle θ of the column structure. All collected signals are filtered and then input to the controller to form a real-time operating status dataset.

[0018] S2. Vibration-Tension Coupling Assessment: The controller calculates the vibration-tension coupling coefficient K based on the collected vibration acceleration a and chain tension T, where K is the ratio of vibration acceleration a to chain tension T, used to reflect the structural stiffness and operational stability of the stacker crane. When the coupling coefficient K is within the preset stable range, the system maintains its current operating state. When the coupling coefficient exceeds the first threshold, it is determined that the chain is slack or the structural vibration is increasing. At this time, the controller drives the chain tensioning mechanism to fine-tune the chain tension to improve the overall structural stiffness, and recalculates the coupling coefficient in real time until it returns to the stable range. The stable range of K can be set according to the stacker crane structural parameters and operating tests. For example, when the vibration acceleration a is 0.2g and the chain tension T is 800N, the baseline coupling coefficient K0 is obtained. Through multiple operating tests, the stable range is determined to be 0.8K0~1.2K0. When K exceeds 1.2K0, it is determined to be a state of increased vibration, thereby triggering chain tension adjustment.

[0019] S3. Fork Pre-buffering Control: During the vehicle retrieval and placement operation of the stacker crane, the control system calculates the theoretical braking distance S of the forks based on the current running speed v of the forks and the remaining distance d between the forks and the target position. The theoretical braking distance S is calculated as: S = v² / (2a0), where v is the running speed of the forks and a0 is the average deceleration that the fork drive mechanism can achieve during the deceleration phase. When the ratio between the theoretical braking distance and the remaining distance reaches the preset trigger condition, such as when the controller compares the theoretical braking distance S with the remaining running distance d of the forks, if S ≥ 0.8d, the buffer control is triggered in advance, causing the fork drive motor to enter the deceleration state and start the buffer component. The control system starts the fork buffer component in advance and reduces the speed of the fork drive motor, so that the forks gradually decelerate before contacting the vehicle or pallet, thereby avoiding the instantaneous impact generated by the traditional passive buffering method and improving the stability during vehicle storage and retrieval.

[0020] S4. Anti-sway Cooperative Control of Columns: During the lifting or horizontal movement of the stacker crane, when the tilt sensor detects that the tilt angle θ of the column exceeds the preset stability threshold, the control system simultaneously performs three cooperative adjustment operations: reducing the running speed of the lifting drive mechanism, driving the chain tensioning mechanism to increase the chain tension, and activating the anti-sway locking device of the column to increase the lateral stiffness of the column. The chain tensioning mechanism can adopt a motor-driven tensioning wheel structure, which includes a tensioning motor, a lead screw adjustment mechanism, and a tensioning wheel assembly. The tensioning motor drives the lead screw to rotate, causing the tensioning wheel to move along the guide rail, thereby changing the effective length of the chain to adjust the chain tension. The controller controls the running time or rotation angle of the tensioning motor according to the change of the coupling coefficient K, so as to realize the dynamic adjustment of the chain tension. The column anti-sway mechanism can adopt a locking structure or a damping structure, such as an electromagnetic locking device or a hydraulic damper set between the column guide rails. When the tilt sensor detects that the column tilt angle θ exceeds the set threshold, the controller drives the locking device or damping structure to work, thereby improving the lateral stiffness of the column and suppressing the structural sway. Through the coordinated adjustment of the above-mentioned multiple mechanisms, the sway of the stacker crane structure is suppressed and a stable operating state is restored.

[0021] S5. Closed-loop operation adjustment: After completing the above adjustment, the control system continues to periodically collect operating data such as vibration acceleration, chain tension, fork position and column tilt angle, and continuously updates the vibration-tension coupling coefficient K. When the coupling coefficient is detected to be higher than the stable range for several consecutive cycles, the control system automatically switches to a low-speed stable operation mode to reduce the equipment operating speed and reduce structural vibration. At the same time, the operating data is recorded for subsequent equipment maintenance and parameter optimization, thus forming a complete closed-loop collaborative control process.

[0022] In a typical multi-level parking garage application scenario, the stacker crane is set up in the aisle between multiple parking spaces. Its main structure includes a lifting drive mechanism, a chain drive mechanism, and a fork extension mechanism for vehicle storage and retrieval. Vibration sensors, chain tension sensors, position encoders, and column tilt sensors are installed on the main structure of the stacker crane. Each sensor is electrically connected to the controller to collect the equipment's operating status in real time.

[0023] Under normal operating conditions, when the stacker crane performs vehicle storage and retrieval tasks, the control system first collects data in real time according to step S1, including vibration acceleration, chain tension, fork position, and column tilt angle. For example, during a vehicle retrieval process, the vibration sensor detects a structural vibration acceleration of 0.28g for the stacker crane, and the chain tension sensor detects a chain tension of 820N. The controller calculates the vibration-tension coupling coefficient based on the collected data and determines that the equipment is in a stable operating state.

[0024] As the stacker crane continues to operate, when the chain becomes slightly slack due to long-term operation, the vibration acceleration gradually increases to 0.35g. At this point, the calculated coupling coefficient exceeds the preset threshold. The control system automatically drives the chain tensioning motor to fine-tune the chain, increasing the chain tension to about 900N, thereby restoring the structural stiffness and reducing the vibration acceleration to a stable range.

[0025] During the vehicle retrieval operation, when the forks extend and approach the vehicle pallet, the control system calculates the theoretical braking distance based on the fork speed and remaining distance. When the calculated result is close to the remaining distance, the system activates the buffer component in advance and reduces the speed of the drive motor, so that the forks gradually decelerate before contacting the vehicle, thereby avoiding the impact force generated by the traditional buffer structure at the moment of contact.

[0026] When the stacker crane is moving up and down at a high position, if the column structure is slightly tilted due to lateral wind load or running inertia, the tilt sensor detects that the column tilt angle exceeds the set threshold. At this time, the control system simultaneously reduces the lifting drive speed, increases the chain tension, and activates the column locking device, thereby quickly suppressing structural swaying and restoring stable operation.

[0027] Through the above-mentioned collaborative control mechanism, the present invention can achieve a dynamic balance between the operating vibration and structural tension of the stacker crane without increasing the complexity of the hardware structure, so that the equipment can maintain high stability and safety even when operating at high speed.

[0028] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. Any equivalent modifications or variations made by those skilled in the art based on the content disclosed in the present invention should be included within the scope of protection set forth in the claims.

Claims

1. A multi-mechanism collaborative vibration suppression control method for a stacker crane in an automated parking garage, applied to a stacker crane in an automated parking garage including a lifting drive mechanism, a chain drive mechanism, a chain tensioning mechanism, a column guide structure, and a fork extension mechanism, characterized in that, This method collects the equipment's operating status using vibration sensors, chain tension sensors, position encoders, and tilt sensors installed on the stacker crane, and coordinates the chain tensioning mechanism, fork drive mechanism, lifting drive mechanism, and column anti-sway mechanism through a controller. The method includes the following steps: S1. Operation status acquisition: During the operation of the stacker crane, the vibration acceleration value a of the main structure of the stacker crane is obtained by the vibration sensor, the chain tension force T is obtained by the chain tension sensor, the operating speed v of the fork extension mechanism and the remaining distance d between the fork and the target pick-up and put-down position are obtained by the position encoder, and the tilt angle θ of the column structure is obtained by the tilt sensor. The above data are input to the controller to form real-time operation status data. S2. Vibration-Tension Coupling Assessment: The controller calculates the vibration-tension coupling coefficient K based on the collected vibration acceleration a and chain tension T, and compares the coupling coefficient K with the preset stability range. When the coupling coefficient K exceeds the first threshold, it is determined that the stacker crane has a tendency for increased structural vibration or chain slack. S3, Chain tension adjustment: When the coupling coefficient K exceeds the first threshold, the controller drives the chain tensioning mechanism to increase the chain tension T and continuously monitors the vibration acceleration a, so that the coupling coefficient K returns to the preset stable range; S4. Fork pre-buffering control: During the vehicle pick-up and drop operation of the stacker crane, the controller calculates the theoretical braking distance S of the forks based on the fork running speed v and the remaining distance d. When the theoretical braking distance S reaches the preset trigger condition, the controller reduces the running speed of the fork drive mechanism in advance and starts the fork buffer component, so that the forks gradually decelerate before approaching the target position. S5. Anti-sway control of columns: When the tilt sensor detects that the tilt angle θ of the column exceeds the set threshold, the controller simultaneously reduces the running speed of the lifting drive mechanism, increases the chain tension, and activates the anti-sway mechanism of the column to improve the structural rigidity, thereby suppressing the structural sway generated during the operation of the stacker crane. S6. Closed-loop adjustment: The controller periodically repeats steps S1 to S5 to continuously monitor and dynamically adjust the stacker crane's operating status. When the coupling coefficient K exceeds the stable range for multiple consecutive cycles, it automatically switches to a low-speed stable operation mode to reduce equipment vibration.

2. The multi-mechanism collaborative vibration suppression control method for a stacker crane in a multi-level parking garage according to claim 1, characterized in that: The vibration-tension coupling coefficient K is determined by the ratio of vibration acceleration a to chain tension T, and is used to characterize the coupling relationship between the vibration state of the stacker crane structure and the chain tension state.

3. The multi-mechanism collaborative vibration suppression control method for a stacker crane in a multi-level parking garage according to claim 1, characterized in that: In step S3, the chain tensioning mechanism drives the tensioning motor to move the tensioning wheel to change the effective length of the chain, thereby realizing the dynamic adjustment of the chain tension.

4. The multi-mechanism collaborative vibration suppression control method for a stacker crane in a multi-level parking garage according to claim 1, characterized in that: In step S4, the theoretical braking distance S of the fork is calculated based on the fork running speed v and the system's preset deceleration parameters, and the fork pre-buffering control is triggered when the preset proportional relationship is satisfied between the theoretical braking distance S and the remaining distance d.

5. The multi-mechanism collaborative vibration suppression control method for a stacker crane in a multi-level parking garage according to claim 1, characterized in that: In step S5, the anti-sway mechanism of the column is a locking device or damping structure installed on the column guide structure. When the column tilt angle θ exceeds the threshold, the anti-sway mechanism of the column is activated to increase the lateral stiffness of the column.

6. The multi-mechanism collaborative vibration suppression control method for a stacker crane in a multi-level parking garage according to claim 1, characterized in that: In step S6, when the controller detects that the vibration-tension coupling coefficient K is higher than the stable range for multiple consecutive sampling periods, it automatically reduces the operating speed of the lifting drive mechanism and the fork drive mechanism to enter a low-speed stable operation mode.

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