Stacking rack with split slide rail leveling

Abstract

This invention relates to the field of industrial automation equipment technology and provides a split-type slide rail leveling stacking rack, including a slide rail, an adjusting plate fixedly mounted at the bottom of the slide rail for adjusting the horizontal angle of the slide rail, a stacking support slidably mounted above the slide rail, and a slider slidably connected to the slide rail at the bottom of the stacking support; it also includes: a data acquisition module for real-time acquisition of the dynamic state parameters of the stacking support and the load; and a control module, communicatively connected to the data acquisition module, for performing dynamic leveling calculations based on the dynamic state parameters and generating hydraulic control commands. This invention uses a hinged connection between the adjusting plate and the bottom of the slide rail, and configures at least two hydraulic cylinders symmetrically arranged on the bottom side of the adjusting plate. Differential drive via the control module enables the adjusting plate to achieve precise multi-degree-of-freedom adjustment in spatial posture.

Description

Technical Field

[0001] This invention belongs to the field of industrial automation equipment technology, and particularly relates to a split slide rail leveling stacking rack. Background Technology

[0002] In the rubber products manufacturing industry, especially in production lines such as flip-molded cup machines, the stacking mechanism is a core component of the product off-line process, responsible for the orderly receiving and precise stacking of molded products from the conveyor belt. The operational stability and positioning accuracy of the stacking rack directly affect the continuous operation efficiency, product quality consistency, and safety assurance of the entire production line.

[0003] Currently, the commonly used floor-mounted stacking rack system in the industry relies on static installation and manual leveling: technicians need to repeatedly use a level to measure the surface of the slide rail at multiple points, and manually adjust the leveling bolts or add / remove shims to correct the horizontal angle. After reaching the initial level state, the slide rail is rigidly fixed and locked to the base support. This traditional solution has revealed systemic defects in long-term operation, seriously restricting production efficiency.

[0004] The primary problem lies in the mismatch between the static characteristics of the leveling mechanism and dynamic operating conditions. When the stacking support reciprocates on the slide rail, the total mass of the load, the height of the center of gravity, the real-time position of the slider, and the acceleration of motion continuously change. The resulting dynamic overturning moment causes elastic deflection of the slide rail, leading to a deviation of the actual horizontal angle from the initial set value. Because the existing system lacks real-time status monitoring and active compensation capabilities, this deviation cannot be dynamically corrected during operation. With the accumulation of production cycles, the continuous drift in the slide rail's levelness will significantly reduce the stacking positioning accuracy, causing product misalignment, tipping, or even jamming, thus affecting the continuous operation of the production line.

[0005] Secondly, the rigid connection design of the base structure weakens the system's environmental adaptability. The way the base support is fixed to the slide rail cannot cope with sudden load impacts or mechanical anomalies. When the stacked supports are obstructed due to foreign objects, unbalanced loads, or external vibrations, the system lacks an adaptive buffering mechanism, and cannot automatically identify risk conditions or perform proactive avoidance actions.

[0006] To address the aforementioned issues, existing technologies urgently need improvement. Summary of the Invention

[0007] The purpose of this invention is to provide a split-rail leveling stacking rack to solve the above-mentioned problems.

[0008] This invention is implemented as follows: a split-type sliding rail leveling stacking rack includes a sliding rail, an adjusting plate fixedly mounted at the bottom of the sliding rail for adjusting the horizontal angle of the sliding rail, a base support L-shaped below the adjusting plate, one end of the adjusting plate rotatably connected to the vertical part of the base support, a stacking bracket slidably mounted above the sliding rail, and a slider slidably connected to the sliding rail at the bottom of the stacking bracket; it also includes: The data acquisition module is used to collect the dynamic state parameters of the stacked support and the load in real time; The control module is communicatively connected to the data acquisition module and is used to perform dynamic leveling calculations based on the dynamic state parameters and generate hydraulic control commands. The hydraulic actuator module is communicatively connected to the control module and is used to drive the adjusting plate to perform horizontal angle compensation according to the hydraulic control command. The leveling calculation process executed by the control module includes: real-time calculation of dynamic overturning moment, calculation of equivalent dynamic deflection based on anti-jamming virtual impedance, calculation of nonlinear geometric mapping of active leveling compensation angle, and calculation of drive voltage of hydraulic actuator module.

[0009] In a further technical solution, the data acquisition module is used to monitor in real time and output the following parameters to the control module: The total mass of the stacked support and its load, the real-time position coordinates of the slider, the horizontal acceleration of the slider, the real-time speed of the slider, and the height of the center of gravity of the stacked support.

[0010] A further technical solution is that the control module calculates the dynamic overturning moment by adding the first moment term and the second moment term. The first torque term is the total mass of the stacked support and its load multiplied by the gravitational acceleration. The result is then multiplied by the difference between the real-time position coordinates of the slider and the reference coordinates of the center support point at the bottom of the slide rail. The second torque term is the total mass of the stacked support and its load multiplied by the horizontal acceleration of the slider, and then multiplied by the height of the center of gravity of the stacked support.

[0011] A further technical solution is that the control module calculates the equivalent dynamic deflection in the following specific way: The equivalent dynamic deflection is obtained by adding the first deflection term and the second deflection term; The first deflection term is calculated as follows: first calculate the product of the dynamic overturning moment and the square of the effective suspended span of the slide rail, and then divide it by the product of twice the elastic modulus of the slide rail material and the moment of inertia of the slide rail cross-sectional area. The second deflection term is calculated as follows: First, calculate the sum of the real-time motion speed of the slider and the inherent mechanical jamming threshold speed of the system. Take the larger value between this sum and the preset minimum positive number as the denominator. Then, divide the product of the system's dynamic flexible coupling coefficient and the dynamic overturning moment by this denominator.

[0012] A further technical solution is that the control module calculates the active leveling compensation angle in the following way: the active leveling compensation angle is equal to the arcsine of the ratio obtained by dividing the equivalent dynamic deflection by the effective distance from the center point of the adjustment plate to the rigid hinge point of the bottom support.

[0013] A further technical solution is that the control module calculates the drive voltage of the hydraulic actuator module in the following specific way: The product of the driving voltage (equal to the active leveling compensation angle), the length of the driving arm of the adjustable flat hydraulic cylinder, and the effective force-bearing area of ​​the piston of the adjustable flat hydraulic cylinder) is used as the numerator. The product of the electromagnetic flow constant of the proportional valve in the hydraulic actuator module and the fluid mechanical response time constant inside the hydraulic cylinder is used as the denominator. A division operation is then performed.

[0014] A further technical solution is that the hydraulic actuation module includes at least two hydraulic cylinders, symmetrically arranged on the bottom side of the adjusting plate. The telescopic end of the hydraulic cylinder is hinged to the bottom surface of the adjusting plate, and the cylinder body end of the hydraulic cylinder is hinged to the horizontal part of the bottom support. Differential control is performed through the control module to achieve precise adjustment of the spatial attitude.

[0015] In a further technical solution, the leveling calculation process executed by the control module also includes a predictive feedforward compensation stage; the predictive feedforward compensation stage constructs a feedforward compensation torque based on the real-time horizontal jerk and real-time horizontal abruptness of the slider, and superimposes the feedforward compensation torque into the dynamic overturning torque to obtain a corrected equivalent overturning torque, and uses the equivalent overturning torque to replace the dynamic overturning torque in the calculation of the equivalent dynamic deflection.

[0016] In a further technical solution, the control module calculates the feedforward compensation torque in the following way: the feedforward compensation torque is obtained by adding the first feedforward term and the second feedforward term; The first feedforward term is the product of the system's first-order prediction time constant, the total mass, the real-time horizontal jerk, and the height of the stacked support's center of mass. The second feedforward term is half of the system's second-order prediction time constant squared, multiplied by the product of the total mass, the real-time horizontal jerk, and the height of the stacked support's center of mass. The feedforward compensation torque is activated only when the absolute value of the real-time horizontal jerk is greater than the preset jerk activation threshold or the absolute value of the real-time horizontal jerk is greater than the preset jerk activation threshold. During calibration, the feedforward compensation torque is first turned off, and the system response to different jerk and jerk inputs is tested separately. After the first-order prediction time constant and the second-order prediction time constant are calibrated, it is then connected in parallel with the feedback control loop.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention uses a data acquisition module to monitor multi-dimensional dynamic parameters such as the total mass of the stacked support and load, slider position, motion acceleration and velocity, and center of gravity height in real time. The control module calculates the dynamic overturning moment in real time based on these parameters, enabling the leveling system to transform from traditional static passive adjustment to dynamic active compensation. This significantly improves the leveling accuracy of the slide rail under variable load and variable speed motion conditions, effectively avoiding product misalignment, tipping, and jamming caused by leveling drift.

[0018] This invention introduces an anti-jamming virtual impedance term based on the real-time movement speed of the slider and the inherent mechanical jamming threshold speed of the system into the equivalent dynamic deflection calculation. This term jointly characterizes the elastic deformation of the slide rail with nonlinear factors such as dynamic friction and vibration. As a result, the leveling compensation not only considers the static load effect but also takes into account the jamming risk under low-speed operation, thereby significantly enhancing the operational stability and adaptability of the stacking rack during start-up and shutdown and under abnormal operating conditions.

[0019] This invention, by setting up a predictive feedforward compensation stage, utilizes the real-time horizontal acceleration and real-time horizontal jerk of the slider to construct a feedforward compensation torque, which is then superimposed on the dynamic overturning torque to participate in the subsequent calculation of deflection and compensation angle. This enables advance prediction and compensation for sudden acceleration, deceleration, or impact loads, effectively overcoming the inherent lag defect of pure feedback control and significantly improving the system's response speed and leveling accuracy under severe dynamic conditions.

[0020] This invention employs a hinged connection between the adjusting plate and the bottom of the slide rail, and is equipped with at least two hydraulic cylinders symmetrically arranged on the bottom side of the adjusting plate. Differential drive is achieved through a control module, enabling the adjusting plate to achieve precise multi-degree-of-freedom adjustment in spatial posture. Simultaneously, the invention combines data acquisition, control calculation, and hydraulic execution in a fully closed-loop collaborative process, giving the entire stacking rack intelligent self-maintaining capabilities, significantly reducing the frequency of manual intervention, and improving the continuous operation efficiency and safety of the production line. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 The overall system architecture and control logic diagram; Figure 3 The logic diagram for the leveling and solution process; Figure 4 A logical diagram showing the flow of data acquisition parameters; Figure 5 This is a predictive feedforward compensation logic diagram.

[0022] Reference numerals: 1. Slide rail; 2. Base bracket; 3. Adjusting plate; 4. Stacking bracket; 5. Slider; 6. Hydraulic cylinder. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0024] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0025] like Figures 1-5 As shown, a split-rail leveling stacking rack provided in one embodiment of the present invention includes a slide rail 1, an adjusting plate 3 fixedly disposed at the bottom of the slide rail 1 for adjusting the horizontal angle of the slide rail 1, a base support 2 disposed on the lower side of the adjusting plate 3, the base support 2 being L-shaped, one end of the adjusting plate 3 being rotatably connected to the vertical part of the base support 2, a stacking support 4 slidably disposed above the slide rail 1, and a slider 5 slidably connected to the slide rail 1 being fixedly disposed at the bottom of the stacking support 4; further comprising: The data acquisition module is used to collect the dynamic state parameters of the stacked support 4 and the load in real time; The control module is communicatively connected to the data acquisition module and is used to perform dynamic leveling calculations based on the dynamic state parameters and generate hydraulic control commands. The hydraulic actuator module is communicatively connected to the control module and is used to drive the adjusting plate 3 to perform horizontal angle compensation according to the hydraulic control command. The leveling calculation process executed by the control module includes: real-time calculation of dynamic overturning moment, calculation of equivalent dynamic deflection based on anti-jamming virtual impedance, calculation of nonlinear geometric mapping of active leveling compensation angle, and calculation of drive voltage of hydraulic actuator module.

[0026] In this embodiment, a split-rail leveling stacking rack is provided, the structural design of which aims to improve the stability and accuracy of stacking operations. The split-rail leveling stacking rack includes a slide rail 1 and a base support 2. The slide rail 1, as the main body supporting the movement of the stacking support 4, can be fixedly connected to the leveling plate 3 in various ways. The base support 2 is fixedly installed on the ground.

[0027] A leveling plate 3 is fixedly installed at the bottom of the slide rail 1, its main function being to adjust the horizontal angle of the slide rail 1. A stacking bracket 4 is slidably mounted above the slide rail 1, and a slider 5, which is slidably connected to the slide rail 1, is fixedly mounted at the bottom of the stacking bracket 4. The stacking bracket 4 can be designed in various forms to adapt to the stacking requirements of different products. The sliding connection between the slider 5 and the slide rail 1 can take various forms, such as using a ball linear guide pair or a sliding bearing in conjunction with the guide rail, to ensure the smooth movement of the stacking bracket 4 on the slide rail 1.

[0028] To achieve intelligent leveling of the stacking rack, this embodiment also includes a data acquisition module. This module is used to acquire the dynamic state parameters of the stacking support 4 and its load in real time. The data acquisition module can consist of various sensors; for example, a simple load cell can be configured to measure the load mass, or a photoelectric encoder can be configured to monitor the position of the slider 5. These sensors transmit the acquired raw data to the control module.

[0029] The control module communicates with the data acquisition module. Its core function is to perform dynamic leveling calculations based on the received dynamic state parameters and generate hydraulic control commands. The control module can be an embedded controller that runs a preset control algorithm. For example, the control module can trigger a simple open-loop control command when it detects that the tilt of slide rail 1 exceeds the range, based on a preset threshold.

[0030] The hydraulic actuator module is communicatively connected to the control module and is used to drive the adjusting plate 3 to perform horizontal angle compensation according to hydraulic control commands. The hydraulic actuator module can use a single-acting hydraulic cylinder 6, which is driven to extend or retract by controlling the start and stop of the hydraulic pump, thereby raising or lowering the adjusting plate 3 to achieve coarse adjustment of the angle of the slide rail 1.

[0031] The leveling calculation process performed by the control module includes several key steps. First, there is the real-time calculation of the dynamic overturning moment, which aims to assess the overturning effect on the slide rail 1 during the movement of the stacked support 4. Second, there is the calculation of the equivalent dynamic deflection based on the anti-jamming virtual impedance, which takes into account the elastic deformation of the slide rail 1. Next is the nonlinear geometric mapping of the active leveling compensation angle, which converts the calculated deflection into the angle adjustment amount required for the leveling plate 3. Finally, there is the calculation of the drive voltage for the hydraulic actuator, which converts the angle adjustment amount into an electrical signal recognizable by the hydraulic actuator. These calculation steps can be executed sequentially by the processor in the control module; for example, a simple linear model can be used for torque estimation, or a preset lookup table can be used for angle mapping.

[0032] In a preferred embodiment of the present invention, the data acquisition module is used to monitor in real time and output the following parameters to the control module: The total mass G of the stacked support 4 and its load, and the real-time position coordinates of the slider 5. Horizontal acceleration of slider 5 Real-time movement speed of slider 5 and the height of the center of gravity of stacked bracket 4 .

[0033] In this embodiment, the total mass G of the stacked support and its load refers to the overall mass of the stacked support 4 itself and the items or equipment it carries. It is the basis for calculating dynamic parameters such as inertial force, gravity, and overturning moment. This total mass can be measured in real time by integrating a weighing sensor (such as a piezoelectric sensor or strain gauge sensor) under the stacked support 4 or on the slider 5, or by pre-calibrating the self-weight of the stacked support 4 and combining it with the known mass of the load, or by estimating the load mass through other sensors (such as visual recognition combined with a mass database) and then summing the results.

[0034] Real-time position coordinates of slider 5 This refers to the instantaneous position of slider 5 on slide rail 1, typically measured with a reference origin at one end or center point of slide rail 1. This parameter is used to determine the horizontal distance of the load's center of gravity relative to the support point and is a key input for calculating the overturning moment. The real-time position coordinates can be accurately measured using a linear encoder (such as an optical or magnetic ruler) mounted on slide rail 1, or obtained by measuring the distance between slider 5 and a fixed reference point using an ultrasonic sensor or laser rangefinder.

[0035] Horizontal acceleration of slider 5 This refers to the instantaneous rate of change of velocity of slider 5 in the horizontal direction. This acceleration is an important parameter for calculating the inertial torque caused by motion and is crucial for dynamic leveling. Horizontal acceleration can be measured directly by mounting an acceleration sensor (such as a MEMS accelerometer) on slider 5 or the stacking support 4, or by monitoring the real-time velocity of slider 5. It is obtained indirectly by performing differentiation operations.

[0036] Real-time movement speed of slider 5 This refers to the instantaneous horizontal movement speed of slider 5. This speed is used to evaluate the dynamic response characteristics of the system, serving as a key input in subsequent anti-jamming virtual impedance calculations, and predicting future movement trends. Real-time movement speed can be obtained by analyzing the real-time position coordinates of slider 5. It can be obtained by performing differential operations, or by directly measuring it using a speed sensor (such as a Doppler effect sensor) or an encoder (by measuring the number of pulses per unit time) mounted on slider 5.

[0037] Center of gravity height of stacked bracket 4 This refers to the vertical height of the center of gravity of the stacked support 4 and its load relative to the slide rail 1 or a certain reference plane. This height is an important component of the lever arm length when calculating the overturning moment and directly affects the magnitude of the overturning moment. The center of gravity height can be obtained by pre-calibrating the center of gravity of the stacked support 4 and a typical load, or for variable loads, it can be estimated in real time using 3D modeling and center of gravity calculation software by combining the geometry and mass distribution information of the load.

[0038] In order to achieve more precise and faster dynamic leveling, the data acquisition module of the aforementioned split-rail leveling stacking rack no longer merely collects generalized "dynamic state parameters," but explicitly monitors and outputs in real time to the control module the total mass G of the stacking support 4 and its load, and the real-time position coordinates of the slider 5. Horizontal acceleration of slider 5 Real-time movement speed of slider 5 and the height of the center of gravity of stacked bracket 4 These are a series of specific and crucial physical quantities. Together, these parameters constitute a comprehensive description of the forces and moments acting on the stacking rack and its load during movement. Specifically, the total mass G and the height of the center of mass... It provides information on gravity and its point of application; real-time position coordinates. The horizontal deviation of the load's center of gravity relative to the support point was determined; the horizontal acceleration was measured. This reflects the inertial effect of the load in the horizontal direction; real-time motion speed. This characterizes the motion state and trend of the load. Upon receiving these precise parameters, the control module can more accurately calculate the dynamic overturning moment in real time, and based on this, perform subsequent equivalent dynamic deflection calculations, nonlinear geometric mapping of the active leveling compensation angle, and calculation of the drive voltage for the hydraulic actuator. By providing these detailed dynamic parameters, the system can more comprehensively understand the stress state and motion characteristics of the stacking rack, enabling the control module to generate more precise hydraulic control commands to drive the leveling plate 3 to perform timely and appropriate horizontal angle compensation.

[0039] In a preferred embodiment of the present invention, the control module calculates the dynamic overturning moment. The formula is: The total mass G of the stacked support 4 and its load is in kg, and the real-time position coordinates of the slider 5 are... The dimensionless acceleration of slider 5 is m. The dimension is m / s², and the height of the center of mass of the stacked support 4 is... The dimension of is m; This represents the acceleration due to gravity, with dimensions in m / s². The reference coordinates of the bottom center support point of slide rail 1 are expressed in meters, and the dynamic overturning moment is also represented. The dimension is N·m; this formula is only applicable to leveling scenarios with small angles (e.g., less than 5 degrees).

[0040] In this embodiment, the stacking support 4 is fixedly mounted on the slider 5, and the projection of the overall center of mass of the stacking support 4 and its load in the horizontal direction is substantially coincident with the geometric center of the slider 5. Under this structural arrangement, the real-time position coordinates of the slider 5 are... This can serve as the horizontal position of the center of gravity of the stacked support 4 and the overall load. The equivalent representation, namely This assumption applies to normal operating conditions where the load is symmetrically and centrally positioned on the stacking support 4; when the load distribution is severely uneven, causing the center of mass to deviate significantly from the geometric center of the slider 5, the system introduces a manual correction parameter. Compensation is performed on the position of the center of mass, i.e. .

[0041] In this embodiment, the control module calculates the dynamic overturning moment. The formula is: The total mass G of the stacked support 4 and its load is in kg, and the real-time position coordinates of the slider 5 are... The dimensionless acceleration of slider 5 is m. The dimension is m / s², and the height of the center of mass of the stacked support 4 is... The dimension of is m; g represents gravitational acceleration, with the dimension of m / s². The reference coordinates of the bottom center support point of slide rail 1 are expressed in meters, and the dynamic overturning moment is also represented. The dimension is N·m; this formula is only applicable to small-angle leveling scenarios.

[0042] This formula decomposes the overturning moment into two main parts. The first part... This represents the reference coordinates of the center of mass of the stacked support 4 and its load, under the action of gravitational acceleration g, relative to the center support point at the bottom of the slide rail 1. The static moment generated. Part Two This represents the acceleration of the total mass G of the stacked support 4 and its load in horizontal motion. Under the action, its center of mass height The resulting inertial torque. This formula comprehensively considers the static overturning effect caused by gravity and the dynamic inertial effect caused by horizontal motion, thus fully reflecting the overturning tendency of the system during motion.

[0043] In practical applications, this formula can be implemented in various ways. For example, the control module can have a built-in dedicated floating-point unit or digital signal processor to ensure high-precision torque calculations are completed in a very short time. Furthermore, the calculation results can be corrected under specific working conditions using a pre-established lookup table or a simplified model based on finite element analysis to further improve accuracy. It is important to note that this formula is primarily applicable to small-angle leveling scenarios to ensure the validity of the linearization assumption.

[0044] The solution in this application utilizes dynamic overturning moment The calculation formula is integrated into the control module, enabling precise quantification of the dynamic stability of the stacking rack. Specifically, the data acquisition module monitors and outputs to the control module in real time the total mass G of the stacking support 4 and its load, and the real-time position coordinates of the slider 5. Horizontal acceleration of slider 5 and the height of the center of gravity of stacked bracket 4 Key parameters such as these are received by the control module, which then immediately uses a preset formula to process them. The calculation process organically combines the static overturning component caused by gravity with the dynamic inertial overturning component caused by horizontal motion, forming a comprehensive dynamic overturning moment index. In this way, the control module can accurately and in real-time grasp the overturning trend of the stacking rack during movement, providing reliable input for subsequent dynamic leveling calculations. This real-time moment calculation based on a physical model enables the leveling system to shift from a passive response to an active prediction, allowing intervention before a significant overturning risk occurs, thus significantly improving the timeliness and accuracy of leveling.

[0045] In a preferred embodiment of the present invention, the control module calculates the equivalent dynamic deflection. The formula is: Among them, the real-time movement speed of slider 5 The dimension is m / s. Let represent the equivalent dynamic deflection of slide rail 1, with dimensions in meters (m). This represents the dynamic overturning moment, with dimensions in N·m; This represents the effective suspended span of slide rail 1, in meters. This represents the elastic modulus of the material of slide rail 1, with dimensions in N / m². The moment of inertia of the cross section of slide rail 1 is expressed in meters. 4 ; Represents the dynamic flexible coupling coefficient of the system, with dimensions of ; This represents the inherent mechanical jamming threshold velocity of the system, measured in m / s. It is a preset minimum positive number.

[0046] During system initialization, the reference coordinates of the center support point at the bottom of the slide rail are obtained through manual measurement or calibration. Effective suspended span L of the slide rail; effective distance from the center point of the adjustable plate to the rigid hinge point of the bottom support. Structural parameters; inherent mechanical jamming threshold velocity of the system. and dynamic flexible coupling coefficient The results were obtained through experiments on step responses at different speeds under no-load conditions.

[0047] In this embodiment, the equivalent dynamic deflection This refers to the total deformation of slide rail 1 under dynamic loads. It considers not only static elastic deformation but also additional deformation caused by the system's dynamic characteristics (such as speed, friction, and vibration). Its purpose is to provide a more accurate basis for subsequent active leveling compensation, ensuring that the leveling plate 3 can perform accurate horizontal angle compensation. This deflection value is calculated using a specific mathematical model to reflect the complex deformation behavior of slide rail 1 during actual operation.

[0048] Dynamic overturning moment This refers to the torque exerted on the slide rail 1 during the movement of the stacked support 4 and its load, due to the combined effects of gravity, inertia, and other factors, causing the slide rail 1 to tend to overturn. It is one of the main causes of slide rail 1 deformation, and its magnitude directly affects the deflection of the slide rail 1. This torque is calculated by the control module based on real-time parameters provided by the data acquisition module.

[0049] Effective suspended span of slide rail 1 This refers to the actual length of the slide rail 1 that allows it to freely bend and deform between the base supports 2 or other support points. This parameter is a key geometric dimension for calculating the elastic deflection of the slide rail 1, and its value directly affects the degree of deformation of the slide rail 1 under a given torque. This span is usually determined by the structural design of the stacking rack.

[0050] Elastic modulus of slide rail 1 material The elastic modulus is a physical quantity that measures the ability of the slide rail 1 material to resist elastic deformation, reflecting the material's stiffness. A higher elastic modulus means less elastic deformation under the same stress. This parameter is an important material property for calculating the elastic deflection of the slide rail 1, and is usually obtained through material testing or by consulting material handbooks.

[0051] Moment of inertia of the area of ​​section 1 of slide rail This is a geometric characteristic that measures the ability of the slide rail 1 cross section to resist bending deformation. The larger the area moment of inertia, the stronger the ability of the slide rail 1 cross section to resist bending, and the smaller the bending deformation produced under the same bending moment. This parameter is a key cross-sectional geometric characteristic for calculating the elastic deflection of the slide rail 1, and is usually calculated based on the cross-sectional shape and size of the slide rail 1.

[0052] The dynamic flexible coupling coefficient of the system This is an empirical coefficient characterizing the additional flexibility or deformation of a system during dynamic operation due to non-ideal factors such as friction, vibration, and minute gaps in the structure. It reflects the velocity-dependent dynamic deformation effect of the system under dynamic loads, in addition to purely elastic deformation. This coefficient can be obtained through experimental calibration or system identification methods, such as fitting the difference between the actual deflection and the theoretical elastic deflection at different velocities.

[0053] The system's inherent mechanical jamming threshold speed This refers to the critical speed at which the system is prone to jamming or nonlinear friction effects when the slider 5's speed falls below a certain threshold due to factors such as mechanical friction, clearance, or lubrication conditions. This threshold is introduced to more accurately simulate and compensate for the impact of potential jamming on deflection during low-speed or start-stop phases. This threshold can be set through experimental testing or experience.

[0054] Preset minimal positive number It is a very small positive value, and its purpose is to prevent the denominator from being too large when calculating the equivalent dynamic deflection. This ensures numerical stability in the calculation process by preventing division by zero. When the value is very close to or equal to zero, the denominator will take... To avoid calculation errors.

[0055] The reference coordinates of the center support point at the bottom of the slide rail Effective suspended span L of the slide rail; effective distance from the center point of the adjustable plate to the rigid hinge point of the bottom support. The structural parameters are obtained through measurement or calibration during system initialization; the inherent mechanical jamming threshold velocity of the system. and dynamic flexible coupling coefficient The results were obtained through step response experiments under no-load conditions.

[0056] In the solution of this application, in order to more accurately evaluate the actual deformation of the slide rail 1 under dynamic operating conditions, the control module introduces an equivalent dynamic deflection. The calculation formula combines traditional static elastic deflection calculation with dynamic flexible coupling effects. The first term of this formula... Responsible for calculating the dynamic overturning moment The elastic deformation of slide rail 1 caused by the elastic deformation, wherein the effective overhang span of slide rail 1 Material elastic modulus and cross-sectional area moment of inertia These parameters collectively determine the structural stiffness of slide rail 1. This ensures the accurate capture of the basic elastic deformation of slide rail 1 under stress.

[0057] Based on this, the formula further introduces a second term. Used to compensate for the real-time movement speed of slider 5 and the system's inherent mechanical jamming threshold speed The second term is an equivalent flexible compensation term derived from the LuGre friction model or a similar friction-elastic coupling model, used to characterize the additional elastic deformation effect caused by the switching between static and dynamic friction during low-speed operation; The step response at different speeds was used to identify and calibrate the device.

[0058] Among them, the dynamic flexible coupling coefficient of the system As an empirical parameter, this parameter characterizes the additional deformation of the system during dynamic operation, beyond purely elastic deformation, caused by factors such as friction, vibration, and minute gaps. When slider 5 moves at a certain speed, its dynamic interaction with slide rail 1 generates additional deformation or vibration, and this parameter is precisely for quantifying and compensating for this dynamic effect. This is achieved by using the dynamic overturning moment... With consideration of slider speed 5 and lag threshold By coupling the terms, this formula can simulate the "virtual impedance" or "dynamic flexibility" characteristics exhibited by the system at different motion speeds.

[0059] The pre-defined minimal positive number in the denominator This ensures the stability of the calculated values ​​when the speed of slider 5 is extremely low or close to zero, avoiding the error of dividing by zero. In this way, the control module not only considers the dynamic overturning moment generated by the stacking support 4 and the load, but also... The direct elastic effect on slide rail 1 is also cleverly incorporated into the movement speed of slider 5. The impact on the dynamic flexibility of the system, thus affecting the calculated equivalent dynamic deflection. This method can more realistically reflect the comprehensive deformation of slide rail 1 under actual dynamic working conditions. This comprehensive deflection assessment method significantly improves the accuracy of leveling calculation, provides a more reliable basis for subsequent active leveling compensation, and effectively solves the inaccuracy problem caused by relying solely on static or simple dynamic torque assessment of deflection, thereby improving the operational stability and anti-jamming capability of the stacking rack.

[0060] In a preferred embodiment of the present invention, the control module calculates the active leveling compensation angle. The formula is: Among them, the active leveling compensation angle The dimension of rad, This represents the effective distance from the center point of action of the adjustment plate 3 to the rigid hinge point of the bottom support 2, with the dimension in meters.

[0061] In this embodiment, the active leveling compensation angle is adjusted. This refers to the process of counteracting the equivalent dynamic deflection of slide rail 1 under dynamic load. The target angle that the adjustment plate 3 needs to be adjusted to is the direct basis for the control module to send instructions to the hydraulic actuator module. Its accurate calculation is crucial for achieving the dynamic level of the slide rail 1. This angle can be expressed in radians or degrees, but in this formula, radians (rad) are used as the unit of measurement. Formula The equivalent dynamic deflection of slide rail 1 is determined by geometric relationships. Converting to the active leveling compensation angle required for flat plate 3 The arcsin function maps a ratio (the ratio of deflection to effective distance) to an angle, a common method for converting linear displacement into rotational angles. This conversion takes into account the geometry of the adjustment plate 3, ensuring the accuracy of the compensation angle. Specifically, this refers to the straight-line distance from the hinge center at the top of the piston rod of the hydraulic cylinder 6 on the bottom side of the adjusting plate 3, along the central axis of the adjusting plate 3 to the axis of the rigid hinge of the vertical mounting arm. This distance is a key parameter for determining the rotation lever arm of the adjusting plate 3, directly affecting the size of the compensation angle required for a given deflection. Its accurate measurement or design is crucial to ensuring the accuracy of leveling compensation.

[0062] During the operation of the aforementioned split slide rail 1 leveling stacking rack, the control module first calculates the dynamic overturning moment generated by the slider 5 during its movement based on the dynamic state parameters of the stacking support 4 and the load monitored in real time by the data acquisition module. Based on this, and further considering the dynamic flexibility characteristics of the system, the equivalent dynamic deflection of slide rail 1 was calculated. To translate this deflection into executable leveling commands, this application introduces the geometric parameters of the leveling plate 3. Using geometric mapping relationships The linear equivalent dynamic deflection Converting to the active leveling compensation angle required for flat plate 3 This conversion process takes into account the actual rotation mechanism of the adjusting plate 3, ensuring a precise correspondence between the compensation angle and the actual deflection. In this way, the control module can convert the abstract mechanical deflection into a specific angle command, providing a direct and accurate basis for the subsequent hydraulic actuator module's drive, thus effectively solving the problem of converting deflection into a controllable physical quantity and realizing dynamic and precise compensation of the horizontal angle of the slide rail 1.

[0063] In a preferred embodiment of the present invention, the control module calculates the drive voltage of the hydraulic actuator module. The formula is: Where the driving voltage The dimension of is v. The length of the driving arm of the hydraulic cylinder 6 of the adjusting plate 3 is expressed in meters (m). The effective force-bearing area of ​​the piston of hydraulic cylinder 6 in the adjusting plate 3 is expressed in m². This represents the electromagnetic flow constant of the proportional valve in the hydraulic actuator module, with dimensions of... ; The time constant of the fluid mechanical response inside the hydraulic cylinder 6 is expressed in seconds.

[0064] In this embodiment, the driving voltage This is the electrical signal output by the control module, which directly acts on the hydraulic actuator module and is the final control quantity for achieving precise attitude adjustment of the adjusting plate 3. The accuracy of this voltage signal directly affects the response speed and positioning accuracy of the adjusting plate 3. It can be generated from a digital signal converted into an analog voltage signal by a digital-to-analog converter, or directly from a digital pulse width modulation signal after filtering.

[0065] Adjust the length of the drive arm of the hydraulic cylinder 6 on the flat plate 3 Specifically, this refers to the vertical distance from the center of the rigid hinge shaft on the vertical mounting arm to the line of action of the thrust of the piston rod of the hydraulic cylinder 6 (i.e., the central axis of the hydraulic cylinder 6). This parameter is a key geometric dimension of the hydraulic system's mechanical structure, determining the efficiency with which the thrust generated by the hydraulic cylinder 6 is converted into the torque of the adjusting plate 3. This lever arm length can be precisely measured or preset according to the structural design of the adjusting plate 3.

[0066] Adjust the effective force-bearing area of ​​the 3 hydraulic cylinders and 6 pistons on the flat plate. This refers to the actual area of ​​the piston in hydraulic cylinder 6 that can withstand the pressure of hydraulic oil. This area is related to the inner diameter of hydraulic cylinder 6 and is an important parameter for calculating the output thrust of hydraulic cylinder 6. Its value is usually determined by the design specifications of hydraulic cylinder 6 and can be used to accurately calculate the output force of hydraulic cylinder 6.

[0067] Electromagnetic structure flow constant of the proportional valve in the hydraulic actuator module The flow gain coefficient of the proportional valve is defined as the product of the flow rate change rate corresponding to a unit displacement of the valve core and the driving voltage minus the valve core displacement transmission coefficient. This constant characterizes the ability of a proportional valve to move its spool and regulate hydraulic oil flow under the action of a given electrical signal, driven by its internal electromagnetic mechanism. It reflects the electro-hydraulic conversion characteristics of the proportional valve and is a key parameter for controlling hydraulic flow. Its value is typically provided by the proportional valve manufacturer or obtained through experimental calibration.

[0068] The fluid mechanical response time constant inside hydraulic cylinder 6 This reflects the speed of piston movement response in hydraulic cylinder 6 after receiving a command to change the hydraulic oil flow rate. This time constant integrates factors such as the compressibility of the hydraulic oil, the damping of the hydraulic lines, and the friction between the piston and cylinder, and is an important indicator for evaluating the dynamic performance of a hydraulic system. Its value can be estimated through system identification or empirical formulas. The above formula... Used to calculate the active leveling compensation angle Converted into the drive voltage required by the hydraulic actuator module This formula takes into account the geometric parameters of the adjusting plate 3. ), physical characteristics of hydraulic cylinder 6 ( Electro-hydraulic conversion characteristics of proportional valves ) and the dynamic response characteristics of the hydraulic system ( This enables precise mapping from angle commands to voltage commands.

[0069] The solution in this application, through the aforementioned control module, after completing the real-time calculation of dynamic overturning moment, the calculation of equivalent dynamic deflection based on anti-jamming virtual impedance, and the nonlinear geometric mapping of the active leveling compensation angle, obtains the active leveling compensation angle used to correct the horizontal attitude of the stacked support 4. To translate this theoretical perspective into actual mechanical action, the control module further utilizes a preset adjustment mechanism for the drive arm length of the hydraulic cylinder 6 on the flat plate 3. Adjusting the effective force-bearing area of ​​the 3-piston hydraulic cylinder on the flat plate. The electromagnetic structure flow constant of the proportional valve in the hydraulic actuator module and the fluid mechanical response time constant inside hydraulic cylinder 6 Through formula Accurately calculate the drive voltage required by the hydraulic actuator module The driving voltage As a hydraulic control command, the signal is sent to the hydraulic actuator module. Upon receiving the drive voltage, the proportional valve inside the hydraulic actuator module adjusts the flow and pressure of the hydraulic oil according to the voltage signal, thereby driving the piston movement of the hydraulic cylinder 6 of the adjusting plate 3. Ultimately, this allows the adjusting plate 3 to perform precise horizontal angle compensation. In this way, the system can transform the complex dynamic state parameter analysis results into directly controllable electrical signals through a series of physical models and parameter mappings, thereby achieving closed-loop precise control of the adjusting plate 3 and ensuring the stability and levelness of the stacking support 4 during dynamic operation.

[0070] In a preferred embodiment of the present invention, the hydraulic actuation module includes at least two hydraulic cylinders 6, which are symmetrically arranged on the bottom side of the adjusting plate 3. The telescopic end of the hydraulic cylinder 6 is hinged to the bottom surface of the adjusting plate 3, and the cylinder body end of the hydraulic cylinder 6 is hinged to the horizontal part of the bottom support 2. Differential control is performed through the control module to achieve precise adjustment of the spatial posture.

[0071] In this embodiment, the scheme of this application allows the adjusting plate 3 to rotate by hinged connection between the adjusting plate 3 and the bottom of the slide rail 1. The hydraulic actuation module is equipped with at least two hydraulic cylinders 6, which are symmetrically arranged on the bottom side of the adjusting plate 3. After the control module receives the leveling calculation result, it performs differential control on these hydraulic cylinders 6 according to the required compensation angle and attitude. Specifically, the control module calculates the precise extension or driving force required for each hydraulic cylinder 6 and drives each hydraulic cylinder 6 independently through hydraulic control commands. For example, when the adjusting plate 3 needs to tilt in a certain direction, the control module can command the hydraulic cylinder 6 on one side to extend while the hydraulic cylinder 6 on the other side to shorten, thereby causing the adjusting plate 3 to rotate around the hinge point. Due to the symmetrical arrangement and differential control of the hydraulic cylinders 6, the adjusting plate 3 can maintain good balance and stability during rotation, avoiding attitude instability or local stress concentration that may be caused by a single driving point. This collaborative working mechanism enables the adjustment plate 3 to precisely adjust the spatial attitude of the slide rail 1, effectively coping with the complex overturning moment and deflection generated by the stacked support 4 during dynamic operation, thereby ensuring that the slide rail 1 is always in the best horizontal state.

[0072] In a preferred embodiment of the present invention, the leveling calculation process performed by the control module further includes a predictive feedforward compensation stage; the predictive feedforward compensation stage is based on the real-time horizontal jerk of the slider. and real-time horizontal sag Construct feedforward compensation torque and the feedforward compensation torque Superimposed on the dynamic overturning moment In the middle, the corrected equivalent overturning moment is obtained. and with the equivalent overturning moment Alternative dynamic overturning moment Participation in equivalent dynamic deflection The calculation.

[0073] In this embodiment, the predictive feedforward compensation stage is a control strategy designed to reduce or eliminate the inherent hysteresis of feedback control by predicting future disturbances or state changes in the system and applying compensation in advance. This stage can predict the overturning moment change in the near future by establishing a dynamic model of the system and combining it with the slider's motion trend, or by using machine learning algorithms to learn the relationship between the slider's motion pattern and the overturning moment based on historical data. The real-time horizontal jerk of the slider... and real-time horizontal sag These are the rate of change of acceleration with respect to time and the rate of change of jerk with respect to time, respectively, describing the drastic nature of changes in the motion state. These parameters can be obtained by performing two numerical differentiations on the slider's acceleration signal, for example, by processing it using a high-precision accelerometer combined with a digital filter, or by directly measuring it using a high-order motion sensor (such as an inertial measurement unit, IMU), or by performing a fourth-order numerical differentiation on the position signal. Constructing the feedforward compensation torque. This refers to a pre-applied torque calculated based on predicted future motion trends (jerk and jerk) to counteract impending overturning. This can be achieved by mapping jerk and jerk to corresponding compensation torques using a pre-defined physical model or empirical formula, or by looking up pre-stored compensation torque values ​​for different jerk and jerk ranges using a lookup table. The feedforward compensation torque... Superimposed on dynamic overturning moment In the middle, the corrected equivalent overturning moment is obtained. The aim is to combine predictive compensation with feedback calculations to form a more comprehensive and timely estimate of the overturning moment. This can be directly applied to the software algorithm of the control module. With the feedback loop Perform algebraic summation, or implement signal superposition through hardware circuitry. (Using equivalent overturning moment) Alternative dynamic overturning moment Participation in equivalent dynamic deflection This calculation ensures that subsequent leveling calculations (such as deflection calculations and compensation angle calculations) are based on more accurate and forward-looking estimates of the overturning moment. This can be achieved by incorporating the calculated values ​​into the control module's program flow. It can be passed as an input parameter to the equivalent dynamic deflection calculation function, or via the data bus or internal registers. The value is updated in the variable used for deflection calculation, thus replacing the original value. .

[0074] In a preferred embodiment of the present invention, the control module calculates the feedforward compensation torque. The formula is: Among them, the feedforward compensation torque Dimensions: N·m; Real-time horizontal accelerometer The dimension is m / s³. The first-order prediction time constant of the system is represented by the dimension s; Let represent the second-order prediction time constant of the system, with dimensions in seconds; The , The system response curve is measured by applying a step velocity excitation to the stack rack and then calibrated using a system identification method (such as least squares fitting); or it can be predetermined through finite element dynamics simulation. The feedforward compensation torque Only or Activated at time, among which The preset accelerometer activation threshold, m / s 3 , The preset threshold for abrupt activation. m / s 4 To avoid introducing unnecessary disturbances during stable operation; the feedforward compensation torque During calibration, first disable the feedback control loop and test the system's response to different jerk and abrupt inputs separately to calibrate. , It then operates in parallel with the feedback control loop.

[0075] In this embodiment, the feedforward compensation torque The calculation formula aims to introduce a higher-order motion state parameter, namely real-time horizontal jerk. and real-time horizontal sag This allows for more accurate prediction of the overturning tendency of stacked supports and their loads during dynamic movement. The formula incorporates the system's first-order prediction time constant. and second-order prediction time constant A predictive model was constructed to reflect the system's response to changes in motion of different orders, thus enabling compensation before the overturning moment actually occurs. Real-time horizontal jerk. This refers to the rate of change of the horizontal acceleration of the slider. It reflects the instantaneous trend of acceleration change and is crucial for predicting the dynamic response of the system during acceleration or deceleration. Real-time horizontal jerk. This refers to the rate of change of the real-time horizontal jerk, which describes the instantaneous change in jerk. It can capture more drastic and sudden changes in motion state and is of great significance for accurate prediction under extreme dynamic conditions. The system's first-order prediction time constant. and second-order prediction time constant These are key parameters characterizing the dynamic response of a system, quantifying the system's response speed and pattern to changes in input. These time constants can be obtained in various ways, for example, by applying a step velocity excitation to the stack rack, measuring the actual response curve of the system, and then accurately calibrating it using system identification methods (such as least squares fitting); or, during the system design phase, by establishing a detailed finite element dynamic model for simulation analysis, thereby pre-determining these parameters. Feedforward compensation torque The activation condition is that it only applies to real-time horizontal accelerometers. The absolute value is greater than the preset accelerometer activation threshold. or real-time horizontal precipitate The absolute value is greater than the preset jump activation threshold. Activation is time-sensitive to ensure that this advanced compensation mechanism intervenes only when the system faces significant dynamic disturbances, avoiding unnecessary control actions during stable operation and thus improving system stability and energy efficiency. This activation threshold can be set according to the actual application scenario and the system's sensitivity to disturbances; for example, it can be set to a fixed value or dynamically adjusted based on operating parameters such as load and speed. Feedforward compensation torque The calibration process involves first disabling the feedback control loop and then individually testing the system's response to different jerk and abrupt inputs to calibrate it. , This is then run in parallel with the feedback control loop to ensure the accuracy and independence of the calibrated parameters. By isolating the feedback loop, interference from feedback control on the identification of feedforward parameters can be avoided, thus obtaining purer and more accurate system dynamic characteristic parameters. This calibration can be performed on a dedicated test platform or by combining offline simulation with a small amount of online fine-tuning.

[0076] The solution in this application further introduces real-time horizontal jerkness into the existing dynamic overturning moment and jerk feedforward compensation. This higher-order motion state parameter, and employs a first-order prediction time constant. and second-order prediction time constant A more refined model is used to calculate the feedforward compensation torque. When the data acquisition module detects a drastic change in the motion state of the stacking support and its load, resulting in a real-time horizontal jerk... or real-time horizontal precipitate When the preset activation threshold is exceeded, the control module immediately activates the feedforward compensation circuit. At this time, the control module utilizes the data obtained in advance through system identification or finite element dynamic simulation calibration. and Combined with real-time data on the total mass G of the stacked support and its load, and real-time horizontal accelerometer... Real-time horizontal sag and the height of the center of gravity of the stacked brackets Accurately calculate the feedforward compensation torque The feedforward compensation torque This is then superimposed on the dynamic overturning moment. In the middle, the corrected equivalent overturning moment is formed. This equivalent overturning moment It incorporates more accurate predictions of future overturning trends, thus replacing dynamic overturning moments. Participating in subsequent equivalent dynamic deflection Active leveling compensation angle and the drive voltage of the hydraulic actuator module The calculations are performed in advance. This proactive compensation mechanism allows the hydraulic actuator to drive the leveling plate to perform horizontal angle compensation earlier and more accurately, thus intervening before the overturning trend fully manifests. In this way, the system can not only respond to the current dynamic overturning moment, but also effectively predict and counteract the potential overturning effect caused by higher-order motion changes, significantly improving the dynamic response speed and accuracy of the leveling system.

[0077] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A split-type slide rail leveling stacking rack, comprising a slide rail, an adjusting plate fixedly disposed at the bottom of the slide rail for adjusting the horizontal angle of the slide rail, a base support disposed below the adjusting plate, the base support being L-shaped, one end of the adjusting plate being rotatably connected to the vertical part of the base support, a stacking bracket slidably disposed above the slide rail, and a slider slidably connected to the slide rail being fixedly disposed at the bottom of the stacking bracket; characterized in that, Also includes: The data acquisition module is used to collect the dynamic state parameters of the stacked support and the load in real time; The control module is communicatively connected to the data acquisition module and is used to perform dynamic leveling calculations based on the dynamic state parameters and generate hydraulic control commands. The hydraulic actuator module is communicatively connected to the control module and is used to drive the adjusting plate to perform horizontal angle compensation according to the hydraulic control command. The leveling calculation process executed by the control module includes: real-time calculation of dynamic overturning moment, calculation of equivalent dynamic deflection based on anti-jamming virtual impedance, calculation of nonlinear geometric mapping of active leveling compensation angle, and calculation of drive voltage of hydraulic actuator module.

2. The split-rail leveling stacking rack according to claim 1, characterized in that, The data acquisition module is used to monitor and output the following parameters to the control module in real time: The total mass of the stacked support and its load, the real-time position coordinates of the slider, the horizontal acceleration of the slider, the real-time speed of the slider, and the height of the center of gravity of the stacked support.

3. The split-type sliding rail leveling stacking rack according to claim 2, characterized in that, The control module calculates the dynamic overturning moment in the following way: the dynamic overturning moment is obtained by adding the first moment term and the second moment term; The first torque term is the total mass of the stacked support and its load multiplied by the gravitational acceleration. The result is then multiplied by the difference between the real-time position coordinates of the slider and the reference coordinates of the center support point at the bottom of the slide rail. The second torque term is the total mass of the stacked support and its load multiplied by the horizontal acceleration of the slider, and then multiplied by the height of the center of gravity of the stacked support.

4. The split-type sliding rail leveling stacking rack according to claim 3, characterized in that, The specific method by which the control module calculates the equivalent dynamic deflection is as follows: The equivalent dynamic deflection is obtained by adding the first deflection term and the second deflection term; The first deflection term is calculated as follows: first calculate the product of the dynamic overturning moment and the square of the effective suspended span of the slide rail, and then divide it by the product of twice the elastic modulus of the slide rail material and the moment of inertia of the slide rail cross-sectional area. The second deflection term is calculated as follows: First, calculate the sum of the real-time motion speed of the slider and the inherent mechanical jamming threshold speed of the system. Take the larger value between this sum and the preset minimum positive number as the denominator. Then, divide the product of the system's dynamic flexible coupling coefficient and the dynamic overturning moment by this denominator.

5. The split-type sliding rail leveling stacking rack according to claim 4, characterized in that, The control module calculates the active leveling compensation angle in the following way: the active leveling compensation angle is equal to the arcsine of the ratio obtained by dividing the equivalent dynamic deflection by the effective distance from the center point of the adjustment plate to the rigid hinge point of the bottom support.

6. The split-type sliding rail leveling stacking rack according to claim 5, characterized in that, The control module calculates the drive voltage of the hydraulic actuator module in the following way: The product of the driving voltage (equal to the active leveling compensation angle), the length of the driving arm of the adjustable flat hydraulic cylinder, and the effective force-bearing area of ​​the piston of the adjustable flat hydraulic cylinder) is used as the numerator. The product of the electromagnetic flow constant of the proportional valve in the hydraulic actuator module and the fluid mechanical response time constant inside the hydraulic cylinder is used as the denominator. A division operation is then performed.

7. The split-type sliding rail leveling stacking rack according to claim 1, characterized in that, The hydraulic actuator module includes at least two hydraulic cylinders, symmetrically arranged on the bottom side of the adjusting plate. The telescopic end of the hydraulic cylinder is hinged to the bottom surface of the adjusting plate, and the cylinder body end of the hydraulic cylinder is hinged to the horizontal part of the bottom support. Differential control is performed through the control module to achieve precise adjustment of the spatial attitude.

8. The split-type sliding rail leveling stacking rack according to claim 3, characterized in that, The leveling calculation process executed by the control module also includes a predictive feedforward compensation stage. The predictive feedforward compensation stage constructs a feedforward compensation torque based on the real-time horizontal jerk and real-time horizontal abruptness of the slider, and superimposes the feedforward compensation torque into the dynamic overturning torque to obtain the corrected equivalent overturning torque. This equivalent overturning torque is then used to replace the dynamic overturning torque in the calculation of the equivalent dynamic deflection.

9. The split-rail leveling stacking rack according to claim 8, characterized in that, The specific method by which the control module calculates the feedforward compensation torque is as follows: the feedforward compensation torque is obtained by adding the first feedforward term and the second feedforward term; The first feedforward term is the product of the system's first-order prediction time constant, the total mass, the real-time horizontal jerk, and the height of the stacked support's center of mass. The second feedforward term is half of the system's second-order prediction time constant squared, multiplied by the product of the total mass, the real-time horizontal jerk, and the height of the stacked support's center of mass. The feedforward compensation torque is activated only when the absolute value of the real-time horizontal jerk is greater than the preset jerk activation threshold or the absolute value of the real-time horizontal jerk is greater than the preset jerk activation threshold. During calibration, the feedforward compensation torque is first turned off, and the system response to different jerk and jerk inputs is tested separately. After the first-order prediction time constant and the second-order prediction time constant are calibrated, it is then connected in parallel with the feedback control loop.

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