Vibration reduction control experiment device for high-speed moving stacking machine stand column

Abstract

The utility model discloses a high-speed motion stacker stand column vibration reduction control experiment device. The device is composed of a trolley, a laser sensor, a strain sensor, an acceleration sensor, a stand column, a dynamic strain gauge, a multifunctional data acquisition card, a real-time controller and the like. When the trolley accelerates or decelerates on the guide rail, the stand column elastically vibrates under the action of inertia force on a top weight, the position of the trolley on the guide rail is measured through the laser sensor, the bending deformation of the stand column is measured through the strain sensor, and the vibration acceleration of the top end of the stand column is measured through the acceleration sensor. The multifunctional data acquisition card inputs signals acquired by the sensor into the real-time controller, the real-time controller outputs control signals to the trolley after a vibration reduction control algorithm is operated, the trolley is driven to move left and right, and finally the stand column is kept stable without elastic vibration while the trolley stops at an expected position.

Description

Technical Field

[0001] The utility model relates to a high-speed moving stacker column vibration reduction control experimental device, belonging to the field of logistics warehousing automatic conveying equipment stacker column vibration control. Background Art

[0002] A stacker is a special mechanical device that uses a fork or a string as a picking device to grab, transport and stack or pick and place unit goods from high-rise shelves in warehouses, workshops, etc. In order to improve warehouse utilization and operating efficiency, the column of the stacker can generally reach more than 30 meters, and has a high handling speed and cargo storage and retrieval speed. It can complete the storage and retrieval operations in a short time, and its maximum horizontal operating speed can reach 500m / min.

[0003] During high-speed movement of the stacker, elastic vibration will occur due to the long column and insufficient rigidity. The fork at the end of the column cannot be accurately positioned to the designated shelf due to the column vibration, which not only affects the safety of the entire equipment but also delays the pickup time. In order to improve the safety and competitiveness of the stacker during operation, it is necessary to suppress the vibration of the column so that the end amplitude is controlled within a reasonable range.

[0004] Since stacker equipment is huge, there are too many uncontrollable factors and the experiment is difficult to conduct experimental research directly on existing products. In order to study the vibration control problem of the stacker column during high-speed movement, it is necessary to deeply study the dynamic characteristics of the elastic vibration of the stacker column during movement and verify the vibration reduction control algorithm. Therefore, it is necessary to develop a set of stacker column vibration reduction experimental platform, which mainly simulates the deformation and vibration of the column when the stacker performs acceleration and deceleration movement and vibration control during actual work. The correctness of the rigid-flexible coupling dynamics theory and control algorithm of the stacker column is verified through this experimental platform, and then the actual stacker is designed with vibration reduction control algorithm guided by the theory, and finally a general stacker research and development experimental platform is formed, which provides theoretical and experimental support for the development of stackers with larger size, faster running speed, smoother operation and higher positioning accuracy. Summary of the invention

[0005] The utility model aims to solve the vibration of a stacker column during high-speed movement and proposes an experimental device capable of suppressing the vibration of the stacker column.

[0006] The utility model proposes a high-speed motion stacker column vibration reduction control experimental device, comprising a guide rail 1, a distance measuring baffle 2 fixed on the rightmost side of the guide rail 1, a movable trolley 5 on the guide rail 1, the trolley 5 rolling on the guide rail 1 through a driving wheel 21 and a direction wheel 4, a laser sensor 3 installed on the right end of the trolley 5 can measure the position of the trolley 5 on the guide rail 1 in real time, the trolley 5 is connected to the column 7 through a connecting plate 6, a strain sensor 8 is attached to the column 7, a loading plate 10 is installed on the upper end of the column 7, a weight block 11 is fixed above the loading plate 10, and a weight block 11 is fixed below the loading plate 10. An acceleration sensor 9 is installed, and the output signal of the acceleration sensor 9 is connected to the multi-function data board 15 through the serial port data line 12. The output signal of the strain sensor 8 is filtered and amplified by the dynamic strain gauge 13 and then connected to the multi-function data board 15 by the analog signal input line 14. The multi-function data board 15 is connected to the real-time controller 17 through the data bus 16. The data monitoring 19 is connected to the real-time controller 17 through the VGA serial port data line 18. The output signal of the multi-function data board 15 controls the movement of the trolley 5 through the control bus 20.

[0007] The utility model has a simple structure, can simulate the elastic vibration of the stacker column when it runs at high speed, and has great application value and application space for studying the vibration control algorithm of the column stacker. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a schematic diagram of the overall structure of the utility model. DETAILED DESCRIPTION

[0009] The utility model is further described below in conjunction with the accompanying drawings and implementation examples.

[0010] The utility model mainly comprises: a guide rail 1, a distance measuring baffle 2, a trolley 5, a driving wheel 21 and a direction wheel 4, a laser sensor 3, a column 7, a strain sensor 8, a weight block 11, a loading plate 10, an acceleration sensor 9, a multifunctional data board 15, a dynamic strain gauge 13 and a real-time controller 17. In the stacker column vibration reduction control experimental device, the trolley 5 is positioned by a laser sensor 3, the elastic deformation of the column 7 and the vibration acceleration of the top are detected by the strain sensor 8 and the acceleration sensor 9, and the vibration reduction control algorithm is run in the real-time controller 17 to control the movement of the trolley 5, and finally the trolley 5 is stopped at a predetermined position while ensuring that the column 7 does not vibrate elastically.

[0011] In the drawings of the specification, a ranging baffle 2 is fixed on the far right side of the guide rail 1. A movable trolley 5 is arranged on the guide rail 1. The trolley 5 rolls on the guide rail 1 through a driving wheel 21 and a direction wheel 4. A laser sensor 3 is installed at the right end of the trolley 5 to measure the position of the trolley 5 on the guide rail 1 in real time. The trolley 5 is connected to a column 7 through a connecting plate 6. A strain sensor 8 is pasted on the column 7. A loading plate 10 is installed on the upper end of the column 7. A weight block 11 is fixed above the loading plate 10. An acceleration sensor 9 is installed below the loading plate 10. The output signal of the acceleration sensor 9 is connected to a multi-function data board 15 through a serial port data line 12. The output signal of the strain sensor 8 is filtered and amplified by a dynamic strain gauge 13 and then connected to the multi-function data board 15 through an analog signal input line 14. The multi-function data board 15 is connected to a real-time controller 17 through a data bus 16. A data monitor 19 is connected to the real-time controller 17 through a VGA serial port data line 18. The output signal of the multi-function data board 15 controls the movement of the trolley 5 through a control bus 20.

[0012] When the trolley 5 starts to accelerate on the guide rail 1, the weight block 11 at the top of the column 7 will cause the column 7 to vibrate elastically under the action of inertia. At this time, the laser sensor 3 installed on the right end of the trolley 5 measures the position of the trolley 5 on the track 1 from the distance to the ranging baffle 2 in real time, and the strain sensor 8 can simultaneously measure the bending deformation of the column 7, and the acceleration sensor 9 measures the vibration acceleration of the top of the column 7.

[0013] The multifunctional data board 15 inputs the signals collected by the laser sensor 3, the acceleration sensor 9 and the dynamic strain gauge 13 into the real-time controller 17. The real-time controller 17 internally programs a multi-sensor signal fusion processing algorithm and a column vibration reduction control algorithm. The output control signal after calculation by the real-time controller 17 controls the left and right movement of the trolley 5 through the multifunctional data board 15, so that when the trolley 5 reaches the predetermined position, the column 7 remains stable without elastic vibration.

[0014] Through structural innovation and design, the entire device proposes a high-speed stacker column vibration reduction control experimental device, which has important theoretical significance and engineering value.

Claims

1. A high-speed stacker column vibration control experimental device, characterized in that The experimental device comprises a guide rail [1], a distance measuring baffle [2] fixed on the rightmost side of the guide rail [1], a movable trolley [5] on the guide rail [1], the trolley [5] rolling on the guide rail [1] via a driving wheel [21] and a steering wheel [4], a laser sensor [3] installed on the right end of the trolley [5] to measure the position of the trolley [5] on the guide rail [1] in real time, the trolley [5] is connected to the column [7] via a connecting plate [6], a strain sensor [8] is attached to the column [7], a loading plate [10] is installed on the upper end of the column [7], a weight block [11] is fixed above the loading plate [10], and an acceleration sensor [8] is installed below the loading plate [10]. The output signal of the acceleration sensor [9] is connected to the multifunctional data board [15] through the serial port data line [12], the output signal of the strain sensor [8] is filtered and amplified by the dynamic strain gauge [13] and then connected to the multifunctional data board [15] through the analog signal input line [14], the multifunctional data board [15] is connected to the real-time controller [17] through the data bus [16], the data monitor [19] is connected to the real-time controller [17] through the VGA serial port data line [18], and the output signal of the multifunctional data board [15] controls the movement of the car [5] through the control bus [20].

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