Vibration Control in Storage and Retrieval Machines
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Solution Overview
Problem
Existing machine devices, such as storage and retrieval devices, cranes, and robots, experience disruptive vibrations during movement due to pulse-shaped drive loads, leading to increased material stress, reduced service life, and higher maintenance costs, which current technologies fail to completely eliminate without additional sensors or complex control technology.
Innovation Solution
A machine device with a control system that uses pre-determined vibration-minimized reference variable values for the acceleration change curve and time, calculated through simulation or measurement, to account for natural frequencies and drive-specific deviations, allowing for the avoidance of vibrations without additional sensors or control technology.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If acceleration and speed are increased to improve productivity, then productivity increases, but vibrations increase leading to higher material stress and reduced service life
Solution Approach 1:
The patent applies parameter changes by optimizing the acceleration profile parameters (smoothing time, acceleration ranges) to minimize vibrations. The control device adjusts the time acceleration profile with specific parameters including smoothing time and acceleration change ranges, transforming the drive load from pulse-shaped to vibration-minimized while maintaining high acceleration and speed for improved productivity.
2Reliability
If smoothing time is increased to reduce vibrations, then vibrations decrease and service life increases, but productivity decreases due to longer acceleration and braking times
Solution Approach 1:
The patent optimizes the smoothing time parameter within a specific range (0.1s to 10s) to achieve the best compromise between vibration reduction and productivity. The control device adjusts this parameter along with acceleration ranges to minimize vibrations while keeping acceleration and braking times as short as possible, thereby maintaining high productivity.
Solution Approach 2:
The patent implements dynamic adjustment of the time acceleration profile based on the specific machine device characteristics and operating conditions. The control device dynamically optimizes the acceleration and braking phases with variable smoothing times and acceleration ranges, allowing the system to adaptively balance vibration reduction and productivity requirements.
3Reliability
If additional sensors and control technology are added to eliminate vibrations, then vibrations are reduced, but device complexity and cost increase
Solution Approach 1:
The patent implements a self-service approach where the control device uses pre-stored optimal time acceleration profiles to automatically minimize vibrations without requiring additional sensors. The system serves itself by selecting appropriate acceleration profiles from memory based on operating conditions, eliminating vibrations through intelligent control algorithms rather than complex hardware additions.
Solution Approach 2:
The patent applies preliminary action by pre-calculating and storing optimal time acceleration profiles in the control device memory before operation. These pre-determined profiles include optimized smoothing times and acceleration ranges that minimize vibrations for different operating conditions, allowing the system to execute vibration-minimized motion without real-time sensor feedback or complex control calculations during operation.
4Stability of the object's composition
If mast mass is increased to reduce vibrations, then vibrations decrease and stability improves, but energy consumption and wear increase
Solution Approach 1:
The patent uses parameter changes in the acceleration profile to control vibrations instead of increasing mast mass. By optimizing the time acceleration profile parameters (smoothing time, acceleration ranges), the system achieves vibration reduction and mast stability while maintaining the original lightweight mast construction, thereby avoiding increased energy consumption and wear associated with heavier masses.
Data Source
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AI summary
Machine device (10.1), in particular a storage and retrieval machine, production machine, robot, crane or the like, with a movable unit (12), a receiving device (16) coupled to the movable unit (12) for receiving a conveyed item or load, a first drive unit (14) for moving the movable unit (12) along a travel path (F), a control device (50) for controlling the movement of the movable unit (12), wherein the first drive unit (14) is controlled by specifying the acceleration profile over time, wherein a storage device (52) is provided which the control device (50) accesses, wherein the storage device (52) contains reference values which provide vibration-minimized values for the acceleration change profile and/or the acceleration change time, which have been determined in advance by simulation calculations and by measurements on the device,The stored values take into account the simulated natural frequencies and drive-specific deviations between the target and actual acceleration curves of the drive, so that all parameters causing vibrations are captured in order to achieve vibration avoidance.