The invention discloses a stacker positioning and walking method for determining the walking speed through a linear function change rule, and the method is characterized in that the acceleration stage and the deceleration stage of a stacker moving from a starting point A to a target point H are controlled, and the method comprises the acceleration stage AD, the constant speed stage DF, the deceleration stage FG and the crawling stage GH; in the acceleration stage AD, the stacking machine is accelerated to the maximum speed Vmax; in the constant speed stage DF, the stacking machine walks to a deceleration point F at the maximum speed Vmax; in the deceleration stage FG, the service life of mechanical components of the equipment is guaranteed while the walking efficiency is met, and the speed is reduced to the crawling speed; and in the crawling stage GH, the stacking machine crawl at the low crawling speed Vmin, and braking is conducted immediately when the stacking machine reaches the target point H.
本申请公开了线性函数变化规律确定行走速度的堆垛机定位行走方法,其特征在于,对堆垛机从起始点A点运动至目标点H点中的加速阶段和减速阶段进行控制,包括加速阶段AD、匀速阶段DF、减速阶段FG和爬行阶段GH;加速阶段AD,堆垛机加速至最大速度Vmax;匀速阶段DF,堆垛机以最大速度Vmax行走至减速点F;减速阶段FG在满足行走效率的同时保证设备机械构件的使用寿命,减速至爬行速度;爬行阶段GH,堆垛机以爬行速度Vmin低速爬行,到达目标点H即时刹停。
Stacker positioning walking method for determining walking speed through linear function change rule
线性函数变化规律确定行走速度的堆垛机定位行走方法
2023-07-14
Patent
Electronic Resource
Chinese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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