Horizontal front and rear wheels synchronous dual-drive high-speed stacker

Optimizing system performance, reducing the number of commissioning cycles, and reducing energy consumption are the key requirements for the new generation of high-bay warehouse roadway stacker cranes (SRUs). With a complete range of drive and automation solutions, Lenze aims to help SRU designers and automation engineers meet these challenges with ease and create value for system operators.

Optimizing system performance, reducing the number of commissioning cycles, and reducing energy consumption are the key requirements for the new generation of high-bay warehouse roadway stacker cranes (SRUs). With a complete range of drive and automation solutions, Lenze aims to help SRU designers and automation engineers meet these challenges with ease and create value for system operators.

Only one motion controller is needed to control all functions of travel, lifting drive, and cargo handling.

High dynamic response

Lenze is convinced that advanced control engineering will improve the performance of the equipment. To avoid the shaking of the SRU column caused by the acceleration and deceleration process, the S-shaped smoothing of the driving curve will limit the rapid shock in the acceleration and deceleration to a certain extent, so as to reduce the shaking of the column to an "acceptable" degree, so it has a certain "advancedness".

Secondly, the drive power failure control developed by Lenze stops the drive without the use of immediate mechanical braking. The control identifies a power failure within 5 milliseconds of it occurring and cuts off potentially energy-consuming components. This mode will allow the SRU to prioritize the dissipation of its kinetic energy and the energy stored on the servo inverter's DC bus until this part of the energy is exhausted before activating the brakes, thereby significantly reducing frictional losses.

security

Lenze's solution provides reliable protection for the handling of telescopic forks in the direction of the roadway and is protected by a safety system integrated into the servo drive. This means that even if there are people in the warehouse, the SRU can still be used in the aisle on either side. As a result, the safety system will significantly increase the availability of the equipment.

In addition, modern security technology can be used to protect materials and warehouses. When the material is lifted, the lifting drive stroke is reliably limited to prevent the material from being crushed by hitting the top of the racking compartment, thus ensuring that the material, the racking compartment and the SRU are not damaged. As a result, this feature prevents system standstills and increases operator productivity.

Energy-efficient

On the one hand, energy savings are achieved because the energy recovered from the cargo lifting or travel drive is reused to lift the cargo handling unit or to provide acceleration for the travel drive. On the other hand, thanks to the intelligent energy efficiency coordination of travel and crane drives integrated in the Lenze FAST SRU application toolbox, energy savings of around 7 percent can be achieved depending on the SRU design, carrying capacity and travel data.

Smart – simple engineering and fast commissioning

The new Lenze FAST SRU Application Toolbox includes all the SRU motion blocks, which at the same time form a complete and clear structural hierarchy. In this structure, all control of the coordinated motion blocks is centralized in one place and can be saved on an SD card.

In the face of the fact that the walking speed of the ordinary stacker crane in the industry is increased by nearly 50% and the acceleration is increased by 200% and the harsh index requirements of the acceleration of the roadway stacker crane in the new three-dimensional warehouse, Lenze and its partners have repeatedly demonstrated the scheme of horizontal front and rear wheel drive high-speed stacker, which has been recognized by the customer.

The success of the horizontal front and rear wheel drive high-speed stacker, the control of the horizontal front and rear wheels plays an important role, using simple speed following or torque following, and the uneven distribution of torque is usually encountered when the front and rear wheels are controlled, and it is difficult to meet the requirements of the index. Lenze proposed Torque Balancing Control, the principle of which is that the front and rear wheel hosts send the current speed and torque to the slave, and the slave adjusts the output speed in real time according to the torque difference between the two motors while following the linear speed, and achieves higher acceleration and linear speed through the balanced distribution of torque.

Horizontal front and rear wheels synchronous dual-drive high-speed stacker

Solution Highlights:

* Using simple speed following or torque following, there are usually some problems when controlling the front and rear wheels, and it is difficult to achieve the desired acceleration; Torque Balancing Control is recommended;

* The principle of Torque Balancing Control is that the front and rear wheel hosts send the current speed and torque to the slave, and the slave adjusts the output speed in real time according to the torque difference between the two motors while following the linear speed, so as to achieve higher acceleration and linear speed;

* When the system stops, in order to prevent the torque confrontation between the front and rear wheels, the slave opens the holding brake, but the torque limit is zero, and the system is more stable;

* Compared with the ordinary single-drive stacker, the speed is increased by nearly 50% and the acceleration is increased by nearly 200%;

* The current achievable speed and acceleration are at the leading level in similar models;

* The successful operation of many well-known customers at home and abroad has verified the effectiveness of the program;

Horizontal front and rear wheels synchronous dual-drive high-speed stacker

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