Bearing arrangement with improved energy balance between storage and retrieval units

专利摘要:
The invention relates to a storage arrangement (101... 103) with a plurality of storage spaces (2) for piece goods (15) arranged side by side and one above the other, a plurality of automated storage and retrieval units (31, 32, 32a... 32c) for storing the piece goods ( 15) on the storage bins (2) and retrieval of the piece goods (15) from the storage bins (2), which are movable relative to the storage bins (2), and with at least one power supply (4, 4a, 4b) for said stacker cranes ( 31, 32, 32a ... 32c). In addition, the bearing arrangement (101... 103) comprises at least one current store (C, Ca, Cb) which is associated with or encompassed by the at least one named power supply (4, 4a, 4b). Moreover, the invention also relates to a method for operating said bearing assembly (101 ... 103).
公开号:AT15796U1
申请号:TGM9006/2015U
申请日:2015-12-17
公开日:2018-07-15
发明作者:
申请人:Tgw Logistics Group Gmbh；
IPC主号:

专利说明:

description
BEARING ARRANGEMENT WITH IMPROVED ENERGY COMPARISON BETWEEN SHELF CONTROL DEVICES
The invention relates to a storage arrangement with several storage spaces for piece goods, which are arranged side by side and one above the other, several computer-controlled storage and retrieval devices for storing the cargo on the storage bins and outsourcing the cargo from the storage bins, which are movable relative to the storage bins, and with a Power supply for the aforementioned stacker cranes. The invention also relates to a method for operating said arrangement.
Such a bearing arrangement and such a method are known in principle. For example, EP 1 749 341 B1 discloses a method for energy-saving operation of storage and retrieval units in a rack storage system. The movements of several storage and retrieval units are coordinated so that the generated during braking of a stacker crane generator electrical energy is used simultaneously for accelerating another storage and retrieval unit. Although the efficiency of a shelf storage system is increased by this measure, but thus decreases the performance of the same with regard to the storage and retrieval of objects.
An object of the invention is therefore to provide an improved bearing assembly and an improved method for operating the same. In particular, the performance of a shelf storage system is to be increased with high energy efficiency compared to the prior art.
The object of the invention is achieved with a bearing arrangement of the type mentioned, which additionally has at least one power storage, which is associated with the at least one power supply or is covered by this.
Furthermore, the object of the invention is achieved with a method for operating such a bearing assembly.
By the proposed measures, the regenerative energy generated during braking of a storage and retrieval unit can be stored and used at a later time for accelerating this or another storage and retrieval unit. As a result, the energy-efficient operation of the bearing arrangement is made possible without a special coordination of the motion sequences of several storage and retrieval units. In other words, the energy efficiency of the bearing assembly is increased by the proposed measures, without negatively affecting its performance in terms of article loading and unloading. In particular, the stacker cranes are designed as single-level stacker cranes ("shuttles") and / or multi-rack cranes.
Further advantageous embodiments and modifications of the invention will become apparent hereinafter from the dependent claims and from the description in conjunction with the figures.
It is advantageous if the storage bins are organized in rows of shelves, which are arranged adjacent to at least one rack aisle, if the rack aisle in superimposed levels independently movable storage and retrieval equipment and if a single power supply and a single power storage rack operating devices several levels of the aisle alley assigned. It is advantageous that only a single power storage and only a single power supply for comparatively many (in particular for all) storage and retrieval equipment must be provided.
It is also advantageous if the storage bins are organized in rows of shelves, which are arranged adjacent to at least one rack aisle, if the rack aisle in superimposed levels independently movable storage and retrieval equipment and if the at least one power supply and a power storage rack operating devices of several levels are assigned to the rack aisle. For example, the rows of shelves can be organized in several storage areas, each of which is assigned a power supply and a power storage. For example, a shelf row with 18 levels can be organized in 3 storage areas with 6 shelf levels each. In each shelf level, a single-level shelf device ("shuttle") may be provided. Advantageous in this embodiment are the good scalability, the good availability comparatively small power storage and the good availability of the bearing assembly as such. In the event of a power failure, only one storage area will fail and not a complete rack aisle.
It is also favorable if the storage bins are organized in rows of shelves, which are arranged adjacent to rack aisles and if each rack aisle a single stacker crane or in superimposed planes are arranged independently movable stacker cranes and if the at least one power supply and at least one Electricity storage are assigned to the storage and retrieval devices of several Regalgassen. In this way, an energy balance over several shelf aisles away take place.
It is also advantageous in the above context, if the at least one power supply and the at least one power storage is assigned a vertical conveyor, in particular a lift or a paternoster. In this way, the energy generated by a vertical conveyor generator can be stored or utilized.
In general, it is also advantageous if the entire bearing assembly multiple power supplies and / or power storage are assigned, since in this way the availability of the bearing assembly can be increased. In principle, a power store can be assigned to a plurality of power supplies, or a power supply can also be assigned to store a plurality of power supplies.
It is particularly advantageous if a supercapacitor or power cap / supercap is provided as current storage. Supercapacitors (also called ultracapacitors, powercap or supercap) are electrochemical capacitors and specifically a special design of double-layer capacitors. Supercapacitors are characterized by fast energy absorption and delivery as well as by a long service life and are therefore particularly suitable for the stated purpose. In general, alternatively or in addition to a supercapacitor, an accumulator may also be provided as the current storage.
It is further particularly advantageous if the bearing assembly comprises an electronic circuit which is adapted to measure a charging voltage of the current memory and / or a time course of the same and to trigger an alarm signal when the measured value is outside a desired range. Accordingly, a method for monitoring a power storage, which is associated with at least one power supply for several storage and retrieval units, or from this is of advantage, the storage and retrieval units are movable relative to side by side and superimposed storage bins of a warehouse, a charging voltage of the power storage and / or a the time course of the same is measured and an alarm signal is triggered when the measured value is outside of a desired range.
Although the proposed power storage in itself have high life and are reliable, a failure of the same in the final consequence can not be excluded. Furthermore, a degradation of the current memory, ie a decrease in the storage capacity, must be expected. In particular, a suddenly occurring and thus surprising failure of a power storage and an unrecognized drop in storage capacity are dangerous insofar as resulting from the braking of a stacker crane regenerative energy can not or only insufficiently dissipated and therefore a braking is not or only slightly effective. That is, the braking performance of a storage and retrieval device decreases with the failure of the power storage under certain circumstances abruptly. In particular, when manipulating heavy loads can cause considerable damage, for example, when a load when lowering can not be sufficiently braked and hits the ground in a row. Such a behavior is also treacherous insofar as an error presumed first of all in the electronic control of a storage and retrieval device and a defective power storage would be discovered only at a very late stage of troubleshooting. However, the proposed measures can prevent damage to man and machine and avoid or at least shorten a fault analysis. Overall, this also increases the availability of the bearing assembly.
To monitor the power storage are basically several options available. For example, a time profile of the charging voltage during charging of the current memory can be determined. If this course does not correspond to a desired course, then an alarm signal can be triggered in order to inform the operating personnel accordingly. Another possibility is to monitor the charging voltage as such, whether it reaches a certain setpoint. If this is not the case, then again an alarm signal can be triggered. In addition, the current memory can be unloaded as a test during operation and the voltage curve can be compared with a desired course. If the actual course does not correspond to the expected desired course, an alarm signal can again be triggered.
The above-mentioned alerting can be staggered depending on the state of the power storage. For example, an early warning may be "Power Memory Power Consumption 95%". As degradation progresses, an alert may be, for example, "Power Consumption 80% - Get Spare Part". Finally, the operator of the system can be asked to replace the power storage, for example, with the message "power consumption of the power storage below 70% - replacement required". In addition to the above-mentioned measures, an alarm can also cause the stacker cranes are taken out of service or only a limited operation is allowed to prevent damage to the stacker cranes or to the manipulated objects.
It is also particularly advantageous if the bearing assembly comprises an electronic circuit which is adapted to discharge the power storage when requested via a designated consumer. Accordingly, it is also advantageous if the power storage is discharged on request via a designated consumer. If it is necessary to replace the energy storage device, a residual energy contained in it can be broken down, for example, via an ohmic resistor, so that the energy storage device can be safely removed and disposed of without the risk of damage to man or machine. Also, the availability of the bearing assembly is increased because the discharge of the power storage can be done relatively quickly. The discharge process can be monitored, for example, with a voltage meter and acknowledged accordingly by the electronic circuit, for example with the message "capacitor voltage <1 V, removal possible". For example, the request for discharging the power storage via a dedicated key or a key switch can be done. The targeted discharge of the current memory is generally helpful not only when replacing the power storage, but generally when working on the cabinet, as a switching off of the supply voltage due to the high residual energy in the power storage is usually not sufficient to ensure safe working.
It should be noted at this point that the functions for discharging the current memory and for monitoring the functionality of the current memory are not necessarily combined in a single electronic circuit / control, although this is advantageous. Of course, the use of separate electronic circuits is conceivable and in particular, only one of the two functions mentioned can be applied.
It is furthermore particularly advantageous if an ohmic resistance and / or a transistor is provided as a consumer. For example, the ohmic resistance can be connected by means of electromechanical or electronic switch to the power storage. A transistor can be driven for charging / discharging according to a desired charge / discharge current and in particular clocked. In a specific embodiment, the temperature of the transistor or of a heat sink connected to it can also be measured and the charge / discharge of the energy store can be regulated on the basis of the measured temperature. As the temperature rises, the current is lowered accordingly and vice versa. Particularly advantageously, the fictitious resistance of the transistor can be lowered towards the end of a charging / discharging process, so that the charge / discharge of the current memory is as complete as possible. In this way, the danger emanating from the current memory can be further reduced. In particular, the capacitor can be discharged with a constant current.
In an advantageous method for braking / stopping a storage and retrieval unit with at least one drive motor and connected to the at least one drive motor drive control (English: open loop drive control / closed loop drive control), the at least one drive motor at a Braking of the driving control / regulation controlled so that the recuperative / regenerative power generated by the braking at least equal to / consumed by the driving control / recorded electric power, the driving control / regulation is supplied in braking mode by the at least one drive motor , Accordingly, it is advantageous if a storage and retrieval device / a bearing assembly comprises a driving control / regulation and at least one drive motor connected to the Fahrsteue- / regulation both supply side and output side, wherein the driving control / regulation for driving the at least one drive motor is formed such that the regenerative power generated by the braking at least the consumed / recorded by the driving control / electrical power corresponds and the driving control / regulation is supplied in the braking operation by the at least one drive motor.
The braking is thus at least so strong that the driving control / regulation, which causes the braking is operated until stopping the drive motor or until just before a point. This is a safe stopping of the storage and retrieval device via the drive motor even without the presence of a driving voltage or supply voltage from a (public) supply network possible. Although the presence of a power storage device is advantageous, but in principle the method is independent of whether and where a power storage for the storage and retrieval unit is provided. Regardless, the use of a smoothing capacitor is possible. This is connected to the input of the driving control / regulation and smoothes the regenerated supply voltage when using intermittently switching power parts, for example, when using four-quadrant controllers. The method can for example be applied to a motor for the traction drive of the storage and retrieval unit and / or, for example, to a motor for a moving member of the storage and retrieval unit.
A moving member is generally a movable part of the storage and retrieval unit, which is used for manipulating a conveyed object. For example, a drive for a moving member can be understood as meaning a vertical drive or horizontal drive for a loading platform or a drive for a load receiving device. Accordingly, a moving member can be understood, for example, as a lifting mechanism, a mechanism for horizontal movement or movement of a loading platform relative to a chassis of the storage and retrieval device, an adjustment or movement mechanism for a load receiving device (for example a gripping mechanism) or also a conveying drive on the loading platform.
In general, the drive control / regulation and / or a power storage must not necessarily be part of the storage and retrieval unit, but this can for example be installed in a stationary cabinet.
It is advantageous if the braking at / above said minimum, at which the recuperative / regenerative power generated by the braking of the consumed by the driving control / regulation / recorded electrical power, in any case is carried out when a failure / Waste of the driving voltage for the storage and retrieval unit is detected and if braking with sufficient existing driving voltage, if necessary, also below the minimum mentioned. If the driving voltage is sufficient for the supply of the driving control / regulation, then their recuperative supply by the drive motor is not necessary, and a braking can be done accordingly weaker.
It is particularly advantageous if the position reached when stopping is stored in a memory that holds data independently of the driving voltage. As a result, the (re) start up of the system and in particular the approach of a reference point during startup are accelerated. As a rule, when the system starts up, a reference point is approached to initialize position sensors (in particular relative displacement or relative angle encoders). According to the prior art, the position at which a moving member of the storage and retrieval unit or at which the storage and retrieval unit itself stops, not stored in case of failure of a driving voltage. The reference point can therefore be approached only very slowly, since there is no information about the distance between the current position of the moving member / storage and retrieval unit and the reference point. By the proposed measures, however, an acceleration path and in particular a braking distance and thus also a maximum possible travel speed can be precalculated and applied. The approach of a reference point can therefore be done much faster than is possible in the prior art.
It is also advantageous if the braking in case of failure / drop in the driving voltage for the storage and retrieval unit to one end of a range of motion of a driven by the at least one drive motor moving member, if the braking is done at / above said minimum, in which the recuperative power regeneratively generated by the braking corresponds to the electric power consumed / consumed by the driving control. The fact that the storage and retrieval unit drives as far as possible and brakes just as much as is necessary for the driving control / regulation, the damage of sensitive goods (such as glass), which are transported by the storage and retrieval unit, is prevented.
In addition, it is also advantageous if the driving control / regulation monitors the regenerative provided by the at least one drive motor supply voltage during braking and amplifies the braking at a drop in this supply voltage below a voltage limit. In this embodiment, the supply voltage for the driving control / regulation is thus regulated. As a result, the electrical supply of the driving control / regulation is ensured particularly well in the absence of a driving voltage.
In a further advantageous method for operating a bearing arrangement with several storage spaces for piece goods - holds a powered by an operating power supply operation control, which on the output side with a control coil for switching contacts of a first contactor in a current path to at least one storage and retrieval unit is connected to this first contactor in the ferry operation of the at least one storage and retrieval unit and with sufficient operating voltage in the power grid, and - it is a power storage, which is associated with at least one power supply for this at least one storage and retrieval unit, in the event of excessive voltage drop in the operating power supply, connected to the control coil of the first contactor with the aid of a second contactor.
Accordingly, it is in the proposed bearing arrangement advantageous when [0033] - Provided by an operating power supply operating control is provided, which is the output side connected to a control coil for switching contacts of a first contactor in a current path to at least one storage and retrieval unit and which is designed to keep this first contactor closed in the ferry operation of the at least one storage and retrieval unit and with sufficient operating voltage in the operating power network, and - a circuit is prepared for the power storage, which at least one power supply for this at least assigned to a storage and retrieval unit is included, in case of excessive voltage drop in the power grid with the help of a second contactor to the control coil of the first contactor.
The first contactor in the current path to the storage and retrieval unit is used to turn on or off the drive voltage for this stacker crane. In ferry mode, the first contactor is therefore closed, in case of maintenance or when people enter the driving area of the storage and retrieval unit, however, open. The control of the first contactor via an operating control, which is powered by a power grid. For example, the operating voltage for the operation controller may be 12V, 24V or 48V, and the operation controller may be configured, for example, to receive commands from a central host and forward them to the stacker crane. If the power grid fails, the operation control can no longer control the first contactor, which is why the power supply of the storage and retrieval unit suddenly and unprepared fails without further measures. This is particularly disadvantageous and dangerous if the storage and retrieval unit does not have mechanical self-holding brakes, but is braked electronically using the drive motor, for example by means of a four-quadrant. In this case, a controlled stopping of the storage and retrieval device in case of failure of the driving voltage is not possible, so the storage and retrieval unit and the motion elements of the same could run uncontrollably against mechanical attacks. As a result, not only the stacker crane itself, but also the goods transported with it could be damaged.
By the proposed measures, however, the (usually at least partially charged) power storage is connected to the control coil of the first contactor, whereby the lying in the current path to the storage and retrieval device switching contact remains closed even with the elimination of the operating voltage for the operation control. The stacker crane or the stacker cranes can continue to be supplied with electrical energy in the power contained in the power storage and controlled to a halt. Helpful in this case is the fact that accumulating during braking recuperatively generated electrical energy is fed back into the power storage and raises the voltage level there. This means that a controlled braking is also possible if the current memory has the lowest voltage level occurring in normal operation in the event of failure of the supply network.
An "excessive" voltage drop is understood in particular to mean a voltage drop of at least 10% of the nominal voltage. For example, if the rated operating voltage is 48V, then there is an excessive voltage drop in the above case when the actual operating voltage drops to 43V or less.
It is also advantageous if the switching contact of the first contactor is kept closed by means of a holding capacitor connected to the control coil until the switching contact of the second contactor is closed. In this way, the time needed to turn on the power storage to the control coil of the first contactor can be bridged. Usually the time is only a few milliseconds. During this time, the first switching contact is kept closed with the help of the holding capacitor and thus a short-term power failure on the storage and retrieval unit / storage and retrieval devices, which could possibly cause interference there, avoided.
It is advantageous, moreover, if a driving control / regulation of at least one storage and retrieval unit detected a failure or inadmissible drop in a driving voltage of at least one storage and retrieval unit and initiates a stop process for the storage and retrieval unit and / or its movement members. In this way, the storage and retrieval unit autonomously stops in an emergency. A failure of the no longer powered by the power grid operating control is therefore not dangerous.
But it is also advantageous if the power storage is associated with the at least one storage and retrieval unit or is included by this, is switched at excessive voltage drop in the power grid to the operating control. In this way, the operation control can actively send a command to stop to the storage and retrieval unit. The drive control / regulation built into the storage and retrieval unit therefore does not necessarily need to detect a drop or drop in a driving voltage and can therefore be simpler in design.
Finally, it is also of particular advantage if said current memory is switched to the control coil of the second contactor, if an access of a person to a driving range of the stacker crane / the stacker cranes requested or detected. As a result, the control coil of the second contactor is electrically supplied even in case of failure of the power grid for the operation control or even in case of failure of the driving voltage, whereby the switching contact of the second contactor is kept open even then. As a result, however, the first contactor remains open when the operating voltage for the operating control off or fails. On the other hand, without this measure, a drop in said operating voltage in the manner already described would cause the first contactor to close. As a result, the storage and retrieval unit could be suddenly supplied in unexpected and undesirable manner with the driving voltage and set in motion. Since a storage and retrieval machine may weigh several hundred kilos, severe injuries and sometimes the death of the person in the driving area of the storage and retrieval unit would be threatened. However, the proposed measures avert this danger.
At this point it should be noted that the disclosed to the device according to the invention embodiments and resulting advantages related mutatis mutandis to the inventive method and vice versa.
For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
In each case in a highly simplified, schematic representation: FIG. 1 shows an exemplary and schematically illustrated bearing arrangement with several ren multi-level stacker cranes and an associated power supply; FIG. 2 shows an exemplary circuit diagram for a power supply of a plurality of shelf devices; FIG. 3 shows an exemplary and schematically illustrated bearing arrangement with several ren single-level stacker cranes and an associated vertical conveyor with a single power storage; Fig. 4 as Fig. 3, only with a plurality of power storage; 5 is an illustration of a movable loading platform of a storage and retrieval device with a load receiving device in plan view. FIG. 6 shows a carriage of a telescoping unit for the load-receiving device
Fig. 5 in detail; FIG. 7 shows a belt for driving the carriage from FIG. 5 in section; FIG. Fig. 8 shows another load receiving device with only a single belt for
Drive a second carriage in side view; 9 shows an arrangement in which a travel control of the storage and retrieval unit is supplied recuperative by a drive motor, and FIG. 10 shows a circuit for the safe operation of several storage and retrieval units
Power failure.
Introductoryly it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or identical component names, wherein the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or the same component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and to transmit mutatis mutandis to the new situation in a change in position.
If in the following is spoken of general cargo, it is understood as a packing unit or a loading aid, such as cardboard, container or tray.
Fig. 1 shows a bearing assembly 101 with multiple storage bins 2, which are arranged side by side and one above the other, with several computer-controlled storage and retrieval devices 31, which are movable relative to the storage bins 2, and with a power supply 4 for said storage and retrieval devices 31. In addition For example, the bearing assembly 101 includes a power storage C that is included in the power supply 4.
The bins 2 are organized in this example in rows of shelves 5, which are arranged adjacent to rack aisles 6 and in the depth direction a single piece goods (single-deep storage) or several piece goods (multi-depth storage) can accommodate. The stacker cranes 31 are designed as multi-level stacker cranes and each include a chassis 7, which is movable on rails 8, and a mast 9, which is connected to the chassis 7. In FIG. 1, the storage and retrieval unit 31 travels on two rails 8, but of course the storage and retrieval unit 31 can only travel on a rail 8, which is designed in particular as an I-profile.
Furthermore, said multi-level stacker crane 31 comprises a movable on the mast 9 (raised and lowered) loading platform 10. On the loading platform 10 is a load receiving device 11 for storing the cargo on the bins 2 and outsourcing the cargo from the storage bins. 2 arranged and forms this a receiving surface for at least one piece goods. Such a multi-level stacker crane 31 is disclosed, for example, in EP 2 419 365 B1. With the help of the multi-level stacker cranes 31 piece goods can be stored in a storage space 2 or outsourced by this in a conventional manner. The piece goods in question is transported by means of the loading platform 10 from a feed system, not shown, to the storage location 2 or from the storage space 2 to a removal system, not shown. The feed system and / or Abförderanlage can be configured for example as a roller conveyor.
About power lines 12, the power supply 4 is electrically connected to the rails 8 respectively with the multi-level storage and retrieval devices 31, so that electric drive motors can be supplied with the same electrical energy. A first drive motor (travel drive) is used for driving the multi-level stacker cranes 31 along the aisle 6, a second drive motor (lifting drive) serves to raise and lower the loading platform 10 and a third drive motor (input and Auslagerantrieb) serves the retraction and extension the load receiving device 11. The load receiving device 11 in turn may comprise at least a fourth drive motor, which serves the adjustment movement of a transport member for the transport of cargo between the storage space 2 and the loading platform 10. Of course, the power transmission can also be done differently, for example via trailing cable. In the example shown, the power supply 4 is assigned to two multi-level stacker cranes 31. Of course, the power supply 4 but could supply more than two multi-level stacker cranes 31, or it could also be each assigned a power supply 4 each a multi-level storage and retrieval unit 31.
According to a possible embodiment, the load receiving device 11 comprises telescopic arms, which are arranged on the loading platform 10 and in each case perpendicular to the rack aisle 6 include / extendable carriages. The outer slide of the telescopic arms comprises at least at its opposite ends arranged and relative to the loading platform 10 adjustable transport members, by means of which a einzulagerndes or auszulagernew cargo can be engaged behind. Such a load-bearing device 11 is known, for example, from DE 20 2004 004 620 U1 and US Pat. No. 6,923,612 B2 (see also FIG. 5).
The power storage C is housed in this embodiment directly in the power supply 4 in a common cabinet. Of course, the power storage C could also be accommodated in a separate housing. In addition, it is noted that in the control cabinet of the power supply 4, other electrical / electronic devices for operating the multi-level stacker cranes 31 may be housed, such as circuit breakers, contactors, controls, meters and the like. Of course, electrical / electronic devices for operating the multi-level stacker cranes 31 can also be accommodated in the multi-level stacker crane 31, in particular a control system for the same.
The power storage C is generally used to store the energy generated regeneratively during braking of a multi-rack storage and retrieval unit 31 and, if necessary, that is to say when accelerating this or another multi-level storage and retrieval unit 31, again. In this way, current peaks in the supply line to the power supply 4 are avoided, and the energy requirement of the bearing assembly 101 is reduced. The statements here relate not only to the deceleration and acceleration of the chassis 7, for example, but in principle to all moving parts of the multi-level storage and retrieval unit 31, in particular thus also to the loading platform 10.
As shown in FIG. 1, the power storage C respectively energy storage is not connected to the storage and retrieval unit 31, but to a (stationary) power supply 4 for the stacker cranes 31 to regenerate generated by the drive motors of the stacker cranes 31 regenerative energy over the (bidirectional acting) power supply to the power storage C feed.
2 shows a schematic and exemplary electrical circuit diagram of the power supply 4. This comprises a rectifier 13 which converts the AC voltage originating from a supply network into a DC voltage for the drive motors M of the multi-level stacker cranes 31. The rectifier 13 is shown purely symbolically and is therefore not necessarily to be understood as a diode bridge rectifier, but may also include other electronic components for converting the AC voltage to the DC voltage. Likewise, it should be noted that in FIG. 2, only two drive motors M are shown purely symbolically. Of course, more than two drive motors M, for example the drive motor for the travel drive and drive motor for the linear drive, can be supplied by the power supply 4.
The power supply 4 also includes three switches S1..S3, a resistor R and a power storage C, which is formed in this example as a capacitor, in particular as a supercapacitor or power cap / supercap. In principle, additionally or alternatively to the capacitor C, an accumulator could also be provided. With the aid of the switch Si, the series connection of the resistor R and the capacitor C can be switched to the supply voltage, by means of the switch S2, the capacitor C can be switched to the supply voltage alone and with the aid of the switch S3, the series connection of the resistor R and the Capacitor C are short-circuited. In addition, the power supply 4 comprises a voltage measuring device V at the terminals of the capacitor C and an electronic circuit or current storage controller 14 for controlling the switches Si..S3 and for detecting the voltage across the capacitor C.
The function of the represented in Fig. 2 power supply 4 is now as follows, starting from a discharged state of the capacitor C.
To charge the capacitor C, the switch Si is closed in a first step, the switches S2 and S3 remain open. As a result, the capacitor C is charged via the resistor R from zero volts to a nominal voltage. With the help of the voltmeter V this process can be monitored and, for example, a time course of the charging voltage can be detected. If the charging process is completed (for example, a target value for the nominal voltage of 62 V can be provided for this purpose), the switch Si is opened and the switch S2 is closed, so that the capacitor C is connected directly to the supply of the drive motors M. The switch S3 remains open. The power storage C is now ready for operation and can absorb the energy generated by a drive motor M regenerative energy and release it again when needed.
In one embodiment, it can be provided that the stacker cranes 31 are supplied with different voltage depending on the state of charge of the capacitor C. If electrical energy is absorbed during braking of the stacker cranes 31, the voltage of the capacitor C and thus the supply voltage of the stacker cranes 31 accordingly increases. For example, the voltage can reach a level of 80 V and above, for example up to 100 V. It would also be conceivable that the stacker cranes 31 are supplied with constant voltage and the voltage adjustment to the capacitor C out with a boost converter and / or buck converter is accomplished.
The capacitor C is subject to a certain aging, or may lose its ability to store partly or completely by external influences, which is why the state of the capacitor C is monitored in an advantageous embodiment of the invention. For monitoring the capacitor C, several options are available.
For example, when commissioning the bearing assembly 101, it can be determined how high the voltage across the capacitor C can become during operation. For this purpose, the stacker cranes 31 are loaded (preferably with the maximum load), set in motion and then decelerated simultaneously. Thus, the maximum occurring braking energy is charged in the capacitor C, which is applied to which the maximum occurring during operation capacitor voltage. As a result, it is checked during operation whether the capacitor voltage exceeds this maximum voltage (or a threshold value derived therefrom). If this is the case, it can be assumed that, because of U = Q / C, the capacitance C of the capacitor has dropped, where Q denotes the electrical stored energy. As a result, an alarm signal can be output. It is also conceivable in this context that the stacker cranes 31 are selectively braked at the same time in order to determine the state of the capacitor C. In principle, however, it is sufficient to monitor in operation simply continuously whether the above-mentioned maximum voltage or a threshold derived therefrom is exceeded. Due to the permanent control of the charging voltage, taking into account the manufacturer's data, it is also possible to determine how far the aging process of the capacitor C has progressed. Accordingly, a method of advantage, in which a capacitor C is charged to a nominal voltage, in which the storage and retrieval apparatuses 31 associated with the condenser C are set in motion and braked substantially simultaneously, is advantageous [0074] in which the maximum voltage applied to the capacitor C after braking is determined, in which the voltage applied during operation to the capacitor C is measured, and [0076] - in which an alarm signal is output when the measured voltage is above the said maximum voltage or a derived from this threshold.
In another embodiment, a time course of the charging voltage of the capacitor C during initial charging or in normal operation is determined. If this course does not correspond to a desired course, then an alarm signal can be triggered in order to inform the operating personnel accordingly. Another possibility is to monitor the charging voltage as such, whether it reaches a certain setpoint. If this is not the case, then again an alarm signal can be triggered. In addition, during operation, the capacitor C can be discharged as a test via the resistor R. For this purpose, the switch S2 is opened and the switch S3 is closed. If this course does not correspond to a desired course, then in turn an alarm signal can be triggered. Of course, the discharge curve can be evaluated during normal operation.
The above-mentioned alarm can be staggered depending on the state of the capacitor C. For example, an early warning may be "Power Memory Power Consumption 95%". As degradation progresses, an alert may be, for example, "Power Consumption 80% - Get Spare Part". Finally, the operator of the system can be asked to replace the power storage C, for example, with the message "power consumption of the power storage below 70% - replacement required".
If an exchange of the capacitor C is necessary, then a residual energy contained therein can be reduced via the resistor R, so that the capacitor C can be safely removed and disposed of without risking damage to man or machine. For this purpose, the switch S2 is opened and the switch S3 is closed. As a result, the capacitor C is discharged via the resistor R. The discharge process can be monitored with the voltage measuring device V and acknowledged accordingly by the electronic current storage circuit / controller 14, for example with the message "capacitor voltage <1 V, removal possible". For example, the request for discharging the capacitor C via a dedicated key or a key switch can be done.
In the above example, a single resistor R is provided for the charge and discharge of the capacitor C. This is advantageous, but not mandatory. It would also be conceivable that two (different) resistors R are provided for the charging and discharging of the capacitor C. In this way, charge and discharge of the capacitor C can be done with different currents and different speeds.
In addition to the above-mentioned measures, an alarm may also result in the multi-level stacker cranes 31 being decommissioned or only limited operation being permitted to avoid damage thereto. As already mentioned above, a broken or only partially usable power storage C can lead to the fact that the electrical energy can not be dissipated when braking the multi-level shelving devices 31 in a corresponding manner and therefore a desired braking effect is absent or present only in a limited way. In other words, a limited performance of the power storage C reduces the braking power or the braking performance of the multi-level storage and retrieval units 31. This can cause severe damage to the system, for example, when a heavy load can not be stopped after a lowering operation and on the chassis 7 of More plane stacker crane 31 hits. However, the proposed measures can prevent such accidents.
In general, the switches S1..S3 used in the example of FIG. 2 can be designed, for example, as electromechanical switches (relays, contactors) or else as electronic switches, for example as power transistors. Also, instead of the resistor R or in addition to a transistor may be provided as an electronic load. In particular, it is also possible for the switches S1 and S3 to assume the function of switching and of the load. For charging / discharging, the transistor switches S1 / S3 can be driven and, in particular, clocked in accordance with a desired current. In a specific embodiment, the temperature of a transistor switch S1 / S3 or of a heat sink connected to it can also be measured and the charge / discharge of the energy store C can be regulated on the basis of the measured temperature. As the temperature rises, the current is lowered accordingly and vice versa. Particularly advantageously, the fictitious resistance towards the end of a charging / discharging process can be reduced, so that the charging / discharging of the capacitor C takes place as completely as possible. In this way, the load of the switch S2 when turning on the capacitor C can be reduced to the DC voltage supply and / or the risk when removing the capacitor C can be reduced. A discharge with constant current is of course possible.
The power storage controller 14 may be generally configured as an analog circuit, digital circuit or as a hybrid of an analog circuit and a digital circuit. In particular, this may have a microprocessor which processes the above-mentioned method steps when executing a corresponding program.
In the above example, it was assumed that the stacker cranes 31 are designed as multi-level stacker cranes and the power supply 4 and the power storage C are assigned to the stacker cranes 31 more shelves 6 aisles. But this is by no means the only conceivable possibility. Thus, the bearing assembly 101 may also have only one rack aisle 6. It is also possible for at least one (above-described) multi-level stacker crane 31 to be arranged in the single rack aisle 6 or the plurality of rack aisles 6 in superposed planes. This results in storage areas in which the storage bins 2 are present, each associated with a multi-level stacker crane. In this embodiment, the power supply 4 and the power storage C is assigned to a multi-level stacker cranes 31 a rack aisle 6. If only one rack aisle 6 and a multi-level stacker crane 31 are provided in this rack aisle 6, then the power supply 4 and the power storage C is assigned only to this multi-level stacker crane 31.
It is also conceivable that the stacker cranes are designed as single-level stacker cranes. In particular, the power supply 4 and the power storage C can be assigned to single-level stacker cranes of several levels of a rack aisle 6, wherein the storage bins 2 are again organized in rows of racks 5, which are arranged adjacent to at least one rack aisle 6.
Fig. 3 shows an example of a bearing assembly 102 with a row of shelves 5 with multiple storage bins 2, which are arranged in four levels. In each level a Einbe nen rack and jig 32 is provided, which can carry piece goods 15 from and to the storage bins 2 a plane. The stacker cranes 32 are designed as single-level stacker cranes and each include a chassis 16 which is movable on rails 8, and a loading platform 10. On the loading platform 10 is a load receiving device 11 for storing the piece goods 15 on the storage bins 2 and outsourcing the piece goods 15th arranged from the storage bins 2 and this forms a receiving surface for at least one cargo 15. Such a single-level storage and retrieval unit 32 and such a load-receiving device 11 are disclosed, for example, in WO 2013/090970 A2 or EP 2 351 698 B1.
The load receiving device 11 comprises telescopic arms, which are arranged on the loading platform 10 and in each case perpendicular to the rack aisle 6 include / extendable carriages. The outer slide of the telescopic arms comprises at its opposite ends and arranged therebetween and relative to the loading platform 10 adjustable transport members, by means of which a einzulagerndes or auszulagernew cargo 15 can be engaged behind (see also Fig. 5).
Although the illustrated embodiment includes a single level stacker crane 32 in each level, it is equally possible that only some of the levels include a single level stacker crane 32. In this case, a lifting device for single-level stacker cranes 32 is provided, which can take over a single-level stacker crane 32 from one level and implement it on another level. Such a lifting device is described for example in WO 2012/106744 A1.
In addition, the shelf row 5 is preceded by a lift 17, which has a mast 18 and a loading platform 19 movable thereon. During the storage process, a piece goods 15 to be stored are delivered from the loading platform 19 to a delivery device 20. This cargo 15 remains on the supply device 20 until the single-level stacker 32 picks up the parcel 15. The single-level stacker 32 takes over the cargo 15 and promotes it to its storage space 2. When removing the reverse process takes place. The combination of the single-level stacker cranes 32 and the lift 17 essentially perform the same function as a multi-level stacker crane 31. Instead of the lift 17, for example, a paternoster can be provided.
About power lines 12, the power supply 4 is electrically connected to the rails 8 respectively with the single-level stacker cranes 32 per level, so that electric drive motors of the same can be supplied with electrical energy. A first drive motor (traction drive) serves for the travel movement of a single-level storage and retrieval device 32 along the aisle 6, a second drive motor (input and output drive) serves for the retraction and extension of the load receiving device 11. The load receiving device 11 in turn may comprise at least a third drive motor, which the adjustment movement of a transport member for the transport of piece goods between the storage space 2 and the loading platform 10 is used.
Of course, the power transmission can also be done differently, for example via a conductor rail, as described for example in WO 2013/090970 A2. In the example shown, the power supply 4 is assigned to all single-level stacker cranes 32.
The statements made with respect to FIGS. 1 and 2 apply mutatis mutandis to the embodiment according to FIG. 3, wherein the power supply 4 and the power storage C are assigned to stacker cranes 32 of several levels of a rack aisle 6. In addition, the power supply 4 and the power storage C can also be assigned to the lift 17 and utilize its regenerated energy.
4, it is also possible in one embodiment that via first power lines 12a, a first power supply 4a is electrically connected to the rails 8a, respectively, to the first single-level stacker cranes 32a, so that electric drive motors supply the same with electrical energy can be. Via second power lines 12b, a second power supply 4b is electrically connected to the rails 8b and to the second single-level stacker cranes 32b, respectively, so that electric drive motors thereof can be supplied with electrical energy.
As this embodiment shows, several single-level stacker cranes 32a of a first group, a first power supply 4a and a first power storage Ca and several single-level stacker cranes 32b of a second group are assigned a second power supply 4b and a second power storage Cb. The first single-level stacker cranes 32a and second single-level stacker cranes 32b are located in the same rack aisle 6. The electrical energy generated regeneratively during braking by a first single-level stacker 32a is stored in the first power storage Ca and at a later time for accelerating this or another first single-level stacker crane 32a used. The generated during braking of a second single-level storage and retrieval unit 32b regenerative electric power is stored in the second power storage Cb and used at a later time for accelerating this or another second single-level storage and retrieval unit 32b. The first single-level stacker cranes 32a and second single-level stacker cranes 32b correspond to those single-level stacker cranes 32 as described in FIG.
This embodiment proves to be particularly advantageous in large storage arrangements 103, since in case of failure on a power supply 4a, 4b and / or a power storage Ca, Cb only that group of single-level stacker cranes 32a, 32b must be stopped, which the power supply 4a , 4b and / or the current memory Ca, Cb is assigned. The other groups of single-level stacker cranes 32a, 32b can continue to operate normally. As a result, a high system availability of the bearing assembly 103 is achieved.
The statements made with respect to FIGS. 1 and 2 also apply mutatis mutandis to the embodiment according to FIG. 4, wherein the power supplies 4a and 4b and the current storages Ca and Cb are each assigned to a group of single-level stacker cranes 32a and 32b of a rack aisle 6 , In addition, a power supply 4a, 4b and a power storage Ca, Cb can also be assigned to the lift 17 and utilize its regenerated energy.
FIGS. 5 and 6 now show a possible embodiment of a load receiving device 11 for storing piece goods 15 on the storage bins 2 and unloading piece goods 15 from the storage bins 2. This can be carried out horizontally and vertically (x and y). Direction) movable loading platform 10 of the multi-level stacker crane 31 or on the exclusively horizontal (x-direction) movable loading platform 10 of the single-level stacker crane 32, 32a, 32b be mounted. Likewise, this load receiving device 11 may be mounted on the lifting and lowering loading platform 19 of the stationary lift 17, wherein the load receiving device 11 in this case can transport a cargo 15 between the loading platform 19 and a supply device 20.
The load-receiving device 11 for storing piece goods 15 on the storage bins 2 and outsourcing of piece goods 15 from the storage bins 2 comprises parallel to each other on the loading platform 10 arranged telescoping units, each relative to the loading platform 10 horizontally in one direction (z-direction) retractable carriage 21, 22 includes. The telescopic units form telescopic arms.
Specifically, the first carriage 21 is slidably mounted on the loading platform 10, and the second carriage 22 is slidably mounted on the first carriage 21.
The first carriage 21 can be moved with respect to the loading platform 10 by means of a drive device 23, for example a linear drive (not shown), for example a pneumatic cylinder, hydraulic cylinder, spindle drive, chain drive, toothed rack arrangement, etc., schematically indicated by dashed lines.
A first belt 24 is deflected about a first roller 21 mounted on the first roller 25 and fixed with its first end to the loading platform 10 and with its second end on the second carriage 22. A second belt 26 is deflected about a second roller 27 mounted on the first carriage 21 and fastened with its first end to the loading platform 10 and with its second end to the second carriage 22. If the first carriage 21 is moved, the second carriage 22 is also moved by means of the belts 24, 26, ie moved in or out. Fig. 5 shows the almost fully extended telescoping units.
Such a load-receiving device 11 is also shown for example in DE 20 2004 004 620 U1.
The second carriage 22, as shown in an enlarged view in Fig. 6, comprises according to the embodiment shown a plurality of drive motors M for transport organs 28 for the transport of cargo 15 between the storage space 2 and the loading platform 10 and optionally sensors 29 and an electronic control module 30. The transport members 28 are, for example, entrainment members, each entrainment member coupled to a drive motor M and is movable over this between a rest position and actuation position. The sensors 29 may be provided to detect the switching positions of the transport members 28. Otherwise, the sensors 29 may also be provided to detect an occupancy state on the loading platform 10 or on a storage location 2. The sensors 29 are, for example, proximity sensors or light barriers.
The drive motors M and sensors 29 are connected via hard-wired lines to the control module 30. The control module 30 also includes a bus coupler 33.
It should be noted at this point that the arrangement shown in FIGS. 5 and 6 is greatly simplified and, in reality, may also comprise more parts than illustrated or may also have a different structure.
It is now advantageous if in the belts 24, 26 means 34 are embedded for line-based data transmission, in particular wires, cables or optical fibers, as shown in Fig. 7. The means 34 for line-based data transmission are preferably formed by the strength carriers in the belts 24, 26. In this way, each belt performs a dual function, and a separate data transmission cable can be omitted. It is particularly advantageous if the (bidirectional) data transmission via a bus protocol, since in this way the number of resources required for data communication can be kept low. That is, for the data transmission to many sensors 29 and / or drive motors M only a few wires, cables or optical fibers are needed.
On the loading platform 10, a bus coupler 35 is also arranged per telescoping unit, and via the bus coupler 33 and 35, a communication connection between an unillustrated operating control of the multi-level stacker crane 31 or single-level stacker 32 and the motor M and / or the sensor 29 are constructed. For this purpose, the data to be exchanged are coupled by means of the bus couplers 33 and 35 in data transmission means 34 or decoupled from these.
In another embodiment shown in FIG. 8, the load-receiving device 11 for storing piece goods 15 on the storage bins 2 and outsourcing of piece goods 15 from the storage bins 2 comprises a (single) disposed on the loading platform 10 telescoping unit, which relative to the loading platform 10 horizontally in one direction (z-direction) on or. extendable carriage 21, 22 includes. The telescope unit forms a telecooptic. The first carriage 21 is in turn coupled to a drive device 23, which is not explicitly shown in FIG. 8. A (single) belt 24 is guided around rollers 25, 27 mounted on opposite sides of the first carriage 21 and secured to the loading platform 10 and the second carriage 22 so that the second carriage 22 moves in and out on movement of the first carriage 21 ,
The second carriage 22 may include a stored thereon conveyor belt for a cargo 15, which is coupled to a drive motor M include. Optionally, the second carriage 22 may have one or more sensors 29, such as photocells, which (r) occupy a state on the conveyor belt 28 or on a Can capture storage bin 2. In addition, the second carriage 22 is provided with an electronic control module 30. The drive motor M and optionally the sensor 29 are connected to the control module 30 via hardwired lines.
The control module 30 also includes a bus coupler 33. Likewise, a (single) bus coupler 35 is disposed on the loading platform 10, and it can via the bus coupler 33 and 35, a communication link between an unillustrated operating control of the multi-level storage and retrieval unit 31 bzw. . One-level storage and retrieval device 32 and the motor M and optionally the sensor 29 are constructed. For this purpose, the data to be exchanged are coupled by means of the bus couplers 33 and 35 in data transmission means 34 or decoupled from these. It is advantageous if in the belt 24, the means 34 are embedded for line-based data transmission, in particular wires, cables or optical fibers, as described above.
In the end result results in a load receiving device 11 for storing piece goods 15 on the storage bins 2 and outsourcing of piece goods 15 from the storage bins 2, in particular for a stacker crane 31, 32, 32a, 32b of a bearing assembly 101..103, comprising: [00112 ] - a loading platform 10 for at least one cargo 15, which is at least horizontally movable in a first direction (x-direction) between the storage bins 2, and [00113] - at least one telescoping unit, which is arranged on the loading platform 10 and a relative to the loading platform 10 comprises carriages 21, 22 extendable or retractable horizontally in a second direction (z-direction), wherein the first carriage 21 is driven by a drive device 23 and mounted on the loading platform 10, and [00115] wherein the second carriage 22 is driven via at least one belt 24, 26 and mounted on the first carriage 21, and [00116] - wherein the at least one belt 24, 26 is coupled to first carriage 21 and connected to loading platform 10 and second carriage 22, and [00117] - wherein second carriage 22 is provided with one or more drive motors M for one or more transport members 28 for transporting piece goods 15 is provided between the storage space 2 and the loading platform 10 and / or one or more sensors 29 and an electronic control module 30, and - wherein the at least one belt 24, 26 means for line-based data transmission, in particular wires, cables or optical fibers , and [00119] - wherein the line-based data transmission means 34 are connected to a first bus coupler 33, which comprises the control module 30, and a second bus coupler 35, which is arranged on the loading platform 10, and that the data transmission is via a bus protocol takes place, for example, via the CAN bus interface (Controller Area Network), and [00120] - where d at least one drive motor M and optionally the at least one sensor 29 is / are connected to the control module 30.
At this point it should be noted that the above arrangement is not only suitable for a single-level stacker crane 32, but also for other funding with a loading platform, especially for a multi-level stacker crane 31 and a lift 17th
9 now shows another example of a stacker crane 32, which may be part of a bearing assembly, for example, part of a bearing assembly as shown in Figures 1 to 4. The storage and retrieval unit 32 comprises a drive control 36 and a drive motor M which drives a drive wheel 37 and is connected to the drive control 36 both on the supply side and on the output side (and optionally regulated). The drive control / regulation 36 serves in this example primarily as the control / regulation of a drive motor M or of several drive motors M of the storage and retrieval device 32, but can of course also assume other tasks. Furthermore, the storage and retrieval unit 32 is designed to recirculate the recuperatively generated by a braking power to the driving control / regulation 36. The drive motor M is controlled in a braking by the driving control / control 36 so that the regenerative power generated by the braking at least equal to / consumed by the Fahrsteuerung / regulation 36 electrical power. The drive control / regulation 36 is electrically supplied in the braking operation by the drive motor M. This is indicated in FIG. 9 by the arrow PR.
The said recuperative supply of the driving control / regulation 36 is particularly advantageous if a failure / decrease of the driving voltage for the stacker crane 32 is detected, as in FIG. 9 with the aid of the crossed-out arrow for a network-side supply PN is shown. The proposed measures, the braking is at least so strong that the driving control / regulation 36, which causes the braking is operated until stopping the drive motor M or until just before a point. This is a safe stopping the stacker crane 32 by means of the drive motor M even without the presence of a driving voltage or supply voltage from a (public) supply network possible. If there is sufficient driving voltage, braking can, of course, also be carried out below the specified minimum.
Although the presence of a current memory C is advantageous, but in principle the method can be executed independently of whether and where a current memory C is provided for the storage and retrieval unit 32. Generally, yes, a storage and retrieval device 32 respectively a bearing assembly having an electrically connected to the Fahrsteuerung / -regelung 36 and the drive motor M current memory C, Ca, Cb. Regardless, the use of a smoothing capacitor is possible. This is connected to the input of the driving control / regulation 36 and smoothes the regenerated supply voltage when using intermittently switching power parts, for example, when using four-quadrant controllers. A smoothing capacitor is significantly smaller than a power storage C for the storage and retrieval unit 32 and serves only voltage smoothing at the entrance of the Fahrsteuerung / -regelung 36, but is much too small for a supply of drive motors M. At this point it is noted that the Fahrsteue- tion / control 36 does not necessarily have to be installed in the stacker crane 32, but also stationary in the bearing assembly, for example, in a cabinet, can be arranged.
In an advantageous variant of the storage and retrieval device 32, the Fahrsteue- tion / control 36 monitors in braking mode the recuperatively provided by the drive motor M supply voltage and amplifies the braking at a drop of this supply voltage below a voltage limit. The supply voltage for the driving control 36 is thus regulated in this case. As a result, the electrical supply of Fahrsteue- tion / control 36 is ensured particularly good at eliminating a driving voltage.
Advantageously, the braking takes place in case of failure / decrease of the driving voltage for the stacker crane 32 to an end of a range of movement of a driven by the drive motor M moving member (eg lifting mechanism, adjustment mechanism, gripping mechanism, etc.), provided that the braking at / above the said minimum amount at which the recuperation / regenerative power PR produced by the braking corresponds to the electric power consumed / received by the driving control 36. It is now assumed that the storage and retrieval unit 32 would move at the speed v when the travel voltage / network power PN ceases and travel against a buffer 38 unchecked. The travel control / regulation 36 has information about the instantaneous position or actual position of the storage and retrieval device 32 via a travel sensor 39 and therefore also knowledge of the maximum available braking distance smax. In particular, when the stacker crane 32 is loaded with sensitive goods, the accelerations occurring during braking can be kept so comparatively low. By the electrical supply of the driving control / regulation 36 by the drive motor M, a secure stopping in front of the buffer 38 is ensured.
In a further advantageous variant, the position reached when stopping is stored in a memory 40 that holds data independently of the driving voltage. In the example shown, the storage and retrieval device 32 stops after a braking distance sb, and this last position of the storage and retrieval device 32 is stored in the memory 40 before the supply voltage for the stacker crane 32 completely collapses. If the driving voltage is available again, in this example, a run-up procedure is carried out in which a reference point 41 is approached in order to initialize the displacement sensor 39. This is necessary in particular if relative position or relative angle encoders are used for the displacement sensor 39. In the prior art, the approach of the reference point 41 is in crawl to avoid a collision with the buffer 38. However, by storing the last position, the drive control 36 has knowledge of the initialization route si to be traveled. The covering of this distance can be done at high speed, as a targeted braking of the stacker crane 32 at the initialization point 41 and before the buffer 38 is also possible from high speed. As a result, the (re) startup of the system and in particular the approach of the reference point 41 are accelerated during startup.
In the above example, the drive motor M is the travel drive of the storage and retrieval device 32. Of course, the disclosed method, in addition or alternatively but also be applied to other motors M, for example, a motor for a linear actuator (see Fig. 1). The distances sb, si and smax shown in FIG. 9 then extend correspondingly in the vertical. Furthermore, it is noted that the driving control / regulation 36 and / or a power storage C are not necessarily part of the storage and retrieval device 32, but may for example also be installed in a stationary control cabinet.
At this point it should be noted that the above embodiment is not only suitable for a single-level stacker crane 32, but also for other funding with a loading platform, especially for a multi-level stacker crane 31 and a lift 17th
Finally, FIG. 10 shows a schematic circuit diagram of a further advantageous embodiment of a circuit for operating a bearing arrangement 101..103. In the left-hand area of FIG. 10, three stacker cranes 32a are shown symbolically. 32c, which are connected by means of first contactors S10, Sn, S12 and motor protection switches S20, S21, S22 to a driving voltage A. To the driving voltage A and the power storage C is connected, which serves in the already mentioned way the storage and the release of recuperatively accumulating braking energy. The switch S14 is used to turn on the power storage C only then low impedance to the driving voltage Λ, according to the voltage of which largely corresponds to the driving voltage A (compare the switch S2 in Fig. 2). In normal operation, the switch S14 is therefore closed. The control of the switching contact S14 takes place in this example via the control voltage V2, which is applied to the closing of the switch contact S14 to the control coil Q14.
In the central region of Fig. 10, an operation control 42 / CTR is provided, which is supplied by an operating voltage V3 of an operating power network. For example, the operating voltage V3 for the operation controller 42 may be 12V, 24V, or 48V, and the operation controller 42 may be configured to receive commands from a central host computer (not shown) to the stacker crane 32A. 32c forward. Among other things, the operation controller 42 is configured to open or close the switch contacts Si0, Sn, Si2. For example, the switching contacts Si0, Sn, Si2 are opened when access of a person to a driving range of the stacker cranes 32a., 32c is requested or detected.
To the control coils Q10, Qu, Qi2 for the switching contacts Si0, Sn, Si2 also leads the output of a DC / DC converter 43 which the driving voltage V ·, to a lower, to the control coils Q10, Qn, Q12 adapted Value changes. For this purpose, the current storage C is connected to the input of the DC / DC converter 43. Via the zener diode 7.λ and the resistor Ri, an overvoltage at the input of the DC / DC converter 43 is prevented. The output of the DC / DC converter 43 is not connected directly to the control coils Q10, Qn, Q12, but via an optional fuse F ^ and a switch contact S13 and via diodes D10, Du, D12 out there. Likewise, the output of the DC / DC converter 43 is further connected to the control coil Q14 of the switch contact S14.
The control coils Q10, Qn, Q12 and Q14 are each a delay element connected in parallel, each having a resistor R10, Rn, R12 and R14 and a holding capacitor connected in series C10, Cn, Ci2 and Ci4.
Furthermore, the circuit comprises a control coil Q13 for the switching contact S13, to which the operating voltage V3 of the operating power network via a diode D15 is turned on. Finally, the output of the DC / DC converter 43 is also connected to the control coil Q13 via a switch S15 and a diode D13.
At this point, it is noted that the switching contacts S10..S14 form together with the control coils Q10-Q14 contactors or relays. The switching contacts S10, Sn, Si2 and Si4 are formed in this example as NO, the switching contact S13 as an opener. The switching contacts S10, Sn, S12 and S14 are therefore closed above a certain control voltage, the switching contact S13, however, open. Of course, the selection of switching contacts shown S11..Si4 shown is not mandatory, and it can be made with appropriate adaptation of the circuit and a different assignment of openers and closers.
For the following example it is assumed that the current memory C is charged and the switch contact S14 is closed by a corresponding control voltage V2 (compare the explanations to FIG. 2). Furthermore, it is assumed that the driving network and the operating power grid are functional and the driving voltages V-ι and the operating voltage V3 are present in sufficient height. The switching contact S13 is therefore kept open via the control coil Q13. The switching contacts S10, Sn, Si2, however, are kept closed by a corresponding voltage signal of the operating control 42. The diodes D10, Du, D12 and D14 generally serve to decouple the individual switching branches and prevent, for example, that the voltage signal V2 closes the switching contacts Si0, Sn, S12, although this is not wanted by the operating controller 42. Finally, it is also assumed that no person in the driving range of the stacker cranes 32a. 32c and the switching contact S15 is therefore open.
In normal operation, the operating controller 42 sends commands to outsource or store piece goods 15 from the bearing assembly 101.103. In the manner already described, when regenerating the stacker cranes 32a..32c or when braking moving members of the stacker cranes 32a., 32c, accumulating electrical energy is stored in the power storage C and upon starting the stacker cranes 32a. 32c or the movement members taken this again. For the execution of the received command, the stacker cranes 32a., 32c each have drive controls / controls 36 (see FIG. 9).
If now the operating voltage V3 falls below a value necessary for the operation of the operating control 42, the switching contacts S10, Sn, S12 can no longer be actively kept closed by the operating control 42. Without additional measures, therefore, the (in itself existing) driving voltage A would be switched off by the stacker cranes 32a., 32c and also their driving control / regulation 36 fail. This is particularly disadvantageous and also dangerous if the stacker cranes 32a. 32c do not have mechanical self-holding brakes, but are electronically braked by means of the drive motors M, for example by means of a four-quadrant actuator. Due to the failure of the driving control / regulation 36, a controlled stopping of the stacker cranes 32a, 32c, 32c is then not possible, which is why the stacker cranes 32a. 32c and their movement members could possibly drive uncontrollably against mechanical attacks due to their kinetic energy. As a result, not only the stacker crane 32a..32c itself but also the goods 15 transported with it could be damaged.
Advantageously, the switching contact Si3 is now closed by the drop in the control coil Q13, whereby the current storage C or the driving voltage V ·, is switched via the voltage converter 43 to the control coils Q10, Q, Qi2 of the first contactors. The switch contacts Si0, Sn, Si2 therefore remain closed even in the event of failure of the operating control network 42 supplying the operating power system. This is true even if the driving voltage Vi fails, since the current memory C has at least a predetermined minimum voltage during normal operation.
By the proposed measures, the stacker cranes 32a..32c are therefore supplied even with a total failure of a (public) supplying power network with electrical energy and can be brought to a controlled halt even without the aid of self-holding brakes. Helpful in this case is the fact that accumulating during braking recuperatively generated electrical energy is fed back into the power storage C and raises the voltage level there. This means that controlled braking is also possible if the current storage C has the lowest voltage level occurring in normal operation in the event of failure of the supply network.
In the example shown concretely, it is assumed that the operating controller 42 can no longer issue a command for an emergency stop of the stacker cranes 32a..32c after the operating voltage V3 has dropped or dropped and therefore continue normal operation for the time being. Only when the voltage in the power storage C has fallen below a certain threshold value, is a failure or inadmissible drop in the driving voltage Vi registered / detected by the travel controls / controls 36 of the storage and retrieval devices 32a, 32c, and consequently a stop process for the stacker cranes 32a .. 32c and / or its movement members 10, 21, 22 introduced. In this way, keep the stacker cranes 32a. , 32c autonomously in an emergency. A failure of the no longer powered by the power grid operating control 42 is therefore safe.
Alternatively, it would also be conceivable that the current storage C is switched to excessive waste of the operating voltage V3 to the operation control 42 and this for the time being further operation is enabled. In this way, the operation controller 42 can actively send a command to stop to the stacker cranes 32a..32c. The built in the stacker cranes 32a..32c drive controls / controls 36 need in this case, a drop or drop in the driving voltage V1 therefore not necessarily recognize and thus can be simpler. Of course, the said measures can also be combined in order to increase the safety of the bearing assembly 101..103 still further.
Turning on the power storage C to the control coils Q10, Q11, Q12 of the first contactors usually takes only a few milliseconds. Nevertheless, the switch contacts S10, S11, S12 could open at short notice and possibly cause disturbances in the drive controls / controls 36 of the stacker cranes 32a..32c. With the help of the optional holding capacitors C10, C11, C12, the control coils Q10, Q11, Q12 are also activated during the switching on of the current memory C and the switching contacts S10, S11, S12 are kept closed. A short-term power failure at the stacker cranes 32a..32c, which could possibly cause interference there, is avoided in this way.
Finally, the function of the switch S15 will be explained. This is closed when an access of a person to a travel area of the stacker cranes 32a..32c is requested or detected. As a result, the operation controller 42 opens the switch contacts S10, S11, S12, so that the travel range of the stacker cranes 32a..32c can be entered safely. By opening the switch S15, the output of the DC / DC converter 43 is further connected to the control coil Q13, whereby this is electrically supplied even in case of failure of the operating voltage V3 (or even in case of failure of the driving voltage V1) and thus the switching contact S13 keeps open. As a result, the switching contacts S10, S11, S12 remain open even when the operating voltage V3 drops or fails.
On the other hand, without this measure, a drop in the operating voltage V3 would cause the switching contacts S10, S11, S12 to close in the manner already described. As a result, the stacker cranes 32a..32c could suddenly and unexpectedly be supplied with the driving voltage V1 (either from the road network or from the power storage C) and set in motion. Since a stacker crane 32a..32c usually weighs several hundred kilograms, serious injuries and sometimes the death of the person in the driving range of the stacker cranes 32a..32c would be threatened. However, this danger is averted by the switch S15.
At this point it is noted that a division of the power supply for the bearing assembly 101..103 in a driving voltage V1 and an operating voltage V3 is advantageous, but not mandatory. Also conceivable is the supply of a single voltage or with even more divided power grids. It should also be noted that the disclosed circuit can also be applied to a single stacker crane 32a..32c or another number of stacker cranes 32a..32c.
Furthermore, the distribution of the disclosed functions to a power storage circuit / controller 14, a travel control 36 and an operation controller 42 serves, inter alia, to better illustrate the different functions. Of course, functions can also be split or summarized differently.
In particular, it is noted that the illustrated devices may in reality also comprise more components than illustrated.
For the sake of order, it should finally be pointed out that for a better understanding of the construction of the bearing arrangement 101 .. 103, these or their components have been shown partially unevenly and / or enlarged and / or reduced in size.
The problem underlying the independent inventive solutions can be taken from the description. In particular, this concerns the description associated with FIGS. 5 and 6 as well as the description associated with FIGS. 9 and 10.
REFERENCE IDENTIFICATION 101..103 Bearing arrangement 2 Storage space 31,32,32a..32c Storage and retrieval machine 4, 4a, 4b Power supply 5 Row of shelves 6 Regal alley 7 Chassis 8 Tracks 9 Mast 10 Loading platform 11 Load pickup 12, 12a, 12b Wiring 13 Rectifier 14 Electronic power storage circuit / Control 15 general cargo 16 chassis 17 lift 18 mast 19 loading platform 20 provisioning device 21 first carriage 22 second carriage 23 drive device 24 first belt 25 first roller 26 second belt 27 second roller 28 transport element 29 sensor 30 control module 33 bus coupler 34 data transmission means 35 bus coupler 36 travel control / control 37 Wheel 38 Buffer 39 Displacement sensor 40 Memory 41 Reference position 42 Operating control 43 DC / DC converter C, Ca, Cb Current storage C10..C12, C14 Holding capacitor D10..Di5 Diode F1 Fuse M Motor PN Mains power PR Recuperatively generated power Q10 .. Q14 control coil R resistance R1 resistance R10..R12, R14 resistance 51 .. 53 switch 510 .. 515 S switch / switching contact 520 .. 522 Motor circuit breaker sb Braking distance si Initialisation path smax Maximum braking distance V Voltage measuring device VI Operating voltage V2 Control voltage Current storage connection V3 Operating voltage for operating control Z1 Zener diode

权利要求:
Claims (17)
[1]
claims
1. Bearing arrangement (101..103), comprising - a plurality of storage bins (2) for piece goods (15) arranged side by side and one above the other and organized in rows of shelves (5), wherein the rows of shelves (5) adjacent to at least one rack aisle (6 ), - several computer-controlled single-level stacker cranes (31, 32, 32a., 32c) for storing the cargo (15) on the storage bins (2) and outsourcing the cargo (15) from the storage bins (2), wherein the single planes -Regalbediengeräte (31, 32, 32a., 32c) in the aisle (6) in superimposed planes independently relative to the storage bins (2) are movable, - several power supplies (4, 4a, 4b) for said single-level stacker cranes (31, 32, 32a..32c), wherein several single-level stacker cranes (32a) of a first group, a first power supply (4a) and a plurality of single-level stacker cranes (32b) of a second group, a second power supply (4b) is assigned marked t by - a plurality of power storage (C, Ca, Cb), which are the said power supplies (4, 4a, 4b) associated with or covered by these, wherein the single-level stacker cranes (32a) of the first group, a first power storage (Ca) and the Single-level stacker cranes (32b) of the second group is associated with a second power storage (Cb).
[2]
2. Bearing arrangement (101.103) according to claim 1, characterized in that the storage bins (2) in rows of shelves (5) are organized, which are arranged adjacent to at least one rack aisle (6), and that the rack aisle (6) in superimposed planes has a single power supply (4, 4a, 4b) and a single power storage (C, Ca, Cb) stacker cranes (31, 32, 32a .32c) of several levels of Regalgasse (6) are assigned.
[3]
3. Bearing arrangement (101.103) according to claim 1, characterized in that the storage bins (2) are organized in rows of shelves (5) which are arranged adjacent to rack aisles (6), and that each rack aisle (6) in superimposed planes independently moveable stacker cranes (31, 32, 32a., 32c) are arranged and that the at least one power supply (4, 4a, 4b) and the at least one power storage (C, Ca, Cb) the stacker cranes (31, 32, 32a., 32c ) are assigned to a plurality of rack aisles (6).
[4]
4. Bearing arrangement (101.103) according to one of claims 1 to 3, characterized in that the stacker cranes (31, 32, 32a., 32c) are designed as single-level stacker cranes and / or as multi-level stacker cranes.
[5]
5. Bearing arrangement (101.103) according to one of claims 1 to 4, characterized in that the at least one power supply (4) and the at least one power storage (C, Ca, Cb) is associated with a vertical conveyor (17).
[6]
6. Bearing arrangement (101.103) according to one of claims 1 to 5, characterized in that there is provided as a current memory (C, Ca, Cb) is a supercapacitor or power cap / supercap.
[7]
7. Bearing arrangement (101.103), comprising - several storage bins (2) for piece goods (15), which are arranged side by side and one above the other, - a plurality of computer-controlled storage and retrieval units (31, 32, 32a..32c) for storing the piece goods (15) on the Storage bins (2) and removal of the piece goods (15) from the storage bins (2), which are movable relative to the storage bins (2), and - at least one power supply (4, 4a, 4b) for said stacker cranes (31, 32, 32a., 32c) and - at least one current memory (C, Ca, Cb) associated with or included in said at least one said power supply (4, 4a, 4b), characterized by - an electronic power storage controller / circuit (14 ), which is adapted to measure a charging voltage of the current memory (C, Ca, Cb) and / or a time course thereof and to trigger an alarm signal and the storage and retrieval devices (31, 32, 32a., 32c) out of service or only more a restricted permissible operation if the measured value is outside a specified range.
[8]
8. Bearing arrangement (101.103) according to claim 7, characterized by an electronic power storage controller / circuit (14) which is adapted to discharge the power storage (C, Ca, Cb) when requested via a designated consumer (R).
[9]
9. bearing arrangement (101.103) according to claim 8, characterized in that as consumer (R) an ohmic resistance and / or a transistor is provided.
[10]
10. Bearing arrangement (101.103), comprising - several storage bins (2) for piece goods (15), which are arranged side by side and one above the other, - a plurality of computer-controlled storage and retrieval units (31, 32, 32a..32c) for storing the piece goods (15) on the Storage bins (2) and removal of the piece goods (15) from the storage bins (2), which are movable relative to the storage bins (2), and - at least one power supply (4, 4a, 4b) for said stacker cranes (31, 32, 32a., 32c) and - at least one current store (C, Ca, Cb) associated with or included in the at least one said power supply (4, 4a, 4b), characterized by - an operating power supply supplied by an operating power supply Control (42), which is the output side connected to a control coil (Q10, Qu, Q12) for switching contacts (S10, Sn, S12) of a first contactor in a current path to a stacker crane (31, 32, 32a., 32c) and set up is this first contactor in the ferry rubbed the storage and retrieval device (31, 32, 32a., 32c) and keep sufficient operating voltage (V-ι) in the operating power network to keep closed, and - a circuit which is adapted to the power storage (C, Ca, Cb ) for this storage and retrieval unit (31, 32, 32a., 32c) to switch to the control coil (Q10, Qu, Q12) of the first contactor in the event of excessive voltage drop in the utility power network using a second contactor (Q13, S13).
[11]
11. A method for monitoring a power storage (C, Ca, Cb), which at least one power supply (4, 4a, 4b) for a plurality of storage and retrieval units (31, 32, 32a., 32c) associated with or is covered by this, wherein the storage and retrieval units (31, 32, 32a., 32c) relative to juxtaposed and stacked storage bins (2) of a bearing (5) are movable, and wherein a charging voltage of the current memory (C, Ca, Cb) and / or a time course of the same is measured and an alarm signal is triggered and the stacker cranes (31, 32, 32a..32c) are taken out of service or only a limited operation is permitted if the measured value is outside a target range.
[12]
12. The method according to claim 11, characterized in that the current memory (C, Ca, Cb) is discharged on request via a designated consumer (R).
[13]
13. A method for operating a bearing assembly (101.103) having a plurality of storage spaces (2) for piece goods (15), which are arranged side by side and one above the other, at least one computer-controlled storage and retrieval unit (31, 32, 32a..32c) for storing the piece goods (15) on the storage bins (2) and retrieval of the piece goods (15) from the storage bins (2), wherein the at least one stacker crane (31, 32, 32a., 32c) is movable relative to the storage bins (2), and with at least one power supply (4, 4a, 4b) for said, at least one storage and retrieval unit (31, 32, 32a..32c), characterized in that - one of an operating power supply supplied operating control (42), which on the output side with a control coil (Q10 , Qu, Q12) for switching contacts (S10, Sn, S12) of a first contactor in a current path to a storage and retrieval unit (31, 32, 32a..32c) is connected, this first contactor in the ferry operation of the stacker crane (31, 32, 32a. , 32c) and with sufficient operation bs voltage (V-ι) keeps closed in the power grid and - at least one power storage (C, Ca, Cb), which at least one power supply (4, 4a, 4b) for this stacker crane (31, 32, 32a., 32c ) is associated with or is covered by this, is switched at excessive voltage drop in the power grid with the aid of a second contactor (Q13, S13) to the control coil (Q10, Qu, Q12) of the first contactor.
[14]
14. The method according to claim 13, characterized in that the switching contact (Si0, Sn, 512) of the first contactor by means of a control coil (Q10, Qn, Q12) connected to the hold capacitor (C10, Cn, Ci2) is kept closed until the switching contact (Si3) of the second contactor is closed.
[15]
15. The method according to claim 13 or 14, characterized in that a Fahrsteue- tion / control (36) of the at least one stacker crane (31, 32, 32a., 32c) a failure or inadmissible drop of a driving voltage (V1) of the storage and retrieval device ( 31, 32, 32a, 32c) and subsequently initiates a stopping process for the at least one storage and retrieval unit (31, 32, 32a, 32c) and / or its movement members (10, 21, 22).
[16]
16. The method according to any one of claims 13 to 15, characterized in that the current memory (C, Ca, Cb) for the at least one stacker crane (31, 32, 32a., 32c) at excessive voltage drop in the power grid to the operating Control (42) is switched.
[17]
17. The method according to any one of claims 13 to 16, characterized in that said current memory (C, Ca, Cb) to the control coil (Q13) of the second contactor (Q13, 513) is switched, if an access of a person to a driving range the at least one stacker crane (31, 32, 32a., 32c) is requested or detected. For this 6 sheets of drawings

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EP3233673B1|2020-03-18|

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法律状态:

优先权:

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申请号 | 申请日 | 专利标题

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ATA50921/2014A|AT516633A1|2014-12-18|2014-12-18|Bearing arrangement with improved energy balance between storage and retrieval units|

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PCT/AT2015/050322|WO2016094923A2|2014-12-18|2015-12-17|Storage system having improved energy compensation among stacker cranes|

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