• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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  • 法律状态
  • 优先权
    • 专利摘要:
    A method and an arrangement for operating a storage and retrieval unit (3) are specified. A rail track (1) or a Stromversor supply rail (6) for the storage and retrieval unit (3) is set under a Gefahrbe operating voltage whose rectification value / rms value under a for moving the stacker crane (3) necessary minimum rectification value / minimum effective value, but above zero , when a by the Regalbe diengerät (3) formed hazard is detected. Alternatively or additionally, the voltage applied to the rail track (1) / power supply rail (6) in the stacker crane (3) can also be examined for modulated alternating signals. The applied voltage is then forwarded to a drive motor (5) of the storage and retrieval device (3) only if it is determined that the normal operation driving voltage and not the danger operating voltage to the track (1) / power supply rail (6) was applied.
    公开号:AT513977A4
    申请号:T50211/2013
    申请日:2013-03-27
    公开日:2014-09-15
    发明作者:
    申请人:Tgw Mechanics Gmbh；
    IPC主号:
    专利说明:

    1 1 HO 2013/50211.
    Printil: 28-03-2013
    The invention relates to an arrangement comprising a rail track, at least one row of shelves arranged along the rail track, a shelf operating device which can be moved on the rail track, and a power supply electrically connected to the rail track and / or a power supply rail which is in contact with the stacker crane. Furthermore, the invention relates to a method for operating said arrangement, specifically for operating a mobile on a rail track and powered by a rail track electrically connected power supply and / or a power supply rail storage and retrieval device by means of which at least one arranged along the rail track row of shelves is accessible.
    Such an arrangement or such a method are basically known from the prior art. For example, there said rail track is arranged in a rack aisle between two rows of shelves, so that the stacker crane can serve the shelves left and right of the rail track, ie store objects in the shelf or outsource objects from this. Of course, several rows of shelves and rail tracks can be arranged one above the other, so that a warehouse with multiple levels arises. At the front of the shelves, that is at the end of a rail track, a vertical conveyor can be arranged. Furthermore, a horizontal conveyor (for example conveyor belt or conveyor rollers) and, for example, a picking station can be provided at the end of a rail track or on the vertical conveyor.
    Although such bearings are generally operated fully automatically by a central control computer, it is occasionally necessary for an operator to enter a storage lane in order, for example, to carry out maintenance work on the rack 1Ö2Ö13M0211 prihtü 28-03-2013 on the track or on the rack itself or to remove objects that have become wedged during manipulation by the rack feeder. Since the stacker cranes reach high speeds and also have a relatively high mass, special security measures must be taken to protect the operator when entering the rack aisle or rail route before the stacker crane.
    From DE 39 15 681 A1 an arrangement is known in which is detected by means of a reflected light barrier when a person enters the rack aisle. As a result, for example, a warning horn, a signal light or a barrier can be actuated.
    The US 2012/0185080 A1 discloses further barriers or barriers to prevent the retraction of a stacker crane in a secure zone of the rack aisle.
    DE 196 28 123 A1 also discloses the recognition of a person in or near a rack aisle with, for example, light barriers. In the event of danger, it is intended to control the stacker cranes in a slow creeper or even stop.
    Further prior art on this subject is disclosed in DE 39 1 9 167 C1 and DE 41 12 728 A1.
    A disadvantage of the known method is that more or less singular measures are set, but these do not contain a concept with which driving the storage and retrieval device effectively prevents in the event of danger, a minimum energy supply of the same, however, is ensured.
    An object of the invention is therefore to provide an improved arrangement and an improved method for operating a storage and retrieval unit. In particular, driving of the Regaibediengeräts should be effectively prevented in the event of danger, a minimum energy supply of the same, however, be ensured. 3/35 27-03-2013 N2013 / 04900 3 Priptedj 28Ä2Ö13 £ 014 10 2013/50 #! 1
    The object of the invention is achieved by a method of the type mentioned, in which the rail track / power rail is set under a danger operating voltage whose rectification / RMS value is below a necessary for moving the stacker crane minimum rectifier value / minimum effective value, but above zero if a hazard created by the stacker crane is detected.
    Furthermore, the object of the invention with a method of the type mentioned above, in which the rail track / power rail is set in normal operation under a driving voltage, if no danger formed by the stacker crane is detected, and is set under danger operating voltage when a through the stacker crane detected danger is detected, and the voltage applied to the rail track / power rail voltage in the stacker crane is examined for the presence of a predefined characteristic out, and said voltage is passed on to a traction motor of the storage and retrieval unit, if the detected characteristic indicates the presence of the driving voltage, wherein as characteristics a) the driving voltage includes a predefined first alternating signal (first pilot signal) and the danger operating voltage does not contain this first alternating signal or b) the danger operating voltage is a v contains ordefined first alternating signal (first pilot signal) and the driving voltage does not contain this first alternating signal or c) the driving voltage contains a predefined first alternating signal (first pilot signal) and the danger operating voltage contains a predefined second alternating signal (second pilot signal).
    Preferably, the rectification value / rms value of the hazardous operating voltage can also be below a minimum rectification value / minimum effective value necessary for moving the storage and retrieval unit, but above zero. 4/35 27-03-2013 N2013 / 04900 4 Nnted: 2841-2013 EÖ14 Η 0 2013 / 5Ö211
    The object of the invention is also achieved with an arrangement of the type mentioned above, which comprises a drive control which is set up to set the rail track / power supply rail below a hazardous operating voltage whose rectification value / rms value under a required for moving the storage and retrieval unit minimum rectifier value / minimum effective value, but above zero, if a hazard created by the stacker crane is detected.
    Finally, the object of the invention is also achieved by an arrangement of the type mentioned above, additionally comprising a driving control, which is adapted to determine a threat formed by the stacker crane and the Schienenstre-bridge / power rail in normal operation in the absence of risk under a driving voltage and at existing risk under emergency operating voltage, and a motor control in the storage and retrieval unit, which is adapted to examine the voltage applied to the rail track / power rail voltage in the storage and retrieval unit to the presence of a predefined characteristic back, and forward the said voltage only to a traction motor of the storage and retrieval unit if the detected characteristic indicates the presence of the driving voltage, wherein as characteristics a) the driving voltage is a predefined first change signal! (first Piiot signa!) Contains and the danger operating voltage does not contain this first change signal or b) the hazard operation voltage contains a predefined first change signal (first pilot signal) and the driving voltage does not contain this first change signal or c) the driving voltage is a predefined first change signal (first pilot signal ) and the hazard operating voltage includes a predefined second change signal (second pilot signal).
    The presented measures make it possible for the stacker crane (also called "shuttle" in the case of a single-level rack operating device) to be operated in dangerous situations. 5/32 27/05/2013 N2013 / 04900 5 5 102013 / 5Ü11
    Prirtfcjd: 28-03-2013 supply electrical energy, for example, to keep important electronic components in operation without a backup capacitor or backup battery. For example, this may relate to a communication module o of a position transmitter of the Regaibediengeräts, so that the normal operation can be easily resumed after a dangerous operation. It is also advantageous that an error analysis and troubleshooting on the supplied storage and retrieval unit is facilitated. For example, error codes can be displayed on the control panel and also, for example, the adjustment of sensors is facilitated by the maintained power supply.
    Despite the power supply of the Regaibediengeräts in case of danger, the measures taken to ensure effective protection of a person on the railway track. In particular, if the rectification value / effective value of the hazardous operating voltage is below a minimum rectification value / minimum effective value necessary for moving the regulator operating device, driving of the regain control device is excluded for physical reasons alone. In other words, too little power is supplied to the traction motor of the regia control device for it to move the regia control device. Personal protection is therefore particularly effective.
    The " RMS " is calculated by squaring and then averaging, the " rectified value " by rectification and subsequent averaging. For unipolar voltages, the " rectification value " therefore at the same time the (arithmetic) " mean ".
    Primarily, the term " driving " in the context of the invention to the movement of the entire Regaibediengeräts, ie on a driving the same on the railway line. &Quot; Drive " but can also be applied to parts of the Regaibediengeräts, for example, the extension and retraction respectively generally moving a fork. Depending on the inertia of the moving unit and its drive power different minimum Gleichrichtwer te / minimum effective values come into play. It should also be noted that the drive is not necessarily electric, but that the electrical energy has previously been transformed into a different shape, for example Example in pneumatic or hydraulic energy, can be converted.
    Further advantageous embodiments and modifications of the invention will become apparent from the dependent claims and from the description in conjunction with the figures. It is favorable if the maximum value of the hazard operating voltage lies in absolute terms below the minimum driving voltage. In this way, even greater safety can be achieved in the operation of the Regaibediengeräts.
    It is advantageous if the hazardous operating voltage in the same polarity as the minimum travel voltage to the rail track / power rail is applied. In this way, special circuit measures in the storage and retrieval unit, such as the provision of a rectifier eliminated. The engine control can therefore be kept simple.
    But it is also advantageous if the danger operating voltage is applied in an opposite polarity to the polarity of the minimum driving voltage polarity to the rail track / power rail. With appropriate wiring of Regaibediengeräts, which prevents the forwarding of opposite polarity polarized danger voltage to the motor, the danger operating voltage can be arbitrarily high. In this way, components can also be supplied in hazardous operation, which require a relatively high voltage, in particular a voltage which is on average above the minimum travel voltage required for moving the Regaibediengeräts. Optionally, in the storage and retrieval unit electrical energy storage (for example, accumulators or capacitors) may be provided to bridge the time necessary for the polarity reversal of the voltage. It is advantageous if the danger operating voltage essentially has only a direct component, that is to say essentially designed as a direct voltage. In this way, the driving control can be kept particularly simple and robust. Failures and disruptions thereof can therefore be largely avoided. It is also favorable if the hazard operating voltage essentially has only one alternating component. In particular, when using a DC motor and a sufficiently high compared to the inertia of the storage and retrieval device frequency of the hazardous operating voltage can be a Losfahren the stacker crane without special Schaitungsmaßnahmen be prevented in the stacker crane. This is because the danger operating voltage in this case does not have a DC component on average which would be necessary for moving a DC motor. It is also advantageous if the hazard operating voltage has a DC component and a AC component. In this way, a portion of them can be used as a control signal. For example, the alternating signal contained in the danger operating voltage can be used as a control signal for the storage and retrieval unit. It is also conceivable to use the DC component for this purpose. In addition, it is favorable if the named alternating signal is sinusoidal or in the form of a digital signal. A sinusoidal alternating signal can be coupled into the driving voltage particularly easily or be decoupled from it again. For example, in the storage and retrieval unit to a transformer or a filter may be provided. With the help of a digital signal even complex control commands can be transmitted to the storage and retrieval unit. In addition, it is largely insensitive to disturbances. For example, the frequency hopping method or the spread spectrum method can be used to transmit control commands with high data security.
    Finally, it is advantageous if an AC voltage component (eg the entire AC component or a specific frequency component thereof) coupled out in the storage and retrieval unit is switched to the control coil of a relay and keeps it in a switching state, the relay being set up to disconnect the vehicle drive voltage from the traction motor , In particular, the 8135 27-03-2013 N2013 / 04900 8 8 iPrinfeil; 112013/50211
    Wechselantei! be coupled via a transformer and / or a filter and, if appropriate, then rectified. Depending on whether the driving voltage applied to the storage and retrieval unit has an alternating component (in particular with a certain frequency), the relay can be opened or closed and the motor can be controlled in this way. It is particularly advantageous if this measure is used as an additional measure for another safety measure.
    It should be noted at this point that the variants mentioned for the operating method according to the invention and the resulting advantages relate equally to the proposed arrangement according to the invention and vice versa.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures. Show it:
    Figure 1 is an exemplary and schematically dargesteilte shelf assembly with a moving therebetween storage and retrieval device.
    2 shows an exemplary and schematically illustrated drive control for lowering the drive voltage in case of danger;
    3 shows an exemplary and schematically illustrated driving control for reversing the driving voltage in the event of danger;
    4 shows an exemplary and schematically illustrated motor control for operating the stacker crane with a reversed hazard operating voltage;
    5 shows an exemplary and schematically illustrated driving control for modulating an alternating signal to the driving voltage.
    Fig. 6 is an exemplary driving voltage with Gfeichantei! and sinusoidal alternating component;
    9/35 27-03 20'3 N2013 / 04900 9 Printed: £ -03-2013 E014 102013/50211
    FIG. 7 an exemplary driving voltage without DC component with sinusoidal alternating component modulated onto a sinusoidal fundamental wave; FIG.
    8 shows an exemplary driving voltage with Gleichanteii and aufmoduliertem Digitaisignal.
    9 shows an exemplary and schematically illustrated motor controller for decoding a modulated alternating signal and
    10 shows an exemplary and schematically illustrated motor control, in which a relay in the motor circuit is kept in a switching state by an alternating component in the driving voltage.
    By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component designations, wherein the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or 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 are to be transferred to the new situation mutatis mutandis when a change in position. Furthermore, individual feature or feature combinations from the illustrated and described different Ausführungsbeispieten can represent for themselves, inventive or inventive solutions.
    1 shows an arrangement with a rail track 1, at least one rack row 2 arranged along the rail track 1 and a stacker crane 3 which can be moved on the rail track 1. The stacker crane 3 has wheels 4 and a drive motor 5 for this purpose. Furthermore, the arrangement comprises a power supply rail 6 and a drive control 70 electrically connected thereto, which in turn is connected to a power supply / voltage source 8. In the example shown, the supply voltage is removed via a sliding contact 9 of the power supply rail 6 and forwarded to a motor controller 100 which drives the drive motor 5 and also more
    istfH 10/35 27-03-2013 N2013 / 04SD0 10 Printed: 2 &% 3-2Ö13 E014: 10 2013/50211
    Control tasks such as the storage and retrieval of storage containers in or out of the shelf 2 can take over, in Fig. 1, the power supply rail 6 is arranged next to the rail line 1, of course, the power supply rail 6 can also be arranged within the rail section 1. The right end of the rack aisle is closed in this example with a door 11 whose closed state is monitored by a switch 12 connected to the drive control 70. Finally, the arrangement shown by way of example also includes a light barrier 13 and a push-button 14, which are connected to the driving control 70.
    The function of the arrangement shown in FIG. 1 is as follows. In normal operation, the storage and retrieval device 3 receives from a higher-level control, not shown commands to take objects from a transfer point and store it in the shelf or outsource objects from this and deliver it to the transfer point. Transfer points can be provided in each case at the ends of the rail line 1. There may also be provided a vertical conveyor, so that a plurality of rail sections 1 can be arranged one above the other and thus form a warehouse with several levels. It is also conceivable that a horizontal conveying device (for example conveyor belts or conveying rollers) is arranged at the transfer station or at the vertical conveying device in order to supply or remove the objects accordingly. It is also conceivable that a picking workstation is arranged at the transfer point or at the vertical conveyor.
    In normal operation, the storage and retrieval unit 3 operates completely automatically. In certain situations, however, the intervention of an operator may be necessary, for example when objects become wedged, the storage and retrieval unit 3 is defective or the delivery flow is disturbed in some other way. Since the storage and retrieval unit 3 moves at a relatively high speed, the operator must be protected when she enters the rack aisle, respectively the railroad track 1. For this purpose, it pushes the button 14, whereupon the stacker crane 3 is stopped. In addition, the entrance to the rack aisle is also monitored by the light barrier 13. As additional protection, the rack aisle is located at the right end
    11/35 27-03ÄS N2013 / 04900 11 irinied: 28-03-2013 £ 014 102013 / 5Ö211 the door 11, which is monitored by the switch 12. In this way, there is a protection zone 15. In addition, a protective fence can be arranged around the shelves 2.
    If entering the rack aisle is detected by a person, be it from left or right, then the storage and retrieval unit 3 automatically, that is, without the button 14 must be pressed explicitly, shut down. In Fig. 1 both sides of the rack aisle are monitored. Of course, it is also possible to equip only one of the sides of the rack aisle with a light barrier 13 and / or a button 14 and / or a door 11 with switch 12. It is also conceivable that alternatively or additionally other security measures are taken, such as the operation of barriers or monitoring with other sensors, for example proximity sensors or video cameras.
    The driving control 70 sets the rail route 1 / power supply rail 6 now under a hazardous operating voltage whose rectification value / RMS value below a necessary for moving the stacker crane 3 Mindestgleich-richtwert / minimum effective value, but above zero, if a threat formed by the stacker crane 3 hazard is detected, that is, when the button 14 is pressed or the light barrier 13 or the switch 12 reports an entering of the rack aisle. Advantageously, in this way, an electronic control system of the storage and retrieval device 3, for example, the driving control, are still supplied with electricity, although the storage and retrieval unit 3 is unable to move due to the low voltage. The voltage level can be chosen so that it is below the starting voltage and the stationary storage and retrieval unit 3 can not drive off, or it may even be below the driving voltage, so that even a moving storage and retrieval unit 3 stops. For example, the voltage during normal operation may be less than or equal to 100V, in particular at 70V, at 24V or 48V, whereas the danger operating voltage may for example be less than or equal to 24V and in particular at 5V or 12V, which is usually sufficient for the supply of electronic components. It would also be conceivable that only important 12 & peseta &peseta; ii < Π3 / £ 0 £ ΐ1
    Circuits are designed for operation by the hazardous operating voltage, other circuits including the engine 5 but shut down. For example, it can be provided that position encoders and communication modules continue to operate without restriction even when only the hazardous operating voltage is applied, so that a smooth resumption of normal operation after hazardous operation is ensured.
    Due to the inertia of the storage and retrieval unit 3, it is generally sufficient if the rectification value / rms value of the hazardous operating voltage is below a necessary for moving the stacker crane 3 rectification / rms value of the driving voltage. For even greater safety, however, provision can also be made for the maximum value of the hazard operating voltage to be below the minimum driving voltage.
    FIG. 2 now shows a concrete example of a travel control 71, which comprises a voltage converter 16 and a changeover switch 17. The voltage converter 16 converts the voltage supplied by the power supply / voltage source 8 to a lower level, for example from 70V to 24V. With the aid of the changeover switch 17, the voltage supplied by the voltage source 8 can be switched directly to the power supply rail 6 (see indicated state), or it is switched to the lower voltage level.
    In the example shown in FIG. 2, the danger operating voltage has the same polarity as the minimum driving voltage. It is also conceivable that the danger operating voltage is applied to the power supply rail 6 in a polarity opposite to the polarity of the minimum driving voltage.
    3 shows an example of a travel control 72, in which the voltage supplied by the voltage source 8 can be switched directly to the power supply rail 6, but depending on the position of the switch 17 in different polarity. In order to achieve the desired purpose, namely the stacker crane 3 Although stiillegen, but still supply important components with electrical voltage, the circuit shown in FIG. 4 can be provided in the stacker crane 3. 13/35 Ä®2 27-03-2013 Next 3 / f) 4öfin 13 13 [10 2Ö13 / Sö | l1 NÄ: 28-03-2013
    FIG. 4 shows an example of a motor control 101, in which the motor 5 is connected to the voltage source 8 via a diode 18. The diode 18 is also part of a full-wave bridge rectifier, which supplies the circuit 19. The circuit 19 may include important components such as a position sensor and communication modules. In normal operation (see the switching position of the switch 17 shown in FIG. 3), the diode 18 is conductive and the motor 5 is supplied with power. The circuit 19 is powered by the rectifier with power. If the voltage is reversed on the power supply rail 6, so locks the diode 18, whereby the motor 5 is no longer supplied with power. Because of the rectifier, however, the circuit 19 is still supplied with electrical energy even when the voltage is reversed. Fig. 4 is intended to illustrate only the basic principle. Of course, behind the diode 18, a switch for the motor 5 may be arranged, with the aid of which the direction of rotation of the motor 5 can be reversed when the diode 18 is conductive.
    In the combination illustrated in Figures 3 and 4, the emergency operating voltage may be designed as a DC voltage (i.e., having substantially only a DC component) with the DC voltage applied to the power rail 6 with different polarity, respectively.
    It would also be conceivable that the driving voltage in normal operation is a DC voltage and the danger operating voltage has substantially only one alternating component, that is, an AC voltage. Also in this case, the circuit 19 would be supplied in both operating cases with electrical energy, whereas the motor 5 is supplied with electrical energy only at every other half cycle of the AC voltage. On average, the voltage therefore drops to a lower value. It would also be conceivable to connect the motor 5, which is assumed to be a direct voltage motor for the following consideration, directly to the voltage source 8, ie without the interposition of the diode 18. Due to the fact that the danger operating voltage has essentially no DC component, the motor 5 simply stops at a sufficiently high frequency of driving due to its inertia, whereas the circuit 19 continues to be supplied with electrical energy.
    Finally, it would also be conceivable for an additional fuse to be installed in the drive control 72 in the path for the danger operating voltage, which is designed for the current for supplying the stacker crane 3 in the event of a risk, but not for the motor current of the motor 5. This can prevent that the stacker crane 3 is set in motion when the diode 18 breaks through and becomes conductive. If this case occurs, the mentioned fuse would trigger in the driving control 72 and prevent a movement of the Regaibediengeräts 3.
    Another way to secure the Regaigasse is that the power supply rail 6 is set in normal operation under a driving voltage when no threat formed by the stacker crane 3 is detected, and is set under danger operating voltage when a threat formed by the storage and retrieval unit 3 is determined, and that the voltage applied to the power rail 6 in the stacker crane 3 is examined for the presence of a predefined characteristic, and said voltage is forwarded to a traction motor 5 of the Regaibediengeräts 3 only if the detected characteristic indicates the presence of the driving voltage, as Characteristics a) the driving voltage contains a predefined first alternating signal (first pilot signai) and the danger operating voltage does not contain this first alternating signal or b) the danger operating voltage is a predefined first alternating signal (first Pilot signal) and the driving voltage does not contain this first alternating signal or c) the driving voltage contains a predefined first alternating signal (first pilot signal) and the danger operating voltage contains a predefined second alternating signal (second pilot signal). 15/35 27-03-2013
    N2013 / 04ÖOO 15 Prinlii28Ä20i: 3 | 014 # 201 ^ 50211
    FIG. 5 shows an example of a travel control 73 in which a signal can be modulated onto the voltage of the voltage source 8 with the aid of a modulator 20 and a coupling transformer 21. For example, the modulator 20 can generate a sinusoidal signal which is modulated by means of the coupling transformer 21 to a DC voltage supplied by the voltage source 8. Fig. 6 shows an example of the resulting voltage. It would also be conceivable for the voltage source 8 to supply an alternating voltage to which an alternating voltage with a higher frequency is modulated. Fig. 7 shows an example of the resulting voltage. Furthermore, it would also be conceivable that the modulator 20 generates a digital code which is modulated onto a DC voltage supplied by the voltage source 8. Fig. 8 shows an example of the resulting voltage. Analogous to FIG. 7, it would also be conceivable that the digital signal! is modulated to an AC voltage.
    The modulated sinusoidal signal has a constant frequency and a constant amplitude in the examples shown. Of course this is not necessarily the case. It would also be conceivable that the frequency and / or amplitude of the modulated sine signal is variable, that is, the sinusoidal signal is frequency and / or amplitude modulated. In addition, signals can generally be superimposed unipolar or bipolar, that is, starting from a base voltage have only one polarity or both.
    These components contained in the supply voltage for the storage and retrieval unit 3 can now be used to stilf-enforce the stacker crane 3 in case of danger. FIG. 9 shows an example of a motor controller 102, which comprises a decoder 22 and a switch 23 in the motor circuit which is driven by the decoder 22.
    In a first example, it is now assumed that the driving voltage contains the digital signal predefined in FIG. 8, but the danger operating voltage does not contain this first digital signal (case a). That is, the travel controller 73 modulates the digital signal to the supply voltage only when there is no hazard. Accordingly, the decoder 22 keeps the switch 23 closed as long as it supplies the agreed digital signal in the supply ................. 16/35 mm: 27-03-2013 N2013 / 04900 16 Frintedi 28-03-2013 EQ14 10 201310211
    Can determine tension. If he can no longer delect this, there is a threat from the stacker crane 3 and the switch 23 is opened accordingly.
    It would also be conceivable, however, that the danger operating voltage contains the predefined digital signal and that the driving voltage does not contain this digital signal (case b). The danger operating voltage thus has a DC component and an AC component. In this case, the above-mentioned conditions are merely reversed, so that the switch 23 remains open as long as the decoder 22 can determine the agreed digital signal in the supply voltage.
    Finally, it would also be conceivable that the driving voltage contains a predefined first digital signal and the danger operating voltage contains a predefined second, different digital signal. The switch 23 remains open in this case as long as the decoder 22 can determine the agreed second digital signal in the supply voltage. On the other hand, if the decoder 22 detects the first digital signal in the supply voltage, the switch 23 is closed.
    Of course, a digital signal does not necessarily have to be modulated for the backup method described above, but it is also possible to modulate sinusoidal alternating signals (see FIGS. 6 and 7). These can be detected by means of a digital circuit, but can be provided as a decoder 22 but also an active or passive filter or the decoder 22 may include such.
    In general, it is not mandatory for the invention that the alternating signal is constantly modulated or constantly monitored during normal operation or during dangerous operation. It is also conceivable that the modulating and monitoring is carried out only periodically.
    To increase safety, the two-channel principle can be applied, in which for a switching command to the switch 23, two or more independent units are involved. The motor 5 is supplied with the driving voltage only when all or at least the majority of the 17/35 17/32 27-03-2013 N2Ö13 / 04900 17 Pnrrted Ä2 & 13 E014
    IO2OI3 / I0I1I called units to go to the same decision (switch 23 off or on). It is particularly advantageous if the units are constructed differently or come from different manufacturers. For example, instead of the single decoder 22 in Figure 9, two or more decoders could be connected to the switch, in particular via an AND link.
    10 now shows an example of a motor control 103 in which an AC voltage component of the drive voltage is decoupled with the aid of an output coupler 24 in the stacker crane 3 and switched to the control coil of a relay 25 for disconnecting the drive voltage from the drive motor 5 via the rectifier 26. This is thereby kept in a switching state. In the case of a), therefore, the alternating component contained in the driving voltage would result in a voltage being applied to the control coil of the relay 25 and keeping it closed. If the AC component fails to switch to the hazardous operating voltage, the relay 25 drops out and the motor 5 is disconnected from the driving voltage. The relay 25 is thus designed as a closer in this case. In case b), accordingly, there are reverse conditions, so that the relay 25 is designed as a normally closed contact.
    For example, the output coupler 24 could be designed as a transformer and thus the entire alternating component of the travel voltage can be coupled out and fed via the optional rectifier 26 to the control coil of the relay 25. It is also conceivable that the output coupler is designed as a filter and thus only a certain frequency component is extracted from the driving voltage. This is particularly advantageous in case c), in which both the driving voltage and the danger operating voltage have an alternating component. If the relay 25 is designed as a make contact, the filter 24 is designed for the frequency of the alternating component contained in the normal operating driving voltage. On the other hand, if the relay 25 is designed as an opener, the filter 24 is designed for the frequency of the alternating component contained in the hazardous operating voltage. Of course, transformer and filter can also be combined.
    In general, it is also conceivable that the motor 5 below a certain voltage level, in particular in the presence of the hazardous operating voltage of the 18 switched off on the storage and retrieval unit 3 voltage is switched off. For example, the circuit structure disclosed in FIG. 9 may be used for this, but instead of the decoder 22, for example, a voltage comparator is provided. If the voltage applied to the storage and retrieval unit 3 drops below the level set at the comparator, then the switch 23 is opened. As a result, increased safety can be achieved, since then unexpected voltage peaks in the hazardous operating voltage can not lead to a start of the stacker crane 3. This procedure is therefore also advantageous if the danger operating voltage (as a rule) is not intrinsically responsible for a movement of the The switch 23 naturally remains closed even in the case of a (random) increase in the voltage and is only opened again when an explicit command is given, for example by the operator releasing the storage and retrieval unit after the fault has been rectified further increased safety, the multi-channel principle are applied, so two or more comparators can be involved in the switching process.
    The embodiments show possible embodiments of driving controls 70..73 and motor controls 100..103, it being noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but a possibility of variation due to the teaching of technical action by subject invention in the knowledge of the person working in this technical field.
    In particular, the illustrated variants can be combined as desired. For example, for the drive control 70, the variant shown in FIG. 2 and the variant shown in FIG. 5 can be combined, so that the hazard operating voltage is lowered compared to the normal operating voltage and, in addition, an alternating signal is modulated onto the drive voltage. It would also be conceivable to combine the variant shown in FIG. 3 and the variant shown in FIG. 5, so that the hazard operating voltage is reversed in relation to the normal operating voltage and, in addition, an alternating signal is modulated onto the driving voltage. Accordingly, for the motor control unit 100, the variant illustrated in FIG. 4 and the variant illustrated in FIG. 9 can be combined. As a result, increased security for the operation of the storage and retrieval device 3 can be achieved.
    For the same reason, it is also conceivable to combine for motor control 100 the variant shown in FIG. 9 and the variant shown in FIG. 10. The decoder 22 could analyze the driving voltage for a contained digital code, while the decoupler 24 only the digital signal! caused alternating part of the driving voltage decoupled and thus keeps the relay 25 open or closed. In this way, the presence of a hazardous condition is detected in two different ways, which can provide greater safety.
    Of course, it is also conceivable to combine all three variants shown in FIGS. 4, 9 and 10, as a result of which even greater safety can be achieved in the operation of the stacker crane 3.
    In general, the embodiments have been explained with reference to a DC motor. The driving voltage can in this case have a Gleschanteil and optionally an alternating component. The invention is, however, fully applicable, of course, for AC motors and three-phase motors. For example, here the danger operating voltage can be lowered in relation to the driving voltage in normal operation, or an alternating signal can be modulated onto the driving voltage (see also FIG. 7). At this point it is also noted that the power supply rail 6 may comprise a plurality of mutually insulated conductors, in particular one for the positive and negative potential respectively ground (DC) or one per phase and optionally for neutral (AC voltage).
    Furthermore, the storage and retrieval unit 3 was shown movable in the examples in only horizontal direction. This is not mandatory. The storage and retrieval unit 3 can also move vertically, diagonally, as well as horizontally and vertically. The latter is formed for example by a horizontally movable lift with lifting fork. 20/35 N2013 / 04900 20 Etc. 28-03-2013 E014 M m3 / 50211
    In addition, it is noted that the (mechanical) switches 17, 23 and 25 used in the figures for the sake of ease of understanding can equally be replaced by electronic switches. For example, in FIG. 9, instead of the switch 18, it is also possible to use transistors, in particular FETs or IGBTs. In particular, it is also noted that the illustrated controls and the bearing assembly may in reality also comprise more or fewer components than shown and are sometimes shown in simplified form in the figures.
    For the sake of the order, it should finally be pointed out that the illustrated travel controls 70..73, motor controls 100..103 and the arrangement from FIG. 1 as well as their components are also shown partially out of scale and / or enlarged and / or reduced for a better understanding of their structure were.
    The task underlying the independent inventive solutions can be taken from the description. 21/35 27-03-2013 Næniam4ßnn j% fed: 28-03-2013 E014 10 2013/50211
    List of Reference Numbers 1 Rail 2 Shelf 3 Storage and retrieval machine 4 Wheel 5 Drive motor 6 Power supply rail 70.73 Travel control 8 Power supply 9 Sliding contact 100..103 Motor control 11 Door 12 Switch 13 Light barrier 14 Push button 15 Protection zone 16 Voltage converter 17 Changeover switch 18 Diode 19 Electronic circuit 20 Modulator 21 Transformer 22 Decoder / demodulator 23 Switch 24 Outcoupler 25 Relay 26 Rectifier U Voltage t Time 22/35 27-03-2013 N2013 / 04900
    权利要求:
    Claims (13)
    [1]
    1. A method for operating a on a rail track {1) mobile and powered by a rail track (1) eiektrisch connected power supply (8) and / or a power rail (6) storage and retrieval device (3), by means of at least one along the Rail track (1) arranged row of shelves (2) is accessible, characterized in that the rail track (1) / power supply rail (6) is set below a danger operating voltage whose rectification value / RMS value under a for moving the stacker crane (3) necessary minimum rectification value / Minimum effective value, but above zero, if a hazard caused by the stacker crane (3) is detected.
    [2]
    2. A method for operating a on a rail track (1) mobile and powered by a rail track (1) electrically connected power supply and / or a power supply rail (6) storage and retrieval device (3) by means of at least one along the rail track (1) arranged Row of shelves is accessible, characterized in that the rail track (1) / power supply rail (6) is set in normal operation under a driving voltage when no by the Regaibe-diengerät (3) endangered by the stacker crane (3) is festgestelit, and under danger operating voltage is set when a by the Re-galbediengerät (3) formed by the stacker crane (3) is detected, and that the voltage applied to the rail track (1) / power rail (6) in the stacker crane (3) on the presence of a predefined Characteristic is examined, and said voltage only to a traction motor ( 5) of the storage and retrieval device (3) is forwarded if the detected characteristic indicates the presence of the driving voltage, where characteristics a) the driving voltage is a predefined first Contains alternating signal and the danger operating voltage does not contain this first alternating signal or b) the danger operating voltage contains a predefined first change signal and the driving voltage does not contain this first alternating signal or c) the driving voltage contains a predefined first change signal and the hazard operation voltage includes a predefined second change signal.
    [3]
    3. The method according to claim 2, characterized in that the Gleich-richtwert / RMS value of the danger operating voltage below a for moving the Regaibediengeräts (3) necessary Mindestgieichricht value / minimum effective value, but above zero.
    [4]
    4. The method according to any one of claims 1 to 3, characterized in that the maximum value of the danger operating voltage is below the minimum driving voltage in absolute value.
    [5]
    5. The method according to any one of claims 1 to 4, characterized in that the danger operating voltage in the same polarity as the minimum driving voltage to the rail track {1) / power supply rail (6) is applied.
    [6]
    6. The method according to any one of claims 1 to 4, characterized in that the danger operating voltage in a polarity of the minimum driving voltage opposite polarity to the rail track (1) / power supply rail (6) is applied.
    [7]
    7. The method according to any one of claims 1 to 6, characterized in that the danger operating voltage substantially only has a DC component. 24/35 27-03-2013 N2O13 / O40OO 3 3 10 2013/50211 Prihted '28-03-2013
    [8]
    8. The method according to any one of claims 1 to 6, characterized in that the danger operating voltage substantially comprises only one alternating component.
    [9]
    9. The method according to any one of claims 1 to 6, characterized in that the danger operating voltage has a DC component and a AC component.
    [10]
    10. The method according to any one of claims 2 to 9, characterized in that said alternating signal sinusoidal or is formed as a digital signal.
    [11]
    11. The method according to any one of claims 2 to 10, characterized in that in the storage and retrieval unit (3) coupled out of the driving voltage AC voltage component is switched to the control coil of a relay (25) and holds this in a switching state, wherein the relay (25) for Disconnecting the driving voltage from the traction motor (5) is set up.
    [12]
    12. Arrangement comprising a rail track (1), at least one along the rail track (1) arranged row of shelves, on the rail track (1) mobile storage and retrieval unit (3) and with the rail track (1) electrically connected power supply and / or a power supply rail (6), which is in contact with the storage and retrieval unit (3), characterized by a drive control, which is adapted to set the rail track (1) / power rail (6) below a hazardous operating voltage, whose rectification value / RMS value under a for moving of the stacker crane (3) necessary minimum rectification value / minimum effective value, but over 25/35 27-03-2013 N2Q13 / 04900 4 Pnnted. 8-03-2013 SO.2Q:! 3iÖ21; 1 is zero if a hazard caused by the stacker crane (3) is detected.
    [13]
    13. Arrangement comprising a rail track (1), at least one along the rail line (1) arranged Regai- row, on the rail track (1) mobile stacker crane (3) and with the rail track (1) electrically connected power supply and / or a power supply rail (6) which is in contact with the stacker crane (3), characterized by a travel control (70.73) adapted to detect a hazard created by the regia deflector (3) and the rail track (1 y power supply rail (6) in Normal operation in the absence of danger under a driving voltage and in existing danger under operating voltage dangerous to set, and a motor controller (100..103) in the Regaibediengerät (3), which is adapted to the rail track (1 yStromversorgungsschiene (6) applied voltage in the Regaibediengerät (3) to investigate the presence of a predefined characteristic, and the ge said voltage will only be forwarded to a drive motor (5) of the storage and retrieval unit (3) if the established characteristic indicates the presence of the driving voltage, wherein as characteristics a) the driving voltage contains a predefined first alternating signal and the danger operating voltage does not contain this first alternating signal or b ) contains the danger operating voltage a predefined first alternating signal and the driving voltage does not contain this first alternating signal or c) the driving voltage includes a predefined first alternating signal and the hazard operating voltage includes a predefined second alternating signal. 26/32 26/35 27-03-20,13 N2013 / 04900
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    同族专利:
    公开号 | 公开日
    EP2978706B1|2018-05-30|
    AT513977B1|2014-09-15|
    US20160031687A1|2016-02-04|
    ES2680225T3|2018-09-05|
    WO2014153584A1|2014-10-02|
    US10029895B2|2018-07-24|
    CN105209369A|2015-12-30|
    EP2978706A1|2016-02-03|
    CN105209369B|2018-06-26|
    引用文献:
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    DE9406663U1|1994-04-21|1994-06-30|Ake Innotech Automatisierung K|System for voluntary personal security, in particular for collision avoidance of people and power-operated funds|WO2016033628A1|2014-09-05|2016-03-10|Tgw Mechanics Gmbh|Automated rack storage system and method for safely operating it|US4892980A|1988-08-03|1990-01-09|J. N. Fauver Company|Dual contacts on voltage rail|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50211/2013A|AT513977B1|2013-03-27|2013-03-27|Arrangement and method for operating a storage and retrieval unit|ATA50211/2013A| AT513977B1|2013-03-27|2013-03-27|Arrangement and method for operating a storage and retrieval unit|
    PCT/AT2014/050073| WO2014153584A1|2013-03-27|2014-03-25|Arrangement and method for operating a storage and retrieval unit|
    EP14723669.9A| EP2978706B1|2013-03-27|2014-03-25|Arrangement and method for operating a storage and retrieval unit|
    US14/780,071| US10029895B2|2013-03-27|2014-03-25|Arrangement and method for operating a storage and retrieval unit|
    ES14723669.9T| ES2680225T3|2013-03-27|2014-03-25|Provision and procedure for the operation of a stacker crane|
    CN201480025924.5A| CN105209369B|2013-03-27|2014-03-25|For running the system and method for piler|
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