• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for controlling a stacker crane (1), comprising a chassis (3) carrying a mast (5) with a travel drive (4), a load pickup (6) movable along the mast (5) by means of a lifting drive (10) Control device (11) for the drive and the lifting drive (4, 10), wherein the drive and the lifting drive (4, 10) with the dynamic behavior of the storage and retrieval unit (1) taking into account setpoints for displacement of the chassis (3) and the load bearing (6) is controlled in accordance with the specified by the respective starting and end position and the respective load (7) specifications. In order to provide advantageous control conditions, it is proposed that the desired values required for the control of the traveling and lifting drives (4, 10) be calculated numerically on the basis of a simulation model of the storage and retrieval device (1) for all default combinations and stored in tabular form in association with the individual service combinations and in order to displace the chassis (3) and the load receiver (6) in accordance with a combination of commands, the control device (11) controls the travel and lifting drives (4, 10) with the setpoint values stored in tabular form for this combination of parameters.
    公开号:AT514152A1
    申请号:T50236/2013
    申请日:2013-04-08
    公开日:2014-10-15
    发明作者:Benjamin Dr Ing Berger
    申请人:Benjamin Dr Ing Berger；
    IPC主号:
    专利说明:

    1
    (39090) II
    The invention relates to a method for controlling a stacker crane, comprising a mast carrying chassis with a traction drive, a movable along the mast with the aid of a lifting drive load bearing and a control device for the driving and lifting drive, wherein the driving and the Lifting drive with the dynamic behavior of the storage and retrieval unit taken into account target values for the displacement of the chassis and the load receiving according to the determined by the respective output and end position and the respective load specifications.
    In order to take account of the accelerated and decelerated by the chassis and the load bearing dynamic deformations, in particular the vibrations of the mast, already during the displacement of the chassis and the load of the respective starting position to the predetermined end position and thus approach the respective end position possible vibration free can, it is already known (EP 1 859 327 Bf], flatness-based Referenztrajek-torien for storage and retrieval devices as a mathematical function on the one hand for the drive and on the other hand for the lifting drive store, the Referenztrajek-torien a time course of the dynamic behavior of the storage and retrieval device in the form of a Due to additional specifications for mechanical and dynamic limit values, for example the maximum permissible bending moment in the mast footing, the maximum permissible load for the load bearing, the maximum swing ungsauslenkung the mast top or the maximum force for the drive and the linear actuator, then the reference values required for the control of the travel and lifting drives can be calculated from the Refe renztfsjektorien under specification of the respective output and end positions. 2/9 2
    A disadvantage of these known methods for flatness-based control of a storage and retrieval unit is above all that with the help of flatness-based control no Referenztrajektorien can be specified that describe the dynamic behavior of the storage and retrieval device sufficiently accurate. For this reason, must in the mathematical model of the reference trajectories unobservable interference, which can lead to deviations of the forces acting on the driving and lifting actuator actuating forces, corrected and adjusted the time course of the actual required actuating forces, which additional means for the actual value detection and a sequencer Reference value correction has the disadvantage that occurring vibrations can in turn only be damped, although without separate damping devices.
    The invention is therefore based on the object, a method for controlling a storage and retrieval device in such a way that the dynamic behavior of the storage and retrieval device can be advantageously used for the displacement of the chassis and the load from a starting position to an end position without waiting for the otherwise necessary decay of vibrations to have to.
    Based on a method of the type described, the invention solves the task by the fact that required for the control of driving and lifting drives according to the specifications set numerically based on a simulation model of the storage and retrieval unit for all combinations of preconditions and assigned to the individual specification combinations. be stored in tabular form and that for the displacement of the chassis and the load receiving according to a default combination, the control device controls the travel and lifting drives with the table for this set combination stored setpoints.
    By a numerical calculation of a corresponding simulation model of the storage and retrieval unit, preferably with the aid of a computer cluster, the dynamic behavior of the storage and retrieval unit can be written sufficiently accurately when shifting the load pickup from an initial day to an end position for a specific load, in order to obtain the Control of the driving and lifting drive required setpoints to be able to calculate. With these setpoints for the control of the driving and lifting drives, therefore, the storage and retrieval unit can be moved so that the load bearing is optimized with a given load moved from the predetermined starting position in the predetermined end position, without the decay of vibrations for the removal or storage of the To wait for load. The prerequisite is therefore that all starting and end positions as well as the possible loads are taken into account by a corresponding combination of these specifications and consequently setpoints for the control of the storage and retrieval unit are available for each case of these specifications. For the control of the storage and retrieval unit, therefore, only the nominal values corresponding to the respective specification combination need to be read from the setpoints stored in tabular form for the individual specification combinations and made available to the control of the travel drive and the lifting drive. Since the number of default combinations to be stored in conventional shelving systems is between several hundred thousand and a few million of data records, the calculation of the target values for these default combinations can preferably be carried out with the aid of a computer cluster.
    Since certain boundary conditions have an effect on the control behavior, because, for example, the demand for a low energy requirement for the travel and lifting drives obviates the requirement for a short transfer time and the limitation of the load, in particular of the mast, in turn requires different setpoints for the control of the storage and retrieval device, the Setpoint values of the individual precursor combinations for different boundary conditions are calculated and stored accordingly, so that the setpoint values determined therefrom for the individual boundary conditions are available for a different control of the storage and retrieval device, which permits a different use of the storage and retrieval device adapted to the respective boundary conditions. 4/9 4
    In the drawing, the subject invention is illustrated, for example, and indeed the erfindungsgernäße method is explained in more detail using a schematic block diagram for the control of a storage and retrieval device.
    The storage and retrieval unit 1, shown schematically, has a chassis 3 which can be moved along a guide 2 and whose travel drive is denoted by 4. On the chassis 3, a mast 5 is mounted, which has a displaceable along the mast 5 load bearing 6 for loads 7, which are in at least one high bay 8 and outsourced. The shelves 9, which usually form a grid formed of rows and columns represent initial and final positions for the load bearing 6, wherein at least one takeover point outside the high rack 8 results in a further output or end position for the control of the storage and retrieval unit 1. The lifting drive 10 for the load bearing 6 and the drive 4 for the chassis 3 are controlled by a control device 11 which is connected on the one hand to an input unit 12 and on the other hand to a Soilwertspeicher 13. In particular, the respective output and end positions and the respective load of the control device 11 are specified via the input unit 12.
    The setpoints required for displacing the load receiver 6 between an initial position and an end position for controlling the travel drive 4 and the lifting drive 10 are preferably determined by means of a computer cluster on the basis of a simulation model for the stacker crane 1 taking into account the dynamic behavior of the stacker crane 1 for different loads 7 calculated. Since a set of nominal values must be made available for each of the possible specifications with regard to the starting and end position as well as the load, so that the storage and retrieval unit 1 can be controlled according to the respective specifications, the setpoint values for all these combinations of specifications must be determined and tabulated in the setpoint memory 13 be stored. The individual setpoint tables 14 for each of the setpoint combinations are indicated in the setpoint memory 13. 5.9
    Since, in addition, different boundary conditions may have to be taken into account, the setpoint values for these different boundary conditions of all precursor combinations must be calculated and stored. Thus, a time-minimized shift of the load bearing 6 between a certain starting position and an end position, taking into account for example the energy consumption and the load of the storage and retrieval device 1 can be specified. Due to the appropriate consideration of the dynamic behavior of the storage and retrieval device 1 in its control can also be on the construction of the storage and retrieval device 1 in terms of lighter design influence, because just greater vibration tendencies can be considered by the controller, without taking the otherwise associated disadvantages in purchasing to have to. 6.9
    权利要求:
    Claims (2)
    [1]
    Patent Attorneys Dipl.-Ing. Helmut Hübscher Dipl.-Ing. 1. A method for controlling a storage and retrieval unit (1) comprising a mast (5) supporting chassis (3) with a traction drive (4), along the mast (5) by means of a Lifting drive (10) movable load bearing (6) and a control device (11) for the drive and the lifting drive (4, 10) comprises wherein the driving and the lifting drive (4,10) with the dynamic behavior of the storage and retrieval device (1) into account Setpoints for the displacement of the chassis (3) and the load bearing (6) according to the determined by the respective output and end position and the respective load (7) specifications is controlled, characterized in that for the control of the driving and lifting drives (4 , 10) nominal values required according to the specifications calculated numerically on the basis of a simulation model of the storage and retrieval unit (1) for all default combinations and tabulated under assignment to the individual specification combinations are stored and that for the displacement of the chassis (3) and the load receiving (6) according to a default combination, the control device (11) controls the travel and lifting drives (4,10) with the setpoint values stored in tabular form for this combination of preferences.
    [2]
    2. The method according to claim 1, characterized in that the desired values of the individual precursor combinations for different boundary conditions, such as low energy consumption, short displacement times or maximum load capacity, are calculated. Linz, on April 08, 2013 Benjamin Berger by: / DI Helmut Hübscher / (signed electronically) 7/9
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    同族专利:
    公开号 | 公开日
    AT514152B1|2017-09-15|
    WO2014165883A1|2014-10-16|
    EP2984027B1|2017-09-06|
    EP2984027A1|2016-02-17|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    WO1997019889A1|1995-11-30|1997-06-05|Siemag Transplan Gmbh|Method of controlling the drive of a computer-controlled conveyor device|
    JPH11301815A|1998-04-23|1999-11-02|Kito Corp|Speed and position control method of stacker crane|
    WO2006094322A2|2005-03-07|2006-09-14|TGW Transportgeräte GmbH|Method and position regulating device for controlling the operation of a load bearing apparatus, based on two dimensions|
    CH631939A5|1980-12-31|1982-09-15|Oehler Wyhlen Lagertechnik Owl|Method and device for controlling load transfer apparatuses.|
    JP3591638B2|2000-10-02|2004-11-24|村田機械株式会社|Stacker crane|
    JP2007204225A|2006-02-02|2007-08-16|Toyota Industries Corp|Travel control device of moving body|
    JP2011093676A|2009-10-30|2011-05-12|Murata Machinery Ltd|Traveling vehicle and travel control method thereof|GB2540308B|2014-04-07|2018-05-16|Lockheed Corp|Energy efficient controlled magnetic field generator circuit|
    CN110405837B|2019-08-12|2021-09-21|广东三维家信息科技有限公司|Technological processing method, device and processing equipment|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50236/2013A|AT514152B1|2013-04-08|2013-04-08|Method for controlling a storage and retrieval unit|ATA50236/2013A| AT514152B1|2013-04-08|2013-04-08|Method for controlling a storage and retrieval unit|
    EP14723673.1A| EP2984027B1|2013-04-08|2014-03-31|Method for controlling a rack operating device|
    PCT/AT2014/050079| WO2014165883A1|2013-04-08|2014-03-31|Method for controlling a rack operating device|
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