EP3115331B1 - Machine device, with a tendency to oscillate under a pulse-formed drive load and method for operating such a device - Google Patents
Machine device, with a tendency to oscillate under a pulse-formed drive load and method for operating such a device Download PDFInfo
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- EP3115331B1 EP3115331B1 EP16001465.0A EP16001465A EP3115331B1 EP 3115331 B1 EP3115331 B1 EP 3115331B1 EP 16001465 A EP16001465 A EP 16001465A EP 3115331 B1 EP3115331 B1 EP 3115331B1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
Definitions
- the present invention relates to a machine device that tends to oscillate from a pulse-shaped drive load, in particular storage and retrieval unit, production machine, robot, crane or the like, with a movable unit, a coupled to the movable unit receiving means for receiving a conveyed material or a load, a first drive unit for moving the movable unit along a travel path from a start to an end position, a control device for controlling the travel movement of the movable unit, wherein the first drive unit is controlled by specifying the time course of a reference variable, namely the temporal acceleration curve, via the control device and the Device during the process tends to vibrations occurring in the process direction, and wherein the temporal acceleration curve during startup until reaching a predetermined travel speed e and first acceleration change range having a positive or negative acceleration change course and an acceleration change time, called Verschliffzeit, and usually having a temporally located between the first and second acceleration change range acceleration range with constant positive acceleration, and when braking to a stop, a first and second acceleration change range with
- the invention thus relates to all machines that tend to disturbing vibrations that are not induced by disturbances outside the machine such as wind.
- the present invention further relates to a method of operating such a machine device.
- Storage and Retrieval Systems take over automatic storage and retrieval processes of conveyed goods, for example in high-bay warehouses. It moves loads that can weigh more than 2 tons, with device heights of, for example, over 20 meters depending on the application must be handled.
- acceleration, speed and a short Verschliffzeit and transfer times are of great importance for economic use. Due to the slim geometry, such stacker cranes tend to oscillate during the movement process, in particular during short cutting times, which, however, have a positive effect on the sales.
- Occurring vibrations mean a higher material stress, thus affecting the life, so that the availability decreases and the maintenance costs increase and have a negative impact on an optimal parts turnover, since a pickup or release of loads in the vibrational state is not possible, there for optimal Include way outsourcing high position accuracies of the lifting device are required.
- the vibration in the dimensioning must be taken into account for the firm design of a light construction branch, so that the wall thicknesses depending on the extent of the oscillation must be adjusted and thus the mass increases.
- a higher mass causes not only larger drive motors but also increased energy costs and, in addition, increased wear, for example on the rollers.
- a storage and retrieval device with a driving unit and a mast attached thereto, in which a sensor for determining the respective speed of the driving unit is present.
- a transducer In the area of the free end of the mast, a transducer is arranged to detect the respective mast speed of the free end of the mast.
- the transducer is connected as IstWertgeber for a position control device.
- the desired speed setting of the position control device is subjected to a speed correction value which is formed from the difference between the respective mast speed of the free mast end and the respective speed of the drive unit.
- the aim of such a design is the reduction of the occurrence vibrations during driving, which requires an extra sensor and special control.
- the DE 197 09 381 A1 discloses a method for suppressing pendulum movement of a load suspended on a trolley for transport at the destination. This method is characterized in that at a single arbitrary time of steady drive from the determined instantaneous values of the deflection and deflection speed of the oscillating load, an acceleration-time curve for the remaining ride is determined, which is such that at the end of the trip in the predetermined target point, the pendulum load is zero. Overall, this process causes by the at least two-stage braking process not optimal dynamics, since the available engine power is not fully utilized during the delivery process.
- a mast for a stacker crane is described.
- the mast has a support strut and a reinforcing structure connected to the support strut, wherein the support strut has at least one guide rail for the stacker crane. It is thus provided a division of the mast in a support strut and in a reinforcing structure.
- the minimization of the vibrations is thus aimed at by a mechanical solution in which a stiff and lightweight mast construction is chosen. This purely mechanical approach guarantees no oscillation avoidance without considering the drive.
- the DE 1 531 210 A discloses an arrangement for reducing vibrations of a load suspended freely on a crane, the drive unit being provided with a synchronization device which automatically generates a second equal and equal acceleration change after each acceleration change, after a time equal to half the period of oscillation Load corresponds to clear the occurred vibration.
- Such an arrangement is unsatisfactory in terms of dynamics, since the speed can be varied only gradually and thus slowly.
- this system does not consistently guarantee a low load on the material, since the vibration prevention begins only with the second stage, which deletes possibly already damaging loads of the first stage.
- this method is not suitable for all dynamic lightweight structures.
- a vibration coefficient of 1 can not be maintained, although the device is free of vibration at the end of movement.
- DE 10 2005 005 358 A1 is an operating device for a rack warehouse, in particular a storage and retrieval unit for a high-bay warehouse, described with a movable element having a drive for approaching a predetermined shelf position, wherein the drive comprises a drive motor which is controlled by specifying the time course of a reference variable and wherein Element tends during the process to running in the direction of self-oscillations.
- the oscillations are minimized by the fact that the time course of the reference variable is adapted to the movable element, that in the frequency spectrum of the time course, the fundamental frequency of the natural vibration is missing or at least below one predetermined limit value, so that no natural oscillations of the movable element are excited by the reference variable or their vibration amplitudes are significantly reduced compared to the unmatched course.
- nominal characteristics are assumed which in practice deviate from the actual characteristics and thus substantially increase the oscillation.
- the nominal curves are determined according to this approach based on a maximum jerk, which is not effective for the vibration prevention.
- a mast with an exemplary intrinsic period of 1 s requires a sizing time of 1 s in the case of a linear acceleration change curve in order to be free from vibration.
- the acceleration is reduced from 5 m / s 2 to 2.5 m / s 2 and the grinding time is calculated from the maximum jerk of 5 m / s 3 , the result is a grinding time of only 0.5 s and thus considerable vibrations. Especially at short distances the maximum acceleration is often not reached.
- a control method for jerk-limited speed control is known, which is a vote of the allowable jerk time (here called Verschliffzeit) on the period of the system.
- a linear acceleration increase curve is assumed, which is given in reality only as a target, but is not adhered to as actual, so that this approach only reduces vibrations but does not completely avoid them.
- the US 2011/0006023 A1 discloses a method for controlling a drive of a crane, wherein a target movement of the cantilever tip serves as an input, on the basis of which a control variable for driving the drive is calculated.
- the control variable takes into account the vibration dynamics of the drive system and the crane structure in order to reduce natural vibrations.
- the damping effect of a hydraulic or electric drive is taken into account. It is not taken into account that the target specifications for the drive system do not correspond to the real actual course.
- the present invention is based on the technical problem or object of specifying a machine device for transporting objects, in particular a stacker crane, production machine, robot, crane or the like, and a method for operating such a device, which is almost complete and continuous vibration prevention allows a simple implementation without absolutely necessary additional sensors or control technology, a permanently reliable Ensures function, reduces the stress on all components, such as the mast on the driving leg to the rollers, and allows adaptation to the different device systems.
- the device according to the invention is given by the features of independent claim 1.
- the method according to the invention is given by the features of independent claim 11.
- Advantageous embodiments and developments are the subject the claims directly or indirectly dependent on independent claims 1 and 11, respectively.
- the machine device which tends to oscillate from a pulse-shaped drive load, in particular storage and retrieval unit, production machine, robot, crane or the like with a movable unit, coupled to the movable unit receiving means for receiving a conveyed or a load, a first drive unit for moving the movable Unit along a travel path from a start to an end position, a control device for controlling the travel movement of the movable unit, wherein the first drive unit is controlled by specifying the time course of a reference variable, in particular the temporal acceleration curve, via the control device and device during the process tends in the process direction oscillations, and wherein the temporal acceleration course during startup until reaching a predetermined travel speed first and second An acceleration change range having a positive or negative acceleration change history and an acceleration change time called a sweep time and having a constant positive acceleration acceleration region temporally between the first and second acceleration change regions, and a first and second acceleration change region having a positive and negative acceleration change history when decelerating to a stop an acceleration change time,
- the peculiarity of the invention is that all relevant parameters for the generation of vibrations are already detected in advance by simulation and / or measurement.
- the significant and so far neglected deviations between the desired and actual course of the acceleration increase is detected by one-time correction factors for each drive configuration in the calculation and can thus be transmitted.
- vibrations are simple and reliable preventable preventable and eliminates all associated stress on the machine.
- the effort for complex and error-prone measuring and control technology is eliminated.
- this system of vibration prevention makes sense for all machines in which no unpredictable vibration excitations, such as wind, occur.
- the invention enables a simple avoidance of all vibrations that arise from a pulsed load of the machine device by drives.
- the invention is based on the detection of drive control errors. Since the state of the art assumes that the actual and desired acceleration characteristics of a drive are identical, no reliable avoidance of the vibrations can take place without additional measurement and control technology. The invention detects these missing from the prior art parameters to completely suppress vibrations without additional measurement and control technology on each machine device.
- the values are preferably stored in the memory device in the form of tables or characteristic curves, depending on the respective position of the picked-up conveyed material / load or characteristic diagrams, depending on the respective position of the picked-up conveyed material / load and depending on the mass of the person recorded conveyed goods / load.
- the two components that determine the vibration, the supporting structure and the excitation, are coordinated with each other.
- the structure can be characterized by the natural frequency.
- the position and weight of the load-carrying means and the mass of the payload on it has a major impact.
- the excitation, or the pulse can be characterized via the temporal acceleration change course.
- the simulation calculation can be carried out according to a particularly advantageous embodiment as a finite element calculation or as a multi-body simulation with flexible bodies.
- the finite element calculation can be used both for calculating the natural frequencies and for transient simulation of the vibration of the structure at different pulses. In this case, the attenuation can be considered.
- the reference variable values are included in the simulation calculation Consideration of all eigenmodes and the associated natural frequencies of the device calculated.
- a particularly preferred embodiment which also takes into account the method of the load during the braking process, is characterized in that there is a first sensor unit communicating with the control device, which determines the current height of the receiving means and / or a second sensor unit is present which measures the mass the respective conveyed material or load received by the receiving means, the function variable values being stored as a function of the height of the receiving means and / or the respective mass of the picked conveyed goods or load and the control device being determined from the storage device as a function of the respective first or second sensor unit Values picks up the reference variable values and feeds them to the first drive unit.
- an advantageous embodiment is characterized in that an acceleration sensor is provided on the movable unit, by means of which the target / actual deviation can be detected and the control device corrects the reference variable values on the basis of the desired / actual deviation.
- a preferred embodiment is characterized in that the machine device is designed as a storage and retrieval unit for a rack warehouse, the movable unit is coupled via a rack mast with a load receiving means and the load receiving means along the shelf mast on the second drive unit is height-movable or that the machine device is designed as a crane device, the movable unit is coupled via a cable or toothed belt with the load receiving means and the load receiving means by winding or unwinding of the rope by means of the second drive unit is moved in height or the machine device as a robot or Manufacturing machine is designed with appropriate drives for moving objects.
- a particularly advantageous embodiment is characterized in that in the simulation for calculating minimized vibration coefficients a linear or a drive-specific and once measured non-linear acceleration change course is applied.
- the inventive method for operating a machine device of the aforementioned type characterized in that the first drive unit reference variable values are supplied from a memory device, the vibration minimized values for the acceleration change course and / or the acceleration change time, the advance by simulation calculation and / or by measurement the respective concretely designed device have been determined and stored in the memory device, wherein the stored values in addition to the simulated natural frequencies and drive-specific deviations between desired and actual acceleration curve of the drive considered so that all the vibration causing parameters are detected to a To realize vibration avoidance.
- the memory device accesses to the first drive unit to command values that have been simulated due to a previously performed simulation calculation, preferably as a finite element calculation or as a multi-body system, in particular taking into account all eigenmodes and the real actual acceleration characteristics the device.
- a particularly advantageous method in which the influence of the respective load height with respect to minimized vibrations with is considered, characterized in that a communicating with the control device first sensor unit is used, which determines the current height of the receiving means and / or a second sensor unit is present, the size of each determined by the receiving means recorded load, wherein the function variable values are stored in dependence on the height of the receiving means and / or the respective size of the recorded load and the memory device picks up the reference variable values in dependence of the values respectively determined by the first and second sensor unit and supplies the first drive unit ,
- an advantageous further development is characterized in that an acceleration sensor is used on the movable unit, by means of which the target / actual deviation is included and the control unit corrects the reference values accordingly.
- a linear or a non-linear acceleration change course is preferably used.
- the device according to the invention or the method according to the invention is characterized overall by a novel mechatronic approach.
- the simulation captures the entire structure with all its eigenmodes.
- the decisive criteria for susceptibility to vibration, namely the grinding time and the acceleration increase course, are tuned and optimized for the structure. These optimized values are stored in the memory device.
- the coordination in the context of the mechatronic approach is thus carried out by preliminary investigations, namely after simulation of the drive train or by measurements on an existing structure, which takes into account the deviation of target / depending on the drive type.
- the vote is made with regard to the criteria vibration reduction, high dynamics of the device or the storage and retrieval unit and energy efficiency of the entire system of the device / the storage and retrieval unit.
- characteristic curves or characteristic maps are created, which contain vibration-minimized reference variables, in particular also taking into account the respective load height, which usually changes during the braking process.
- These characteristics / maps are integrated into the controller, but are completely calculated in advance or corrected with respect to the drive deviation setpoint / actual.
- an acceleration sensor on the subframe of the device / the storage and retrieval device are mounted to determine target / actual deviations in the drive as an input to the control. Suitable sensors allow the exact load position and size of the load to be taken into account and used as input for the control.
- An important feature is the consideration of the actual course of the acceleration by measuring each drive type or simulation of the desired and actual course.
- the energy efficiency of the entire system of the device / the storage and retrieval device are taken into account, especially the change in the height of the load during the braking process by the energy exchange of both drives in the DC link.
- the optimal length of the grounding time varies with respect to the minimum.
- the ideal desired course can be better achieved. This reduces the grinding time and the storage and retrieval unit is faster and vibration-free with the same drives.
- the exact course of an improved, non-linear acceleration increase curve, which the drive control receives as a default, can be determined by simulations or measurements.
- This improved acceleration increase course counteracts the changes in the drive train specifically, so that in effect, for example, the storage and retrieval unit practically corresponds to the ideal properties of the desired course in real use.
- a supplementation results from the consideration of the acceleration increase course. This can be done, for example, by a kind of constant correction of the acceleration increase course or by an extension of the characteristic curve (taking into account the LAM position) into a characteristic map (taking into account the LAM position and the LAM load) according to the invention.
- Fig. 1 is a highly schematic representation of a first embodiment of a machine device 10 which is susceptible to vibration and which is designed as a storage and retrieval unit 10.1.
- the storage and retrieval unit 10.1 moves along a Fahrleit Nur 30, which may be formed as an alley within a shelving system.
- the storage and retrieval unit 10.1 has a movable unit 12 with wheel units 32.
- a first drive unit 14 is present.
- the storage and retrieval unit 10.1 can be pulled over a toothed belt driven by a first unit, whereby it is impossible for the wheel units 32 to spin at high accelerations.
- a cantilever mast 24 On the upper side of the movable unit 12 is designed as a cantilever mast 24 is connected to which a load-receiving means 16 (LAM) in the longitudinal direction (here vertical direction) is movable, which occasionally receives the conveyed or 18, wherein a second drive unit 22 is present on that the respective height position of the receiving means 16 can be adjusted.
- LAM load-receiving means 16
- the Height direction or the stroke is in Fig. 1 represented by the reference H and the respective height level of the receiving means 16 (load 18) relative to the movable unit 12 is shown with HLAM.
- control device 50 is provided, via which the first drive unit 14 and the second drive unit 22 are controlled.
- the control device 50 is in communication communication with a higher-level logistics control device which is in Fig. 1 is not shown and transmitted to the storage and retrieval device 10.1 for loading and unloading of goods or loads 18, the respective position information in the direction of travel F for the movable unit 12 and height direction H for the load-receiving means 16. Furthermore, it is determined via the central logistics control device, whether the conveyed 18 is to be stored or outsourced. For this purpose, the load-receiving means 16 is designed accordingly.
- Such a storage and retrieval unit 10.1 is prone to vibrations of the mast 24 due to the acceleration of the movable unit 12 by the first drive unit 14 as a result of the acceleration process both when starting and during braking.
- the storage and retrieval unit 10.1 aims to minimize the vibrations occurring, that is virtually no vibrations occur, which means a significantly reduced material stress, a relaxation of the settling and economic operation.
- a memory device 52 is present, which communicates with the control device 50 in communication, and are stored in the reference variables for the acceleration of the first drive unit 14, the control device 50 picks up, theellessierenhong previously by a simulation calculation of the entire concrete structure with all eigenmodes is calculated.
- the decisive criteria of susceptibility to vibration namely the grinding time and the course of the acceleration change, are optimized by matching the concrete structure.
- the coordination with preliminary examinations which take into account the deviation of the target and actual depending on the drive type.
- the vote is based on the criteria of vibration reduction, high dynamics and energy efficiency of the overall system.
- the results of the calculations or measurements are stored, for example in the form of characteristic curves, which takes into account the respective current lifting height of the load receiving means 16, since the respective height HLAM of the load receiving means greatly influences the vibrations occurring.
- characteristic curves are integrated in the control device 50, completely calculated in advance, or the drive deviation between nominal and actual values is measured and taken into account.
- the vibration of the mast is dependent on the occurring during the acceleration acceleration change course and the Verschliffzeit, the respective eigen forms, which are dependent on the mast height, the type, the mass and the height position of the receiving means, the size of the acceleration itself, the system-related existing damping properties and materials and joining technology.
- Fig. 2 a second concrete embodiment of a vibration-prone machine device 10 is shown, which is designed as a crane device 10.2. Same components bear the same reference number as Fig. 1 and will not be explained again.
- the fundamental difference to the storage and retrieval unit according to Fig. 1 consists in the crane 10.2 according to Fig. 2 in that the load 18 hangs on a cable 34, which replaces the mast 24 of the storage and retrieval unit 10.1, wherein here the load 18 along a height direction or a stroke H in the respective height position HLAM on the second drive unit 22 is movable and the crane 10.2 on the first drive unit 14 within the Fahrleit Road 30 (for example, rail device) is movable.
- Fig. 3 schematically is a standard acceleration curve as a function of time during the process of a storage and retrieval unit 10.1 shown schematically.
- three phases can be distinguished, namely the starting phase A, the braking phase B and the phase C of constant speed driving.
- the starting phase A can be subdivided into a period of the acceleration change time tda - also called the grinding time - with a rising acceleration change course av until a constant acceleration ak is reached over a period ta and a subsequent falling acceleration change course av within the acceleration change time tda until the predetermined speed is reached ,
- This phase may have vibrations of the mast of the stacker crane 10.1 result in an inappropriate for the structure excitation excitation.
- the acceleration is zero and the storage and retrieval unit 10.1 moves over a predetermined period of time tv at a constant speed, in which then takes place in the B phase of the braking process, which corresponds to the course in the course of phase A, but with the reverse Sign.
- Fig. 5 is highly schematized in simplified form the acceleration change course (reference numeral on) of the tip of the mast 24 of the storage and retrieval device 10.1 as a function of time on the basis of the standard acceleration curve according to Fig. 3 shown with not vibration-optimized travel.
- Fig. 8 is shown how the duration of the acceleration change time tda affects the stress of the components.
- the stress was plotted against the stress of applied strain gauges and thus the changing normal stress in the strain gauges as ordinate value as a function of time. From this Fig. 8 is clearly seen that a short Verschliffzeit tda - in the embodiment 5 ms (dashed line) - at the beginning and at the end of the respective change in acceleration results in an increased stress compared to an acceleration change time tda (160 ms in the embodiment, solid line).
- the Fig. 9 shows a detail of the time course of the acceleration at different selected acceleration change times tda1 and tda2 under the assumption of a linear acceleration change course av1 or av2.
- Fig. 10 shows the same relationship, however, assuming in each case a non-linear acceleration change rate av1 or av2 within the time intervals tda1 and tda2, respectively.
- Fig. 6 is the time course of the acceleration compared to the ideal linear acceleration (dashed line 64) under measurement the actual acceleration / controller (line 60) compared to the setpoint acceleration / controller (line 62).
- the measurement results are taken directly from the drive control, so that further deviations are not detected by the mechanics. This shows deviations between all acceleration curves 60, 62, 64.
- the Fig. 6 This is shown with a measuring resolution of 4 ms for a stacker crane with friction wheel drive.
- the acceleration change time is 500 ms.
- the desired acceleration and the ideal acceleration are only initially identical. Since the actual acceleration does not exactly follow the target acceleration, the controller adjusts the target acceleration continuously in order to come as close as possible to the ideal acceleration. In the Fig. 6 It can be seen that the actual acceleration and the ideal acceleration differ significantly.
- the invention is based inter alia on the detection of drive control errors.
- the prior art assumes that the actual and desired acceleration characteristics of a drive are identical. As a result, no reliable avoidance of vibrations can take place without additional measuring and control technology. According to the procedure according to the invention, this detects the missing parameters according to the state of the art in order to completely suppress vibrations without additional measuring and control technology on each individual device.
- Fig. 7 The relationship between the vulnerability to vibration as a function of the acceleration change time tda on a specific storage and retrieval unit construction is in Fig. 7 shown in more detail.
- the actual curve 70 of the vibration coefficient (ordinate) is shown as a solid line and the ideal target curve 72 as a dashed line.
- the actual course 70 has been determined by measurements during test drives.
- the grinding time tda was gradually reduced in a time step of 10 ms, starting from 300 ms.
- acceleration time tda the acceleration is increased linearly, so that at the end of the grinding time tda the maximum acceleration is applied.
- the maximum measured stress on the applied strain gages on the mast is set in relation to the always constant mean stress, which results from the constant acceleration, and thus determines the vibration coefficient.
- the voltage was measured by means of strain gages on the mast above the subframe.
- the natural frequency is constant, since the lifting gear with the load handling device (LAM) is at the same height during the entire examination.
- the setpoint curve results in an oscillation coefficient of 1.0 for an abscissa value of 125 ms.
- a sweep time of 125 ms results in a vibration coefficient of 1.25 due to the measurement.
- the vibration coefficient does not drop to the value 1.0 during the measurement, since additional disturbance variables such as rail unevenness also induce vibrations in the mast.
- the vibration coefficient 2 is not reached at an abscissa value of 0, since the engine can not follow such a short increase.
- the first minimum for the type of drive present during the measurement is approximately 30% farther to the right than in the calculation.
- this deviation varies.
- the ideal target curve 72 can be better achieved. This reduces the cutting time tda and the storage and retrieval unit is faster and at the same time vibration-free with the same drives.
- the vibration characteristics of a storage and retrieval unit are also greatly influenced by the respective height HLAM of the load handling device (LAM).
- Fig. 11 is the relationship between the Verschliffzeit tda (ordinate) and the load receiving height HLAM (abscissa) shown in the form of a characteristic curve 75. This results in the tendency that the Verschliffzeit tda must be increased to achieve a vibration-free storage and retrieval unit with increasing load-receiving height HLAM.
- a supplementation results from the consideration of the acceleration change course av (non-linear). This can be done for example by a constant correction of the acceleration change course or by an extension of the characteristic curve to a map.
- the values determined from the measurements and calculations are stored in the memory device 52 and serve to control the first drive unit 14 in order to achieve a storage and retrieval device that moves without oscillation.
- the size of the load taken in each case also influences the vibration behavior.
- the size of each recorded load can be taken into account in the determination of the characteristic curves or maps and stored accordingly in the memory device 52 (see Fig. 11 ).
- Fig. 4 is highly schematic in a block diagram representation of the basic process or the basic procedure for a vibration-free movable storage and retrieval unit 10.1 shown.
- the control device 50 which controls the first drive unit 14 for moving the storage and retrieval device 10.1, uses reference values of the storage device 52.
- reference variable values for the course of the acceleration in particular the acceleration change time tda, determined by measurements or preliminary calculations are stored taking into account the actual values.
- the control device 50 is supplied with current values of the height HLAM of the load receiving means and the size of the respectively recorded load.
- the control device 50 receives values from the higher-level logistics control device with respect to the Initial and final destination position, the route and the given travel speed.
- the first drive unit 14 is then actuated, so that a practically virtually vibration-free method of the storage and retrieval unit 10.1 takes place.
- the acceleration profile, the acceleration change time (grinding time), the oscillating system, which changes with energy-efficient control, the load receiving means moves during braking are matched to one another at each time.
- the tuning is carried out by simulation or measurement, while the real acceleration curve is taken into account at concrete specified shelf system (actual and not desired).
- the entire structure is recorded with all eigenmodes by the simulation calculation.
- the decisive criteria for the grinding time and the course of the acceleration change are matched to the concrete structure present.
- the coordination takes place with preliminary examinations (measurement, simulation of the drive train), which take into account the deviation of the target / actual depending on the drive type.
- the vote takes place with regard to the criteria vibration reduction, high dynamics of the storage and retrieval unit and energy efficiency of the entire system.
- an acceleration sensor can be attached to the subframe to determine the setpoint / actual deviation in the drive as the input variable for the control.
- the exact load of the load can be taken into account by means of suitable sensors and serve as an input variable for the control.
- An optional extension is that the acceleration profile is stored in a map, which is accessed by the memory device.
- the entire concrete system (storage and retrieval unit) is calculated by simulation calculation with regard to minimum vibrations.
- the vibration behavior is also significantly influenced by the actual existing powertrain. This influence is determined by concrete measurements and combined with the values determined by the simulation calculation. This allows a virtually vibration-free movement of the storage and retrieval unit.
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Description
Die vorliegende Erfindung betrifft eine Maschinenvorrichtung, die aus einer impulsförmigen Antriebsbelastung zu Schwingungen neigt, insbesondere Regalbediengerät, Fertigungsmaschine, Roboter, Kran oder dergleichen, mit einer verfahrbaren Einheit, einem mit der verfahrbaren Einheit gekoppelten Aufnahmemittel zur Aufnahme eines Förderguts beziehungsweise einer Last, einem ersten Antriebsaggregat zum Bewegen der verfahrbaren Einheit entlang eines Verfahrweges von einer Anfangs- in eine Endposition, einer Steuereinrichtung zum Steuern der Fahrbewegung der verfahrbaren Einheit, wobei das erste Antriebsaggregat durch Vorgabe des zeitlichen Verlaufs einer Führungsgröße, nämlich des zeitlichen Beschleunigungsverlaufs, über die Steuereinrichtung gesteuert wird und die Vorrichtung während des Verfahrens zu in Verfahrensrichtung auftretenden Schwingungen neigt, und wobei der zeitliche Beschleunigungsverlauf beim Anfahren bis zum Erreichen einer vorgegebenen Verfahrgeschwindigkeit einen ersten und zweiten Beschleunigungsänderungsbereich mit einem positiven oder negativen Beschleunigungsänderungsverlauf und einer Beschleunigungsänderungszeit, genannt Verschliffzeit, und meist einem zeitlich zwischen dem ersten und zweiten Beschleunigungsänderungsbereich liegenden Beschleunigungsbereich mit konstanter positiver Beschleunigung aufweist, und beim Abbremsen bis zum Stillstand ein erster und zweiter Beschleunigungsänderungsbereich mit einem positiven und negativen Beschleunigungsänderungsverlauf und einer Beschleunigungsänderungszeit, genannt Verschliffzeit, und meist einem zeitlich zwischen dem ersten und zweiten Beschleunigungsänderungsbereich liegenden Beschleunigungsbereich mit konstanter negativer Beschleunigung, aufweist, wobei die Führungsgröße so angepasst ist, dass die Schwingungen möglichst klein sind.The present invention relates to a machine device that tends to oscillate from a pulse-shaped drive load, in particular storage and retrieval unit, production machine, robot, crane or the like, with a movable unit, a coupled to the movable unit receiving means for receiving a conveyed material or a load, a first drive unit for moving the movable unit along a travel path from a start to an end position, a control device for controlling the travel movement of the movable unit, wherein the first drive unit is controlled by specifying the time course of a reference variable, namely the temporal acceleration curve, via the control device and the Device during the process tends to vibrations occurring in the process direction, and wherein the temporal acceleration curve during startup until reaching a predetermined travel speed e and first acceleration change range having a positive or negative acceleration change course and an acceleration change time, called Verschliffzeit, and usually having a temporally located between the first and second acceleration change range acceleration range with constant positive acceleration, and when braking to a stop, a first and second acceleration change range with a positive and negative acceleration change course and an acceleration change time, called Verschliffzeit, and mostly a temporally located between the first and second acceleration change range acceleration region with a constant negative acceleration, wherein the reference variable is adjusted so that the vibrations are as small as possible.
Die Erfindung betrifft somit alle Maschinen, die zu störenden Schwingungen neigen, welche nicht durch Störgrößen außerhalb der Maschine wie beispielsweise Wind induziert werden.The invention thus relates to all machines that tend to disturbing vibrations that are not induced by disturbances outside the machine such as wind.
Die vorliegende Erfindung betrifft weiterhin ein Verfahren zum Betreiben einer derartigen Maschinenvorrichtung.The present invention further relates to a method of operating such a machine device.
Regalbediengeräte übernehmen automatische Ein- und Auslagerungsvorgänge von Fördergut beispielsweise in Hochregallagern. Dabei werden Lasten bewegt, die ein Gewicht von über 2 Tonnen aufweisen können, wobei Gerätehöhen von beispielsweise über 20 Meter je nach Einsatzfall bewältigt werden müssen. Für einen wirtschaftlichen Einsatz beispielsweise in automatischen Kleinteilelagern sind Beschleunigung, Geschwindigkeit sowie eine kurze Verschliffzeit und Übergabezeiten von großer Bedeutung für einen wirtschaftlichen Einsatz. Aufgrund der schlanken Geometrie neigen derartige Regalbediengeräte zu Schwingungen beim Verfahrvorgang, insbesondere bei kurzen Verschliffzeiten, die sich jedoch positiv auf den Umsatz auswirken. Auftretende Schwingungen bedeuten eine höhere Materialbeanspruchung, beeinträchtigen somit die Lebensdauer, so dass die Verfügbarkeit sinkt und die Instandhaltungskosten steigen und wirken sich negativ auf einen optimalen Teileumsatz aus, da eine Aufnahme beziehungsweise Abgabe von Lasten im Schwingungszustand nicht möglich ist, da für eine optimale Einbeziehungsweise Auslagerung hohe Positionsgenauigkeiten des Lastaufnahmemittels erforderlich sind. Darüber hinaus muss zur betriebsfesten Auslegung eines Leichtbaumastes die Schwingung bei der Dimensionierung berücksichtigt werden, so dass die Wandstärken je nach Ausmaß der Schwingung angepasst werden muss und damit die Masse ansteigt. Eine höhere Masse verursacht neben größeren Antriebsmotoren auch erhöhte Energiekosten und zusätzlich einen erhöhten Verschleiß, beispielsweise an den Laufrollen.Storage and Retrieval Systems take over automatic storage and retrieval processes of conveyed goods, for example in high-bay warehouses. It moves loads that can weigh more than 2 tons, with device heights of, for example, over 20 meters depending on the application must be handled. For economical use, for example, in automatic small parts warehouses acceleration, speed and a short Verschliffzeit and transfer times are of great importance for economic use. Due to the slim geometry, such stacker cranes tend to oscillate during the movement process, in particular during short cutting times, which, however, have a positive effect on the sales. Occurring vibrations mean a higher material stress, thus affecting the life, so that the availability decreases and the maintenance costs increase and have a negative impact on an optimal parts turnover, since a pickup or release of loads in the vibrational state is not possible, there for optimal Include way outsourcing high position accuracies of the lifting device are required. In addition, the vibration in the dimensioning must be taken into account for the firm design of a light construction branch, so that the wall thicknesses depending on the extent of the oscillation must be adjusted and thus the mass increases. A higher mass causes not only larger drive motors but also increased energy costs and, in addition, increased wear, for example on the rollers.
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Ausgehend von dem genannten Stand der Technik liegt der vorliegenden Erfindung das technische Problem beziehungsweise die Aufgabe zugrunde, eine Maschinenvorrichtung zum Transportieren von Gegenständen, insbesondere Regalbediengerät, Fertigungsmaschine, Roboter, Kran oder dergleichen und ein Verfahren zum Betreiben einer derartigen Vorrichtung anzugeben, die eine nahezu vollständige und durchgehende Schwingungsvermeidung ermöglicht, eine einfache Umsetzung ohne zwingend notwendige zusätzliche Sensoren oder Regelungstechnik aufweist, eine dauerhaft zuverlässige Funktion gewährleistet, die Beanspruchung aller Komponenten, wie beispielsweise vom Mast über den Fahrschenkel bis zu den Rollen, reduziert und eine Anpassung an die unterschiedlichen Vorrichtungssysteme ermöglicht.Based on the cited prior art, the present invention is based on the technical problem or object of specifying a machine device for transporting objects, in particular a stacker crane, production machine, robot, crane or the like, and a method for operating such a device, which is almost complete and continuous vibration prevention allows a simple implementation without absolutely necessary additional sensors or control technology, a permanently reliable Ensures function, reduces the stress on all components, such as the mast on the driving leg to the rollers, and allows adaptation to the different device systems.
Die erfindungsgemäße Vorrichtung ist durch die Merkmale des unabhängigen Anspruchs 1 gegeben. Das erfindungsgemäße Verfahren ist durch die Merkmale des unabhängigen Anspruchs 11 gegeben. Vorteilhafte Ausgestaltungen und Weiterbildungen sind Gegenstand der von dem unabhängigen Anspruch 1 beziehungsweise 11 direkt oder indirekt abhängigen Ansprüche.The device according to the invention is given by the features of
Die erfindungsgemäße Maschinenvorrichtung, die aus einer impulsförmigen Antriebsbelastung zu Schwingungen neigt, insbesondere Regalbediengerät, Fertigungsmaschine, Roboter, Kran oder dergleichen mit einer verfahrbaren Einheit, einem mit der verfahrbaren Einheit gekoppelten Aufnahmemittel zur Aufnahme eines Förderguts beziehungsweise einer Last, einem ersten Antriebsaggregat zum Bewegen der verfahrbaren Einheit entlang eines Verfahrweges von einer Anfangs- in eine Endposition, einer Steuereinrichtung zum Steuern der Fahrbewegung der verfahrbaren Einheit, wobei das erste Antriebsaggregat durch Vorgabe des zeitlichen Verlaufs einer Führungsgröße, insbesondere des zeitlichen Beschleunigungsverlaufs, über die Steuereinrichtung gesteuert wird und Vorrichtung während des Verfahrens zu in Verfahrensrichtung verlaufenden Schwingungen neigt, und wobei der zeitliche Beschleunigungsverlauf beim Anfahren bis zum Erreichen einer vorgegebenen Verfahrgeschwindigkeit einen ersten und zweiten Beschleunigungsänderungsbereich mit einem positiven oder negativen Beschleunigungsänderungsverlauf und einer Beschleunigungsänderungszeit, genannt Verschliffzeit, und meist einem zeitlich zwischen dem ersten und zweiten Beschleunigungsänderungsbereich liegenden Beschleunigungsbereich mit konstanter positiver Beschleunigung aufweist, und beim Abbremsen bis zum Stillstand ein erster und zweiter Beschleunigungsänderungsbereich mit einem positiven und negativen Beschleunigungsänderungsverlauf und einer Beschleunigungsänderungszeit, genannt Verschliffzeit, und meist einem zeitlich zwischen dem ersten und zweiten Beschleunigungsänderungsbereich liegenden Beschleunigungsbereich mit konstanter negativer Beschleunigung aufweist, wobei die Führungsgröße so angepasst ist, dass die Schwingungen möglichst klein sind, zeichnet sich demgemäß dadurch aus, dass eine Speichereinrichtung vorhanden ist, auf die die Steuereinrichtung zugreift, wobei in der Speichereinrichtung Führungsgrößenwerte abgespeichert sind, die schwingungsminimierte Werte für den Beschleunigungsänderungsverlauf und/oder der Beschleunigungsänderungszeit bereit stellt, die vorab durch Simulationsberechnungen und/oder durch Messungen an der jeweils konkret konstruktiv ausgebildeten Vorrichtung ermittelt worden sind, wobei die abgespeicherten Werte neben den simulierten Eigenfrequenzen auch antriebsspezifische Abweichungen zwischen Soll- und Ist-Beschleunigungsverlauf des Antriebes berücksichtigen, so dass alle die Schwingungen verursachenden Parameter erfasst sind, um eine Schwingungsvermeidung zu realisieren.The machine device according to the invention, which tends to oscillate from a pulse-shaped drive load, in particular storage and retrieval unit, production machine, robot, crane or the like with a movable unit, coupled to the movable unit receiving means for receiving a conveyed or a load, a first drive unit for moving the movable Unit along a travel path from a start to an end position, a control device for controlling the travel movement of the movable unit, wherein the first drive unit is controlled by specifying the time course of a reference variable, in particular the temporal acceleration curve, via the control device and device during the process tends in the process direction oscillations, and wherein the temporal acceleration course during startup until reaching a predetermined travel speed first and second An acceleration change range having a positive or negative acceleration change history and an acceleration change time called a sweep time and having a constant positive acceleration acceleration region temporally between the first and second acceleration change regions, and a first and second acceleration change region having a positive and negative acceleration change history when decelerating to a stop an acceleration change time, called Verschliffzeit, and usually has a temporally located between the first and second acceleration change range acceleration region with constant negative acceleration, wherein the reference variable is adjusted so that the vibrations are as small as possible, characterized in that a memory device is present, to which the control device accesses, wherein in the memory device reference variable are stored, the vibration-minimized values for the acceleration change course and / or provides the acceleration change time which has been determined beforehand by simulation calculations and / or by measurements on the respective concretely designed device, wherein the stored values also take into account drive-specific deviations between desired and actual acceleration course of the drive in addition to the simulated natural frequencies, so that all the parameters causing the vibrations are detected in order to realize a vibration avoidance.
Die Besonderheit der Erfindung besteht darin, dass alle relevanten Parameter für die Schwingungsentstehung bereits im Vorfeld durch Simulation und/oder Messung erfasst werden. Die in der Realität bedeutenden und bisher vernachlässigten Abweichungen zwischen dem Soll- und Ist-Verlauf des Beschleunigungsanstieges wird durch einmalige Korrekturfaktoren für jede Antriebskonfiguration in der Berechnung erfasst und kann somit übertragen werden. Damit sind Schwingungen einfach und zuverlässig präventiv vermeidbar und alle damit verbundenen Belastungen an der Maschine entfallen. Zudem entfällt der Aufwand für aufwendige und fehleranfällige Mess- und Regelungstechnik. Damit ist dieses System der Schwingungsvermeidung für alle Maschinen sinnvoll, bei denen keine unvorhersehbaren Schwingungsanregungen, wie zum Beispiel Wind, auftreten. Die Erfindung ermöglicht eine einfache Vermeidung aller Schwingungen, die aus einer impulsförmigen Belastung der Maschinenvorrichtung durch Antriebe entstehen.The peculiarity of the invention is that all relevant parameters for the generation of vibrations are already detected in advance by simulation and / or measurement. The significant and so far neglected deviations between the desired and actual course of the acceleration increase is detected by one-time correction factors for each drive configuration in the calculation and can thus be transmitted. Thus, vibrations are simple and reliable preventable preventable and eliminates all associated stress on the machine. In addition, the effort for complex and error-prone measuring and control technology is eliminated. Thus, this system of vibration prevention makes sense for all machines in which no unpredictable vibration excitations, such as wind, occur. The invention enables a simple avoidance of all vibrations that arise from a pulsed load of the machine device by drives.
Die Erfindung basiert auf der Erfassung der Antriebsregelungsfehler. Da der Stand der Technik davon ausgeht, dass Ist- und Soll-Beschleunigungsverlauf eines Antriebes identisch sind, kann keine verlässliche Vermeidung der Schwingungen ohne zusätzlichen Mess- und Regelungstechnik erfolgen. Die Erfindung erfasst diesen nach dem Stand der Technik fehlenden Parameter um Schwingungen ohne zusätzliche Mess- und Regelungstechnik an jeder einzelnen Maschinenvorrichtung vollständig zu unterdrücken.The invention is based on the detection of drive control errors. Since the state of the art assumes that the actual and desired acceleration characteristics of a drive are identical, no reliable avoidance of the vibrations can take place without additional measurement and control technology. The invention detects these missing from the prior art parameters to completely suppress vibrations without additional measurement and control technology on each machine device.
Dabei werden die Werte bevorzugt in der Speichereinrichtung in Form von Tabellen oder Kennkurven, in Abhängigkeit der jeweiligen Position des/der aufgenommenen Förderguts/Last oder Kennfeldern, in Abhängigkeit der jeweiligen Position des/der aufgenommenen Förderguts/Last und in Abhängigkeit der Masse des/der aufgenommenen Förderguts/ Last, abgelegt. Aufeinander abgestimmt werden damit die beiden für die Schwingung bestimmenden Bestandteile, das Tragwerk und die Anregung. Das Tragwerk kann über die Eigenfrequenz charakterisiert werden. Bei einem Regalbediengerät hat neben der Bauweise des Tragwerks die Position und Eigenmasse des Lastaufnahmemittels sowie die Masse der Zuladung darauf einen großen Einfluss. Die Anregung, beziehungsweise der Impuls, kann über den zeitlichen Beschleunigungsänderungsverlauf charakterisiert werden. Der an der Maschine messbare und und für die Schwingung entscheidende Ist- Beschleunigungsänderungsverlauf weicht dabei von der Soll-Vorgabe ab. Neben diesen Regelungsfehlern haben mechanische Komponenten wie beispielsweise ein Riemen, der sich unter Belastung durch einen Antrieb erst vorspannt und damit nachgibt einen erheblichen Einfluss auf den Ist-Beschleunigungsänderungsverlauf der Maschine. Zudem führt ein höheres Gewicht wie durch die Aufnahme eines Fördergutes zu einer veränderten Abweichung zwischen Soll- und Ist- Beschleunigungsänderungsverlauf.In this case, the values are preferably stored in the memory device in the form of tables or characteristic curves, depending on the respective position of the picked-up conveyed material / load or characteristic diagrams, depending on the respective position of the picked-up conveyed material / load and depending on the mass of the person recorded conveyed goods / load. The two components that determine the vibration, the supporting structure and the excitation, are coordinated with each other. The structure can be characterized by the natural frequency. In a storage and retrieval unit, in addition to the construction of the structure, the position and weight of the load-carrying means and the mass of the payload on it has a major impact. The excitation, or the pulse, can be characterized via the temporal acceleration change course. The actual acceleration change course which can be measured on the machine and determines the oscillation deviates from the target specification. In addition to these control errors, mechanical components such as a belt, which first pretensions under load from a drive and thus gives way, have a considerable influence on the actual acceleration change course of the machine. In addition, a higher weight as by the inclusion of a conveyed material leads to a change in deviation between the desired and actual acceleration change course.
Die Simulationsberechnung kann gemäß einer besonders vorteilhaften Ausgestaltung als finite Elementberechnung oder als Mehrkörpersimulation mit flexiblen Körpern durchgeführt werden. Die finite Elementeberechung kann sowohl zur Berechnung der Eigenfrequenzen als auch zur transienten Simulation der Schwingung des Tragwerkes bei unterschiedlichen Impulsen eingesetzt werden. Dabei kann auch die Dämpfung berücksichtigt werden.The simulation calculation can be carried out according to a particularly advantageous embodiment as a finite element calculation or as a multi-body simulation with flexible bodies. The finite element calculation can be used both for calculating the natural frequencies and for transient simulation of the vibration of the structure at different pulses. In this case, the attenuation can be considered.
Dabei werden gemäß einer besonders bevorzugten Ausgestaltung die Führungsgrößenwerte im Rahmen der Simulationsberechnung unter Berücksichtigung aller Eigenformen und den damit verbundenen Eigenfrequenzen der Vorrichtung berechnet.In this case, according to a particularly preferred embodiment, the reference variable values are included in the simulation calculation Consideration of all eigenmodes and the associated natural frequencies of the device calculated.
Eine besonders bevorzugte Ausgestaltung, die auch das Verfahren der Last beim Bremsvorgang berücksichtigt, zeichnet sich dadurch aus, dass eine mit der Steuereinrichtung kommunizierende erste Sensoreinheit vorhanden ist, die die aktuelle Höhe des Aufnahmemittels ermittelt und/oder eine zweite Sensoreinheit vorhanden ist, die die Masse des jeweils durch die Aufnahmemittel aufgenommenen Förderguts beziehungsweise Last ermittelt, wobei die Funktionsgrößenwerte in Abhängigkeit der Höhe des Aufnahmemittels und/ oder der jeweiligen Masse des aufgenommenen Förderguts beziehungsweise Last abgespeichert sind und die Steuereinrichtung aus der Speichereinrichtung in Abhängigkeit der jeweils von der ersten beziehungsweise zweiten Sensoreinheit ermittelten Werte die Führungsgrößenwerte abgreift und dem ersten Antriebsaggregat zuführt.A particularly preferred embodiment, which also takes into account the method of the load during the braking process, is characterized in that there is a first sensor unit communicating with the control device, which determines the current height of the receiving means and / or a second sensor unit is present which measures the mass the respective conveyed material or load received by the receiving means, the function variable values being stored as a function of the height of the receiving means and / or the respective mass of the picked conveyed goods or load and the control device being determined from the storage device as a function of the respective first or second sensor unit Values picks up the reference variable values and feeds them to the first drive unit.
Um die Genauigkeit zu verbessern zeichnet sich eine vorteilhafte Ausgestaltung dadurch aus, dass an der verfahrbaren Einheit ein Beschleunigungssensor vorhanden ist, mittels dem die Soll-/Ist-Abweichung erfassbar ist und die Steuereinrichtung aufgrund der Soll-/Ist-Abweichung die Führungsgrößenwerte korrigiert.In order to improve the accuracy, an advantageous embodiment is characterized in that an acceleration sensor is provided on the movable unit, by means of which the target / actual deviation can be detected and the control device corrects the reference variable values on the basis of the desired / actual deviation.
In der Praxis zeichnet sich eine bevorzugte Ausführungsform dadurch aus, dass die Maschinenvorrichtung als Regalbediengerät für ein Regallager ausgebildet ist, die verfahrbare Einheit über einen Regalmast mit einem Lastaufnahmemittel gekoppelt ist und das Lastaufnahmemittel entlang des Regalmastes über das zweite Antriebsaggregat höhenmäßig verfahrbar ist oder dass die Maschinenvorrichtung als Kraneinrichtung ausgebildet ist, die verfahrbare Einheit über ein Seil beziehungsweise Zahnriemen mit dem Lastaufnahmemittel gekoppelt ist und das Lastaufnahmemittel durch Auf- oder Abrollen des Seiles mittels des zweiten Antriebsaggregats höhenmäßig verfahrbar ist oder die Maschinenvorrichtung als Roboter oder Fertigungsmaschine mit entsprechenden Antrieben zum Bewegen von Gegenständen ausgebildet ist.In practice, a preferred embodiment is characterized in that the machine device is designed as a storage and retrieval unit for a rack warehouse, the movable unit is coupled via a rack mast with a load receiving means and the load receiving means along the shelf mast on the second drive unit is height-movable or that the machine device is designed as a crane device, the movable unit is coupled via a cable or toothed belt with the load receiving means and the load receiving means by winding or unwinding of the rope by means of the second drive unit is moved in height or the machine device as a robot or Manufacturing machine is designed with appropriate drives for moving objects.
Um die Schwingungen weiter zu reduzieren beziehungsweise zu unterdrücken, zeichnet sich eine besonders vorteilhafte Ausgestaltung dadurch aus, dass bei der Simulation zur Berechnung minimierter Schwingbeiwerte ein linearer oder ein antriebsspezifischer und einmalig gemessener nicht linearer Beschleunigungsänderungsverlauf angesetzt wird.In order to further reduce or suppress the vibrations, a particularly advantageous embodiment is characterized in that in the simulation for calculating minimized vibration coefficients a linear or a drive-specific and once measured non-linear acceleration change course is applied.
Das erfindungsgemäße Verfahren zum Betreiben einer Maschinenvorrichtung der vorgenannten Art, zeichnet sich dadurch aus, dass dem ersten Antriebsaggregat Führungsgrößenwerte aus einer Speichereinrichtung zugeführt werden, die schwingungsminimierte Werte für den Beschleunigungsänderungsverlauf und/oder die Beschleunigungsänderungszeit darstellen, die vorab durch Simulationsberechnung und/oder durch Messung an der jeweils konkret konstruktiv ausgebildeten Vorrichtung ermittelt worden sind und in der Speichereinrichtung abgespeichert werden, wobei die abgespeicherten Werte neben den simulierten Eigenfrequenzen auch antriebsspezifische Abweichungen zwischen Soll- und Ist-Beschleunigungsverlauf des Antriebes berücksichtigen, so dass alle die Schwingungen verursachenden Parameter erfasst sind, um eine Schwingungsvermeidung zu realisieren.The inventive method for operating a machine device of the aforementioned type, characterized in that the first drive unit reference variable values are supplied from a memory device, the vibration minimized values for the acceleration change course and / or the acceleration change time, the advance by simulation calculation and / or by measurement the respective concretely designed device have been determined and stored in the memory device, wherein the stored values in addition to the simulated natural frequencies and drive-specific deviations between desired and actual acceleration curve of the drive considered so that all the vibration causing parameters are detected to a To realize vibration avoidance.
In einer vorteilhaften Ausgestaltung greift die Speichereinrichtung zur Übermittlung an das erste Antriebsaggregat auf Führungsgrößenwerte zu, die aufgrund einer vorab durchgeführten Simulationsberechnung, bevorzugt als finite Elementberechnung oder als Mehr-Körper-System simuliert worden sind, insbesondere unter Berücksichtigung aller Eigenformen und der realen Ist-Beschleunigungsverläufe der Vorrichtung.In an advantageous embodiment, the memory device accesses to the first drive unit to command values that have been simulated due to a previously performed simulation calculation, preferably as a finite element calculation or as a multi-body system, in particular taking into account all eigenmodes and the real actual acceleration characteristics the device.
Ein besonders vorteilhaftes Verfahren, bei dem der Einfluss der jeweiligen Lasthöhe in Bezug auf minimierte Schwingungen mit berücksichtigt wird, zeichnet sich dadurch aus, dass eine mit der Steuereinrichtung kommunizierende erste Sensoreinheit verwendet wird, die die aktuelle Höhe des Aufnahmemittels ermittelt und/oder eine zweite Sensoreinheit vorhanden ist, die die Größe der jeweils durch die Aufnahmemittel aufgenommenen Last ermittelt, wobei die Funktionsgrößenwerte in Abhängigkeit der Höhe des Aufnahmemittels und/oder der jeweiligen Größe der aufgenommenen Last abgespeichert werden und die Speichereinrichtung in Abhängigkeit der jeweils von der ersten beziehungsweise zweiten Sensoreinheit ermittelten Werte die Führungsgrößenwerte abgreift und dem ersten Antriebsaggregat zuführt.A particularly advantageous method, in which the influence of the respective load height with respect to minimized vibrations with is considered, characterized in that a communicating with the control device first sensor unit is used, which determines the current height of the receiving means and / or a second sensor unit is present, the size of each determined by the receiving means recorded load, wherein the function variable values are stored in dependence on the height of the receiving means and / or the respective size of the recorded load and the memory device picks up the reference variable values in dependence of the values respectively determined by the first and second sensor unit and supplies the first drive unit ,
Zur Verbesserung der Dynamik zeichnet sich eine vorteilhafte Weiterbildung dadurch aus, dass an der verfahrbaren Einheit ein Beschleunigungssensor verwendet wird, mittels dem Soll-/Ist-Abweichung umfasst wird und die Steuereinrichtung aufgrund der Soll-/Ist-Abweichung die Führungsgrößenwerte entsprechend korrigiert.To improve the dynamics, an advantageous further development is characterized in that an acceleration sensor is used on the movable unit, by means of which the target / actual deviation is included and the control unit corrects the reference values accordingly.
Bevorzugt wird bei der Simulationsberechnung zu Berechnung minimierter Schwingbeiwerte ein linearer oder ein nicht linearer Beschleunigungsänderungsverlauf angesetzt.In the simulation calculation to calculate minimized vibration coefficients, a linear or a non-linear acceleration change course is preferably used.
Die erfindungsgemäße Vorrichtung beziehungsweise das erfindungsgemäße Verfahren zeichnet sich insgesamt durch einen neuartigen mechatronischen Ansatz aus. Durch die Simulation wird das gesamte Tragwerk mit allen Eigenformen erfasst. Die entscheidenden Kriterien für die Schwingungsanfälligkeit nämlich die Verschliffzeit und der Beschleunigungsanstiegsverlauf werden auf das Tragwerk abgestimmt und optimiert. Diese optimierten Werte werden in der Speichereinrichtung abgelegt.The device according to the invention or the method according to the invention is characterized overall by a novel mechatronic approach. The simulation captures the entire structure with all its eigenmodes. The decisive criteria for susceptibility to vibration, namely the grinding time and the acceleration increase course, are tuned and optimized for the structure. These optimized values are stored in the memory device.
Die Abstimmung im Rahmen des mechatronischen Ansatzes erfolgt somit durch Voruntersuchungen, nämlich nach Simulation des Antriebsstranges oder durch Messungen an einer vorhandenen Konstruktion, die die Abweichung von Soll/ist je nach Antriebstyp berücksichtigen.The coordination in the context of the mechatronic approach is thus carried out by preliminary investigations, namely after simulation of the drive train or by measurements on an existing structure, which takes into account the deviation of target / depending on the drive type.
Die Abstimmung erfolgt hinsichtlich der Kriterien Schwingungsreduktion, hohe Dynamik der Vorrichtung beziehungsweise des Regalbediengeräts und Energieeffizienz des Gesamtsystems der Vorrichtung/des Regalbediengeräts. Als Ergebnis der Voruntersuchungen (Messungen oder Simulationen) werden Kennkurven oder Kennfelder erstellt, die schwingungsminimierte Führungsgrößen beinhalten, insbesondere auch unter Berücksichtigung der jeweiligen Lasthöhe, die sich in der Regel beim Bremsvorgang ändert. Diese Kennkurven/Kennfelder werden in die Steuerung integriert, sind jedoch komplett vorab berechnet beziehungsweise bezüglich der Antriebsabweichung Soll/Ist korrigiert.The vote is made with regard to the criteria vibration reduction, high dynamics of the device or the storage and retrieval unit and energy efficiency of the entire system of the device / the storage and retrieval unit. As a result of the preliminary investigations (measurements or simulations) characteristic curves or characteristic maps are created, which contain vibration-minimized reference variables, in particular also taking into account the respective load height, which usually changes during the braking process. These characteristics / maps are integrated into the controller, but are completely calculated in advance or corrected with respect to the drive deviation setpoint / actual.
Optional kann ein Beschleunigungssensor am Fahrschemel der Vorrichtung/des Regalbediengeräts angebracht werden, um Soll-/Ist-Abweichungen im Antrieb als Eingangsgröße für die Regelung festzustellen. Durch geeignete Sensoren kann die genaue Lastposition und Größe der Last berücksichtigt werden und als Eingangsgröße für die Regelung dienen.Optionally, an acceleration sensor on the subframe of the device / the storage and retrieval device are mounted to determine target / actual deviations in the drive as an input to the control. Suitable sensors allow the exact load position and size of the load to be taken into account and used as input for the control.
Ein wesentliches Merkmal ist die Berücksichtigung des Ist-Verlaufs der Beschleunigung durch Messung jedes Antriebstyps oder Simulation des Soll- und Ist-Verlaufes. Dabei kann unter anderem auch die Energieeffizienz des Gesamtsystems der Vorrichtung/des Regalbediengeräts berücksichtigt werden, insbesondere auch die Veränderung der Höhe der Last während des Bremsvorgangs durch den Energieaustausch beider Antriebe im Zwischenkreis.An important feature is the consideration of the actual course of the acceleration by measuring each drive type or simulation of the desired and actual course. In this case, among other things, the energy efficiency of the entire system of the device / the storage and retrieval device are taken into account, especially the change in the height of the load during the braking process by the energy exchange of both drives in the DC link.
So haben durchgeführte Messungen zum Ist-Verlauf bei der Vorgabe eines linearen Beschleunigungsanstiegsverlaufs ergeben, dass der Schwingbeiwert im Vergleich zum Soll-Verlauf nicht auf den Wert 1,0 sinkt, da zusätzliche Störgrößen wie Schienenunebenheiten ebenfalls Schwingungen in den Mast eines Regalbediengeräts induzieren und zusätzlich der nicht lineare Beschleunigungsanstiegsverlauf Schwingungen verursacht. Weiterhin ist festzustellen, dass je nach vorliegenden Antriebstyp das Minimum des Schwingbeiwertes im Ist-Verlauf bei einer größeren Beschleunigungsanstiegszeit liegt als bei dem Soll-Verlauf. Daraus resultiert eine Erhöhung der Verschliffzeit um Schwingungen zu reduzieren. Die Verschliffzeit tritt bei einer einzigen Fahrt von einer Position zur nächsten viermal auf. Je nach Antriebskonfiguration, die gekennzeichnet ist durch den Motor, Frequenzumrichter, Regelung, Getriebe, Wellenlänge, Art der Kraftübertragung (formschlüssig oder reibschlüssig, usw.) variiert die optimale Länge der Verschliffzeit bezüglich des Minimums. Durch die Berücksichtigung dieser Abweichung für eine spezifische Antriebskonfiguration und der Abspeicherung eines gezielt nicht linearen Beschleunigungsanstiegsverlaufs in der Motorsteuerung, kann der ideale Soll-Verlauf besser erreicht werden. Dadurch reduziert sich die Verschliffzeit und das Regalbediengerät ist mit gleichen Antrieben schneller und zugleich schwingungsfrei.Thus, measurements taken for the actual course in the specification of a linear acceleration increase curve showed that the vibration coefficient does not drop to the value 1.0 compared to the desired curve, since additional disturbances such as rail unevenness also induce vibrations in the mast of a storage and retrieval unit and additionally the non-linear acceleration rise causes vibrations. Furthermore, it should be noted that depending on present drive type is the minimum of the vibration coefficient in the actual course at a greater acceleration rise time than the target curve. This results in an increase in the grinding time to reduce vibrations. The sweeping time occurs four times in a single pass from one position to the next. Depending on the drive configuration, which is characterized by the motor, frequency converter, regulation, gearbox, wavelength, type of power transmission (positive or frictional, etc.), the optimal length of the grounding time varies with respect to the minimum. By taking account of this deviation for a specific drive configuration and the storage of a deliberately non-linear acceleration rise curve in the engine control, the ideal desired course can be better achieved. This reduces the grinding time and the storage and retrieval unit is faster and vibration-free with the same drives.
Erfindungsgemäß kann der exakte Verlauf eines verbesserten, nicht linearen Beschleunigungsanstiegsverlaufs, den die Antriebsregelung als Vorgabe bekommt, durch Simulationen oder Messungen ermittelt werden. Dieser verbesserte Beschleunigungsanstiegsverlauf wirkt den Veränderungen im Antriebsstrang gezielt entgegen, so dass im Endeffekt beispielsweise das Regalbediengerät bei realen Einsatz den idealen Eigenschaften des Soll-Verlaufes praktisch entspricht. Neben der Berücksichtigung der jeweiligen Höhe der Last für die Dauer der Verschliffzeit und der sich damit ergebenen Kennkurve ergibt sich durch die Berücksichtigung des Beschleunigungsanstiegsverlaufs eine Ergänzung. Diese kann beispielsweise durch eine Art konstante Korrektur des Beschleunigungsanstiegsverlaufs oder durch eine Erweiterung der Kennkurve (Berücksichtigung der LAM-Position) zu einem Kennfeld (Berücksichtigung der LAM-Position und der LAM-Zuladung) erfindungsgemäß erfolgen.According to the invention, the exact course of an improved, non-linear acceleration increase curve, which the drive control receives as a default, can be determined by simulations or measurements. This improved acceleration increase course counteracts the changes in the drive train specifically, so that in effect, for example, the storage and retrieval unit practically corresponds to the ideal properties of the desired course in real use. In addition to taking into account the respective height of the load for the duration of the grounding time and the characteristic curve resulting therefrom, a supplementation results from the consideration of the acceleration increase course. This can be done, for example, by a kind of constant correction of the acceleration increase course or by an extension of the characteristic curve (taking into account the LAM position) into a characteristic map (taking into account the LAM position and the LAM load) according to the invention.
Mit der erfindungsgemäßen Maschinenvorrichtung beziehungsweise dem erfindungsgemäßen Verfahren können beispielsweise Regalbediengeräte, Krane, Roboter oder Fertigungsmaschinen umgesetzt werden, die ein hohe Dynamik aufweisen und zugleich nahezu schwingungsfrei sind.With the machine device according to the invention or the method according to the invention, for example, storage and retrieval units, cranes, robots or production machines be implemented, which have high dynamics and at the same time are virtually vibration-free.
Weitere Ausführungsformen und Vorteile der Erfindung ergeben sich durch die in den Ansprüchen ferner aufgeführten Merkmale sowie durch die nachstehend angegebenen Ausführungsbeispiele. Die Merkmale der Ansprüche können in beliebiger Weise miteinander kombiniert werden, insoweit sie sich nicht offensichtlich gegenseitig ausschließen.Further embodiments and advantages of the invention will become apparent from the features further listed in the claims as well as by the embodiments given below. The features of the claims may be combined in any manner as far as they are not obviously mutually exclusive.
Die Erfindung sowie vorteilhafte Ausführungsformen und Weiterbildungen derselben werden im Folgenden anhand der in der Zeichnung dargestellten Beispiele näher beschrieben und erläutert. Die der Beschreibung und der Zeichnung zu entnehmenden Merkmale können einzeln für sich oder zu mehreren in beliebiger Kombination erfindungsgemäß angewandt werden. Es zeigen:
- Fig. 1
- stark schematisierte Darstellung eines ersten Ausführungsbeispiels einer Maschinenvorrichtung, die als Regalbediengerät ausgebildet ist, mit einem ersten Antriebsaggregat für das Verfahren des Regalbediengeräts, wobei das erste Antriebsaggregat über eine Steuereinrichtung angesteuert wird, die die jeweilige Führungsgröße für das erste Antriebsaggregat aus einer Speichereinrichtung abgreift, die vorab durch Simulationsberechnung oder Messung ermittelte Führungsgrößenwerte aufweist,
- Fig. 2
- stark schematisierte Darstellung eines zweiten Ausführungsbeispiels einer Maschinenvorrichtung, die als Kran ausgebildet ist, mit einem ersten Antriebsaggregat für das Verfahren des Regalbediengeräts, wobei das erste Antriebsaggregat über eine Steuereinrichtung angesteuert wird, die die jeweilige Führungsgröße für das erste Antriebsaggregat aus einer Speichereinrichtung abgreift, die vorab durch Simulationsberechnung oder -messung ermittelte Führungsgrößenwerte aufweist,
- Fig. 3
- Diagramm des zeitlichen Ablaufs der Beschleunigung beim Verfahrvorgang (Anfahrphase A, Phase mit konstanter Geschwindigkeit C, Bremsphase B),
- Fig. 4
- schematisierte Blockdiagrammdarstellung des Zusammenwirkens der Speichereinrichtung mit der Steuereinrichtung, die über die Führungsgröße zur schwingungsfreien Bewegung das erste Antriebsaggregat des Regalbediengeräts ansteuert,
- Fig. 5
- Diagramm der Beschleunigung der Mastspitze in Abhängigkeit der Zeit bei einem nicht angepassten Verfahrvorgang,
- Fig. 6
- Diagramm des zeitlich Verlaufs der Beschleunigung Soll und Ist im Vergleich zur idealen Beschleunigung,
- Fig. 7
- Diagramm des Schwingbeiwerts in Abhängigkeit des Quotienten aus Beschleunigungsanstiegszeit und Eigenperiode als Vergleich zwischen idealen Verlauf eines linearen Beschleunigungsanstiegsverlaufs mit dem Ist-Verlauf, der durch Messung ermittelt ist, bei der Vorgabe eines linearen Beschleunigungsanstiegsverlaufs
- Fig. 8
- Diagramm des Verlaufs der Beanspruchung (Spannung im Dehnmessungsstreifen) bei einem Verfahrvorgang mit einer
Beschleunigungsanstiegszeit von 5 ms im Verlgeich zu einerBeschleunigungsansteigszeit von 160 ms, - Fig. 9
- Diagramm des zeitlichen Verlaufs der Beschleunigung bei linearem Ansatz mit unterschiedlicher Steigung beziehungsweise unterschiedlichen Beschleunigungsanstiegszeiten,
- Fig. 10
- Diagramm des zeitlichen Verlaufs der Beschleunigung bei nicht linearem Ansatz mit unterschiedlicher Steigung beziehungsweise unterschiedlichen Beschleunigungsanstiegszeiten,
- Fig. 11
- Diagramm der optimalen Beschleunigungsänderungszeit in Abhängigkeit der jeweiligen Höhe des LAM (Kennkurve) und
- Fig. 12
- Diagramm der optimalen Beschleunigungsänderungszeit in Abhängigkeit der jeweiligen Höhe des LAM (Kennkurve) und der Masse des Ladegutes (Kennfeld).
- Fig. 1
- highly schematic representation of a first embodiment of a machine device, which is designed as a storage and retrieval unit, with a first drive unit for the method of the storage and retrieval unit, wherein the first drive unit is controlled by a control device, which picks up the respective reference variable for the first drive unit from a storage device, the advance having reference values determined by simulation calculation or measurement,
- Fig. 2
- highly schematic representation of a second embodiment of a machine device, which is designed as a crane, with a first drive unit for the method of the storage and retrieval device, wherein the first drive unit is controlled by a control device, the respective reference variable for the first Picking up the drive unit from a storage device which has reference variable values previously determined by simulation calculation or measurement,
- Fig. 3
- Diagram of the time sequence of the acceleration during the movement process (start-up phase A, phase with constant speed C, braking phase B),
- Fig. 4
- schematic block diagram representation of the interaction of the memory device with the control device, which controls the first drive unit of the storage and retrieval unit via the reference variable for vibration-free movement,
- Fig. 5
- Diagram of the acceleration of the mast tip as a function of time in the case of a non-adapted displacement process,
- Fig. 6
- Diagram of the time course of the acceleration Soll und Ist compared to the ideal acceleration,
- Fig. 7
- Diagram of the vibration coefficient as a function of the quotient of acceleration rise time and natural period as a comparison between the ideal course of a linear acceleration rise curve with the actual curve, which is determined by measurement, in the specification of a linear acceleration rise curve
- Fig. 8
- Diagram of the course of the stress (stress in the strain gauge) during a movement process with an acceleration rise time of 5 ms compared to an acceleration rise time of 160 ms,
- Fig. 9
- Diagram of the time course of the acceleration in a linear approach with different pitch or different acceleration rise times,
- Fig. 10
- Diagram of the time course of the acceleration in a non-linear approach with different slope or different acceleration rise times,
- Fig. 11
- Diagram of the optimal acceleration change time as a function of the respective height of the LAM (characteristic curve) and
- Fig. 12
- Diagram of the optimal acceleration change time as a function of the respective height of the LAM (characteristic curve) and the mass of the load (characteristic diagram).
In
Des Weiteren ist eine Steuereinrichtung 50 vorhanden, über die das erste Antriebsaggregat 14 und das zweite Antriebsaggregat 22 gesteuert wird.Furthermore, a
Die Steuereinrichtung 50 steht mit einer übergeordneten Logistiksteuerungsvorrichtung in Kommunikationsverbindung, die in
Ein derartiges Regalbediengerät 10.1 neigt zu Schwingungen des Mastes 24 aufgrund der Beschleunigung der verfahrbaren Einheit 12 durch das erste Antriebsaggregat 14 infolge des Beschleunigungsvorgangs sowohl beim Anfahren als auch beim Abbremsen.Such a storage and retrieval unit 10.1 is prone to vibrations of the
Die erfindungsgemäße Maschinenvorrichtung beziehungsweise als Ausführungsbeispiel das Regalbediengerät 10.1 zielt darauf ab, dass die auftretenden Schwingungen minimiert werden, das heißt praktisch keine Schwingungen auftreten, was eine deutlich reduziertere Materialbeanspruchung, ein Entfallen der Beruhigungszeiten und wirtschaftlichen Betrieb bedeutet. Hierzu ist eine Speichereinrichtung 52 vorhanden, die mit der Steuereinrichtung 50 in Kommunikationsverbindung steht, und in der Führungsgrößen für die Beschleunigung des ersten Antriebsaggregates 14 abgespeichert sind, die Steuereinrichtung 50 abgreift, wobei die Führungsgrößenwerte zuvor durch eine Simulationsberechnung des gesamten konkreten Tragwerks mit allen Eigenformen berechnet wird. Dabei werden die entscheidenden Kriterien der Schwingungsanfälligkeit, nämlich die Verschliffzeit und der Beschleunigungsänderungsverlauf, unter Abstimmung auf das konkrete Tragwerk optimiert. Hierzu erfolgt die Abstimmung mit Voruntersuchungen (Messungen, Simulation des Antriebsstranges), welche die Abweichung von Soll und Ist je nach Antriebstyp berücksichtigen. Die Abstimmung erfolgt hinsichtlich der Kriterien Schwingungsreduktion, hohe Dynamik und Energieeffizienz des Gesamtsystems. Die Ergebnisse der Rechnungen beziehungsweise Messungen werden beispielsweise in Form von Kennkurven abgelegt, die die jeweils aktuelle Hubhöhe des Lastaufnahmemittels 16 berücksichtigt, da die jeweilige Höhe HLAM des Lastaufnahmemittels die auftretenden Schwingungen stark beeinflusst. Diese Kennkurven sind in der Steuerungseinrichtung 50 integriert, komplett vorab berechnet beziehungsweise die Antriebsabweichung Soll-Ist gemessen und berücksichtigt.The machine device according to the invention or as an exemplary embodiment, the storage and retrieval unit 10.1 aims to minimize the vibrations occurring, that is virtually no vibrations occur, which means a significantly reduced material stress, a relaxation of the settling and economic operation. For this purpose, a
Grundsätzlich ist die Schwingung des Mastes abhängig von dem bei der Beschleunigung auftretenden Beschleunigungsänderungsverlauf und der Verschliffzeit, den jeweiligen Eigenformen, die abhängig sind von der Masthöhe, der Bauart, der Masse und der Höhenposition des Aufnahmemittels, der Größe der Beschleunigung selbst, der systembedingten vorhandenen Dämpfungseigenschaften und der Materialien und der Fügetechnik.Basically, the vibration of the mast is dependent on the occurring during the acceleration acceleration change course and the Verschliffzeit, the respective eigen forms, which are dependent on the mast height, the type, the mass and the height position of the receiving means, the size of the acceleration itself, the system-related existing damping properties and materials and joining technology.
In
Der grundsätzliche Unterschied zu dem Regalbediengerät gemäß
In
Die Anfahrphase A kann dabei unterteilt werden in einen Zeitraum der Beschleunigungsänderungszeit tda - auch Verschliffzeit genannt - mit einem ansteigenden Beschleunigungsänderungsverlauf av bis zum Erreichen einer konstanten Beschleunigung ak über einen Zeitraum ta und einem anschließenden abfallenden Beschleunigungsänderungsverlauf av innerhalb der Beschleunigungsänderungszeit tda bis die vorgegebene Geschwindigkeit erreicht ist. Diese Phase kann bei einer für das Tragwerk unpassenden Anregung Schwingungen des Mastes des Regalbediengeräts 10.1 zur Folge haben. In der anschließenden Phase C beträgt die Beschleunigung null und das Regalbediengerät 10.1 verfährt über einen vorgegebenen Zeitraum tv mit konstanter Geschwindigkeit, in der dann in der Phase B der Bremsvorgang stattfindet, der vom prinzipiellen Verlauf her dem Verlauf in der Phase A entspricht, jedoch mit umgekehrten Vorzeichen. Auch hier löst eine für das Tragwerk unpassende Anregung Schwingungen des Mastes 24 des Regalbediengeräts 10.1 aus. Der nicht lineare Verlauf der Beschleunigung innerhalb der Beschleunigungsänderungszeit tda, der durch die Abweichung am Motor am Fahrschemel auftritt, ist schematisch gestrichelt in
In
Daraus ist deutlich zu erkennen, dass in den Intervallen, in denen sich die Beschleunigung ändert, das heißt während der Verschliffzeit jeweils Schwingungen induziert werden, die eine starke Schwankung der Beschleunigung der Spitze des Mastes 24 bewirken.From this it can be clearly seen that in the intervals in which the acceleration changes, that is to say vibrations are induced in each case during the sweeping time, which cause a strong fluctuation in the acceleration of the tip of the
Erfindungsgemäß ist erkannt worden, dass sowohl die Größe der Beschleunigungsänderungszeit tda als auch der Beschleunigungsverlauf av innerhalb der Beschleunigungsänderungszeit tda einen großen Einfluss auf die induzierten Schwingungen nach sich ziehen.According to the invention, it has been recognized that both the magnitude of the acceleration change time tda and the acceleration curve av within the acceleration change time tda have a great influence on the induced vibrations.
In
Die
Die
In
Die
Die Erfindung basiert unter anderem auf der Erfassung der Antriebsregelungsfehler. Der Stand der Technik geht davon aus, dass Ist- und Soll-Beschleunigungsverlaufs eines Antriebs identisch sind. Dadurch kann keine verlässliche Vermeidung der Schwingungen ohne zusätzliche Mess- und Regelungstechnik erfolgen. Gemäß der erfindungsgemäßen Vorgehensweise erfasst diese die nach dem Stand der Technik fehlende Parameter, um Schwingungen ohne zusätzliche Mess- und Regelungstechnik an jedem einzelnen Gerät vollständig zu unterdrücken.The invention is based inter alia on the detection of drive control errors. The prior art assumes that the actual and desired acceleration characteristics of a drive are identical. As a result, no reliable avoidance of vibrations can take place without additional measuring and control technology. According to the procedure according to the invention, this detects the missing parameters according to the state of the art in order to completely suppress vibrations without additional measuring and control technology on each individual device.
Bei einem Regalbediengerät mit anderen Antriebsherstellern und anderen Antriebsarten (zum Beispiel Omega-Antrieb) ist der Unter schied zwischen Soll- und Ist-Beschleunigungsverlauf anders ausgebildet und übt durch seine Andersartigkeit einen großen Einfluss auf die auftretenden Schwingungen aus.In a storage and retrieval unit with other drive manufacturers and other types of drives (for example, omega drive) of the difference between the target and actual acceleration course is designed differently and exerts by its otherness a great influence on the vibrations occurring.
Der Zusammenhang der Schwingungsanfälligkeit in Abhängigkeit der Beschleunigungsänderungszeit tda an einer konkreten Regalbediengerätkonstruktion ist in
Der Soll-Verlauf ergibt bei einem Abszissenwert von 125 ms einen Schwingbeiwert von 1,0. Durch die Soll-Ist-Abweichung in der Antriebsregelung ergibt sich bei einer Verschliffzeit von 125 ms jedoch ein Schwingbeiwert von 1,25 durch die Messung. Im Vergleich zu dem gemessenen Ist-Verlauf 70 erkennt man, dass der Schwingbeiwert bei der Messung nicht auf den Wert 1,0 sinkt, da zusätzliche Störgrößen wie Schienenunebenheiten ebenfalls Schwingungen in den Mast induzieren. Zudem wird deutlich, dass der Schwingbeiwert 2 bei einem Abszissenwert von 0 nicht erreicht wird, da der Motor einem derart kurzen Anstieg nicht folgen kann. Außerdem ist zu erkennen, dass das erste Minimum bei dem bei der Messung vorliegenden Antriebstyp um ca. 30 % weiter rechts liegt als bei der Berechnung. Dies bedeutet, dass ein Regalbediengerät nur bei einer verlängerten Verschliffzeit tda nahezu schwingungsfrei fährt. Bei einem höheren Regalbediengerät mit einer beispielhaften Periodendauer von 1 s resultiert damit eine Erhöhung der Verschliffzeit um 0,3 s. Die Verschliffzeit tritt bei einer einzigen Fahrt von einer Position zur nächsten insgesamt viermal auf (siehe
Bei einer anderen Antriebskonfiguration, die gekennzeichnet durch den Motor, Frequenzumrichter, Getriebe, Wellenlänge, Art der Kraftübertragung (formschlüssig oder reibschlüssig), Regelung usw. ist, variiert diese Abweichung. Durch die Berücksichtigung dieser Abweichung für eine spezifische Antriebskonfiguration und der Abspeicherung eines gezielt nicht linearen Beschleunigungsänderungsverlaufes in der Motorsteuerung, kann der ideale Soll-Verlauf 72 besser erreicht werden. Dadurch reduziert sich die Verschliffzeit tda und das Regalbediengerät ist mit gleichen Antrieben schneller und zugleich schwingungsfrei.In another drive configuration, which is characterized by the motor, frequency converter, gearbox, wavelength, type of power transmission (positive or frictional), regulation, etc., this deviation varies. By taking into account this deviation for a specific drive configuration and the storage of a targeted non-linear acceleration change course in the engine control, the
Den exakten Verlauf eines verbesserten nicht linearen Beschleunigungsänderungsverlaufes av, den der Motor als Vorgabe bekommt, kann durch Simulationen und Messungen ermittelt werden. Dieser verbesserte Beschleunigungsänderungsverlauf av wirkt den Veränderungen im Antriebsstrang gezielt entgegen, so dass im Endeffekt das Regalbediengerät beim realen Einsatz den idealen Eigenschaften des Soll-Verlaufs (Linie 72 in
Die Schwingungseigenschaften eines Regalbediengerätes werden darüber hinaus durch die jeweilige Höhe HLAM des Lastaufnahmemittels (LAM) stark beeinflusst.The vibration characteristics of a storage and retrieval unit are also greatly influenced by the respective height HLAM of the load handling device (LAM).
In
Wird darüber hinaus die Masse m des Förderguts 18 berücksichtigt ergibt sich das in
Neben der Berücksichtigung der LAM-Höhe HLAM für die Länge der Verschliffzeit tda und der sich damit ergebenden Kennkurve gemäß
Neben der Höhe des Lastaufnahmemittels HLAM beeinflusst auch die Größe der jeweils aufgenommenen Last das Schwingungsverhalten. Auch die Größe der jeweils aufgenommenen Last kann bei der Ermittlung der Kennkurven beziehungsweise Kennfelder berücksichtigt werden und entsprechend in der Speichereinrichtung 52 abgelegt werden (siehe
In
Die Steuereinrichtung 50, die das erste Antriebsaggregat 14 zum Verfahren des Regalbediengeräts 10.1 ansteuert, greift auf Führungsgrößenwerte der Speichereinrichtung 52 zurück. In der Speichereinrichtung 52 sind durch Messungen beziehungsweise Vorabberechnungen festgelegte Führungsgrößenwerte für den Beschleunigungsverlauf, insbesondere die Beschleunigungsänderungszeit tda unter Berücksichtigung der Ist-Werte abgelegt. Der Steuereinrichtung 50 werden aktuelle Werte der Höhe HLAM des Lastaufnahmemittels und der Größe der jeweils aufgenommenen Last zugeführt. Gleichzeitig erhält die Steuereinrichtung 50 von der übergeordneten Logistiksteuerungsvorrichtung Werte bezüglich der Anfangs- und Endfahrzielposition, des Fahrweges und der vorgegebenen Fahrgeschwindigkeit. Unter Rückgriff auf die in der Speichereinrichtung 52 hinterlegten Werte des Beschleunigungsverlaufes wird dann das erste Antriebsaggregat 14 angesteuert, so dass ein nahezu praktisch schwingungsfreies Verfahren des Regalbediengeräts 10.1 erfolgt.The
Gemäß dem erfindungsgemäßen Konzept ist dabei der Beschleunigungsverlauf, die Beschleunigungsänderungszeit (Verschliffzeit), das schwingende System, das sich bei energieeffizienter Steuerung ändert, das Lastaufnahmemittel während des Bremsens verfährt, zu jedem Zeitpunkt aufeinander abgestimmt. Die Abstimmung erfolgt durch Simulation beziehungsweise Messung, dabei wird der realen Beschleunigungsverlauf an konkret vorgegebenen Regalsystem (Ist- und nicht Soll) berücksichtigt.According to the concept according to the invention, the acceleration profile, the acceleration change time (grinding time), the oscillating system, which changes with energy-efficient control, the load receiving means moves during braking, are matched to one another at each time. The tuning is carried out by simulation or measurement, while the real acceleration curve is taken into account at concrete specified shelf system (actual and not desired).
Mit der erfindungsgemäßen Vorrichtung werden folgende neue Ansätze berücksichtigt: Das gesamte Tragwerk wird mit allen Eigenformen durch die Simulationsberechnung erfasst. Die entscheidenen Kriterien Verschliffzeit und Beschleunigungsänderungsverlauf werden auf das konkret vorliegende Tragwerk abgestimmt. Die Abstimmung erfolgt mit Voruntersuchungen (Messung, Simulation des Antriebsstranges), welche die Abweichung von Soll/Ist je nach Antriebstyp berücksichtigen. Dabei erfolgt die Abstimmung hinsichtlich der Kriterien Schwingungsreduktion, hohe Dynamik des Regalbediengerätes und Energieeffizienz des Gesamtsystems.With the device according to the invention, the following new approaches are taken into account: The entire structure is recorded with all eigenmodes by the simulation calculation. The decisive criteria for the grinding time and the course of the acceleration change are matched to the concrete structure present. The coordination takes place with preliminary examinations (measurement, simulation of the drive train), which take into account the deviation of the target / actual depending on the drive type. In this case, the vote takes place with regard to the criteria vibration reduction, high dynamics of the storage and retrieval unit and energy efficiency of the entire system.
Als Ergebnis wird auf eine Kennkurve/ein Kennfeld zurückgegriffen, die unter Berücksichtigung der jeweilige Höhe des Lastaufnahmemittels und/oder der jeweiligen Masse des Förderguts hinterlegt ist, wobei die Kennkurve in die Steuerung integriert ist, aber komplett vorab berechnet beziehungsweise die Antriebsabweichung Soll/Ist gemessen worden ist.As a result, recourse is made to a characteristic curve / characteristic map, which is stored taking into account the respective height of the load suspension device and / or the respective mass of the conveyed material, wherein the characteristic curve is integrated into the control but is calculated completely in advance or the drive deviation nominal / actual is measured has been.
Optional kann ein Beschleunigungssensor am Fahrschemel angebracht werden um die Soll-/Ist-Abweichung im Antrieb als Eingangsgröße für die Regelung festzustellen. Optional kann weiterhin die genaue Last des Ladegutes durch geeignete Sensoren berücksichtigt werden und als Eingangsgröße für die Regelung dienen. Eine optionale Erweiterung besteht darin, dass der Beschleunigungsverlauf in einem Kennfeld hinterlegt wird, auf das die Speichereinrichtung zugreift.Optionally, an acceleration sensor can be attached to the subframe to determine the setpoint / actual deviation in the drive as the input variable for the control. Optionally, furthermore, the exact load of the load can be taken into account by means of suitable sensors and serve as an input variable for the control. An optional extension is that the acceleration profile is stored in a map, which is accessed by the memory device.
Durch die erfindungsgemäße Vorgehensweise der Simulationsberechnung am konkreten System und der Berücksichtigung des tatsächlich vorhandenen Antriebsstranges wird auch berücksichtigt, dass sich während der Beschleunigungsänderungszeit der Mast verbiegt und dabei "Federenergie/Dehnungsenergie" aufnimmt und diese beim Beschleunigungsabstieg wieder freigibt, wenn der Mast in die Ausgangslage zurückschwingt. Bisher wird dieses Verhalten nicht berücksichtigt und es gibt keinen Unterschied bei der Steuerung zwischen Anstieg und Abstieg, so dass durch diese Nichtberücksichtigung Schwingungen entstehen. Es ist sogar möglich, dass der Mast derart viel "Federenergie" frei gibt, dass der Motor während der Beschleunigungsänderungszeit Bremsen muss, um die Soll-Verläufe einzuhalten. Dies wird bezüglich der erfindungsgemäßen Vorgehensweise vollständig berücksichtigt, so dass auch dieser Aspekt zur Energieeffizienz beiträgt.By the procedure according to the invention of the simulation calculation on the concrete system and the consideration of the actually existing drive train is also taken into account that bends during the acceleration change time of the mast and thereby absorbs "spring energy / strain energy" and releases it again during acceleration descent when the mast returns to its original position , So far, this behavior is not taken into account and there is no difference in the control between rise and fall, so that arise by this disregard vibrations. It is even possible that the mast releases so much "spring energy" that the engine has to brake during the acceleration change time in order to maintain the desired course. This is fully taken into account with regard to the procedure according to the invention, so that this aspect also contributes to energy efficiency.
Das gesamte konkrete System (Regalbediengerät) wird durch Simulationsberechnung bezüglich minimaler Schwingungen berechnet.The entire concrete system (storage and retrieval unit) is calculated by simulation calculation with regard to minimum vibrations.
Wesentlich beeinflusst wird aber auch das Schwingungsverhalten durch den jeweils konkret vorhandenen Antriebsstrang. Dieser Einfluss wird durch konkrete Messungen ermittelt und mit den von der Simulationsberechnung ermittelten Werten kombiniert. Dadurch wird eine nahezu schwingungsfreie Bewegung des Regalbediengeräts ermöglicht.However, the vibration behavior is also significantly influenced by the actual existing powertrain. This influence is determined by concrete measurements and combined with the values determined by the simulation calculation. This allows a virtually vibration-free movement of the storage and retrieval unit.
Claims (15)
- Machine device (10.1, 10.2) with a tendency to oscillate under a pulse-formed drive load, in particular a storage and retrieval machine, a manufacturing machine, a robot, a crane or the like, comprising- a displaceable unit (12),- a receptacle means (16) for receiving material to be conveyed or for receiving a load, said receptacle means being coupled to the displaceable unit (12),- a first drive assembly (14) for moving the displaceable unit (12) along a travel (F) from an initial to an end position,- a control apparatus (50) for controlling the travel motion of the displaceable unit (12),- wherein the first drive assembly (14) is controlled by way of the control apparatus (50) by predetermining the time curve of a reference variable, namely the temporal acceleration curve, and the device (10.1, 10.2) tends to oscillate during the displacement, said oscillations occurring in the displacement direction, and- wherein the temporal acceleration curve during start-up until a predetermined displacement speed has been reached has a first and second change-of-acceleration region with a positive or negative change-of-acceleration curve (av) and a change-of-acceleration time (tda), referred to as jerk time, and usually one acceleration region (ak) with a constant positive acceleration lying between the first and second change-of-acceleration region in time, and wherein said temporal acceleration curve during braking to standstill has a first and second change-of-acceleration region with a positive and negative change-of-acceleration curve (av) and a change-of-acceleration time (tda), referred to as jerk time, and usually one acceleration region with constant negative acceleration lying between the first and second change-of-acceleration region in time,- wherein the reference variable is adapted in such a way that the oscillations are as small as possible,- characterized in that- a memory apparatus (52) is present, the latter being accessed by the control apparatus (50), wherein reference variable values are stored in the memory apparatus (52), said reference variable values providing oscillation-minimized values for the change-of-acceleration curve (av) and/or the change-of-acceleration time (tda), said oscillation-minimized values having been ascertained in advance by simulation calculations and/or by measurements on the respectively specifically physically embodied device, wherein the stored values also take account of drive-specific deviations between the intended and actual acceleration curve of the drive in addition to the simulated natural frequencies, and so all parameters causing the oscillations are captured in order to realize an oscillation avoidance.
- Device according to Claim 1,- characterized in that- the values are stored in the memory apparatus (52) in the form of tables or characteristic curves (75), depending on the respective position of the received material to be conveyed/load (18), or in the form of characteristic fields (80), depending on the respective position of the received material to be conveyed/load (18) and depending on the mass of the received material to be conveyed/load (18).
- Device according to Claim 1 or 2,- characterized in that- the simulation calculation is based on a finite element calculation (FEM) or a multi-component system calculation (MKS), which captures the effect of the deviation between intended and actual value of the drive control.
- Device according to Claim 3,- characterized in that- the reference variable values are calculated within the scope of the simulation calculation taking account of all inherent forms of the device.
- Device according to one or more of the preceding claims,- characterized in that- a first sensor unit that communicates with the control apparatus (50) is present, said first sensor unit ascertaining the current height of the receptacle means (16), and/or a second sensor unit is present, said second sensor unit establishing the mass of the material to be conveyed or load respectively received by the receptacle means (16), wherein the functional variable values are stored depending on the height (HLAM) of the receptacle means (16) and/or the respective mass of the received material to be conveyed or the load (18) and the control apparatus picks the reference variable values from the memory apparatus depending on the values respectively ascertained by the first or second sensor unit and feeds said reference variable values to the first drive assembly (14).
- Device according to one or more of the preceding claims,- characterized in that- a measuring instrument for directly or indirectly measuring the acceleration is present on the displaceable unit (12), the intended/actual value deviation being rendered capturable by means of said measuring instrument and the reference variable values being corrected on account of the intended/actual value deviation by the control apparatus by means of said measuring instrument.
- Device according to one or more of the preceding claims,- characterized in that- the device is embodied as a storage and retrieval machine (10.1) for a shelf warehouse, the displaceable unit (14) is coupled to a load receptacle means (16) via a shelf pole (24) and the load receptacle means (16) is displaceable in terms of height along the shelf pole (24) by way of the second drive assembly (22).
- Device according to one or more of the preceding Claims 1 to 6,- characterized in that- the device is embodied as a crane apparatus, the displaceable unit is coupled to the load receptacle means by way of a cable and the load receptacle means is displaceable in terms of height by winding or unwinding the cable by means of the second drive assembly (22).
- Device according to one or more of the preceding Claims 1 to 6,- characterized in that- the machine device is embodied as a robot or a manufacturing machine with appropriate drives for moving objects.
- Device according to one or more of the preceding claims,- characterized in that- a linear or non-linear change-of-acceleration curve is formulated in the simulation calculation for calculating minimized oscillation coefficients.
- Method for operating a machine device with a tendency to oscillate under a pulse-formed drive load, in particular a storage and retrieval machine, a manufacturing machine, a robot, a crane or the like, comprising- a displaceable unit (12),- a receptacle means (16) for receiving material to be conveyed or for receiving a load, said receptacle means being coupled to the displaceable unit (12),- a first drive assembly (14) for moving the displaceable unit (12) along a travel (F) from an initial to an end position,- a control apparatus (50) for controlling the motion of the displaceable unit (12),- wherein the first drive assembly (14) is controlled by way of the control apparatus (50) by predetermining the time curve of a reference variable, namely the temporal acceleration curve, and the device (10.1, 10.2) tends to oscillate during the displacement, said oscillations occurring in the displacement direction, and- wherein the temporal acceleration curve during start-up until a predetermined displacement speed has been reached has a first and second change-of-acceleration region with a positive or negative change-of-acceleration curve (av) and a change-of-acceleration time (tda), referred to as jerk time, and usually one acceleration region (ak) with a constant positive acceleration lying between the first and second change-of-acceleration region in time, and wherein said temporal acceleration curve during braking to standstill has a first and second change-of-acceleration region with a positive and negative change-of-acceleration curve (av) and a change-of-acceleration time (tda), referred to as jerk time,- wherein the reference variable is adapted in such a way that the oscillations are as small as possible,- characterized in that- reference variable values are supplied to the first drive assembly (14) from a memory apparatus, said reference variable values representing oscillation-minimized values for the change-of-acceleration curve and/or the change-of-acceleration time, said oscillation-minimized values having been ascertained in advance by simulation calculations and/or by measurements on the respectively specifically physically embodied device and stored in the memory apparatus, wherein the stored values also take account of drive-specific deviations between the intended and actual acceleration curve of the drive in addition to the simulated natural frequencies, and so all parameters causing the oscillations are captured in order to realize an oscillation avoidance.
- Method according to Claim 11,- characterized in that- the simulation calculation is carried out as a finite element calculation (FEM) or as a multi-body simulation (MKS), taking account of all inherent forms of the device.
- Method according to Claim 11 or 12,- characterized in that- use is made of a first sensor unit that communicates with the control apparatus (50), said first sensor unit ascertaining the current height of the receptacle means (16), and/or a second sensor unit is present, said second sensor unit establishing the mass of the material to be conveyed or load respectively received by the receptacle means (16), wherein the functional variable values are stored depending on the height (HLAM) of the receptacle means (16) and/or the respective mass of the received material to be conveyed or the load (18) and the control apparatus picks the reference variable values from the memory apparatus depending on the values respectively ascertained by the first or second sensor unit and feeds said reference variable values to the first drive assembly (14).
- Method according to Claim 11, 12 or 13,- characterized in that- an acceleration sensor is used on the displaceable unit (12), intended/actual value deviation being comprised by means of said acceleration sensor, and the control apparatus appropriately corrects the reference variable values on account of the intended/actual value deviation.
- Method according to one or more of Claims 11 to 14,- characterized in that- a linear or non-linear change-of-acceleration curve is formulated in the simulation calculation (FEM, MKS) for calculating minimized oscillation coefficients.
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DE102015008506.9A DE102015008506A1 (en) | 2015-07-03 | 2015-07-03 | Machine device that tends to oscillate from a pulse-shaped drive load, in particular storage and retrieval unit, production machine, robot, crane or the like, and method for operating such a device |
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EP3115331B1 true EP3115331B1 (en) | 2019-05-15 |
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DE102022206859B3 (en) | 2022-07-05 | 2023-07-06 | Gebhardt Fördertechnik GmbH | Storage and retrieval system, workplace, transport vehicle, transfer point, carrier and method for a storage and retrieval system |
DE102022206857A1 (en) | 2022-07-05 | 2024-01-11 | Gebhardt Fördertechnik GmbH | Storage and retrieval system, workstation, containers and procedures for a storage and retrieval system |
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