WO1999014976A2 - Device and method for automating conveyor systems - Google Patents
Device and method for automating conveyor systems Download PDFInfo
- Publication number
- WO1999014976A2 WO1999014976A2 PCT/EP1998/005882 EP9805882W WO9914976A2 WO 1999014976 A2 WO1999014976 A2 WO 1999014976A2 EP 9805882 W EP9805882 W EP 9805882W WO 9914976 A2 WO9914976 A2 WO 9914976A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- conveyor
- control unit
- central control
- bus
- devices
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000000969 carrier Substances 0.000 claims abstract description 12
- 230000002457 bidirectional effect Effects 0.000 claims description 5
- 230000005415 magnetization Effects 0.000 claims description 5
- 238000011156 evaluation Methods 0.000 claims description 4
- 230000006870 function Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 239000004020 conductor Substances 0.000 claims description 2
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000007175 bidirectional communication Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 229920002457 flexible plastic Polymers 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/002—Control or safety means for heart-points and crossings of aerial railways, funicular rack-railway
- B61L23/005—Automatic control or safety means for points for operator-less railway, e.g. transportation systems
Definitions
- the invention relates on the one hand to a device for the automation of conveyor systems with at least one conveyor device, in particular load carrier of an electric monorail conveyor, the conveyor device having a position transmitter and being connected to a central control unit via at least one line, and on the other hand to a method for the automation of conveyor systems, in particular rail-bound conveyor systems such as electric monorails or floor conveyor systems, with setpoint and / or actual value data being exchanged between a central control unit and at least one conveyor device.
- the invention relates to a device for automating conveyor systems with at least two conveyor devices, in particular load carriers of an electric monorail conveyor, each conveyor device having an absolute position transmitter and a programmable control unit which is connected to a central control unit at least via a line.
- a device for transporting and positioning loads by means of one or more load carriers which can be moved along a running track and on which loads are suspended is known.
- Each load carrier is equipped with a position transmitter and connected via at least one line to a central control unit, via which setpoints are transmitted to the load carriers the same position and speed setpoints are fed to the load carriers.
- Actions such as lifting, lowering or gripping the load carriers can only be carried out at certain positions, which are identified by sensors such as limit switches. The sensors are necessary so that the load carriers, for example, do not fall below a certain minimum distance and / or can carry out actions in the desired positions.
- a device for determining the position of a vehicle that can be moved on a rail is known from European Patent Specification 0 626 299 B1.
- the device consists of a magnetic tape arranged along the rail with magnetization areas running transversely to the longitudinal direction of the rail and an associated reading head attached to the vehicle.
- the magnetization areas of the magnetic tape are arranged in a binary absolute coding according to a convolutional code with error correction.
- bus systems for coupling digital field automation units such as programmable logic controllers, actuators and transmitters are known from the prior art.
- the invention is based on the problem of developing a device and a method for the automation of conveyor systems in such a way that distance and positioning control of conveyor devices is made possible in a simple manner and in particular actions can be carried out at any point.
- the central control unit is a bus control, the at least one line being designed as a bus line and the conveying device having a microprocessor which is connected on the one hand to the position transmitter and on the other hand to the at least one bus line.
- the training of the funding institutions as bus participants ensures that the Conveyor devices can carry out actions at any positions that are passed on by the central control unit (master) to the microprocessors (slave) integrated in the conveyor devices.
- sensors such as limit switches can be dispensed with, which are provided for spacing conveying devices according to the prior art that can be moved along a transport path.
- the position transmitter has a read head, the read head being assigned to a magnetic tape arranged along the track, which has magnetization areas arranged transversely to the longitudinal direction with binary absolute coding. In this way, a particularly simple and safe position determination is guaranteed.
- the conveyor devices are connected to the central control unit designed as a bus control via a single bus line and that the programmable control unit is connected to the central control unit via a bus coupler and the only bus line and that depending on an absolute and / or relative position of the Conveyor device Actions of the conveyor device can be controlled via the central control unit and / or the programmable control unit.
- the at least one bus line is designed as a field bus rail system, with at least one contact device such as a conductor line being provided for data transmission along a track such as a rail, to which the conveyor device is connected with at least one contact element such as a grinder.
- the funding devices are permanently connected to the bus system so that data can be exchanged bidirectionally either between the conveyor devices themselves or between the individual conveyor devices and the central unit.
- the read head itself is connected to the programmable control unit, such as a microprocessor, integrated in the conveyor device via evaluation electronics and an interface converter. It is thereby achieved that the microprocessor is constantly supplied with the current position, which can be passed on to the central unit via the bus line and can be compared there with the actual position of an adjacent conveyor device.
- the programmable control unit such as a microprocessor
- the microprocessor has different memory areas in which different functional sequences are stored, which can be called up with specific action numbers. This makes action points more flexible.
- the higher-level central control unit (master) gives certain action numbers to the bus system, which are processed by the respective microprocessors (slaves) and trigger actions such as lifting, lowering or gripping and the like at predetermined positions. This also ensures that the conveyor can be activated in any position.
- the data can be exchanged bidirectionally between the microprocessors of the conveyor devices.
- the problem is essentially solved in that a bidirectional exchange of setpoint and / or actual value data takes place between the conveyor device and the central control unit and / or between at least two conveyor devices of the conveyor system and the central control unit.
- distance and positioning controls can be easily implemented.
- position and / or action state of each conveyor both the central unit and the other conveyor known. This prevents collisions.
- the conveyor system can be made more flexible, since actions of the conveyor devices such as lifting, lowering or gripping loads can be carried out in any position, taking into account neighboring conveyor devices.
- a bidirectional exchange of setpoint and / or actual value data in the form of bus signals takes place between a programmable control unit assigned to the conveying device and the central control unit, at least one actual position and / or one actual state of a conveying device being recorded that these actual value data of the individual conveyor devices are evaluated in the central control, a minimum distance between conveyor devices to be driven one behind the other and one on top of the other being adjustable and actions being able to be carried out in certain predefinable positions.
- the target and / or actual value data are exchanged between the conveyor device and the central control unit and / or between at least two conveyor devices of the conveyor system and central control unit.
- the conveyors are preferably controlled by means of an overhead monorail system via a bus system, in particular a serial bus system.
- the conveying device detects its actual position, evaluates it and exchanges it with the higher-level central control unit or with one another and carries out a specific action as a function of a predefined setpoint value and / or signal.
- the conveying devices record their position, evaluate them and exchange them with the higher-level control unit and / or with one another and carry out a specific action as a function of a predefined setpoint value and / or signal. This is particularly advantageous if the conveyor devices are load carriers that can be moved along a track acts, such as in an electric monorail system.
- the higher-level central control unit issues travel orders that trigger action orders such as lifting, lowering or gripping loads in the individual conveyor devices when a predetermined position is reached.
- action orders such as lifting, lowering or gripping loads in the individual conveyor devices when a predetermined position is reached.
- special sensors such as limit switches along, for example, a running track are not necessary in order to be able to carry out the actions in predetermined positions.
- This is achieved in particular in that the actual position is passed on to the central unit via the data bus and is compared there with the actual position of an adjacent conveyor device. This also results in the particular advantage of the procedure, namely that actions of the conveyor facilities can be initiated at any position.
- the single figure shows a device 10 designed as a bus system for automating a conveyor system having one or more conveyor devices 12, 14.
- the conveyor devices 12, 14 can be load carriers of an electric monorail conveyor that can be moved along a track (not shown) and on which loads are suspended, wherein the respective load carriers can have at least one drive motor (not shown).
- Load carriers of this type are known from European Patent Specification 0 209 076 B1, the contents of which are referred to here.
- the conveyor device 12, 14 has a position transmitter 16, 18, which is connected to an evaluation unit 24, 26 via a connecting line 20, 22.
- the position transmitter 16, 18 is designed as a read head, which is assigned to a magnetic tape 28 arranged along the track (not shown), which has magnetization areas arranged transversely to the longitudinal direction with a binary absolute coding.
- a magnetic tape 28 arranged along the track (not shown), which has magnetization areas arranged transversely to the longitudinal direction with a binary absolute coding.
- the magnetic tape expediently consists of a magnetizable, flexible plastic profile, ie a plastic tape to which a magnetizable metal powder is incorporated.
- the evaluation unit 24, 26 is connected to a microprocessor 34, 36 via an interface converter 30, 32 integrated in the conveyor device.
- the microprocessor 34, 36 in turn is connected via a bus coupler 38, 40 and supply lines 42, 44 to a bus line designed as a field bus system 46.
- the bus line 46 itself is connected to a central control unit (master) 52 via a connecting line 48 and a bus coupler 50.
- the bus 46 can be designed as a serial bus system for coupling the central control unit 52 to the microprocessors 34, 36 of the conveyor devices 12, 14.
- a line structure is used as the bus structure, the feed lines 42, 44 being stub lines and each leading to a branch 54, 56.
- the bus line 46 consists of a field bus rail system which comprises at least two rails. It is provided that the branch 54, 56 are designed as sliding contacts in order to be able to produce electrical contact in any position in the case of movable conveying devices 12, 14.
- the inventive design of the device 10 as a bus system has the advantage over the prior art that a high degree of flexibility is achieved regardless of sensors arranged along the track, the individual conveying devices 12, 14 being able to be positioned and activated to the desired extent independently of sensors .
- the method provides that a bidirectional exchange of setpoint and / or actual value data takes place between the central control unit 52 and the microprocessors 34, 36 and between the microprocessors 34, 36 themselves.
- the central unit 52 specifies an action number which is routed to the bus 46 via the bus coupler 50.
- a corresponding action number in the microprocessor 34 and / or 36 triggers a predetermined functional sequence, such as lifting, lowering or gripping a load, which is stored in a memory.
- the central unit 52 can also specify the position as a setpoint. Due to the bidirectional communication of the bus participants, each conveyor device 12, 14 receives the respective information from the others, so that collisions are largely excluded.
- the central unit 52 and / or the microprocessors 34, 36 also have memory areas with information about how far the two conveying devices 12, 14 are allowed to approach each other. As soon as the conveyor 12, 14 approaches without permission, a signal is triggered which switches off the drive units (not shown) of the conveyor 12, 14.
- the central control unit 52 with the bus coupling element 50 can also be part of a further conveyor device (not shown).
- the connecting line 48 would also be connected to the bus system 46 via sliding contacts.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP98946458A EP1016307A1 (en) | 1997-09-16 | 1998-09-16 | Device and method for automating conveyor systems |
BR9812335-1A BR9812335A (en) | 1997-09-16 | 1998-09-16 | Device and method for automating conveyor systems |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19740761.7 | 1997-09-16 | ||
DE1997140761 DE19740761A1 (en) | 1997-09-16 | 1997-09-16 | Automatic transport system |
Publications (2)
Publication Number | Publication Date |
---|---|
WO1999014976A2 true WO1999014976A2 (en) | 1999-03-25 |
WO1999014976A3 WO1999014976A3 (en) | 1999-06-03 |
Family
ID=7842555
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1998/005882 WO1999014976A2 (en) | 1997-09-16 | 1998-09-16 | Device and method for automating conveyor systems |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1016307A1 (en) |
BR (1) | BR9812335A (en) |
DE (1) | DE19740761A1 (en) |
WO (1) | WO1999014976A2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111948993A (en) * | 2013-12-31 | 2020-11-17 | 深圳迈瑞生物医疗电子股份有限公司 | Sample processing pipeline control system |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AUPQ017199A0 (en) * | 1999-05-06 | 1999-05-27 | Lextar Technologies Limited | A system for surveillance of an area |
US6463367B2 (en) | 2000-02-07 | 2002-10-08 | Rapistan Systems Advertising Corp. | Electrified monorail communication system |
AT412242B (en) * | 2000-03-02 | 2004-11-25 | Siemens Ag Oesterreich | METHOD AND ARRANGEMENT FOR TESTING A TEST |
DE10226673A1 (en) * | 2002-06-10 | 2004-01-08 | Bizerba Gmbh & Co. Kg | Device for conveying and processing individual pieces |
DE10337122B4 (en) * | 2003-08-11 | 2007-10-11 | Manfred Josef Wallner | Suspended crane runway and suspended crane runway profile |
DE102013020523B4 (en) * | 2013-12-11 | 2020-06-04 | Sew-Eurodrive Gmbh & Co Kg | Process for the safe monitoring of compliance with a minimum distance in vehicles, in particular rail vehicles, and rail system for carrying out a process |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0209076B1 (en) | 1985-07-19 | 1992-09-30 | Fredenhagen Kg | Device for transporting and positioning loads |
EP0626299B1 (en) | 1993-05-26 | 1995-08-16 | Fahrleitungsbau GmbH | Position detecting device of a vehicle movable along a rail |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1380587A (en) * | 1971-02-17 | 1975-01-15 | Emi Ltd | Inter-vehicle signalling means |
US3819932A (en) * | 1972-03-22 | 1974-06-25 | Gen Signal Corp | Multi-computer automatic vehicle control system |
DE3318575A1 (en) * | 1983-05-20 | 1984-11-22 | Dürr Automation + Fördertechnik GmbH, 7889 Grenzach-Wyhlen | METHOD AND DEVICE FOR LOCKING BACK IN AUTOMATED VEHICLE SYSTEMS |
US4766547A (en) * | 1986-04-14 | 1988-08-23 | Transfer Technologies, Inc. | Computer controlled conveyor system |
-
1997
- 1997-09-16 DE DE1997140761 patent/DE19740761A1/en not_active Withdrawn
-
1998
- 1998-09-16 WO PCT/EP1998/005882 patent/WO1999014976A2/en not_active Application Discontinuation
- 1998-09-16 EP EP98946458A patent/EP1016307A1/en not_active Withdrawn
- 1998-09-16 BR BR9812335-1A patent/BR9812335A/en not_active Application Discontinuation
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0209076B1 (en) | 1985-07-19 | 1992-09-30 | Fredenhagen Kg | Device for transporting and positioning loads |
EP0626299B1 (en) | 1993-05-26 | 1995-08-16 | Fahrleitungsbau GmbH | Position detecting device of a vehicle movable along a rail |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111948993A (en) * | 2013-12-31 | 2020-11-17 | 深圳迈瑞生物医疗电子股份有限公司 | Sample processing pipeline control system |
CN111948993B (en) * | 2013-12-31 | 2024-06-21 | 深圳迈瑞生物医疗电子股份有限公司 | Sample processing pipeline control system |
Also Published As
Publication number | Publication date |
---|---|
WO1999014976A3 (en) | 1999-06-03 |
EP1016307A1 (en) | 2000-07-05 |
DE19740761A1 (en) | 1999-03-18 |
BR9812335A (en) | 2000-09-19 |
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