DE102011109532A1 - Workpiece processing system, has mobile part comprising energy storage transmitting energy to energy storage of machine during docking of mobile part at machine and safety device for monitoring entry of human and/or object into space - Google Patents

Abstract

The system has a mobile part (1) provided with an energy transmission unit (2). An energy storage (4) of the mobile part supplies energy to a traction drive of the mobile part for moving the mobile part relative to a workpiece processing machine that is provided with another energy transmission unit. The energy storage transmits energy to an energy storage of the machine during docking of the mobile part at the machine. The mobile part has a safety device i.e. sensor, for monitoring entry of a human and/or an object into a space i.e. safety area. The mobile part is designed as a vehicle i.e. automated guided vehicle (AGV), and a mobile robot. The safety device is designed as a mechanical crowd barrier, a mechanical strip sensor, an electromechanical strip sensor, an optical switching curtain, a laser scanner, an ultrasound removal determining unit and/or a light curtain and/or a light barrier. An independent claim is also included for a method for operating a system.

Description

The invention relates to a system and method for operating a system.

In general, forklift trucks are known as handsets that transport a workpiece and have an energy storage.

Likewise, machines for machining workpieces are well known.

In addition, toy robots are generally known which have an energy storage.

The invention is therefore the object of developing a system and a method for operating a system, the safety in the system should be increased.

According to the invention the object is achieved in the system according to the claim 1 and in the method according to the features indicated in claim 10.

Important features of the invention in the system are that it comprises at least a machine and a handset,
wherein the mobile part has an energy store, from which a travel drive of the mobile part can be supplied for moving the mobile part relative to the machine,
the machine having a means for transmitting energy,
wherein the mobile part has a further means for energy transmission,
wherein, in particular when docking the handset to the machine, energy from the energy storage of the handset to the machine, in particular to an energy storage of the machine, transferable,
wherein the mobile part has a security device, in particular a sensor for monitoring a spatial area, in particular a security area,
in particular for monitoring the intrusion of a person and / or an object into the security area.

The advantage here is that the machine requires no electrical supply lines and the energy required for processing is transported by the handset. Thus, the security is increased. Only when the handset is moved up and positioned on the machine does the machine have the working energy. In addition, the machine does not require a safety device because the handset carries the safety device and performs the monitoring task for the machine. Since the handset also uses a safety device when moving in the traveling surface, no additional effort is required. Only a shutdown signal generated by the safety device when an object arrives in the monitored safety area must be transmitted to the machine. The information transfer should be carried out safely, ie according to a higher, non-trivial safety category. Thus, an error in the data transfer is then recognizable and also a shutdown signal can be generated.

Shutdown signal is understood to mean not only a signal to shut down the machine, but alternatively also a signal to transfer the machine to a safe state, such as safely maintaining a speed or speed.

In an advantageous embodiment, a shutdown channel leads from the safety device to the machine,
in particular in that a signal of the safety device, in particular a sensor signal, can be forwarded to the controller of the machine via a data transmission device and for switching off or transferring the machine into a safe state, in particular into a state with safe speed, in particular into a state with limited speed, or in a state of limited speed, in particular in a state of limited speed, is connected. The advantage here is that the security can be increased in a simple manner. Because the safety device monitors a traveling with the handset security area. After docking of the handset to the machine, this safety area is also monitored for the machine and when detecting an intruding object or people, the shutdown signal is also transmitted to the machine.

In an advantageous embodiment, the data transmission device has a means disposed on the mobile part for transmitting information and arranged on the machine means for information transmission, wherein the means for transmitting information can be coupled together for data transmission. The advantage here is that the data transfer is securely executable, so redundant and / or with feedback of each transmitted data. In this way, the security can be increased and the safety device safely connected to the machine for data transmission.

In an advantageous embodiment of the monitored security area surrounds the handset around, especially in the trajectory of the handset. The advantage here is that the handset itself has a safety area in all directions in the surface, ie in all tangential directions of the surface even when moving in the travel surface.

In an advantageous embodiment, a plurality of security devices, in particular sensors for monitoring a respective security area, are arranged on the mobile part,
in particular wherein in each case a sensor is arranged on four sides of the mobile part. The advantage here is that with a few sensors large security space areas are monitored.

In an advantageous embodiment, the data transmission from the handset to the machine is carried out safely, in particular so that when an error occurs a warning can be generated. The advantage here is that the security can be further increased in a simple manner.

In an advantageous embodiment, the safety device has a mechanical shut-off grid, a mechanical safety edge, an electromechanical safety edge, an optical switching curtain, a laser scanner, an ultrasonic distance determination means and / or a light curtain and / or a light barrier. The advantage here is that inexpensive sensors can be used.

In an advantageous embodiment, the mobile part has a first means for energy transmission, by means of which energy from a arranged at the bottom of the system and / or floor laid electrical conductor, in particular conductor rail or primary conductor, the handset is transferable. The advantage here is that the handset is supplied from a buried part. Thus, a supply at a position or along a trajectory is possible.

In an advantageous embodiment, a workpiece can be transported to the machine by means of the mobile part, which can be processed by the machine,
in particular, wherein the amount of energy required by the machine for processing is transmitted from the handset to the machine, in particular is transmitted from the energy storage of the handset to the machine. The advantage here is that already on the control of the processing energy security is increased. Because only if the handset is parked at the docking position next to the machine, energy is transferable. Therefore, editing without the presence of the handset is not feasible.

In an advantageous embodiment, the means for transmitting energy between the handset and the machine each have a winding, in particular for inductive energy transfer. The advantage here is that an inductive energy transfer is executable, so an energy transfer is feasible in a simple manner.

In an advantageous embodiment of each winding is a capacitance connected in parallel and / or in series, so that the associated resonant frequency of the resonant circuit thus formed substantially corresponds to the frequency of the primary side impressed current. The advantage here is that a high efficiency is maintained in the energy transfer - even if the distance between the two varies.

In an advantageous embodiment, the handset has a system for Lagepeilung and / or for positional coupling, for example, a bearing system, a wheel revolution counter to a wheel of the vehicle, a stationarily arranged RFID transponder comprehensive system and / or other navigation system, which with a control unit of the handset is connected to the data transmission. The advantage here is that a navigation or a tracking is executable and thus moving the handset on a target position or along a target trajectory is executable.

In an advantageous embodiment, the machine has a means for transmitting information to the handset, wherein the mobile part has a corresponding means for information transmission, which occurs in operative connection with the first means for information transmission for data transmission. The advantage here is that data from the handset to the machine are transferable, and thus the machining of the workpiece is controllable.

In an advantageous embodiment, the means for transmitting information can be implemented in one piece with the means for energy transmission, the data being modulated onto the power component provided for energy transmission. The advantage here is that a compact design is achievable.

In an advantageous embodiment, the power component provided for the transmission of energy is at least ten times greater than that intended for data transmission. The advantage here is that although in the data transmission also small amounts of energy are transmitted. However, the amounts of energy necessary to operate the machine are transferred from the handset to the machine via the coupled means for transmitting energy. In this case, a contact-type or an inductive energy transfer can be carried out.

Important features in the method for operating a system are that a handset transports a workpiece to a machine for processing the workpiece,
wherein the mobile part has an energy store,
wherein the mobile part transports the energy required by the machine during machining of the workpiece to the machine,
the handset having a safety device for monitoring a safety area of the machine,
In particular, where information is transmitted from the safety device to the machine, in particular transmitted securely,
in particular wherein the information has a shutdown signal for the machine generated when a person or object arrives in the security area monitored by the security device.

The advantage here is that the energy for processing is transmitted from the handset when it is coupled to the machine. This ensures that the machine is not activated prematurely and poses a threat to people or things. In addition, a safety area is monitored for the machine without the need for a safety device.

In an advantageous embodiment, workpiece and / or amount of energy is transferred from the handset to the machine in a further method step,
in particular wherein in a later method step, the workpiece is picked up by the mobile part and transported away, in particular to a next target position and / or another machine. The advantage here is that the handset suits several different processing machines successively and the workpiece is processed with the respective processing steps.

In an advantageous embodiment, the energy store of the mobile part on a capacitor, a double-layer capacitor, an accumulator and / or a battery. The advantage here is that large amounts of energy can be stored and thus correspondingly energy-intensive processing steps of the machine on the workpiece are executable.

In an advantageous embodiment, after the arrival of the mobile unit at the machine, data is transmitted from the mobile unit to the machine, in particular data is exchanged between the mobile unit and the machine,
in particular, wherein the machining process performed by the machine is controlled by a control unit of the machine and / or the handset, wherein parameters of the process are transmitted from the handset to the machine. The advantage here is that the control of the machining process is made possible by the handset.

In an advantageous embodiment, the mobile part is guided by a control unit to the machine, which is connected to a navigation system. The advantage here is that a navigation of the handset is possible.

Further advantages emerge from the subclaims.

The invention will now be explained in more detail with reference to figures:

In the 1 is a handset according to the invention 1 schematically shown in side view, as a vehicle, such as automated guided vehicle AGS, automated guided vehicle AGV or other mobile robot executable.

In the 2 is the stationarily arranged in a system inventive machine for machining a workpiece in side view shown schematically.

In the 3 is an associated schematic plan view of the system according to the invention shown, wherein the handset 1 to the machine 20 is coupled.

In the 4 is the handset 1 unlike 1 with safety device 30 accomplished

In the 5 is the machine 20 shown by the handset 1 to 4 is approachable.

In the 6 are the security areas 51 shown, the handset 1 to the machine 20 is coupled.

As in 1 shown, the handset has an electrically from an energy storage 4 of the handset 1 power supply on which the wheels 3 of the handset 1 drives.

For power supply, the handset 1 at its bottom a means 5 for energy transfer. This is provided in a first embodiment as a sliding contact means for supplying the handset from a stationarily laid in the system, electrical conductor line. In a second embodiment, the means 5 a winding, with which an inductive coupling to a stationary laid in the system primary conductor is made possible and thus in the inductive coupling region, a contactless energy transfer is possible.

In addition, the mobile unit 1 another remedy 2 for energy transfer, which is also executable with a winding or an electrical contact part. This agent 2 serves to transfer energy between the handset 1 and the machine 20 ,

Thus, energy from the energy storage of the handset 1 and / or from the stationary laid conductor, in particular primary conductor or electrical conductor line, energy to the machine then transferable if the handset 1 to the machine 20 is coupled for energy transfer.

In addition, the handset points 1 a control unit 7 on, which drives the travel drive. Preferably, the control unit controls 7 a steering unit, which indicates the direction of travel of the handset 1 certainly. The handset 1 also has tracking means associated with the control unit 7 are connected.

Thus, the handset 1 along the stationarily installed primary conductor or along the stationarily installed conductor rail feasible.

For one of the funds ( 2 . 5 ) to the handset 1 transmitted energy is the energy storage 4 loadable. Thus, the handset 1 also periodically without external energy supply operable.

The energy storage is even designed so large that a portion of the stored energy to the stationary machine 20 is transferable and this machine 20 can be supplied from it.

Thus, the security is increased. Because only with docked handset 1 Energy is transferable to the machine, so that it is only then able to work.

In a further embodiment of the invention, the machine 20 an energy store 23 on, leaving excess, from the handset 1 delivered and transmitted energy is storable and the machine 20 even after uncoupling the handset 1 from the machine 20 is operable, in particular for the permanent supply of the control unit 7 ,

In a further embodiment of the invention, the mobile unit 20 instead of the tracking or in addition to tracking a navigation system. Thus, the mobile unit 1 Movable along a desired path and / or can approach target positions.

The handset 1 also has a means 6 for transmitting information that can receive data from or exchange data with a central unit.

The machine 20 also has a means of funding 22 for energy transfer, so that the handset by means of coupling the agent 5 to the agent 22 Energy is transferable.

The machine 20 has a control unit 25 on, the one from the machine 20 arranged energy storage 23 is available.

By means of a means 24 For information transfer information is exchangeable between handset 1 and machine 20 , Thus are on to the machine 20 Docked handset 1 Control data and parameters and / or other data transferable from the handset 1 to the machine 20 , Thus, the machine 20 from the handset 1 off controllable and supplied with energy.

The machine 20 So does not require any electrical supply cables or other installations for stationary power supply. The handset 1 does not just bring that from the machine, so to speak 20 workpiece to be machined but also for machining from the machine 20 required amount of energy with.

At the machine 20 is the means 24 for transmitting information from the handset 1 to the machine 20 the only means of transmitting information. In this way, so information is only from the handset 1 transferable to the machine 20 , In this way, the operation is completely controllable, so also controllable, from the handset 1 out.

For the navigation system are also bearing system, Radumdrehungszähler the wheel 3 the vehicle, a stationary arranged RFID transponder comprehensive system and / or the like, usable. In stationary arranged RFID transponder system comprising RFID transponders are distributed at different positions in the system and the handset has a corresponding reader, in particular wherein the handset also has a map in which the positions of the RFID transponder are incorporated, so that reading out the identification information of the RFID transponder is sufficient to determine a position of the mobile part.

The middle 2 and the means 6 preferably use the same winding.

In contrast to 1 indicates the handset 1 to 4 a safety device 30 on and a load-bearing unit 31 on which a load can be received, in particular attachable and / or connectable. In another embodiment of the invention, the load-bearing unit is designed as a roller conveyor and / or conveyor track, so that the load on the handset 1 is movable and thus can be conveyed out at the target position.

The safety device 30 has at least one mechanical shut-off grid, a mechanical safety edge, an electromechanical safety edge, an optical switching curtain, a laser scanner, an ultrasonic distance determining means and / or a light curtain or a light barrier. Thus, a room area that serves as a security area 51 acts, monitorable for intrusion of humans or objects. By attaching a safety device 30 on each side of the handset 1 is the handset 1 all around in its entire movement plane with monitored security areas 51 umbar, as in 6 shown.

As well as in 3 is the handset 1 to 4 to the in 5 illustrated machine 20 coupled. When coupling so on the one hand, the energy to perform the machining process on the workpiece to the machine 20 On the other hand, monitoring of the security areas 51 executed. Thus, the machine 20 to execute the processing activatable and while the machine is working 20 a surveillance executable.

Between handset 1 and machine 20 is also a secure data transfer by means of interconnected means ( 24 . 6 ) for transmitting information, so that an error in the data transmission with a higher security category is detectable.

Here is the control unit 25 the machine 20 with the means for information transmission 24 connected to the data transmission.

In addition, the control unit 7 of the handset 1 with the means for information transfer 6 connected to the data transmission. The control 7 of the handset 1 is also with the safety devices 30 connected.

Detecting a human or an object in one of the security areas 51 an emergency stop signal is generated, leaving the machine 20 and / or the handset is switched off at least temporarily, or it is maintained a reduced operating speed.

When the machine 20 does not work, it represents no danger potential. A working of the machine is only possible if it is supplied with energy, that is coupled to the handset and energy is transmitted via the means for energy transfer. In this way, therefore, the security is increased.

In a further embodiment of the invention, the handset from an electrical cable, which is laid at the bottom of the system, supplied

LIST OF REFERENCE NUMBERS

1

Handset, in particular vehicle, such as AGV, FTS or the like

2

Means for energy transfer

3

bikes

4

energy storage

5

Means for energy transfer

6

Means for transmitting information

7

control unit

20

machine

22

Means for energy transfer

23

energy storage

24

Means for transmitting information

25

control unit

30

Safety device, in particular comprising at least laser scanner, ultrasonic distance determination means and / or light curtain or light barrier.

31

Load-bearing unit

51

security area

Claims (15)

System comprising at least one machine and a mobile part, wherein the mobile part has an energy store, from which a travel drive of the mobile part can be supplied for moving the mobile part relative to the machine, characterized in that the machine has a means ( 22 ), the handset being another means ( 2 ), in particular when docking the handset to the machine, energy from the energy storage of the handset to the machine, in particular to an energy storage of the machine, transferable, wherein the handset, a safety device, in particular a sensor for monitoring a space area, in particular Security area, in particular for monitoring intrusion of a person and / or an object in the security area. Installation according to at least one of the preceding claims, characterized in that a shutdown channel leads from the safety device to the machine, in particular by a signal of the safety device, in particular a sensor signal, via a data transmission device to the controller of the machine is forwarded and to shutdown or transfer of the machine in a safe state, in particular in a state of safe speed, in particular in a state of limited speed, or in a state of limited speed, in particular in a state of limited speed, connected, in particular wherein the data transmission means arranged on the handset means for Information transfer and on the machine arranged means for information transmission, wherein the means for transmitting information can be coupled together for data transmission. Plant according to at least one of the preceding claims, characterized in that the monitored security area surrounds the handset all around, in particular in the traversing plane of the handset, in particular wherein a plurality of security devices, in particular sensors for monitoring a respective security area, are arranged on the mobile part, in particular wherein in each case a sensor is arranged on four sides of the mobile part. Installation according to at least one of the preceding claims, characterized in that the data transmission from the handset to the machine is carried out safely, in particular so that when an error occurs, a warning can be generated Installation according to at least one of the preceding claims, characterized in that the safety device comprises a mechanical shut-off grid, a mechanical safety edge, an electromechanical safety edge, an optical switching curtain, a laser scanner, an ultrasonic distance determining means and / or a light curtain and / or a light barrier. Installation according to at least one of the preceding claims, characterized in that the mobile part has a first means for transmitting energy, by means of which energy from a arranged at the bottom of the system and / or floor laid electrical conductor, in particular conductor rail or primary conductor, the handset is transferable. Plant according to at least one of the preceding claims, characterized in that by means of the mobile part a workpiece can be transported to the machine, which can be processed by the machine, in particular, wherein the amount of energy required by the machine for processing is transmitted from the handset to the machine, in particular is transmitted from the energy storage of the handset to the machine. Installation according to at least one of the preceding claims, characterized in that the means for transmitting energy between the handset and the machine ( 2 . 22 ) each have a winding, in particular for inductive energy transfer. System according to at least one of the preceding claims, characterized in that each winding is connected in parallel and / or in series with a capacitor, so that the associated resonant frequency of the resonant circuit thus formed substantially corresponds to the frequency of the primary side impressed current. System according to at least one of the preceding claims, characterized in that the mobile part has a system for position bearing and / or for positional coupling, in particular a bearing system, a wheel revolution counter on a wheel ( 3 ) of the vehicle, a stationarily arranged RFID transponder comprehensive system and / or another navigation system, which is connected to a control unit of the mobile part for data transmission. Installation according to at least one of the preceding claims, characterized in that the machine has a means for transmitting information to the mobile part, wherein the mobile part has a corresponding means for information transmission, which is in operative connection with the first means for information transmission for data transmission. Plant according to at least one of the preceding claims, characterized in that the means for transmitting information can be implemented in one piece with the means for transmitting energy, the data being modulated onto the portion of the current intended for energy transmission, and / or that the energy proportion provided for the current component is at least ten times greater than that intended for data transmission. Method for operating a plant, in particular according to at least one of the preceding claims, wherein a handset transports a workpiece to a machine for processing the workpiece, wherein the mobile part has an energy store, characterized in that the handset transports the energy required by the machine during machining of the workpiece to the machine, the handset having a safety device for monitoring a safety area of the machine, In particular, where information is transmitted from the safety device to the machine, in particular transmitted securely, in particular wherein the information has a shutdown signal for the machine generated when a person or object arrives in the security area monitored by the security device. Method according to at least one of the preceding claims, characterized in that in a further method step workpiece and / or energy amount are transferred from the handset to the machine, in particular wherein in a later step, the workpiece is picked up by the handset and transported away, in particular to a next Target position and / or further machine. Method according to at least one of the preceding claims, characterized in that after the handset has arrived at the machine, data is transferred from the handset to the machine, in particular data is exchanged between the handset and the machine, in particular, wherein the machining process performed by the machine is controlled by a control unit of the machine and / or the mobile part, wherein parameters of the process are transmitted from the mobile part to the machine, and / or that the handset is guided by a control unit to the machine, which is connected to a navigation system, and / or that the energy store of the mobile part has a capacitor, a double-layer capacitor, an accumulator and / or a battery.

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