EP3365262B1 - Method for controlling a hoisting machine, hoisting machine and control device for controlling a drive of a hoisting machine - Google Patents

Method for controlling a hoisting machine, hoisting machine and control device for controlling a drive of a hoisting machine Download PDF

Info

Publication number
EP3365262B1
EP3365262B1 EP16797768.5A EP16797768A EP3365262B1 EP 3365262 B1 EP3365262 B1 EP 3365262B1 EP 16797768 A EP16797768 A EP 16797768A EP 3365262 B1 EP3365262 B1 EP 3365262B1
Authority
EP
European Patent Office
Prior art keywords
hoist
carrier
drive
change
hoisting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16797768.5A
Other languages
German (de)
French (fr)
Other versions
EP3365262A1 (en
Inventor
Norbert Becker
Roland Gebhard
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=55022255&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP3365262(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Siemens AG filed Critical Siemens AG
Priority to RSP20191304 priority Critical patent/RS59438B1/en
Priority to PL16797768T priority patent/PL3365262T3/en
Publication of EP3365262A1 publication Critical patent/EP3365262A1/en
Application granted granted Critical
Publication of EP3365262B1 publication Critical patent/EP3365262B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
    • B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B17/00—Hoistway equipment
    • B66B17/14—Applications of loading and unloading equipment
    • B66B17/26—Applications of loading and unloading equipment for loading or unloading mining-hoist skips

Definitions

  • the invention relates to a method for controlling a carrier, in particular for a shaft conveyor system, comprising a drive with an associated control device, a cable carrier, at least one hoisting rope and at least one conveying vessel arranged on the hoisting rope for the vertical transport of conveyed goods.
  • the invention further relates to a carrier and a control device for driving the drive of a carrier.
  • Such a carrier goes for example from the DE 10 2004 058 757 A1 out.
  • a shaft conveyor system which has a motor associated with a pulley, which leads a conveyor rope for funding. Furthermore, the shaft conveyor system is equipped with at least one pulse counter, which derived from the rotational movement determines a current path value and a current speed value of the conveyor. Furthermore, the shaft conveyor system is controlled and / or monitored by means of an electrical automation system, wherein the automation system for operation has a digital speed controller for calculating setpoints for a control of the motor.
  • Conveyor rope lengths have a number of disadvantages.
  • the bucket and thus the hoisting rope begin to swing vertically.
  • the bucket during loading moves downwards away from the optimal loading position.
  • Secondary effects also occur: a swinging hoisting rope has a negative effect on the speed and torque control of the drive and the service life of the hoisting rope can be negatively affected. Due to the vertical vibrations, it may be necessary to extend the crosstalk or reduce the acceleration to minimize wear of the mechanism or to avoid damage. In addition, additional horizontal vibrations can occur while driving in the shaft. With regard to the loading and unloading process, it also applies that if the bucket is outside the optimum position, the material may fall past the bucket into the hoistway.
  • the invention is therefore based on the object to ensure a height compensation of a delivery vessel during loading and unloading of the delivery containers of a carrier.
  • the object is achieved by a method for driving a carrier, in particular for a shaft conveyor, comprising a drive with an associated control device, a cable carrier, at least one hoisting rope and at least one arranged on the hoist conveyor vessel for the vertical transport of conveyed, wherein during loading or Unloading the at least one bucket of the drive remains switched on and to compensate for a change in the length of the feed rope, a rotation angle of the cable carrier is continuously adjusted based on a predetermined rotation angle course.
  • the rotational angle profile is determined by first a brake device of the carrier is actuated and when loading or unloading the at least one bucket a change in the length of the feeder rope is measured and from the rotation angle profile is calculated for the cable carrier.
  • a carrier in particular for a shaft conveyor system, comprising a drive with a control device for carrying out such a method.
  • control device for driving a drive of a carrier, in particular for a shaft conveyor system, for carrying out such a method.
  • the invention is based on the consideration that a vertical offset of a bucket relative to the loading position due to the elongation of the hoisting rope can be compensated by the bucket is moved at the appropriate speed in the direction of the drive.
  • the bucket can be moved away from the drive, since the hoisting rope contracts again due to the ever decreasing load.
  • a manipulated variable for the control of the carrier while a rotation angle, or a speed setpoint of the cable carrier is set so that the delivery cable length is varied by the rotation of the cable carrier.
  • the bucket remains in its optimal loading position and does not stimulate vertical vibration.
  • the drive or a converter of the carrier machine remains switched on during the loading or unloading process.
  • a mechanical brake device is not applied, so that wear of the brake elements is avoided.
  • dead times resulting from the imposition and release of the braking device are avoided, and the duration of the delivery cycle is reduced.
  • the rotation angle course of the cable carrier required for this compensation process is predetermined and deposited.
  • a speed setpoint curve is stored on the basis of which a desired torque profile is calculated, which is imposed on the drive during the loading or unloading process.
  • the drive in turn controls the cable carrier with respect to a change in the angle of rotation.
  • the method is characterized in particular by precise setpoints and easy retrofitting and calibration.
  • Another advantage is that the target torque (holding torque) is built up relatively slowly. The torque build-up takes place evenly within 20 to 30 seconds (for comparison, the torque build-up when opening the brake device is i.d.R. in about 200 msec). As a result, the shock load for both the electrical system (transformer, inverter, motor) and for the mechanical components of the carrier is lower.
  • the rotational angle profile is determined by first a brake device of the carrier is actuated and when loading or unloading the at least one bucket a change in the feed rope length is measured and from the rotation angle curve is calculated for the cable carrier.
  • the vertical bucket offset by the drive in the context of a controlled movement without the installation of additional sensors that measure the actual values of the carrier compensated. This method is applicable to most carriers, since the loading process is usually always the same and the loading is approximately linear.
  • the measurement of the change in the length of the conveyor takes place during installation or maintenance work. It is thus not a continuous determination of the offset of the vessels required, but the balancing Angle of rotation is determined directly and indirectly, ie as such or other associated with him characteristics and parameters, for example, once during commissioning of the carrier and deposited. At a later date during maintenance and repair work on the carrier, the data obtained can be recalibrated.
  • a first measured value for the change of the feed rope length during loading of the at least one conveying vessel is measured, then a second measured value for the change of the feed rope length during unloading of the at least one conveying vessel is measured and in case of deviations between
  • the mean value of both fair values is determined as a change in the length of the conveyor rope to be compensated.
  • the carrier has at least two delivery vessels and the compensation of the change in the delivery rope length is carried out for all delivery vessels.
  • the carrier has at least two delivery vessels and the compensation of the change in the delivery rope length is carried out for all delivery vessels.
  • the carrier has two delivery vessels and the loading of one of the delivery vessels and the unloading of the other delivery vessel take place simultaneously.
  • the carrier 2 for a shaft conveyor.
  • the carrier has a drive 4, which is controlled by a control device 6.
  • the carrier 2 in the embodiment shown also comprises a cable carrier 8, which is driven by the drive 4, and a conveyor rope 10 with two conveying vessels 12, 14 for the vertical transport of not shown here in detail conveyed material, e.g. Coal or ore.
  • the transport vessels 12, 14 can also be used to transport people.
  • the carrier 2 is in this case suitable for the transport of goods between 200 m and 4000 m in a shaft not shown in detail.
  • the conveying vessels 12, 14 are usually alternately loaded in the shaft at a lower holding point H 2 , conveyed upwards and unloaded at a higher holding point H 1. Up to 80 t are loaded or unloaded at about 1 t / sec.
  • the cable carrier 8 is rotated by the drive 4 which is still switched on during the unloading process so that the conveying vessel 12 moves away from the conveying vessel 12 at the same speed with which the conveying vessel 12 moves "upwards" Cable carrier 8 is shut down.
  • the drive 4 remains active during loading or unloading.
  • a braking device, not shown here, of the carrier 2 is not actuated.
  • the control device 6 acts on the drive 4 continuously with a predetermined setpoint torque, which causes a rotation of the cable carrier 8.
  • the movement of the cable carrier 8 is illustrated in the figure by the angle ⁇ .
  • the rotation of the cable carrier 8 by the angle ⁇ causes the delivery vessel 12 always remains in the same vertical position H 1 during unloading despite the ever-shortening conveyor rope 10.
  • the rope elongation on the side of the loading vessel 14 to be loaded is compensated for by moving the conveying vessel 14 at the appropriate speed in the direction of the cable carrier 8 while the drive 4 is still active.
  • the result of this compensation movement of the cable carrier 8 is that the conveying vessel 14 also remains in the same vertical position H 2 during the entire loading process.
  • both conveying vessels 12, 14 are loaded or unloaded in parallel, therefore, a rotation of the Seilongs 8 by the angle ⁇ sufficient to simultaneously compensate for the changes in the originallyseilbine on both sides of the cable carrier 8.
  • the nominal torque will possibly change its direction during this process.
  • the hoisting rope 10 expands by about 1 meter per 1000 m rope length.
  • the loading takes about 0.5 to 1 sec per ton.
  • the carrier 2 is moved at a speed of about 0.05 m / sec for about 20 seconds.
  • the drive 4 is actuated alternately in order to compensate for the respective vertical displacement of the conveying vessel which is currently in use.
  • both the elongation and the relaxation of the hoisting rope 10 with respect to a bucket 12, 14 is measured, it may happen that due to the different height H 1 , H 2 of the bucket during loading and unloading the extension and the relaxation of the hoisting rope differ from each other. Therefore, in particular a first measured value for changing the length of the conveyor rope during loading is measured, then a second measured value for changing the length of the conveyor rope during unloading is measured and if there are deviations between the two measured values, the mean value of both measured values is formed and considered as the value to be compensated.
  • the required for the compensation of the change in the length of the hoisting rope 10 rotation angle ⁇ is determined once or at longer intervals of several hundred hours of operation and deposited for the normal operation of the conveyor 2 in the form of parameters for Wegereglung the carrier 2.
  • the required for the compensation of the change in the length of the hoisting rope 10 rotation angle ⁇ is determined once or at longer intervals of several hundred hours of operation and deposited for the normal operation of the conveyor 2 in the form of parameters for Wegereglung the carrier 2.
  • a speed setpoint curve path over time
  • Due to the speed setpoint curve the course of the setpoint torque for the drive 4 is calculated by the control device 6, which is imposed on the drive 4 during operation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control And Safety Of Cranes (AREA)
  • Control Of Conveyors (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)

Description

Die Erfindung betrifft ein Verfahren zum Ansteuern einer Fördermaschine, insbesondere für eine Schachtförderanlage, umfassend einen Antrieb mit einer zugeordneten Steuervorrichtung, einen Seilträger, mindestens ein Förderseil und mindestens ein am Förderseil angeordnetes Fördergefäß zur vertikalen Beförderung von Fördergut. Die Erfindung betrifft weiterhin eine Fördermaschine sowie eine Steuervorrichtung zum Ansteuern des Antriebs einer Fördermaschine.The invention relates to a method for controlling a carrier, in particular for a shaft conveyor system, comprising a drive with an associated control device, a cable carrier, at least one hoisting rope and at least one conveying vessel arranged on the hoisting rope for the vertical transport of conveyed goods. The invention further relates to a carrier and a control device for driving the drive of a carrier.

Eine derartige Fördermaschine geht z.B. aus der DE 10 2004 058 757 A1 hervor. In diesem Stand der Technik ist eine Schachtförderanlage beschrieben, die eine mit einem Motor in Verbindung stehende Seilscheibe aufweist, welche ein Förderseil für Fördermittel führt. Weiterhin ist die Schachtförderanlage mit mindestens einem Impulszähler ausgestattet, welcher abgeleitet aus der Drehbewegung einen aktuellen Wegwert und einen aktuellen Geschwindigkeitswert des Fördermittels ermittelt. Des Weiteren ist die Schachtförderanlage mittels eines elektrischen Automatisierungssystems gesteuert und/oder überwacht, wobei das Automatisierungssystem für den Betrieb einen digitalen Fahrtregler zur Berechnung von Sollwerten für eine Regelung des Motors aufweist.Such a carrier goes for example from the DE 10 2004 058 757 A1 out. In this prior art, a shaft conveyor system is described, which has a motor associated with a pulley, which leads a conveyor rope for funding. Furthermore, the shaft conveyor system is equipped with at least one pulse counter, which derived from the rotational movement determines a current path value and a current speed value of the conveyor. Furthermore, the shaft conveyor system is controlled and / or monitored by means of an electrical automation system, wherein the automation system for operation has a digital speed controller for calculating setpoints for a control of the motor.

Aus der US 2005/0230192 A1 ist ein Verfahren zum Ansteuern einer Fördermaschine für eine Aufzugsanlage gemäß dem Oberbegriff des Anspruchs 1 bekannt.From the US 2005/0230192 A1 a method for driving a carrier for an elevator installation according to the preamble of claim 1 is known.

Bei Fördermaschinen für den Bergbau besteht allgemein das Problem, dass während des Beladens eines Fördergefäßes das Förderseil sich aufgrund der Gewichtszunahme des Fördergefäßes teilweise bis zu 1,5 m oder mehr dehnt. Dieser Wert ist abhängig von der Förderseillänge, der Zuladung und der Anzahl der Förderseile. Grundsätzlich ist es Ziel aller Hersteller von Fördermaschinen die Ladezeit so kurz wie möglich zu halten. Daher findet die Dehnung des Förderseils im Betrieb der Förderanlage innerhalb eines Zeitraums von wenigen Sekunden statt. Beim Entladen des Fördergefäßes, aufgrund des reduzierten Gewichts, zieht sich das Förderseil innerhalb kurzer Zeit dann wieder zusammen.In mining machines, there is a general problem that during the loading of a bucket, the hoisting rope partially expands to 1.5 m or more due to the weight increase of the bucket. This value depends on the length of the rope, the payload and the number of hoisting ropes. Basically, it is the goal of all manufacturers of carriers to keep the loading time as short as possible. Therefore, the stretching of the hoisting rope during operation of the conveyor system takes place within a period of a few seconds instead of. When unloading the bucket, due to the reduced weight, the hoisting rope then contracts again within a short time.

Das Förderseillängen zieht eine Reihe von Nachteilen nach sich. Das Fördergefäß und damit das Förderseil beginnen vertikal zu schwingen. Darüber hinaus bewegt sich das Fördergefäß beim Beladevorgang nach unten weg aus der optimalen Lade-position. Es treten zudem Sekundäreffekte auf: Ein schwingendes Förderseil hat negative Auswirkung auf die Geschwindigkeits- und Momentenregelung des Antriebs und die Lebensdauer des Förderseils kann negativ beeinflusst werden. Wegen der vertikalen Schwingungen kann es notwendig sein Schleichwege zu verlängern oder die Beschleunigung zu reduzieren, um Verschleiß der Mechanik zu minimieren oder Beschädigungen zu vermeiden. Zudem können zusätzlich horizontale Schwingungen während der Fahrt im Schacht auftreten. In Bezug auf den Belade- und Entladevorgang gilt zudem, dass wenn das Fördergefäß sich außerhalb der optimalen Position befindet, das Material am Fördergefäß vorbei in den Schacht fallen kann.Conveyor rope lengths have a number of disadvantages. The bucket and thus the hoisting rope begin to swing vertically. In addition, the bucket during loading moves downwards away from the optimal loading position. Secondary effects also occur: a swinging hoisting rope has a negative effect on the speed and torque control of the drive and the service life of the hoisting rope can be negatively affected. Due to the vertical vibrations, it may be necessary to extend the crosstalk or reduce the acceleration to minimize wear of the mechanism or to avoid damage. In addition, additional horizontal vibrations can occur while driving in the shaft. With regard to the loading and unloading process, it also applies that if the bucket is outside the optimum position, the material may fall past the bucket into the hoistway.

Der Erfindung liegt daher die Aufgabe zugrunde, einen Höhenausgleich eines Fördergefäßes beim Beladen und Entladen der Fördergefäße einer Fördermaschine zu gewährleisten.The invention is therefore based on the object to ensure a height compensation of a delivery vessel during loading and unloading of the delivery containers of a carrier.

Die Aufgabe wird erfindungsgemäß gelöst durch ein Verfahren zum Ansteuern einer Fördermaschine, insbesondere für eine Schachtförderanlage, umfassend einen Antrieb mit einer zugeordneten Steuervorrichtung, einen Seilträger, mindestens ein Förderseil und mindestens ein am Förderseil angeordnetes Fördergefäß zur vertikalen Beförderung von Fördergut, wobei während des Beladens oder Entladens des mindestens einen Fördergefäßes der Antrieb eingeschaltet bleibt und zur Kompensation einer Änderung der Förderseillänge ein Drehwinkel des Seilträgers auf Grundlage eines vorbestimmten Drehwinkelverlaufs kontinuierlich angepasst wird.The object is achieved by a method for driving a carrier, in particular for a shaft conveyor, comprising a drive with an associated control device, a cable carrier, at least one hoisting rope and at least one arranged on the hoist conveyor vessel for the vertical transport of conveyed, wherein during loading or Unloading the at least one bucket of the drive remains switched on and to compensate for a change in the length of the feed rope, a rotation angle of the cable carrier is continuously adjusted based on a predetermined rotation angle course.

Der Drehwinkelverlauf wird ermittelt, indem zunächst eine Bremsvorrichtung der Fördermaschine betätigt wird und beim Beladen oder Entladen des mindestens einen Fördergefäßes eine Änderung der Förderseillänge gemessen wird und daraus der Drehwinkelverlauf für den Seilträger berechnet wird.The rotational angle profile is determined by first a brake device of the carrier is actuated and when loading or unloading the at least one bucket a change in the length of the feeder rope is measured and from the rotation angle profile is calculated for the cable carrier.

Die Aufgabe wird weiterhin erfindungsgemäß gelöst durch eine Fördermaschine, insbesondere für eine Schachtförderanlage, umfassend einen Antrieb mit einer Steuervorrichtung für die Durchführung eines solchen Verfahrens.The object is further achieved according to the invention by a carrier, in particular for a shaft conveyor system, comprising a drive with a control device for carrying out such a method.

Die Aufgabe wird schließlich erfindungsgemäß gelöst durch eine Steuervorrichtung zum Ansteuern eines Antriebs einer Fördermaschine, insbesondere für eine Schachtförderanlage, für die Durchführung eines solchen Verfahrens.The object is finally achieved according to the invention by a control device for driving a drive of a carrier, in particular for a shaft conveyor system, for carrying out such a method.

Die in Bezug auf das Verfahren nachstehend angeführten Vorteile und bevorzugten Ausgestaltungen lassen sich sinngemäß auf den Antrieb und die Steuervorrichtung übertragen.The advantages and preferred embodiments set out below with regard to the method can be transferred analogously to the drive and the control device.

Der Erfindung liegt die Überlegung zugrunde, dass ein vertikaler Versatz eines Fördergefäßes gegenüber der Ladeposition aufgrund der Dehnung des Förderseils kompensiert werden kann, indem das Fördergefäß mit der entsprechenden Geschwindigkeit in Richtung auf den Antrieb zu bewegt wird. Beim Entladen des Fördergefäßes kann umgekehrt das Fördergefäß weg vom Antrieb bewegt werden, da das Förderseil aufgrund der immer kleiner werdenden Last sich wieder zusammenzieht. Als Stellgröße für die Steuerung der Fördermaschine wird dabei ein Drehwinkel, bzw. ein Geschwindigkeitssollwert des Seilträgers vorgegeben, so dass durch die Drehung des Seilträgers die Förderseillänge variiert wird. Dadurch bleibt das Fördergefäß in seiner optimalen Lade-Position und regt keine vertikale Schwingung an.The invention is based on the consideration that a vertical offset of a bucket relative to the loading position due to the elongation of the hoisting rope can be compensated by the bucket is moved at the appropriate speed in the direction of the drive. When unloading the bucket, conversely, the bucket can be moved away from the drive, since the hoisting rope contracts again due to the ever decreasing load. As a manipulated variable for the control of the carrier while a rotation angle, or a speed setpoint of the cable carrier is set so that the delivery cable length is varied by the rotation of the cable carrier. As a result, the bucket remains in its optimal loading position and does not stimulate vertical vibration.

Um dies zu ermöglichen, bleibt während des Belade- oder Entladevorgangs der Antrieb bzw. ein Umrichter der Fördermaschine eingeschalten. Insbesondere wird eine mechanische Bremsvorrichtung nicht aufgelegt, so dass ein Verschleiß der Bremselemente vermieden wird. Somit werden auch Totzeiten, die durch das Auferlegen und Freigeben der Bremsvorrichtung entstehen, vermieden und die Dauer des Förderzyklus wird verringert.In order to make this possible, the drive or a converter of the carrier machine remains switched on during the loading or unloading process. In particular, a mechanical brake device is not applied, so that wear of the brake elements is avoided. Thus, dead times resulting from the imposition and release of the braking device are avoided, and the duration of the delivery cycle is reduced.

Der für diesen Ausgleichsvorgang erforderliche Drehwinkelverlauf des Seilträgers ist dabei vorbestimmt und hinterlegt. Insbesondere ist eine Geschwindigkeitssollwertkurve hinterlegt, auf deren Basis ein Sollmomentverlauf berechnet wird, der dem Antrieb während des Belade- oder Entladevorgangs auferlegt wird. Der Antrieb seinerseits steuert den Seilträger im Hinblick auf eine Änderung des Drehwinkels an.The rotation angle course of the cable carrier required for this compensation process is predetermined and deposited. In particular, a speed setpoint curve is stored on the basis of which a desired torque profile is calculated, which is imposed on the drive during the loading or unloading process. The drive in turn controls the cable carrier with respect to a change in the angle of rotation.

Dadurch, dass der Ausgleich der Förderseildehnung steuerungstechnisch erfolgt, zeichnet sich das Verfahren insbesondere durch präzise Sollwerte und eine einfache Nachrüstbarkeit und Kalibrierung aus. Ein weiterer Vorteil besteht darin, dass das Soll-Drehmoment (Haltemoment) relativ langsam aufgebaut wird. Der Momentenaufbau erfolgt gleichmäßig innerhalb von 20 bis 30 Sekunden (zum Vergleich, der Momentenaufbau beim Öffnen der Bremsvorrichtung erfolgt i.d.R. in ca. 200 msek). Dadurch ist die Stoßbelastung sowohl für das elektrische System (Trafo, Umrichter, Motor) als auch für die mechanischen Komponenten der Fördermaschine geringer.The fact that the compensation of the Förderseildehnung control technology, the method is characterized in particular by precise setpoints and easy retrofitting and calibration. Another advantage is that the target torque (holding torque) is built up relatively slowly. The torque build-up takes place evenly within 20 to 30 seconds (for comparison, the torque build-up when opening the brake device is i.d.R. in about 200 msec). As a result, the shock load for both the electrical system (transformer, inverter, motor) and for the mechanical components of the carrier is lower.

Erfindungsgemäß wird der Drehwinkelverlauf ermittelt, indem zunächst eine Bremsvorrichtung der Fördermaschine betätigt wird und beim Beladen oder Entladen des mindestens einen Fördergefäßes eine Änderung der Förderseillänge gemessen wird und daraus der Drehwinkelverlauf für den Seilträger berechnet wird. Dabei wird der vertikale Fördergefäßversatz durch den Antrieb im Rahmen einer gesteuerten Bewegung ohne die Installation weiterer Sensoren, die Ist-Werte der Fördermaschine messen, ausgeglichen. Dieses Verfahren ist anwendbar bei den meisten Fördermaschinen, da der Beladevorgang in der Regel immer gleich ist und die Beladung in etwa linear abläuft.According to the invention, the rotational angle profile is determined by first a brake device of the carrier is actuated and when loading or unloading the at least one bucket a change in the feed rope length is measured and from the rotation angle curve is calculated for the cable carrier. In this case, the vertical bucket offset by the drive in the context of a controlled movement without the installation of additional sensors that measure the actual values of the carrier compensated. This method is applicable to most carriers, since the loading process is usually always the same and the loading is approximately linear.

Im Hinblick auf eine Vereinfachung des Verfahrens und eine Zeitersparnis erfolgt die Messung der Änderung der Förderseillänge im Rahmen von Installations- oder Wartungsarbeiten. Es ist somit keine kontinuierliche Bestimmung des Versatzes der Fördergefäße erforderlich, sondern der ausgleichende Drehwinkelverlauf wird direkt oder indirekt, d.h. als solcher oder andere mit ihm zusammenhängenden Kenngrößen und Parameter, beispielsweise einmalig bei der Inbetriebnahme der Fördermaschine ermittelt und hinterlegt. Zu einem späteren Zeitpunkt bei Wartungs- und Reparaturarbeiten an der Fördermaschine können die ermittelten Daten erneut kalibriert werden.With a view to simplifying the process and saving time, the measurement of the change in the length of the conveyor takes place during installation or maintenance work. It is thus not a continuous determination of the offset of the vessels required, but the balancing Angle of rotation is determined directly and indirectly, ie as such or other associated with him characteristics and parameters, for example, once during commissioning of the carrier and deposited. At a later date during maintenance and repair work on the carrier, the data obtained can be recalibrated.

Es kann vorkommen, dass aufgrund der unterschiedlichen Höhe des Fördergefäßes beim Beladen und beim Entladen an diesen Positionen die Verlängerung und die Entspannung des Förderseils voneinander abweichen. Im Hinblick auf eine optimale Kompensation dieser unterschiedlichen zu kompensierenden Längen wird vorzugsweise ein erster Messwert für die Änderung der Förderseillänge beim Beladen des mindestens einen Fördergefäßes gemessen, anschließend wird ein zweiter Messwert für die Änderung der Förderseillänge beim Entladen des mindestens einen Fördergefäßes gemessen und bei Abweichungen zwischen den beiden Messewerten wird der Mittelwert beider Messewerte als zu kompensierende Änderung der Förderseillänge festgelegt.It may happen that due to the different height of the bucket during loading and unloading at these positions, the extension and the relaxation of the hoisting rope differ from each other. With regard to an optimal compensation of these different lengths to be compensated, preferably a first measured value for the change of the feed rope length during loading of the at least one conveying vessel is measured, then a second measured value for the change of the feed rope length during unloading of the at least one conveying vessel is measured and in case of deviations between For the two fair values, the mean value of both fair values is determined as a change in the length of the conveyor rope to be compensated.

Zweckdienlicherweise weist die Fördermaschine mindestens zwei Fördergefäße auf und die Kompensation der Änderung der Förderseillänge wird für alle Fördergefäße durchgeführt. Somit wird ein besonders sicherer und effizienter Betrieb der Fördermaschine gewährleistet.Conveniently, the carrier has at least two delivery vessels and the compensation of the change in the delivery rope length is carried out for all delivery vessels. Thus, a particularly safe and efficient operation of the carrier is guaranteed.

Bevorzugt weist die Fördermaschine zwei Fördergefäße auf und das Beladen eines der Fördergefäße und das Entladen des anderen Fördergefäßes erfolgen gleichzeitig. Hierdurch entsteht ein besonders vorteilhafter Synergieeffekt, bei dem durch eine einzige Kompensationsbewegung des Antriebs sowohl der Verlängerung des Förderseils auf der Seite des zu beladenen Fördergefäßes als auch dem Zusammenziehen des Förderseils auf der Seite des zu entladenen Fördergefäßes entgegengewirkt wird.Preferably, the carrier has two delivery vessels and the loading of one of the delivery vessels and the unloading of the other delivery vessel take place simultaneously. This results in a particularly advantageous synergy effect, is counteracted by a single compensation movement of the drive both the extension of the hoisting rope on the side of the loading vessel to be loaded and the contraction of the hoisting rope on the side of the discharge vessel to be unloaded.

Ein Ausführungsbeispiel der Erfindung wird anhand einer Zeichnung näher erläutert. Hierin zeigt die einzige Figur stark vereinfacht eine Fördermaschine 2 für eine Schachtförderanlage. Die Fördermaschine weist einen Antrieb 4 auf, der von einer Steuervorrichtung 6 angesteuert wird. Die Fördermaschine 2 umfasst im gezeigten Ausführungsbeispiel zudem einen Seilträger 8, der vom Antrieb 4 angetrieben wird, sowie ein Förderseil 10 mit zwei Fördergefäßen 12, 14 zur vertikalen Beförderung von hier nicht näher gezeigtem Fördergut, z.B. Kohle oder Erz. Die Fördergefäße 12, 14 können jedoch auch zur Beförderung von Personen eingesetzt werden.An embodiment of the invention will be explained in more detail with reference to a drawing. Herein, the single figure shows greatly simplified a carrier 2 for a shaft conveyor. The carrier has a drive 4, which is controlled by a control device 6. The carrier 2 in the embodiment shown also comprises a cable carrier 8, which is driven by the drive 4, and a conveyor rope 10 with two conveying vessels 12, 14 for the vertical transport of not shown here in detail conveyed material, e.g. Coal or ore. However, the transport vessels 12, 14 can also be used to transport people.

Im gezeigten Ausführungsbeispiel ist lediglich ein Förderseil veranschaulicht. Jedoch können mehrere Förderseile zur Aufhängung des jeweiligen Fördergefäßes 12, 14 verwendet werden.In the embodiment shown, only one hoist rope is illustrated. However, several hoisting ropes can be used to suspend the respective bucket 12, 14.

Die Fördermaschine 2 ist hierbei für die Beförderung von Fördergut zwischen 200 m und 4000 m in einem nicht näher gezeigten Schacht geeignet. Die Fördergefäße 12, 14 werden im Betrieb im Regelfall an einem tieferen Haltepunkt H2 im Schacht abwechselnd beladen, nach oben befördert und an einem höheren Haltepunkt H1 entladen Dabei werden bis zu 80 t mit ca. 1 t/sek beladen oder entladen.The carrier 2 is in this case suitable for the transport of goods between 200 m and 4000 m in a shaft not shown in detail. During operation, the conveying vessels 12, 14 are usually alternately loaded in the shaft at a lower holding point H 2 , conveyed upwards and unloaded at a higher holding point H 1. Up to 80 t are loaded or unloaded at about 1 t / sec.

In der Figur ist die Situation dargestellt, bei der das Fördergefäß 12 auf der linken Seite der Fördermaschine 2 entladen wird und das Fördergefäß 14 auf der rechten Seite gleichzeitig beladen wird. Durch das Entladen des Fördergefäßes 12 reduziert sich das Gewicht auf dieser Seite des Seilträgers 8, so dass die auf das Förderseil 10 einwirkenden Kräfte graduell geringer werden und das Förderseil 10 sich zusammenzieht, so dass das Fördergefäß 12 vertikal in eine höhere Position, dargestellt durch punktierte Linien, gelangen würde. Dies ist in der Figur durch eine entspannte Feder im Bereich des Förderseils 10 oberhalb des Fördergefäßes 12 angedeutet.In the figure, the situation is shown in which the bucket 12 is unloaded on the left side of the carrier 2 and the bucket 14 is loaded on the right side at the same time. By unloading the bucket 12, the weight is reduced on this side of the cable carrier 8, so that the forces acting on the hoist rope 10 forces are gradually lower and the hoisting rope 10 contracts, so that the bucket 12 vertically to a higher position, shown by dotted Lines, would arrive. This is indicated in the figure by a relaxed spring in the region of the conveying cable 10 above the conveying vessel 12.

Auf der rechten Seite des Seilträgers 8 erfolgt beim gleichzeitigen Beladen des Fördergefäßes 14 ein ähnlicher Vorgang, jedoch in der entgegengesetzten Richtung. Durch das stetig zunehmende Gewicht im Fördergefäß 14 wirkt auf das Förderseil 10 eine immer größer werdende Kraft nach unten, so dass das Förderseil 10 sich dehnt, symbolisch dargestellt durch eine gespannte Feder. Je nach Förderseillänge und Gewicht des Förderguts kann sich ein Förderseil 10 bis zu 1,5 m dehnen. Ohne eine äußere Einwirkung würde dabei das Fördergefäß 14 eine tiefere Position annehmen, welche in der Figur mit punktierten Linien gezeigt ist.On the right side of the cable carrier 8 takes place during simultaneous loading of the conveying vessel 14, a similar process, but in the opposite direction. Due to the steadily increasing weight in the conveying vessel 14 acts on the hoisting rope 10 an ever-increasing force downwards, so that the hoisting rope 10 stretches, symbolically represented by a tensioned spring. Depending on the length of the rope and the weight of the material to be conveyed, a hoisting rope 10 can stretch up to 1.5 m. Without an external action, the delivery vessel 14 would assume a lower position, which is shown in the figure with dotted lines.

Um der Änderung der Förderseillänge beim Entladen des Fördergefäßes 12 entgegenzuwirken, wird der Seilträger 8 durch den beim Entladevorgang noch eingeschalteten Antrieb 4 so gedreht, dass mit der gleichen Geschwindigkeit, mit der das Fördergefäß 12 sich "nach oben" bewegt, das Fördergefäß 12 weg vom Seilträger 8 heruntergefahren wird. Hierzu bleibt der Antrieb 4 während des Beladens oder Entladens aktiv. Insbesondere wird eine hier nicht näher gezeigte Bremsvorrichtung der Fördermaschine 2 nicht betätigt. Die Steuervorrichtung 6 beaufschlagt den Antrieb 4 kontinuierlich mit einem vorbestimmten Soll-Drehmoment, welches eine Drehung des Seilträgers 8 herbeiführt. Die Bewegung des Seilträgers 8 ist in der Figur durch den Winkel α veranschaulicht. Die Rotation des Seilträgers 8 um den Winkel α führt dazu, dass während des Entladens trotz des immer kürzer werdenden Förderseils 10 das Fördergefäß 12 stets in der gleichen vertikalen Position H1 bleibt.In order to counteract the change in the length of the conveyor rope during unloading of the conveying vessel 12, the cable carrier 8 is rotated by the drive 4 which is still switched on during the unloading process so that the conveying vessel 12 moves away from the conveying vessel 12 at the same speed with which the conveying vessel 12 moves "upwards" Cable carrier 8 is shut down. For this purpose, the drive 4 remains active during loading or unloading. In particular, a braking device, not shown here, of the carrier 2 is not actuated. The control device 6 acts on the drive 4 continuously with a predetermined setpoint torque, which causes a rotation of the cable carrier 8. The movement of the cable carrier 8 is illustrated in the figure by the angle α. The rotation of the cable carrier 8 by the angle α causes the delivery vessel 12 always remains in the same vertical position H 1 during unloading despite the ever-shortening conveyor rope 10.

Die Seillängung auf der Seite des zu beladenden Fördergefäßes 14 wird kompensiert, indem bei noch aktivem Antrieb 4 das Fördergefäß 14 mit der entsprechenden Geschwindigkeit in Richtung auf den Seilträger 8 zu bewegt wird. Das Ergebnis dieser Ausgleichbewegung des Seilträgers 8 ist, dass das Fördergefäß 14 ebenfalls während des gesamten Beladevorgangs in der gleichen vertikalen Position H2 bleibt.The rope elongation on the side of the loading vessel 14 to be loaded is compensated for by moving the conveying vessel 14 at the appropriate speed in the direction of the cable carrier 8 while the drive 4 is still active. The result of this compensation movement of the cable carrier 8 is that the conveying vessel 14 also remains in the same vertical position H 2 during the entire loading process.

Im gezeigten Ausführungsbeispiel werden beide Fördergefäße 12, 14 parallel ent- bzw. beladen, daher ist eine Drehung des Seilträgers 8 um den Winkel α ausreichend, um gleichzeitig die Änderungen der Förderseillänge auf beiden Seiten des Seilträgers 8 zu kompensieren. Das Soll-Drehmoment wird dabei während dieses Vorgangs ggf. seine Richtung ändern.In the illustrated embodiment, both conveying vessels 12, 14 are loaded or unloaded in parallel, therefore, a rotation of the Seilträgers 8 by the angle α sufficient to simultaneously compensate for the changes in the Förderseillänge on both sides of the cable carrier 8. The nominal torque will possibly change its direction during this process.

Im Durchschnitt dehnt sich das Förderseil 10 um ca. 1 Meter pro 1000 m Seillänge. Die Beladung dauert etwa 0,5 bis 1 Sek pro Tonne. Somit wird sich die Fördermaschine 2 mit einer Geschwindigkeit von etwa 0,05 m/sek für etwa 20 Sekunden bewegt.On average, the hoisting rope 10 expands by about 1 meter per 1000 m rope length. The loading takes about 0.5 to 1 sec per ton. Thus, the carrier 2 is moved at a speed of about 0.05 m / sec for about 20 seconds.

Wenn die Fördermaschine 2 mehrere Fördergefäße 12, 14 umfasst und das Beladen oder Entladen nicht zeitgleich erfolgt, dann wird der Antrieb 4 alternierend angesteuert, um den jeweiligen vertikalen Versatz des Fördergefäßes, welcher gerade im Einsatz ist, zu kompensieren. Das gleiche gilt für eine Fördermaschine 2 mit nur einem Fördergefäß und einem Gegengewicht: entsprechend der Position H1, H2 des Fördergefäßes wird die Drehrichtung des Seilträgers 8 geändert.If the carrier 2 comprises a plurality of conveying vessels 12, 14 and the loading or unloading does not take place at the same time, then the drive 4 is actuated alternately in order to compensate for the respective vertical displacement of the conveying vessel which is currently in use. The same applies to a carrier 2 with only one bucket and a counterweight: according to the position H 1 , H 2 of the bucket, the direction of rotation of the cable carrier 8 is changed.

Wenn sowohl die Dehnung als auch die Entspannung des Förderseils 10 in Bezug auf ein Fördergefäß 12, 14 gemessen wird, kann es passieren, dass aufgrund der unterschiedlichen Höhe H1, H2 des Fördergefäßes beim Beladen und beim Entladen die Verlängerung und die Entspannung des Förderseils voneinander abweichen. Daher wird insbesondere ein erster Messwert für die Änderung der Förderseillänge beim Beladen gemessen, anschließend wird ein zweiter Messwert für die Änderung der Förderseillänge beim Entladen gemessen und bei Abweichungen zwischen den beiden Messewerten wird der Mittelwert beider Messwerte gebildet und als auszugleichender Wert betrachtet.If both the elongation and the relaxation of the hoisting rope 10 with respect to a bucket 12, 14 is measured, it may happen that due to the different height H 1 , H 2 of the bucket during loading and unloading the extension and the relaxation of the hoisting rope differ from each other. Therefore, in particular a first measured value for changing the length of the conveyor rope during loading is measured, then a second measured value for changing the length of the conveyor rope during unloading is measured and if there are deviations between the two measured values, the mean value of both measured values is formed and considered as the value to be compensated.

Der für die Kompensation der Änderung in der Länge des Förderseils 10 erforderliche Drehwinkel α wird einmalig oder in größeren Zeitabständen von mehreren Hundert Betriebsstunden bestimmt und für den Normallbetrieb der Förderanlage 2 in Form von Parameter für eine Wegereglung der Fördermaschine 2 hinterlegt. Hierzu wird zunächst die Dehnung des Förderseils 10 gemessen. Die Messung kann beim Beladevorgang erfolgen. Ergänzend oder alternativ kann das Zusammenziehen des Förderseils 10 beim Entladevorgang gemessen werden. Aufgrund der Informationen über die Dehnung des Förderseils 10 über die Belade- und/oder Entladezeit wird im gezeigten Ausführungsbeispiel eine Geschwindigkeitssollwertkurve (Weg über die Zeit) ermittelt, welche die Grundlage für die Antriebssteuerung im Betrieb der Fördermaschine 2 bildet. Aufgrund der Geschwindigkeitssollwertkurve wird von der Steuervorrichtung 6 der Verlauf des Soll-Drehmoments für den Antrieb 4 berechnet, welcher im Betrieb auf den Antrieb 4 auferlegt wird.The required for the compensation of the change in the length of the hoisting rope 10 rotation angle α is determined once or at longer intervals of several hundred hours of operation and deposited for the normal operation of the conveyor 2 in the form of parameters for Wegereglung the carrier 2. For this purpose, first the elongation of the hoisting rope 10 measured. The measurement can be done during the loading process. Additionally or alternatively, the contraction of the hoisting rope 10 during the unloading process can be measured. Based on the information about the elongation of the hoisting rope 10 over the loading and / or unloading time, a speed setpoint curve (path over time) is determined in the embodiment shown, which forms the basis for the drive control during operation of the carrier 2. Due to the speed setpoint curve, the course of the setpoint torque for the drive 4 is calculated by the control device 6, which is imposed on the drive 4 during operation.

Durch die gleich bleibende Position der Fördergefäße 12, 14 werden insbesondere keine vertikalen Schwingungen induziert, entsprechend erfolgt ein schwingungsfreies Anfahren der Fördermaschine 2 zum Beginn des jeweils nächsten Fahrzyklus. Auch die Seilbelastungen werden geringer. Zudem hat das beschriebene Verfahren eine Steigerung der Produktivität zur Folge, da die Totzeiten wegen dem Einschalten und Lösen der mechanischen Bremsvorrichtung entfallen und ein schnelles Anfahren möglich ist.Due to the constant position of the conveying vessels 12, 14, in particular no vertical vibrations are induced, correspondingly a vibration-free starting of the carrier 2 takes place at the beginning of the respectively next driving cycle. The rope loads are lower. In addition, the described method results in an increase in productivity, since the dead times due to the switching on and releasing the mechanical brake device omitted and a quick start is possible.

Claims (7)

  1. Method for actuating a hoist (2), in particular for a shaft hoisting system comprising a drive (4) having an associated control device (6), a cable carrier (8), at least one hoisting cable (10) and at least one hoist container (12, 14) arranged on the hoisting cable (10) for the vertical transport of material to be conveyed, wherein, during loading or unloading of the at least one hoist container (12, 14), the drive (4) remains activated and, to compensate for a change to the hoisting cable length, a rotation angle (α) of the cable carrier (8) is continuously adjusted based on a predetermined rotation angle progression,
    characterised in that the rotation angle progression is determined in that, first, a brake device for the hoist (2) is actuated and, during loading or unloading of the at least one hoist container (12, 14), a change to the hoisting cable length is measured and the rotation angle progression for the cable carrier (8) is calculated therefrom.
  2. Method according to claim 1,
    characterised in that the measurement of the change to the hoisting cable length is performed during the course of installation or maintenance work.
  3. Method according to one of claims 1 or 2,
    characterised in that a first measured value for the change to the hoisting cable length is measured during loading of the at least one hoist container (12, 14), a second measured value for the change to the hoisting cable length is measured during unloading of the at least one hoist container and, in the case of discrepancies between the two measured values, the mean value of the two measured values is defined as the change to the hoisting cable length to be compensated.
  4. Method according to one of the preceding claims,
    characterised in that the hoist (2) comprises at least two hoist containers (12, 14) and the compensation for the change to the hoisting cable length is performed for all hoist containers (12, 14).
  5. Method according to claim 4,
    characterised in that the hoist (2) comprises two hoist containers (12, 14) and the loading of one of the hoist containers (12, 14) and the unloading of the other hoist container (12, 14) take place simultaneously.
  6. Control device (6) for actuating a drive (4) of a hoist (2), in particular for a shaft hoisting system, for the performance of the method according to one of claims 1 to 5.
  7. Hoist (2), in particular for a shaft hoisting system comprising a drive (4) having a control device (6) according to claim 6.
EP16797768.5A 2015-12-02 2016-11-03 Method for controlling a hoisting machine, hoisting machine and control device for controlling a drive of a hoisting machine Active EP3365262B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
RSP20191304 RS59438B1 (en) 2015-12-02 2016-11-03 Method for controlling a hoisting machine, hoisting machine and control device for controlling a drive of a hoisting machine
PL16797768T PL3365262T3 (en) 2015-12-02 2016-11-03 Method for controlling a hoisting machine, hoisting machine and control device for controlling a drive of a hoisting machine

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP15197467.2A EP3176122A1 (en) 2015-12-02 2015-12-02 Method for controlling a conveyor machine, conveyor machine and control device for controlling a drive of a conveyor machine
PCT/EP2016/076500 WO2017092959A1 (en) 2015-12-02 2016-11-03 Method for actuating a hoist, hoist, and control device for actuating a hoist drive

Publications (2)

Publication Number Publication Date
EP3365262A1 EP3365262A1 (en) 2018-08-29
EP3365262B1 true EP3365262B1 (en) 2019-08-28

Family

ID=55022255

Family Applications (2)

Application Number Title Priority Date Filing Date
EP15197467.2A Withdrawn EP3176122A1 (en) 2015-12-02 2015-12-02 Method for controlling a conveyor machine, conveyor machine and control device for controlling a drive of a conveyor machine
EP16797768.5A Active EP3365262B1 (en) 2015-12-02 2016-11-03 Method for controlling a hoisting machine, hoisting machine and control device for controlling a drive of a hoisting machine

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP15197467.2A Withdrawn EP3176122A1 (en) 2015-12-02 2015-12-02 Method for controlling a conveyor machine, conveyor machine and control device for controlling a drive of a conveyor machine

Country Status (10)

Country Link
EP (2) EP3176122A1 (en)
CN (1) CN108290717B (en)
AU (1) AU2016363478B2 (en)
CA (1) CA3006961C (en)
LT (1) LT3365262T (en)
PL (1) PL3365262T3 (en)
RS (1) RS59438B1 (en)
RU (1) RU2700906C1 (en)
WO (1) WO2017092959A1 (en)
ZA (1) ZA201803558B (en)

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3158228A (en) * 1961-07-18 1964-11-24 Anglo Amer Corp South Africa Rope stretch compensator for suspended conveyances in mine hoisting equipment
JPH11255452A (en) * 1998-03-12 1999-09-21 Toshiba Fa Syst Eng Corp Guide device for elevator compensating rope
KR100406871B1 (en) * 2003-01-11 2003-12-03 Jeong Du Choi Device for equalizing rope tension of elevator
AU2003251386A1 (en) * 2003-05-30 2005-01-04 Otis Elevator Company Tie-down compensation for an elevator system
US7360630B2 (en) * 2004-04-16 2008-04-22 Thyssenkrupp Elevator Capital Corporation Elevator positioning system
DE102004058757A1 (en) 2004-12-06 2005-07-07 Siemens Ag Shaft or mine shaft transport system has a system of impulse counters linked to a digital control system that is used to determine the amount of cable paid out and the speed of travel and position of cabins within the shaft
CN101959783B (en) * 2008-02-26 2014-03-12 奥蒂斯电梯公司 Dynamic compensation during elevator car re-leveling
JP2010208752A (en) * 2009-03-09 2010-09-24 Toshiba Elevator Co Ltd Elevator device
CN102398834A (en) * 2010-09-11 2012-04-04 鲁继成 Direct connection type hydraulic rope regulator
WO2014118315A1 (en) * 2013-02-04 2014-08-07 Inventio Ag Compensation element with blocking device
CN104140019B (en) * 2014-07-07 2017-05-03 日立电梯（中国）有限公司 Control device and control method of elevator lift car position

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
ZA201803558B (en) 2019-03-27
CA3006961A1 (en) 2017-06-08
RS59438B1 (en) 2019-11-29
WO2017092959A1 (en) 2017-06-08
AU2016363478A1 (en) 2018-06-14
EP3176122A1 (en) 2017-06-07
LT3365262T (en) 2019-10-25
CN108290717A (en) 2018-07-17
RU2700906C1 (en) 2019-09-23
EP3365262A1 (en) 2018-08-29
PL3365262T3 (en) 2020-03-31
AU2016363478B2 (en) 2019-07-04
CA3006961C (en) 2020-04-14
CN108290717B (en) 2019-12-06

Similar Documents

Publication Publication Date Title
DE1931043C3 (en) Pallet unloader
EP2565148B1 (en) Stacker crane with a lifting carriage powered by a kind of pulley block
WO2016161470A1 (en) Transport unit
DE112014007092B4 (en) ELEVATOR CONTROL DEVICE
EP3478621B1 (en) Method for constructing a lift assembly with an adaptable usable lifting height
AT501509A1 (en) METHOD AND POSITION CONTROL APPARATUS FOR CONTROLLING THE OPERATION OF A LOAD TRACTOR DEVICE
DE112013007076B4 (en) winder
DE112019006753T5 (en) Elevator device
EP2062836A1 (en) Method for releasing from stock, method for placing in stock and method for handling merchandise in a warehouse and warehouse facilities for implementing the a.m. methods
EP0123846B1 (en) Trolley with rope hoisting gear having damped pendulum oscillations
EP3365262B1 (en) Method for controlling a hoisting machine, hoisting machine and control device for controlling a drive of a hoisting machine
DE4325946C2 (en) Damping and positioning device for active damping of the swaying of loads suspended on cranes
DE2115587A1 (en) Charging device, in particular for automatic charging
DE112014006658T5 (en) LIFT DEVICE
EP0318660A1 (en) Process and device for the position control of a positioning drive, especially for lifts
DE112009002420T5 (en) Method and device for lowering and / or lifting a winding shaft
DE102013016707A1 (en) Transport device and placement device with it
EP3227216A1 (en) Elevator system
WO2018091597A1 (en) Method for constructing an elevator system having an adaptable usable lifting height
EP2383208A1 (en) Method and assembly for unloading storage goods from a storage location of a warehouse
AT509781A1 (en) METHOD AND SYSTEM FOR COMPENSATING FORCES OR BZW. MOMENTS IN A POINT TRAY OR PROSPECTOR
EP1291307B1 (en) Method and device for centering containers while palletising and depalletising
DE2849552A1 (en) PRESS LINE
AT412870B (en) DEVICE AND METHOD FOR RAISING A LOAD CHANGING IN DEPENDENCE OF THE LIFT
DE102018220541A1 (en) Stacking device for bow

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20180524

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20190424

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1172157

Country of ref document: AT

Kind code of ref document: T

Effective date: 20190915

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502016006350

Country of ref document: DE

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: EE

Ref legal event code: FG4A

Ref document number: E018262

Country of ref document: EE

Effective date: 20191029

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20190828

REG Reference to a national code

Ref country code: NO

Ref legal event code: T2

Effective date: 20190828

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191128

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191230

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191228

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191129

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: SIEMENS SCHWEIZ AG, CH

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200224

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502016006350

Country of ref document: DE

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG2D Information on lapse in contracting state deleted

Ref country code: IS

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191103

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191130

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191130

26N No opposition filed

Effective date: 20200603

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20191130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191103

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20161103

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191202

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190828

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1172157

Country of ref document: AT

Kind code of ref document: T

Effective date: 20211103

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20211103

REG Reference to a national code

Ref country code: DE

Ref legal event code: R081

Ref document number: 502016006350

Country of ref document: DE

Owner name: INNOMOTICS GMBH, DE

Free format text: FORMER OWNER: SIEMENS AKTIENGESELLSCHAFT, 80333 MUENCHEN, DE

REG Reference to a national code

Ref country code: GB

Ref legal event code: 732E

Free format text: REGISTERED BETWEEN 20231123 AND 20231129

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20231204

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: TR

Payment date: 20231101

Year of fee payment: 8

Ref country code: SE

Payment date: 20231109

Year of fee payment: 8

Ref country code: RS

Payment date: 20231027

Year of fee payment: 8

Ref country code: NO

Payment date: 20231108

Year of fee payment: 8

Ref country code: LV

Payment date: 20231115

Year of fee payment: 8

Ref country code: LT

Payment date: 20231023

Year of fee payment: 8

Ref country code: EE

Payment date: 20231117

Year of fee payment: 8

REG Reference to a national code

Ref country code: EE

Ref legal event code: GB1A

Ref document number: E018262

Country of ref document: EE

REG Reference to a national code

Ref country code: NO

Ref legal event code: CHAD

Owner name: LNNOMOTICS GMBH, DE

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: PL

Payment date: 20231026

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240119

Year of fee payment: 8