EP3781463A1 - Système de transport et procédé de commande d'un tel système - Google Patents

Système de transport et procédé de commande d'un tel système

Info

Publication number
EP3781463A1
EP3781463A1 EP19719449.1A EP19719449A EP3781463A1 EP 3781463 A1 EP3781463 A1 EP 3781463A1 EP 19719449 A EP19719449 A EP 19719449A EP 3781463 A1 EP3781463 A1 EP 3781463A1
Authority
EP
European Patent Office
Prior art keywords
carriage
trolley
waypoint
along
parameter
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.)
Pending
Application number
EP19719449.1A
Other languages
German (de)
English (en)
Inventor
Herbert Schulze
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.)
Pentanova Cs GmbH
Original Assignee
Pentanova Cs GmbH
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
Priority claimed from DE102018109584.8A external-priority patent/DE102018109584A1/de
Priority claimed from DE102018116624.9A external-priority patent/DE102018116624A1/de
Application filed by Pentanova Cs GmbH filed Critical Pentanova Cs GmbH
Publication of EP3781463A1 publication Critical patent/EP3781463A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • B62D53/005—Combinations with at least three axles and comprising two or more articulated parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/002—Control or safety means for heart-points and crossings of aerial railways, funicular rack-railway
    • B61L23/005—Automatic control or safety means for points for operator-less railway, e.g. transportation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B62D65/18—Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines

Definitions

  • the invention relates to a conveyor system with a) a conveyor line, b) at least a first vehicle, which carries its own drive and with this along the conveyor section is movable and having a first car parameters, and c) a control, taking into account the first car parameter triggers various actions using waypoints along the conveyor line.
  • the invention further relates to a method for controlling such a conveyor system.
  • driving course branches offer the trolley different sections from one another after leaving the branch.
  • Driving course merges offer the possibility of driving from different sections of the route to a common section of the route.
  • Such conveyor systems serve, for example, to transport workpieces in at least part of a larger production facility.
  • a part of a production plant for workpieces can be, for example, a production area, a surface treatment area, a storage area, an assembly area, a control area and / or a connection area between other parts of the production facility.
  • the conveyor system may have a pure transport function of the workpieces between two areas. However, it is also possible that the conveyor system moves the workpieces through a process step within the areas. The carriages are therefore partially stopped at certain stations, so that a corresponding process step at the work piece can be performed.
  • the carriages In order to follow the course of the route and in particular a rail, the carriages have a chassis with a drive entrained, for example in the form of a friction wheel. Furthermore, such a chassis can have further guide elements, such as guide rollers.
  • the drive usually includes an electric gear motor, the energy supply via sliding lines along the conveyor line or entrained energy storage, such as batteries, gas cylinders and / or capacitors is ensured.
  • Inductive energy concepts are known.
  • the control of such a conveyor system via a so-called Anlagensteue tion. In doing so, the complex processes of the entire production plant are broken down into smaller logical units in accordance with the principle of "divide and rule". So too the design of the conveyor system. Therefore, concepts are known in which the plant control the carriage only indicates goals to which they should drive, and the Fahrwa conditions own own car controls carry, which conditions the movement of the Fahrwa conditions, in particular their driving speeds. For example, driving speed changes of the carriages are required if they pass through a curve region of the conveyor line. Because compared to a straight conveyor line can sometimes act higher mechanical loads on the chassis of the car.
  • the carriages may also be necessary for the carriages to stop temporarily at certain points on the conveyor. This may be necessary, for example, at the corresponding processing and / or treatment areas. Also, the switching of track changing facilities may require a short stoppage of the car.
  • Such an action as changing the driving speed or stopping the trolley thus takes place as a function of the position of the trolley along the conveyor track.
  • the waypoints can be provided as physical switches, which, for example, switch a vehicle into a slow driving speed in front of a curved route.
  • the waypoints are provided virtually by the system control.
  • the carriages carry a reader, with wel chem position encodings along the conveyor line can be read.
  • the Anlagensteue tion specifies as a waypoint a specific position along the conveyor line.
  • the position of the waypoints along the conveyor line is determined during the design of the conveyor.
  • the location of the waypoints depends largely on the action to be triggered, the speeds provided at the waypoint and / or the other structural requirements. Above all, however, the location of the waypoints depends on car parameters of the vehicles used in the conveyor system. In a conveyor system, for example, carriages of the same length are always used. In the design of the conveyor system and the implementation of the system control, for example, depending on the used trolley, a waypoint in front of a switch is set to a position matching the length of the trolley.
  • the arrangement of waypoints is thus in the conception of the conveyor ge according to the requirements of the production plant and especially the technical properties th, that is the car parameters, the selected type of vehicle, which will be used in the system set.
  • a conveyor system of the type mentioned in which d) at least a second carriage with a second car parameters, which deviates from the first car parameters, is provided, and e) the controller is set to at least one waypoint along the För derumble , on which a certain action is triggered to set for the second Fahrwa gene at a different position along the conveyor line than for the Ers th carriage.
  • the inventor has recognized that it can sometimes be useful to the waypoints that are ent long the conveyor line to trigger for various actions, depending to use the incoming trolley and that if on one and the same För derstrom vehicles with different car parameters must be driven.
  • the resulting trolley can still be reliably moved through the winningstre bridge with a deviating from normal operation car parameters. For the remaining vehicles nothing changes with regard to the waypoints.
  • the position of the waypoint for the second carriage may be permanently provided at one of their position as the waypoint for the first carriage.
  • the two waypoints for the first and the second Fahrwa conditions be mounted at different positions along the conveyor line, but in each case act only on the first or the second carriage or the two vehicles can respond only to one of the two waypoints ,
  • two different stop waypoints for the two carriages may be provided in front of a route changing device such as a switch or the like.
  • the waypoints can also be offset only when needed in the controller. This can for example only happen in the case of an existing actually in the conveyor section two th trolley, so that the waypoints for the corresponding actions quasi just temporarily for the trolley with a different car parameters who the.
  • the specific action is an action that is similar for both the first vehicle and the second vehicle.
  • the particular action is a speed change, a stop at a stop point, and / or a route release.
  • the first and second carriage parameters are a carriage length, a mass, a maximum acceleration, a speed and / or a functional length of the carriages.
  • the relevant parameters are the parameters mentioned. Under the maximum acceleration can be understood both the acceleration and deceleration.
  • the functional length is a virtually predetermined by the control length, which specifies a sufficient minimum distance between two Fahrwa conditions in normal operation, the speed influenced during cornering and / or specifies a not agile stop distance to a guideway change device.
  • conveyors are designed based on such a functional length of the car.
  • the functional length is also given by the maximum length of the workpieces to be conveyed and / or the maximum carriage length.
  • surcharges for safety distances can also be included in the functional length.
  • the second carriage parameter of the second vehicle deviates from the first vehicle parameter of the first vehicle due to a coupling of two carriages.
  • coupling two carriages for example, extends the length of function, which can then be considered according to the invention by the staggered waypoints for Ausure tion of actions in the controller.
  • a separating device may preferably be used, with which the power flow between the drive and the conveying path is interrupted on a carriage.
  • the drive then takes place via the other coupled carriage.
  • one of the two coupled carriages is a due to a technical defect lying by carriage.
  • Towing can include both pushing on and pulling on the flank of the lying-down vehicle.
  • an energy transmission connection is made for example by means of rigid and / or movable electrical contacts on the two vehicles.
  • at least one of the electrical con tacts is spring loaded. The electrical contact can be made with or without mechanical coupling of the vehicles.
  • each carriage can be equipped with a switching unit which, in the event of a fault, electrically isolates the drive motor and the electric brake from the traveling carriage from its power supply components via an external signal and / or an external power supply from the towing vehicle and instead with the electrical components of the towing vehicle Trolley connects.
  • one of the two coupled carriages is a towing car.
  • all carriages can be configured as trolleys, so that a trolley lying on the ground can be towed by another tram.
  • a separate tow truck whose construction is different from the other
  • the tow truck can have a shorter car length, so that the functional length of the two coupled carriages differs only slightly compared to the functional length of a trolley. This may be relevant for converters or lifting stations, for example.
  • the other trolleys with their workpieces can also remain in the normal process sequence.
  • the tow truck can also be configured as a mobile unit that can be set by Particularperso signal at any accessible to the operator's point of the conveyor line to get out a left trolley from an inaccessible area. As a result, only a smaller portion of the conveyor line for towing the abandoned trolley must be made free.
  • the controller is set up so that the specific action performed at the waypoint also takes into account the deviation of the second car parameter from the first car parameter.
  • the speed of two coupled carriages before a curve section not only earlier but also be reduced more.
  • the action at the offset waypoint can therefore take into account, in particular, the reduced maximum acceleration and braking values, the increased functional length, the reduced speed and / or the increased mass.
  • a vehicle may have a parameter memory for its own car parameters, which are changed in the case of the towing situation.
  • the two carriages carry a trolley controller with a waypoint memory and a device for detecting the own position along the conveyor line and the second trolley stores in the waypoint memory another waypoint for the specific action.
  • the trolley control can each receive individual waypoints from the parent control of the conveyor to which the trolleys then move.
  • the controller transmits to the second carriage another waypoint for the particular action than to the first vehicle.
  • it can also be stored in the waypoint memory various sets of waypoints, which are then used by either the first carriage or the second driving carriage.
  • the trolley controller may include at least one offset value that generates the waypoints from the waypoints of the first vehicle from the second vehicle.
  • the offset value can in turn take into account the deviating carriage parameter.
  • the trolley control can be made less intelligent by the data from the reader are constantly transmitted to the higher-level control of the conveyor, so that the specific action is triggered at a waypoint of this control.
  • the information about the different waypoints for the first and the two th carriage is thus deposited only in the higher-level control.
  • the offset waypoint leads to the application of emergency driving parameters on the second carriage.
  • the controller for example, due to an increased func onsplain or insufficient driving force for two vehicles lock certain sections of the conveyor line for this vehicle.
  • the object of the invention with a method for the control of the aforementioned conveyor system is achieved with the following steps:
  • the following steps are still provided: For towing a due to a technical defect, especially in egg nem hard to reach for operating personnel section of the conveyor line are left dumper dock another trolley to the lying remains cart, making the second carriage is realized; - Driving the second trolley, taking into account the offset waypoint.
  • FIG. 1 shows a schematic plan view of a conveyor system with a conveyor line which comprises various sections and branches;
  • Figure 2 is a side view of a portion of the conveyor line, in which several För coaches are shown in their normal operating distance;
  • Figure 3 is a side view corresponding to Figure 2, but with two of the trolleys shown coupled together;
  • Figure 4 is a side view of the conveyor line in the area in front of a switch with a För coaches, which moves to two waypoints to control its drive to be;
  • Figure 5 is a side view of Figure 4, wherein the trolley is at the first of the waypoints;
  • Figure 6 is a side view of Figure 4, wherein the trolley is located on the second of the two waypoints;
  • Figure 7 is a side view of Figure 4, wherein two coupled trolleys on two
  • Figure 8 is a side view of Figure 7, with the coupled trolleys located at the first of the two advanced waypoints;
  • Figure 9 is a side view of Figure 7 with the coupled trolleys at the second of the two advanced waypoints;
  • Figure 10 is a side view of Figure 7 showing a truck to which a tow truck approaches;
  • Figure 1 1 is a side view of Figure 10, wherein the tow truck was coupled to the randomlywa gene;
  • Figure 12 is a side view of Figure 10, wherein the tow truck on the second
  • FIG 1 a generally designated by the reference numeral 10 conveyor system is shown with egg ner conveyor section 12 and a plurality of trolleys 14 at different positions along the conveyor line 12.
  • the conveyor line 12 comprises various sections which show in the plan view roughly two nested circuits between which the trolleys 14 and conveyed by these workpieces, here exemplified bodies 1 5, with the aid of several switches 16 as Fahrweg Sungs wornen back and forth.
  • Figure 1 shows in the middle a Stre ckenab mustard the conveyor section 12, which represents a hard to reach for operating area, which should be here by way of example a painting booth 18.
  • the trolley 14 as will be apparent later with reference to the other figures, performed below a separating floor and the bodies 15 above the Trennbo dens.
  • the tram 14 in which the promoted bodies 15 are not to be painted, are performed on a 20 ° to go line, which runs parallel to the spray booth 18.
  • a maintenance section 22 of the conveyor line branching off from the main line can be seen in which trolleys 14 are usually serviced and / or parked without a body 15 being conveyed.
  • an empty bumper 24 is shown, in which trolleys 14, including the bodies 15, can be buffered.
  • a converter 26 is shown along the conveying path 12 (top right in FIG. 1), with which the conveying carriages 14 are transferred to another transport plane, for example for further assembly of the motor vehicle. Also in the converter 26 is a section of the conveyor line 12, which is difficult to access for operating personnel.
  • the conveyor line 12 includes connections 28 to other conveyor systems of a higher-level overall production plant.
  • a system controller 30 is provided which can communicate with the trolley 14 by way of example via a wireless communication link 32.
  • 10 communication lines are used along the conveyor line 12 for communication with the trolley 14, especially in a rail as shown here ge showed conveyor system.
  • system controller 30 via a communication link 34 with the production facilities, here the paint booth 18 and their Häkomponen th as the painting robots, connected.
  • the production plants typically have their own individual controls, which receive only higher-level commands from the plant controller 30 and internally control the appropriate movement, for example, of the painting robots.
  • system controller 30 is connected via a communication link 36 to the conveyor line 12, ie in particular to the switches 16 arranged along the conveyor line 12 and / or other actuators and sensors influencing the route.
  • FIGS. 2 and 3 a section of the conveying path 12 in the painting booth 18 is shown in a sectional view.
  • the separating base 38 has a longitudinal gap through which supporting rods 39 of the trolleys 14 protrude.
  • the conveying path 12 is predetermined by a running rail 40, along which a trolley 14 moves with the conveyed body 15.
  • the trolley 14 a chassis 42, which has its own drive 44, with which the tram can move its own power along the rail 42.
  • the trolley 14 also carries a trolley controller 46, which reads with a reader 48, for example, attached to the rail 42 bar codes or other markings to determine the position of the trolley 14 along the route 12.
  • a reader 48 for example, attached to the rail 42 bar codes or other markings to determine the position of the trolley 14 along the route 12.
  • a separator 50 with which the frictional connection between the drive motor 44 and the conveyor section 12 can be separated by Actuate transmission elements 52, 54 are operated at the front and / or rear end of the trolley. Typically, the power flow is interrupted at a transmission of the drive.
  • the separator 50 reference is made to the hitherto still unpublished DE 10 2018 109 584 of the applicant.
  • the separating device 50 can be used to tow a lying gene trolley 14 'with another trolley 14.
  • the following trolley 14 travels on the trolley 14 'which remains lying, whereby the separating device 50 is actuated.
  • a coupling of the two cars can be done.
  • the drive 44 of the stopped trolley 14 ' is now virtually idle, so that the subsequent trolley 14 forms a coupled trolley with the trolley 14' which has remained lying.
  • the controller 30 may know a trolley 14 'which has been left behind, for example, because a distance sensor on the following trolley 14 recognizes a drop below a safety distance and reports this to the controller 30. Sen sorik along the conveyor line 12 may report that an expected trolley 14 has not arrived at a sensor position within a predetermined time. The controller 30 may then issue an order to drive onto the stopped trolley 14.
  • controller 30 After successful coupling sets the controller 30, where the lingering tram 14 'must be driven and prepares the appropriate Fahrweg masse devices. Also, the controller 30 may inform the rest of the process control of the failure of the two Forderwagen.
  • a carriage parameter is its functional length in normal operation BL (see FIG. 2), which increases as a result of the coupling to a functional length in emergency mode NL (see FIG.
  • the car parameters play an important role in the control of the conveyor system 10.
  • FIGS. 4 to 6 show a section of the conveying path 12 in front of a switch 16.
  • the system control 30 of the Fahrwagensteue tion 46 waypoints before reaching certain actions are performed.
  • These waypoints are virtual waypoints, which are defined in the system control 30 and are defined in the design of the conveyor system 10 in the design of the conveyor line 12.
  • a stop waypoint 62 is arranged in the operating stop distance BSA. All waypoints, i. The braking waypoint 60 and the stopping waypoint 62 are also adapted to the functional length in normal operation BL of the trolleys 14.
  • the trolley 14 has reached the braking waypoint 60, which device from the reading 48 of the trolley control 46 is detected. Due to a previous specification by the system controller 30, the trolley controller 46 reduces the travel speed of the trolley 14 at this position.
  • the trolley 14 has reached the stop waypoint 62 at a slower speed, which in turn is recognized by the reader 48. In this position, the trolley 14 stops and waits until the switch 16 holds the right track.
  • FIGS. 7 to 9 the same section of the conveyor line 12 is shown in front of a switch 16. However drives here a coupled team of a tram 14 and egg nem left trolley 14 'to the switch 16 to.
  • the control 30 of the trolley control 46 of the trailing trolley 14 has passed other waypoints (see Figure 7).
  • an emergency brake Waypoint 66 offset to an emergency braking distance NBA upstream.
  • an emergency stop waypoint 68 has been displaced upstream.
  • the tow truck 14 "moves from the right to the trolley 14 'which has been left lying in. In this case, the trolley 14 is not pushed but towed for towing.
  • the combination of lying trolley 14 'and tow truck 14 "has an insignificantly extended functional length in emergency mode NL compared to the functional length in normal operation BL.
  • the controller 30 moves the emergency braking waypoint 66 to an emergency braking distance NBA downstream of the original position since the reading device 48 is further forward in the vehicle than on a normal vehicle 14 the emergency stop waypoint 68 has been displaced downstream.
  • the emergency brake distance NBA will be further ahead of the emergency stop waypoint 68.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Manufacturing & Machinery (AREA)
  • Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Control Of Conveyors (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de transport (10), qui comprend une ligne de transport (12), au moins un premier chariot (14, 14') qui est entraîné par son propre entraînement (44), qui peut être déplacé avec celui-ci le long de la ligne de transport (12) et qui comporte un premier paramètre de chariot (BL), et une commande (30, 46) qui déclenche diverses actions avec prise en compte du premier paramètre de transport (BL) au moyen de points de cheminement (60, 62, 66, 68) le long du chemin de transport (12). Pour une utilisation plus flexible du système de transport, au moins un deuxième chariot (14, 4'') est prévu qui comporte un deuxième paramètre de chariot (NL) différant du premier paramètre de chariot (BL) et la commande (30, 46) est conçu pour placer au moins un point de cheminement (66, 68) le long de la ligne de transport (12), au niveau duquel une certaine action est déclenchée, destiné au deuxième chariot (14, 14'') à une position le long du chemin de transport (12) différente de celle destinée au premier chariot (14, 14').
EP19719449.1A 2018-04-20 2019-04-12 Système de transport et procédé de commande d'un tel système Pending EP3781463A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102018109584.8A DE102018109584A1 (de) 2018-04-20 2018-04-20 Förderanlage mit einem Förderwagen
DE102018116624.9A DE102018116624A1 (de) 2018-07-10 2018-07-10 Förderanlage sowie Verfahren zur Steuerung einer solchen
PCT/EP2019/059525 WO2019201798A1 (fr) 2018-04-20 2019-04-12 Système de transport et procédé de commande d'un tel système

Publications (1)

Publication Number Publication Date
EP3781463A1 true EP3781463A1 (fr) 2021-02-24

Family

ID=66286311

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19719449.1A Pending EP3781463A1 (fr) 2018-04-20 2019-04-12 Système de transport et procédé de commande d'un tel système

Country Status (4)

Country Link
US (1) US20210114636A1 (fr)
EP (1) EP3781463A1 (fr)
CN (1) CN112292308B (fr)
WO (1) WO2019201798A1 (fr)

Families Citing this family (2)

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Publication number Priority date Publication date Assignee Title
DE102018111202A1 (de) 2018-05-09 2019-11-14 Eisenmann Se Tauchbehandlungsanlage und Verfahren zum Tauchbehandeln von Gegenständen, insbesondere von Fahrzeugkarosserien
DE102022208299A1 (de) * 2022-08-09 2024-02-15 Montratec Gmbh Transportsystem und Verfahren zum Betreiben des Transportsystems

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CA2156581C (fr) * 1995-04-20 2000-11-07 Hisashi Kyotani Systeme transporteur
DE19641048C2 (de) * 1996-10-04 2000-07-20 Flaekt Ab Verfahren zum Ein- und Ausbringen von Werkstücken, insbesondere Fahrzeugkarosserien, Vorrichtung und Anlage zur Oberflächenbehandlung von Werkstücken im Durchlauf
DE10039946C1 (de) * 2000-08-16 2002-04-11 Eisenmann Kg Maschbau Elektrohängebahn
DE10063447A1 (de) * 2000-12-20 2002-07-04 Eisenmann Kg Maschbau Förderanlage, insbesondere Elektrohängebahn
TWI290272B (en) * 2004-03-12 2007-11-21 Murata Machinery Ltd Moving body system
DE102005034582B4 (de) * 2005-07-25 2007-11-08 Eisenmann Anlagenbau Gmbh & Co. Kg Fördersystem und Verfahren zum gleichzeitigen Transport von Werkstücken und Monteuren in einer Fertigungslinie
DE102009058659A1 (de) * 2009-12-16 2011-06-22 EISENMANN Anlagenbau GmbH & Co. KG, 71032 Fördersysstem
CN201634199U (zh) * 2009-12-21 2010-11-17 芜湖奇瑞装备有限责任公司 用于汽车车身存储及转运的摩擦传动输送机构
JP5110405B2 (ja) * 2010-04-07 2012-12-26 村田機械株式会社 走行台車システム
KR101487803B1 (ko) * 2010-07-09 2015-01-29 가부시키가이샤 다이후쿠 대차식 반송 장치
DE102012010677B4 (de) 2012-05-31 2021-10-21 Pentanova Cs Gmbh Verfahren zum Betreiben einer Förderanlage
DE102013218391A1 (de) * 2013-09-13 2015-03-19 Krones Ag Vorrichtung und Verfahren zum Bewegen von Transportelementen in einer Behälterbehandlungsanlage
DE102014209378A1 (de) * 2014-05-16 2015-11-19 Siemens Aktiengesellschaft Transportvorrichtung zum Transport von Gütern
DE102015004330A1 (de) * 2015-04-09 2016-10-13 Eisenmann Se Lage- und Positionserkennung für eine Fördereinrichtung

Also Published As

Publication number Publication date
WO2019201798A1 (fr) 2019-10-24
CN112292308A (zh) 2021-01-29
US20210114636A1 (en) 2021-04-22
CN112292308B (zh) 2023-03-31

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