EP3972788A1

EP3972788A1 - Power supply system for a transport and/or machining system

Info

Publication number: EP3972788A1
Application number: EP20717751.0A
Authority: EP
Inventors: Martin Zimmer; Günther Zimmer
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-03-20
Filing date: 2020-03-16
Publication date: 2022-03-30
Also published as: DE102019001936A1; CN113710438A; CN113710438B; US11772284B2; US20220176573A1; JP2022526317A; WO2020187346A1

Abstract

The invention relates to a power supply system for at least one system for transporting and/or machining workpieces (9), having a plurality of electric drive units (264, 297, 490). The supply grid (610, 620) of the drive units (264, 297, 490) is supplied with power via at least one recuperating energy storage device (650, 651), which is electrically connected to a charging device (640, 645) that is fed from an alternating- or rotary-current low-voltage grid (600). By means of the invention, a power supply system for a transport and/or machining system is developed that draws maximally 50% more power from the power supply grid compared to the regular nominal supply current regardless of the occurrence of current peaks.

Description

Energy supply system for a transport and / or

Machining system

Description :

The invention relates to a power supply system for at least one system for transporting and / or processing work pieces, which has a plurality of electric drive units.

In the furniture manufacturing industry, among others, so-called linear machines are used as processing stations. These are usually relatively short transfer lines, in the middle area of which the workpiece-carrying transport system is surrounded by several closely arranged processing machines. The transport system here often has a large number of electrically powered ones

Transport trolleys that are loaded on a single or multi-rail system

Confirmation copy be removed. The motors of these transport trolleys are usually supplied by conventional power packs that supply an output voltage of, for example, 24 V. If several transport trolleys are driving, for example in a group, the voltage increases when the motors are switched off quickly, since the motors run in generator mode until the kinetic energy of the transport trolleys is used up. With the help of a brake chopper, the increase in voltage is detected in order to connect a braking resistor. The excess energy is converted into heat in the braking resistor.

In transport systems of this type, their energy supply must also be designed for the peak electricity demand in order to ensure that even when most transport vehicles accelerate rapidly, enough electrical energy is available.

The peak current is often two to three times the rated current.

The present invention is based on the problem of developing an energy supply system for a transport and / or processing system that draws a maximum of 50 percent more energy than the regular nominal supply current despite the occurrence of Stromspit zen from the supply network.

This problem is solved with the features of the main claim. For this purpose, the drive units are provided in their supply network via at least one recuperation energy store, this or these being or being electrically connected to a charger fed from an alternating or three-phase low-voltage network. The processing station is a universal machine for the machining and / or non-cutting machining of furniture parts, for example. In this case, the furniture parts, which are usually large in area, are fed to the machine core area via their own transport system and provided there with bores, recesses, depressions, grooves, notches, bevels or the like. At the same time, dowels, for example, can be set and fittings can be handled and installed in the machine. The workpieces, that is to say furniture parts or their semi-finished products, can also be checked or measured, for example with regard to their geometry, before and / or after processing.

For this purpose, the processing station is designed in such a way that it can process a wide variety of workpieces one after the other without retooling. For this purpose, the plate-like and / or board-like workpieces are placed along an elongated, e.g. rectilinear workpiece support frame in front of a robot or a group of robots. The robot or robots each carry a multifunctional unit. Each multifunctional unit is a carrier of a large number of powered tools that protrude partially extendable from the processing side of the multifunctional unit. To process the workpieces, the robot or robots guide their multifunctional units towards the respective workpiece in order to be swiveled away from the workpiece again after processing. If several robots are in use at the same time, the tools of several multifunctional units process the workpiece, the multifunctional units being moved independently of one another. The processing station is thus a robot cell.

If the wear of an individual tool is detected during the work phase of the processing station, the multifunctional unit that carries this tool is activated by means of the robot ters swiveled out of the processing zone. There the defective tool is either exchanged by an operator or the multifunctional unit is automatically replaced by an identically equipped multifunctional unit. For this purpose, the multifunctional units and the robots each have an adapter with a corresponding quick-change coupling.

In addition to holding-down devices, pressure stamps and pressure strips, retractable grippers may also be integrated into the multifunctional unit as joining tools. The latter can, for example, press wooden dowels into corresponding holes in the workpieces. The multifunctional unit picks up one or more wooden dowels in special transfer points with the aid of the gripper or grippers.

With the invention, an energy supply system is presented which solves the issues of supplying energy to mechatronic components in the form of compact supply modules. According to the exemplary embodiment, the mechatronic components are i.a. the trolley drives, the turntable drives, the axis drives of the handling devices, the drives of the machining assemblies and the sensor assemblies. These components are distributed over various vehicle electrical systems and a sensor network.

One of these supply modules is a recuperation energy store built on the basis of an accumulator or a group of accumulators. Such an energy store can both absorb and output high current values within a short period of time without causing large voltage changes. In order to keep the recuperation energy storage permanently at a charging capacity of e.g. 60-90%, this is an additional supply module an intelligent charger - each equipped with a circuit breaker - is connected upstream. The latter, which protects the energy storage device from overcharging and deep discharge, is permanently connected to an alternating or three-phase low-voltage network. Only the actual consumption energy is called up from the on-board and sensor networks, so that the charging devices upstream of the recuperation energy storage do not have to be designed for peak currents, but only for the nominal output of the overall system.

The energy supply system always has the option of feeding back the kinematic energy primarily stored in the mechatronic components of the vehicle electrical system during negative acceleration processes at least partially as electrical energy into the recuperation energy storage and thus protecting the on-board and sensor networks from current peaks.

Further details of the invention emerge from the subclaims and the following description of at least one schematically illustrated embodiment.

FIG. 1: perspective view of the processing station from the front;

FIG. 2: front view of a workpiece transport system;

FIG. 3: perspective view obliquely from the rear of a workpiece trolley;

FIG. 4: perspective view of the movable support device obliquely from the front;

Figure 5: Block diagram with a battery system for a

48 V actuator network, a 24 V actuator network with intermediate tap and a 24 V sensor network; Figure 6: Block diagram with a battery system for a 48 V actuator network, a battery system for a

24 V actuator network and a 24 V sensor network;

Figure 7: Block diagram with a battery system for a

48 V actuator network, a 24 V sensor network with DC / DC converter connection.

FIG. 1 shows a processing station for processing panel-like and / or board-like workpieces (9). The processing station has a e.g. straight elongated machine bed (1) on which a workpiece support gate (10) is built. A workpiece transport system (2) is arranged along the workpiece support gate (10). The latter consists of from two e.g. parallel laid transport rails (3), each of which ends at the end in front of turntables (4, 5). Self-propelled workpiece trolleys (6), possibly grouped together, move on the rails (3) in front of the workpiece support frame (10) and transport the workpieces (9) - forwards - along the workpiece support frame (10). The workpiece trolleys (6) move back on a transport rail located behind, above or below the workpiece support grid (10).

The workpiece support frame (10) is used to plant the plate or board-shaped workpieces, which are made for example from materials such as wood, chipboard, plasterboard, fiber cement or the like. These materials also include composite materials and aluminum alloys. Opposite the workpiece support frame (10) and on the other side of the workpiece (9), for example, two handling devices (7) are arranged, each of which carries and guides a multifunctional unit (8). The handling devices (7) are, for example, multi-unit articulated robots with so-called RRR kinematics. The serial The kinematic structure of the articulated robot (7) has three main rotary axes and three secondary rotary axes. The last link in the kinematic chain is an arm that rotatably supports a turntable that can be swiveled through 360 degrees. The robot flange of a tool interface system bearing the multifunctional unit (8) is adapted to it. With an appropriately coordinated control of the individual axes, almost any straight stretch or curved trajectory can be traveled in the working area of the articulated robot (7). This can also be achieved with handling devices based on a Cartesian, a cylindrical or a polar robot. The robots then have TTT, RTT or RRT kinematics. The "T" stands for translatory cal and the "R" for rotary main axes or guides.

Each of the two articulated robots (7) carries a multifunctional unit (8). The latter has the shape of an elongated cuboid with almost square end faces. The individual multifunctional unit (8) has a large number of driven similar and / or different tools with which bores, recesses, slots or the like can be machined into the respective workpiece (9). All or at least most of the tools are arranged on a side wall of the cuboid.

The tools required for a machining step, e.g. a group of several drills are pneumatically extended from the multifunctional unit (8), locked and set in rotation. With rotating drills, the multifunctional unit (8) is now in a preselected position in front of the factory

piece (9) positioned and from there in a straight line by means of the hand habungsgeräts (7) against the workpiece (9) to manufacture the row of holes he required. At the end of the drilling process the multifunctional unit (8) is withdrawn. At the same time, the active drills are retracted into the multifunctional unit (8) with their rotational movement switched off. In the middle area of the multifunctional unit (8) there is, for example, a central electric drive motor, possibly a servomo tor. The servomotor, which has its own cooling system, for example, drives the individual tool holders of the multifunctional unit (8) via several gear trains. Individual tool holders are mounted on pneumatically extendable spindles or pins.

A 1D or 3D multi-coordinate probe or the like can also be arranged on the individual multifunctional unit (8). The respective buttons, which can be moved or folded out of the multifunctional unit (8), serve to align the multifunctional unit (8) with respect to the workpiece support frame (10) or the machine bed (1). For this purpose, corresponding reference geometry bodies are arranged on the workpiece support frame or on the machine bed, which can be approached to measuring units by the buttons.

In or on the multifunctional unit (8) is e.g. an electronic spirit level and possibly also an acceleration sensor are arranged in order to be able to redundantly control the position of the individual multifunctional unit (8) in three-dimensional space independently of the control data for the handling devices.

According to FIG. 1, next to each handling device (7) there is a unit storage point (15). The multifunctional units (8) are placed freely accessible on the unit storage locations by the handling devices (7) for maintenance, replacement purposes or for tool changing. The workpiece transport system (2), cf. Figure 1, represents the

Transport of the workpieces (9) in the exemplary embodiment a rail system that encircles the workpiece support frame (10) with workpiece trolleys (6) that move on or on it.

The rail system here consists of two parallel transport rails (221, 222), each of which ends in front of turntables (4, 5). The self-propelled workpiece trolleys (6) which transport the workpieces (9) along the workpiece support grid (10) move on the transport rail (221) in front of the workpiece support grid (10).

FIG. 2 shows the front end view of the workpiece transport system (2) without the turntable (4) in front of it from FIG. 1. The workpiece transport system is built on the machine bed (1). The transport rails (221, 222) are attached to the front and rear of the machine bed. They each consist of a dimensionally stable support bracket (223), a support rail (227) and a rack (231). The support rail (227) sits on the support bracket (223), while the rack (231) is attached in the lower area of the support bracket (223). A multi-conductor current and multi-conductor signal rail (235) is mounted on the machine bed below the rack (231). The latter is covered in the upper area by means of a busbar cover (237). Along the machine bed (1) the support angle (223), the transport rail (221, 222), the rack (231) and the multi-conductor current and multi-conductor signal rail (235) can be composed of many individual pieces per side.

In the exemplary embodiment according to FIG. 1, both transport rails (221) and (222) are of the same length and oriented parallel to one another. Their upper edges are also in a common ho- rizontal plane. At each end of the machine bed, two transport rail ends (225, 226) end at the same height. According to FIG. 1, there is an electrically driven rotation

washer (4, 5).

In order to transfer a workpiece trolley (6), for example from the rear transport rail (222) to the front transport rail (221), the workpiece carriage (6) according to FIG. 1 drives onto the rear turntable support rail. Now the turntable rotates around its here vertical pivot axis by 180 degrees. From there, the workpiece trolley (6) moves onto the transport rail (221). If the workpiece trolley (6) has reached the rear end of the transport rail (221) after passing through the processing station, it moves onto the turntable support rail of the rear turntable (5) in order to be implemented on the rear transport rail (222) with their help .

Accordingly, each workpiece carriage (6) moves around in a circle within the workpiece transport system (2). If the angular speed of the turntable (4, 5) is set to the travel speed of the individual workpiece trolley (6) - i.e. the circumferential speed of the turntable at the height of the support rail corresponds to the traveling speed of the workpiece trolley (6) - the workpiece trolley (6) rounds without noticeable Speed interruption by the turntables (4, 5) the transport path of the present monorail transport system (2).

The programmable logic controller (690) of the monorail transport system (2) knows at every point in time of a machining cycle where which workpiece trolley (6) is located and which task it is currently performing. For example, the workpiece carriage (6), which together form a workpiece (9) - during the milling of a longitudinal groove parallel to the direction of travel of the trolley - wear, as a working runner, an active axis of the processing station. In the direction of travel in front of the work runners be found as precursors, the workpiece trolleys (6), which move between the work runners and the nearest turntable (5) on the transport rail (221). The trans port car (6), which are located between the front turntable (4) and the working runners, are the followers. All other trolleys that move or linger on the transport rail (222) and the turntables (4, 5) are the return runners. The function and, if necessary, the exact location of each individual workpiece trolley (6) is registered or monitored by the control of the monorail transport system (2).

FIG. 3 shows the rear of a workpiece carriage (6). The central component of the workpiece carriage (6) is the angled base body (261). A guide carriage (262) is arranged below the projection of the base body (261). The guide carriage (262) is, for example, a recirculating ball shoe that engages around the support rails (227) in the vertical directions and in the side directions with roller bearings. Below the guide carriage (262) is a secondary shaft (271) which carries the helically toothed output gear (273). The secondary shaft (271), which is roller-mounted in a bearing block (267), has a - shown in dashed lines - drive wheel (272), which is enclosed to the outside by a gear housing (266) formed on the base body (261). A downwardly projecting servomotor (264) with an optionally integrated gear is arranged below the gear housing (266). On the shaft of the servo motor (264) sits a straight-toothed pinion wheel - not shown here - which meshes with the drive wheel (272) of the auxiliary shaft (271). On the underside of the base body (261), next to the servomotor (264), a downwardly projecting cantilever arm (285), a sheet metal component, is arranged. The current and Signalab takers (286) are resiliently attached to it. In the present case, seven customers (286) are used. The upper one is connected to ground, for example. The next two current collectors (286) carry +48 V and -48 V with eg 10 A current. The fourth and fifth consumers are each a current collector (286) for +24 V and -24 V for 5 A current. The two lower consumers (286) are signal consumers for the CAN bus used here, for example.

According to Figure 3 sits on the base body (261) of the workpiece carriage (6), e.g. electromechanically operated clamping

pliers (290). A slide with two link recesses is arranged in the pliers housing (291). The slide - not shown here - is driven by an electrically driven Kulissenan - with the servomotor (297) - to open and close the collet (290). Each backdrop recess has a different slope.

Above the slide, transversely to the guide carriage (262), two carriages sit one behind the other in the tong housing (291), of which only the rear one (294) is visible here. Each slide is connected to one of the link recesses of the slide via a pin. In addition, each slide carries a gripping element (295, 296) on its upper side. The gripping element (296) arranged at the front in FIG. 3 rests on the rear side of the plate-shaped workpiece (9) over only a short stroke. For this purpose, the link recess located under the slide (294) has only a slight slope. The gripping element (295) located at the back here has the task of not only gripping a workpiece (9) placed on the workpiece carriage (6), but also against the workpiece. piece support gate (10) and the gripping element (296) to pull. A large stroke is required for this. So here the backdrop recess in the slide has a large slope. The collet (290) has a bearing block (310) below the lateral projections of the gripping elements (295, 296). Each bearing block (310) has, for example, two rollers lying next to one another. These rollers take the workpiece load.

According to FIG. 1, for example, the workpiece support gate (10) has a recess (14) in the center in which a special support device (430), cf. Figures 4 and 5, is mounted on the machine bed (1). The recess (14) is arranged here opposite the two handling devices (7).

Figures 4 and 5 show the support device (430) from two different directions. The support device (430) shown in FIG. 4 points with its front side to the front. It consists of two nested support frames (450,

470). Each trestle (450, 470) is a kind of tower, each with two e.g. has identical side walls (455, 475). Each suction cup side cheek (455) of the support frame (450) carries a plurality of e.g. similar suction cups (457), each of which is connected to one another e.g. have a constant distance. On each of the suction cups (457) arranged here one above the other there are e.g. one suction element (458), which is designed as a vacuum suction device.

With the help of the suction elements (458), which move one above the other and the suction or contact plane of which forms an imaginary support surface (465), large plate-like workpieces (9) are usually pressed against the Suction support block (450) sucked in order to hold the workpieces (9) firmly on the workpiece support frame (10) against the tool extraction forces, for example when drilling or milling. The suction support bracket (450) is on a base plate (435) attached to the machine bed (1) and can be displaced by an electric motor in order to apply the suction elements (458) to the workpieces (9).

The slider support stand (470) arranged in the suction support stand (450) has a continuous slide rail (478) on each of the front end faces of the slider side cheeks (475), cf. FIG. 5. Both slide rails (478) span a support surface (485) with their front contact surfaces. During the processing of the workpieces (9), for example when sawing or milling a horizontal longitudinal groove, the workpiece (9) guided by the workpiece carriage (6) slides along the workpiece support frame (10). It slides over the protruding slide rails (478) against which it is pressed due to the machining forces. Of the

Slider support frame (470) is also mounted on the base plate (435) attached to the machine bed (1) so that it can be moved by an electric motor against the workpiece (9) sliding along by means of the servomotor (490).

Within the enclosed space of the glider support frame (470), a sensor carrier (444) is arranged approximately in the middle, on which a sensor carrier plate (445) is attached. The latter is used e.g. the holding of various sensors by means of which the workpieces (9) are identified, counted and / or measured for control purposes, if necessary via barcodes.

The block diagrams of three energy supply systems are shown in FIGS. 6 to 8. Use all three systems at least one recuperation energy store (650, 651) connected to a charger (640, 645).

Each recuperation energy store (650, 651) is a system made up of several accumulators. Every accumulator is a rechargeable store for electrical energy on an electrochemical basis. The charging process of the low-resistance accumulators is based on the electrolytic reversal of the chemical reaction that takes place during discharge by applying an electrical voltage. The recuperation energy store (650) according to Figures 6 to 8 consists e.g. from a series connection of four 12 V lead-acid batteries, while the recuperation energy store (651) according to FIG. 7 is composed only of two 12 V lead-acid batteries connected in series. Instead of the lead-acid batteries, lithium-ion batteries, nickel-cadmium batteries, nickel-metal hybrid batteries or the like can be used.

According to FIG. 6, the energy supply system supplies three different networks, an on-board rail network (610), an on-board equipment network (620) and a sensor network (630). The on-board rail network (610) is an actuator network that is connected to e.g. 48 V DC voltage is operated. It (610) comprises the workpiece transport system (2) with the transport rails (3), possibly with the turntables (4, 5) and with the e.g. 6 to 20 workpiece trolleys (6), see FIG. 1. Each workpiece trolley (6) requires a nominal output of e.g. 100 W, but a peak power of up to 480 W.

The on-board rail network (610) is connected to an emergency stop system (660) via a direct current intermediate circuit (602) for e.g. 24 V at 100 A connected to a charger (640) and to the recuperative energy storage (650). The Ladege

advises (640) is made from an alternating or three-phase low-voltage mains (600) fed. The alternating or three-phase low voltage network (600) supplies 400 V three-phase current in the exemplary embodiment. The charger (640) uses it to form a direct current with, for example, 48 V at a charging current of 30 A, with which the recuperation energy storage device (650) is charged as required. The recuperation energy store (650) has a nominal capacity of 10 Ah with a measurement voltage of 48 V.

Of course, the chargers (640, 645) can also be multi-area chargers whose respective inputs can be connected to alternating or three-phase low-voltage networks with different mains voltages and mains frequencies. Multi-range chargers are then also suitable for networks that have 120 V at 60 Hz or 230 V at 50 Hz instead of 400 V at 50 Hz.

On the recuperation energy storage device (650), the intermediate tap of the direct current intermediate circuit (606) to supply the on-board electrical system (620) takes place on the connection tab between the second and third accumulator. The on-board device network (620) provides e.g. the servomotors (297) of the collet (290) of the individual workpiece carriage (6). Possibly. also depend on him or her

electric drives (490) of the support device (430) and the electric motors of the handling devices (7) on this device electrical system. An emergency stop system (670) is also connected between the device on-board network (620) and the direct current intermediate circuit (606).

The sensor network (630) is connected to the DC link (606) via the sensor network supply line (609) and a 30 A fuse (680). As a specific example, the sensor assemblies (635-638) connected to the sensor network (630) are usually individual electronic assemblies which, in addition to the actual sensor, have a computing and storage unit and electronic communication modules. That or the communication module serve to send the detected, possibly already processed or evaluated sensor signals and to receive corresponding transmission acknowledgments or other control instructions. The sensor assembly (635) contains a displacement and / or angle measuring system, the sensor assembly (636), for example, an inductive proximity sensor, the sensor assembly (637), for example, a capacitive proximity sensor and the sensor assembly (638), a temperature sensor. The respective energy supply system is connected via the PLC (690) at least by means of the signal lines (643, 661, 671, 691, 692) to at least the charger (640) and the emergency stop systems (660, 670). The charger (640) and the charger (645) from FIG. 7 each have an alternating current failure alarm contact (642) and (647) according to FIG. 7. The latter registers a voltage failure of the respective alternating or three-phase low-voltage network (600, 605). The PLC registers this failure (690). It ends - knowing the remaining capacity of the recuperation energy store (650, 651) - the currently running processing operations of the transport and / or processing system properly. Finally, it arranges for the multifunctional units (8), the handling devices (7) and the workpiece trolleys (6) to be transferred to the corresponding parking positions in order to then be switched off if necessary.

The emergency stop systems (660) and (670) consist of an electronic circuit, a cut-off relay and a 100 A fuse. The emergency stop systems (660, 670) are preceded by emergency stop signaling contacts (665, 675) with double closers. The latter are caused by unauthorized actions within the transport and / or processing system during regular operation. such as stepping on mats, penetrating light curtains or opening protective fences. Via the emergency stop lines (691, 692), the switch-off relays of the emergency stop systems (660, 670) are operated individually or jointly via the PLC (690) to stop the transport and / or processing system.

FIGS. 6 to 8 essentially only show the energy supply system, so that the bus or signal lines are not shown for all actuator and sensor components (264, 297, 490, 635-638).

The energy supply system according to FIG. 7 also supplies the on-board rail network (610), the on-board device network (620) and the sensor network (630). However, the DC-carrying 24 V actuator network (620) is connected via the DC link (607) to a separate recuperation energy store (651), which in turn is connected to the AC or three-phase low voltage network (605) via the charger (645). Here, too, the charger (645) is connected to the PLC (690) via an alternating current failure signaling contact (647) in the failure signaling line (648).

The sensor network (630) is connected to the DC link (607) via the 30 A fuse (680) by means of the sensor network supply line (609).

FIG. 8 shows an energy supply system for at least one system for transporting and / or processing workpieces (9) which - as FIGS. 1 and 2 show - transport rails (221, 222), turntables (4, 5) and / or points on which a plurality of self-propelled, electrically driven, workpiece-carrying workpiece trolleys (6) are mounted and guided. The drive units (264) are the The workpiece trolley (6) is supplied in its on-board rail network (610) via a recuperation energy store (650), this (650) being electrically connected to a charger (640) fed from an alternating or three-phase low-voltage network (600).

Compared to the systems according to FIGS. 6 and 7, this energy supply system lacks the 24 V actuator network (620). In order to be able to supply the 24 V sensor network (630) from the 48 V DC link (602), a DC / DC converter (655) is connected upstream of the fuse (680) of the sensor network (630). The latter is a self-commutated converter that has a high

DC voltage, e.g. 48 V, to a lower DC voltage, e.g. 24 V, converts. The output of the DC voltage converter (655) on the sensor network side is a maximum of e.g. 30 A loadable.

Possibly. the function of the DC voltage converter (655) can be monitored by the PLC (690).

If the variant according to FIG. 8 is intended for a workpiece transport system (2), as shown in FIGS. 1 and 2, the drive units of the turntables (4, 5) are switched to 48 V and connected to the 48 V on-board rail network (610) . This possibility also exists with the energy supply systems according to FIGS. 6 and 7.

Of course, the energy supply system according to FIG. 8 can also be used for devices or machines that have several or a large number of electrically or electromechanically driven linear axes. The latter are installed, for example, in long-stroke grippers or machine tool slides of processing machines. List of reference symbols:

1 machine bed

2 Workpiece transport system, monorail transport system

3 transport rail, rail section 11

4, 5 turntables, relocators, railway sections

6 workpiece trolleys, self-propelled, transport trolleys

7 handling devices

8 multifunctional units, tool-carrying

9 Workpiece, plate-like and / or board-like

10 workpiece support gates

11 supports

12 support plates, support strips

13 rows of brushes

14 recess

15 standard storage spaces

221, 222 transport rails, rails

223 support bracket

225, 226 ends of the transport rails

227 mounting rails

231 racks

235 multi-conductor power and multi-conductor signal rails

237 busbar cover

261 body, angular

262 runner block, recirculating ball shoe

264 drive unit from (6), servo motor

Motor, if necessary with integrated gear

266 gear housing, plate-shaped

267 bearing block with two roller bearings 271 Drive shaft, auxiliary shaft

272 Drive wheel, large, below

273 output gear, small, above

282 lubrication wheel, felt wheel

285 cantilever arm, sheet metal component

286 Current and signal collectors, springy; customer

290 collet

291 pliers housing

294 sledges

295, 296 gripping elements

297 drive unit, link drive,

Servo motor, gear motor

310 bearing blocks

311 roles

430 support device, support device

435 base plate

436 guide rails

444 sensor carrier

445 sensor support plate

450 teat support frame, support frame

455 suction cup side panels

456 teat stiffening plate

457 suction cup holder

458 suction elements, suction cups, vacuum suction cups

465 support surface, imaginary plane

470 glider support frame, support frame

475 glider sidewalls

476 slider stiffening plate

478 sliding elements, sliding rails 485 support surface, imaginary plane

490 drive unit, gear motor, servo motor

600 AC or three-phase low voltage network (230 / 400V) for (610), supply network, voltage supply

602 DC link 48 V / 100 A

605 AC or three-phase low-voltage network (230 / 400V) for (620), supply network, voltage supply

606 DC link 24 V / 100 A with

Intermediate tap on (650)

607 DC link 24 V / 100 A

609 Sensor network supply line for (630) 610 actuator network (48 V), on-board rail network, network

620 actuator network (24 V), on-board device network, network

630 sensor network (48 V), network

635 sensor assembly with position and / or angle measuring system

636 sensor assembly with inductive sensor

637 sensor assembly with capacitive sensor

638 sensor assembly with temperature sensor

640 charger for (602)

642 AC power failure alarm contact for (640)

643 Failure reporting line, signal line

645 charger for (607)

647 AC power failure alarm contact for (645)

648 failure reporting line, signal line 650 recuperation energy storage for (610),

Accumulator system

651 recuperation energy storage for (620),

Accumulator system

655 DC voltage converter, DC / DC converter for (630) Emergency stop system for (610)

Emergency stop signal line, signal line emergency stop signal contact for (660)

Emergency stop system for (620)

Emergency stop signal line, signal line emergency stop signal contact for (670)

Protection for (630)

PLC, programmable logic controller, emergency stop line, signal line

Emergency stop line, signal line

Claims

5 claims:

1. Energy supply system for at least one system for transit it) port and / or for processing workpieces (9), which has a large number of electrical drive units (264, 297, 490), characterized in,

- That the drive units (264, 297, 490) are supplied in their supply network (610, 620) via at least one recuperation energy storage (650, 651), this or

this (650, 651) is or are electrically connected to a charger (640, 645) fed by an alternating or three-phase low-voltage network (600).

20th

2. Energy supply system according to claim 1, characterized in that the system for transporting and / or processing plate-like and / or board-like workpieces (9) has at least one workpiece support frame (10), at least one support device

25 device (430), at least several rail track sections (3-5, 221, 222) and workpiece trolleys (6) guided thereon, the workpieces (9) resting on the workpiece support grid (10) in a displaceable manner, with the workpiece support grid (10) a support device (430) is integrated, which supports and / or fixes the workpieces (9) during machining, the rail path

parts (3-5) are arranged at least in some areas along the workpiece support gate (10) and at least consist of transport rails (221, 222), turntables (4, 5) and / or switches, on or on which a large number of self-propelled, electrically driven, workpiece-carrying workpiece trolleys (6) are stored and guided.

3. Energy supply system according to claim 1, characterized in that the system is equipped for transporting and / or processing workpieces (9)

- with at least one handling device (7), which is an automatically controlled, freely programmable multi-purpose manipulator, movable in three or more axes,

- With at least one multifunctional unit (8) carried and guided by a respective handling device (7), which has at least two different tools,

- With at least one work tool on the workpiece (9) can be brought into engagement for processing the stationary or moving work piece (9) via the handling device (7).

4. Energy supply system according to claims 1 to 3, characterized in that the system for transporting and / or processing workpieces (9) drive units (297, 490) of the handling devices (7), the multifunctional unit (8) and the turntables (4 , 5) bundles in an on-board device network (620) and a plurality of sensors in a sensor network (630), the on-board device network (620) and the sensor network (630) each having a partial voltage of the on-board rail network (610) and via a separate recuperation energy store ( 651) supplied to whoever, this recuperation energy store (651) is also electrically connected to a charger fed by an alternating or three-phase low-voltage network (602).

5. Energy supply system according to claim 4, characterized in that the on-board device network (620) and the sensor network (630) be supplied via an intermediate tap of the recuperation energy store (650).

6. Energy supply system according to claims 1 to 4, characterized in that the sensor network (630) each has a partial voltage of the on-board rail network (610) and is supplied from the recuperation energy store (650) via a DC voltage converter (655).

7. Energy supply system according to claims 1 to 5, characterized in that the kinetic energy of the drive units (264, 297, 490) fed from the networks (610, 620) is converted into electrical energy in their electric motors when braking or stopping, which - for reducing voltage peaks - for partial charging the recuperation energy storage (650, 651) can be fed into this.

8. Energy supply system according to claim 1, characterized in that the individual charger (640, 645) is a multi-range charger, the input of which can be connected to alternating or three-phase low-voltage networks with different mains voltages and mains frequencies.

9. Energy supply system according to claim 1, characterized in that the alternating or three-phase low voltage network (s) (600, 605) supply 400-volt three-phase alternating current.

10. Energy supply system according to claim 1, characterized in that the on-board rail network (610) can be operated with 48-volt direct current, while the on-board device network (620) and the sensor network (630) only require 24-volt direct current.