WO2022221893A1 - Verfahren zum steuern einer fahreinheit für eine vorzugsweise fahrerlose transporteinheit, sowie fahreinheit und transporteinheit hierfür - Google Patents
Verfahren zum steuern einer fahreinheit für eine vorzugsweise fahrerlose transporteinheit, sowie fahreinheit und transporteinheit hierfür Download PDFInfo
- Publication number
- WO2022221893A1 WO2022221893A1 PCT/AT2022/060101 AT2022060101W WO2022221893A1 WO 2022221893 A1 WO2022221893 A1 WO 2022221893A1 AT 2022060101 W AT2022060101 W AT 2022060101W WO 2022221893 A1 WO2022221893 A1 WO 2022221893A1
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- WO
- WIPO (PCT)
- Prior art keywords
- blocking device
- driving unit
- transport unit
- wheel
- unit
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000000903 blocking effect Effects 0.000 claims abstract description 104
- 230000007257 malfunction Effects 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000003213 activating effect Effects 0.000 claims abstract description 7
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000004913 activation Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 description 6
- 238000005096 rolling process Methods 0.000 description 5
- 230000009849 deactivation Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
- B62D7/04—Steering linkage; Stub axles or their mountings for pivoted bogies with more than one wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
- B62B5/0036—Arrangements of motors
- B62B5/004—Arrangements of motors in wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0069—Control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/04—Braking mechanisms; Locking devices against movement
- B62B5/0404—Braking mechanisms; Locking devices against movement automatic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/148—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering provided with safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
- B60L2200/42—Fork lift trucks
Definitions
- the invention relates to a method for controlling a driving unit for a preferably driverless transport unit, a driving unit for a preferably driverless transport unit and a transport unit, as described in claims 1, 6 and 11.
- the transport unit has an essentially U-shaped chassis with two legs, with two traveling units being arranged on each of the legs, of which at least one traveling unit is designed to be steerable.
- Such transport units are known, for example, from AT 509305 A1 and GB 820228 B.
- the driving units for the transport unit are formed by a wheel carrier, on which one wheel is preferably arranged on two opposite outer sides, each wheel being connected via a gear wheel to an electric motor arranged inside the wheel carrier, as is known from WO 2018/ 136987 A1 is known.
- the object of the invention is to create a method, a driving unit and a transport unit with which safe operation is ensured.
- the object is achieved by a method for controlling a driving unit for a preferably driverless transport unit, in which, when a malfunction is detected, in which the driving operation of the driving unit 2 or the transport unit 1 is continued due to a stop signal transmitted, or if the energy supply, at least one blocking device 13 in the driving unit 2 is activated to stop the driving unit 2 or the transport unit 1, with at least one transmission or at least one gear wheel 16 or at least one wheel 15 being locked or blocked directly via the blocking device 13.
- the advantage here is that it ensures that if a malfunction occurs or if the power supply fails, the transport unit stops immediately and can therefore not roll uncontrollably against shelves or objects, since the rotational movement of the wheels is blocked by the blocking device, i.e.
- Two brake pins are preferably installed in each driving unit, so that both motors of the driving unit can be blocked.
- the safety controller recognizing that the transport unit is not stopped despite a stop request, so that the voltage on the blocking device is removed or interrupted, which triggers the brake and the gears be blocked. It can therefore be said that by activating the locking device, the current or voltage supply is interrupted, as a result of which the brake pin is returned to the rest position, as a result of which the gears and subsequently the drive wheels are locked.
- the blocking device is activated for the ferry operation of the transport unit, i.e. supplied with energy, as a result of which the brake pin is moved into an operating position against a spring force so that the wheels, in particular the gear wheel, can rotate freely.
- the power supply to the vehicle control is suddenly interrupted and the driving units cannot assume a safe position, causing them to start rolling independently, ie the transport unit is, for example, uphill or downhill Without the appropriate braking device, it continues to roll or begins to roll and can therefore hit objects in an uncontrolled manner.
- the measures in which the blocking device is supplied with energy during ferry operation are advantageous.
- the brakes in particular the brake pins, are automatically pushed back into the rest position due to the acting spring force, which causes the wheel to lock. It is therefore not necessary for the energy supply for the locking device to be monitored, since the wheels always lock when the energy supply is terminated.
- the measures in which the blocking device is formed by an electromagnetic brake pin are also advantageous, the brake pin when the blocking device is activated, in particular when energy is not supplied, with the wheel of the driving unit or a gear wheel or gearing for the wheel of the driving unit , comes into engagement. This ensures that a cost-effective solution can be used with the smallest space requirement in the driving unit.
- a separate blocking device is coupled or used with each electric motor of the driving unit. This ensures that a very high level of security is achieved. At the same time, all driven wheels are automatically blocked when the energy supply ends via the brake pin. Furthermore, the object of the invention is achieved by a driving unit for a preferably driverless transport unit, in which at least one gear or transmission or a wheel, which is driven by an electric motor, is directly assigned at least one blocking device, which is designed in such a way that at a malfunction or if the energy supply is interrupted, the blocking device is activated, so that at least one transmission or at least one gearwheel or at least one wheel is blocked or blocked directly via the blocking device.
- the advantage here is that by using a blocking device, which preferably acts directly on the gear or a gear forming the gear, the driving unit and thus also the transport unit can no longer start to roll independently or the rolling movement can be safely stopped.
- the driving units are controlled in such a way that they cross each other and thus serve as anti-roll brakes.
- the travel units can no longer be aligned crosswise with one another, so that the blocking device begins to take effect.
- This increases operational safety, since a safe stop not only occurs in the event of an error, but also when the transport unit runs out of energy. This can happen, for example, if the planned transport route of the transport unit is obstructed by objects and the transport unit therefore has to take a detour to the charging station, so that the energy can run out due to the longer route.
- the blocking device is formed by an electromagnetic brake pin, which is arranged in a defined position in the idle state, ie without energy supply, is advantageous via a spring element. This results in a very small design, so that the blocking device can be built directly into the wheel carrier. This creates a complete driving unit, in which a safety system is also integrated, which blocks the wheels or gears when not in use.
- An embodiment is advantageous in which the blocking device is connected to its own power supply or via the power supply of the electric motors. Depending on the required control, a corresponding control can be carried out.
- the blocking device is preferably coupled to the circuit or energy circuit of the electric motors, so that when it is activated, the blocking device is also supplied with energy at the same time without additional start signals, so that the brake pin moves from its resting position, in which it blocks the associated gear wheel or the wheel directly. is pulled into an operative position, releasing the gear or wheel.
- the locking device must also be activated parallel to the start of the electric motors so that the brake pin releases the gear or wheel, otherwise the electric motor cannot drive the gear.
- An embodiment is advantageous in which the blocking device is arranged within the wheel carrier, preferably parallel to the electric motors. This creates a compact unit.
- the driving unit together with the blocking device can be integrated into the leg of a transport unit, so that an unintentional movement of the transport unit due to the blocking of the wheels or gears of the driving units used is prevented.
- a design is advantageous in which the blocking device, in particular the brake pin, engages or is arranged between two teeth of the gear wheel or in a slot of the gear wheel 16 or on the surface of the gear wheel 16 or directly on the wheel 15 when activated. This ensures that the gear, which is directly connected to the wheel or bicycle, is blocked.
- a driverless transport unit for automatically transporting, picking up and delivering pallets, in which at least one transport unit has at least one mechanical blocking device which is designed in such a way that it is activated in the event of a malfunction or if the power supply is interrupted , so at least one Transmission or at least one gear wheel 16 or directly at least one wheel 15 is blocked or blocked via the blocking device 13 .
- all driving units used are preferably equipped with a corresponding blocking device, so that all driven wheels can be blocked with their own blocking device.
- a design is advantageous in which the safety controller or the controller is designed to interrupt the power supply for the blocking device. This allows the systems to be monitored independently of the usual controls.
- An embodiment is advantageous in which the blocking device is deactivated for ferry operation. This ensures that in the event of a power failure, the brake pin automatically blocks the gear wheel or the wheel directly, thus preventing uncontrolled movement of the transport unit.
- controller 8 and/or safety controller 10 is connected to an encoder of the electric motor 14 in order to monitor the driving operation of the driving unit 2 .
- the evaluation or monitoring of the encoder ensures that a rolling movement of the driving unit or the transport unit can be easily detected, since the wheels with the electric motor preferably transmits with the interposition of the gears or gears, so that due to the rotary movement of the electric motor, a signal control or safety control is handed over. With this they recognize that the transport unit is moving, so that the blocking device can be activated to stop this movement.
- the rotational movement or speed is first measured before the blocking device is activated, in order to avoid the destruction of the brake pin if the speed is too high. If the speed is too high, a normal braking process with a braking ramp can be carried out first be initiated so that when a defined speed is reached, the blocking device is activated. However, if the braking process takes too long, the safety control issues the message "Danger ahead", so that the blocking device is activated despite the high speed.
- FIG. 1 shows a schematic representation of a driverless transport unit with a picked-up pallet, in a simplified, schematic representation
- FIG. 2 shows a schematic bottom view of the driverless transport unit according to FIG. 1 , in a simplified, schematic representation
- FIG. 3 shows a schematic representation of the driving unit for integration in the driverless transport unit according to FIGS. 1 and 2, in a simplified, schematic representation;
- Fig. 4 is a schematic bottom view of the driving unit with removed
- Fig. 5 is a sectional view of the driving unit with deactivated
- 1 to 5 show a preferably driverless transport unit 1 with an integrated driving unit 2, with which a method for controlling the driving unit 2 for the preferably driverless transport unit 1 is carried out.
- the driving unit 2 is preferably designed as an independent structural unit that is built into or used in the transport unit 1 .
- the driverless transport unit 1 is used to automatically pick up and drop off pallets 3 and to move the pallets 3 from any first point to any second point without requiring an additional device on the floor 4, as is described, for example, in AT 509305 A1 , so that the detailed design of the transport unit 1 is no longer discussed.
- the transport unit 1 has an essentially U-shaped chassis 5 with two legs 6, on which a flow fork 7 is arranged so that it can move vertically.
- the driving units 2 are integrated into the legs 6 in the area of the corners of the chassis 5 .
- a control unit 8 is arranged at one end of the U-shaped chassis 5, in particular at that end where the two legs 6 are connected, in which all controls 9 for the ferry operation and a safety control 10 for monitoring are integrated. It is possible here for a panel 11 to be arranged on the control unit 8 .
- the transport unit 1 has corresponding sensors 12 for picking up a pallet 3 or for finding the way in driverless ferry operation.
- the new driving unit 2 has a blocking device 13 with which the wheels 15 driven by electric motors 14 can be safely blocked.
- Two wheels 15 with two electric motors 14 are preferably arranged in a driving unit 2, with each wheel 15 being driven via a gear wheel 16 by one electric motor 14, i.e. the electric motor 14, in particular its shaft, with a smaller gear wheel (not shown) is connected that drives a larger gear 14, whereby a so-called translation or a gear is formed.
- the driving unit 2 is designed as a structural unit in which all elements for driving the wheels 15, i.e. also the block device 13, are arranged and the driving unit 2 only has an energy supply and control lines (not shown) with external components, in particular the controller 9 and/or safety controller 10, for which corresponding plug-in connections 14a are integrated.
- a single cable harness is preferably routed to the encoder of the electric motor 14, the rotational speed or speed of the electric motor 14 being determined via the encoder.
- Two strands are split from the cable harness for the blocking device 13 in order to supply the blocking device 13 with energy. This means that the entire structural unit can be built into a transport unit 1 or other devices and can also be exchanged.
- a similar structure and a functional description can be found in WO 2018/136987 A1, so that it is not discussed in detail.
- Each wheel 15 is connected via a gear wheel 16 to an electric motor 14 arranged in the wheel carrier 17 .
- the blocking device 13 is arranged in the interior 24 of the wheel carrier 17, with a separate blocking device 13, which is preferably aligned parallel to the electric motor 14, preferably being arranged for each drive, ie each electric motor 14.
- the blocking device 13 by an electromagnetic brake pin 25 which engages through an opening or bore 26 in the wheel carrier 17 in the gear 16 to the ferry, in particular the gear 16 to block.
- the brake pin 25 is referred to, for example, as a "PinBrake" which, in the rest position, i.e. without energy supply, moves into a defined position, in particular into the blocking position, via a spring element (not shown), as can be seen in FIG. 5 .
- the blocking device 13 is designed in such a way that the brake pin 25 engages in the gear wheel 14 and thus blocks it without energy being supplied. Only when energy is applied to the blocking device 13, as shown in FIG. 4, is the brake pin 25 pulled in the direction of the interior 24, whereby it releases the gear wheel 14 and thus driving operation of the driving unit 2 or the transport unit 1 is possible. This means that for the ferry operation the blocking device 13 must be supplied with energy so that the brake pin 25 is moved from its rest position into an activation position, whereby it releases the gear wheel 16 for the wheels 15 to be driven by the electric motors 14 .
- the blocking device is activated so that the power supply from the blocking device 13 is interrupted. whereupon, due to the built-in return spring, the brake pin 25 is moved back into the rest position and thus the gear wheel 16 is blocked by inserting the brake pin 25 between two teeth of the gear wheel 25.
- the locking device 13 can also be applied directly to the wheels 15, for which purpose corresponding bores or projections are provided on the inner end walls, into which the brake pin 15 can engage or in a slot on the gear wheel 25 acts, of which several are arranged in the perimeter. It is essential that when the blocking device 13 is activated, the rolling movement of the transport unit 1 is blocked by blocking the gear wheels 16 or the wheels 15, so that the transport unit 1 is stopped abruptly.
- the solution according to the invention includes a method for controlling a driving unit 2 for a preferably driverless transport unit 1, in which a control signal for activating the driving units 2 used is transmitted by a control unit 9 in the transport unit 1, whereupon one or more electric motors 14 of the driving units 2 are activated to drive wheels 15 and the transport unit 1 is moved forwards or backwards.
- the ferry operation is preferably monitored by a safety controller (safety controller 10), with the detection of a malfunction in which the ferry operation of the driving unit 2 or the transport unit 1 is continued due to a stop signal transmitted, or if the power supply is interrupted, a blocking device 13 in the Driving unit 2 is activated to stop driving unit 2 or transport unit 1.
- the safety controller 10 can also be integrated in the controller 9 .
- An embodiment is also possible in which only a single blocking device 13 is used for the driving unit 2 with two wheels 15, so that only one wheel 15 is blocked when the blocking device 13 is activated.
- the blocking device 13 can be designed in such a way that there is a brake pin 25 on both sides, which when the blocking device 13 is supplied with energy, i.e. during deactivation, pulls the brake pin 25 into the housing of the blocking device 13 and thus releases both sides.
- a blocking device 13 can thus be used for both wheels 15 if it is positioned in such a way that the brake pins 25 can engage in both gear wheels 16 .
- a major problem with such driverless transport units 1 is the safe stop in the event of a malfunction or when the energy supply runs out and the transport unit 1 cannot return to the charging station in time, since this often causes the transport units 1 to come to a standstill at any point. If the ground is uneven, it can happen that the transport unit 1 starts to roll without a blocking device 13 . Since the blocking device 13 is designed in such a way that it only blocks the power supply Gears 16 releases, such a case can be easily prevented with the solution according to the invention.
- the transport unit 1 is standing on uneven ground and the driving operation is stopped by the controller 9, which ends the supply of energy to the electric motors, but the transport unit 1 can still start to roll, so that when the new driving unit is used 1 with the blocking device 13 this is also prevented.
- the rolling can be determined by the safety controller 10 and/or the controller 9 via the encoder of the electric motors 14, since no rotary movement, in particular speed or speed, of the electric motors 14 should be present during a stop.
- the ferry operation of the transport unit 1 is also monitored so that, for example, if a malfunction is detected, in which the ferry operation of the transport unit (2) or the transport unit (1 ) is continued, this is recognized so that the blocking device is deactivated and the power supply to the blocking device 13 is interrupted.
- This can be done simply by activating an interrupting element (not shown), in particular by activating a relay or switching element that is integrated in the energy circuit of the blocking device 13, so that the blocking device 13 can be deactivated very quickly and easily.
- the blocking device 13 can of course also be supplied via its own circuit or energy circuit, in which an interrupting element, in particular a relay or switching element, is integrated, via which the safety controller 10 can interrupt the circuit.
- the blocking device 13 can be integrated in the energy circuit of the electric motors 14 so that when the electric motors 14 are activated for the ferry operation, the blocking device 13 is automatically supplied with energy and the brake pins 25 thus release the gears 14 . Execute the interruption when a malfunction occurs or the abrupt stop of the Transport unit 1 will in turn activate an interrupt element.
- the interrupting element can also be designed in such a way that it has to be deactivated in order to trigger, in particular to end the power supply to the blocking device 13, i.e. the interrupting element is activated for ferry operation and the Interrupting element is deactivated.
- the transport unit 1 is usually slowed down by a stop ramp, as a result of which the speed is continuously reduced until it comes to a standstill. If, for example, an emergency occurs and the transport unit 1 has to be stopped abruptly, the blocking device 13 is activated so that the brake pins 25 engage between two teeth of the gear wheel 16 and the rotary movement stops immediately.
- the blocking device 13 it is also possible for the blocking device 13 to be used as a parking brake in that, after the transport unit 1 has been properly braked, the transport unit 1 comes to a standstill via a predetermined stop ramp. The blocking device 13 is then activated so that the brake pins block the gear wheel 16 or the wheel 15 directly, depending on the version. Before the transport unit 1 resumes ferry operations, the blocking device 13 is deactivated so that it releases the gear wheel 16 or wheel 15 .
- controller 9 or the safety controller 10 also checks the blocking device 13 before the ferry operation, in that the blocking device 13 is activated and the transport unit 1 is approached slowly. If the blocking device 13 is in order, the movement of the transport unit 1 is blocked, which can be determined via the encoder, in which it does not supply any speed or rotational speed, although ferry operation is activated. Such a check can be carried out before each ferry service or at regular intervals.
- the blocking device 13 when the blocking device 13 is activated, the interruption of the energy supply to the blocking device 13 is meant, so that the brake pin 25 is extended into the rest position, ie the blocking position is.
- deactivation of the blocking device 13 means the supply of the blocking device 13 with energy, during which the brake pin 25 is retracted and thus a ferry operation is possible.
- a method for controlling a driving unit 2 for a preferably driverless transport unit 1 in which a control signal for activating a driving unit 2 is transmitted from a controller 8 in the transport unit 1, whereupon one or more electric motors 14 of the driving unit 2 for driving wheels 15 can be activated and the transport unit 1 is moved forwards or backwards, with the ferry operation being monitored by a safety controller 10 (safety controller 10), with the detection of a malfunction in which, due to a stop signal transmitted, the ferry operation of the drive unit 2 or the transport unit 1 is continued, or if the power supply is interrupted, a blocking device 13 in the driving unit 2 is activated to stop the driving unit 2 or the transport unit 1, with at least one transmission or at least one gear wheel 16 or at least one wheel 15 being locked directly via the blocking device 13 or. be blocked.
- a safety controller 10 safety controller 10
- the invention is not limited to the illustrated embodiment variants, but can also include other configurations.
- the design variants or individual features of the design variants can also be combined with one another.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Civil Engineering (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Handcart (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202280029973.0A CN117203080A (zh) | 2021-04-22 | 2022-04-01 | 用于对用于优选无人驾驶的运输单元的行驶单元进行控制的方法以及用于其的行驶单元和运输单元 |
US18/556,547 US20240182284A1 (en) | 2021-04-22 | 2022-04-01 | Method for controlling a drive unit for a preferably driverless transport unit, drive unit, and transport unit for same |
EP22723960.5A EP4326577A1 (de) | 2021-04-22 | 2022-04-01 | Verfahren zum steuern einer fahreinheit für eine vorzugsweise fahrerlose transporteinheit, sowie fahreinheit und transporteinheit hierfür |
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ATA50297/2021A AT525002A2 (de) | 2021-04-22 | 2021-04-22 | Verfahren zum Steuern einer Fahreinheit für eine vorzugsweise fahrerlose Transporteinheit, sowie Fahreinheit und Transporteinheit hierfür |
ATA50297/2021 | 2021-04-22 |
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WO2022221893A1 true WO2022221893A1 (de) | 2022-10-27 |
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PCT/AT2022/060101 WO2022221893A1 (de) | 2021-04-22 | 2022-04-01 | Verfahren zum steuern einer fahreinheit für eine vorzugsweise fahrerlose transporteinheit, sowie fahreinheit und transporteinheit hierfür |
Country Status (5)
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US (1) | US20240182284A1 (de) |
EP (1) | EP4326577A1 (de) |
CN (1) | CN117203080A (de) |
AT (1) | AT525002A2 (de) |
WO (1) | WO2022221893A1 (de) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10258931A1 (de) * | 2002-12-16 | 2004-07-15 | Jungheinrich Aktiengesellschaft | Flurförderzeug mit elektrischer Bremse |
DE102008011719A1 (de) * | 2008-02-28 | 2009-09-03 | Jungheinrich Aktiengesellschaft | Bremssystem für ein Flurförderzeug |
AT509305A1 (de) | 2009-12-15 | 2011-07-15 | Amx Automation Technologies Gmbh | Fahrerlose transporteinrichtung |
WO2018136987A1 (de) | 2017-01-28 | 2018-08-02 | Amx Automation Technologies Gmbh | Fahrwerk |
WO2020247991A1 (de) * | 2019-06-08 | 2020-12-17 | Amx Automation Technologies Gmbh | Omnidirektionaler radnabenantrieb |
DE102020006337A1 (de) * | 2019-10-09 | 2021-04-15 | Metralabs Gmbh Neue Technologien Und Systeme | Autonomes Flurförderzeug |
-
2021
- 2021-04-22 AT ATA50297/2021A patent/AT525002A2/de unknown
-
2022
- 2022-04-01 EP EP22723960.5A patent/EP4326577A1/de active Pending
- 2022-04-01 WO PCT/AT2022/060101 patent/WO2022221893A1/de active Application Filing
- 2022-04-01 CN CN202280029973.0A patent/CN117203080A/zh active Pending
- 2022-04-01 US US18/556,547 patent/US20240182284A1/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10258931A1 (de) * | 2002-12-16 | 2004-07-15 | Jungheinrich Aktiengesellschaft | Flurförderzeug mit elektrischer Bremse |
DE102008011719A1 (de) * | 2008-02-28 | 2009-09-03 | Jungheinrich Aktiengesellschaft | Bremssystem für ein Flurförderzeug |
AT509305A1 (de) | 2009-12-15 | 2011-07-15 | Amx Automation Technologies Gmbh | Fahrerlose transporteinrichtung |
WO2018136987A1 (de) | 2017-01-28 | 2018-08-02 | Amx Automation Technologies Gmbh | Fahrwerk |
WO2020247991A1 (de) * | 2019-06-08 | 2020-12-17 | Amx Automation Technologies Gmbh | Omnidirektionaler radnabenantrieb |
DE102020006337A1 (de) * | 2019-10-09 | 2021-04-15 | Metralabs Gmbh Neue Technologien Und Systeme | Autonomes Flurförderzeug |
Also Published As
Publication number | Publication date |
---|---|
AT525002A2 (de) | 2022-11-15 |
EP4326577A1 (de) | 2024-02-28 |
CN117203080A (zh) | 2023-12-08 |
US20240182284A1 (en) | 2024-06-06 |
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