DE102014010915B3 - Conveyor with a stationary part of the plant and relative thereto, in particular along a conveying section movable Anangsenteil - Google Patents

Abstract

Conveyor with a stationary part of the plant and relative thereto, in particular movable along a conveyor section plant part, wherein the movable plant part conveyor elements and a communication network composed of juxtaposed bus segments, each bus segment a master and associated with him, arranged in line topology, means Data bus connected slaves, wherein the master of a respective bus segment adjacent bus segment is connected to the data bus of the respective bus segment and is operable as the bus subscriber, each of the conveying elements either one, in particular a single, the master or one, in particular a single, the Slaves has.

Description

The invention relates to a conveyor system with a stationary part of the plant and relative thereto, in particular along a conveying path movable part of the plant.

It is well known that conveyor systems have a movable system part.

From the WO 2004/035 365 A2 is a monorail sorter known.

From the WO 2009/156 820 A1 For example, a contactless communication method for vehicles is known.

From the US 2008/0181252 A1 is an RF bus control known.

From the CN 101 722 949 A is a monitoring system for the brake of a locomotive known.

The invention is therefore based on the object to form a conveyor system with high reliability.

According to the invention the object is achieved in the conveyor system according to the features specified in claim 1.

Important features of the invention in the conveyor system with a stationary part of the plant and relative thereto, in particular along a conveying path movable part of the plant,
in that the moveable part of the installation has conveying elements and a communication network which is composed of mutually lined bus segments,
wherein each bus segment has a master and associated with it, arranged in line topology, connected by means of data bus slaves,
wherein the master of a bus segment adjacent to the respective bus segment is connected to the data bus of the respective bus segment and is operable as its bus subscriber,
wherein each of the conveying elements has either one, in particular a single, the master or one, in particular a single, of the slaves.

It is advantageous that, although separate bus segments are arranged on the movable system part, which each have a master and associated slaves. In addition, each master of a bus segment is also a bus subscriber of a next-adjacent bus segment. Thus, data from a master of a first bus segment is receivable and transferable to a master of an adjacent bus segment located at the end of the line bus segment and also having a termination resistor for the bus. Thus, however, data can also be forwarded from any master to any other master.

The linear arrangement of the bus segments is advantageously a ring structure, wherein each bus segment has an independent linear configuration. In this way, in the event of failure of the data transmission between the stationary part of the plant and one of the masters of a first bus segment, the data transmission via another master can be maintained.

Each master thus has a terminating resistor for its own bus segment and a terminating resistor for the adjacent bus segment. The slaves need no terminating resistors for this purpose.

Each conveyor element is assigned either a single one of the slaves or alternatively a single one of the masters. Thus, each conveyor element is also associated with a corresponding electronic module, so that a control of an actuator of the conveyor element can be effected and a sensor is connectable to the electronic module.

The advantage here is that according to the invention the safety is increased. Because in the case of failure of a direct data transmission channel between the stationary part of the plant and one of the master, the data transfer to another master can be used, the data transferred being executed by this other master to the first master by means of the data bus structure on the movable part of the plant.

In an advantageous embodiment, each master is connected to an antenna for transmitting or receiving signals, in particular for data transmission to a higher-level control or from a higher-level control. The advantage here is that data are contactless transferable, so not wired.

In an advantageous embodiment, the antenna belongs to a radio network. The advantage here is that any antenna can be addressed.

In an advantageous embodiment, the antenna protrudes at least partially into a slot waveguide of the stationary plant part, which is arranged along the conveying path,
in particular, wherein a further, stationarily arranged antenna is connected to the higher-level control. The advantage here is that the antennas located in the region of the slot waveguide for data transmission can be used. Thus, information is Low-emission for the environment and can be selectively transmitted.

In an advantageous embodiment, at least one Einschleusstelle and at least one Ausschleusstelle is arranged along the conveying path. The advantage here is that an introduction of conveyed material is made possible at a first position of the conveyor line and a discharge at another position.

In an advantageous embodiment, the stationary part of the installation has a sensor, in particular a scanner, for the detection of information belonging to the material to be conveyed. The advantage here is that a simple detection of the conveyed is possible.

In an advantageous embodiment, a transmitting device is stationarily arranged at the discharge point, which is connected to the higher-level control. The advantage here is that an unambiguous assignment to the Ausschleusstelle can be produced, in particular by spatial proximity.

In an advantageous embodiment, each master or slave of each conveyor element is connected to a arranged on the conveyor element sensor for receiving the signals sent by the transmitting device. The advantage here is that a redundant non-contact data transmission system to the stationary part of the system is feasible. Because in case of failure of the direct data transfer to a first master down another master is used, the data is then forwarded in the movable part of the system to the first master.

In an advantageous embodiment, each conveyor element is connected by means of a plug connection with the next adjacent conveyor element for the transmission of data and / or energy. The advantage here is that a simple connection technology is provided.

In an advantageous embodiment, a primary conductor is at least partially arranged along the conveyor lines and at least one conveyor element has a secondary winding which is inductively coupled to the primary conductor for supplying the electrical drive of the conveyor element. The advantage here is that a non-contact inductive supply, so low-wear supply, executable.

In an advantageous embodiment, two slot waveguides spaced apart in the conveying path direction are arranged along the conveying path on the stationary part of the installation,
in particular so that at least one antenna of a respective master always projects at least partially into each of the slot waveguides. The advantage here is that the security is increased.

Further advantages emerge from the subclaims. The invention is not limited to the combination of features of the claims. For the skilled person, further meaningful combination options of claims and / or individual claim features and / or features of the description and / or figures, in particular from the task and / or posing by comparison with the prior art task.

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

In the 1 is a conveyor system according to the invention 1 represented, in particular their relative to the stationary part of the plant movably arranged part of the plant, wherein conveying elements 2 are arranged in series one behind the other and are movable on a closed path.

In the 2 is a part of the communication structure of the conveyor system 1 shown in more detail.

In the 3 is the communication structure of the conveyor system 1 shown.

In the 4 are several masters 9 represented, each associated with a respective bus segment, wherein the master participants of a radio network 9 are and thus data are interchangeable with a parent stationarily arranged control, so computer 21 ,

In the 5 are the masters 5 with an index and the respective master 5 assigned slaves 6 marked with the same index.

In the 6 is a master 5 shown in more detail.

In the 7 is a slave 6 shown in more detail.

In the 8th is a master 5 with a ranked slave 6 shown.

In the 9 is the conveyor system 1 shown in more detail.

In the 11 is another conveyor 1 shown in more detail, wherein in a section a slot waveguide 10 is arranged stationary.

In the 10 is the further conveyor system with a signal line 24 shown.

In the 11 is the conveyor system without signal line 24 shown.

In the 12 another system with a ring or loop topology is shown.

In the 13 is a special case of the system shown in ring topology, with only a single master is present.

In the 14 is another plant in line topology with a master at the beginning, one shown at the end.

In the 15 is the movable part, so the mobile part, the system shown, the bus communication is replaced by a contactless short-range communication, which is designed as optical communication.

In the 16 the movable part, ie the mobile part, of the system is shown, wherein the bus communication is replaced by a contactless short-range communication, which is designed as short-range radio communication.

In the 17 is contrary to 15 and 16 an embodiment shown in which all bus participants, ie master and slaves, are identical, but the slaves their respective antenna for communication with the stationary part is not used, but receive information about each higher-level master. The advantage here is that fewer radio communication subscribers must share the radio channel, and the number of accesses to the communication medium, in particular thus radio channel, thus can be reduced and the resource "radio" is thus more efficient.

In the 18 . 19 and 20 Three stages are shown for separating a train into 2 moves.

In the 21 is the separation of a train shown.

In the 22 is the separation of two trains shown.

In the 23 is an example of the topology of a plant that not only consists of a loop, but has two branches ( 43 and 44 ).

As in 1 shown, the conveying elements move 2 on a closed track. Each conveyor element is for receiving a conveyed, in particular object or human, usable. That of the respective conveyor element 2 recorded conveyed is transported in each case a predetermined route section and then from the conveyor element 2 issued.

Preferably, the conveyed material is provided with an information carrier, such as a barcode, so that a sensor, such as a scanner 20 , Information is recognizable. This information is sent from the sensor to the higher-level controller, in particular computer 21 , transmitted and which then transmit devices 25 or 26 controls, so that at the appropriate track position of the transmitting device 25 or 26 that the conveying element 2 detects a signal for delivering the conveyed and then delivers this conveyed at the predetermined distance position.

As in 2 2, the communication structure has a part including a part formed of master M and slaves S disposed on the movable plant part. Each conveyor element is uniquely assigned to either a master M or a slave.

From a master M and its associated slaves S a bus segment is formed in each case. However, each master is also connected to the adjacent bus segment and can be addressed as a bus subscriber by the master of the respectively adjacent bus segment. So if the transfer of data between one of the master M and the parent controller using the wireless network 9 fails, a transfer is made possible via the adjacent master, this master then passes the data.

Instead of the directly adjacent master M, another master M can also be used for transmission in the case of the aforementioned failure of the radio network. However, the data are then passed through by a corresponding number of masters M.

In 3 is a communication channel between two masters M and a stationary communication device 7 , which is connected to the higher-level control, especially computers 21 , shown as a connecting line. However, it should be noted that this communication channel runs at least partially not wired, but as a wireless network 9 , Slothohlleiterübertragung or as optical, in particular infrared, connection is executed.

In 4 is actually the wireless network 9 shown. In this case, the stationary communication device 7 an antenna, so that modulated electromagnetic waves are radiated and / or receivable. Likewise, the respective master M has a corresponding interface.

In 5 Alternatively, the slot waveguide transmission is shown, in which each master M (1) is associated with an antenna which is in the slot waveguide 10 protrudes and thus coupled wave trains are detectable and wave trains of the respective antenna can be coupled. One in the slot waveguide 10 Stationarily arranged antenna is connected to the stationary communication device 7 connected.

The master M (1) is in each case connected to slaves S (1). Likewise, the further masters M (2) to M (n-1) are each connected to slaves S (2) to S (n-1).

The length L of a respective bus segment formed by the respective master and the slave assigned to it corresponds to that range up to which a signal transmission can reliably be executed by the respective master.

Thus, the range equals or exceeds the distance between two adjacent masters.

Although the masters are connected to their respective assigned, arranged behind the respective master slaves but also in each case with the next adjacent master.

As in 6 shown, rejects each master 5 an interface 11 , in particular communication module, on, which with a connector part 15 is connected so that either an antenna is connected, which in a slot waveguide 10 protrudes, as in 5 and 10 shown or which as antenna of the radio network 9 is executed, so that signals by means of the wireless network 9 are transferable.

the interface 11 of the master 5 is with a signal electronics 13 connected to the master, which in turn with interfaces 12 connected to a respective connector part 14 are designed so that energy and data from the conveyor element 2 of the master 5 to the forward direction of movement arranged conveying element 2 , in particular to its slave 6 are transferable and counter to the direction of movement next adjacent conveyor element, in particular to its slave 6 , are transferable.

As in 7 shown, the respective slave points 6 also connector parts 14 on. One of the connector parts 14 is with the connector part 14 of the adjacently arranged master 5 connectable. Thus, power and data are transferable to one with the connector parts 14 connected interface 17 , in turn, with a signal electronics 17 connected is.

The interfaces 12 and 17 are each designed as bus participants, so that for the associated conveyor element 2 certain information can be detected and in this way an actuator is controlled accordingly, which causes a discharge of conveyed.

On the conveyor elements in each case also an optical signal receiver 27 arranged, so that in accordance with signals transmitted by the higher-level control system, a discharging or discharging of conveyed goods can be initiated. For this purpose, the higher-level controller transmits signals which contain the information which conveying element 2 should perform a rejection.

As in 8th shown is a respective master 5 with a slave 6 connected, in particular via the connector parts 14 formed plug-in connection.

Some or all of the conveying elements also have a secondary winding, which are provided inductively coupled with a stationary laid along the conveyor line primary conductor. Thus, energy is contactless transferable and the drives of the conveyor elements 2 supplied. In addition, energy between the conveyor elements by means of the connectors are transferable, since the connector parts 14 are preferably designed as hybrid connector parts, so not only pass signals of the data bus but also power currents.

The primary conductor is supplied with a medium-frequency current whose frequency is between 10 kHz and 1000 kHz. The respective secondary winding of the respective conveying element has a capacitance connected in series or in parallel such that the resonant frequency of the resonant circuit thus formed essentially corresponds to the frequency of the medium-frequency alternating current impressed into the primary conductor.

As in 9 shown, move the conveyor elements 2 on a closed track, with conveyed at a Einschleusstelle 19 a respective conveyor element can be fed and identified during the further movement. This is a scanner 20 arranged stationary, which detects identification information of the recorded conveyed, so that of a higher-level control unit, ie computer 21 , The conveyed is attributable to the conveyor element.

When reaching a transfer point 18 is from a transmitting device 23 , Preferably optical transmitting device, a signal emitted, which is the discharge of the conveyed from the conveyor element at the Ausschleusstelle 18 causes.

The sending device 23 is from the parent machine 21 controlled and thus the conveyed at that transfer point 18 from the conveyor element 2 delivered, the transmitting device is driven accordingly.

As in 10 shown is unlike the 9 a slot waveguide 10 moved along a section of track. Thus, information about the movable part of the plant is transferable. If this is information to one of the master 5 of the movable part of the plant to be transmitted, the connected antenna is not in the slot waveguide 10 protrudes and thus the master 5 can receive no information directly, but is the master to another 5 the movable part of the system information transferable and from this master 5 then by means of the data bus of the movable part of the plant to that master 5 transferable for which the information is intended. For the transmission of information, it is only necessary that at least one of the master 5 the movable equipment part receives signals from the slot waveguide. Because all master 5 of the movable plant part are participants of at least two bus segments and thus data between the masters 5 are replaceable, a steady supply of data from the higher-level control is executable.

The transfer point 18 can be realized as a chute, belt conveyor or roller conveyor.

In each of the interfaces 12 a terminator of the bus segment is integrated. Thus, each bus segment begins and ends each at a master 5 ,

By means of the scanner 20 is detected, which conveyed in which conveying element 2 is included. The higher-level control, so calculator 21 , determined by this information depending on the Ausschleusstelle 18 and then controls the to this Ausschleusstelle 18 associated transmitting device ( 23 . 25 . 26 ) accordingly, so that the signal electronics of a respective actuator receives corresponding signals by means of a sensor arranged on it and, depending on the received signals, an actuator of the conveying element 2 delivers the conveyed goods.

The data transmission between the movable and the stationary plant part is bidirectional. Thus, the respective Ausschleusstelle is releasable or lockable, for example, if a previously discharged conveyed jams or has not yet arrived at the predetermined position.

For commissioning, the conveyor system is operated according to the following procedure:
The movable anal component is constantly moved at a first speed v. Thus drive the conveyor elements 2 at the respective transmitting device ( 23 . 25 . 26 ) past. The on the conveyor element 2 respectively provided signal electronics ( 13 . 16 ) allows the recognition of the respective transmitting device ( 23 . 25 . 26 ) transmitted information and reports them further by means of the data bus and a non-contact data transmission, ie radio transmission or slot waveguide transmission to the higher-level control, so computer 21 , By means of the order of the messages, that is to say recognition of the codes, the order of the elements of the movable part of the plant can be determined, that is also the sequence of the slaves. Each slave logs in to the master 5 and / or the parent controller with its unique address. The computer then allocates the logical, that is dynamic, addresses according to the sequence of the slaves.

From the time interval of the messages from the individual slaves and the speed v, the distance between the slaves is determined.

The conveyor system 1 is, for example, executable as a sorter.

In further exemplary embodiments according to the invention, the redundant master-slave structure according to the invention is also applicable to other topologies, with the exception of the ring topology or topology of a closed loop, in particular for a line topology.

In the 12 to 22 is shown for this line structure, as the movable part of the plant, so the train is separable into several trains and each train is then in the direction of different branches of a system can be sent.

As in 12 shown, the system is executable with a ring or loop topology, as already described above. In 12 the assignment of the respective slaves to their respective master can be recognized by means of the numbering.

In the 13 As a special case, a system in the ring topology is shown with only one master.

In the 14 is an attachment in line topology with a master at the beginning and another at the end. The advantage of this design is just as in a ring structure: all slaves can be reached over several ways. Although there is an extra master, but the total length of the movable part of the plant does not have to correspond to the length of the stationary part of the plant.

15 shows the movable part of the system, the bus communication is performed by a contactless short-range communication, in particular optical communication.

16 shows the movable part of the system, wherein the bus communication is performed by a contactless short-range communication as short-range radio communication. The short-range communication is in pairs a point-to-point communication. The information is forwarded from one slave to the next. An advantage of this is that the mobile part of the system is separable into several trains and each train is then controllable in the direction of different branches of a system. When the individual trains of this type meet at a particularly long section of the system, they are automatically connectable to a single long train.

• 1. Verschiedene Kommunikationsgeräte versuchen auf das Kommunikationsmedium, wie Funkkanal, zuzugreifen, und senden die Nachrichten. Wenn keine Bestätigung (engl. Acknowledgement) von dem Empfänger zurückkommt, wird ein Konflikt beim Zugriff aufs Medium vermutet. Ein Konflikt liegt beispielsweise vor, wenn mehrere Sender gleichzeitig ihre Nachricht abgeschickt haben. Es wird dann ein Zufallswert für Wartezeit generiert, wann der Sender wieder versuchen soll, seine Nachricht zu schicken.
• 2. Es gibt fest zugeordnete Zeitschlitze für jeden Sender. Vorteilig ist dabei, dass keine Konflikte für die Nutzung des Mediums auftreten. Nachteilig ist dabei, dass das Medium reserviert ist, auch wenn der bestimmte Sender nichts zu senden hat. In diesen beiden Fällen ist die Effizienz der Nutzung des Mediums besser, wenn es weniger Funkkommunikationsteilnehmer gibt.

In the 17 is contrary to 15 and 16 an embodiment shown in which all bus participants, ie master and slaves, are identical, but the slaves their respective antenna for communication with the stationary part is not used, but receive information about each higher-level master. The advantage here is that fewer radio communication subscribers have to share the radio channel, and the number of accesses to the communication medium, in particular thus radio channel, can thus be reduced and the resource "radio" can thus be used more efficiently:

• 1. Various communication devices try to access the communication medium, such as radio channel, and send the messages. If no acknowledgment comes back from the receiver, a conflict of access to the medium is suspected. A conflict exists, for example, when several senders have sent their message at the same time. A random wait value is then generated when the sender should try again to send his message.
• 2. There are dedicated time slots for each transmitter. It is advantageous that no conflicts for the use of the medium occur. The disadvantage here is that the medium is reserved, even if the particular station has nothing to send. In both cases, the efficiency of using the medium is better when there are fewer radiocommunication participants.

In the 18 to 20 Three stages are shown for separating a train into 2 moves. 18 shows the time t1 at which all movable elements of the system are part of a train. 19 shows the time t2, which is after the time t1 and in which the preparation for the separation of the train is carried out in two segments, so that slave S1_1 is reconfigured to the master M1_2, and more than one master remains in each train segment. It is advantageous that redundancy is provided and better availability and / or security is available. 20 shows the time t3, which is after the time t2 and in which the separation of the train is provided in two trains. A connection of the two trains can be represented with the same images, in which case 20 applies for the earliest date, and 18 for the latest one: t3 <t2 <t1.

21 and 22 show the separation of a train ( 21 ) in two trains ( 22 ), where too 19 no analogue step is necessary because the last slave S1 on the right can not be reconfigured into a master because it has no function block for communication with the stationary part of the system. In the 21 and 22 Thus, it is shown that the separation into two moves is still possible, but the redundancy is eliminated, so the slave is no longer accessible via multiple masters.

23 shows the topology of a plant that consists not only of a loop, but two branches ( 43 . 44 ) having. In this equipment topology, the separation of a train into two moves in the direction of movement of the movable part is to the left of the segments 43 and 44 applicable and the merge back into a turn right of the segments 43 and 44 when the direction of movement of the train is clockwise.

The advantage of separating a train into two or more trains is better efficiency: Firstly, there is better use of the available space for the system, ie a more efficient use of the space / space resource, and second, better energy efficiency is available, because not all movable elements of the system must drive off the entire system, but only those segments where they pick up or throw off the conveyed, in particular to eject.

LIST OF REFERENCE NUMBERS

1

sorter

2

impeller

3

stationary data bus

4

mobile data bus

5

master

6

slave

7

stationary communication device connected to computer 21

8th

Mobile network consisting of bus segments

9

Wireless Network

10

Slot waveguide

11

Interface, in particular communication module

12

interface

13

signal electronics

14

connector part

15

connector part

16

signal electronics

17

interface

18

delivery point

19

Einschleusstelle

20

scanner

21

computer

22

stationary data bus

23

Transmitting device, in particular optical transmitting device

24

signal line

25

Transmitting device, in particular optical transmitting device

26

Transmitting device, in particular optical transmitting device

27

Receiver for local communication with the broadcasters ( 25 . 26 )

28

Antenna at the stationary communication device 7 for communication with the movable part of the plant

41

Optical transmitter / receiver for short-range optical communication

42

Antenna for short range radio communication with limited range

43

Branch in the plant.

44

Branch in the plant.

L

Length of a bus segment of the mobile network 8th

Claims (7)

Conveying system with a stationary part of the plant and relative thereto, along a conveying path movable part of the plant, the movable part of the plant comprises conveying elements and a communication network composed of juxtaposed bus segments, each bus segment a master and associated with it, arranged in line topology, by means of data bus connected slaves, wherein the master of a respective bus segment adjacent bus segment is connected to the data bus of the respective bus segment and is operable as the bus subscriber, each of the conveying elements either one, in particular a single, the master or one, in particular a single, the slaves each master having one or two antennas for transmitting or receiving signals, that is to say for data transmission to a higher-level control or from a higher-order control, the stationary part of the installation having a scanner ( 20 ) for the detection of information to be conveyed, wherein at the discharge point a transmitting device is arranged stationary, which is connected to the parent control, each master or slave of each conveyor element with a arranged on the conveyor element sensor for receiving the signals sent by the transmitting device connected is. Conveying system according to claim 1, characterized in that the antenna belongs to a radio network. Conveying system according to at least one of the preceding claims, characterized in that the antenna at least partially protrudes into a slot waveguide of the stationary part of the installation, which is laid along the conveying path, in particular wherein a further stationarily arranged antenna is connected to the higher-level control. Conveyor system according to at least one of the preceding claims, characterized in that along the conveying path at least one Einschleusstelle and at least one Ausschleusstelle is arranged. Conveyor system according to at least one of the preceding claims, characterized in that each conveyor element is connected by means of a plug connection with the next adjacent conveyor element for the transmission of data and / or energy. Conveyor system according to at least one of the preceding claims, characterized in that along the conveyor lines at least partially a primary conductor is arranged and at least one conveyor element has a secondary winding which is inductively coupled to the primary conductor for supplying the electrical drive of the conveyor element. Conveying system according to at least one of the preceding claims, characterized in that arranged on the stationary part of the plant two spaced in the conveying direction slot waveguide along the conveying path, in particular so that always at least one antenna of each master at least partially protrudes into each of the slot waveguide.

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