Control method for controlling a transport device with several drive elements, computer program product and transport system

Abstract

The invention relates to a control method (100) for controlling a transport device (2) for transporting goods (3) from a starting area (4) to a destination area (6) in a transport system (1), in particular in the form of a palletizing system, with a plurality of drive elements (11), each of which can be controlled by at least one movement function (201), comprising: detecting (101) path data (210) of the transport of the goods (3) from the starting area (4) to the destination area (6) by a control unit (20) of the transport system (1). The invention further relates to a computer program product and a transport system (1).

Description

The invention relates to a driving method for driving a transport device for transporting transported goods from a starting region to a target region in a transport system, in particular in the form of a palletizing system, having a plurality of drive elements, a computer program product, and a transport system.It is known from the prior art to palletize produced goods in order to transport them to another location, for example by means of a truck. For this purpose, the goods are usually stacked in several layers on a transport pallet.For the arrangement of the goods on the pallet, grippers are frequently used, which pick up the transport goods in the form of palletising goods and bring them to a predetermined location on the pallet. In such grippers, as is known, for example, from the document DE 103 09 131 A1, two controlled gripper arms are often controlled in order to grip the palletising material and to throw it off over the pallet or a sliding table.In such palletizing systems, the ejection position is often aligned with a position pattern individually created by the customer, which is built up by a movement of the gripper along two axes for positioning the transport goods according to the coordinates of the ejection point. However, the mechanical wear of the palletizing system is strongly dependent on the jerk during the movement of the gripper, so that it is known to configure the movement along the axes with a constant jerk according to a movement law. However, it is desirable to allow low-wear operation at the highest possible cycle rates during palletization of the transport goods in order to achieve a high throughput of the transport goods.It is an object of the present invention to at least partially eliminate the above disadvantages known from the prior art. In particular, it is an object of the present invention to improve an actuation of a transport device, preferably in a palletizing system, with regard to at least one operating property and / or at least one target variable, preferably with regard to low-wear operation at the highest possible cycle rates, during the transport of transport goods through the transport device.The above object is achieved by a driving method having the features of claim 1, a computer program product having the features of claim 16, and a transport system having the features of claim 17. Features and details which are described in connection with the driving method according to the invention naturally also apply in connection with the computer program product according to the invention and / or the transport system according to the invention and vice versa, so that with regard to the disclosure reference is or can always be made to the individual aspects of the invention in a mutually alternating manner.According to a first aspect of the invention, a driving method for driving a transport device for transporting goods to be transported from a starting region to a target region in a transport system, in particular in the form of a palletizing system, having a plurality of driving elements, each of which can be driven by at least one movement function in each case, is provided. The driving method comprises, in particular in the form of method steps:acquiring travel data of the transport of the transport goods from the starting region to the target region by a control unit of the transport system, in particular for each of the drive elements,defining one of the drive elements as a base element, which defines a movement specification as a function of the path data and of the movement function assigned to the base element, and at least one other drive element, i.e. in particular another of the drive elements, as an optimization element, in particular by the control unit,determining a control function for the optimization element as a function of the movement specification, in particular by the control unit,controlling the base element on the basis of the movement function assigned to the base element and controlling the optimization element on the basis of the control function determined for the optimization element by the control unit.The transport goods can preferably be piece goods, in particular in the form of prestacked and / or empty packages, for example in the form of bags. Preferably, the transport goods can comprise valve bags. Furthermore, the transport goods can have a stacking height which is defined by a number of prestacked individual products. The control unit can comprise a processor and / or a microprocessor. Furthermore, the control unit can be integrated at least partially or completely into a central control unit of the transport device and / or of the transport system. However, it is likewise conceivable for the control unit to be integrated at least partially or completely into one or more decentralized control units.Furthermore, the transport device can have an interface for connecting the transport device to a production line for producing the transport goods. The transport device can form a termination of the production line. The starting region can be a receiving point at which the transport device receives the transport of the material to be transported. The target area can be a delivery point at which the transport of the transport goods by the transport device is completed. However, it is also conceivable for the starting region and / or the target region to comprise intermediate positions during transport within the transport device. The starting region can comprise a feeding device for feeding the material to be transported to the transport device. For example, a lifting table can be arranged at the starting region in order to lift the transport goods and to enable the transport goods to be picked up by a transport unit, in particular in the form of a gripper unit. In the target area, a pallet for receiving the transport goods can be arranged. Preferably, several pallets can be available in the target area for successive loading of transport goods. It can advantageously be provided that the transport goods can be deposited over the target area and / or can be deposited, in particular by dropping.The drive elements can comprise drives or parts of drives for moving the transport goods, in particular for moving a transport unit with the transport goods, along a movement axis, which can also be referred to as transport axis. In particular, each of the drive elements can comprise an electric motor, preferably in the form of a servomotor and / or an NC motor. For example, the transport device can comprise three axes of movement along which the transport goods can be transported during transport. In this case, two of the axes of movement can serve for positioning the package on the basis of coordinates for the target area. Furthermore, a third movement axis can be provided for rotating the transport goods, for example in angular positions of +90°, -90° and / or -180°.The travel data of the transport can preferably comprise position data of the starting region and of the target region, in particular in the form of position information about a receiving position for receiving the transport goods in the starting region and / or a delivery position for delivering the transport goods in the target region. The position data can comprise coordinates, for example, preferably in a common or individual coordinate system for the drive elements. It is conceivable that, when acquiring the path data, a movement distance for each movement axis and / or each of the drive elements is recognized and / or calculated, in particular on the basis of the position data.Among the motion functions, transport functions can be used, in particular for implementing motion laws. The movement functions are in particular configured for controlling and / or regulating the respectively assigned drive element. In particular, the movement functions can be matched to a mechanical system of the transport device. The movement functions preferably comprise a numerical and / or analytical relationship between at least one input and at least one output variable for controlling the drive elements. For example, the movement functions can comprise transfer functions as a function of the output variable and the input variable during transport. The movement functions for the drive elements can furthermore be different or identical. For example, each of the drive elements may be assigned one of the other movement functions or all of the drive elements may be assigned an identical movement function. The movement functions can preferably be normalized, in particular to one. For controlling the base element and the optimization element, scaling can be carried out, in particular taking into account a maximum speed and / or a maximum acceleration. The normalized motion functions, the maximum speed and / or the maximum acceleration can be predefined, in particular for each drive element. The control function can be understood to mean a movement function assigned to and / or varied by the optimization element.The movement specification can be calculated, for example, on the basis of the path data and the movement function assigned to the base element and / or can be determined from a predefined database. For example, the movement specification can comprise an operating parameter of the base element, in particular when controlling the base element, which parameter is not to be exceeded or undershot by the optimization element. For example, the base member may be defined as the slowest driving member. The defining of the base element and the optimization element can comprise a subdivision of the drive elements into the base element and one or more optimization elements. It can be provided that the base element and / or the optimization element is fixed directly or indirectly. For example, the determination of the base element and the optimization element can comprise a transfer of identification parameters to a testing process. Furthermore, the movement function and / or a transport parameter of the drive element defined as the base element and / or of the drive element defined as the optimization element can be stored in a predefined memory area.The actuation of the base element and the actuation of the optimization element can preferably take place simultaneously. When controlling the base element and the optimization element, in particular, the movement function assigned to the base element and the control function determined for the optimization element can be output to the respective drive elements. For this purpose, the control unit can be in communication connection directly or indirectly with the drive elements. By controlling the base element and the optimizing element, the transport of the material to be transported from the starting region to the target region can be implemented.In particular, for the distance to be covered along the movement axes, the movement depicted by the movement functions can thus be optimized while maintaining the movement specification, and thus preferably the maximum speed, acceleration and / or deceleration. In this case, losses, for example due to friction, as a result of which a smaller force is required for deceleration, can also be taken into account in the movement functions. Furthermore, the motion functions make it possible in particular to specify different values for acceleration and deceleration. By distinguishing between the base element and the optimisation element, the base element can be the guiding drive element to which the optimisation elements are subordinate. It has been recognized in the context of the present invention that one of the drive elements is determining for a first target variable as a function of the path data, while the remaining drive elements can be operated in another manner, for example in a manner that is less wear, without influencing the first target variable for transport. Consequently, the service life of the transport device can be extended. Furthermore, for example, by a smooth entry into an end of movement, an accuracy in the positioning can be increased.Furthermore, in a driving method according to the invention, it can advantageously be provided that the driving method comprises, in particular in the form of a method step:executing a test process for identifying a variability of the motion function for the optimization element as a function of the motion specification, in particular by the control unit,wherein the control function for the optimization element is determined as a function of the test process, in particular as a function of the variability of the motion function. The variability of the motion function for the optimization element can be understood to mean an exchangeability and / or a modifierability of the motion function assigned to the optimization element. In this case, it can be checked during the checking process whether the movement specification is still fulfilled in the event of a variation of the movement function. When determining the control function, the variation of the movement function, in particular in the form of an exchange for another movement function and / or a modification of the movement function, can be taken into account as a function of a result of the checking process with regard to the variability. If the result of the test process is negative, the movement function can be defined as a control function, in particular unchanged. In this case, by detecting the variability, it is possible to detect whether and to what extent the operation of the optimization element can be modified. For example, a maximum force to be transmitted for the transport can be limited for the optimization element and / or the base element, and a load limit can be better utilized by adjusting the deceleration in order to enable a fast movement during the transport.Furthermore, in a driving method according to the invention, it can advantageously be provided that a speed, an acceleration and / or a jerk during driving of the drive elements, in particular for transporting the transport goods, is defined by the movement functions. The jerk is in particular the derivative function of the acceleration. The motion functions may include equations, graphs, and / or a control algorithm that controls and / or regulates the motion of the machine. For this purpose, a PID controller (proportional-integral-derivative), trajectory planning algorithms and / or kinematic models can be implemented in the control unit in order to define the movement for the transport. In particular, the motion functions can define curves of a power, a path, a speed, an acceleration, a jerk function and / or a dynamic drive torque of a standardized motion law. In this case, the movement functions can each comprise, for example, a sine function, in particular in the form of an inclined sine line, a Besthorn sine, a higher sine line, an oblique sine line and / or a cycloidal motion, or be based on the sine function. Furthermore, it is conceivable that the motion functions comprise a polynomial, preferably a fifth order. The movement functions can thus define a smooth and / or efficient movement for the transport in order to reduce a mechanical load on the transport device.Furthermore, in a driving method according to the invention, it can advantageously be provided that the movement specification comprises a first target variable, in particular in the form of a transport time, in particular wherein the determination of the control function is carried out as a function of a second target variable, in particular in the form of the jerk.The variability in the checking process for recognizing the variability of the motion function can preferably be checked as a function of the second target variable, in particular in the form of the jerk. The first and / or the second target variable can advantageously be minimized or maximized in the drive method. The transport time can be understood to mean a time required for the movement of the transport goods during the transport from the starting region to the target region and / or a cycle time during the transport of a plurality of transport goods. The second target variable can comprise an operating parameter of the transport device, preferably a jerk, a power and / or a wear parameter. For example, the drive element with the longest transport time, i.e. in particular the slowest movement axis, can be defined as a base element during transport. During the checking process, it can be checked on the basis of the second target variable whether, in the case of a variation of the movement function for minimizing and / or maximizing the second target variable, the variation meets the movement specification, i.e. does not exceed the transport time of the base element, for example. As a result, the optimization element can be operated more slowly and / or more gently with the same process time. However, it is likewise conceivable for the first or the second target variable to comprise, for example, a drag error, a mechanical moment, a vibration of a current regulator, an energy efficiency for reducing the energy costs during operation of the transport device and / or a positional accuracy during the positioning of the transport item in the target area.Furthermore, in a driving method according to the invention, it can advantageously be provided that the movement functions for the drive elements and / or the movement specification define a synchronization during the transport of the transport goods, in particular wherein a movement start and / or a movement end of the drive elements is matched. For this purpose, all motion functions can be scaled to the slowest, so that the drive elements are operated in synchronism. The synchronization can be predefined by a predefining of the motion functions and / or by the motion specification. The synchronization can be understood to mean that the movement of the drive elements starts and / or ends simultaneously. Under the start of the movement, in particular a start time of the movement for the transport can take place and under the end of the movement an end time of the movement for the transport can take place. The adjustment of the movement start and / or the movement end can be temporal. Preferably, the start of movement and the end of movement of the drive elements can take place jointly during the transport, i.e. in particular simultaneously, for the drive elements, in particular all the drive elements. It is conceivable that for the end of movement a jerk, a speed and / or an acceleration of zero or at zero is approximately defined. Thus, all the drive elements can be permanently in motion during transport. The faster drive elements can be throttled to the transport time of the slowest movement in order to ensure low-wear operation. In particular, the motion laws for the motion functions may differ in specific properties to travel a route within the same time, such as in the magnitude of the required speed, the acceleration, the jerk and / or the power. Due to the variations and / or the synchronization, the different strengths of the movement laws can be used as appropriate for the situation, preferably without reducing the first target variable with respect to the overall process.Furthermore, in a driving method according to the invention, it is conceivable that, in order to define the base element and the at least one optimization element, a transport parameter for the transport of the transport goods is calculated in each case for each of the drive elements on the basis of the movement functions, i.e. in particular the respective movement function, as a function of the path data, wherein the base element and the optimization element are defined as a function of a comparison of the calculated transport parameters. For this purpose, the movement functions can comprise a functional relationship between the path data and the transport parameter. It is furthermore conceivable that the transport parameters for defining the base element and the optimization element are calculated by a simulation of the transport. The transport parameter can preferably comprise a value of an operating parameter, in particular an expected value of the first target variable. In order to fix the base element, it is possible to determine to which of the drive elements the largest or smallest transport parameters is to be assigned. As a result, the drive element determining the movement for the transport in relation to the first target variable can be identified in a simple manner among the drive elements.Furthermore, in a driving method according to the invention, it can advantageously be provided that the movement specification comprises a permissible parameter range which is defined in particular on the basis of the transport parameter calculated for the base element. Preferably, the transport parameter calculated for the base element forms a limit value for defining the parameter range. For example, the parameter range may include a range that is greater than, less than, or equal to the transport parameter calculated for the base element. Thus, it can be checked during the checking process whether a transport parameter calculated on the basis of the variation of the movement function is within the permissible parameter range. As a result, the movement specification can be dynamically defined by the base element.Furthermore, in a driving method according to the invention, it can advantageously be provided that the motion functions, i.e. in particular the motion functions used for defining the base element and the optimization element, each form a first function stage of a multistage, predefined function selection for the drive elements, wherein during the testing process it is checked which of the function stages of the function selection for the optimization element meets the motion specification. After the first function stage, preferably all further function stages of the function selection included variations of the motion functions. The function selection may include two or more function stages. Each of the function stages can in each case comprise a predefined variation of the assigned movement function. The first function stage can preferably form a predefined start stage. The motion functions of the first function stage can therefore preferably be referred to as starting functions. However, it is likewise conceivable for the first functional stage to form an intermediate stage if, for example, further functional stages have already been passed through beforehand. By selecting the functions using the function stages, the motion laws according to which the drive elements are actuated can be predefined. As a result, a complete redefinition of the variation of the movement functions during operation is not required, as a result of which the behavior of the transport device can be advantageously controlled.Within the scope of the invention, it is furthermore conceivable that the function selection comprises a hierarchical structure of the function stages, in particular wherein the hierarchical structure is a function of the first target variable and / or of the second target variable. Preferably, each motion function may further have a polynomial degree that increases or decreases with the hierarchical structure. For example, the first functional stage can comprise a polynomial of fifth degree, the second functional stage can comprise a polynomial of sixth degree and the third functional stage can comprise a polynomial of seventh degree. Furthermore, the function stages can be arranged and / or staggered depending on the first and / or second target variable. For example, the second target variable can be increased or decreased with increasing height of the function stage. During the testing process, the highest functional level which still fulfills the movement specification can preferably be determined. As a result, a function level which is optimum for the second target variable can be determined in a simple manner on the basis of the predefined function selection.Within the scope of the invention, it is furthermore conceivable that the test process comprises an iteration process with at least one test step for determining which of the function stages of the function selection meets the movement specification for the at least one optimization element, in particular wherein the respective transport parameter for the optimization element is calculated in the test step as a function of the path data on the basis of at least one further function stage of the function selection for the transport. With each function stage, a variation of the motion function can be tested. The iteration process preferably comprises a plurality of test steps, through which the function stages are iteratively run. The iteration process can thus pass through a further functional stage with each test step. As a result, the function selection can be checked in an efficient manner. The respectively calculated transport parameter can be compared with the transport parameter calculated for the base element in order to check whether the movement specification is fulfilled by the variation of the movement function assigned to the respective function stage. As a result, each of the functional stages can be evaluated individually with respect to the movement specification.Furthermore, in a driving method according to the invention, it can advantageously be provided that the checking step is repeated during the iteration process, in particular for further function stages, until the function stage reached violates the movement specification, wherein the control function is determined when determining the control function on the basis of the last function stage which meets the movement specification. The violation against the movement specification can be understood to mean an unsatisfaction of the movement specification. For example, a transport time of the base element can be undershot. If the last function stage which satisfies the movement specification, a function stage can thus be jumped back from the function stage which has been reached if it is determined that the function stage which has been reached does not satisfy the movement specification. The iterative procedure along the function stages allows the checking process to be carried out in a computationally efficient manner. In particular, this makes it possible to avoid unnecessary calculation of a plurality of functional stages which do not fulfil the movement specification.Furthermore, in a driving method according to the invention, it can advantageously be provided that the transport system comprises three or more drive elements, wherein all other drive elements are determined as optimization elements when the base element is fixed and preferably the iteration process is carried out and / or repeated separately for each optimization element. It is conceivable that the transport system comprises five or more, preferably ten or more, drive elements. Thus, the test process may comprise a plurality of separate iteration processes. By setting the plurality of optimization elements, the driving method can be executed even when the transport device is a multiaxial transport device. In particular, any desired number of drive elements can thus be operated in an advantageous manner.Preferably, in a control method according to the invention, it can be provided that, when controlling the base element and when controlling the at least one optimization element, a gripper unit is controlled for gripping the transport goods in the starting region and for moving the transport goods into the target region. The gripper unit can be mounted, for example, on a gripper frame, in particular in the form of a portal. The gripper unit can have at least two gripper elements which can be moved relative to one another for carrying out a closing movement by means of which the transport goods can be at least partially enclosed in a transport space formed between the gripper elements at the receiving location, and for carrying out an opening movement by means of which the transport space can be opened in order to release the transport goods at the target region. Furthermore, the transport device can comprise a gripper drive unit for moving the gripper elements, which drive unit has an electric gripper drive for each of the gripper elements, which drive can be controlled by the control unit for the coordinated execution of the closing movement and the opening movement of the gripper elements. The gripper drive unit can preferably be integrated into the gripper unit. For example, the gripper elements and the gripper drives can be arranged on a movement means of the gripper unit. The transport device can furthermore have at least one main drive unit, which can be controlled by the control unit in order to move the movement means with the gripper elements between the starting region and the target region. Preferably, the main drive unit comprises one or more electric drives. The gripper unit can implement a safe and complex transport movement for reaching the target area.Within the scope of the invention, it is furthermore conceivable that the drive elements comprise axle drives, by means of which the gripper unit can be moved along a respective movement axis, and / or at least one drive of a lifting device, preferably for moving a lifting rake of the lifting device, a sliding table, a height adjustment of a gripper frame and / or at least one stop element, in particular in the form of a front and / or rear stop element on a lifting surface for lifting the transport goods for the gripper unit. Additionally or alternatively, one of the drive elements can be formed, for example, by at least one drive of gripper arms of the gripper unit, a drive of a lifting table of the lifting device and / or a drive for adjusting the height of a pallet in the target area. The stop elements can be extendable for aligning the transport goods. The gripper unit, the lifting rake, the sliding table, the gripper frame and the at least one stop element can be part of a palletizing system. Thus, different movement sequences during transporting and preferably palletizing the transport goods can be coordinated by the driving method in order to enable efficient and low-wear operation of the transport system.Furthermore, in a driving method according to the invention, it can advantageously be provided that a position pattern for palletizing the transport goods in the target area is detected for detecting the path data, wherein the path data are determined on the basis of the position pattern. The position pattern can be manually predefinable, for example, at a user interface of the control unit. In this case, a target position of successive transport goods in the target area can be varied depending on the position pattern. A receiving position of the transport goods in the starting region can be fixed or variable. Preferably, the setting of the base element and the optimization element, the execution of the checking operation, the determination of the control function and the control of the base element and the optimization element are carried out individually. As a result, the movement sequence within an order can be dynamically adapted.According to a further aspect of the invention, a computer program product is provided. The computer program product comprises instructions which, when executed by a control unit, cause the control unit to execute a control method according to the invention.Thus, a computer program product according to the invention provides the same advantages as have already been described in detail with reference to a driving method according to the invention. The driving method can be, in particular, a computer-implemented method. The computer program product may be implemented as computer readable instruction code. Furthermore, the computer program product can be stored on a computer-readable storage medium such as a data disk, a removable drive, a volatile or non-volatile memory, or a built-in memory / processor. Furthermore, the computer program product can be provided or provided in a network such as the Internet, from which it can be downloaded by a user or executed online if required. The computer program product can be realized both by means of software and by means of one or more special electronic circuits, i.e. in hardware or in any hybrid form, i.e. by means of software components and hardware components.According to a further aspect of the invention, a transport system, in particular in the form of a palletizing system, is provided for transporting items to be transported. The transport system comprises a transport device for transporting the transport goods from a starting region to a target region. Furthermore, the transport system has a control unit for carrying out an activation method according to the invention for activating the transport device.Thus, a transport system according to the invention brings with it the same advantages as have already been described in detail with reference to a control method according to the invention and / or a computer program product according to the invention. Furthermore, it can be provided that a production device for producing and / or prestacking the transport goods is integrated into the transport system. In particular, the production device can be connected to the transport device in order to realize automatic conveying of the transport goods from the production to the target area.Furthermore, in a transport system according to the invention, it is conceivable that the transport system is a palletizing system for palletizing the transport goods in the target area. The stack height of the transport goods can be variable when transporting successive palletizing layers and / or pallets. During palletization, a clock frequency during the transport of the material to be transported can represent an important factor for the economic efficiency of the palletization system. At the same time, a plurality of axes of movement can be provided, along which the transport takes place, and by means of which oscillations can be introduced into the palletizing system. The driving method can thereby enable a high clock frequency, which simultaneously enables a gentle movement along the movement axes of the optimization elements. Preferably, an existing palletizing system can be retrofitted by implementing the control method.It is furthermore conceivable in a transport system according to the invention that the transport device comprises a multi-axis actuatable gripper device for transporting the material to be transported, wherein each actuatable axis of the gripper device comprises a drive element which is actuated by the actuation method. The transport system can preferably comprise further drive elements, in particular in the form of at least one drive for moving a rake, a slide table, a height adjustment of a gripper frame and / or at least one stop element. During palletization with a gripper unit, the transport goods can be freely movable at great height. The gripper unit with the transport goods has a high, oscillating mass, the acceleration of which can lead to vibrations in the transport device. Within the scope of the present invention, it has been recognized specifically for such a palletizing system that the driving method can be enabled to operate with less vibration by the improved driving of the at least one optimization element.Further advantages, features and details of the invention will become apparent from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can be essential to the invention individually or in any combination. They show schematically: FIG. 1 shows a transport system according to the invention in the form of a palletizing system for carrying out a control method according to the invention in a plan view, FIG. 2 shows the transport system during transport of transport goods, FIG. 3 shows a multistage selection of functions for drive elements of the transport system, FIG. 4 shows transport parameters of function stages of the function selection as a function of a first and second target variable, FIG. 5 shows a sequence of the drive method, FIG. 6 shows a flow of a test process in the driving method.In the following description of some exemplary embodiments of the invention, the identical reference numerals are used for the same technical features even in different exemplary embodiments.FIG. 1 shows a transport system 1 according to the invention, here in the form of a palletizing system, for transporting material to be transported 3. The transport system 1 comprises a transport device 2 for transporting the material to be transported 3 from a starting region 4 to a target region 6. For this purpose, the transport device 2 comprises a multi-axis controllable gripper device 5 for transporting the transport goods 3. As shown in FIG. 2, the gripper device 5 has a gripper unit 10 for gripping the transport goods 3 in the starting region 4 and for moving the transport goods 3 into the target region 6. In particular, the starting region 4 is formed by a lifting device 15, by means of which the transport goods 3 can be moved in the direction of the gripper device 5. The transport goods 3 are dropped during palletization over a sliding table 12 arranged above the target area 6, in order to form a position pattern 215 on the sliding table 12.For the transport of the transport goods 3 from the starting region 4 to the target region 6, the transport device 2 comprises a plurality of drive elements 11 in the form of axle drives, by means of which the gripper unit 10 can be moved along a respective movement axis 10.1, and in each case at least one drive element 11 for moving a rake of the lifting device 15, a slide table 12 and / or a height adjustment of a gripper frame 13. furthermore, preferably two stop elements 14 are provided for aligning the transport goods 3 before the gripping by the gripper unit 10, which stop elements likewise in each case one drive element 11 Each of the drive elements 11 can be controlled by in each case at least one movement function 201 in order to carry out the movement of the transport goods 3 assigned to the respective drive element 11.The transport system 1 further comprises a control unit 20 for executing a control method 100 for controlling the transport device 2. A sequence of the drive method 100 is illustrated in FIG. 5.In the driving method 100, firstly, path data 210 of the transport of the transport goods 3 from the starting region 4 to the target region 6 are recorded 101 by the control unit 20. On the basis of the position pattern 215, a starting position of the transport goods 3 in the starting region 4 and an end position in the target region 6 can thus be determined in order to determine the path data 210, in particular in the form of an adjustment path for each of the drive elements 11. However, it is also conceivable for the path data 210 to be stored in order-related and / or permanent fashion and to be called up by the control unit 20.A definition 102 of one of the drive elements 11 as a base element 11.1, which defines a movement specification 211 as a function of the path data 210 and the movement function 201 assigned to the base element 11.1, and of all other drive elements 11 as optimization elements 11.2, then takes place. The motion functions 201 preferably comprise motion laws for the drive elements 11. in particular, a speed, an acceleration and / or a jerk are defined by the motion functions 201 when the drive elements 11 are actuated. In order to define 102 the base element 11.1 and the optimization elements 11.2, a transport parameter 214 for the transport of the transport goods 3 is calculated for each of the drive elements 11 on the basis of the movement functions 201, as shown in FIG. 4 in a diagram for the base element 11.1 and one of the optimization elements 11.2. The transport parameters 214 in this case map, in particular, values of the target variable which are achieved by the transport on the basis of the movement functions 201. The base element 11.1 and the optimization elements 11.2 are defined as a function of a comparison of the calculated transport parameters 214. The movement specification 211 can comprise a first target variable 212, in particular in the form of a transport time. Preferably, the drive element 11 with the longest transport time is fixed as the base element 11.1. Furthermore, the movement specification 211 comprises an admissible parameter range 211.1, which is defined on the basis of the transport parameter 214 calculated for the base element 11.1, in that the transport time of the transport parameter 214 calculated for the base element 11.1 forms a limit value of the admissible parameter range 211.1.Furthermore, a checking process 103 for identifying a variability of the motion function 201 for the optimization element 11.2 as a function of the motion specification 211 is carried out for each of the optimization elements 11.2. For this purpose, a second target variable 213, in particular in the form of a jerk, is predefined. The jerk has a high influence on the vibration behavior and thus on a mechanical wear of the transport device 2, so that a gentle control can increase the service life of the transport device 2.As shown in FIGS. 3 and 4, the motion functions 201 used to define the base element 11.1 and the optimization element 11.2 form a first function stage 200.1 of a multistage, predefined function selection 200 for the drive elements 11. The function selection 200 comprises a hierarchical structure of the function stages 200.1, 200.2, which, as shown in FIG. 4, can be a function of the first target variable 212 and the second target variable 213. In this case, the movement functions 201 are each varied via the function stages 200.1, 200.2. In the checking process 103, it is checked which of the function stages 200.1, 200.2 of the function selection 200 for the optimization element 11.2 meets the movement specification 211.As shown in FIG. 6 on the basis of a sequence of the test process 103, the test process 103 comprises an iteration process 103.1 with at least one test step 103.2 for determining which of the function stages 200.1, 200.2 of the function selection 200 meets the movement specification 211 for the at least one optimization element 11.2. The respective transport parameter 214 is calculated in the checking step 103.2 for the optimization element 11.2 as a function of the path data 210 on the basis of at least one further function stage 200.2 of the movement functions 201 for the transport. Furthermore, the checking step 103.2 is repeated in the iteration process 103.1 for further function stages 200.2 until the reached function stage 200.4, as shown in FIG. 4, violates the movement specification 211. The iteration process 103.1 is carried out and / or repeated separately for each optimization element 11.2.A control function 202 for the respective optimization element 11.2 is then determined 104 as a function of the respective variability of the movement function 201, which is limited by the movement specification 211. The control function 202 is determined on the basis of the last function stage 200.3, which is in the permissible parameter range 211.1 and thus meets the movement specification 211. Subsequently, the base element 11.1 is controlled 105 on the basis of the movement function 201 assigned to the base element 11.1, and each of the optimization elements 11.2 is controlled 106 on the basis of the control function 202 determined for the respective optimization element 11.2.The movement functions 201 for the drive elements 11 and / or the movement specification 211 preferably define a synchronization during the transport of the transport goods 3, such that a movement start and a movement end of the drive elements 11 are matched. In this case, it can be provided that the actuation takes place in such a way that the start of movement and the end of movement of all drive elements 11 take place simultaneously.The foregoing explanation of the embodiments describes the present invention solely by way of examples. Of course, individual features of the embodiments can be freely combined with one another within the scope defined by the patent claims, insofar as technically expedient, without departing from the scope of the present invention.List of reference characters1 Transport system 2 Transport device 3 Item to be transported 4 Starting region 5 Gripper device 6 Target region 10 Gripper unit 10.1 Movement axis of 10 11 Drive elements 11.1 Base element 11.2 Optimization element 12 Slide table 13 Gripper frame 14 Stop element 15 Lifting device 20 Control unit 23 User interface 100 Control method 101 Detection of 210 102 Fixing of 11.1, 11.2 103 Testing process 103.1 Iteration process 103.2 Testing step 104 Determining 202 105 Driving 11.1 106 Driving 11.2 200 Function selection 200.1 First function stage 200.2 Further function stage 200.3 Last function stage 200.4 Reached function stage 201 Motion function 201.1 Variation of 201 202 Control function 210 Path data 211 Motion specification 211.1 Permissible parameter range 212 First target variable 213 Second target variable 214 Transport parameter 215 Position patternReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedDE 103 09 131 A1

[0003]

Claims

Driving method (100) for driving a transport device (2) for transporting material to be transported (3) from a starting region (4) to a target region (6) in a transport system (1), in particular in the form of a palletizing system, having a plurality of drive elements (11), each of which can be driven by at least one movement function (201) in each case, comprising: - recording (101), by a control unit (20) of the transport system (1), path data (210) of the transport of the material to be transported (3) from the starting region (4) to the target region (6), - defining (102) one of the drive elements (11) as a base element (11.1), which defines a movement specification (211) as a function of the path data (210) and of the movement function (201) assigned to the base element (11.1), and at least one other drive element (11) as an optimization element (11.2), determining (104) a control function (202) for the optimization element (11.2) as a function of the movement specification (211), controlling (105) the base element (11.1) on the basis of the movement function (201) assigned to the base element (11.1) and controlling (106) the optimization element (11.2) on the basis of the control function (202) determined for the optimization element (11.2) by the control unit (20).Driving method (100) according to Claim 1, characterized in that the driving method (100) comprises: - carrying out a checking operation (103) for identifying a variability of the movement function (201) for the optimization element (11.2) as a function of the movement specification (211), wherein the determination (104) of the control function (202) for the optimization element (11.2) is carried out as a function of the checking operation (103).Driving method (100) according to Claim 1 or 2, characterized in that the movement functions (201) define a speed, an acceleration and / or a jerk when driving the drive elements (11) for transporting the item to be transported (3).Driving method (100) according to one of the preceding claims, characterized in that the movement specification (211) comprises a first target variable (212), in particular in the form of a transport time, wherein the determination (104) of the control function (202) is carried out as a function of a second target variable (213), in particular in the form of the jerk.Driving method (100) according to one of the preceding claims, characterized in that the movement functions (201) for the drive elements (11) and / or the movement specification (211) define a synchronization during the transport of the transport goods (3), in particular wherein a movement start and / or a movement end of the drive elements (11) is matched.Driving method (100) according to one of the preceding claims, characterized in that, in order to define (102) the base element (11.1) and the at least one optimization element (11.2) for each of the drive elements (11), a transport parameter (214) for the transport of the transport goods (3) is calculated in each case on the basis of the travel data (210) on the basis of the movement functions (201), wherein the base element (11.1) and the optimization element (11.2) are defined on the basis of a comparison of the calculated transport parameters (214).Driving method (100) according to one of the preceding claims, characterized in that the movement specification (211) comprises an admissible parameter range (211.1) which is defined on the basis of the transport parameter (214) calculated for the base element (11.1).Driving method (100) according to one of the preceding claims, characterized in that the movement functions (201) each form a first function stage (200.1) of a multistage, predefined function selection (200) for the drive elements (11), wherein the checking process (103) checks which of the function stages (200.1, 200.2) of the function selection (200) for the optimization element (11.2) meets the movement specification (211).Driving method (100) according to one of the preceding claims, characterized in that the function selection (200) comprises a hierarchical structure of the function stages (200.1, 200.2), wherein the hierarchical structure is a function of the first target variable (212) and / or of the second target variable (213).Driving method (100) according to one of the preceding claims, characterized in that the checking process (103) comprises an iteration process (103.1) with at least one checking step (103.2) for determining which of the function stages (200.1, 200.2) of the function selection (200) meets the movement specification (211) for the at least one optimization element (11.2), in particular wherein the respective transport parameter (214) for the optimization element (11.2) is calculated in the checking step (103.2) on the basis of the path data (210) on the basis of at least one further function stage (200.2) of the function selection (200) for the transport.Driving method (100) according to one of the preceding claims, characterized in that the checking step (103.2) is repeated in the iteration process (103.1) for further function stages (200.2) until the function stage (200.4) reached violates the movement specification (211), wherein the control function (202) is determined in determining (104) the control function (202) on the basis of the last function stage (200.3) which satisfies the movement specification (211).Driving method (100) according to one of the preceding claims, characterized in that the transport system (1) comprises three or more driving elements (11), wherein, when fixing (102) the base element (11.1), all other driving elements (11) are determined as optimization elements (11.2) and the iteration process (103.1) is carried out and / or repeated separately for each optimization element (11.2).Driving method (100) according to one of the preceding claims, characterized in that, when driving (105) the base element (11.1) and when driving (106) the at least one optimisation element (11.2), a gripper unit (10) is driven for gripping the transport goods (3) in the starting region (4) and for moving the transport goods (3) into the target region (6).Driving method (100) according to one of the preceding claims, characterized in that the drive elements (11) comprise axis drives, by means of which the gripper unit (10) can be moved along a respective movement axis (10.1), and / or at least one drive of a lifting device (15), a slide table (12), a height adjustment of a gripper frame (13) and / or at least one stop element (14).Driving method (100) according to one of the preceding claims, characterized in that, for the acquisition (101) of the path data (210), a position pattern (215) for palletizing the transport goods (3) in the target area (6) is acquired, wherein the path data (210) are determined on the basis of the position pattern (215).A computer program product comprising instructions which, when executed by a control unit (20), cause the control unit (20) to execute a driving method (100) according to any one of the preceding claims.Transport system (1), in particular in the form of a palletizing system, for transporting items (3), comprising a transport device (2) for transporting the items (3) from a starting region (4) to a target region (6), and a control unit (20) for carrying out an activation method (100) according to one of Claims 1 to 15 for activating the transport device (2).Transport system (1) according to claim 17, characterised in that the transport system (1) is a palletising system for palletising the transport material (3) in the target region (6).Transport system (1) according to claim 17 or 18, characterised in that the transport device (2) comprises a multi-axis actuatable gripper device (5) for transporting the transport goods (3), wherein each actuatable axis of the gripper device (5) comprises a drive element (11), which is actuated by the actuation method (100).

Images