Control unit and operating method for conveyor system

Abstract

To operate conveyor systems more efficiently. [Solution] The system comprises a drive unit 11 and a control unit 10 for controlling it. The carriage is moved along the rail 12 by the drive unit 11, the control unit 10 is controlled by a control device 13, and a rotary encoder 16 is connected to the drive unit 11 or the shaft 18 of the carriage's measuring wheel to register the rotation of the shaft 18. The rotation angle signal and / or rotation speed signal are transmitted to the control device 13 to determine the assumed position of the carriage on the rail 12. The position signal is detected by a sensor device 14 of the safety device of the control unit 10, which is provided on the carriage and the rail 12. The actual position of the carriage on the rail 12 is determined using the position signal by a safety device 25 of the safety device, and the assumed position is corrected by the safety device according to the actual position.

Description

Technical Field

[0001] The present invention relates to a control unit for operating conveyor means, and a method for operating the conveyor means, in particular for operating hoists, cranes, gantry cranes, container cranes, etc. The conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rails of the conveyor means by the drive unit, and the control unit is controlled by the control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the sheave (18) of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by the encoder device of the rotary encoder in order to determine the assumed position of the carriage on the rails. The conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rails of the conveyor means by the drive unit, and the control unit is controlled by the control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the sheave (18) of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by the encoder device of the rotary encoder in order to determine the assumed position of the carriage on the rails. The conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rails of the conveyor means by the drive unit, and the control unit is controlled by the control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the sheave (18) of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by the encoder device of the rotary encoder in order to determine the assumed position of the carriage on the rails. The conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rails of the conveyor means by the drive unit, and the control unit is controlled by the control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the sheave (18) of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by the encoder device of the rotary encoder in order to determine the assumed position of the carriage on the rails. The conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rails of the conveyor means by the drive unit, and the control unit is controlled by the control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the sheave (18) of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by the encoder device of the rotary encoder in order to determine the assumed position of the carriage on the rails. The conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rails of the conveyor means by the drive unit, and the control unit is controlled by the control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the sheave (18) of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by the encoder device of the rotary encoder in order to determine the assumed position of the carriage on the rails. The conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rails of the conveyor means by the drive unit, and the control unit is controlled by the control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the sheave (18) of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by the encoder device of the rotary encoder in order to determine the assumed position of the carriage on the rails. The conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rails of the conveyor means by the drive unit, and the control unit is controlled by the control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the sheave (18) of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by the encoder device of the rotary encoder in order to determine the assumed position of the carriage on the rails.

Background Art

[0003] In particular, the conveyor system is designed to have a carriage that can move along rails. If present, it is necessary to determine its position. The carriage is, for example, a gantry. Designed as a bridge for the rails, it can be mounted on two parallel rails. It can also be designed as a trolley (Laufkatze) and made movable along individual rails. These individual rails are constructed by the jib boom of a crane or the bridge of a gantry crane. This can be done. The carriage also has a rope winch that can lift the cargo. The bridge, crab, and rope winch can be controlled using a control unit. Therefore, the conveyor system is designed so that multiple rotary encoders can be mounted on the conveyor system. It is usually provided with several drive units or electric motors. The control device is the rotor. Reencoder, control unit for controlling the drive unit, or drive unit corresponding to the work task Together, they constitute a control unit.

[0004] In the latest technology and known conveyor means or lifting machines, the control device controls the conveyor means A programmable logic controller (PLC) is typically installed inside the cabinet. This can be realized as a control device, and the control device is an external programming device such as a standardized computer. It can be programmed via a programmable logic controller or control. Your device integrates the processing unit, and the rotary encoder of the conveyor system controls the rotation angle signal. The position and rotational speed signals can be further processed, and the control device can be used to control the position and / or rotational speed. These are converted so that the dependent drive unit can be controlled. The drawback is that it is programmable. The problem is that the logic controller must always be programmed individually. This programming of your device must always take into account applicable safety regulations. For safety reasons, individual tests of the implemented control devices must be performed at all times. This means that. Because conveying means for heavy loads are generally custom-made machines, rotary engines Regarding the programming of a control device for a corresponding device of a conveyor system having a leader, This will require time-consuming adjustments.

[0005] In particular, lifting equipment such as container bridges and container crane equipment, the corresponding load Precise positioning of cargo is extremely important. However, precise positioning is difficult to achieve with reference to a standard. This can only be done if the exact position of the carriage is known. Drive unit A rotary encoder connected to the shaft or the shaft of the measuring wheel of the carriage The assumed position of the carriage can be calculated or indirectly measured relative to a reference. In this case, the carriage was damaged due to a special type of cargo or simply oil between the rails and the carriage. The position of the edge can sometimes be misjudged. This can happen, for example, when the carriage moves along the rail. When moving or accelerating, there may be a slip between the carriage or the drive unit or the measuring wheel and the rail. As a result, it can lead to incorrect positioning of the loaded goods, collision of several carriages moving on the common rail, and new determination of the position of the carriage which takes time. There may be a slip (Schlupf) that leads to incorrect positioning of the loaded goods, collision of several carriages moving on the common rail, and new determination of the position of the carriage which takes time. There may be a slip (Schlupf) that leads to incorrect positioning of the loaded goods, collision of several carriages moving on the common rail, and new determination of the position of the carriage which takes time. There may be a slip (Schlupf) that leads to incorrect positioning of the loaded goods, collision of several carriages moving on the common rail, and new determination of the position of the carriage which takes time. Summary of the Invention

[0006] Therefore, the current object of the present invention is to propose an operating method and a control unit for conveyor means, and conveyor means, so that the conveyor means can be operated more efficiently. Therefore, the current object of the present invention is to propose an operating method and a control unit for conveyor means, and conveyor means, so that the conveyor means can be operated more efficiently.

[0007] This object is achieved by a method having the features described in claim 1, a control unit having the features described in claim 17, and conveyor means having the features described in claim 21. This object is achieved by a method having the features described in claim 1, a control unit having the features described in claim 17, and conveyor means having the features described in claim 21.

[0008] For a method for operating conveyor means, especially for operating a hoist, a crane, a gantry crane, a container crane, etc., the conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rail of the conveyor means by the drive unit. The control unit is controlled by a control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by an encoder device of the rotary encoder to determine the assumed position (vorausgesetzte Position) of the carriage on the rail. For a method for operating conveyor means, especially for operating a hoist, a crane, a gantry crane, a container crane, etc., the conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rail of the conveyor means by the drive unit. The control unit is controlled by a control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by an encoder device of the rotary encoder to determine the assumed position (vorausgesetzte Position) of the carriage on the rail. For a method for operating conveyor means, especially for operating a hoist, a crane, a gantry crane, a container crane, etc., the conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rail of the conveyor means by the drive unit. The control unit is controlled by a control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by an encoder device of the rotary encoder to determine the assumed position (vorausgesetzte Position) of the carriage on the rail. For a method for operating conveyor means, especially for operating a hoist, a crane, a gantry crane, a container crane, etc., the conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rail of the conveyor means by the drive unit. The control unit is controlled by a control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by an encoder device of the rotary encoder to determine the assumed position (vorausgesetzte Position) of the carriage on the rail. For a method for operating conveyor means, especially for operating a hoist, a crane, a gantry crane, a container crane, etc., the conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rail of the conveyor means by the drive unit. The control unit is controlled by a control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by an encoder device of the rotary encoder to determine the assumed position (vorausgesetzte Position) of the carriage on the rail. For a method for operating conveyor means, especially for operating a hoist, a crane, a gantry crane, a container crane, etc., the conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rail of the conveyor means by the drive unit. The control unit is controlled by a control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by an encoder device of the rotary encoder to determine the assumed position (vorausgesetzte Position) of the carriage on the rail. For a method for operating conveyor means, especially for operating a hoist, a crane, a gantry crane, a container crane, etc., the conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rail of the conveyor means by the drive unit. The control unit is controlled by a control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by an encoder device of the rotary encoder to determine the assumed position (vorausgesetzte Position) of the carriage on the rail. For a method for operating conveyor means, especially for operating a hoist, a crane, a gantry crane, a container crane, etc., the conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rail of the conveyor means by the drive unit. The control unit is controlled by a control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by an encoder device of the rotary encoder to determine the assumed position (vorausgesetzte Position) of the carriage on the rail. For a method for operating conveyor means, especially for operating a hoist, a crane, a gantry crane, a container crane, etc., the conveyor means comprises a drive unit and a control unit for controlling the drive unit. The carriage of the conveyor means is moved along the rail of the conveyor means by the drive unit. The control unit is controlled by a control device of the control unit. The rotary encoder of the control unit is connected to the shaft of the drive unit or the shaft of the measuring wheel of the carriage, registers the rotation of the shaft, and a rotation angle signal, a rotation speed signal and / or a position value are transmitted to the control device by an encoder device of the rotary encoder to determine the assumed position (vorausgesetzte Position) of the carriage on the rail. One position signal is detected by a sensor device of the safety device provided on the carriage and the control unit on the rail, and the actual position of the carriage on the rail is determined by a safety device (Sicherheitseinrichtung) of the safety device using the position signal. The assumed position is corrected by the safety device according to the actual position. The actual position of the carriage on the rail is detected by a sensor device of the safety device (Sicherheitsvorrichtung), and the actual position of the carriage on the rail is determined by a safety device (Sicherheitseinrichtung) of the safety device using the position signal. The assumed position is corrected by the safety device according to the actual position. The actual position of the carriage is determined by a safety device (Sicherheitseinrichtung) of the safety device using the position signal, and the assumed position is corrected by the safety device according to the actual position. The actual position of the carriage is determined by a safety device (Sicherheitseinrichtung) of the safety device using the position signal, and the assumed position is corrected by the safety device according to the actual position. The actual position of the carriage is determined by a safety device (Sicherheitseinrichtung) of the safety device using the position signal, and the assumed position is corrected by the safety device according to the actual position.

[0009] In the method according to the invention, the control unit comprises a safety device that can determine the position or the actual position / actual position of the carriage on the rail. The carriage may be, for example, a conveyor means or a crane bridge or club, and is moved along the rail of the conveyor means or the running rail. To position the carriage on the rail, a rotary encoder known from the prior art or an encoder device of a rotary encoder is used. The rotary encoder is directly or indirectly coupled to a shaft of a non-driven carriage wheel or measuring wheel, or a shaft of a drive unit, or a driven carriage wheel or power train. Using the rotation angle signal, rotation speed signal and / or position value of the encoder device, the assumed position or estimated position of the carriage on the rail can be determined by the control device. Also, if the diameter of the measuring wheel or carriage wheel is known, the encoder device can convert the rotation angle signal and / or rotation speed signal into a position value. The control device, which can also be designed as a programmable logic controller, calculates the position or assumed position of the carriage on the rail from the corresponding signals, and if the indirectly determined position is incorrect The rotary encoder is directly or indirectly coupled to a shaft of a non-driven carriage wheel or measuring wheel, or a shaft of a drive unit, or a driven carriage wheel or power train. Using the rotation angle signal, rotation speed signal and / or position value of the encoder device, the assumed position or estimated position of the carriage on the rail can be determined by the control device. Also, if the diameter of the measuring wheel or carriage wheel is known, the encoder device can convert the rotation angle signal and / or rotation speed signal into a position value. The control device, which can also be designed as a programmable logic controller, calculates the position or assumed position of the carriage on the rail from the corresponding signals, and if the indirectly determined position is incorrect The rotary encoder is directly or indirectly coupled to a shaft of a non-driven carriage wheel or measuring wheel, or a shaft of a drive unit, or a driven carriage wheel or power train. Using the rotation angle signal, rotation speed signal and / or position value of the encoder device, the assumed position or estimated position of the carriage on the rail can be determined by the control device. Also, if the diameter of the measuring wheel or carriage wheel is known, the encoder device can convert the rotation angle signal and / or rotation speed signal into a position value. The control device, which can also be designed as a programmable logic controller, calculates the position or assumed position of the carriage on the rail from the corresponding signals, and if the indirectly determined position is incorrect The rotary encoder is directly or indirectly coupled to a shaft of a non-driven carriage wheel or measuring wheel, or a shaft of a drive unit, or a driven carriage wheel or power train. Using the rotation angle signal, rotation speed signal and / or position value of the encoder device, the assumed position or estimated position of the carriage on the rail can be determined by the control device. Also, if the diameter of the measuring wheel or carriage wheel is known, the encoder device can convert the rotation angle signal and / or rotation speed signal into a position value. The control device, which can also be designed as a programmable logic controller, calculates the position or assumed position of the carriage on the rail from the corresponding signals, and if the indirectly determined position is incorrect The rotary encoder is directly or indirectly coupled to a shaft of a non-driven carriage wheel or measuring wheel, or a shaft of a drive unit, or a driven carriage wheel or power train. Using the rotation angle signal, rotation speed signal and / or position value of the encoder device, the assumed position or estimated position of the carriage on the rail can be determined by the control device. Also, if the diameter of the measuring wheel or carriage wheel is known, the encoder device can convert the rotation angle signal and / or rotation speed signal into a position value. The control device, which can also be designed as a programmable logic controller, calculates the position or assumed position of the carriage on the rail from the corresponding signals, and if the indirectly determined position is incorrect The rotary encoder is directly or indirectly coupled to a shaft of a non-driven carriage wheel or measuring wheel, or a shaft of a drive unit, or a driven carriage wheel or power train. Using the rotation angle signal, rotation speed signal and / or position value of the encoder device, the assumed position or estimated position of the carriage on the rail can be determined by the control device. Also, if the diameter of the measuring wheel or carriage wheel is known, the encoder device can convert the rotation angle signal and / or rotation speed signal into a position value. The control device, which can also be designed as a programmable logic controller, calculates the position or assumed position of the carriage on the rail from the corresponding signals, and if the indirectly determined position is incorrect The rotary encoder is directly or indirectly coupled to a shaft of a non-driven carriage wheel or measuring wheel, or a shaft of a drive unit, or a driven carriage wheel or power train. Using the rotation angle signal, rotation speed signal and / or position value of the encoder device, the assumed position or estimated position of the carriage on the rail can be determined by the control device. Also, if the diameter of the measuring wheel or carriage wheel is known, the encoder device can convert the rotation angle signal and / or rotation speed signal into a position value. The control device, which can also be designed as a programmable logic controller, calculates the position or assumed position of the carriage on the rail from the corresponding signals, and if the indirectly determined position is incorrect The rotary encoder is directly or indirectly coupled to a shaft of a non-driven carriage wheel or measuring wheel, or a shaft of a drive unit, or a driven carriage wheel or power train. Using the rotation angle signal, rotation speed signal and / or position value of the encoder device, the assumed position or estimated position of the carriage on the rail can be determined by the control device. Also, if the diameter of the measuring wheel or carriage wheel is known, the encoder device can convert the rotation angle signal and / or rotation speed signal into a position value. The control device, which can also be designed as a programmable logic controller, calculates the position or assumed position of the carriage on the rail from the corresponding signals, and if the indirectly determined position is incorrect The rotary encoder is directly or indirectly coupled to a shaft of a non-driven carriage wheel or measuring wheel, or a shaft of a drive unit, or a driven carriage wheel or power train. Using the rotation angle signal, rotation speed signal and / or position value of the encoder device, the assumed position or estimated position of the carriage on the rail can be determined by the control device. Also, if the diameter of the measuring wheel or carriage wheel is known, the encoder device can convert the rotation angle signal and / or rotation speed signal into a position value. The control device, which can also be designed as a programmable logic controller, calculates the position or assumed position of the carriage on the rail from the corresponding signals, and if the indirectly determined position is incorrect The rotary encoder is directly or indirectly coupled to a shaft of a non-driven carriage wheel or measuring wheel, or a shaft of a drive unit, or a driven carriage wheel or power train. Using the rotation angle signal, rotation speed signal and / or position value of the encoder device, the assumed position or estimated position of the carriage on the rail can be determined by the control device. Also, if the diameter of the measuring wheel or carriage wheel is known, the encoder device can convert the rotation angle signal and / or rotation speed signal into a position value. The control device, which can also be designed as a programmable logic controller, calculates the position or assumed position of the carriage on the rail from the corresponding signals, and if the indirectly determined position is incorrect The rotary encoder is directly or indirectly coupled to a shaft of a non-driven carriage wheel or measuring wheel, or a shaft of a drive unit, or a driven carriage wheel or power train. Using the rotation angle signal, rotation speed signal and / or position value of the encoder device, the assumed position or estimated position of the carriage on the rail can be determined by the control device. Also, if the diameter of the measuring wheel or carriage wheel is known, the encoder device can convert the rotation angle signal and / or rotation speed signal into a position value. The control device, which can also be designed as a programmable logic controller, calculates the position or assumed position of the carriage on the rail from the corresponding signals, and if the indirectly determined position is incorrect The rotary encoder is directly or indirectly coupled to a shaft of a non-driven carriage wheel or measuring wheel, or a shaft of a drive unit, or a driven carriage wheel or power train. Using the rotation angle signal, rotation speed signal and / or position value of the encoder device, the assumed position or estimated position of the carriage on the rail can be determined by the control device. Also, if the diameter of the measuring wheel or carriage wheel is known, the encoder device can convert the rotation angle signal and / or rotation speed signal into a position value. The control device, which can also be designed as a programmable logic controller, calculates the position or assumed position of the carriage on the rail from the corresponding signals, and if the indirectly determined position is incorrect In some cases, the safety device may determine the actual position or location of the carriage on the rail. The actual position is determined by moving the carriage on the rails. The position is determined using a sensor device capable of detecting position signals at a specific point or location. The safety device, in particular, uses a sensor device to generate a position signal at the corresponding position on the rail. Since the presence of the carriage is required, the actual presence of the carriage on the rail is determined based on the position signal. The edge position or actual position can be determined. Furthermore, the safety device is located between the carriage and the rail. If the assumed position is incorrect due to a discrepancy, for example, if the assumed position is different from the actual position... It can be corrected according to its actual position. Overall, an encoder device is used. Then, check at least a portion of the continuously registered assumed positions, and accordingly, determine the assumed positions. It is possible to correct it. Therefore, when determining the position using simple means, This improves accuracy and reduces the likelihood of errors and malfunctions in the conveyor system.

[0010] The safety device corrects the rotation angle signal, rotation speed signal, and / or position value according to the actual position. This information can be transmitted to the control unit that controls the drive unit. The safety device handles the data processing. It can be designed as a unique set of components equipped with means for this purpose. The safety device is in the control cabinet It can be incorporated into an internal or rotary encoder.

[0011] The rotary encoder can be coupled to the drive unit shaft, and a safety device is provided to determine the expected position. The device can determine the position and compare it to the actual position, and the safety device will drive the unit based on that comparison. The misalignment of the shaft can be determined. The shaft is directly or indirectly connected to, for example, a rotary encoder. It can be used as the drive shaft for the electric motor of the drive unit. Once the actual position of the object is determined using a safety device, the rotation angle signal of the rotary encoder and the rotation speed are activated. The assumed position of the carriage, calculated from the degree signal and / or position value, can be compared with its actual position. If there is a discrepancy between the corresponding positions, the drive unit's displacement is evaluated, and the assumed position is determined according to the actual position. It can be corrected.

[0012] Furthermore, the safety device includes the rotary encoder's rotation angle signal, rotation speed signal, and / or position. It can process the value and determine whether the acceleration threshold is not met or is exceeded, and the threshold The drive unit's shaft can be detected when the value is not met. For acceleration, one threshold, or several thresholds depending on the application case, The threshold can be determined, for example, if different loads can be accelerated according to the corresponding load. The threshold may be a dynamic threshold. The rotary encoder or encoder device may, for example, use an acceleration threshold. Like a jump, in a case where the threshold is exceeded on the drive unit shaft In total, each load is not actually accelerated as measured, and therefore, the drive unit It should be assumed that there is a discrepancy in the knit. Also, the threshold is not met. In some cases, or when the cumulative value accumulated over a certain period exceeds a certain threshold, detection can be made. This could have been caused by the drive wheel slipping or rotating excessively on the rails. .

[0013] Alternatively, the rotary encoder can be coupled to the shaft of the measuring wheel, and the safety device Another rotary encoder may be coupled to the drive unit's shaft, and a safety device may be used. The rotation angle signal, rotation speed signal, and / or position value of the rotary encoder are transmitted to the other rotor. The rotation angle signal, rotation speed signal, and / or position value of the reencoder are compared with the drive unit's shift. This may be determined based on that comparison. Therefore, a rotary encoder is usable. If possible, it is connected to or coupled to the shaft of the measuring wheel. The measuring wheel is It moves with the carriage, for example, by rolling down a rail. The measuring wheel is on the carriage. Since it does not play a role in driving the wheel, the deviation in the drive of the measuring wheel is at least This can be eliminated with confidence. However, due to malfunctions of the measuring wheel such as locking, Misalignment may occur. The aforementioned rotary encoder is a drive unit or electric motor. It is located on the shaft, and this receives the corresponding rotation angle signal of the corresponding rotary encoder. This means that the rotational speed signal and / or position value can be compared by the safety device. If the numbers are misaligned, the drive wheel of the drive unit on the rail will be relative to the measuring wheel. It can be evaluated that it is being moved by a shift. Furthermore, based on the comparison of the corresponding signals, safety The device intends to determine a value for the misalignment of the drive unit or drive wheel. It is possible to store one or more thresholds in the safety device due to deviations. For example, exceeding a first threshold may trigger a warning of deviation and an exacerbation operation. If the second threshold is exceeded, a misalignment warning is triggered, resulting in emergency operation or complete failure. You may initiate a pause. There could be various reasons why both thresholds were exceeded. This includes significant system errors, drive errors, changed environmental conditions, or drive control errors. It is possible. The misalignment warning and misalignment alarm will be output digitally (relay) for the corresponding situation. - Using control switching outputs (including) or using secure fieldbus data, Sending a signal can be used as a trigger. Protect people while driving in a downgraded state. Therefore, in addition to deceleration, optical and / or acoustic warning signals may be required.

[0014] A safety device or safety apparatus drives the drive unit to a maximum threshold rotation speed when misalignment occurs. The low threshold rotation speed is limited, and the control device for that low threshold rotation speed controls the drive unit. It may also be transmitted to the location, and the maximum threshold rotation speed can determine the actual position of the carriage on the rail. Sometimes, it can be cleared using a safety device or safety apparatus. Therefore, safety The device or safety device can convert the drive unit from normal operation to emergency operation. The unit's rotation speed is such that the carriage moves relatively slowly along the rail. It can be restricted so that it cannot be done. This low threshold rotation speed determines the actual position of the carriage on the rail. It is used to control the drive unit until a position signal can be detected by a reliable means. It can then be corrected again to adjust the incorrect assumed position due to the discrepancy, according to the actual position.

[0015] The safety device or safety apparatus can continuously determine the displacement and / or actual position of the carriage. This means that it is possible to detect a sufficient number of position signals to calculate or determine the actual position. or sensors so that position signals are essentially available at all positions of the carriage on the rails. It is assumed that the device is designed as such. Nevertheless, the sensor device will still receive position signals. It is also possible to design it to be usable only on a portion of the rail or over a certain distance. be.

[0016] A safety device or safety apparatus uses the rotation angle signal, rotation speed signal, and / or position value to determine the speed and / or the constancy of the speed can be determined, and the safety device or safety apparatus can prevent carriage wear. It can be determined. Therefore, carriage displacement and wheel wear can be easily distinguished, and this This makes maintenance of the conveyor system easier. If the drive speed is always low, the displacement This is generally not expected, and therefore the positional difference is thought to be due solely to carriage wear. It can be obtained. And the control unit can send a signal about wheel wear, for example. Therefore, maintenance can now be initiated.

[0017] The position signal is transmitted when the sensor device installed on the rail passes a marking, with less It can also be generated by sensors in sensor devices installed on the carriage. It is essential that it be designed to detect markings on the rails. This allows the use of all types of sensors and markings that cooperate using known physical active principles. .

[0018] The safety device is calibrated by passing through all markings along with the sensor. The actual position of the marking can be determined and stored in a safety device. The safety device is, for example, During the silent movement of the carriage on the rail, the markings on the rail are passed over or crossed, therefore It can be calibrated while being detected. The actual position or location of the marking is, for example, that of a safety device. It can be stored in a lookup table. The safety device can process the position data particularly quickly. This enables the control unit to control the drive unit with only a slight delay. To calibrate all devices, the actual position of the stored markings is determined by the actual markings. It is also possible to compare it again with the actual location of the king. The safety device will pass the marking. The actual position of the stored markings within the storage medium can be overwritten again, and therefore, the calibration can be repeated. It can be returned. If the marking cannot be determined at the stored actual position, the marking will be Alternatively, the cause may be a malfunction or misalignment of the corresponding sensor. Furthermore, safety devices have a low threshold. The drive unit can be controlled at a constant rotational speed or in emergency operation mode.

[0019] The sensor device includes at least two sensors mounted on the carriage and a sensor mounted along the rail. Multiple markings have been applied, and passive RFID transports can be used as markings. It includes a dent and an RFID transceiver that can be used as a sensor. The sensor is always, The path connecting the sensors extends toward the rail, or at least parallel to the rail. It must be mounted on the carriage. The sensor is designed as an RFID transceiver. Furthermore, if the marking is designed as an RFID transponder, under adverse environmental conditions This also makes it possible to safely detect position signals. For example, unlike optical sensors or magnetic sensors In terms of illumination, RFID transponders are affected by visibility, impurities, humidity, or similar interfering factors. Only a very small amount is affected. Also, passive RFID transponders themselves It does not require a power source, and therefore, the rails can be modified, for example, by gluing them together to create an RFID transformer. A transponder can be installed. Furthermore, this type of system is particularly cost-effective. It is available.

[0020] When passing through, the position is located in the intermediate path between the entry point and exit point of the RFID transponder's receiving area. A point or center point can be defined, and the safety device uses the position point and / or entrance and exit points to determine the actual position The location can be determined. The inlet and outlet points are determined by the carriage using an RFID transceiver. When crossing or passing through an ID transponder, the RFID transceiver's RFID transceiver It is defined by the first and last contact with the responder. This passage is performed at a constant speed. In this case, the distance between the entry point and the exit point is, therefore the position point is, the actual RFID transponder It can be detected as the edge position. Furthermore, it can evaluate the direction in which the carriage is actually moving. It is also possible to mark three detectable points on the rail accordingly. The safety device can use these three points to determine its position and orientation. Therefore, the actual position of the carriage can be determined with even greater accuracy.

[0021] According to the first embodiment, a sensor is provided on the carriage at a relative distance LS, and relative distance The markings provided on the rails at the departure L can be used, and the following must remain true: LS = L or LS > L, preferably LS = n * L, where n = 1, 2, 3. Therefore, the marking distance may correspond to the sensor distance, or the sensor distance may correspond to the The distance can be greater than the marking distance; for example, it can be twice as large as the marking distance. The relative distance L of the markings is always the same, and the markings extend along the entire length of the rail. It may be intended that the carriage on the rails be dispersed. This makes it possible to always determine the actual position.

[0022] According to the second embodiment, a sensor and rail are provided on the carriage at a relative distance LS. The markings provided above at relative distances L1 and L2 can be used, and the following must be true. The following conditions are met: LS = n * L1 and L1 <> L2, preferably LS = L1 and L1 <L2。マ The markings are placed at uneven distances along the rail, and some of the sensors are located on two markings. It can also be intended to move along the rails between the intervals or between relative distances L2. In this area, the actual position of the carriage cannot be determined. The position cannot be precisely determined for a portion of the rail. If it is not necessary, or if a high level of safety is not required, marking is not particularly necessary.

[0023] According to the third embodiment, a sensor and rail are provided on the carriage at a relative distance LS. The markings placed above at a relative distance L can be used, and the following remains true: LS ≠ L or LS = 9 / 10L. For example, the arrangement and ratio of the sensor and marking can be measured with calipers. It can be intended to be realized like (Nonius). In this context, two, three or Even more sensors can be arranged in a line on the carriage. Therefore, the actual position of the carriage can be determined. When making a decision, while still achieving particularly high precision, the markings are placed on the rail. It is also possible to reduce the amount of ing relatively.

[0024] The safety device allows the switch signal of the sensor device's termination switch to be registered and used by the drive unit It can transmit signals to a control device to control the knit. It can be installed at the corresponding end of the rail. The termination switch can be a mechanical termination switch, which is a safety device. In each case, a marking can also be used as the termination switch. , to prevent the corresponding end of the rail from being crossed by the carriage. End switch The switch signal from the safety device either switches off the drive unit or stops the carriage. It is transmitted to the control unit that initiates the process.

[0025] The present invention relates to a conveyor means, particularly a lifting device, crane, gantry crane, and conveyor. In a control unit for a tena crane, the conveyor means is a drive unit and The conveyor means comprises a control unit that controls the drive unit, and the carriage of the conveyor means is The drive unit makes it possible to move along the rails of the conveyor means, and the control The unit includes a control device that can be controlled by the control unit, and the control unit is A measuring device for the shaft of the drive unit or the carriage to register the rotation of the shaft. The rotary encoder is connected to the shaft of the fixed wheel, and the rotary encoder The rotation angle signal, rotation speed signal, and / or position value are transmitted to the carriage on the rail. To determine a fixed position, the control device is equipped with an encoder device that can transmit signals to the control device, The control unit has a sensor device that can be positioned on the carriage and the rail. A safety device is provided, and at least one position signal is detectable by the sensor device. Yes, the safety device uses a position signal to determine the actual position of the carriage on the rail. The safety device is capable of determining the assumed position, and the actual position is determined by the safety device. It can be modified according to the settings.

[0026] In particular, rotary encoders may have safety devices. Safety devices may be present in the rotary encoder. It can be incorporated. Therefore, the rotary encoder receives the position signal from the sensor device. The data is processed together with the rotation angle signal and / or rotation speed signal to form a rotary encoder. The system processes the data so that the assumed position can be corrected according to the actual position of the safety device. The correspondingly corrected rotation angle signal and / or rotation speed signal can be transmitted to the control device, and This control unit is a special individual control unit required to integrate the corresponding signals. To control the drive unit without programming, it is further processed directly. Therefore, a rotary encoder has a one-time limit regarding its signal processing or programming. It may also be a standardized rotary encoder that requires safety inspection. Therefore, since safety devices do not need to be integrated into the programmable logic controller, the control unit It is possible to program the programmable logic controller with very little effort. Yes, it is possible. Furthermore, in rotary encoders, signal processing involves the control unit processing the position signal. Since it is no longer needed, the control unit will achieve a faster processing speed. Also, it is already being used The possible conveyor means can be modified to accommodate a rotary encoder with a safety device. This is also particularly advantageous. In this case, the control device or programmable logic control Since the security certificate for [the company / organization] will not be changed, there is no longer any need to renew it.

[0027] Advantageously, rotary encoders are parameterizable and / Or, a fee relating to exceeding or not meeting a position-dependent, scaled output value. It may have a rotary bus interface and / or switching output. Generally, rotary The coder is a fieldbus interface for exchanging data via a fieldbus. It can be easily coupled to a control device using a face. A safety relay or It can be equipped with semiconductor relays. Parameterizable output values ​​include rotational speed, overspeed, and / Alternatively, it may be the underspeed, rotational angle value, rotational speed difference value, or rotational angle value. The system can also be designed with safety in mind. Each can use one output for warnings and alarms. can.

[0028] A rotary encoder is an incremental encoder and / or an absolute encoder. It can be used as a driver. An incremental encoder is, for example, a rotary encoder that drives a unit. It can be advantageously used when installed in an electric motor. Incremental signal and The and / or absolute signal is transmitted when the rotary encoder is mounted on the shaft of the measuring wheel. If the signal is being processed in parallel, it can be processed more favorably. The encoder device processes these signals in parallel. It can output to the absolute signal, which refers to the individual rotations of the shaft, single-axis. This can be known as a signal, or refer to multiple rotations of the shaft. This can be known as a multi-turn signal. Furthermore, rotary engine The coda provides digital or analog outputs for absolute or incremental signals. It may have [this feature]. The analog output can be a current or voltage output.

[0029] Further advantageous embodiments of the control unit are features of the dependent claims referencing the method of claim 1. This is derived from the explanation.

[0030] Conveyor means according to the present invention, particularly lifting devices, cranes, gantry cranes, and container cranes. The system includes a control unit, at least one rail, and a carrier that can move along the rail. It comprises a jack and a drive unit having an electric motor.

[0031] Further advantageous embodiments of the conveyor means refer to the dependent claim relating to the apparatus described in claim 16. This is derived from the description of its characteristics.

[0032] The present invention will be described in more detail below with reference to the attached drawings. [Brief explanation of the drawing]

[0033] [Figure 1] This is a schematic diagram of the control unit's configuration. [Figure 2] This is a cross-sectional view of the conveyor system. [Figure 3A] This is a spatial diagram showing the marking signals and the sensors that move in relation to them. [Figure 3B] This is another spatial diagram showing the marking signals and the sensors that move in relation to them. [Figure 4] A first embodiment of possible relative arrangements of markings and sensors is shown. [Figure 5] A second embodiment of possible relative arrangements of markings and sensors is shown. [Figure 6] A third embodiment of possible relative arrangements of markings and sensors is shown. [Figure 7] This is a cross-sectional view of a conveyor system having markings and sensors arranged in relative positions. [Figure 8] This is a schematic diagram of a safety device. [Figure 9] This is a schematic diagram showing the process flow for operating the conveyor mechanism of a safety device. [Modes for carrying out the invention]

[0034] Figure 1 shows the drive unit 11 and rail 12 of the conveyor system (not shown in detail) The image also shows the control unit 10. The control unit 10 consists of a control device 13 and a sensor device 14 The control device 13 comprises a programming device 15 and a rotary encoder 16. Rotation angle signal, rotation speed signal and / or position of the encoder device 17 of the rotary encoder 16 It can receive the set value. The rotary encoder 16 is adjacent to the rail 12 via the shaft 18. It is connected to the drive unit 11 or, alternatively, to the measuring wheel. 1 itself acts on the rail 12 via the drive wheel (not shown), and therefore the rail 12 The drive unit 11 drives the carriage of a conveyor system that is movable along the road. It may be equipped with a data (not shown) and a transmission.

[0035] The sensor device 14 has multiple marks designed as RFID transponders 20, 21 It has a ring 19. Furthermore, the sensor device 14 is designed as an RFID transceiver. It has two sensors 22. Each RFID transponder 20, 21 is provided with an individual identifier. It is fixed to the rail 12. The sensor 22 is mounted on the carriage (not shown). Each is connected to a safety device 25 integrated into the rotary encoder 16 via cable 24. It is connected to the RFID transceiver 23, each generating an electromagnetic field 26, and via this The RFID transponders 20 and 21 can be detected, and a position signal can be obtained in each case. .

[0036] When the drive unit 11 is operated, the rotary encoder 16 controls the encoder device 17 The rotation angle signal, rotation speed signal, and / or position value are detected and transmitted to the control device 13. It transmits. Furthermore, the rotary encoder 16 and / or safety device 25 transmits RFID signals. Receives position signals from Seeba 23 and RFID transponders 20 and 21. Safety device 2 5 processes the rotation angle signal and / or rotation speed signal, and the assumed position of the carriage on the rail 12. The position is determined. Furthermore, the actual position of the carriage on the rail can be determined by the position signal. Therefore, the actual location information is stored in the storage medium of the safety device 25 for the RFID transponder 20. For example, it can be stored in a lookup table. The safety device 25 changes the assumed position to the actual position. In comparison, for example, the drive is caused by the drive wheel over-rotating on rail 12. Determine the possible displacement of unit 11. If the displacement is detected by the safety device 25... If the position is correct, or if this deviation is outside the acceptable range, the safety device 25 will adjust the assumed position according to the actual position. Correction is performed. This correction is performed when the rotation angle signal and / or rotation speed signal transmitted to the control device 13 This can also be done by correcting or adjusting accordingly. This allows for the precise and safe determination of the carriage's position on rail 12.

[0037] Figure 2 shows a schematic diagram of a conveyor system 27 having a carriage 28 and rails 29. The tracking device 30 is mounted on the rail 29, and the sensor 31 is mounted on the carriage 28. The carriage 28 is movable along the rail 29, as indicated by arrow 32. The ring 30 is an RFID transponder 33, and the sensor 31 is an RFID transceiver It is 34. The carriage 28 is composed of a crane bridge 35. Crane The rotary encoder 36 provided on the bridge 35 is connected to an encoder device 37 and a safety device It is equipped with 38. The safety device 38 has a safety switch 39. Using an encoder device 37 The absolute value of the movement of the crane bridge 35 on the rail 39 is measured by the measuring wheel (not shown). It is detected using [a specific method]. The markings 30 are individualized and are located at a relative distance of 0.45m from each other. X that responds mIt is installed on rail 39. Distance from sensor 31 to marking 30 Regarding the separation A, 100-200 mm is intended. The storage medium of the safety device 38 is individualized. The marking 30 includes the corresponding relative distance of the marked marking 30. The marking 30 together with the sensor 31 By means of, in all examples, the safety device 28 controls the actual position of the carriage 28 on the rail 29. The sensor device 40, which consists of a placement, a marking 30 and a sensor 31, is encoded It is possible to detect malfunctions of the encoder device 37 independently of its function. Any misalignment or malfunction of the sensor 31 and marking 30 will be corrected by the safety device 38. Contact can be detected. The drive unit (not shown) can be stopped using the safety switch 39. .

[0038] Figures 3B and 3B respectively show the spatial transceivers of an RFID transceiver (not shown). The graph shows 41 and the RFID transponders 42 and 43 installed in conjunction with it. The RFID transponders 42 and 43 are mounted on a rail (not shown in this case), R By moving the FID transceiver, the RFID transponder 42 moves in direction R. It passes through 43. The RFID transceiver is located at the origin of the graph, and the RFID transceiver Ponders 42 and 43 are located within the operating range AB in the Y-axis direction of the graph. RF When the ID transceiver is moved in direction R, as shown in Figure 3A, the RFID transceiver The sponder 42 exits the transceiver area 41 at exit point 44 and the RFID transponder 43 enters the transceiver region 41 at the entrance point 45. Figure 3B shows movement in the reverse direction. Port 44 and Inlet 45 are connected to an RFID transceiver and an RFID transponder 42 and / Alternatively, it can be detected by the loss or establishment of wireless communication with 43. Furthermore, the location of the RFID transceivers related to RFID transponders 42 and 43, The direction of movement along the X-axis can be precisely determined.

[0039] The combined diagram of Figures 4-6 shows the relative arrangement of marking 46 and sensor 47. The following shows different options. The distance X shown here can be 0.3m or 0.45m. ru.

[0040] Figure 7 shows a schematic of the marking 48 on the rail 49 and the sensor 50 moving in association with it. The diagram shows that the sensor 50 is connected to a safety device 51 which is coupled to an encoder device 52. The safety device 51 measures each marking in the transceiver area (not shown) of the sensor 50. Identify the exit point 53 and entrance point 54 of G48. Through the exit point 53 and entrance point 54, The position point 55 of the corresponding sensor 50 can be determined. Overall, the marking 48, and therefore the position Even if the distance of the marking 48 is long, the signal is transmitted via the exit point 53, the entrance point 54, and the position point 55. It can be detected at any time.

[0041] Figure 8 shows how to obtain a rotary encoder signal or a rotation angle signal and / or a rotation speed signal. A rotary encoder 56 having a base unit 57 for processing these signals The rotary encoder 58, safety device 59, switching output 60, and fieldbus A schematic diagram of interface 61 is shown. The rotary encoder 56 is powered by the voltage source 62. Energy is supplied. Sensor 63 connects to supply line 64 and data line 6 respectively. It is connected to the safety device 59. Regarding the sensor 63, the marking 66 is on the rail 6 It is located on 7. The switching output 60 is connected to relay 68, and the fieldbus Interface 61 is connected to fieldbus 69. Safety device 59, switch The ping output 60 and fieldbus interface 61 are designed in a modular manner. Each of these is independently coupled to the base unit 57 and the rotary encoder 58. This means that the rotary encoder 56 is used as needed. It can be adapted to the application. The rotary encoder 56 is connected to the safety device 59 and The sensor device 70, which consists of a sensor 63 and a marking 66, is further connected to the safety equipment. It is equipped with a 71.

[0042] Figure 9 shows the process flow for operating the conveyor system as shown in Figure 1. First method In step 72, the system is first configured by silently moving the carriage on rail 12. This is performed. In this context, the position signal of the marking 19 is transmitted to the sensor 22 or sensor device 1. Detected by 4. The distance of the position signal or marking 19 is stored in the safety device 25. The distance is calculated from the rotation angle signal and / or rotation speed signal of the encoder device 17. In step 73 of the method, the acceleration is continuously measured by the encoder device 17. The deviation in the acceleration jump is detected by the safety device 25. Method step 74 and In step 75, both sensors 22 independently mark the entry point and position point 19. And using the exit point, when crossing them, the safety device 25 detects and uses the obtained point, For each sensor 22, compare it with the points stored in method step 72 and detect the deviation as appropriate. In step 76 of the method, the assumed, indirectly determined position of the carriage is determined by the method. If deviations are detected at corresponding points in steps 74 and 75, corrections are made according to the actual position. It will be corrected.

Claims

1. In particular, lifting machines, cranes, gantry cranes, for operating the conveyor means (27) A method for operating a container crane, etc., wherein the conveyor means is a drive unit The conveyor comprises a drive unit (11) and a control unit (10) that controls the drive unit. The carriage (28) of the means is driven by the drive unit to the rail (1) of the conveyor means. Moved along 2, 29, 49, 67), the control unit controls the control unit Controlled by the device (13), the rotary encoder (16, 36) of the control unit , 56) the shaft (18) of the measuring wheel of the drive unit or the carriage It is connected to and registers the rotation of the shaft, and records the rotation angle signal, rotation speed signal and / or position value However, in order to determine the assumed position of the carriage on the rail, the rotary encoder The encoder device (17, 37, 52, 58) transmits to the control device, At least one position signal is detected by the sensor device of the safety device (71) of the control unit. (14, 40, 70) is detected, and the sensor device is the carriage and the rail The carriage is mounted on the rail, and the actual position of the carriage on the rail is determined based on the position signal. Determined by the safety devices (25, 38, 51, 59) of the aforementioned safety device, the assumed position The position is corrected according to the actual position by the safety device. A method characterized by the following features.

2. In the method described in claim 1, The safety devices (25, 38, 51, 59) control the rotation angle signal, the rotation speed signal, and / or correct the position value according to the actual position and send this information to the control device (13). The drive unit (11) is controlled by the following: A method characterized by the following features.

3. In the method according to claim 1 or 2, The rotary encoders (16, 36, 56) are connected to the drive unit (11). It is connected to the shaft (18), and the safety devices (25, 38, 51, 59) are assumed Determine the position, compare it with the actual position, and based on the comparison, determine the displacement of the drive unit. To decide A method characterized by the following features.

4. In the method according to any one of claims 1 to 3, The safety devices (25, 38, 51, 59) are the rotary encoders (16, 36, 56) The rotation angle signal and / or the rotation speed signal are processed and the acceleration threshold is satisfied. It is determined whether there is none or it is exceeded, and if the threshold is not met, the drive unit (11) Detect the misalignment. A method characterized by the following features.

5. In the method according to claim 1 or 2, The rotary encoders (16, 36, 56) are connected to the shaft of the measuring wheel ( 18) is connected to another rotary encoder of the safety device (71), the drive unit The safety device is connected to the shaft of the nit (11) and the rotary encoder The rotation angle signal and / or rotation speed signal of the other rotary encoder are used to control the rotation of the other rotary encoder. The angular signal, rotational speed signal, and / or position value are compared, and based on this comparison, the drive unit Determine the discrepancy. A method characterized by the following features.

6. In the method according to any one of claims 3 to 5, The safety device (71) sets the maximum threshold of the drive unit (11) when a misalignment occurs. The rotation speed is limited to a low threshold rotation speed, and this low threshold rotation speed is transmitted to the control device (13) Controlling the drive unit, the carriage (2 8) When the actual position is determined, the maximum threshold rotation speed is cleared. A method characterized by the following features.

7. In the method according to any one of claims 3 to 6, The safety device (71) is located on the rail (12, 29, 49, 67) the carrier The displacement and / or actual position of the ledge (28) are continuously determined. A method characterized by the following features.

8. In the method according to any one of claims 3 to 7, The safety device (71) includes the rotation angle signal, the rotation speed signal, and / or the position From the value, the speed and / or the invariance of said speed are determined, and the safety device is the carriage (28) Determine the wear A method characterized by the following features.

9. In the method according to any one of claims 1 to 8, Marking of the sensor device provided on the rail (12, 29, 49, 67) When passing through (19, 30, 46, 48, 63), the carriage (28) is provided At least one sensor (22, 31, 47, The position signal is generated by 50, 63) A method characterized by the following features.

10. In the method described in claim 9, The safety device (71) together with the sensors (22, 31, 47, 50, 63) It is calibrated using all the markings (19, 30, 46, 48, 63) that are passed through. The actual position of the marking is determined and the safety device (25, 38, 51, 59) Stored A method characterized by the following features.

11. In the method according to claim 9 or 10, The sensor devices (14, 40, 70) are provided on the carriage (28) and at least Both have two sensors (22, 31, 47, 50, 63) and the rails (12, 29, 49 Multiple markings (19, 30, 46, 48, 63) provided along 67), and Passive RFID transponders (20, 21, 33, 4) used as markings 2, 43) and RFID transceivers used as sensors (23, 34, 41) Equipped with, A method characterized by the following features.

12. In the method according to claim 11, When passing through, the receiving area of ​​the RFID transponder (20, 21, 33, 42, 43) Point (55) is defined midway between the entrance point (45, 54) and the exit point (44, 53) of 41). Furthermore, the safety devices (25, 38, 51, 59) are located at the position point and / or the entrance point and The actual position is determined using the exit point. A method characterized by the following features.

13. In the method according to any one of claims 9 to 12, Sensors (22, 31, 47, 50) provided on the carriage (28) at a relative distance LS , 63), and a mark provided on the rail (12, 29, 49, 67) at a relative distance L King (19, 30, 46, 48, 63) is used, and the following is maintained to be true. LS = L or LS > L, preferably LS = n * L, where n = 1, 2, 3. A method characterized by the following features.

14. In the method according to any one of claims 9 to 12, Sensors (22, 31, 47, 50) are provided on the carriage (28) at a relative distance LS. , 63) and provided on the rails (12, 29, 49, 67) at relative distances L1 and L2 The marked values ​​are used, and the following is maintained to be true: LS = n * L1 and L 1 < > L2, preferably LS = L1 and L1 < L2. A method characterized by the following features.

15. In the method according to any one of claims 9 to 12, Sensors (22, 31, 47, 50) are provided on the carriage (28) at a relative distance LS. , 63) and markings provided on the rails (12, 29, 49, 67) at a relative distance L The given set (19, 30, 46, 48, 63) is used, and the following remains true: LS ≠ L or LS = 9 / 10L, A method characterized by the following features.

16. In the method according to any one of claims 1 to 15, The switch signal of the termination switch of the sensor device (14, 40, 70) is detected, In order to control the drive unit (11), the safety devices (25, 38, 51, 59) This is transmitted to the control device (13), A method characterized by the following features.

17. Especially lifting machines, cranes, gantry cranes, and container cranes for conveyor systems. A control unit (10) for the conveyor means, wherein the drive unit (11 ) and a control unit for controlling the drive unit, and the carriage of the conveyor means (28) The rails of the conveyor means (12, 29, 49, 67) is movable along the line, and the control unit is controllable by the drive unit. The control unit is equipped with a control device (13) for registering the rotation of the shaft, Connected to the shaft of the drive unit or the shaft (18) of the measuring wheel of the carriage. It is equipped with a rotary encoder (16, 36, 56), and the rotary encoder rotates The angle signal, rotation speed signal, and / or position value are set to the assumed position of the carriage on the rail. To determine this, an encoder device (17, 37, 52) can transmit to the control device. , 58) equipped, The control unit has positionable sensor devices on the carriage and the rails. The safety device (71) has (14, 40, 70) and at least one position signal However, it is detectable by the sensor device, and the safety device is on the rail. The actual position of the carriage can be determined based on the position signal of the safety device (25, 38, 51 ,59) and the assumed position can be corrected according to the actual position by the safety device. It is Noh. A control unit characterized by the following features.

18. In the control unit according to claim 17, The rotary encoders (16, 36, 56) are connected to the safety devices (25, 38, 51, 59) has, A control unit characterized by the following features.

19. In the control unit according to claim 17 or 18, The rotary encoders (16, 36, 56) are parameterizable and / or Switching to exceed and / or not exceed the position-dependent, scaled output value. Having a 60 output and / or a fieldbus interface (61), A control unit characterized by the following features.

20. In the control unit according to any one of claims 17 to 19, The rotary encoders (16, 36, 56) are incremental encoders and / or it is an absolute encoder. A control unit characterized by the following features.

21. Conveyor means (27), especially lifting machines, cranes, gantry cranes, container cranes The conveyor means is the control unit according to any one of claims 17 to 20. (10) and at least one rail (12, 29, 49, 67) along the rail A movable carriage (28) and a drive unit (11) having an electric motor A conveyor system equipped with [a specific feature].

Images