Method of operating a shelf of a shelving unit
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Solution Overview
Problem
Existing rack systems face challenges in maintaining uniform movement and minimizing braking interventions due to skewing, which can lead to inefficient operation and potential jamming, especially when shelves move autonomously and independently.
Innovation Solution
A method where each rack uses distance sensors to determine the distance to the preceding shelf, designates a master and slave drive wheel, and adjusts the slave wheel's speed by a reduction factor based on the normalized difference in distances, allowing for maximum speed while correcting skewing without affecting the master wheel's speed, ensuring smooth operation and minimizing braking interventions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the speed of both drive wheels is reduced to correct skewing, then the rack movement uniformity is improved, but the overall movement speed and productivity deteriorate
Solution Approach 1:
The drive wheel system is segmented into master and slave drive wheels. The master drive wheel operates independently at maximum speed, while the slave drive wheel's speed is selectively adjusted based on skew detection. This segmentation allows correction of movement uniformity without compromising overall system speed.
Solution Approach 2:
Speed adjustment is applied locally only to the slave drive wheel when skewing is detected, rather than reducing speed of the entire rack system. The master drive wheel maintains maximum speed, ensuring productivity is preserved while local correction addresses the uniformity issue.
2Stability of the object's composition
If strong braking intervention is applied to correct skewing, then the rack alignment is improved, but the risk of continuous corrective movements and system disruption increases
Solution Approach 1:
The system applies partial braking action only to the slave drive wheel rather than strong braking to the entire system. The speed reduction factor is calculated based on the normalized distance difference, applying just enough correction to address skewing without causing excessive intervention that could disrupt system stability.
Solution Approach 2:
The system continuously monitors the distance difference between sensors and dynamically adjusts the slave drive wheel speed accordingly. This feedback mechanism ensures that braking intervention is applied only when and to the extent needed, preventing over-correction and maintaining system reliability.
3Ease of operation
If autonomous independent drive control is implemented for each shelf, then the ease of operation is improved, but the uniformity of travel across the rack system deteriorates
Solution Approach 1:
The slave drive wheel acts as an intermediary that coordinates between autonomous shelf control and system-wide uniformity requirements. By adjusting the slave drive wheel speed based on relative position feedback, the system maintains autonomous operation while ensuring uniform travel across the rack system.
Data Source
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AI summary
The invention relates to a method for moving a shelf (100) of a racking system, wherein the shelf (100) extends perpendicular to the direction of travel (102), wherein the shelf (100) has, viewed in the direction of extension, at least two drive wheels (200; 204) on opposite sides of the shelf (100) and two distance sensors (208; 209) on opposite sides of the shelf (100), wherein each distance sensor is assigned to a drive wheel, wherein the method comprises: a) driving the drive wheels (200; 204) at a maximum rotational speed, b) By means of each of the distance sensors (208;209), Determining the distance of the shelf (100) in the area of the sensor position to a shelf moving ahead of the shelf (100), c) Determining a drive wheel as the master drive wheel (204) and determining the drive wheel of a slave drive wheel (200) whose sensor (208) has determined the smallest distance to the shelf moving ahead (100), d) Reducing the rotational speed of only the slave drive wheel (200) e) Cyclic repetition of steps b)-d).;