阅读说明：本技术 控制装置、运输产品的输送机以及用于控制运输产品的输送机的方法 (Control device, conveyor for transporting products and method for controlling a conveyor for transporting products ) 是由 牛惠萍 诺尔曼·泰斯 于 2018-06-08 设计创作，主要内容包括：本发明涉及一种运输产品的输送机(100)的控制装置(1),运输产品的输送机(100)具有处理器(10),所述处理器生成用于所述运输产品的输送机(100)的运输区段(110；120；130)的以走停模式操作的至少一个驱动马达(350)的控制信号；其中,所述处理器(10)配置为在停止所述运输产品的输送机(100)的所述运输区段(110；120；130)时通过正相和/或反相来控制所述驱动马达(350),从而根据可调停止函数来减小由所述驱动马达(350)生成的扭矩(M(t))。所述处理器(10)依据所述运输区段(110；120；130)的检测到的处理数据来设置所述停止函数。(The invention relates to a control device (1) for an conveyor (100) for transporting products, the conveyor (100) for transporting products having a processor (10) which generates control signals for at least drive motors (350) of a transport section (110; 120; 130) of the conveyor (100) for transporting products which are operated in a stop-and-go mode, wherein the processor (10) is configured to control the drive motors (350) by positive and/or negative phase when stopping the transport section (110; 120; 130) of the conveyor (100) for transporting products, such that a torque (M (t)) generated by the drive motors (350) is reduced according to an adjustable stop function, the processor (10) setting the stop function according to detected processing data of the transport section (110; 120; 130).)

1, control device (1) of a conveyor (100) for transporting products, the control device (1) having a processor (10), the processor (10) generating control signals for at least drive motors (350) of a transport section (110; 120; 130) of the conveyor (100) for transporting products, the at least drive motors (350) operating in a stop-and-go mode, wherein

-the processor (10) is configured to control the drive motor (350) by phase-on and/or phase-off when stopping the transport section (110; 120; 130) of the conveyor (100) transporting products, thereby reducing the torque (M (t)) generated by the drive motor (350) according to an adjustable stop function, and

-the processor (10) adjusting the stop function in dependence of the detected processing data of the transport section (110; 120; 130).

2. The control device according to claim 1, wherein the stop function is a time-dependent function of the torque (m (t)) of the drive motor (350).

3. Control device according to claim 1 or 2, wherein the processor (10) adjusts a stopping period (Δ Τ) in dependence of the detected processing data_A) In the rest period (Δ T)_A) During which the torque (M (t)) of the drive motor (350) is reduced from an operating torque to a stopping torque.

4. The control device of any of the preceding claims, wherein the detected process data includes information about a current operating temperature and/or information about a transported product weight of a transported product (250) transported along a conveyor of the transported product.

5. The control device of any of the preceding claims, wherein the processor (10) considers an operating temperature of the drive motor (350) as process data when adjusting the stop function.

6. Control device according to claim 5, wherein the processor (10) generates a control signal for a drive motor (350) of a drive roller (300) of the transport section (110; 120; 130) and determines the operating temperature of the drive motor (350) by determining a temperature dependent resistance of a holding brake (360) of the drive roller (300).

7. The control device according to claim 6, wherein the holding brake (360) is arranged on a fixed shaft (330) of the drive roller (300) adjacent to the drive motor (350).

8. The control device according to claim 6 or 7, wherein the holding brake (360) is operated with a smaller operating voltage than the drive motor (350).

9. The control device of any of the preceding claims, wherein the processor (10) takes into account a transported product weight of a transported product (250) transported on the transported product conveyor as processing data when adjusting the stop function.

10. The control device of any of the preceding claims, wherein the processor (10) is configured to determine the information about the transported product weight of the transported product (250) conveyed on the conveyor of the transported product from the electrical power required to be activated from the drive motor (350) to accelerate the transported product (250) to a desired speed.

11. The control device of any of the preceding claims, having at least sensor data inputs via which the processor receives at least part of the detected process data of a conveyor (100) of the transported product.

12. Control device according to , having at least control outputs (21; 22), said at least control outputs (21; 22) being adapted to output said control signals to said at least drive motors (350) of the conveyor (100) of transported products.

13. Control device according to claim 12, having a power supply input (30) for a power supply voltage having at least phases, wherein the processor (10) provides at the control output (21; 22) at least phases of the power supply voltage as control signals to be provided with phase on and/or phase off when the drive motor (350) starts and stops.

14. The control device according to claim 13, wherein the control output (21, 22) is configured in two parts for outputting two control signals to control two drive motors (350) of the conveyor (100) of the transported product, and wherein the processor (10) generates the two control signals from the same supply voltage present at the power supply input (30).

15. Control device according to , having at least signal inputs (31; 32) via which input signals can be transmitted to the processor (10), wherein the input signals comprise information about the start and stop times of the at least drive motors (350), and wherein the processor (10) is configured to generate the control signals for the at least drive motors (350) at the start and stop times of the transmission to start and stop the drive motors (350) by phase-on and/or phase-off.

16. The control device of any of the preceding claim, wherein the processor (10) generates control signals for the drive motor (350) of a pallet conveyor (100) that is a conveyor of the transported products.

Conveyor (100) of transported products with at least transport sections (110; 120; 130) driven by at least drive motors (350) and a control device (1) according to any of the of the preceding claims, wherein the control device (1) outputs control signals generated by the processor (10) of the control device (1) to the at least drive motors (350).

18. Conveyor for transporting products according to claim 17, having a temperature sensor for detecting the operating temperature of the at least drive motors (350), wherein the temperature sensor provides information about the detected operating temperature as processing data to the processor (10) of the control device (1).

19, a method for controlling a conveyor (100) for transporting products, wherein:

-operating at least drive motors (350) of a transport section (110; 120; 130) of the conveyor (100) transporting products in a stop-and-go mode;

-detecting and providing processing data of said transport section (110; 120; 130);

-controlling the at least drive motors (350) by phase-on and/or phase-off when the transport section (110; 120; 130) of the conveyor (100) transporting products is stopped, so as to reduce the torque (M (t)) generated by the drive motors (350) according to an adjustable stop function, and

-adjusting said stop function in dependence of said detected processing data.

Technical Field

The present invention relates to a control device of conveyors transporting products, conveyors transporting products and methods for controlling conveyors transporting products.

Background

The conveyor transporting the products may include a plurality of transport sections divided by the transport path the transported products may be transported in stop and go mode along each transport section which means individual transport sections are driven so that they may transport the transported products thereon further steps while individual transport sections are at rest so that the transported products thereon are no longer transported further steps.

For example, a conveyor transporting products may be configured such that a transported product is transported from the transport section to a subsequent second transport section only when no product is transported in the subsequent second transport section.

Such a conveyor for transporting products can convey, for example, pallets and transported products arranged thereon, that is to say can be in the form of a pallet conveyor.

The transport sections of the conveyor transporting the products may each be driven by at least drive motors.

Disclosure of Invention

The object of the invention is to allow improved control of a conveyor transporting products, in particular to allow improved position control of transported products.

The invention is described by the subject matter of the independent claims. Preferred embodiments are the subject of the dependent claims.

aspects relate to a control device for a conveyor of transported products having a processor that generates control signals for at least drive motors operating in a stop-and-go mode for a transport section of the conveyor transported products.

The conveyor transporting the products comprises at least transport sections, but preferably comprises transport sections arranged after , which transport sections form a transport path of the conveyor transporting the products, wherein the transported products are transported along the transport path.

The conveyor transporting the products may be configured to control each transport section individually and differently and operate them in the aforementioned stop-and-go mode. As a result of the stop and go mode, the distance between the transported products can be adjusted and/or created.

The transport section may comprise a plurality of rollers connected to at least drive rollers such that the drive motors drive and/or stop (i.e. brake) substantially all of the rollers of the transport section.

The control device includes a processor, which may be in the form of a microprocessor and/or a processor of a computer, the processor being configured and arranged to generate and provide control signals for at least drive motors.

The processor may also use at least signals and/or data and/or at least current sources and/or at least voltage sources in order to generate the control signals.

The processor is configured to accelerate and/or brake the transport products transported along the transport section by phase-on and/or phase-off. The initial torque of the electric drive motor may be reduced by the positive phase or phase disengagement increasing over time. Thus, the phase-on and/or phase-off controller may control the drive motor of the conveyor transporting the product in such a way that the drive motor is initially driven at a reduced power from a non-driving state, so that the drive motor may be slowly started at significantly less than full load. This reduces the risk of tipping or load deformation due to displacement of the transported product being transported on the transport section.

The control device uses the phase switching on and/or phase switching off both when starting the transport section and when stopping the transport section. The torque of the drive motor is not directly braked from full rated power (i.e. from operating torque), for example to zero, but is braked gradually (e.g. continuously or in separate steps) during a certain stopping period. Thus, when the transport section stops, the risk of tipping or load deformation due to displacement of the transported product is also reduced.

As a result of the phase switching on and/or phase switching off, the torque generated by the drive motor increases at the start of the transport section during the start-up period, for example from a reduced start-up torque to an operating torque, which is also referred to as the nominal load torque. The increase may for example be performed linearly and/or substantially constantly and/or in a separate step. In this case, it may also be referred to as a start ramp, along which the torque of the drive motor increases. At full load, the drive motor may be operated in such a way that the transport section is driven by a substantially constant operating torque of the drive motor.

The reduction of torque may occur during a stopping period, during which the generated torque gradually decreases, e.g., constantly and/or linearly, steps further, the torque of the drive motor may decrease along the stopping ramp.

The stopping function may be, for example, a function of torque over time.

It has been found that processes and/or conditions of a transport section affect how fast the transported products can be stopped, thus, these processes and/or conditions affect how fast the transported products transported on the transport section can be stopped.

The current measured process data is data that is detected only shortly before being used and/or considered by the processor, that is, for example, within a predetermined period of less than minutes, preferably less than seconds, before being considered by the processor.

The processor is configured to take these processing data into account and adjust the stop function accordingly. If the stop function substantially corresponds to an approximately linear decreasing function (corresponding to the stop ramp), the negative gradient may be adjusted, for example, such that the length of the stop ramp, i.e. the duration of the negative gradient up to the complete stop, is adjusted. The processor may, for example, adjust a dwell period during which torque is reduced from the operating torque to the dwell torque. The adjustment of the stop function may be performed on the basis of parameters that can be stored in a memory means of the control device. The adjustment may thus be based in particular on parameters previously stored in a memory means of the control device.

In this way, control of the position of the transported product may be improved, since the stopping distance may be adjusted and/or influenced individually.

The processor may be configured to take into account current processing data and/or individual processing data during each individual stop.

In other words, the processor may select at least parameters of the stop function depending on the detected process data, which change and/or influence the time-dependent function of the torque.

According to embodiments, the processor adjusts a stopping period during which the torque of the drive motor is reduced from the operating torque to a stopping torque in dependence on the detected process data the stopping period may be a parameter of a stopping function and may be adapted to the detected process data the stopping torque may for example be zero or may correspond to a starting torque in general the stopping torque may not be equal to zero, in particular smaller than the starting torque to start the drive motor.

According to embodiments, the processor adjusts a stopping torque to which the torque of the drive motor is reduced when stopped, in dependence on the detected processing data.

In exemplary embodiments, the detected processing data includes information about the current operating temperature and/or information about the weight of the transported product transported along the conveyor of the transported product the operating temperature may in particular be the operating temperature of the drive motor, which affects the stopping distance at which the transport section stops.

According to embodiments, the processor considers the operating temperature of the drive motor as process data when adjusting the stop function, in particular, the currently measured operating temperature of the drive motor may be considered, that is to say the operating temperature measured directly before the processor takes account, for example not more than minutes ago, preferably not more than minutes ago.

In a further step of this embodiment, a processor generates control signals for a drive motor of a drive roller of a transport section and determines an operating temperature of the drive motor by determining a temperature dependent resistance of a holding brake of the drive roller the holding brake may be components of a conveyor transporting products, which are in any case mounted in the drive roller, thus no additional temperature sensor is needed.

Preferably, the other components of the drive roller are at least partially disposed inside the roller shell and/or thermally coupled to the drive motor.

In a further development of this embodiment, a holding brake is disposed on the fixed shaft of the drive roller adjacent to the drive motor.

In an additional or alternative step development of this embodiment, the holding brake is operated at a lower operating voltage than the drive motor, for example, the holding brake may be operated by a 24V operating voltage while the drive motor uses at least phases of a 400V operating voltage.

According to embodiments, when adjusting the stop function, the processor considers the weight of the shipped product being transported on the conveyor that is transporting the product as process data.

According to embodiments the processor is configured to determine information about the weight of the transported product transported on the conveyor transporting the product according to the electrical power required to start accelerating the transported product from the drive motor to the required speed the processor may record and/or measure the acceleration power required to accelerate the transported product to its required speed, for example at the start of a transport section the transported product may then reach the required speed when the drive motor is operating at its operating torque the electrical power required for acceleration may comprise information about the weight of the transported product from which information, for example, the weight of the transported product may also be determined directly, so that only parts of the electrical (acceleration) power required may also be used, for example a power part half accelerated to the required speed, a power part semi-accelerated from to the full required speed, etc.

According to embodiments, the control device includes at least sensor data inputs via which the processor receives, at least in part, detected process data of the conveyor transporting the products.

According to embodiments, the control means comprise at least control outputs for outputting control signals to at least drive motors of the conveyor transporting the products the control signals may directly contain drive signals with phase-on and/or phase-off, that is to say direct control signals and the necessary power supply.

In a further development of this embodiment, the control device includes a power input for a supply voltage having at least phases (preferably three phases). The processor provides at least phases of the supply voltage at the control output as control signals to be provided phase on and/or phase off when the drive motor is started and stopped.

In a further development of this embodiment, the control output is configured to output two control signals to control two portions of two drive motors of a conveyor that transports the product.

According to embodiments, the control device comprises a signal input via which input signals can be transmitted to the processor, the input signals comprising information about the start time and stop time of at least drive motors the processor is configured to generate control signals for at least drive motors at the start time and stop time of the transmission, starting and stopping the drive motors by phase-on and/or phase-off.

According to embodiments, the processor generates control signals for a drive motor of a pallet conveyor as a conveyor for transporting products.

The aspects relate to a conveyor of transported products having at least transport sections driven by at least drive motors, and a control device according to the preceding aspect, wherein the control device outputs control signals generated by a processor of the control device to at least drive motors the conveyor of transported products may further comprise a plurality of transport sections which can be controlled individually, each transport section comprising at least drive motors controlled by the control device each drive motor may be controlled by its own control device, or the control device may control a plurality of drive motors, in particular all drive motors.

According to exemplary embodiments, the conveyor transporting the products comprises a temperature sensor for detecting the operating temperature of at least drive motors, wherein the temperature sensor provides information about the detected operating temperature as processing data to a processor of the control device.

aspects relate to methods for controlling a conveyor for transporting products, wherein:

-operating at least drive motors of a transport section of a conveyor transporting products in stop-and-go mode;

-detecting and providing processed data of the transport section;

controlling at least drive motors by phase-on and/or phase-off to reduce the torque generated by the drive motors according to an adjustable stop function when stopping the transport section of the conveyor transporting the products, and

-adjusting the stop function in dependence of the detected processing data.

In particular, the method may be carried out by means of a control device according to the above-described aspects and/or on a conveyor transporting the products. Thus, all features and/or embodiments described above also apply to the method according to this aspect, and vice versa.

In the context of the present invention, the expressions "substantially" and/or "about" may be used such that they include deviations from the numerical value according to the expression by up to 5%, deviations from the direction according to the expression and/or from the angle according to the expression by up to 5 °.

Unless otherwise specified, expressions such as top, bottom, above, below, and the like refer to the earth's frame of reference in the operational position of the inventive subject matter.

Drawings

The invention will be described in more detail hereinafter with reference to exemplary embodiments shown in the drawings. The same or similar reference characters may denote the same or similar features of the embodiments herein. The various features illustrated in the figures may be implemented in other exemplary embodiments. In the figure:

FIG. 1 graphically illustrates the effect of the inversion control;

2A to 2D show in each case in diagrammatic form the controlled torque of the drive motor according to different exemplary embodiments;

FIG. 3A shows three transport sections of a pallet conveyor in perspective view;

FIG. 3B shows three transport sections of the pallet conveyor in a view opposite to the transport direction;

FIG. 3C shows three transport sections of the pallet conveyor in side view;

FIG. 4 shows in top view three transport sections of the pallet conveyor without pallets;

FIG. 5 shows in perspective view the drive rollers of the transport section of the pallet conveyor;

FIG. 6 shows in cross-section the drive rollers of the transport section of the pallet conveyor; and

fig. 7 shows in the form of a schematic block diagram a control device for controlling the drive motor of the transport section of a conveyor transporting products.

Detailed Description

For example, to achieve a gentle start of a conveyor transporting products, the inversion control cuts off partial phases of the voltage shown to accelerate the transport section of the conveyor transporting products.

In the case of a cycle duration of T, from time 0 to time T/2, voltage may be applied to the drive motor during the th sinusoid of the AC voltage, the th sinusoid being shown immediately adjacent zero in the graph, however, during this cycle, the phase reversal control "switches off" this voltage for most of the time between 0 and T/2, and only applies voltage to the drive motor at the end of the th sinusoid shown.

In the diagram shown, the periods of application of voltage in antiphase control to the drive motor of, for example, a conveyor transporting products are marked by the hatched area between the sinusoidal voltage and the median axis of the voltage. If the area is not filled, that is to say is shown in white, the inverse control "switches off" the voltage, that is to say does not apply a voltage to the drive motor.

During the th positive sinusoidal voltage profile (that is, in the period from 0 to T/2), the anti-phase control only allows the voltage to "pass" within the last approximately 15% of the associated time span of T/2.

In other words, the phase reversal control is only from a certain phase angle

A voltage is applied to the drive motor. The reverse phase control being effected only from a certain starting phase angle of the alternating voltage

The voltage is applied to the drive motor to the lower zeros

, the phase control may be designed such that in acceleration by the duration of each cycle T of the AC voltage, it applies voltage to the drive motor for an increasingly longer period of time on average until it applies the full voltage.

The differences between these two phase controls are the starting point of cut sinusoids and the end point of another cut sinusoidsThe voltage is applied to the drive motor to zero while the other phase controls apply voltage from zero only to the end phase angleThe principle of control is known in principle to the person skilled in the art, so that at point the method of operation of the positive and/or negative phase control will not be discussed further than step , but reference can be made in this respect to the relevant technical literature.

The phase cut-off shown can be used to gradually accelerate the drive motor. Similarly, the drive motor may be stopped by means of a phase cut. Starting phase angle for actually applying phase to motor

Initially will be 0. In other words, in normal operation, at operating torque (for example), full phase is applied. Starting phase angle

Gradually increase to a value

(that is, exactly the opposite of the reduction shown in FIG. 1). Then no more voltage is applied to the drive motor at any time and the drive motor is at rest.

Fig. 2A to 2D show in each case in the form of a graph the controlled torque m (t) for a start/stop cycle of a drive motor operating in stop-and-go mode according to , a second, a third and a fourth exemplary embodiment, time t being plotted on the x-axis and controlled torque from 0% to 100% of the maximum torque being plotted on the y-axis fig. 2A to 2D show the controlled torque m (t) on the y-axis not necessarily exactly corresponding to the torque actually present at the respective time, more precisely the phase angle and/or opening angle of the corresponding motor actuator controlled by the control device is shown in percentage on the y-axis, in exemplary embodiments, for example, the opening angle of a triac ("triac") in short, if the conveyor transporting the product provided according to exemplary embodiments operates with at least asynchronous motors, the controlled torque does not necessarily exactly correspond to the torque actually present, and therefore the values shown in fig. 2A to 2D, where the shown in each case of the controlled torque m on the y-axis are also referred to as the actual desired torque values of the controlled torque m, the corresponding to the percentage of the controlled torque m on the y-axis, or the corresponding to the desired torque on the y-axis.

, the expression "torque" used in the context of the present invention may also be understood as meaning a "controlled torque" and/or a "controlled phase angle".

Below the time axis, a plurality of times of control to change the torque of the drive motor are marked. The continuous time being marked as t₁To t₅。

In the th exemplary embodiment described with reference to the chart shown in FIG. 2A, at time t ₁Generates an activation signal for driving the drive motor at time t of ₁At a starting torque M_startDriving the drive motor, the starting torque M_startMay be, for example, full operating torque M_BAbout 30% of the total. Then at increasing period delta T_SIncreasing the torque substantially linearly and constantly until it is at a third time t₃To achieve full operating torque M_BUntil now. The increase is effected using positive phase and/or phase cut-off and continues for an increase period Δ T_SHere is t₃-t₁。

From a third time t₃To a fourth time t₄Presence of full operating torque M_BAnd the drive motor operates normally, whereby it drives the associated transport section at a substantially constant required transport speed. At a fourth time t₄Generates a stop signal and drives the motor at a fourth time t₄And a fifth time t₅And braking to 0% of the torque as the stopping torque. Braking occurs substantially linearly and constantly using phase-on and/or phase-off. The braking is designed such that the torque decreases according to an adjustable stop function. Braking may be at an adjustable rest period Δ T_A(here: t)₅-t₄) During which time it takes place. Off period Δ T_ACorresponding to the applied torque M (t) from the operating torque M_BPeriod of reduction to zero generally speaking, the period of rest Δ T_ACorresponding to the applied torque M (t) from the operating torque M_BAnd reduced to a period of stopping torque.

has reduced the applied torque M (t) to zero, that is to say, in the example shown at a fifth time t₅The dead time Δ T may be initiated_TWhere the restart is delayed to avoid accumulation.

In the second exemplary embodiment described with reference to the graph shown in fig. 2B, the drive motor is precisely controlled until the fourth time t as in the th exemplary embodiment₄. At a fourth time t₄Generates a stop signal and drives the motor at a fourth time t₄And a fifth time t₅Braking to starting torque M_startHowever, unlike the exemplary embodiment, the torque is not reduced completely to zero, but instead is reduced to the starting torque M_start -like large stopping torque.

Here, the braking is also designed such that the torque is reduced according to an adjustable stop function. Here, the braking may be at an adjustable rest period Δ T_A(here: t)₅-t₄) The method is carried out in the air. The stopping torque can also be adjustable and in the second exemplary embodiment corresponds to a starting torque M_startThe amount and direction of the light.

An advantage of this second exemplary embodiment is that the drive motor can be accelerated faster and easier, since the bias voltage is applied to the drive motor even in a stopped transport section, because the stopping torque is not zero.

In the third exemplary embodiment described with reference to the graph shown in fig. 2C, the drive motor is precisely controlled until the fourth time t as in the th and second exemplary embodiments₄. At a fourth time t₄Generates a stop signal and drives the motor at a fourth time t₄And a fifth time t₅Braking to stopping torque M_stopHowever, unlike the exemplary embodiment, the torque is not reduced completely to zero, but instead is reduced to a stopping torque other than zero as in the second exemplary embodiment_stopWhich is less than the starting torque M_start. In particular, the stopping torque M_stopMay be a torque from start M_startAbout 20% to the starting torque M_startAbout 80% of (A), in particular from the starting torque M_startAbout 35% to the starting torque M_startAbout 65% of the total.

Here, the braking is also designed such that the torque is reduced according to an adjustable stop function. Here, the braking may be at an adjustable rest period Δ T_A(here: t)₅-t₄) During which time it takes place. The stopping torque may also be adjustable.

Similar to the second exemplary embodiment, this third exemplary embodiment has an advantage in that the drive motor can be accelerated faster and easier because a bias voltage is applied to the drive motor even in a stopped transportation section because the stopping torque is not zero. However, here, the stopping torque is smaller than the starting torque M_start. Thus, if at only low speed, the likelihood of the drive motor inadvertently driving the transport section is reduced.

generally speaking, the starting torque M_startMay be selected such that when the starting torque M is applied_startThe transport section is just driven, that is to say, for example, just overcomes the static friction. Thus, less than the initial torque M is applied_startThe stopping torque of (a) may prevent movement of the stopped transport section.

In the fourth exemplary embodiment described with reference to the graph shown in FIG. 2D, the drive motor is controlled similarly to the th exemplary embodiment As in all exemplary embodiments, at time t ₁Generates an activation signal for driving the drive motor for time t of ₁And a second time t₂With a given time interval in between, the motor is driven with an initial torque M_IAnd (5) carrying out operation. Initial torque M_ICorresponding to the operating torque M _B100% of the unreduced full torque. Applying an initial torque M_IFor an initial period Δ T_I(here: t)₂-t₁) Until some impulse is achieved.

At a second time t₂Reducing the torque to the starting torque M_startIt may be, for example, a full operating torque M_BAbout 30% of the drive motor is then controlled similarly to the th exemplary embodiment.

This initial torque M can be additionally controlled not only before the th exemplary embodiment, but also before the other two exemplary embodiments_I。

Fig. 3A shows in perspective view a conveyor 100 for transporting products, which is in the form of a pallet conveyor. The conveyor 100 transporting products is used to transport trays 200, two of which are shown in fig. 3A without additional load and a third tray 200 is shown with a transport product 250 placed thereon.

The conveyor 100 for transporting products is used to transport the trays 200 and/or the transported products 250 placed on the trays 200 along a transport path in a transport direction F and/or in a direction opposite to the transport direction F. To this end, the conveyor 100 transporting the products comprises a plurality of transport sections.

In the exemplary embodiment shown, conveyor 100 transporting products comprises three transport sections, namely -th transport section 110, second transport section 120 and third transport section 130 three transport sections 110, 120 and 130 are arranged after another in conveying direction F and adjacent to one another such that pallets 200 and/or transport products 250 arranged thereon are first conveyed along -th transport section 110, at the end of -th transport section 110 to second transport section 120, on which steps are conveyed to third transport section 130 and on third transport section 130 in conveying direction F steps.

The conveyor 100 transporting the products conveys the tray 200 along a transport path formed by a plurality of rollers 102 arranged parallel to each other, which are fastened in a frame 101. The frame 101 provides lateral and/or side delimitation to the transport path. The frame 101 is configured to be continuous over the respective transport sections 110, 120 and 130 and along the conveying direction F. The rotational axes of the rollers 102 are arranged substantially perpendicular to the conveying direction F, i.e. in a substantially horizontal plane. The conveying direction F is also arranged along a substantially horizontal plane, but it may also have a slight inclination. The rollers 102 are arranged in the frame 101 substantially equidistantly spaced apart from each other. The roller shells of the rollers 102 form a conveying line and/or a conveying path of the conveyor 100 for conveying the products.

the rollers may be in the form of rollers 103 having alignment elements for guiding the legs of the tray between which guide elements 104 may also be disposed, the guide elements 104 also being configured and arranged for aligning the tray 200.

Each transport section 110, 120, and 130 may include a drive roller 300. The drive roller 300 of each transport section may be arranged substantially in the middle of the respective transport section.

Fig. 3B shows the conveyor 100 of fig. 3A transporting products in a view opposite to the conveying direction F, here the transmission area 310 of the drive roller 300 is shown arranged on the side of the frame 101, on this side, the frame 101 has a cavity into which the transmission area 310 of the drive roller 300 protrudes, in this transmission area 310, a gear may be arranged, which transmits the drive torque of the drive roller 300 to the other rollers 102 and/or 103 of the respective transport section 110, 120 or 130, in the transmission area 310, a coupling member, such as a chain, may for example be arranged, which transmits the torque of the drive roller 300 to the other rollers 102 and 103 of the transport section, whereby all rollers of the transport sections 110, 120 and/or 130 are driven when the drive roller 300 is driven.

Detectors 150 are arranged at the sides of frame 101, detectors 150 may be in the form of, for example, light barriers, detectors 150 may detect whether tray 200 and/or transport product 250 are arranged at the respective detector locations this may be used to detect and/or check whether the respective transport section 110, 120 and/or 130 is occupied, the detection results of detectors 150 may be used to determine the start and stop times of of the transport sections, for example the start and stop times of the first transport sections in the transport direction F.

The detector 150 may generate and provide a detection signal directly or indirectly (e.g., by evaluating detection data in a processor), wherein the detection signal comprises a stop time and/or a start time of the tray 200 and/or the transport product 250, i.e., the detection signal is generated and provided in dependence on the occupancy of the transport path detected at the position of the detector 150.

Fig. 3C shows the conveyor 100 transporting products in the same loading situation as also shown in fig. 3A and 3B, it is shown here that all three transport sections 110, 120 and 130 are of substantially equal length (in the conveying direction F) and that they each have exactly drive rollers 300, which drive rollers 300 are arranged substantially centrally in the conveying direction F in the respective transport section.

Fig. 4 shows the conveyor 100 for transporting products without pallets and without the products 250 in a top view. It is shown here that the transport sections 110, 120 and 130 need not all be identical. Rather, each transport section may be configured individually and differently.

Thus, in the exemplary embodiment shown, the -th transport section 110 comprises three rollers with aligning elements 103, i.e. upstream and downstream of the drive roller 300. the second transport section 120 comprises two guiding elements 104, which are arranged between the rollers 102 of the second transport section 120, i.e. substantially symmetrical with respect to the drive roller 300. the third transport section 130 comprises, in addition to the drive roller 300, only plain rollers 102 without guiding elements and/or aligning elements. in the exemplary embodiment shown, all transport sections comprise, in addition to the central drive roller 300, the same number of rollers, i.e. in each case three rollers 103 or 102 on the left and right side (actually downstream and upstream when considered in the transport direction F.) in an alternative embodiment, the transport sections may comprise a different number of rollers and have different combinations of rollers 102, 103 and guiding elements 104.

Fig. 5 shows in perspective view a drive roller 300, the drive roller 300 being shown in shortened form, which in the illustration is indicated by the expression indicated by an omitted groove, which indicates the shortening of the drive roller 300, the drive roller 300 comprises a roller housing 320, which roller housing 320 delimits the drive roller 300 radially as a cylindrical jacket, at the -th roller housing end 321 a fixed shaft 330 projects from the drive roller 300 for a short section , i.e. as a shaft head, the shaft head of the fixed shaft 300 may have been and/or permanently fixed in the frame 101 of the conveyor 100 transporting the product, at this -end an electrical connection 340 projects from the fixed shaft 300, via which electrical connection the drive roller 300 may be connected to a control device, which will be described in more detail below with reference to fig. 7, at the opposite roller housing end, i.e. the second roller housing end 322, a gearing region 310 of the drive roller 300 is arranged, the second -and second roller housing end 322 are arranged spaced apart from each other over the entire conveying width (in a substantially horizontal direction) perpendicular to the conveying direction F.

FIG. 6 shows a cross section of the drive roller 300, the cross section shown in FIG. 6 is also shown as shortened, marked by a break in the left side of the roller sleeve 320 at the roller sleeve end 321 is rotatably mounted about a fixed shaft 330 by bearings (e.g., ball bearings). the rotation of the roller sleeve may be effected by a drive motor 350, which drive motor 350 may be in the form of, for example, a drum motor, an asynchronous motor, and/or a squirrel cage rotor.

The driving motor 350 may be fixed to the fixed shaft 330 or an extended portion of the fixed shaft 330. The driving motor 350 may effect rotation of the roller shell 320 about the rotational axis R and the fixed shaft 330. Thus, the drive motor 350 drives not only the roller shell 320, but also the transmission region 310, which transmission region 310 is also rotatably mounted at the opposite end of the fixed shaft 330 by means of bearings. The fixed shaft 330 may be formed continuously or in segments through the entire roll shell 320.

Gears (in particular two gears) may be formed at the transmission area 310. gears may be connected with the other rollers 102 of the respective transport section 110, 120 or 130 arranged upstream of the drive roller 300 and another gears may be connected to the rollers arranged downstream of the drive roller 300. it is also possible that only the immediately adjacent rollers 102 or 103 are connected to the drive roller 300 via gears.

A holding brake 360 is disposed on the fixed shaft 330 adjacent to the driving motor 350. The holding brake brakes the rotation of the roller sleeve 320 about the rotation axis R as long as the holding brake 360 is not energized. Thus, in the unenergized state, the holding brake 360 generates and/or effects a braking action. If drive roller 300 is to be driven, a release current may be sent through hold brake 360, which reduces and/or eliminates the braking action of hold brake 360. For example, so that magnetic frictional coupling or the like can be released.

Energization, control and/or regulation of the holding brake 360 and the drive motor 350 may be transmitted into the drive roller 300 and/or from the drive roller 300 via electrical connection 340.

The holding brake 360 is disposed adjacent to the driving motor 350 such that the holding brake 360 has substantially the same operating temperature as the driving motor 350. By measuring the resistance of the holding brake 360, conclusions can be drawn about the operating temperature of the drive motor 350. In other words, the holding brake 360 may act and/or function as a temperature sensor of the operating temperature of the drive motor 350.

Fig. 7 shows in a schematic block diagram form a control device 1, which control device 1 serves to control two drive motors 350 of two drive rollers 300 of a conveyor 100 transporting products.

The control device 1 may comprise a housing, wherein a microcontroller 10 as a processor is arranged as a central element, the processor 10 controls and/or regulates a plurality of signals and/or a supply voltage, in the embodiment shown the control device 1 has three inputs, namely a supply input 30, an th signal input 31 and a second signal input 32, at the supply input 30 three phases of a 400V supply voltage may be provided, which 400V supply voltage has been provided as a supply voltage via fuses the processor 10 may control a plurality of TRIACs 23 and 24 via a photo-electric controller, which TRIACs 23 and 24 control and/or regulate the application of three phases at two outputs 21 and 22 of the control device, the TRIACs here representing "TRIACs", three phases of the supply voltage provided via the supply input 30 are provided as control signals at a control output 21 and a second control output 22.

At signal input 31 there may be a 24V supply voltage on the one hand and, in addition, there may be start and stop signals for the drive rollers 300 of the transport sections 110, 120 and/or 130 of the conveyor 100 transporting the products on the other hand information about direction or error messages may also be input and output via signal input on the other hand at second signal input 32 start and stop times and/or direction error signals may also be input and/or output to the microcontroller.

Upon receipt of a start signal and a stop signalThe processor 10 processes the phase of the power supply voltage provided at the power input 30 to control the signals for the holding brakes 360 and the drive motors 350 of the two drive rollers 300, specifically the start time and/or stop time, the processor 10 controls the TRIAC 23 of the output 21 via the photoelectric controller to control the start and stop ramps of the torque shown in fig. 2, the TRIAC 23 may then be controlled such that the torque M (t) of the drive motor 350 reaches the initial torque M for overcoming the static friction_IAnd the required torque and/or the operating torque M_BAnd both. Furthermore, the processor 10 is configured to increase the period Δ T_SAnd a rest period Δ T_AControlling and/or regulating the effective torque m (t).

The same applies to the TRIAC 24 of the second control output 22.

The processor 10 may further step detect the current resistance of the holding brake 360 and draw conclusions about the operating temperature of the drive motor 350 by means of the NMOS 41 and/or 42, the operating temperature of the drive motor 350 may constitute a detected process parameter or may constitute part of the processing data processed by the processor 10, the processor 10 may process the weight of the transported product 250 currently being transported along the respective transport section 110, 120 and/or 130 as further detected processing data, in particular the transported product weight may be determined at start-up, i.e. in accordance with accelerating the transported product 250 to its desired speed (until the operating torque M is reached)_BSo far) required power. In particular, an increase period Δ T may be used_SThe power required during this time can be detected, for example, via the hall sensors 25 or 26, the control devices 1 can transmit the processing data relating to the weight of the transported product to the control devices of the next and/or subsequent transport sections, which are of the same construction, for example, so that each control device 1 is always provided with the weight of the transported product 250 currently being transported thereon.

The processor 10 is configured to adjust the stop function or to close the ramp when stopping the transport of the product according to the detected processing data. For this purpose, the stop function is adjustable. In particular, the stop function may be parametrizable. The trailing distance of the tray 200 or the transported product 250 may depend on a number of factors and/or process data. Specifically, the trailing distance depends on the operating temperature of the drive motor 350. Thus, the tail distance is shorter at low temperatures than at higher operating temperatures. Further, the trailing distance may depend on the shipped product weight of shipped product 250, as heavier shipped products have a longer trailing distance than lighter shipped products.

In principle, the processor 10 may be configured such that it implements a standardized or preset trailing distance and/or stopping distance, corresponding to a preset stopping period

For example, in embodiments, the difference in trailing distance between a lightweight tray (that is, for example, a tray weighing about 20 kg) and a heavy tray 200 (that is, for example, a tray weighing about 1250 kg), can be about 40mm, the difference in trailing distance at 10 ℃ operating temperature (that is, using a cold drive motor) versus about 80 ℃ operating temperature (that is, using a warm drive motor) can be even greater, and can be, for example, about 110mm in embodiments.

In order to keep the trailing distance within a relatively narrow range and/or to limit the trailing distance to such a range when stopping the tray 200 and/or transporting the product 250, the detected current processing data is taken into account by the processor 10 which adjusts and/or selects the stop function. The processor 10 may for example use parameters and/or factors shown by way of example in the following table. It should be noted that only examples of parameters and factors are shown in table 1. The exact or actual parameters and/or factors may be determined prior to operation and then stored in a memory means of the control device 1.

Table 1:

table 1 gives the factors and parameters for the operating temperature of the drive motor from 20 ℃ to 80 ℃ (shown in column .) in the second column, the temperature deviation in kelvin from the 25 ℃ room temperature is given.

In the third column of table 1, factors in 0.1ms/K are given, this factor is given as-100 for all values, these factors should be understood as examples only, in the actual transport section of the conveyor transporting the products, these factors may deviate from-100, furthermore, different factors may be applied and/or used for each and/or operating temperatures (that is, for individual rows).

In the fourth column of table 1, the original parameter values for the stop time in ms are given. The stopping time is schematically represented in fig. 2 as Δ T_AAnd the stop time determines the torque M (t) of the drive motor 350 from the operating torque M_BTo a stopping period (here 1000ms) of stopping torque. The reduction is achieved by means of a stopping function, which in the exemplary embodiment shown is linear, monotonically decreasing and a constant function. The stop function may also be referred to as a stop ramp function and/or a ramp down function. The original parameter value gives the stop time in ms at the operating temperature of the drive motor 350 equal to room temperature.

The processor 10 determines the stop time Δ T in ms by multiplying the temperature deviation (column 2) by the corresponding factor (column 3) of the corresponding operating temperature (column 1)_AIs shown in the fifth column of the table. Thus, the stop period is increased at lower temperatures and shortened at higher temperatures, for example to 450 ms.

By stopping the respective transport section 110, 120 or 130 (here in particular for a stopping period deltat)_AIn) regulatingA stop function where the trailing time of the pallet 200 or the transported product 250 is limited. Thus, the positioning of the individual transport products 250 conveyed along the conveyor 100 of transport products can be improved, in particular made more precise.

The processor 10 may be arranged and/or programmed such that the period of rest deltat_AIs zeroed, i.e., increased.

It has been found that the operating temperature of the drive motor 350 plays a decisive role in the trailing distance of the transported product 250. The processor may use the estimated temperature of the drive motor 350 in place of the accurately measured and/or detected operating temperature of the drive motor 350. This approximate and/or estimated operating temperature may be determined by means of the holding brake 360. Since it is difficult to immediately and directly measure the winding resistance between the respective phases in the driving motor 350, the operating temperature of the holding brake 360 can be measured.

In exemplary embodiments, the operating temperature of the drive motor 350 may be measured directly, for example using an additional relay cut off from 400V.

Instead of an immediate and/or directly measured operating temperature, an estimated operating temperature may be used as the detected process data, which is determined by means of the holding brake 360. The commercial holding brake may be operated at 24V, for example. The current required to operate the 24V holding brake varies with the operating temperature of the holding brake 360. Thus, the resistance of the holding detent 360 can be determined by ohm's law by measuring the required current. The resistance of the holding brake is temperature dependent. The operating temperature of the holding brake 360 substantially corresponds to the operating temperature of the drive motor 350 because they exchange heat via components inside the drive roller 300.

The control device 1 may also be configured to apply a counter flow as a control signal to the drive motor 350 when stopping the goods and/or the transported products 250 this may in particular be advantageous when the drive roller has no holding brake and/or no further temperature sensors via which the operating temperature of the drive motor 350 may be detected and/or estimated, in which case the processor 10 may apply a counter flow to the drive motor 350 in order to stop the transported products 250 as directly as possible, the time interval and/or the time period of the counter flow or counter flow pulses may be a further adjustable parameters of the stop function.

The control means may comprise a thermal protection for each driven drive motor 350. Furthermore, the control device 1 may comprise a USB connection for software updates and/or for programming the processor 10. The control device may also comprise LEDs for indicating whether there is an error or which connections of the control device 1 are occupied.

In particular, the control device 1 may be configured to evaluate and/or provide control signals several times per second (in particular at 1000 Hz). From the signals currently provided at the processor 10, the processor 10 may generate the currently required speed and/or the required direction of the respective transport section 110, 120, 130 being controlled.

When controlling the stop function, the processor may be configured such that the stop function is not a smooth and continuous stop ramp as shown in fig. 2. Conversely, the processor may be in a stall period Δ T_AThe stopping ramp is controlled in several stages during which, for example, from 5 to 20 different stages similar to and reproducing the falling ramp shown are divided.

List of reference characters

1 control device

10 processor

21 st control output part

22 second control output part

TRIAC 23 for th control output

TRIAC 24 for second control output

25 hall sensor for th control output

26 hall sensor for second control output

30 power input part

31 st th signal input part

32 second signal input part

41 st NMOS

42 second NMOS

100 conveyor for transporting products

101 frame

102 roller

103 roller with alignment elements

104 guide element

110 th transportation section

120 second transportation section

130 third transportation section

150 detector

200 tray

250 shipping products

300 drive roller

310 drive zone

320 roller sleeve

321 st roll sleeve end

322 second roll sleeve end

330 fixed shaft

340 connecting piece

350 driving motor

360 keep stopper

F direction of conveyance

M (t) application of Torque

M_BOperating torque

M_IInitial torque

M_startInitial torque

M_stopStopping torque

R rotating shaft

Period T

ΔT_IInitial period

ΔT_ARest period

ΔT_SIncrease period

ΔT_TIdle period

t₁...t₅ th time to fifth time

Starting phase angle