Patent Grant
9221482
This application is a U.S. National Stage Application of International Application No. PCT/EP2011/066719 filed Sep. 27, 2011, which designates the United States of America, and claims priority to EP Patent Application No. 10188451.8 filed Oct. 22, 2010. The contents of which are hereby incorporated by reference in their entirety.
The disclosure relates to a transporting system, a transporting carriage and a method for transporting metal coils, in particular hot coils.
It is known that transporting vehicles are used in the manufacture and also in the preparation of metal coils, for example, in order to transport the metal strip that has been wound up into a truss, also known as a coil, away from winding and towards various preparation stations. In the individual preparation stations, the metal coils are further prepared, for example bound, marked, weighed and inspected, before they come to a storage or loading station. A hot coil coming off a rolling mill normally has a temperature of up to 850° C. and a weight of up to 45 t. For this, various conveyors are used, such as rail vehicles, so-called coil-transporting carriages, short transporting carriages, chain and lifting beam conveyors, all of which are often very complex to construct and also to operate.
In mills, transporting carriages normally move along a track, which is anchored to the foundations of the factory. The rail system may consist essentially of straight-running track sections. At crossing points, a turntable makes changes of direction of travel possible with regards to the approach of track sections facing other directions.
In modern hot coil lines, short coil intervals are increasingly becoming a problem, as the station times are getting shorter and shorter. Known conveyors can hardly achieve a coil removal rate of less than a minute and are furthermore not very flexible. There is therefore a need for a transporting system that has a better availability and greater flexibility.
Moreover, in known transporting systems, damage often occurs to the coils because of the short station times for picking up and dropping off the metal coils due to the demands of lifting. The manufacturing quality of the metal strip is thereby adversely affected.
One embodiment provides a transporting system for transporting metal coils, in particular hot coils, comprising: a multi-track rail system; several driverless transporting carriages, which can be moved on the rail system by means of a drive device and are equipped with an on-board communication device; a locating device, with which current location information can be ascertained for each transporting carriage located on the rail system; and a central control device, to which the location information of each transporting carriage can be conveyed, wherein a communication connection, which at least in certain sections is embodied wirelessly, can be established between the control device and each communication device.
In a further embodiment, the communication connection is established via at least one leaky waveguide arranged on the line side.
In a further embodiment, the at least one leaky waveguide is connected to a base station by means of electric connections.
In a further embodiment, the locating device is a line-conducted position sensor.
In a further embodiment, the position sensor is formed by a reading head arranged on the vehicle side and a code rail arranged on the line side.
In a further embodiment, the code rail is coded with an absolute path coding.
In a further embodiment, the rail system is formed of two tracks, wherein loaded transporting carriages are allocated to a first rail track and unloaded carriages are allocated to a second rail track.
In a further embodiment, the drive device is an electric motor controlled by power electronics, the energy provision of which is established by means of a contact line arranged on the line side.
In a further embodiment, the transporting system comprises at least one push station, by means of which a transporting carriage can be pushed between the first rail track and the second rail track or from one of the rail tracks into a parked position.
In a further embodiment, the transporting system comprises at least one turntable by means of which the direction of motion of a transporting carriage on one of the rail tracks can be changed.
Another embodiment comprises a method for transporting metal coils, in particular hot coils, which can be transported on a multi-track rail system by means of a driverless transporting carriage driven by a drive device, comprising the following steps: ascertainment of location information of each transporting carriage by means of a locating device; transfer of this location information to a central control device; generation of control information in order to control the drive device through the central control device, wherein the location information of at least one of the transporting carriages located on the rail system is taken into consideration; establishment of a communication connection between the central control device and at least one communication device arranged on board; and transmission of the control information from the control device to the at least one communication device arranged on board, wherein transmission is carried out via the communication connection, which is embodied at least in one section as a radio connection.
In a further embodiment, the communication connection is established via at least one leaky waveguide arranged on the line side.
In a further embodiment, the communication connection is established via at least one leaky waveguide with attached base station.
In a further embodiment, the locating device is formed from a line-conducted position sensor.
In a further embodiment, the location information about a transporting carriage is optoelectronically scanned by means of a reading head arranged on the vehicle side and a code rail arranged on the line side.
In a further embodiment, the reading head scans a code rail with an absolute path coding.
In a further embodiment, a two-track rail system is used, wherein loaded transporting carriages are allocated to a first rail track and unloaded carriages are allocated to a second rail track.
In a further embodiment, an electric motor controlled by power electronics is used as a drive device, the energy of which is conveyed by means of a contact line arranged on the line side.
In a further embodiment, a push station is used, by means of which a transporting carriage can be pushed between the first rail track and the second rail track or from one of the rail tracks into a parked position.
In a further embodiment, the central control device allocates a logical channel to each communication device of a transporting carriage.
Another embodiment provides a driverless rail transporting carriage for transporting metal coils, in particular hot coils, which can be conveyed by means of a drive device on a multi-track rail system, wherein an on-board communication device, which is set up for data transfer via a communication connection that is embodied wirelessly at least in certain sections, is allocated to the transporting carriage.
In a further embodiment, the communication device is embodied for radio communication with a leaky waveguide arranged on the line side.
In a further embodiment, the wireless communication connection can be established in a frequency range of 2.4 GHz or 5 to 6 GHz.
In a further embodiment, the transporting carriage comprises a vehicle chassis, which has a support saddle for receiving a metal coil, wherein for protection of an on-board device, in which the communication connection is contained, a heat shield is provided.
Exemplary embodiments will be explained in more detail below based on the schematic drawings, wherein:
Embodiments of the present disclosure provide a device and a method for transporting metal coils, with the help of which transportation with greater availability and greater flexibility is possible and with which damage does not occur to the metal coils when the coil intervals are comparatively short.
Some aspects of the present disclosure are based on the concept of using several driverless transporting carriages for transporting metal coils, carriages which can be driven by means of a drive device on a rail system comprising at least two rail tracks, wherein each of these transporting carriages is equipped with a communication device, so that the transporting process can be controlled through transmission of control information that prepares a central control device taking into consideration the current location information of each transporting carriage, wherein the data transmission between the mobile communication device and the control device is at least in certain sections embodied wirelessly. In this way, the transportation can be controlled from a distance and has a high degree of availability and flexibility.
The transporting system may comprise:
The drive device can include, e.g., a mechanical gear, an electric motor with power electronics and possibly a control and regulating device. The communication device arranged on board can be formed e.g. by a radio module with an appropriate antenna. The locating device can work according to various principles, for example according to the principle of a field strength measurement, e.g. with several WLAN radio transmitters arranged in a factory, by means of which the location information is ascertained according to the principle of triangulation. The ascertainment of the location information can, however, also be carried out partially or fully by an on-board locating device. The communication device and the on-board locating device can advantageously be combined in a single on-board device. What is important is simply that the reception point of each transporting carriage can be ascertained by means of the locating device, and that this information can be conveyed to a control center. The communication device may be constructed in such a way that every carriage can communicate wirelessly with stationary transmission and reception devices. The transporting system may therefore make possible an allocation of the transporting carriages to the individual tracks of a multi-track rail system depending on the loading state. In this way the process of transportation can be controlled from a distance in such a way that adaptation to particular needs is possible. The central coordination of the transportation process moreover makes a higher degree of flexibility possible. The transporting system can act as a buffer or as temporary storage that makes it possible to temporarily divert conveyed material out of the transportation route. Upon diversion, the transported material can remain on the transportation carriage, e.g. if it is pushed along with a rail track segment, perpendicular to the transportation route. As the transported material no longer has to be grabbed by a multiplicity of differently-constructed transportation or conveyance devices, as was normal before now, the risk of damage is smaller. The accessibility and efficiency of the transportation system is thereby comparatively better.
In a preferred embodiment there can be provision for the wireless communication connection to be established via one or several leaky waveguides arranged on the line side. The transmission of information between a mobile communication device and fixed leaky waveguides is carried out through electromagnetic waves, the transmission and reception direction of which can be advantageously adapted to the spatial opportunities. Along the direction of transport, several of these leaky waveguides advantageously come into use. The technology of leaky waveguides known per se brings with it a range of advantages for the object definition present here, since it makes possible not only an undisturbed and no-wear transmission of information, but also a stable and secure data transfer under very harsh environmental conditions, such as prevail in steel production in factories and rolling mills. Devices that are widely available on the market can be used for wireless communication, for example such as are known for a local radio network according to the Standard Wireless Local Area Network (Wireless LAN, WLan, WLAN). WLAN-radio networks are described in IEEE-Standard of the family 802.11 and do not need to be further explained here. For the harsh everyday industrial environment of a rolling mill, Industrial Wireless LAN (IWLAN) Standard, such as is available commercially through SIMATIK NET components from Siemens, is particularly suitable.
It can be beneficial here if the at least one leaky waveguide is connected to a base station by signal line. In this way, integration is possible into a data network with a central control device that is arranged stationary in the network. This central control device can be e.g. a computer or a software platform that is divided between several computers. The control device knows about the whereabouts of each transporting carriage and can thereby react differently to unforeseen shortages. For example, should there be a delay or a shortfall in a processing or manufacturing station, then this does not have to lead to a bottleneck that limits the transporting process; rather, approaching transporting carriages can be diverted or excluded more easily than before. This increases the availability and efficiency of the transport system. Several coil transporting carriages can move simultaneously on a track section of a rail system, wherein the gap between the transporting carriages can be selected differently, e.g. according to how much strip material is accumulating at the coiler. This benefits the advantageous buffer action. Comparatively short coil intervals can be achieved. Leaky waveguides are, as previously described, component parts that are known per se, and are preferably used for undisturbed data communication for mobile participants that move on predefined sections, such as for example in a tunnel or in rail vehicles, e.g. along the path of travel of suspended monorails. The leaky waveguide technology makes undisturbed data exchange possible between a transporting carriage and a displaced stationary unit, such as e.g. one that is connected to the superordinate guidance system that coordinates transport process, e.g. SIMATIC®. Industrial Ethernet is particularly preferable here. In this way, integration into a superordinate, standardized data network and/or process guidance system is made possible, one that is robust with respect to data technology. The central device can e.g. take on an archiving function and also be arranged outside of the plant premises.
It can be of particular advantage if the locating device is formed by a position sensor. This position sensor can be embodied e.g. in such a way that a measuring system arranged on the carriage side continuously scans a landmark conveyed parallel to the rail line. Optical or inductive measuring principles can thereby come into use, for example.
In one embodiment the position sensor comprises a reading head arranged on the vehicle side, which optoelectronically scans a code rail arranged along the rail line.
In this connection, it can be especially advantageous if the code rail is coded with an absolute path coding. By this, it is not necessary to reach a zero point or a reference point in order to determine the current whereabouts of a transporting carriage.
According to one embodiment, the rail system is formed of two tracks. There are always several coil-transporting carriages on both rail tracks at the same time, which are each driven independently by the allocated drive unit, e.g. an electric drive. The two rail lines can be equipped with the absolute position sensor described above. Loaded transporting carriages are thereby always on a first rail track; unloaded ones on a second rail track. Each of these rail tracks is driven in only one direction of travel. This makes coordination easier and increases the flexibility of the transport system.
An embodiment in which the drive device is an electric motor, which is controlled e.g. by a power converter and wherein the energy provision takes place by means of a contact line embodied along the line, can be advantageous. Energy input via a contact line or contact rail running parallel to the direction of travel is sufficiently well known from conventional rail vehicles. Here, there is an opportunity to convey the contact rail together with the code rail of the position sensor in a protected channel. In this way, the code rail is well protected against mechanical effects.
In order to further improve the flexibility of the transport system, it can be advantageous if so-called handover or push stations are set up, by means of which a transporting carriage can be pushed between one and the other rail track—or from a rail track off into a parked position. In this way, it is possible to introduce transporting carriages into the transport system, or remove them from it, according to need. This can be technically implemented e.g. by a track segment that can be pushed perpendicular to the direction of travel. As this kind of push station is arranged on each line head 9, the transporting carriages can be operated in a circulating system.
In order to alter the direction of motion of a transporting carriage on the path of travel, so-called turntables are preferably used, by means of which a transporting carriage on one can be turned, i.e. aligned, for onward travel in the direction of a connecting section of track.
Other embodiments provide a method for transporting metal coils, wherein the metal coils are transported by means of transporting carriages on a multi-track rail system, and comprises the following method steps:
As the whereabouts of each transporting carriage of the rail system is continuously ascertained and the control device is fed, the transportation process can be controlled from a distance. In order to achieve control, the central control device transmits the appropriate control information to the mobile communication devices. In this way, the motion of the transporting carriages can be well adapted to the particular prevailing requirements. Should there be a build-up of the metal coils to be transported in the loading zone, for example, then transporting carriages in a parked position can be introduced into the rail system, and thereby the peak load is taken up by a temporary increase in the traffic density of the transporting carriages.
Other embodiments provide a driverless rail transporting carriage for transporting metal coils, in particular for transporting hot coils, which can be moved by means of a drive device on a multi-track rail system, wherein an on-board communication device is allocated to the transporting carriage, by means of which a communication connection can be established to a stationary control device, wherein this communication connection is embodied wirelessly at least in certain sections. The position of an individual transporting carriage on the rail system can be ascertained advantageously by means of a measuring device taken along on the transporting carriage in connection with a marker arranged on the line side. If the marker is coded in an absolute value, then complex determination of a reference point is superfluous. In other words, the transporting carriage knows at every point in time its current absolute whereabouts on the rail system and can transmit this location information to a center. The mobile radio connection between transporting carriage and stationary transmission and reception devices makes central control of the transportation process possible, which can be better adapted to unforeseen eventualities.
Radio communication is preferably carried out between an antenna of the on-board communication device and one or several leaky waveguides arranged on the line side. In order to avoid reflections off the leaky waveguide, it is closed off with a suitable load resistance. In order to protect the leaky waveguide as well as possible, it can be arranged in a tube or cable channel, for example in the foundation of the factory. Here, a covering that allows electromagnetic radiation to pass through it is preferred. In this way the leaky waveguide can also be put to use in a harsh industrial environment.
It can furthermore be beneficial if a special logical channel is allocated to each transporting carriage. This improves the efficiency of communication.
The communication advantageously takes place with the leaky waveguide in an industrial frequency range of 2.4 GHz or 5 to 6 GHz, which is provided for these kinds of uses.
A metal strip (not shown in detail) is fed (loading zone) onto each of two coiling devices 13 (down coilers) and wound into coils 4. These coils 4 are loaded onto transporting carriages 11 and transported away. The rail system 17 consists of or comprises two lines or rail tracks 24 and 25. Depending on loading status, the transporting carriages 11 are allocated to one of these rail tracks 24, 25. In the exemplary embodiment shown, the transporting carriages 11 travel when loaded on the rail track 24, and in an unloaded condition they travel on the rail track 25.
The following description begins with the coils being received on the vertical route section on the left of the picture in
Should, for example, a transporting carriage 11 be taken out of the transport system 1, then the transport process can be described as follows:
The metal coils 4 prepared by the winding device 13 are first loaded onto transporting carriages 11 on the rail track 24 and transported in the direction of the arrow 224. The first turntable 12 changes the vertically-running direction of transport into a horizontally-running one. The previously loaded metal coil is then transported on the lower, horizontally-running rail track 24 in
Driving of the transporting carriage 11 is carried out by a drive device 22 that may consist essentially of an electric motor 2 with all gears and control electronics, and is controlled by an on-board device 3 on the vehicle side. Energy input is carried out by means of a contact line 36 (see
In the present exemplary embodiment, the locating device 23 comprises a position sensor 34 that measures the absolute position of a transporting carriage 11 on the rail system 17. A reading head 32 arranged on the vehicle side (see
The communication device 31 may consist essentially of a transmission and reception device with an antenna 30. This makes radio communication possible with stationary devices, the leaky waveguides 16, in a section 35. In the present example, the radio network 19 is embodied according to the Standard Industrial Wireless LAN for those with a leaky waveguide 16. As a leaky waveguide 16 the RCoax type is used, as is described in the ‘simatic net’ system handbook from Siemens A G, 2005. The leaky waveguide 16 is installed along the rail track 24 and 25 in each case. In this way, the current position of each transporting carriage 11 can be requested by the data network 20 or transmitted to the center 40 in the data network 20. In this way, the transportation process can be controlled from a distance on the rail system 17. I.e., the central control device 40 can transfer specified values of a travelling speed and/or acceleration or delay ramps or a specified position to the drive device of each transporting carriage 11. Other data available from the on-board device 3 can also be requested from there. Transporting carriages 11 can be diverted from the transport route and brought into a parked position, from where they can be reactivated as needed. In the case of disruption to a processing station, transporting carriages 11 can likewise be directed to another one that is intact. Overall, in this way the transporting system 1 is very flexible and can easily be adapted to prevailing production conditions with regards to circumstances on the transport route. The wireless data transfer between the communication device 31 on the vehicle side and the leaky waveguide 16 suffers no wear and tear. The leaky waveguide 16 can easily be accommodated in a protected channel. In this way, the leaky waveguide 16 is well protected against mechanical damage. The transmission frequency in the radio network 19 can preferably lie within the frequency ranges assigned for industrial purposes: 2.4 GHz and 5 to 6 GHz.
As
Embodiments of the rail transport system may provide a range of advantages.
The communication possibilities according to at least some embodiments, in connection with the locating device, make it possible to control and supervise the transport process from a distance. In the case of a crisis, it is possible to intervene efficiently in the transport process. This increases the flexibility and availability of the transport system.
The two-track embodiment of the rail system creates the advantage that repeated lifting and laying down of the metal coil on the transport route is superfluous. A coil 4 is placed onto the carriage 11 in a loading zone after winding up (down coiler) 13 and only at the end is it removed in an unloading zone by means of a crane and brought into the coil store 18. That means that the coil 4 remains on the transporting device on which it was placed at the beginning of the transport. As a result, less damage occurs. Means of transportation that are constructed differently, and complex unloading such as in the prior art, are superfluous. Transport is fast and secure.
Adaptation of the transport service to increased need can be carried out in a simple manner through provision of additional transporting carriages 11 that are kept ready in a parked position that is not shown in more detail.
A further simplification results from the fact that for the rail system 17 the complex media technology (pneumatics, hydraulics) are superfluous, which above all means that for aggregates at a distance there is the advantage of being able to do without additional pump stations, valve stands or compressors or similar things in these locations.
A preferred use of the transport system or method described above is in the area of hot and cold rolling technology, in the area of metal sheets or aluminum. However, it is obvious that the use of the coil transport system described above is not limited to flat rolling material and sheet coils, but rather can be applied wherever there is a similar underlying problem.
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| 10188451 | Oct 2010 | EP | regional |
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| PCT/EP2011/066719 | 9/27/2011 | WO | 00 | 4/22/2013 |
| Publishing Document | Publishing Date | Country | Kind |
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| WO2012/052259 | 4/26/2012 | WO | A |
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