• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    In order to realize in a long-stator linear motor, a transfer position in which a transport unit (Tn) is magnetically steered to be deflected from a first transport section (Am) to a second transport section (An) and thereby the forward movement of the transport unit (Tn) by the transfer remains as uninfluenced, it is provided that at the transfer position (U) on at least one side of the transport unit (Tn) of the stator (iA) at least one with an excitation magnet (4, 5) of the transport unit (Tn) cooperating drive coil (7, 8) as Current-space vector having a propulsive-force-forming current component (iAq) and a lateral force-forming current component (iAd) is impressed, and the stator current (iA) generates a propulsive-force-forming electromagnetic force component (FEMV) and / or lateral force-forming electromagnetic force component (FEMS) which is used to generate a steering action (L) the propulsion acting on the transport unit (Tn) superimposed (FV)
    公开号:AT517219A4
    申请号:T50529/2015
    申请日:2015-06-23
    公开日:2016-12-15
    发明作者:Andreas Weber；Friedrich Forthuber
    申请人:Bernecker + Rainer Industrie-Elektronik Ges M B H；
    IPC主号:
    专利说明:

    Method and long-stator linear motor for transferring a transport unit at a transfer position
    The subject invention relates to a method for transferring a transport unit of a Langstatorlinearmotors at a transfer position of a first transport section, with a number of successively arranged in the direction of movement of the transport unit drive coils in the transfer position, to a second transport section, with a number in the direction of movement of the transport unit behind the other arranged drive coils in the region of the transfer position, wherein on each side of the transport unit excitation magnets are arranged, which cooperate with drive coils in the transport unit and movement of the transport unit drive coils in the transport unit each by a stator to generate a magnetic flux, the one on the transport unit acting driving force generated to be energized. Furthermore, the invention relates to a long-stator linear motor with a transfer position.
    In almost all modern production facilities it is necessary to move components or components, even over longer transport distances, with transport facilities between individual production stations. For this purpose, a variety of transport or conveyors are known. Frequently, continuous conveyors in various designs are used. Conventional continuous conveyors are conveyor belts in the various embodiments, in which a rotational movement of an electric drive in a linear movement of the conveyor belt is set to. With such conventional continuous conveyors one is considerably limited in flexibility, in particular, an individual transport of individual transport units is not possible. To remedy this and to meet the requirements of modern, flexible transport equipment, so-called Long Stator Linear Motors (LLM) are increasingly used as a replacement for conventional continuous conveyors.
    In a long stator linear motor, a plurality of electric drive coils constituting the stator are arranged along a transport path. On a transport unit a number of excitation magnets, either as permanent magnets or as an electrical coil or short-circuit winding, arranged, which cooperate with the drive coils. The long stator linear motor can be designed as a synchronous machine, either self-excited or externally excited, or as an asynchronous machine. By driving the individual drive coils, for controlling the magnetic flux, a driving force is generated and the transport unit can be moved along the transport path. It is also possible to arrange along the transport route a plurality of transport units whose
    Movements can be controlled individually and independently. A long-stator linear motor is characterized in particular by a better and more flexible utilization over the entire working range of the movement (speed, acceleration), an individual regulation / control of the transport units along the transport route, improved energy utilization, the reduction of maintenance costs due to the smaller number of wearing parts simple exchange of transport units, efficient monitoring and fault detection and optimization of the product flow. Examples of such long-stator linear motors can be found in WO 2013/143783 A1, US Pat. No. 6,876,107 B2, US 2013/0074724 A1 or WO 2004/103792 A1.
    In US 2013/0074724 A1 and WO 2004/103792 A1, the drive coils of the stator are arranged on the upper side of the transport path. The permanent magnets are arranged on the underside of the transport units. In WO 2013/143783 A1 and US Pat. No. 6,876,107 B2, the permanent magnets are provided on both sides of the centrally arranged drive coils, with which the permanent magnets surround the stator of the long stator linear motor and the drive coils interact with the permanent magnets arranged on both sides.
    The transport units are guided along the transport path either by guide rollers, as for example in WO 2013/143783 A1 or US Pat. No. 6,876,107 B2, or by magnetic guidance, as for example in WO 2004/103792 A1. In the case of the magnetic guide guide magnets are provided on both sides of the transport units, which cooperate with opposite arranged on the transport path guide rods. The guide rods form a magnetic yoke which close the magnetic circuit of the guide magnets. The magnetic guide circles thus formed counteract a lateral movement of the transport units, with which the transport units are guided laterally. A similar magnetic side guide can also be found in US 6,101,952 A.
    In many transport devices transfer positions, e.g. in the form of turnouts, necessary to enable complex and intelligent rail planning or rail realizations of the transport device. These transfer positions have often been realized with the help of additional mechanical release units. An example of this is found in US 2013/0074724 A1 in the form of a mechanically triggered switch by means of movable deflection arms or a turntable.
    However, transport devices have also become known in which additional electrical auxiliary coils are used in order to realize a switch initiation. In US Pat. No. 6,101,952 A, the auxiliary coils are arranged, for example, on the magnetic yoke of the magnetic guide circle, while the auxiliary coils in US 2013/0074724 A1 are arranged laterally on the transport path. In both cases, a magnetic flux is impressed by the auxiliary coils in the magnetic circuit, which generates a lateral force which directs the transport unit in one direction. Due to the additional auxiliary coils required but increases the cost of implementing a transport facilities, since the auxiliary coils must also be installed and electrically powered and controlled. In addition, separate guide magnets on the transport units are required.
    In DE 1 963 505 A1, WO 2015/036302 A1 and WO 2015/042409 A1, magnetically activated switches of a long-stator linear motor are described which manage without additional auxiliary coils. In these long-stator linear motors, the excitation magnets of the transport units are arranged between drive coils arranged on both sides. In the region of a switch can be generated by energizing the drive coils on only one side of the transport path, a lateral force with which the transport unit can be steered in the area of the switch to move the transport unit to the switch on the desired transport route. The point release takes place in such a way that the drive coils are activated in the region of the switch only on the side of the transport route, along which the transport unit is to move on. The drive coils of the other side are deactivated (DE 1 963 505 A1, WO 2015/036302 A1, WO 2015/042409 A1) or reversed (WO 2015/036302 A1). But that brings with it some problems. If the drive coils of one side are deactivated in the area of the switch, the transport unit loses half of the driving force in the area of the switch, whereby the area of the switch can only be passed through at a reduced speed. In the area of the switch, this could lead to congestion of the transport units, which would be unfavorable for the control of the transport device. The polarity reversal is purely static and a certain, predetermined lateral force can be activated or deactivated. By reversing a certain predetermined lateral force can thus be adjusted in the area of the switch. If the lateral force is oversized for reasons of safety in the switch travel, this leads to increased friction and increased wear. The transport units would thus have to be mechanically dimensioned accordingly, which makes the transport units larger, heavier and more expensive. Apart from that also increases the wear of the mechanical components of the transport units, in particular the mechanical guide elements. On the other hand, if the lateral force is chosen to be smaller, this reduces the safety of the switch travel, for example if the transport unit with load is heavier than assumed. Thus, the polarity reversal for point triggering for the operation of a Langstatorlinearmotors is rather disadvantageous.
    It is therefore an object of the subject invention to provide a transport device in the form of a Langstatorlinearmotors in which a transfer position can be realized, in which the transport units are magnetically steered and remain as uninfluenced by the transfer.
    This object is achieved in that for transferring the transport unit at the transfer position on at least one side of the transport unit of the stator at least one cooperating with an excitation magnet of the transport unit drive coil is impressed as Stromraumvektor with a vortriebskraftbildenden and a lateral force-forming current component, and the stator current is a vortriebskraftbildende and generates or lateral force-forming electromagnetic force component, which is superimposed to produce a steering action of the acting on the transport unit driving force. There are no additional auxiliary elements (such as coils, switches, etc.) needed for the steering of the transport units in the transfer position. The tripping takes place purely by the drive coils required for the propulsion movement and is based on a regulation of the electromagnetic field. By superposing the responsible for the movement of the transport unit propulsion power by additional propulsion force-forming and / or lateral force-forming force components, a steering action can be generated without affecting the propulsion movement of the transport unit. In particular, this also makes it possible to decouple the control of the driving force, which is realized anyway, from the regulation of the steering effect. The propulsive force is often regulated by position specification and can now be easily overlaid by required force components to hervorzu the steering effect hervorzu.
    Preferably, a driving force-forming and / or lateral force-forming electromagnetic force component is generated on both sides of the transport unit. This gives you more opportunities to memorize the desired steering effect in the direction and amount of the transport unit.
    In a first preferred embodiment rectified lateral force-generating electromagnetic force components are generated on both sides of the transport unit. This can be achieved by weakening the effective magnetic flux on one side of the transport unit. In this way, a high steering force can be generated as a steering effect very easily and efficiently.
    In a second preferred embodiment, the driving force of the transport unit is regulated by position specification and the position specification is modified by a modification variable on at least one side of the transport unit. In this way, a steering torque can be generated as a steering effect very easily and efficiently. It is particularly advantageous before, if the modification size is set on both sides with the same amount and different signs, as this significantly simplifies the scheme.
    Particularly advantageously, a steering controller RL and a position controller RP is implemented in a segment control unit, wherein the steering controller corrects a flow error as a difference between a desired flow and an actual flow and determines the lateral force-forming current component of the stator current and / or a modification variable and that the position controller detects a position error is determined as the difference between a desired position and an actual position and in which the modification value is received, corrects and determines the driving force-forming current component of the stator current. In this way, the control of the steering effect can be very easily integrated into a position control of the transport unit.
    The subject invention will be explained in more detail below with reference to Figures 1 to 10, which show by way of example, schematically and not by way of limitation advantageous embodiments of the invention. It shows
    1 and 2 each have a transport device in the form of a Langstatorlinearmotors, Figure 3 shows the structural and electrical structure of the long-stator linear motor,
    4 shows a first embodiment of a method according to the invention for transferring a transport unit at a transfer position,
    5 forces acting on the transport unit forces in this first embodiment,
    6 shows a second application of the method according to the invention for transferring a transport unit at a transfer position,
    7 shows the moments acting on the transport unit in a further embodiment for generating a steering effect,
    8 shows a second embodiment of a method according to the invention for transferring a transport unit at a transfer position, and FIGS. 9 and 10 show a control concept for the method according to the invention.
    1 shows a transport device 1 in the form of a long-stator linear motor by way of example. The transport device 1 consists of a number of transport sections A1... A9, which are assembled to the transport device 1. This modular design allows a very flexible design of the transport device 1, but also requires a plurality of transfer positions U1 ... U9, where the transported on the transport device 1 transport units T1 ... Tn (for reasons of clarity are not in Figure 1) all transport units marked with a reference numeral) are transferred from one transport section A1... A9 to another.
    The transport device 1 is designed as a long stator linear motor, in which the transport sections A1... A9 form a part of a long stator of a long stator linear motor in a manner known per se. Along the transport sections A1... A9, therefore, a multiplicity of electric drive coils are arranged in the longitudinal direction (not shown in FIG. 1 for reasons of clarity), which are connected to excitation magnets on the transport units T1... Tn (see FIG ) Interaction. In a likewise known manner, by controlling the electrical stator current iA of the drive coils 7, 8, a drive force Fv is generated for each of the transport units T1... Tn, which drives the transport units T1... Tn longitudinally along the transport sections A1 , ie along the transport route, moves. Each of the transport units T1 ... Tn can be moved individually (speed, acceleration, lane) and independently (except for the avoidance of possible collisions) from the other transport units T1 ... Tn. After this basic principle of a long stator linear motor is well known, it will not be discussed in detail here.
    It is also known to assemble a transport section A1... A9 from individual transport segments TS which each carry a number of drive coils and which are each controlled by an associated segment control unit 11, as described for example in US Pat. No. 6,876,107 B2 and shown in FIG is. A transport unit T1... Tn, which is located in a transport segment TS, is therefore regulated by the associated segment control unit 11. In essence, this means that the segment control unit 11 controls the drive coils 7, 8 of the associated transport segment TS in such a way that the transport unit T1... Tn is moved in the desired manner (speed, acceleration) along the transport segment TS by the drive force. If a transport unit T1 ... Tn moves from a transport segment TSn to the next transport segment TSn + 1, the control of the transport unit T1 ... Tn is also transferred in an orderly manner to the segment control unit 11 n + i of the next transport segment TSn + 1. The movement of the transport unit T1... Tn by the transport device 1 is monitored in a higher-level system control unit 10, which is connected to the segment control units 11. The system control unit 10 controls, for example, by position specifications, the movement of the transport units Tn by the transport device 1. The segment control units 11 then regulate a possible error between the target size and actual size.
    Along the transport path of the transport device 1 also some transfer positions U1 ... U10 are arranged. Different types of transfer positions U1... U10 are conceivable here. At the transfer positions U2 and U7, e.g. a switch is provided, while the other transfer positions U1, U3 ... U6, U8, U9 e.g. are executed as change points from one transport section A1 ... A8 to another. At the transfer position U10, e.g. a transition from a unilateral transport section A2 provided on a two-sided transport section A9. At the transfer position U2 (switch), a transport unit T6 can for example be moved further on the transport section A2 or the transport section A3. At a transfer position U1 (change position), a transport unit T5 is transferred from the unilateral transport section A1 to the unilateral transport section A2.
    Along the transport path of the transport device 1, which is given essentially by the longitudinal direction of the transport section A1... A8, a number of workstations S1... S4 can also be arranged in which a manipulation to the transport unit T1... Tn transported components takes place. The workstation S1 can be designed, for example, as a sluice-in and / or outfeed station, in which finished components are removed and components to be processed are transferred to a transport unit T1... Tn. In the workstations S2 ... S4, any processing steps can be performed on the components. In this case, the transport units T1 ... Tn in a workstations S1 .., S4 can be stopped for processing, e.g. in a filling station where empty bottles are filled or moved, e.g. be temperature-treated in a temperature control in the components, possibly also at a different speed than between the work stations S1 ... S4.
    Another example of a transport device 1 is shown in FIG. Here five self-contained transport sections A1 ... A5 are provided. The transport section A2 ... A4 serve here for the introduction of various components at the workstations S1 ... S3. In a workstation S4 of a transport section A5, these components are interconnected or otherwise processed and discharged from the transport device 1. Another transport section A1 serves to transfer the components from the transport sections A2, A3, A4 into the transport section A5. For this purpose, transfer positions U1, U2, U3 are provided in order to transfer the transport units Tn with the various components into the transport section A1. Furthermore, a transfer position U4 is provided, in which the transport units Tn with the various components are transferred to the transport section A5.
    In order to be able to realize a transfer position U1... U10 according to the invention, it is necessary, at least in the area of the transfer position U1... U10, to provide drive coils 7, 8 on both sides of the transport unit Tn, and that on both sides of the transport unit Tn excitation magnets 4, 5 are arranged. The excitation magnets can be designed as permanent magnets or as electromagnets. A particularly advantageous embodiment of the long-stator linear motor, at least in the region of the transfer positions U, is explained with reference to FIG.
    3 shows a cross section through an arbitrary transport section Am and a transport unit Tn moved thereon. A transport unit Tn consists here of a base body 2 and a component receptacle 3 arranged thereon, the component receptacle 3 basically being able to be arranged at any point of the base body 2, especially at the bottom for hanging components. On the base body 2, the number of excitation magnets 4, 5 of the Langstatorlinearmotors is arranged on both sides of the transport unit Tn. The transport path of the transport device 1, or a transport section Am, or a transport segment TSm of a transport section Am, is formed by a stationary guide structure 6, on which the drive coils 7, 8 of the long stator linear motor are arranged. The base body 2 with the permanent magnets 4, 5 arranged on both sides is arranged between the drive coils 7, 8. Thus, in each case at least one excitation magnet 4, 5 of a drive coil 7, 8 (or a group of drive coils) arranged opposite one another and thus cooperates with the drive coil 7, 8 for generating a driving force Fv together. Thus, the transport unit Tn is movable between the guide structure 6 and along the transport path. Naturally, guide elements 9, such as rollers, wheels, sliding surfaces, etc., may also be provided on the base body 2 and / or on the component receptacle 3, in order to transport the transport unit Tn along the transport path (not shown here for reasons of clarity or only hinted at) to lead. The guide elements of the transport unit Tn act together for guidance with the stationary guide structure 6, e.g. in which the guide elements 9 are supported on the guide structure 6, slide on it or roll off, etc. The guide of the transport unit Tn can also be done at least by the provision of guide magnets.
    In order to move a transport unit Tn forward, a stator current iAi, iA2 is known to be impressed in the two-sided drive coils 7, 8, whereby different stator currents iAi, Ϊα2 can also be impressed in different drive coils 7, 8. It is also sufficient only in the drive coils 7, 8 to impress a stator current iAi, iA2, which can just interact with the excitation magnets 4, 5 on the transport unit Tn. In order to generate a driving force Fv acting on the transport unit Tn, a drive coil 7, 8 is supplied with a stator current iA having a forward current-forming current component iAq. For the movement of the transport unit Tn, however, the drive coils 7, 8 arranged on both sides do not have to be energized at the same time by impressing a stator current iA. In principle, it is sufficient if the driving force Fv acting on the transport unit Tn for movement is generated only by means of the drive coils 7, 8 of one side and permanent magnet 4, 5 on the associated side of the transport unit Tn. At travel sections of the transport route where a large propelling force Fv is required, e.g. in the case of a slope, a heavy load or in areas of acceleration of the transport unit Tn, the driving coils 7, 8 can be energized on both sides (e.g., transporting section A9 in Fig. 1), whereby the driving force Fv can be increased. It is also conceivable that in certain transport sections A, the guide structure 6 is designed only on one side, or that in certain transport sections A, the guide structure 6 is indeed carried out on two sides, but only on one side with drive coils 7, 8 is equipped. This is also indicated in Fig. 1, are indicated in the sections with double-sided guide structure 6 and sections with only one-sided guide structure 6.
    A transfer position U according to the invention, here in the form of a soft, e.g. the transfer position U2 in Figure 1, between two transport sections Am, An will now be explained with reference to FIG. Along the transport sections Am, An, as described above, the drive coils 7, 8 are arranged one behind the other in the direction of movement. The transport sections Am, An consist thereof in longitudinal directions of successive transport segments TSm1, TSm2, TSm3, TSm4, TSm5 or TSn1, TSn2, TSn3, TSn4, each with a number of drive coils 7, 8. Especially in the case of a soft as transfer position U is in the area of the exit (or entrance in the reverse direction of travel) a section of road exists, on which only on one side of a guide structure 6 and drive coils 7, 8 can be arranged.
    A transport unit Tn is moved along the transport path, here first the transport section Am. For this purpose, the drive coils 7, 8 in the region of the transport unit Tn, ie in the area in which the excitation magnets 4, 5 of the transport unit Tn and drive coils 7, 8 can interact with a stator current iA energized, the stator currents ϊαι,> A2 of these drive coils , 8 do not have to be the same. This is ensured by the associated segment control unit 11m1 (see FIG. 9). The stator current iAi, iA2, or the propulsive force forming components iAq1, iAq2, the drive coils 7, 8 generates in cooperation with the excitation magnets 4, 5 acting on the transport unit Tn propulsive force Fv.
    On the transport unit Tn act on the two sides always the excitation magnetic side forces FPMsi, FPMs2 due to the interaction of the excitation magnets 4, 5 of the transport unit Tn with ferromagnetic components of the guide structure 6. The acting on both sides of the transport unit Tn excitation magnetic side forces FPMsi, FPms2 are normally , at the same air gap, the same structure of the guide structure 6 on both sides, etc., the same size and in opposite directions, so that the vectorial sum of the effective excitation magnetic side forces FPMsi, FPMs2 gives zero. Ideally, the transport unit Tn is therefore free of lateral forces.
    The present invention is based on the fact that the magnetic flux ψ or the magnetic field between the transport unit Tn and drive coils 7, 8 or the guide structure 6, which is normally caused by the permanent magnets 4, 5, is selectively influenced by the transport unit Tn to impress a steering action L. For this purpose, the responsible for the magnetic field current is rough mvektor the stator current iA at least one drive coil 7, 8 changed so that a vortriebskraftbildende and / or lateral force-forming electromagnetic force component is produced, which is superimposed on the driving force Fv. The goal is usually that the acting driving force Fv and thus the propulsion movement of the transport unit Tn is not affected.
    In a first embodiment of the invention, not only the propulsion force Fv required for the movement of the transport unit Tn is generated by the stator current iA, or the resulting magnetic flux ψ (magnetic flux ψ and stator current iA are equivalent), but also a lateral force-forming electromagnetic force component FEms, subsequently also called electromagnetic side force. For this purpose, one of the drive coils 7, 8 cooperating with the transport unit Tn is impressed with a stator current iA which, in addition to the propulsion force-forming electromagnetic force component which effects the propulsion force Fv, causes a force component transversely thereto, ie in the lateral direction. The electromagnetic side force FEms is thus superimposed on the driving force Fv. The components of the impressed electromagnetic field, which cause the side force, this serve practically weakening or strengthening the acting excitation magnetic field. Thus, the resultant lateral forces F1, F2 acting on the transport unit Tn, each resulting as a sum of the acting excitation magnetic side force FPMs and, if present, the electromagnetic side force FEms on each side of the transport unit Tn, thus FA = FPMsi + FEMsi and F2 = FPMs2 + FEMs2 (see Fig. 5). Wherever no electromagnetic side force FEMs is needed, e.g. outside a transfer position U, the current space vector of the stator currents iAi, iA2 impressed into the drive coils 7, 8 are preferably regulated such that the vectorial sum of the resulting lateral forces Fi, F2 is zero. Ideally this means that the electromagnetic side forces FEMsi, FEMs2 are equal to zero. This achieves a maximum efficiency of the movement of the transport unit Tn in these areas, since all the energy flows into the generation of the driving force Fv.
    Also in the entrance area of the transfer position U (FIG. 4, top), the stator currents iAi, ΪΑ2 are preferably imprinted on both sides such that the vectorial sum of the resulting side forces Fi, F2, or the electromagnetic side forces Femsi, FEMs2, are zero. The resulting side forces F ^ F2, which are thus reduced to the excitation magnetic side forces Fpmsi, FPMs2, are thus equal in the entry area of the transfer position U and opposite directions and thus cancel each other out.
    In the transfer area (FIG. 4 center) of the transfer position U, the stator currents iAi, Ia2, which are impressed into the drive coils 7, 8, are now changed so that side forces Fi, F2 resulting from field weakening or field strengthening of the permanent magnetic field on the two sides the transport unit Tn, which are different in amount. Since the magnetic flux ψ is a function of the stator current vector iA, the lateral force magnetic flux component ijjd can be changed by changing the vectorial current of the stator current iA on one side or both sides of the transport unit Tn to the electromagnetic one Side force FEmsi to produce FEMs2 on at least one side. Preferably, the magnetic flux ψ is changed so that the electromagnetic side forces FEMsi, FEMs2 on the two sides of the transport unit Tn point in the same direction (Fig.5). It would also be possible to change the magnetic flux ψ such that the electromagnetic side forces FEMsi, FEMs2 on the two sides of the transport unit Tn have different directions, but these would cancel each other out, which would ultimately only be associated with higher losses. If at the same time several drive coils 7, 8 interact with the transport unit Tn, which is normally the case, then the magnetic flux ψ of one of the acting drive coils 7, 8, several of the acting drive coils 7, 8 or also of all acting drive coils 7, 8 can be changed , It is also conceivable to generate an electromagnetic side force FEMsi, FEMs2 only on one side of the transport unit Tn. Decisive here is only the resulting resultant of the forces acting on the transport unit Tn.
    In the middle of FIG. 4, for example, the stator current iA1 of the drive coils 7 of the transport section Am, in the region of which the transport unit Tn is located, is regulated in such a way that an electromagnetic lateral force FEMsi = f (iAi) arises in one direction. On the opposite side, the stator current iA2 of the drive coils 8 of the transport section Am, in the area of which the transport unit Tn is located, is controlled such that an electromagnetic side force FEMs2 = f (iA2) arises in the same direction by the magnetic flux component njd. Thus, the acting side force F1 is increased on one side and the acting side force F2 on the other side is reduced at the same time. However, it may be sufficient to generate electromagnetic side force FEMs only on one side. The transport unit Tn thus experiences a resultant steering force FL from the vectorial sum of the two lateral forces F2, ie FL = Fa + F2. The resulting steering force FL guides the transport unit Tn in the exemplary embodiment shown along the transport section Am, with which the transport unit Tn is moved straight ahead in the exit area of the transfer position U (FIG. 4 below).
    The field weakening takes place here on the side of the transport unit Tn, along which the transport unit Tn should not be moved further, here on the drive coils 8. The field strengthening takes place on the side at which the transport unit Tn is to be moved on, here on the drive coils 7.
    It is thus obvious that by controlling the stator currents iA in the region of the transfer position as a steering action L, a steering force FL can be generated in one of the two lateral directions, which guides the transport unit Tn along the desired transport section Am or An. But not only the direction can be determined, but in particular also the size of this steering force FL at each time of movement of the transport unit Tn. This steering force FL can also be variable over time and can also on the respective transport unit Tn and on the current movement be turned off. For example, For example, a transporting unit Tn loaded with a heavier load or moving faster may require a higher steering force FL than an empty or slowly moving transporting unit Tn.
    The stator currents Ϊαι, Ϊα2 of the drive coils 7, 8 are preferably controlled so that the desired or predetermined by the higher-level system control unit 10 (Figure 9) driving force Fv is maintained. The propulsion movement of the transport unit Tn thus remains unaffected by the generation of the steering action L in the transfer position U. This can e.g. in the exit area from the transfer position U (Figure 4 below), in which only the drive coils 7 of a page are active, also mean that the propulsive force Fv causing q component of the stator current iAi must be increased simultaneously to the propulsion force Fv upright to obtain. The propulsion force Fv is, however, usually set anyway by the position control of the transport unit Tn and it is therefore normally not necessary to intervene in the transfer position U in this regulation of the driving force Fv.
    When the transport unit Tn enters the transfer position U, active control of the lateral force-forming current components iAcn, iAd2 of the stator currents iAi, Ia2 is started. It is not absolutely necessary that electromagnetic side forces FEms-i, FEms2 are generated at the entrance to both sides of the transport unit Tn. The electromagnetic side forces FEMsi, FEMs2 must but in the transfer area by the
    Stator currents iAi, Ϊα2 are controlled at any time so that the required steering force Fl is formed in the desired direction and with the required amount. In order to ensure a defined position of the transport unit Tn over the entire length of the transfer position U, it is advantageous if the electromagnetic side forces FEmsi, FEms2 are actively controlled on both sides along the entire length of the transfer position U.
    At the exit of the transport unit Tn from the transfer position U (Figure 4 below) increases simultaneously the air gap between the unused transport section An and the transport unit Tn. Thus, the exciting magnetic side force FPMs2 is greatly reduced at this transport section to what the leadership of the transport unit Tn along the desired transport section Am supported. In particular, this reduction of the exciting magnetic side force FPMs2 could be sufficient to move the transport unit Tn in the exit area along the desired transport section Am. The drive coils 8 at the exit of the transfer position U would thus no longer have to be actively controlled in order to generate an electromagnetic side force FEMs.
    However, the transfer position U does not have to be designed as a switch, but can also be designed as transfer from one transport section Am to another transport section An, such as e.g. the transfer position U1 in Figure 1, where, for example, by a two-sided transport section (drive coils on both sides) on a one-sided transport section (drive coils on one side) is passed. Such a situation is explained by way of example with reference to FIG. The entry, the transfer position and the exit can be regulated as in a switch according to Figure 4. At the exit (Figure 6 below) reduces the exciting magnetic side force FPMs2 at the transport section An without active control of the lateral force-forming current component iAd2 of the stator current iA2. On the opposite side of the transport section Am, the electromagnetic side force Femsi can be maintained for guiding reasons (for example, if the excitation magnetic guide alone is not sure enough). In other words, it would be sufficient in principle if the electromagnetic side force FEms is controlled on only one side in the area of the entrance (FIG. 6, top) or of the transfer area (FIG. It is not absolutely necessary to simultaneously control the electromagnetic side forces FEms-i, FEms2 on both sides. Similarly, one could act in the transition from a unilateral transport section to a two-sided transport section.
    Thus, with the provided for the propulsion of the transport unit Tn drive coils 7, 8 of the respective magnetic flux ψι, ψ2 be controlled in a transfer position U on the two sides of the transport unit Tn on the specification of the stator currents iA1, iA2 to produce a steering action L. which guides the transport unit Tn in the transfer position along one of the two transport sections Am, An. In this case, the driving force Fv can be maintained unverän changed. This inventive idea can also be used in another advantageous way. This will be explained with reference to FIG.
    In the transfer position U meet as already described in detail, two transport sections Am, An each other. The drive coils 7, 8 in cooperation with the excitation magnets 4, 5 on both sides of the transport path generate by energizing with the stator currents iAi, Ϊα2 propulsion force-forming electromagnetic force components Femv-i, FEmv2, which add up to the total propulsion force Fv of the transport unit Tn, ie Fv = FEmvi + FEmv2- If the driving force-forming electromagnetic force components Femv-i, FEmv2 are the same size, the transport unit Tn is torque-free around a vertical axis of the transport unit Tn, provided that the structure is symmetrical about the longitudinal axis in the direction of movement. However, if the propulsive force-forming electromagnetic force components FEmvi, FEmv2 have different sizes, a steering torque ML acts on the transport unit Tn about the vertical axis, as shown in FIG. This steering torque ML can now also be used as a steering action L for guiding the transport unit Tn along a desired transport section A.
    The driving force Fv is normally controlled via the position s of the transport unit Tn along the transport path, so that the transport unit Tn is at the intended position at all times. This also indirectly regulates the current speed and the acceleration of the transport unit Tn.
    As is known, the propulsion force-forming electromagnetic force components FEmvi, FEmv2 are obtained directly from the propulsion-force-forming component iAqi, iAq2 of the respectively impressed stator current iAi, iA2 by multiplication with a known force constant Kf. It is hereby assumed without further restriction of generality that the electrical components of the Langstatorlinearmotors are designed the same on both sides, so that the force constant Kf is equal on both sides. FEMvi = KfiAqi and FEMV2 = KfiAq2 · The propulsion-force-forming component ϊΑςι, iAq2 of the respectively impressed stator current iAi, iA2 are regulated in a control over the position error E of the transport unit Tn to the required Driving force Fv to produce. The position error E is given as a difference from a setpoint position sSOii and an actual position Sist, E = sSOirSist · The actual position s.stw is thereby detected by known means. Thus, in general, FEmvj = KfiAqj = Kf-K -E = Kf-K (Sj.soii-Sj, is), with a control constant K. Taking into account that the actual positions of the transport unit Tn must be the same on both sides, ie Si, is = s2, then FEmvi - FEmv2 = Kf-K - (si.soii - s2, Soii)
    If the target positions of the two sides of the transport unit Tn in the control are each modified with a modification variable ÄSi, Äs2, ie
    ), a desired steering torque ML can be set via the modification variable. With the approach Si, soii = S2, soii then arises
    and the steering torque ML =
    In a preferred embodiment, the modification quantity Äs / 2 is added on one side and subtracted on the other side, from which the relationship FEmvi -
    ). In this case, again the approach Si.soii = S2, s0ii can be made, since the modification size Δs intervenes, resulting in FEmvi -FEmv2 = Kf-K-Ås. If the distance between the two air-gap centers is designated 2x (FIG. 7), the steering torque follows directly
    By the position control in the form of the target position specification Si, son, S2, s0ii the propulsion force Fv of the transport unit Tn is controlled. By specifying the modification quantity Äs, or the modification variables ÄSi, ÄS2, are propulsion force-forming electromagnetic force components
    and
    generated, which are superimposed on the original propulsion force-forming electromagnetic force components by the position control in the form of the target position setting Si, son, S2, soii and thus also the driving force Fv and generate a desired steering torque ML. In this case, it is of course sufficient that on only one side a driving force-forming electromagnetic force components FEMvi. FEMv2 is superposed to produce a steering torque Ml.
    By using a modification size
    can be ensured in a simple manner that the driving force Fv as the sum of the two driving force-forming electromagnetic force components FEmv-i, FEmv2 is not affected. The forward movement of the transport unit Tn is then not influenced by the impressing of a steering torque ML.
    The steering torque ML as a steering action L can now be used in a transfer position U to move the transport unit Tn along a desired transport section A, as will be explained with reference to FIG. Therein again a switch is shown as a transfer position U. In the entrance (FIG. 8 above), the propulsion force-forming electromagnetic force components FEmvi, FEMv2 are regulated to the same value, thus yielding λs = 0 and Ml = 0. In the transfer area (FIG. 8 center), by specifying the modification quantities ASi, As2, a steering torque ML is generated as described above, which results in the transport unit Tn being guided along the transport section Am and moving along the transport section Am. In the exit area of the transfer position (Figure 8 below), the transport unit Tn can then be driven as before driven only on one side (as in Figure 8), or it can be provided on both sides of a drive.
    Of course, the method of the steering force FL and the method of the steering torque ML can also be combined, as indicated in FIG.
    The application of a sufficient steering force FL and / or a sufficient steering torque Ml is, of course, only necessary until the guide elements of the transport unit Tn, e.g. Rollers, wheels, sliding surfaces, magnetic bearings, or the like, safely act on the desired transport section A. For a defined position of the transport unit Tn is ensured and the active control of the drive coils 7, 8 for applying the steering action L (steering force FL and / or steering torque ML) can be terminated.
    The control concept for the transport device 1 and thus also for transfer position U according to the invention will now be explained with reference to FIGS. 9 and 10.
    A higher-level control unit 10 is responsible for the movement of the transport units Tn in the long-stator linear motor along the transport path. The control unit 10 thus specifies the movement of the transport units Tn, for example by specifying setpoint values sSOii, and thus also controls the speed, acceleration of the transport units Tn. Likewise, the higher-level control unit 10 is also responsible for the management of the transport units Tn enlang the transport device 1 and thus also for the steering of the transport units Tn in transfer positions U. The control unit 10 thus also provides the effect on the transport units Tn steering action L, for example, by specifying target values of the magnetic flux ψ80ιι, and thus determines along which transport route the transport units Tn in the transport device 1 are moved. The superordinate control unit 10 specifies corresponding setpoint values for the position sS0n and the magnetic flux ψ80ιι for each of the moving transport units Tn.
    Each transport segment TSn, TSn + 1, or generally a group of drive coils 7, 8 or also each drive coil 7, 8, of a transport section An is assigned a segment control unit 11 n, 11 n + i, which drives the drive coils 7, 8 of the respective transport segment. TSn, TSn + 1 drives individually with a stator current iA. Of course, provision may also be made for the drive coils 7, 8 of each side to provide their own segment control unit 11n, 11n + i, wherein the segment control units 11n, 11n + i on each side may also be interconnected via a data line and interchange data can. Each segment control unit 11n, 11n + 1 generates from the setpoint specifications for the position sS0n and the magnetic flux ψ80ιι a stator current iA, with which the drive coils 7, 8 are acted upon. Preferably, only the drive coils 7, 8 are regulated, which cooperate with the transport unit Tn, or their excitation coils 4, 5, respectively. The stator current iA is a current vector (current space pointer), which includes a driving force forming component iAq for generating the driving force Fv, and a magnetic flux
    causes. In the transfer position U can now on the current vectors iA1, i / ^ modified propulsion force-forming electromagnetic force components Femvi, FEmv2 and / or lateral force-forming electromagnetic force components FEmsi, Fems2 are impressed, which cause the required steering action L. The Statorstromvektor iA generated in cooperation with the excitation magnets 4, 5 of the transport unit Tn as described at any time the desired effect on the transport unit Tn, in particular a driving force Fv and possibly a steering action L (steering force FL and / or steering torque ML).
    In a segment control unit 11, a steering controller RL for controlling the steering action L and a position controller RP for controlling the position s are implemented for each drive coil 7, 8, as shown in FIG. The regulation of the steering action L is preferably active only in a transfer position U and takes place, for example, on the basis of the magnetic flux
    and it becomes a target flow
    as specified above. Outside a transfer position U, only the advance force Fv is usually regulated. The current actual flow
    is measured or estimated by a suitable observer and with the target flow
    compared. In a transfer position U, the steering controller RL regulates the flow difference or the flow error
    to produce the desired steering action L. Any suitable controller can be used for this purpose. For this purpose, the steering controller RL calculates a lateral force-forming current component iAd of the stator current iA for the regulated drive coil 7, 8 and also a modification variable As or As / 2 (if a steering torque ML is also used as the steering action.) The position controller RP controls a position error. The actual position iact can be detected metrologically or can also be determined in another suitable manner, for example by a control-technical observer again of the steering torque ML as a steering action L, also the modification quantity As, resulting in the positional error being, for example, too
    To correct the position error, any suitable controller can be used. For position control, the position controller RP determines a drive force-forming current component iAq of the stator current iA for the controlled drive coil 7, 8. Thus, both components of the stator current iA are present and the determined stator current iA can the control system, here the transport device 1 and the intended parts, in particular the controlled drive coil 7, 8, are impressed.
    权利要求:
    Claims (10)
    [1]
    1. A method for transferring a transport unit (Tn) of a long-stator linear motor at a transfer position (U) of a first transport section (Am), with a number of in the direction of movement of the transport unit (Tn) successively arranged drive coils (7, 8) in the transfer position ( U), to a second transport section (An), with a number of in the direction of movement of the transport unit (Tn) successively arranged drive coils (7, 8) in the region of the transfer position (U), wherein on each side of the transport unit (Tn) excitation magnets (4 , 5) are arranged, which cooperate with drive coils (7, 8) in the region of the transport unit (Tn) and for moving the transport unit (Tn) drive coils (7, 8) in the region of the transport unit (Tn) in each case by a stator current (iA) for the generation of a magnetic flux (ψ) which generates a driving force (Fv) acting on the transport unit (Tn), are energized, characterized in that, for the transfer of the energy abe the transport unit (Tn) at the transfer position (U) on at least one side of the transport unit (Tn) of the stator current (iA) at least one with an excitation magnet (4, 5) of the transport unit (Tn) cooperating drive coil (7, 8) as a current rough mvektor with a vortriebskraftbildenden current component (iAq) and a lateral force-forming current component (iAd) is impressed, and the stator current (iA) generates a propulsion force-forming electromagnetic force component (FEmv) and / or lateral force-forming electromagnetic force component (FEms), which for generating a steering action (L ) is superimposed on the transport unit (Tn) acting driving force (Fv).
    [2]
    2. The method according to claim 1, characterized in that on both sides of the transport unit (Tn) a driving force (Fv) superimposed, propulsion force-forming electromagnetic force component (FEMv) and / or lateral force-forming electromagnetic force component (FEMs) is generated.
    [3]
    3. The method according to claim 2, characterized in that on both sides of the transport unit (Tn) rectified lateral force-generating electromagnetic force components (FEMs) are generated.
    [4]
    4. The method according to claim 1 or 2, characterized in that the propulsion force (Fv) of the transport unit (Tn) is regulated by position specification and the position specification on at least one side of the transport unit (Tn) is modified by a modification size (Äs).
    [5]
    5. The method according to claim 4, characterized in that the modification size (As) on both sides of the transport unit (Tn) with the same amount and different signs is specified.
    [6]
    6. The method according to any one of claims 1 to 5, characterized in that in a segment control unit (11) a steering controller (RL) and a position controller (RP) are implemented, that the steering controller (RL) a flow error (βψ) as a difference from a Setpoint flux (ipsoii) and an actual flow (ψ50ιι) corrects and determines the lateral force-forming current component (iAd) of the stator current (iA) and that the position controller (RP) a position error (es), which is a difference from a desired position (sS0n) and a Actual position (SjSt) yields, corrects and determines the propulsive force-forming current component (iAq) of the stator current (iA).
    [7]
    7. The method according to any one of claims 1 to 5, characterized in that in a segment control unit (11) a steering controller (RL) and a position controller (RP) are implemented, that the steering controller (RL) a flow error (βψ) as a difference from a Target flow (qjSoii) and an actual flow (ψ ^ ιι) corrects and determines a modification size (As) and that the position controller (RP) a position error (es), which is a difference from a target position (sS0n) and an actual position (sist) gives and in which the modification size (As) is received, corrects and determines the driving force-forming current component (iAq) of the stator current (iA).
    [8]
    8. long-stator linear motor with a transfer position (U) of a first transport section (Am), with a number of in the direction of movement of the transport unit (Tn) successively arranged drive coils (7, 8) in the transfer position (U), to a second transport section (An ), with a number of in the direction of movement of the transport unit (Tn) successively arranged drive coils (7, 8) in the region of the transfer position (U), wherein on each side of the transport unit (Tn) excitation magnets (4, 5) are arranged, with drive coils (7, 8) in the region of the transport unit (Tn) interaction, wherein for movement of the transport unit (Tn) drive coils (7, 8) in the region of the transport unit (Tn) in each case by a stator current (iA) to generate a magnetic flux (ψ) , which generates a driving force (Fv) acting on the transport unit (Tn), are energized, characterized in that a segment control unit (11) is provided, in which a Reg is implemented on at least one side of the transport unit (Tn) of a drive coil (7, 8), which cooperates with an excitation magnet (4, 5) of the transport unit (Tn), a stator current (iA) as a current space vector, wherein the stator current a Vortriebskraftbildende current component (iAq) and a lateral force-forming current component (iAd) contains, and the stator current (iA) generates a propulsion force-forming electromagnetic force component (FEmv) and / or lateral force-forming electro-magnetic force component (FEms) for generating a steering action (L) of the transport unit (Tn) acting driving force (Fv) is superimposed.
    [9]
    9. Langstatorlinearmotor according to claim 8, characterized in that in the segment control unit (11) a steering controller (RL) and a position controller (RP) are implemented, that the steering controller (RL) a flow error (βψ) as a difference from a target flow (ψ80ιι) and an actual flux (ipist) and determines the lateral force-forming current component (iAci) of the stator current (iA) determined and that the position controller (RP) a position error (es), which is a difference from a desired position (sSOii) and an actual position (SjSt) yields, corrects and determines the propulsive force-forming current component (iAq) of the stator current (iA).
    [10]
    10. Langstatorlinearmotor according to claim 8, characterized in that in the segment control unit (11) a steering controller (RL) and a position controller (RP) are implemented, that the steering controller (RL) a flow error (βψ) as the difference from a target flow (ψβοΐι) and an actual flux (ipist) and determines a modification variable (A s) and that the position controller (RP) a position error (es), which results as a difference between a desired position (Ssoii) and an actual position (sist) and in the modification size (Äs) enters, corrects and determines the vortriebskraftbildende current component (iAq) of the stator current (iA).
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    同族专利:
    公开号 | 公开日
    US20180323732A1|2018-11-08|
    US10622921B2|2020-04-14|
    EP3379719A1|2018-09-26|
    EP3379719B1|2021-04-14|
    US10917027B2|2021-02-09|
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    US20160380562A1|2016-12-29|
    AT517219B1|2016-12-15|
    CA2933654A1|2016-12-23|
    EP3109998B1|2019-08-07|
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    法律状态:
    2018-03-15| HC| Change of the firm name or firm address|Owner name: B&R INDUSTRIAL AUTOMATION GMBH, AT Effective date: 20180205 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50529/2015A|AT517219B1|2015-06-23|2015-06-23|Method and long-stator linear motor for transferring a transport unit at a transfer position|ATA50529/2015A| AT517219B1|2015-06-23|2015-06-23|Method and long-stator linear motor for transferring a transport unit at a transfer position|
    EP16174356.2A| EP3109998B1|2015-06-23|2016-06-14|Method and long stator linear motor for transferring a transport unit at a transferring position|
    EP18172313.1A| EP3379719B1|2015-06-23|2016-06-14|Method for transferring a transport unit to a transferring position|
    CA2933654A| CA2933654A1|2015-06-23|2016-06-21|Method and long stator linear motor for transferring a transport unit at a transfer position|
    US15/189,416| US10622921B2|2015-06-23|2016-06-22|Method and long stator linear motor for transferring a transport unit at a transfer position|
    US16/036,399| US10917027B2|2015-06-23|2018-07-16|Method and long stator linear motor for transferring a transport unit at a transfer position|
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