• 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 be able to realize with a few different types of transport route assembly (TMN) in a simple and flexible way various transport routes of a long stator linear motor a modular system with transport links assemblies (TMN) is provided in the modular system a selection of at least two different transport links assemblies (TMN) is provided, said Start point (An) and the end point (En) of each of the at least two different transport links assemblies (TMn) each on a grid corner point (p · a) x (q · a) of an (axa) grid with a predetermined grid length a, where p, q whole numbers are.
    公开号:AT518618A1
    申请号:T50428/2016
    申请日:2016-05-09
    公开日:2017-11-15
    发明作者:Dominic Walter Dr；Ing Dr Christoph Obermair Dipl；Dipl Ing Dr Stefan Huber Msc
    申请人:Bernecker + Rainer Industrie-Elektronik Ges M B H；
    IPC主号:
    专利说明:

    Modular system of a variety of transport links assemblies one
    Langstatorlinearmotors
    The subject invention relates to a modular system for configuring a transport route of a long stator linear motor consisting of a plurality of transport links assemblies, each transport link assembly having a starting point and an end point. Furthermore, the invention relates to a Langstatorlinearmotor with a transport path and a transport path of a Langstatorlinearmotors, wherein the transport path is composed in each case of a plurality of transport links assemblies from the modular system.
    Long stator linear motors are often used as flexible conveyors in manufacturing, machining, assembly, and similar facilities. A long-stator linear motor is known to consist essentially of a long stator in the form of a plurality of successively arranged drive coils, which are arranged on a stationary structure, and a plurality of transport units with excitation magnets (permanent or electromagnets), which are moved along the long stator. For this purpose, the drive coils are subjected to an electric current. By a suitable energizing of the drive coils, a moving magnetic field is generated which cooperates with the excitation magnets on the transport units to move the transport units according to the known motor principle. By the long stator thus a transport path is formed, along which the transport units can be moved. This makes it possible to individually and independently move each transport unit (position, speed, acceleration, direction of movement). For this purpose, each drive coil is controlled by an associated drive coil controller, which can receive instructions for moving a transport unit (for example in the form of setpoint values for position or speed) from a higher-level system control unit and calculates the manipulated variables for the drive coils, in particular coil currents. In this case, it is also possible to provide switches of the long-stator linear motor along the transport path, at which points a division into different transport routes or a combination of different transport routes takes place. A conveyor in the form of a Langstatorlinearmotors can therefore have quite complex web guides.
    Often the long-stator or a transport route is also constructed in the form of individual, assembled transport route assemblies. Due to this modularity, a long-stator linear motor can be constructed more easily, in particular if defined transport route assemblies are used. The structural design of the long stator linear motor, so e.g. the design of the drive coils, the conveyor line, the transport units, the guides of the transport unit, etc., of course, may be different, but the basic operating principle of a Langstatorlinearmotors remains the same. However, the choice of transport route assemblies is by no means trivial. Basically, you want to be able to flexibly realize a wide variety of transport routes with as few transport route assemblies as possible.
    It is therefore an object of the subject invention to provide transport links assemblies with which a variety of different types of transport routes can be realized with a few different types in a flexible manner.
    This object is achieved by a modular system, wherein in the modular system a selection of at least two different transport links assemblies are provided, the starting point and the end point of each of the at least two different transport links assemblies each on a grid corner point (pa) x (qa) of a (axa) grid with given grid length a, where p, q are integers. This can be realized with a few defined transport sections assemblies a variety of transport routes. The arrangement in a grid can also be ensured in a simple manner that self-contained transport routes can be realized. It is also a particular advantage of the grid that a transport route can be closed despite the use of a wide variety of transport route assemblies from the modular system, even when used with different orientations, which makes it possible to easily realize closed railways.
    Preferred simple basic elements of the modular system for selection are a straight haul assembly with p Φ 0, q = 0, a 90 ° haul assembly with p, q Φ 0, and preferably p = q, a 180 ° haul group peD, q Φ 0, and / or an S -shaped transport route assembly with p, q Φ 0. With these simple basic forms, almost any transport route can be realized.
    Flexible in the design of the transport links assemblies, if in the modular system a transport links assembly is provided, which is composed of two curve input modules on which the starting point or the end point is provided, and at least one connection module that connects the two curve input modules composed. This can be realized by different design of the curve input module and / or the connection module various transport links assemblies that still comply with the predetermined pitch. In particular, simply a curve input module can be combined with different connection modules.
    To avoid curvature jumps between two adjacent transport path assemblies or between a curve input module and a connection module, it is preferably provided that the radius of curvature of each end of the curve input modules is infinite and the other end of the curve input module has a predetermined radius of curvature greater than zero and the connection module at both ends the same having predetermined radius of curvature.
    The flexibility in the design of the transport path assemblies can be further increased if the connection module is composed of a plurality of circular segment modules, each circular segment module has the same radius of curvature at both ends. In this way, disadvantageous curvature jumps at the transitions between the individual circular segment modules can be avoided again.
    An S-shaped transport route assembly without adverse curvature jumps can be easily realized with a connection module having the same predetermined radius of curvature at both ends with curvatures in different directions.
    Alternatively, an S-curve haul assembly may be composed of two interconnected curve input modules. In order to avoid curvature jumps, it may be provided that the radius of curvature of each one end of the cure veneingangsmodule is infinite and the other end of the curve input modules has a same predetermined radius of curvature greater than zero with curvatures in different directions
    The subject invention will be explained in more detail below with reference to Figures 1 to 7, which show by way of example, schematically and not by way of limitation advantageous embodiments of the invention. It shows
    1 and 2 embodiments of a Langstatorlinearmotors with transport routes, Figure 3 a 90 ° bend transport path assembly of the modular system,
    4 shows a 180 ° -bend transport section assembly of the modular system,
    Figures 5 and 6 S-curves transport links assemblies of the modular system and Figure 7 shows an example of a modular system with various transport links assemblies.
    A simple example of a long stator linear motor 1 is shown in FIG. The long stator linear motor 1 is designed as a closed transport path TSm. The transport route TSm is formed of a number n> 1 of transport route assemblies TM1, ..., TMn, which are lined up. On a transport line assembly TMn a plurality of drive coils 7 are arranged, which are energized under the control of a control unit 9 (shown only for a drive coil 7) with a coil current iA (as a vector in magnitude and direction) to produce a moving magnetic field. Along the transport path TS at least one transport unit Tx is moved. The transport unit Tx is performed in a suitable manner on the stationarily arranged transport path TS. In addition, on the transport unit Tx at least one excitation magnet 8, preferably a permanent magnet, arranged with the generated, moving magnetic field for moving the
    Transport unit Tx along the transport path TS cooperates. Of course, more than one transport unit Tx can be moved along the transport path TS, whereby each transport unit Tx can be moved (in the direction, position, speed and acceleration) independently of the other transport units Tx by energizing the drive coils 7 in the area of the transport unit Tx. This functional principle of a long-stator linear motor 1 is well known, so that will not be discussed further here.
    Of course, it can also be provided on both sides of a transport unit Tx (seen in the direction of movement) a transport path assembly TMn with drive coils 7. In this case, too, the transport unit Tx preferably has at least one excitation magnet 8 on both sides.
    FIG. 2 shows a complex long-stator linear motor 1, with the illustration of the drive coils 7 and the excitation magnets 8 omitted for reasons of clarity. In this case, a plurality of non-closed transport paths TSm, m> 1 (for reasons of clarity, not all transport paths TSm have been designated) are provided, which together form a path of the long-stator linear motor 1. The transport routes TSm are in turn formed of different transport route assemblies TMn. A transport unit Tx, x> 1 can be moved along the transport paths TSm. The individual transport links TSm are interconnected by transfer points Uj, j> 1 (here too, not all transfer points Uj are designated), at which the transport links TSm partly overlap. A transfer point Uj can be designed as a switch, such as the transfer points U2, U3, but can also be designed as a simple change from one transport line TSm to another transport line TSm, such as the transfer points U1, Uj. In the case of a switch there is a division into different transport lines TS or a combination of different transport lines TS. Along the transport paths TS and various work stations AS can be arranged, where a transport unit Tx moved through or can be stopped. In the work stations AS, any manipulations can be performed on components which are moved with a transport unit Tx. A workstation AS can also be designed for introducing or removing transport units Tx into a transport path TS.
    In order to be able to construct a transport route TS of a long-stator linear motor 1 simply but nevertheless flexibly, a modular system consisting of different, predefined transport route assemblies TMn, wherein at least two different transport route assemblies TMn are available, is provided. For the construction of the modular system, a grid length a is defined, from which results a thought grid a x a.
    Each transport line assembly TMn has a starting point An and an end point En, as shown in FIGS. 3 and 4 using the example of a 90 ° bend and a 180 ° bend. The transport route assemblies TMn are connected to the transport route TSm in such a way that in each case a starting point An and an end point En of adjacent transport route assemblies TMn coincide. The starting points An and End points En are, of course, interchangeable on a transport route module TMn. It should also be noted that the double line on the transport line assembly TMn in the figures is only symbolic and indicates the side along which a transport unit Tx is guided or moved - there is thus an inside and outside guide for a transport unit Tx. The starting points An and End points En are here on the side along which a transport unit Tx is guided or moved.
    Each starting point An and end point En of a transport path assembly TMn of the modular system lies on a grid corner point (p-a) x (q-a) of the (a x a) grid, where p, q are integers (p, qeD). Here, a grid corner point is to be defined as the origin from which the grid is built. In this case, the origin is preferably chosen for the sake of simplicity (but not necessarily) such that p, q do not have to change the sign for different grid vertices (p-a) x (q-a). The grid in Figure 3 then has, for example, the nine grid vertices (0-a) x (0-a) (which corresponds to the origin), (1-a) x (0-a), (2-a) x (0 -a), (0-a) x (1-a), (1-a) x (1-a), ..., (2-a) x (2-a). In the case of FIG. 3, the starting point An of the transport path assembly TMn is in the form of a 90 ° arc, for example on the grid corner point with p = q = 0 and the end point En on the grid corner point with p = q = 2. If the origin were, for example, at the end point En, then the starting point At of the transport path assembly TMn according to FIG. 3 would be, for example, on the grid corner point with p = q = -2. In general, for the 90 ° arc, ρ ^ ΦΟ. In the case of FIG. 4, the starting point An of the transport path assembly TMn is, for example, on the grid corner point with p = q = 0 and the end point En on the grid corner point with p = 0, q = 2. For example, the 180 ° bend of FIG. 4 could, of course, also be defined in such a way that for the end point En p = 1, q = 2 is selected. Generally applies to the 180 ° arc peO, q41.
    A transport route module TMn can also be formed from two curve input modules 10, on which the starting point An or the end point En is provided, and at least one connecting module 11, which connects the two curve input modules 10, as shown in FIGS. This has the advantage that one can also generate different transport route assemblies TMn from the curve input modules 10 with different connection modules 11. For this purpose, the connection module 11 itself may also be subdivided, for example in the form of a plurality of circular segment modules 12, as shown in FIG.
    A circular segment module 12 in the form of a circular arc, for example, clamps an angle a = 45 °. If now the curve input module 10 realizes an angle change of the transport path (seen in the direction of movement) of 22.5 °, then with such curve input modules 10 and circular segment modules 12 with arc angle a = 45 ° both a 90 ° bend (Figure 3), as well as a 180th ° arc (Figure 4) can be realized. A connection module 11 consisting of three circular segment modules 12, which is connected to two curve input modules 10, then results in a 180 ° arc. A connection module 11 consisting of a circular segment module 12 and two curve entry modules 10 connected thereto then produces a 90 ° bend. Of course, other divisions are conceivable. For example, a 90 ° angular or 135 ° angular circular segment module 12 could be provided.
    In this case, it is particularly advantageous if a curve input module 10 realizes an angle change in order to realize a curve from a radius of curvature of infinity (curvature zero) at one end of the curve input module 10 to a radius of curvature R (curvature 1 / R) at the other end of the curve input module 10 , It can be provided that the curvature is increased as steadily as possible from zero to 1 / R, for example by realizing a curve in the form of a spline (for example a polynomial of 5th order). If the curvature changed abruptly, this would mean a jump in the centrifugal acceleration for a transport unit Tx, which is moved along a transport route assembly TMn with a curve input module 10. This would stress the mechanics of the transport unit Tx and / or the guidance of the transport path TSm and increase the wear. From this point of view, it is also advantageous if the curvature at one end of the curve input module 10 and the curvature at one end of the connection module 11, or a circular segment module 12, are the same, since there is no jump in the curvature of the transport path assembly TMn when the curve input module 10 and the connection module 11, or the circular segment module 12, are combined. After the circular segment module 12 preferably realizes an arc of radius R, the curvature at the end of the curve input module 10 is preferably also 1 / R.
    It makes sense to define a straight transport section TMn, where ρΦΟ, q = 0. The length of the straight transport line assembly TMn thus corresponds to the number of grid lengths a between the start point on and end point En.
    Likewise, an S-shaped transport route assembly TMn be defined in the modular system, as shown in Figure 5. The starting point on the S-shaped transport route assembly TMn is, for example, at the origin with p = q = 0 and the end point En is at a grid corner point with p, q40, for example p = 3, q = 1 as in FIG. The S-shaped transport path assembly TMn has at the two ends (starting point and end point En) before preferably a curvature zero, which allows easy connection to another transport route assembly TMn of the modular system. Between the two ends, the curvature changes at least once from positive to negative in order to realize the S-shape. Preferably, the curvature changes again steadily along the transport path assembly TMn to avoid a bend jump. In this case, in turn, two cure veneering modules 10 and a connection module 11 (also in a further subdivision) can be connected to the transport route assembly TMn, as shown in FIG. It is particularly advantageous if the same curve input module 10 as used for the 90 ° or 180 ° assembly. In this case, only a separate connection module 11 for realizing the S-curve is set. The connecting module 11 preferably has two ends with a curvature which corresponds to the curvature of the adjacent curve input module 10, e.g. 1 / R as in Fig.5. The curve formed by the S-shaped transport route assembly TMn can in turn be modeled by means of a suitable spline. Of course, the guide can also change from the outside to the inside due to the S-shaped transport path assembly TMn.
    6 shows an alternative embodiment of an S-shaped transport path assembly TMn, which is formed from two interconnected curve input modules 10. The two ends of these curve input modules 10 preferably each have a zero curvature, which in turn allows easy connection, and the curvature therebetween preferably changes continuously. The end point En of this S-shaped transport path assembly TMn is, for example, at the grid corner point with p = 2, q = 1.
    Of course, each transport line assembly TMn could still be rotated by ± 90 °, which does not change the above general definitions.
    A possible modular system with a selection of transport route assemblies TMn is shown in FIG. In each case the Rastereckpunkt bottom left is considered as origin. On the marking of the starting point to and the end point En is foregone founders of clarity. FIG. 7a shows two straight transport sections TMn with length a and 2a (q = 0, p = 1 and 2, respectively). 7b shows on the left a 90 ° arc with starting point An (or end point En) in the origin at p = q = 0 and end point En (or starting point An) on the grid corner point p = q = 2 and an outside guide. 7b shows on the right a 180 ° arc with starting point An (or end point En) in the origin at p = q = 0 and end point En (or starting point An) on the grid corner point p = 0, q = 2 and an outside guide. FIG. 7c shows a 90 ° bend and a 180 ° bend as in FIG. 7b with an inner guide. 7d shows on the left a 90 ° arc with start point An (or end point En) in the origin at p = q = 0 and end point En (or start point An) on the grid corner point p = q = 3 and an outside guide. 7d shows on the right a 180 ° arc with starting point An (or end point En) in the origin at p = q = 0 and
    End point En (or starting point An) on the grid corner point p = 0, q = 4 and an external guide. Figure 7e shows the same as Figure 7d for an internal guide. FIGS. 7f and 7g show S-shaped transport path assemblies TMn with starting point An (or end point En) in the origin at p = q = 0 and end point En (or starting point An) at the grid corner point with p = 3, q = 1 in Fig.7f and p = 2, q = 1 in Fig.7g. For example, a long-stator linear motor 1 according to FIG. 1 or 2 can be constructed with the transport path assemblies TMn in the modular system.
    For dimensioning the transport route assembly TMn or for determining the grid length a, the following considerations can be made. A transport path assembly TMn carries a number of drive coils 7. The drive coils 7 have a known dimension (length). Thus, the assembly length (length in a straight line, arc length in a circular arc, etc.) of a transport line assembly TMn as possible be an integer multiple of the dimension of the drive coil 7 to avoid too large sections along the transport path assembly TMn without drive coils 7, as at such sections no magnetic field can be established and no force can be exerted on the transport unit Tx. In addition, a radius of curvature R should not be chosen too small, which would make the structure more compact but also increases the centrifugal forces (and thus the mechanical load) when the transport line assembly TMn is traversed at a constant speed. In a concrete implementation, for example, the grid length a = 315mm was defined with a radius of curvature of R = 307.5775mm. On this grid length a have 21 drive coils 7 with length 15mm space. For a circular arc segment 12 with an opening angle a = 45 ° 8 drive coils 7 can be arranged.
    权利要求:
    Claims (13)
    [1]
    claims
    A modular system for configuring a transport line (TSm) of a long stator linear motor (1) consisting of a plurality of transport links assemblies (TMn), each transport link assembly (TMn) having a starting point (An) and an end point (En), characterized in that Modular system a selection of at least two different transport links assemblies (TMn) is provided, wherein the starting point (An) and the end point (En) of each of the at least two different transport links assemblies (TMn) each on a grid corner point (pa) x (qa) of (axa) Rasters with given raster length a, where p, q are integers.
    [2]
    2. Modular system according to claim 1, characterized in that in the modular system, a straight transport section assembly (TMn) with p Φ 0, q = 0 is provided.
    [3]
    3. Modular system according to claim 1, characterized in that in the modular system, a 90 ° Transportstreckenbaugruppe (TMn) with p, q Φ 0, and preferably p = q, is provided for selection.
    [4]
    4. Modular system according to claim 1, characterized in that in the modular system, a 180 ° transport path assembly (TMn) peD, q Φ 0 is provided for selection.
    [5]
    5. Modular system according to claim 1, characterized in that in the modular system, an S-shaped transport path assembly (TMn) with p, q Φ 0 is provided for selection.
    [6]
    6. Modular system according to one of claims 1 to 5, characterized in that in the modular system, a transport line assembly (TMN) is provided, which is provided from two curve input modules (10) on which the starting point (An) or the end point (En), and at least one connection module (11), which connects the two curve input modules (10) is composed.
    [7]
    7. Modular system according to claim 6, characterized in that the radius of curvature (R) in each case one end of the curve input modules (10) is infinite and the other end of the curve input module (10) has a predetermined radius of curvature (R) greater than zero and the connection module (11 ) has the same given radius of curvature (R) at both ends.
    [8]
    8. Modular system according to claim 6 or 7, characterized in that the connection module (11) is composed of a plurality of circular segment modules (12), wherein each circular segment module (12) has the same radius of curvature (R) at both ends.
    [9]
    9. Modular system according to claim 7, characterized in that the connecting module (11) has the same predetermined radius of curvature (R) at both ends with curvatures in different directions.
    [10]
    10. Modular system according to claim 5, characterized in that an S-curve transport route assembly (TMn) from two interconnected curve input modules (10) is composed.
    [11]
    11. Modular system according to claim 10, characterized in that the radius of curvature (R) of one end of the curve input modules (10) is infinite and the other end of the curve input modules (10) has a same predetermined radius of curvature (R) greater than zero with curvatures in different directions having.
    [12]
    12. Transport route of a Langstatorlinearmotors (1) consisting of a plurality of transport links assemblies (TMn), wherein the transport links assemblies (TMN) are connected by juxtaposition to the transport path (TSm) and the transport links assemblies (TMn) taken from the modular system according to one of claims 1 to 11 are.
    [13]
    13. long stator linear motor with at least one transport path (TSm) consisting of a plurality of transport links assemblies (TMn), wherein the transport links assemblies (TMN) are connected by juxtaposition to the transport path (TSm) and the transport links assemblies (TMN) from the modular system according to one of claims 1 to 11 are taken.
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    同族专利:
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    EP3243772B1|2019-09-18|
    CN107352236B|2021-03-23|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50428/2016A|AT518618B1|2016-05-09|2016-05-09|Modular system consisting of a large number of conveyor line assemblies of a long-stator linear motor|ATA50428/2016A| AT518618B1|2016-05-09|2016-05-09|Modular system consisting of a large number of conveyor line assemblies of a long-stator linear motor|
    US15/587,971| US10118775B2|2016-05-09|2017-05-05|Modular system of a plurality of transport line components of a long stator linear motor|
    EP17170074.3A| EP3243772B1|2016-05-09|2017-05-09|Modular system made from a plurality of a transport route assemblies for a linear motor with guideway stator|
    CN201710320715.9A| CN107352236B|2016-05-09|2017-05-09|Long stator linear motor and conveyor line and modular system|
    CA2966707A| CA2966707A1|2016-05-09|2017-05-10|Modular system of a plurality of transport line components of a long stator linear motor|
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