transport system

专利摘要:
The invention relates to a transport system for workpiece carriers (1) along a route, wherein each of a plurality of workpiece carriers (1) itself has a drive and energy storage (15), wherein the drive takes place via a rolling on the guidance of the route drive means, which of a motor (13) of the workpiece carrier (1) is driven, along the path at least one absolute value track (4) for location coding of the track is mounted and each of a plurality of workpiece carriers (1) has an absolute value sensor (20) which the absolute value of the absolute value track (4) reads.
公开号:AT519665A4
申请号:T50128/2017
申请日:2017-02-15
公开日:2018-09-15
发明作者:
申请人:Sticht Tech Gmbh；
IPC主号:

专利说明:

description
The invention relates to a loosely linked transport system for workpiece carriers, the workpiece carriers themselves having drive means.
A workpiece carrier is a device that receives a workpiece to be machined. The workpiece carrier is moved successively to several workstations, which each carry out processing or handling steps on the workpiece. The workpiece carriers are transported by the transport system, whereby loosely linked means that the distance between individual workpiece carriers is variable, or that the workpiece carriers are not necessarily moved on with a fixed, uniform cycle, as is the case with rigid linking.
Transport systems are known in which the drive means are attached in the route. For example, this can be done by moving an endless chain along a path, the workpiece carriers being fastened to fixed positions of this chain and thus being moved synchronously when the chain moves. Furthermore, systems are known in which a plurality of endless conveyor belts or endless toothed belts are used on successive route sections, the passive workpiece carriers being transferred from one route section to the next.
A disadvantage of transport systems with drive means in the route is that a loose link is hardly or not possible to implement and that the individual route sections are relatively expensive.
In addition, it has already been proposed to design the route as the stator of a linear drive and the workpiece carrier as a runner, but this has the disadvantage that the route is again complex and expensive. Another disadvantage is that the stator and thus the entire distance is magnetic, which is particularly the case during machining or during abrasion (e.g. due to the process)
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It is therefore desirable to carry out the route itself without any drive means and thus inexpensively, which can be achieved by the workpiece carriers themselves each having a drive.
compiled
Workpiece carrier
EP0264532 (Al), EP3031334 (Al) and EP0988925 (Al) show rail-bound transport systems for workpiece carriers in which the workpiece carrier has a drive and an energy store. It is advantageous that the route is simple. The only task of the route is to form a guide for the workpiece carriers, like the rail of a train. The route can go through the
Stringing together standard elements, such as straight lines and curves, similar to a train route or a toy train. The exact positioning of the takes place in the workstations
For this purpose, workstations can have position markings which are recognized by the workpiece carrier. The disadvantage of this is that the position markings must be arranged in the route or along the route corresponding to the workstations, which means an additional assembly effort. With these documents, the energy store in the form of a rechargeable battery and / or a capacitor is charged in or immediately in front of the workstations, so that it is problematic to stop the workpiece carrier in the route.
It is also problematic that the loading takes a certain amount of time, so that either the dwell time in the workstations must not be less than a certain minimum time, or a queue of workpiece carriers must be formed in front of each workstation, which increases the number of workpiece carriers.
DE19842738 (Al) shows a rail-bound transport system for workpiece carriers, in which the workpiece carrier has a drive and an energy store, the loading of the
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Energy storage takes place contactlessly by coils, which can be attached along the entire route. The advantage of this is that the workpiece carriers are supplied with energy at any time and at any point along the route so that the transport system is fail-safe. A disadvantage of this transport system, however, is that the precise alignment of the workpiece carrier only takes place in the work station, the workpiece carrier being held in the processing stations and positioned by a positioning unit with respect to the processing tools assigned to the processing stations. In turn, markings in the form of index marks can be made in the route, for example immediately in front of the work stations, in order to inform the workpiece carrier that it has reached a work station. One disadvantage is that the index marks correspond to the
Work stations must be attached, and on the other hand that the exact position of the workpiece carrier in the line cannot be determined at any time, at least not immediately after the system has been started up. This results from the fact that the workpiece carrier or the transport system can only detect the position of one when it passes over a clear one when it reaches a work station. After the first exact position detection of the workpiece carrier in the route, its position can be continuously calculated using the rotary encoder of its servo motor, but the workpiece carrier must first cover a certain distance after start-up if the starting position is unknown. In addition, position detection via the rotary encoder is not too secure, since wear on the drive roller, for example, falsifies the calculation result. In addition, at high accelerations or quickly, the drive roller of the
Workpiece carrier on the guide turns or slips (slides) in an uncontrolled manner, which impairs the exact calculation of the absolute position of the workpiece carrier.
Workpiece carrier index mark or
in particular
decelerations
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The object on which the invention is based is to provide a fail-safe, rail-bound, loosely linked transport system for self-propelled workpiece carriers, which permits rapid and exact position determination of each workpiece carrier in the route.
Another task is to provide a rail-bound, loosely linked transport system for self-propelled workpiece carriers with high flexibility, with regard to the maximum weight of the transported workpieces, with regard to operational safety and occupational safety at manual workplaces, with regard to transport speed and acceleration and with regard to route design.
To solve the problem, a rail-bound transport system with a track for workpiece carriers is proposed, in which the workpiece carriers have drive and energy storage, the drive being carried out by a drive means rolling on a guide of the route, according to the invention along the route or along each route element an absolute value track is attached to the route so that the absolute positions of the workpiece carriers can be detected at any time via absolute value sensors.
This means that the workpiece carrier and the route or route element together form an absolute encoder, which means that each workpiece carrier can determine its exact position along the route at any time and transmit it to the control system of the transport system. This can advantageously also take place immediately after the system has been started up and the workpiece carrier has come to a standstill. It is also advantageous that no markings or signal transmitters have to be attached in the workstations in order to be able to stop workpiece carriers at exact positions. Workstations can be positioned anywhere along the route, whereby the control system or the workpiece holder only has to be informed of the unique value of the absolute value track at which the workpiece holder has to stop. Building, realigning,
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Extending and changing production lines is therefore particularly easy to implement, since only the stored stop positions along the route need to be entered, changed or supplemented.
The energy is advantageously transferred to the workpiece carriers along the entire route, so that each workpiece carrier in the route is immediately supplied with energy when the system is started up. The energy transfer is preferably carried out without contact, for example by inductive coupling. For example, the Qi standard can be used. Communication between the workpiece carrier and the control system can take place via the device for energy transmission, for example as is the case with the Qi standard.
Each workpiece carrier has a motor and a drive means which rolls on the guidance of the route. The motor is preferably designed as a servo motor or as a stepper motor. When braking, electrical energy is preferably fed back from the motor brake into the energy store. The motor brake or an additional brake for the drive roller preferably locks in the event of a power failure, or if there is no energy supply from the transmission modules, or no communication with the control system is possible in order to prevent unwanted or uncontrolled movement of the workpiece carriers.
The workpiece carrier also has at least one receiving module, for example in the form of a coil, as a receiver of the transmitted energy and at least one sensor for reading out the values of the absolute value track. In addition, the workpiece carrier has at least one energy store, preferably in the form of at least one capacitor, since this can be charged particularly quickly and the stored amount of energy can be released again particularly quickly. The workpiece carrier can have further sensors, such as distance or proximity sensors on its front and possibly rear side in the direction of transport, in order to avoid collisions with other workpiece carriers or
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Avoid foreign bodies. The drive means is preferably at least one roller or at least one wheel, in particular a friction roller or a friction wheel, which runs on a flat surface of the route. As a result, no more complex longitudinal gearing along the route is required, as would be the case with gear drives.
The route is preferably composed of standardized route elements. Each section element has a guide for the workpiece carriers along its length, an absolute value track and a device for energy transmission, for example one or more coils. The individual route elements preferably each have their own power supply, so that these can be switched on and off individually by the control system, or can optionally be supplied with current. The absolute value tracks can be designed identically for each route element, which has the advantage that the width or the number of codes or tracks of the absolute value track can be smaller than if clear coding were provided over the entire length of the route. Furthermore, the sequence of the code values of all the absolute value tracks can be identical, as a result of which only one type of absolute value track, for example a track encoded with standard gray code, is required, that is to say that a large number of pieces can be produced or purchased.
to know which one
In order to determine which workpiece carrier is on which route element during commissioning, the control system can switch on one route element at a time. Is a one just turned on
Track element, if this is supplied with energy, then detects the value of the absolute value track on the track element and sends this code information to the control system. Control system can be a workpiece carrier
Assign absolute position on the specific route element.
Each workpiece carrier advantageously has a unique one
Identifier, for example, the serial number of his engine or
Power supply to workpiece pallets or
on
The the
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Servo controller, which it sends to the control system together with the absolute position or the current value of the absolute value track. As a result, the workpiece carriers and their positions can be clearly identified by the control system, so that it can send individual control instructions to each workpiece carrier.
During operation, the control system can already determine the route element on which route element a workpiece carrier is located anyway if the sequence of the route elements is known, since this inevitably continues on the subsequent route element when leaving a route element.
If the data transfer between the workpiece carrier and control system takes place via the route elements, for example via the coils for energy transmission, the control system can also assign the workpiece carriers directly to the respective route element if the control system has its own data connection to each route element, or each route element to the signals or adds a unique identifier, for example in the form of a modulation or a code, to the data of the workpiece carrier.
The route elements are preferably selected from the following elements: straight lines, curves, switches, turntables, turnstiles (straight or with curve), turning loops, incline or slope, turns.
The workpiece carrier is preferably moved laterally along the track elements and not on or above it, as is the case with trains, for example. The drive, its control board, the device for energy transmission and the position sensor and the suspension of the workpiece carrier are preferably located on one side, to the side of the track element. This allows route elements to be positioned back to back in order to be able to implement two-lane route sections. In this case, curve elements have inner curves with a smaller radius and outer curves with
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In the case of two-lane route sections, one track can preferably be used for transporting the workpiece carrier there and the second track for the return transport of the workpiece carrier, a reversing loop being located at the end of the two-lane route section, which guides the workpiece carrier along an outer curve from the first track to the second track. In this case, the workpiece must not protrude from the rear of a section of track.
The invention is illustrated by means of drawings:
Fig. 1: shows schematically an inventive transport system in a production or assembly line.
2 shows schematically the absolute value traces of two route elements according to the invention.
Fig. 3: shows schematically the absolute value traces and
Transmission modules of route elements according to the invention.
Fig. 4: shows schematically the absolute value track and
Transmission modules of a preferred route element according to the invention.
5: shows in section the profile of a single-track route element according to the invention, to which a workpiece carrier according to the invention is fastened.
Fig. 6: shows in section the profile of a two-track route element according to the invention to which two workpiece carriers according to the invention are attached.
Fig. 7: shows the perspective of the invention
Guide profile.
Fig. 8: shows a serial combination of workpiece carriers.
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Fig. 9: shows a serial combination of workpiece carriers in a curve of the route.
Fig. 10: shows a serial and parallel combination of four workpiece carriers.
Fig. 11: shows a serial and parallel combination of four workpiece carriers in a curve of the route.
Fig. 12: shows a composite of a workpiece carrier with a servo motor and a workpiece carrier with a stepper motor with an illustration of the deactivation of the servo drive.
FIG. T3: Shows an inventive single track straight Section element. FIG. T4: Shows an inventive two-lane straight Section element. FIG. T5: shows an inner curve element according to the invention. FIG. T6: shows an outer curve element according to the invention. FIG. T7: shows an inventive reversible loop element. FIG. T8: shows rotary elements according to the invention. FIG. T9: shows Transport elements according to the invention to the
Moving route elements.
20: shows a lifting element according to the invention.
21: shows swivel elements according to the invention.
22: shows an exemplary route according to the invention with
Connection of a laser welding cell.
23: shows an exemplary route according to the invention with route elements according to the invention for changing the
Transport plane.
24: shows a scissor lift table constructed with workpiece carriers according to the invention.
25: shows a movement platform constructed with workpiece carriers according to the invention.
Fig. 26: shows schematically a manual work station with a transport system according to the invention.
Fig. 27: shows schematically a transport system according to the invention for manual workplaces in a sectional view.
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28: shows schematically a transport system according to the invention for manual workplaces in a view perpendicular to the transport plane.
for example composed
workstations
In Fig. 1, a transport system according to the invention is schematically illustrated in a production line. The transport system has self-propelled workpiece carriers 1, which can travel along the route at any distance from one another and at different speeds, the path being composed of a plurality of route elements 2, as shown, consisting of two straight lines and an outer curve. Along the route there are 3, which are used as processing stations or
Handling stations can be carried out and carry out work steps on the workpiece. Each route element 2 points in its longitudinal direction, that is, along the transport direction
Production line, an absolute value track 4, which has a unique value or code value, in particular a digital value, for example a dual code or Gray code, at each location along the route element 2. There is a sensor on each workpiece carrier 1 for detecting the code value, as a result of which the absolute position of each workpiece carrier 1 on the respective track element 2 can be continuously detected. The workpiece carriers 1 communicate their absolute position to a control system 5. The control system 5 sends control commands to the workpiece carriers 1, in particular at which absolute value or at which absolute values within a distance element 2 the workpiece carrier 1 has to stop for processing by work stations 3. Since the workpiece carrier 1 can be stopped exactly at any position along the route element 2, the
workstations
Track elements are located at any position along the. When setting up the production line, it is only necessary to save 3 absolute values to the workstations, which the sensor of the
Workpiece carrier 1 in the respective processing position
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The absolute value band can advantageously be attached to curve elements without any problems, so that the absolute positions of the workpiece carriers 1 are also detected at all times in the curves of the production line, so that workstations 3 can also be arranged in the area of the curves.
Since movements with the workpiece carriers 1 through the absolute value track 4 on the one hand and the servo controller or the stepper motor control of the workpiece carriers 1 on the other hand can be carried out and checked or documented very precisely, the workpiece carrier 1 can also be moved during processing by a workstation 3, for example The tool or the gripper of the work station 3 and the workpiece holder 1 can be moved synchronously, so that stopping the workpiece holder 1 in the work area of the work station 3 can be dispensed with entirely. Since the direction of movement of the workpiece carriers 1 is reversible, they could also be cyclically moved back and forth between two or more work stations 3.
In Fig. 2, the two straight track elements 2 of Fig. 1 are shown schematically from the direction of view of the workstations 3 by way of example. Each track element 2 has an absolute value track 4, which is shown in FIG. 4 as a 5-bit standard Gray code. The absolute value tracks 4 of all track elements 2 can be made identical. Within each track element 2, each discrete position along the absolute value track 4 has a unique, ie unambiguous, code value, so that the absolute positions of all workpiece carriers 1 are known at all times. The workpiece carrier 1, whose direction of movement is illustrated by an arrow, gets
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Because of the known code sequence from the currently measured
Absolute value of the workpiece carrier 1, the distance to the next stop point can be calculated at any time, the braking process of the workpiece carrier 1 can be started at the correct or the latest possible time. Should the workpiece carrier 1, for example, by blocking its
If the drive wheel (i.e. if the workpiece carrier 1 slips uncontrollably) beyond the stop point, it can be moved back to the stop point by reversing the direction of its servo or stepper motor.
It is advantageous if the length of the route elements 2 is selected such that each position on the route element 2 has an individual code value. Of course, however, it is also possible to attach a plurality of successive identical or different absolute value tracks 4 to a route element 2, as illustrated in FIG. 3. In this case, the unambiguous position detection of the workpiece carrier 1 after a power failure can be effected by the fact that the energy supply on the track element 2 can be switched on and off in a subdivided manner in accordance with the absolute value tracks 4 or in finer intermediate steps. The unambiguous position detection of the workpiece carrier 1 can, however, also take place in that the communication of the workpiece carrier 1 with communication modules on the route takes place in accordance with the absolute value tracks 4, or in finer intermediate steps. It can be seen from the control system 5 with which communication module the workpiece carrier 1 is currently communicating. The control system 5 communicates with the workpiece carriers 1 and / or the route elements 2 or their transmission modules 6, preferably using a fieldbus system, preferably a CAN bus, in order to keep the wiring effort low.
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The energy supply and / or data transmission takes place via transmission modules 6, for example in the form of coils. The transmission modules 6 can be used for energy and data transmission by modulating the transmitted energy so that it transports information. The data transmission can also take place independently of the energy supply according to the principle of near field communication or RFID technology. Communication between the workpiece carriers 1 and the control system 5 can also take place completely independently of the route elements 2, for example by radio. If the transmission modules 6 only transmit energy, the control system 5 can supply each transmission module 6 individually, for example in sequence, when the route element 2 in FIG. 3 is started up. If a workpiece carrier 1 is located, for example, at position 11101 of the first absolute value track 4, when the second transmission module 6 is switched on, this workpiece carrier 1 delivers a signal to the control system 5 which contains this position information and preferably a unique identification identifier of the workpiece carrier 1. Since the third and fourth transmission modules 6 of the route element 2 do not yet transmit any energy at this time, it can be ruled out that the workpiece carrier 1 is located at position 11101 of the second or third absolute value track 4. As illustrated in FIG. 3, absolute value tracks 4 with different spatial resolution can be used, i.e. with different expansion of the codes in the direction of transport, for example in order to be able to position them particularly precisely in the area of workstations 3 and in areas that purely for returning empty workpiece carriers 1 to The beginning of the production line is used to provide cheaper line elements 2 with a coarse spatial resolution.
Successive track elements 2 can have the same code values for their absolute value tracks 4, but this does not mean that the absolute value tracks 4 must be identical. So
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If, for example, a two-meter long code tape is used as the basis for the production of the absolute value tracks 4 and the track element length is, for example, 360 mm, then the absolute value track 4 for the track element 2 can be cut at any position on the two meter long code tape.
In addition, the order of the code values of the absolute value tracks 4 of route elements 2 can be different, for example a route element 2 can have a standard gray code (binary-reflected gray code) and another route element 2 can have a dual code, or another gray code, so that route elements 2 or the type of Line elements 2 can be distinguished on the basis of their code sequence.
Different types of route elements 2 preferably have absolute value tracks 4 with different code sequences, the code sequences of the control system 5 being known. With different types of track elements 2, the length of the absolute value tracks 4 can also be different, as is the case with inner and outer curve elements. As a result, after the route has been set up, the route can be entered by traversing with a workpiece carrier 1, since the sequence of the different code sequences results in the arrangement of the route elements 2. When moving off for the first time, the workpiece carrier 1 sends the recorded absolute values in sequence to the control system 5, which stores this code sequence. If there are track elements 2 with absolute value tracks 4 with an identical code sequence, their position can be determined by the following two variants.
Insofar as the control system 5 can determine from which signals of the transmission modules 6
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Track element 2 of the workpiece carrier 1 is being moved, the position in which the signal changes between the track elements 2, the position of each individual track element 2 in the course of the route can be derived. Should the control system 5 only be able to switch the power supply to the route elements 2 individually, the route can be read in that at the end of a route element 2, the remaining ones are always supplied with power one by one until the workpiece carrier 1 continues to move. Of course, the arrangement of the route elements 2 can also be stored in the form of a system plan or by programming in the control system 5 before, during or after the establishment of the route, without driving the route, with each absolute value track of the route elements 2 used also having the known code sequence Code sequence of the entire route is already known.
4 shows a preferred embodiment variant of a route element 2 which has an absolute value track 4 and two rows of transmission modules 6 in the form of coils for energy transmission and preferably also for data transmission. The end of the previous route element 2 is shown on the left edge of the picture. The two rows of transmission modules 6 are arranged offset from one another. The workpiece carrier 1 illustrated in dashed lines in FIG. 4 has two receiver modules 7, which are arranged one below the other corresponding to the two rows of the transmission modules 6 of the track elements 2, so that at least one of the receiver modules 7 is always one of the transmission modules 6 in the transmission area.
The outermost transmission module 6 of a row is preferably located in the butt area of the guides of the successive track elements 2. This ensures that even workpiece carriers 1, which come to a standstill exactly in the butt area of two track elements 2, with energy and preferably at the same time when the transmission modules 6 are switched on
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Information is supplied. If there is a gap in the joint area between the two track elements 2 or in the joint area between two absolute value tracks 4, the position of which is therefore not coded in absolute value, it can happen that a workpiece carrier 1 comes to a standstill in this position in the event of a power failure. When starting up again, the position of the workpiece carrier 1 can still be recognized, provided that it can be seen from the signal of the absolute value sensor 20 of the workpiece carrier 1 that it is directed towards the gap (for example, an error signal could be given). However, if the gap should be read as 111111 or 000000, then this value should not be included in the code values of the absolute value tracks 4. Since the workpiece carrier 1 at the position of the gap is nevertheless supplied with energy and possibly also with information by at least one of the adjacent track elements 2, its position can be recognized without the workpiece carrier 1 moving, when the transmission modules 6 are switched on in succession. Each workpiece carrier 1 can also be equipped with two or more absolute value sensors 20 spaced apart from one another in the transport direction. In the case of absolute value tracks 4, each with individual code sequences, the absolute position within the entire distance could be obtained by stringing together the code values determined by the two or more absolute value sensors 20 spaced apart from one another in the transport direction. In addition, a second code track with a constant value can be attached parallel to the respective absolute value track 4, which is used for coding the location position within the route element 2, the constant value of route element 2 increasing
Track element 2 is different.
5 shows a section through a preferred stretch element 2, with a workpiece carrier 1 attached to it. The stretch element 2 has a running surface 8, against which the drive roller 9 or the rotating drive means of the workpiece carrier 1 abuts.
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The route element 2 also has guide surfaces 10, on which guide rollers 11 or guide wheels of the workpiece carrier 1 rest. The workpiece carrier 1 is thus supported on the track element 2 by the drive roller 9 and by the guide rollers 11. The tread 8 and a guide surface 10 are preferably aligned parallel to one another, the drive roller 9 and at least one guide roller 11 abutting the tread 8 and the guide surface 10 from opposite sides. In addition, there are preferably a second and a third guide surface 10 which are parallel to one another and are oriented at an angle of 90 ° to the running surface 8 and to the first guide surface 10. The workpiece carrier 1 preferably has at least one second and third guide roller 11, which bear against the second and third guide surface 10 from opposite sides.
The workpiece carrier 1 has a drive element 12 in which the drive roller 9 is mounted. A motor 13, a control board 14 and an energy store 15 are located on the drive element 12. Between the drive roller 9 and the motor 13 there can be a gear, preferably the drive roller is directly connected to the motor shaft or fastened to it. The workpiece carrier 1 also has a guide element 16, which is preferably releasably connected to the drive element 12 via a connecting element 17.
By loosening the connection between the drive element 12 and the guide element 16, the workpiece carrier 1 can be removed from the route element 2, for example in order to be able to remove defective workpiece carriers 1 at any position on the route. Complete workpiece carriers 1 can be inserted into the line at open ends or removed from the line at open ends.
The guide rollers 11 are mounted in the guide element 16, these being passive, that is to say they are designed without a drive. The workpiece holder 1 has a connection element 18, which serves to mount a mounting plate 19 or the like
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Fasten the fixture for the workpiece to the workpiece carrier 1. The workpiece carrier 1 also has one
Absolute value sensor with which the code value of the
Absolute value track 4 of the route element 2 is read and the energy of route element 2 and the or the fasten, there is at least one receiver module 7, which receives at least one transmission module 6 of the. The absolute value sensor 20
Receiver modules 7 are preferably provided on the drive element 12 of the workpiece carrier 1. The guide element 16 can thus be implemented without electronic components and electrical lines. It is of course possible to provide a conductive connection from the receiver module 7 or from the energy store 15 to the guide element 16 and subsequently to the mounting plate 19, for example in order to supply actuators on or on the mounting plate 19 with energy and / or information. For example, a rotary axis can be provided in the mounting plate 19 so that the workpiece can be rotated on the workpiece carrier 1. With the rotary axis, so-called “pushing over” can advantageously be provided in curves of the path, that is to say rotating the workpiece, with the effect that its spatial orientation is maintained in the curve. In addition, sensors, operating elements, display elements, switches, cameras and other electrical components can be on the workpiece carrier 1 or on the mounting plate 19 or the transported component itself and during transport via the
Workpiece carriers 1 are supplied with energy.
The stretch element 2 has a base element 21 which is mounted on a base plate 22 at an angle of preferably 90 °. The base element 21 has on its side facing the workpiece carrier 1 the absolute value track 4 and a guide profile on which the running surface 8 and the guide surfaces 10 are provided. The guide profile is preferably detachably mounted on the end of the base element 21 remote from the base plate 22. In addition, at least one transmission module 6 is attached to the base element 21. The
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Base element 21 is preferably designed on its rear side 23 such that two stretch elements 2 can be fastened with their rear sides 23 lying against one another on base plate 22, as shown in FIG. 6.
If only one track element 2 is mounted as shown in FIG. 5, a mounting bracket (not shown) can be fastened on the rear side 23 for support on the base plate 22.
Claddings 24 and 25 are preferably attached to the stretch element 2, a lateral cladding 24 being provided parallel to the base element 21, and an upper cladding 25 being provided at the end of the stretch element 2 remote from the base plate 22. The workpiece carrier 1 is located in the space which is formed between the side covering 24 and the base element 21, this space being bounded at the bottom by the base plate 22 and at the top by the upper covering 25. As shown in Fig. 5, only the mounting plate 19, or a mounting element for this protrudes from a lateral gap between the side panel 24 and the top panel 25. As a result, the workpiece carrier 1 and its guides are very well protected against contamination and the penetration of foreign bodies. The transport system according to the invention can be designed as a so-called encapsulated system.
As shown, the guide profile has a base leg 26 protruding from the base element 21 at an angle of 90 °, on whose side facing away from the base plate 22 there is a first guide surface 10 for a first guide roller 11 of the guide element 16. At the end of the base leg 26 facing away from the base element 21, another leg 27 adjoins at an angle of 90 ° in the direction of the base plate 22. The tread 8 for the drive roller 9 is located on the side of the further leg 27 facing the base element 21. On the side of the further leg 27 facing away from the base element 21
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In the direction of the end of the base element 21 facing away from the base plate 22 lies at a distance from the base leg 26 and
parallel to this an additional leg 28 in front, On whose the base leg 26 facing Side one third Guide surface 10 For a third leadership 11 of Guide element 16 lies. The driving role 9 the Absolute sensor 20 that
Absolute value track 4 and the receiver modules 7 are located in the space which is defined between the base leg 26, the base element 21, the base plate 22 and an imaginary extension of the further leg 27 in the direction of the base plate 22. As a result, in particular the absolute value track 4 is protected against contamination. The base plate 22 can be aligned in any spatial direction, that is, as shown, horizontally with the base element 21 protruding upwards, or also horizontally with the base element 21 protruding downwards, or vertically or at any angle in between. The absolute value sensor 20 of the workpiece carrier 1 is preferably designed as an optical sensor, which detects, for example, light-dark differences in the absolute value track 4. For this purpose, the absolute value sensor 20 preferably has a light source, the light of which is reflected back from the absolute value track 4 to the absolute value sensor 20. The absolute value sensor 20 has, for example, ten photosensors for reading out a ten-digit absolute value track 4, which therefore contains ten parallel tracks or lines. The number of tracks or lines of the absolute value track 4 depends on the required spatial resolution and the length of an absolute value track 4.
A linear scale with at least one nonius track can preferably be used as the absolute value track, wherein the calculation of the absolute position can preferably be carried out on the basis of a 2 or 3-track vernier calculation.
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An absolute value track 4 can preferably be used with a number of three tracks, which exist as an incremental track and two vernier tracks. The workpiece carriers 1 have corresponding optical or magnetic sensors for reading the vernier tracks. For example, the vernier band can be in the form of a web band (with three incremental traces that are mutually phase-offset) made of ferromagnetic steel and can be scanned with three magnetoresistive sensors.
The absolute value track 4 of the individual track elements 2 is preferably cut from a (vernier) absolute value band with a length of 2,350 mm and a resolution of 22 bits, which means a spatial resolution of approximately 0.56 pm. If the entire (vernier) absolute value band is used as a single absolute value track 4, this could thus have a length of max. There are 2,350 mm along the route. However, the absolute value track 4 is preferably cut according to the grid spacing or according to the length of route elements 2.
An absolute value track 4 with a length of 360 mm (preferred grid spacing R) preferably has a number of approximately 2 ^Λ 20 unique position values.
The spatial resolution of the absolute value track 4 is preferably between 0.2 and 1 pm, particularly preferably between 0.3 and 0.6 pm. In the case of route elements 2 without workstations 3, the spatial resolution can also be chosen to be significantly coarser.
The achievable positioning accuracy of the workpiece carrier 1 is due to a reserve for the control, security and tolerances above the spatial resolution of the absolute value track 4 and can be provided with about 10 pm. The positioning accuracy is preferably between 1 mp and 50 pm, particularly preferably between 5 pm and 20 pm.
Based on the rotary encoder of the servo motor, or the step-by-step control of the stepper motor, the calculated extent of a movement can be calculated with a known diameter of the drive roller 9 due to the rotary movement of the motor 13. Since that
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S 2815 actual extent of each movement of the workpiece carrier 1 can also be determined on the basis of the absolute value track 4, the computational extent and the actual extent of a movement can be compared. This is preferably used to detect wear of the drive roller 9, since wear causes a gradual deterioration in the match. The slipping or blocking of the drive roller 9 can be detected on the basis of one-off deviations in the arithmetic movement and the actual extent of the movement. In this way, positive and negative maximum acceleration for each workpiece carrier 1 can advantageously be determined as a function of the transported weight.
A servomotor with a high torque is preferably used without a gear, with the advantage that there can be no gear fault or gear backlash. Furthermore, the servo motor has an absolute or incremental encoder and optionally an included brake.
A stepper motor with a precisely defined torque curve, without gear, without encoder and optionally with included brake is preferred.
Preferably at least one capacitor or supercapacitor (SuperCap) with a size is used as the energy store 15, which has the required peaks by e.g. Intercepts acceleration and deceleration phases of a movement.
The drive roller 9 preferably has a diameter of 10 to 20 mm. The diameter of the drive roller 9 is selected in order to set a required or permissible maximum speed depending on the motor used.
The workpiece carrier 1 without the mounting plate 19 preferably has dimensions of 50 × 50 mm, as seen from above (perpendicular to the transport plane). The workpiece holder 1 has the lowest possible dead weight of preferably a maximum of 1.5 kg.
6 shows two mirror elements 2 opposite each other in mirror image, each with a workpiece carrier 1
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S 2815 shown. Since the transport of each workpiece carrier 1 can take place in both directions of the route by changing the direction of rotation of its motor 13, the two workpiece carriers 1 can either be transported in the same direction of the route or opposite to one another. As a result, two or more workpiece carriers 1, controlled by the absolute value encoders consisting of absolute value track 4 and absolute value sensor 20, can be moved synchronously with one another along the route. This makes it possible to move a composite of workpiece carriers 1 through the path, wherein the workpiece carriers 1 can advantageously be connected by common mounting plates 19. As a result, the weight of the workpiece and its assembly platform can be divided between several workpiece carriers 1.
Are the workpiece carriers 1, for example, each for the transport of max. 5 kg payload, the combination of two workpiece carriers 1 can move a payload of approx. 10-25 kg. When four workpiece carriers 1 are connected, for example, higher payloads can also be transported. Workpiece carriers 1 can be connected in series or parallel in the transport direction.
In Fig. 7 the guide profile of the track elements 2 in interaction with the drive roller 9 and the guide rollers 11 of a workpiece carrier 1 is shown in detail. As shown in FIG. 7, there is preferably in each case a horizontal and a vertical pair of guide rollers 11, which bear against the same guide surface 10 of the guide profile at a distance from one another in the transport direction. The guide rollers 11, which abuts the underside of the additional leg 28, is located in the transport direction, between the horizontal pair of guide rollers 11, which abuts the top of the base leg 26. The drive roller 9, which rests on the back of the further leg 27, is located between the vertical pair of guide rollers, as seen in the transport direction
11, the one at which
Front of the further leg 27 abuts. Form thereby
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S 2815 each have three rollers resting on opposite surfaces, a three-point bearing with respect to the plane of these surfaces. The drive roller 9 is preferably pressed against the running surface 8 by a force, preferably by spring action, for this purpose either the drive roller 9 or the opposite guide rollers 11 being provided with a spring or a pressing element. The horizontal guide rollers 11 can also be pressed against the guide surfaces 10 by a force, preferably spring action, in that at least one of the horizontal guide rollers 11 is provided with a spring or a pressing element. The rollers lying on opposite surfaces are movable with and against the spring force or with or against the force of the pressing element, so that the distance between the rollers lying on opposite surfaces can be changed, so that changes in distance between the opposite rollers, for example due to a curve of the base leg 26 and / or the further leg 27 can be compensated.
As shown in FIG. 7, the guide profile is provided with claddings which form the guide surfaces 10 and the running surface 8. The claddings and the guide and drive rollers are preferably made of hardened steel. In the case of steel rolls coated with plastic, it has been found that these, with the high accelerations achievable with the servomotors, do not withstand the loads, with the result that the plastic casing is peeled off the steel rolls. Contrary to expectations, it was found that even the hardened steel rollers achieve enough friction to prevent the workpiece carriers 1 from slipping or sliding. Should this nevertheless occur, the extent of the positional deviation that is caused thereby becomes immediately visible in the signal of the absolute value sensor 20. In order to achieve a smooth transition between the claddings, these can be designed obliquely on the abutting edge in the direction of transport, the successive route elements 2 being the
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Plating of a track element 2 with their oblique abutting edges can protrude somewhat into the other track element 2. The additional leg 28 can be designed entirely as a plating as shown.
8-11 show two exemplary composite variants of workpiece carriers 1. 8 and 9 show the serial connection of two workpiece carriers 1 on a single-track route element 2 from the viewing direction perpendicular to the legs 26, 28. A connecting part 29 connects the two
Workpiece carrier 1 so that they are mechanically connected. The connection elements 18 are preferably cylindrical in shape and are mounted rotatably about their axis in the connecting part 29 or in the guide element 16, so that the serial connection, as shown in FIG. 9, can also pass curves of the route. The connection elements 18 are preferably rigidly connected to the guide element 16 and project into recesses in the connecting part 29.
10 and 11, a composite of four workpiece carriers 1 is shown, wherein two serially connected workpiece carriers 1 are connected in parallel. The parallel connection of the workpiece carriers 1 requires a two-lane stretch of two stretch elements 2, which are placed against one another with their rear sides 23. The connecting part 29 extends over the rear sides 23 and connects the workpiece carriers 1 of the two track elements 2. The two-track route therefore represents a single-track route for workpiece carriers 1 connected in parallel. As shown in FIG. 11, the combination of four workpiece carriers 1 can also curve happen when the connecting elements 18 of the workpiece carrier 1 are connected to the connecting part 29 so as to be rotatable about their axis.
If a section only has straight section elements 2, the connection of the workpiece carriers 1 can be rigid, that is to say without the connecting part 29 being able to move around the connecting element 18, it being possible for any number of workpiece carriers 1 to be connected in series. To connect more than two workpiece carriers 1 in parallel, could be parallel
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S 2815 and spaced apart from the straight two-lane route section, another route element 2 can be attached.
If the route has curves in the transport plane, the connecting parts 29 require mobility in the transport plane. If there is a transition element in the route in the form of an incline or a curve from a first transport level to a second transport level, then the connecting parts 29 should also have a mobility normal to the transport level. The plane on which the guide surface 10 of the base leg 26 lies or a plane lying parallel thereto can be regarded as the transport plane.
The workpiece carriers 1 can be connected by means of chain links, the chain links advantageously transmitting tensile and shear forces between the workpiece carriers 1, so that the forward movement can take place independently of the first link set or of the workpiece carrier 1 of the first link set.
In a particularly preferred embodiment variant of a workpiece carrier assembly, it is provided that in the workpiece carrier assembly at least one workpiece carrier 1 with stepper motor, i.e. a stepper motor workpiece carrier 30, and at least one workpiece carrier 1 with servo motor, i.e. a servomotor workpiece carrier 31, are provided, as in the perspective view Illustrated lower right in Fig. 12.
The advantage of this is that the workpiece carrier assembly in areas with automatic processing by workstations 3 can be accelerated very quickly by the servo motor and can be transported at high top speed.
Depending on health and safety regulations, however, the transport of a workpiece carrier 1 with servo drive in manual work areas may not be permitted, or such operation in manual work areas is associated with an increased risk of injury.
In the case of a workpiece carrier assembly with a stepper motor workpiece carrier 30 and a servomotor workpiece carrier 31, the servo drive in
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Manual work areas are inactivated, and the workpiece carrier assembly can be transported by the stepper motor in the manual work area alone. The workpiece carrier 1 with servo drive is preferably deactivated by mechanical decoupling of its drive roller 9 from the running surface 8. For this purpose, a lifting bar 32 is preferably attached to the track elements 2 in the manual work area on the further leg 27 next to the running surface 8, which drive roller 9 of the servomotor workpiece carriers 31 lifts off, but not the drive roller 9 of stepper motor workpiece carriers 30. Corresponding lifting bar 32 can be attached both to straight track elements 2 and to curve elements. The drive element 12 of servo motor workpiece carriers 31 and stepper motor workpiece carriers 30 is preferably identical except for a lifting roller 33. The lifting roller 33 is used in the case of servo motor workpiece carriers 31 and not in the case of stepper motor workpiece carriers 30, the lifting roller 33 being mounted in the drive element 12 in a freely rotatable manner, that is to say without being coupled to the drive shaft of the servo motor. The distance between the lifting roller 33 and the lifting bar 32 is somewhat less than the distance between the drive roller 9 and the running surface 8.
If a lifting bar 32 is mounted on the further leg 27, the lifting roller 33 bears against this and presses the drive element 12 somewhat away from the further leg 27, so that the driving roller 9 has no contact with the tread 8, as shown at the top left in FIG. 12 , This mechanical decoupling ensures that even in the event of an unintentional or fault-induced starting of the servo motor, there is no movement of the servo motor workpiece carrier 31. Simple structural relationships result if the lifting roller 33 is mounted on the shaft of the drive roller 8 in a freely rotatable manner and has a somewhat larger diameter than the drive roller 9.
As shown at the top right in FIG. 12, no lifting roller 33 is inserted in the stepper motor workpiece carrier 30, which means that
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In the presence of the lifting bar 32, the drive roller 9 is still in contact with the tread 8. The running surface 8 and the surface of the lifting bar 32 are preferably flush with the surface. The tread 8 is advantageously provided on a cladding which has the same thickness as the lifting bar 32, as shown in FIG. The drive roller 8 can advantageously protrude the cladding of the tread 8 somewhat in the direction of the lifting bar 32, so that it is ensured that the lifting roller 33 cannot come into contact with the tread 8, which would result in an unintentional lifting of the drive roller.
At the bottom left in FIG. 12, the servomotor workpiece carrier 31 is shown in route areas without a lifting bar 32. Due to the lack of the lifting bar 32, there is a groove in the further leg 26 between the running surface 8 and the base leg 26, the lifting roller 33 of the servomotor workpiece carrier 31 projecting somewhat into this groove, but having no contact with the groove surfaces. As a result, the drive roller 9 is in contact with the
Tread 8 and rolls on this when driven by the servo motor.
In the event that the servomotor workpiece carrier 31 is not present in conjunction with a stepper motor workpiece carrier 30, this can also be moved manually through the manual work area, since the lifting roller 33 does not oppose any significant force to the movement. In this case, too, the position of the servo motor workpiece holder 31 can and is determined at any time due to the absolute value track 4.
Some possible route elements 2 are explained below with reference to FIGS. 13 to 24.
Straight elements 34 are shown in FIGS. 13 and 14. In
15 is a Inner curve element 35 and in FIG. 16 on Outer curve element 36 shown. In FIG. 17 is on Reversing loop element 37 shown and in the FIG. 18 are
Rotating elements 38 shown.
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19 shows transport elements 39, 40 in the form of a longitudinal transport element 39 and a transverse transport element 40. 20 shows a lifting element 41. 21 pivot elements 42 are shown. In Fig. 23 spiral, curve and slope elements for changing the position or orientation of the transport plane are illustrated.
13 shows a straight element 34, which has a straight base element 21 when viewed in the transport direction. A straight separate guide profile 43 is mounted on the base element 21. The base element 21 is mounted on a base plate 22 and is designed in duplicate, so that at the end remote from the base plate 22 two separate guide profiles 43 can be mounted with their rear sides lying against one another.
14 shows a track element 2 with two straight elements 34, which are formed by two separate guide profiles 43, which are fastened with their rear sides to one another on the base plate 22, in order to form a two-track section. FIGS. 13 and 14 also show a preferred substructure 44 for track elements 2, which consists of two or more uprights, which are supported by height-adjustable feet 45. The individual height adjustment of the preferably four height-adjustable feet 45 enables the route elements 2 to be precisely aligned with respect to the transport plane. FIG. 13 also shows a workpiece carrier 1 which conveys a workpiece shown as a rectangle mounted on a mounting plate 19. The workpiece is preferably a component group which is assembled in the production system, parts being inserted, manipulated and / or joined, for example glued, screwed or welded, manually or in the workstations 3. The transport system according to the invention can thus preferably be used in assembly lines for component groups with a weight of less than 100 kg, preferably less than 50 kg, particularly preferably less than 10 kg. Component groups of less than 5 kg are particularly preferably transported, so that they can be transported with only
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S 2815 a workpiece carrier 1 according to the invention can be transported. 13 further shows the connection of an upright 46 to the single-track route element 2, which is fastened laterally on the base plate 22 and secondly on a mounting element laterally on the base element 21, for example with a tongue and groove connection. The upright 46 can be used, for example, to connect a work station 3 to the route or to fix the route element 2 and a work station 3 at a fixed distance from one another.
15 shows an inner curve element 35 which has a base element 21 which is curved in the form of a segment of a circle when viewed in the direction of transport, a separate guide profile 43 which is curved in the form of a segment of a circle being attached to the side of the base element 21 with a smaller radius.
16 shows an outer curve element 36 which has a base element 21 which is curved in the form of a segment of a circle when viewed in the transport direction, a separate guide profile 43 which is curved in the form of a segment of a circle being attached to the side of the base element 21 with a larger radius, the outer radius of the separate guide profile 43 of the inner curve element 35 is equal to the inner radius of the separate guide profile 43 of the outer curve element 36. Inner and outer curve elements preferably each have a 90 ° curve in the transport plane. Alternatively or additionally, there may also be inner and outer curve elements with 45 ° curves, or any other angle values, preferably an even division of 90 °.
As can be seen from FIGS. 15 and 16, the base element 21 can be designed twice, so that an outer curve element 36 and an inner curve element 35 can be mounted on its end facing away from the base plate 22 to form a two-lane curve. In other words, the inner curve elements 35 and outer curve elements 36 can be present with an identical base element 21, an identical base plate 22 and an identical substructure 44. The base element 21 can
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S 2815 can also be constructed in two parts, as shown in FIG. 6. Alternatively, the separate guide profiles 43 of a two-lane route element can also be made in one piece.
17 shows a reversible loop element 37, in which the guide profile coming from one side is deflected along a curved path and leaves the reversible loop element 37 on the same side in the opposite direction.
For this purpose, the reversible loop element 37 can have on one side two base elements 21 lying against one another with their rear sides 23, the guide profile of the one base element 21 merging into the guide profile of the other base element 21 along a curved path in the reversible loop element 37.
As shown in FIG. 17, the base element 21 can be constructed in several parts and carry a separate guide profile 43, along the path of which the workpiece carriers 1 are diverted from one lane of a two-lane section to the other lane of the two-lane section.
18 shows three rotary elements 38. A rotary element 38 has one to four connection points for further route elements 2, wherein, as shown, there are preferably four connection points which form an intersection. A turntable 47 is located between the connection points, on which at least one route element 2 according to the invention is fastened. The turntable 47 is preferably formed by a circular base plate 22 which is rotatably mounted in the base plate 22 of the connection points. The connection points and the track elements 2 fastened to the turntable 47 are rounded in their joint area in accordance with the circumference of the turntable 47. As shown in the left rotary element 38, two straight elements 34 can be fastened on the turntable 47 to form a two-lane section of the route. Alternatively, an inner curve element 35 and an outer curve element 36 can also be mounted
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S 2815, to form a two-lane section with a 90 ° curve, as shown for the right rotary element 38. The right rotating element 38 can advantageously be used to divide workpiece carriers 1, which come from the left section, over the two sections following at an angle of 90 ° without having to turn the turntable 47 while passing through the workpiece holder 1. As shown in the middle rotary element 38, a straight element 34 and up to two inner curve elements 35 can be fastened on the turntable 47, this variant not being passable with workpiece carriers 1 connected in parallel. Another possibility is to place up to four inner curve elements 35 on the turntable 47. Rotating elements 38 can already be placed before they pass through the workpiece carriers 1, so that, coming from a connection point and following the path of the route element 2 of the turntable 47, they leave the rotating element 38 at another connection point. In addition, it is possible to turn the turntable 47 only when at least one workpiece carrier 1 is already on a track element 2 of the turntable 47. As a result, the workpiece carrier 1 can be pivoted from any first connection point to any second connection point. If a single-track workpiece carrier 1 is used, it can continue on any track at any connection point. If, for example, in the case of the left rotary element 38, a workpiece carrier 1 reaches the turntable 47 in the upper track of the left connection point, this can be rotated by 180 °, so that the workpiece holder 1 can leave the turntable 47 in the lower track of the left or right connection point.
19 shows three transport elements which can move workpiece carriers 1 in the transport plane. In the case of the longitudinal transport element 39, a route element 2 is fastened with its base plate 22 to a displacement device 48 which moves the route element 2 in the transport direction. In the transverse transport element 40 is a route element 2 with his
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Base plate 22 is attached to a displacement device 48, which moves the route element 2 transversely to the transport direction. As shown in the third transport element, the movement axis of the displacement device 48 can also be arranged obliquely to the transport direction and, for example, also obliquely to the transport plane. As shown, the shifting device 48 can furthermore have a rotary axis, for example in the form of a turntable 47. Even route sections can be connected which are neither coordinated horizontally nor vertically, nor in terms of their alignment, which can be the case if existing transport routes are retrofitted should be connected. The displacement can take place along an axis as shown, alternatively a transport element could also be a combination of a longitudinal transport element 39 and a transverse transport element 40, so that the transport element can be adjusted in one plane along two spatial axes. All types of route elements 2 mentioned here, for example also lifting elements 41, rotating elements 38 and pivoting elements 42, can be provided with a transport element 39, 40.
Track elements 2 can also be mounted on freely movable (preferably driverless) transport vehicles, in order to be able to transport workpiece carriers 1, preferably collectively, between distributed systems with transport systems according to the invention, the energy supply for the transmission modules 6 being able to be provided by the vehicle battery, or when docking a track element 2 of the Vehicle to the transport system of the route according to the invention.
20 shows a lifting element 41 which can move workpiece carrier 1 from one track level to another. In the case of the lifting element 41, a route element 2 is fastened with its base plate 22 to a lifting device, that is to say a displacement device 48, which moves the route element 2 normally to the transport plane. All of the above
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Types of route elements 2, that is to say, for example, transport elements 39, 40, rotating elements 38 and swivel elements 42 can be provided with a lifting device.
21 two pivot elements 42 are shown. Swivel elements 42 serve to change the transport plane, preferably by 90 ° or by 180 °. For this purpose, the pivot element 42 has a rotatable axis about which a track element 2, preferably a straight element 34, is pivoted. In the example in FIG. 21, the transport plane first runs vertically upwards. A workpiece carrier 1, which reaches the swivel element 42 from the first straight element 34, is swiveled by 90 ° with the first swivel element 42, the axis of rotation 49 of which runs parallel to the transport plane and normal to the transport direction, so that the swivel element 42 rests against the following horizontal transport section and Workpiece carrier can continue to drive on this. After passing the following two straight elements 34, the workpiece carrier 1 arrives at a further pivot element 42, the axis of rotation 49 of which runs parallel to the current transport plane and parallel to the current one. As a result, the transport plane is pivoted through, so that it is retained, but the workpiece carriers 1 and the track elements are rotated by 90 °. The axis of rotation 49 is preferably located below the base plate 22. Workpiece carriers 1, which are located on swivel elements 42, do not need to stop, but can continue to move during the swivel movement, so that the required transport time is minimal.
Transport direction swivel element 42 Transport direction by 90 degrees around the transport direction
FIG. 22 shows a preferred use of a transport device according to the invention for connecting a laser welding cell 50 to a transport route. It is advantageous to use the reversible loop element 37 in the housing of the laser welding cell 50, since the workpiece carriers 1 can thereby be moved into and out of the laser welding cell 50 on the same side, through a lock 51 or an opening.
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The usual straight path through the laser welding cell 50 is shown in dashed lines, which has the disadvantage that an additional lock 51 is required and that the route on the other side of the laser welding cell 50 would have to be continued, so that the route would have to lead directly through all the required laser welding cells 50 , which results in enormous space requirements and little flexibility in the arrangement of the laser welding cells 50 and the route. It would also be possible to drive with workpiece carriers 1 into the laser welding cells 50 and out again in the same way, whereas the reversing loop element 37 has the advantage that the next workpiece carrier 1 can already be moved into the laser welding cell 50 while the previous one is still leaving it.
All of the stretching elements 2 in the transport plane (= plane in which the transport direction lies) preferably have dimensions corresponding to a predetermined grid spacing R, so that the stretching elements 2 arranged in accordance with the grid (R x R) can inevitably result in a closed loop. The grid spacing R is preferably 360 mm. In FIG. 24, the horizontal grid with the grid spacing R is illustrated by dotted lines.
All straight track elements 2, such as straight elements 34, lifting elements 41 or transport elements 39, 40, preferably have a length of R or 360 mm, or an integral multiple thereof. Inner curve elements 35 and outer curve elements 36 are preferably accommodated in a square grid section with R or 360 mm edge length. The inner curve element 35 preferably has a square space requirement with edge length R / 2 as preferably 180 mm, so that up to four inner curve elements 35 or up to two inner curve elements 35 and one straight element can be provided in a grid element or on a square base plate 22 with an edge length of 360 mm 34. Rotating elements 38 preferably have a square plan with an edge length of 360 mm. This preferably indicates
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Reversible loop element 37 has a cross section, which can be accommodated in a square plan with an edge length of 360 mm. The transverse transport element 40 contained in the section of FIG. 22 serves to move workpiece carriers 1 transversely to the transport direction between two or more grid sections. The transverse transport element 40 has a length of R in the transport direction and has a displacement device 48 with a length of an integer multiple of R transverse to the transport direction. Since the straight track element 2 of the transverse transport element 40 can be stopped at any desired position of the displacement device 48, it can also be used to connect two tracks or track elements 2 which are not arranged in accordance with the grid. The transverse transport element 40 is preferably formed by at least one base plate 22, which can be moved on the displacement device 48 by a drive. In turn, straight elements 34 and / or curved elements 35, 36 can be fastened on the base plate 22. More than one base plate 22 can also be movable on a displacement device 48.
The transverse transport element 40 is preferably used to divide workpiece carriers 1 that come from at least one route section onto at least two route sections and vice versa. In particular, this can be used advantageously to process long-lasting processing steps in parallel through two identical workstations 3 in order to shorten the production time or to improve the workload of the workstations 3 with short processing steps. Instead of a transverse transport element 40, the division can also be carried out by a rotary element 38, for example with the right rotary element 38 of FIG. 18.
As shown in FIG. 23, the workpiece carriers 1 can not only be transported in one transport plane in the transport system according to the invention. Using special stretching elements, the transport level can be swiveled or moved in parallel, i.e. to a different level.
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A grid spacing R of preferably also 360 mm is preferably also used normal to the transport plane. The, for example, single-track route shown in FIG. 23 begins on the right on a first low horizontal plane E1 and merges with a spiral element 52 into an elevated manual work area on plane E2, which allows ergonomic work. The spiral element 52, which has an initial and final pitch of 0, is preferably present with a height of R or an integer multiple of R. The pitch of a helix element 52 can in particular be once R, twice R or four times R, so that the helix makes a quarter, half or full rotation within a grid element. The spiral element 52 can be formed from one element or from several sub-elements, for example an initial element with zero initial gradient and an end element with zero final gradient and any number of intermediate elements with constant gradient. As shown, a spiral element 52 with a base area of a grid section will generally be designed as a single-track outer spiral, since there will not be enough space inside the spiral to transport workpiece carrier 1 and workpiece. In the case of a two-track helix element 52, the inner helix can be used for the return transport of empty workpiece carriers 1. A helical element 52 can of course also have two times two grid units or more with a base area, so that the inner helix also offers sufficient space for transporting workpiece carriers 1 together with the workpiece.
By means of a slope element 53, which has a length of twice the grid spacing, for example, the workpiece carriers 1 are brought along an S curve with an initial and final slope from zero from the higher manual work level E2 to another lower system level E3. Depending on which curve radii and gradients of the route a workpiece carrier 1 can master, the length of the gradient element 53 in the transport direction can be R or a multiple of R.
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Instead of providing the gradient element 53 in FIG.
Direction of transport also seen a curve
Following the slope element 53 is a straight element 34 to which a vertical curve element 54 connects, by means of which the transport plane is changed by 90 degrees to a vertical plane E4, so that the transport direction then points vertically downwards. A further vertical curve element 54 after an intermediate straight element 34 changes the transport plane by 90 ° again, whereby a horizontal transport plane E5 is reached again, but with workpiece carriers 1 upside down. A straight element 34, a gradient element 53 follows and a helical element 52, which are identical to the elements already described, with the difference that the helical element 52 standing on the head makes a ³ 4 rotation within the grid spacing R. Regardless of the spatial orientation of the transport plane, the same stretching elements 2 can be used, so that with a minimal number of different elements a maximum of flexibility in the stretching design is available. Workstations 3 can theoretically be installed along the entire route, that is to say also in the region of slopes, vertical curves and helices, since absolute value tracks 4 are also preferably attached to their elements.
It is also possible to dispense with a position determination for these elements, so that during commissioning by switching on the transmission modules 6 one after the other, it can only be ascertained that workpiece carriers 1 are located in the area of the transmission modules 6 that have just been switched on, but not at what exact absolute position. For this purpose, it is advantageous if the individually switchable transmission modules 6 or individually switchable groups of transmission modules 6 have a length that is short enough that they can only ever be transmitted to a workpiece carrier 1, since in any case the sequence of the
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Workpiece carrier 1 can be determined in the route. This is the case, for example, with the transmission modules 6 in FIG. 4 when they can be switched, controlled or identified by the control system 5 individually or in diagonal groups of two. Alternatively, it can also be provided that the workpiece carriers 1 are controlled during operation such that only one transmission module 6 or one transmission module group that can be individually switched or identified is located when a route element 2 does not have an absolute value track 4.
As an alternative or in addition to the absolute value tracks 4 on the base element 21, with some or all track elements 2, absolute value tracks 4 can be attached to the surface of the base leg 26 facing the base plate 22, which facilitates the construction and attachment of the absolute value tracks 4 with vertical curve elements 54 and gradient elements 53 (only straight band required), but more difficult with inner curves 35 and outer curve elements 36. To read this absolute value track 4, workpiece carriers 1 alternatively or additionally have at least one absolute value sensor 20 on the side of their drive element 12 facing the base leg 26.
As shown in FIG. 24, the connection of workpiece carriers 1 can also be used to form a scissor lift table 55, so that the normal distance of the mounting plate 19 and thus the workpiece to the stretch can be set by the distance between the workpiece carriers 1 of the scissor lift table 55. The serial workpiece carriers 1 are connected only via the legs of the scissor lift table 55. The scissor lifting table 55 preferably comprises four workpiece carriers 1, wherein a pair of workpiece carriers 1 connected in parallel is arranged in series. Each workpiece carrier 1 of the scissor lift table 55 has a connection element 18
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S 2815 through the distance movement platform
Hinge joint whose axis of rotation is parallel to the transport plane and normal to the transport direction.
As shown in Fig. 25, connecting
Workpiece carriers 1 can also be used to form a 6D movement platform 56, so that any orientation of the mounting plate 19 and thus of the workpiece with respect to the distance between the workpiece carriers 1 of the 56 can be set. Everyone
Workpiece carrier 1 of the movement platform 56 is connected to the mounting plate 19 via a rod. The rods are preferably each connected to a ball joint with one of the workpiece carriers 1 and the mounting plate 19. Each workpiece carrier 1 can be moved independently of the others, so that the position and orientation of the mounting plate 19 can also be adjusted during transport along the route. A movement platform 56 can preferably comprise 3 to 6 workpiece carriers 1, to the up to 6D movement platform 56. How workpiece carriers 1 are arranged on different tracks
Realization of a 3D represented movement platform 56 are multi-lane, preferably two-lane section.
More generally, at least one workpiece carrier 1 on the connection element 18 can have a joint with at least one rotational degree of freedom in or parallel to the transport plane. Preferably, at least two workpiece carriers 1 are each equipped with such a joint, a linkage (or a rod or a leg) connecting to each joint, which is connected to the mounting plate 19 via a further joint, the further joint being at least one degree of freedom in which has or parallel to the plane of the mounting plate 19.
A manual work station is illustrated in FIG. In the case of manual workplaces, a distinction is made between those with a small leg space 57 and those with a large leg space 58. While in manual workplaces with a small leg space 57, the transport system according to the invention can be used without further modification (shown in broken lines), so for those with
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S 2815 large leg space 58, the embodiment variant shown according to the invention can be provided. In this case, a coupling rod 59 is provided on the workpiece carrier 1, one end of which is mounted on the mounting plate 19 or on the connecting element 18 of the workpiece carrier 1 and the other end of which receives a carrier plate 60 or another receiving element for the workpiece. With the coupling linkage 59, the carrier plate 60 can optionally be moved towards or away from the workpiece carrier 1, as shown in FIGS. 27 and 28.
The coupling linkage 59 is advantageously designed to be passive, that is to say without actuators such as cylinders or spindle drives for the active adjustment of the coupling linkage 59. The coupling linkage 59 is preferably extended in that the support plate has its own guide system 61, at least in the area of a manual work station, which supports the support plate 60 and moved along a guide path 62 predetermined by the guide system 61 away from the mounting plate 19 or from the connecting part 29 away from at least one workpiece carrier 1. The coupling linkage 59 serves to transmit the forward movement of the workpiece carrier 1 or the workpiece carrier assembly along the route element 2 to the carrier plate 60, so that the carrier plate 60 follows the guideway 62 of the guide system 61. For this purpose, the carrier plate 60 can have at least one roller 63 which rolls on a guide surface of the guide system forming the guide track 62. As illustrated in FIG. 28, the workpiece carrier 1 can be connected to the connecting part 29 via a return element 64, for example a spring, so that the roller 63 is held against the guide surface. When the guideway 62 again approaches the guide of the route element 2, the carrier plate 60 is pulled back to the connecting part 29. As shown in FIG. 28, the carrier plate 60 can have docking bolts 65 or other connecting elements which protrude into recesses in the connecting part 29, or
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S 2815 vice versa. As a result, the position of the carrier plate 60 in its position on the connecting part 29 is fixed and the coupling linkage 59 is relieved, so that in areas in which the coupling linkage 59 has completely moved together, for example in the area of automated workstations 3, there is no separate guide system 61 for the carrier plate 60 is needed. When the coupling linkage 59 is completely retracted, the carrier plate 60 is preferably fixed to the workpiece carrier 1 or to the workpiece carrier assembly, for example by the return element 64 or by a mechanical or electromechanical locking mechanism, which is only released when there is a separate guide system 61 for the carrier plate 60.
When the workpiece carriers 1 are moved from bottom to top in FIG. 28, the carrier plate 60 is initially fixed against the workpiece carriers 1 at the lower edge of the image, for example by means of the docking bolts 65 and the restoring element 64. If the workpiece carriers 1 are moved further, the rollers 63 arrive the carrier plate 60 into the guide of the guide system 61 and comes into contact with a guide surface, rolls on it and thus follows the guide track 62. The track of the roller 63 is shown in dash-dot lines, this is parallel to the guide track in the area without the guide system 61 Line elements 2 aligned and then parallel to the guideway 62.
As shown, the carrier plate 60 can be moved away in the transport plane. As an alternative or in addition, the moving away could also take place with a component perpendicular to the transport plane, for example in that the carrier plate 60 is raised to a higher level above the connecting part 29 by the guide track 62 of a guide system 61.
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S 2815

权利要求:
Claims (20)
[1]
Expectations
1. Transport system for workpiece carriers (1) along a route, the route having a guide for the workpiece carriers (1) and running along the route at least one transmission module (6) which is used for the seamless transmission of energy to the workpiece carriers (1) and / or for seamless communication with the workpiece carriers (1), each of a plurality of workpiece carriers (1) itself having a drive and energy store (15), the drive via a roller that rolls on the track
Drive means is carried out by a motor (13) of the
Workpiece carrier d:
is driven and everyone
Workpiece carrier (1) has at least one receiver module (7) for receiving the transmitted energy and / or for communication with the transmission modules (6), characterized in that at least one absolute value track (4) extends along the route, the absolute value track (4) in the area of at least one of the transmission modules (6) is provided with unique code values for position coding along the route and each of the plurality of workpiece carriers (1) has at least one absolute value sensor (20) which reads the absolute value of the absolute value track (4).
[2]
2. Transport system according to claim 1, characterized in that several successively along the route
Transmission modules (6) and a plurality of absolute value tracks (4) are arranged, wherein several absolute value tracks (4) in this context means that absolute values are repeated along the route, with an area along the route as the absolute value track (4) each having unique code values for position coding can be seen along the route, one or more transmission modules (6) running over the length of each absolute value track (4), wherein
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Transmission modules (6) of each absolute value track (4) can be controlled independently of the transmission modules (6) of the other absolute value tracks (4).
[3]
3. Transport system according to claim 2, characterized in that the energy transmission to the workpiece carrier (1) for each transmission module (6), or for each group of
Transmission modules (6) which are assigned to an absolute value track (4), can be individually controlled or switched.
[4]
4. Transport system according to one of claims 2 to 3, characterized in that via the transmission modules (6) there is a data connection with the workpiece carriers (1), the transmission modules (6) being in data connection with a control system (5) and through the control system (5) can be determined,
- Which transmission module (6) is assigned to an absolute value track (4), or
- Which group of transmission modules (6) is assigned to an absolute value track (4), received data.
[5]
5. Transport system according to one of claims 1 to 4, characterized in that the route comprises a plurality of route elements (2), each having a guide profile for the workpiece carrier (1), with each route element (2) over the length of its guide profile at least one Absolute value track (4) and at least one transmission module (6) is present.
[6]
6. Transport system according to claim 5, characterized in that each track element (2) has a base element (21), the workpiece carriers (1) lying in the transport direction on one side, laterally from the base element (21), so that track elements (2) with the rear sides (23) their guide profiles are adjustable.
[7]
7. Transport system according to claim 6, characterized in that the guide profile of each route element (2) is in
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S 2815
Direction of transport seen on one side, laterally from the base element (21), the guide profile having a base leg (26) which extends away from the base element (21) on one side, with another extending at the end of the base leg (26) remote from the base element (21) Leg (27) extends angularly away and extends at a distance from the base leg (26) on the same side as this an additional leg (28) away from the base element (21).
[8]
8. Transport system according to claim 7, characterized in that the driving means of the workpiece carrier (1) rolling along the line rests on that surface of the further leg (27) which faces the base element (21).
[9]
9. Transport system according to one of claims 7 to 8, characterized in that at least one guide roller (11), preferably a pair of guide rollers (11), of the workpiece carrier (1) bears on that surface of the further leg (27) which is the base element (21) is turned away.
[10]
10. Transport system according to one of claims 7 to 9, characterized in that a guide roller (11) or a pair of guide rollers (11) of the workpiece carrier (1) abuts against that surface of the base leg (26) which is the additional leg (28) is facing and a guide roller (11) or a pair of guide rollers (11) of the workpiece carrier (1) lies against that surface of the additional leg (28) which faces the base leg (26).
[11]
11. Transport system according to one of claims 7 to 10, characterized in that the base element (21) extends from the base leg (26) to a base plate (22), at least one absolute value track (4) and at least one transmission module (6) on Base element (21) in the area between the base leg (26) and base plate (22) attached
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S 2815 and each workpiece carrier (1) has at least one absolute value sensor (20) and at least one receiver module (7) on its side facing the base element (21).
[12]
12. Transport system according to one of claims 5 to 11, characterized in that:
characterized in that each workpiece carrier has a drive element (12) which has the drive means rolling along the route, its motor (13), at least one energy store (15), the absolute value sensor (20), at least one receiver module (7) and a control board (14 ) and has a guide element (16) which the
Guide rollers (11) and a connecting element (18) for the assembly of components to be transported, such as
Mounting plates (19) and connecting parts (29), the guide element (16) being connected to the drive element (12) via a connecting element (17), the connection between the guide element (16) and the drive element (12) being releasable around workpiece carriers (1) to be able to insert into or remove from the guide profile of the track elements (2) from a direction transverse to the transport direction.
[13]
13. Transport system according to one of claims 5 to 12, characterized in that each route element (2) has two parallel rows of in the transport direction
Transmission modules (6), each row having at least one transmission module (6) and the transmission modules (6) of the two rows are arranged offset from one another in the direction of transport, each workpiece carrier (1) having two receiver modules (7), each with a receiver module (7) is aligned with one of the rows.
[14]
14. Transport system according to claim 13, characterized in that a transmission module (6) of a row the joint area of a route element (2) with the following
Track element (2) protrudes.
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S 2815
[15]
15. Transport system according to one of claims 1 to 14, characterized in that at least two workpiece carriers (1) are mechanically connected to one another.
[16]
16. Transport system according to claim 15, characterized in that at least one of the workpiece carriers (1) has a stepping motor and at least one of the workpiece carriers (1) has a servo motor, the drive of workpiece carriers (1) with servo motor being deactivated in manual work areas.
[17]
17. Transport system according to one of claims 1 to 16, characterized in that a coupling rod (59) is attached to at least one workpiece carrier (1), which is connected to a carrier plate (60), the carrier plate (60) by means of the coupling rod ( 59) from the workpiece carrier (1) and thus can be moved away from the line.
[18]
18. Transport system according to claim 17, characterized in that the carrier plate (60) along the guideway (62) of its own guiding system (61) can be moved away from the route or can be moved towards the route.
[19]
19. Transport system according to one of claims 5 to 16, characterized in that the route has one or more route elements (2) selected from the group
- Straight element (34) which, seen in the direction of transport, has a straight base element (21) and a straight guide profile;
- Inner curve element (35) which has a base element (21) which is curved in the form of a segment of a circle when viewed in the direction of transport, the base element being bent in the form of a segment of a circle
Guide profile is attached to the side of the base element (21) with a smaller radius;
- External curve element (36), which has a base element (21) which is curved in the shape of a segment of a circle when viewed in the direction of transport, the base element being bent in the form of a segment of a circle
Guide profile on the side of the base element (21) with
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S 2815 larger radius is attached, the outer radius of the guide profile of the inner curve element (35) being equal to the inner radius of the guide profile of the outer curve element (36);
- Reversible loop element (37), which has on one side two base elements (21) lying against one another with their rear sides (23), the guide profile of one base element (21) in the reversible loop element (37) along a curved path into the guide profile of the other base element (21 ) transforms;
- Rotating element (38) which has at least one route element (2) which can be rotated or pivoted about an axis perpendicular to the transport plane;
- Transport element (39, 40), which is at least one
Has route element (2) which can be moved between at least two positions in the transport plane;
- Lifting element (41) which has at least one route element (2) which can be moved transversely, in particular perpendicularly, to the transport plane between at least two positions;
- Swivel element (42) which has at least one route element (2) which can be rotated or pivoted about an axis in the transport plane or parallel to the transport plane;
- Helical element (52), which is a stretch element (2), the guide for the workpiece carriers (1) of which is helical,
- Slope element (53), which is a track element (2), the guidance of which for the workpiece carriers (1) runs according to an S curve with zero start and end slope,
- Vertical curve element (54), the guide for the workpiece carrier (1) runs along a curve which rotates the transport plane through an angle of 90 °.
[20]
20. Procedure for operating a transport system for
Workpiece carrier (1) along a route,
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S 2815, the route having a guide for the workpiece carriers (1), and several transmission modules (6) running along the route, which for the seamless transmission of energy to the workpiece carriers (1) and / or for seamless communication with the workpiece carriers (1) serve, each of a plurality of workpiece carriers (1) itself having a drive and energy store (15), the drive being effected via a drive means rolling off the guide, which is driven by a motor (13) of the workpiece carrier (1) and each Workpiece carrier (1) has at least one receiver module (7) for receiving the transmitted energy and / or for communication with the transmission modules (6), characterized in that a plurality of adjacent absolute value tracks (4) extend along the route, each along the route Position within an absolute value track (4) is a unique code value, at least z White absolute value tracks (4) have at least one same code value and one or more transmission modules (6) are each assigned an absolute value track (4), each of the plurality of workpiece carriers (1) having at least one absolute value sensor (20), which has the current code value of the absolute value tracks (4) reads, each workpiece carrier (1) as soon as it is supplied with energy, sends the currently measured code value to a control system (5), the control system (5) transmitting modules (6) which are assigned to an absolute value track (4), independent of the transmission modules (6) can supply other absolute value tracks (4) with energy, or the control system (5) communicates with the transmission modules (6) and can determine which transmission module (6) or which group of transmission modules (6) the are assigned to an absolute value track (4), is currently being communicated.
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S 2815

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同族专利:

---

公开号 | 公开日

---

EP3582929A1|2019-12-25|

---

CN110290895A|2019-09-27|

---

AT519665B1|2018-09-15|

---

US20190389019A1|2019-12-26|

---

WO2018148770A1|2018-08-23|

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法律状态:

优先权:

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申请号 | 申请日 | 专利标题

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ATA50128/2017A|AT519665B1|2017-02-15|2017-02-15|transport system|ATA50128/2017A| AT519665B1|2017-02-15|2017-02-15|transport system|

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EP18719410.5A| EP3582929A1|2017-02-15|2018-02-12|Transport system and method for operating a transport system|

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US16/483,789| US20190389019A1|2017-02-15|2018-02-12|Transport system and method for operating a transport system|

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PCT/AT2018/060037| WO2018148770A1|2017-02-15|2018-02-12|Transport system and method for operating a transport system|

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CN201880011666.3A| CN110290895A|2017-02-15|2018-02-12|The method of conveyer system and operation conveyer system|