Method for operating a transport device in the form of a long-stator linear motor

专利摘要:
In order to enable a more flexible process control of a transport device (1) in the form of a long stator linear motor, in particular at least temporarily increase the maximum achievable speed (Vmax) of a transport unit (Tn) without the energetic boundary conditions (maximum current or maximum voltage) of the transport device (1 ) is to change according to the invention provided that for changing a magnetic flux (Ψ) in the magnetic circuit (21) during the movement of the transport unit (Tn) along the transport path (2) has a magnetic resistance (Rm) of the magnetic circuit (21) and / or at the transport unit (Tn) a magnetic voltage (Um) of the magnetic circuit (21) are changed.
公开号:AT520088A4
申请号:T50537/2017
申请日:2017-06-29
公开日:2019-01-15
发明作者:Andreas Weber Dr
申请人:B & R Ind Automation Gmbh；
IPC主号:

专利说明:

Method for operating a transport device in the form of a long-stator linear motor
The subject invention relates to a method for operating a Transporteinrich device in the form of a Langstatorlinearmotors in which a transport unit along a
Transporting the Langstatorlinermotors is moved, wherein drive magnets of the transport unit with drive coils of Langstatorlinearmotors cooperate to generate a driving force, wherein the drive magnets of the transport unit and the drive coils of the transport path of the long stator linear motor are magnetic power sources of a forming magnetic circuit. Furthermore, the subject invention relates to a transport device in the form of a Langstatorlinearmotors with at least one transport unit and at least one transport path and a use of the method and the transport device according to the invention.
In virtually all modern production facilities it is necessary to move components or components, even over longer transport distances, with transport facilities between individual handling or production stations. For this purpose, a variety of transport or conveyors are known. Frequently, continuous conveyors in various designs are used. Conventional continuous conveyors are conveyor belts in the various embodiments, in which a rotary motion of an electric drive is converted into a linear movement of the conveyor belt. With such conventional continuous conveyors one is considerably limited in flexibility, in particular, an individual transport of individual transport units is not possible. To remedy this and to meet the requirements of modern, flexible transport equipment, so-called Long Stator Linear Motors (LLM) are increasingly used as a replacement for conventional continuous conveyors.
In a long stator linear motor is a plurality of electric drive coils, the
Form stator, arranged side by side along a transport path stationary. On a
Transport unit is a number of drive magnets, either as permanent magnets or as an electrical coil or short-circuit winding, arranged, which cooperate with the drive coils. Due to the interaction of the (electro) magnetic fields of the drive magnets and the drive coils, a driving force acts on the transport unit, which moves the transport unit forward. The long stator linear motor can be designed as a synchronous machine, either self-excited or externally excited, or as an asynchronous machine.
By controlling the individual drive coils, for controlling the magnetic flux, the size of the driving force is influenced and the transport unit can be moved in the desired manner along the transport path. It is also possible to arrange along the transport route a plurality of transport units whose movements can be individually and individually controlled individually, by each with a
Transport unit interacting drive coils are energized, usually by
Applying an electrical voltage. A long-stator linear motor is characterized in particular by a better and more flexible utilization over the entire working range of the movement (position, speed, acceleration), an individual regulation / control of the transport units along the transport route, an improved energy utilization, the reduction of maintenance costs due to the smaller number of wear parts , a simple exchange of transport units, efficient monitoring and fault detection and an optimization of the product flow along the transport route. Examples of such long-stator linear motors can be found in WO 2013/143783 A1, US Pat. No. 6,876,107 B2, US 2013/0074724 A1 or WO 2004/103792 A1.
A long stator linear motor makes high demands on the regulation of the movement of the
Transport units. For this purpose, a plurality of regulators are usually arranged along the transport path, which regulate the stator currents of the drive coils in order to move the transport units as intended along the transport path. For the movement of the transport units, it is necessary that each drive coil is controlled separately to ensure a liq sige, controlled and stable movement of the transport units along the transport route. A current position of the transport unit can be detected by suitable sensors, which can also be arranged along the transport path, and made available to the controllers. On the transport route, however, moves a variety of transport units, which is why different transport units are moved by different drive coils. However, the transport units moved along the transport path can differ in their properties. For example, transport units can be loaded differently, have different states of wear, cause different executives due to manufacturing imperfections, cause different frictional forces, etc. It is also conceivable that transport units are moved with different design or different size along the transport route. All these factors influence the regulation of the movement of the transport units.
Particularly important in a long stator linear motor is the interaction of the
Drive magnets of the transport unit with the drive coil of the transport path, which are spaced from each other by a gap or a so-called air gap. The drive magnets of the transport unit and the drive coils of the transport path are magnetic voltage sources and form a common magnetic circuit. In addition to the magnetic voltage of the magnetic circuit is also determined by a magnetic resistance, the authoritative by the air gap or in particular by the
Size of the gap and determined by the magnetic permeability of the air in the gap.
The magnitude of the magnetic voltages generated by the magnetic voltage sources and the magnitude of the magnetic resistance of the magnetic circuit directly determine the electromagnetic properties of the long stator linear motor, in particular the magnetic flux of the magnetic circuit. In this case, even small changes in the magnetic quantities, for example, change in the magnetic resistance Wi by changing the size of the air gap due to wear or incorrect guidance of a transport unit, impact. The size of the air gap is in the
Rule predetermined by the construction of a Langstatorlinearmotors fixed, for example, by the structural design of the long stator linear motor, and is preferably not changed during operation. The magnetic permeability of the air in the air gap is a constant physical quantity. The magnetic tension of the drive magnets is usually fixed, since these are usually designed as permanent magnets, and invariable during operation of the transport device. The magnetic tension of the drive coils is defined by the voltage applied to the drive coils electrical voltage whose height is usually determined by the control unit of the transport device.
The document DE 10 2014 118 335 A1 describes a linear drive unit of a machine tool with a magnetic gap changing mechanism for changing the size order of a magnetic gap between a magnet and a coil for Anpas solution of the balance between thrust and Polrucken the linear drive unit. The air gap is increased in the range of a high-precision machining operation to the
Reduce flux density and thus at the same time to reduce the Polrucken. In the field of machining requiring low precision but high load, the
Air gap reduced. This increases the flux density and thus the driving force, but also the Polrucken. In DE 10 2014 118 335 A1, the adjustment of the air gap is thus used for the reduction of Polruckens for a highly precise positioning of the moving part of the linear drive unit. For a less precise editing, the other one becomes
Mode with reduced air gap selected. The modes are selected by the machine tool operator and the mode is not changed during operation. This makes sense for a linear drive unit of a machine tool, but rather less for a transport system with a long stator linear motor. In a long-stator linear motor, the possible pole-pressing is therefore often reduced by design measures, for example, in the construction of the laminated core of the stator. For transport applications, however, it is often desirable to increase the speed of the
To be able to regulate transport units flexibly in a large area. In Transportanwen applications there are often sections on which a transport unit is to move at high speed, such as a return area empty transport units in a closed transport route. Here, neither precision, nor influences like poling are important. On other sections of the line is often required to maintain a precise speed or it is a high propulsive force required to BEWE conditions high loads. The drive coils of the long stator linear motor are individually energized by power electronics units by the power electronics units to the
Drive coils create the coil voltages specified by the control. The power electronics units are naturally at a maximum current or a maximum
Voltage designed, whereby with a given structural design of the Langstatorlinearmo sector also the achievable driving force and achievable speed of a transport unit is specified. For a large speed range, therefore, the power electronics units, but also the drive coils, must be designed correspondingly powerful. With the high number of drive coils and power electronics units of a long stator linear motor, this is of course associated with high costs and costs and therefore generally undesirable.
In rotary electric motors known the so-called field weakening to the
Increase the speed of the electric motor. In this case, the drive coils of the electric motor are energized substantially in such a way that an electromagnetic opposing field is produced which attenuates the field of the drive magnets of the electric motor. Of course, this opposing field must be synchronous with the rotor of the electromagnet, which places high demands on the control. Apart from that, the required electrical energy to maintain this opposing field is a pure loss, which is disadvantageous, even on account of the power loss due to thermal reasons. In addition, the power electronics must have corresponding power reserves in order to be able to apply the electrical power required for the opposing field. But this is reflected directly in a higher cost and thus also higher costs for the power electronics. One could now also operate the long-stator linear motor in a field weakening operation, which would be even more disadvantageous in this case because there are many more drive coils than in a rotary electric motor.
It is therefore the object of the invention to enable a more flexible process control of a transport device in the form of a long stator linear motor, without changing the energetic boundary conditions (maximum current or maximum voltage of the power electronics units) of the transport device.
The object is achieved by the invention, for changing a magnetic
Flow in the magnetic circuit during the movement of the transport unit along the
Transport path a magnetic resistance of the magnetic circuit and / or at the
Transport unit to be changed magnetic voltage of the magnetic circuit.
This makes it possible to selectively influence the movement quantities of the transport unit (for example, driving force, speed) during the movement along the transport path.
Since the regulation of the drive currents of the individual drive coils of a long-stator linear motor for moving a transport unit is already very complicated anyway, a good possibility is created to influence the movement variables of the transport unit without interfering with the regulation of the drive coils, in particular in the implemented controllers. Thus, the controlled system of the long stator linear motor is changed and not the control or the controller. As a result, for example, limits of movement variables of the transport unit can be changed, electrical (ohmic) losses can be reduced or force ratios on the transport unit can be influenced without a stator-side
Field weakening control of the drive coils.
Advantageously, to change the magnetic resistance of the magnetic
Circle the position of at least one drive magnet of the transport unit by means of at least one arranged on the transport unit and with the at least one drive magnet of the transport unit cooperating first actuator in at least egg NEM movement degree of freedom changed. By changing the position of at least ei nes drive magnet, the magnetic resistance can be selectively influenced to change the magnetic flux of the magnetic circuit. The at least one degree of freedom of movement can be translatory or rotational.
Preferably, to change the magnetic resistance of the magnetic
Circle the position of at least one drive coil of the transport path by means of at least one arranged on the transport path and with the at least one drive coil of the transport path cooperating second actuator changed in at least one degree of freedom of movement. As a result, the change in the magnetic resistance of the magnetic circuit during the movement of the transport unit can take place on the stator side.
It is advantageous if, for changing the magnetic resistance of the magnetic
Circle at least one magnetic resistance element of certain magnetic permeability is introduced by means of at least one disposed on the transport unit or on the transport path third actuator in an air gap between at least one drive magnet of the transport unit and at least one co-operating drive coil of the transport path. This provides a further possibility to influence the magnetic resistance and consequently the magnetic flux in the magnetic circuit during the movement of the transport unit.
According to a further advantageous embodiment of the invention, at least one magnetic resistance element of certain magnetic permeability by means of at least one of the. To change the magnetic resistance of the magnetic circuit
Transport path arranged fourth actuator in a, angeord Neten on the transport path Neten opening. As a result, the magnetic resistance and thus the magnetic flux can be changed on the stator side without having to intervene in the air gap.
Advantageously, at least one additional coil is arranged on the transport unit to change the magnetic voltage of the drive magnets of the transport unit, wherein at least temporarily an additional electrical voltage is applied to the auxiliary coil for at least temporarily increasing or decreasing the magnetic voltage on the transport unit, so that one, the magnetic voltage to generate the driving magnets equal or opposite, magnetic additional voltage, whereby the magnetic flux is increased or decreased. Thus, a possibility of changing the magnetic flux of the magnetic circuit is provided without the need to change the positions of individual components of the transport means (e.g., drive magnet, drive coil).
When an actual magnetic flux in the magnetic circuit is detected and a control unit corrects the actual magnetic flux to a defined target magnetic flux by changing the magnetic resistance and / or the magnetic voltage on the transport unit from the control unit, a Possibility to compensate for leadership inaccuracies of the transport route created by the magnetic
Flow in the air gap is regulated to a constant value.
It is advantageous if on at least one side of the transport unit, the magnetic resistance Wi and / or the magnetic tension on the transport unit of the respective side is changed to produce a force acting on the transport unit side force. Thereby, the magnetic flux of one side is changed relative to the other side of the transport unit, whereby it is possible to direct the transport unit at a transfer position of the transport path in a desired direction, since the difference of the magnetic
Rivers of the two sides of the transport unit with constant coil voltages on both sides result in different magnetic side forces. The transport unit is thereby deflected to the side with the higher side force resulting from the larger magnetic flux.
Preferably, the magnetic flux of the magnetic circuit is reduced by changing the magnetic resistance and / or the magnetic stress on the transport unit. This makes it possible to increase the maximum achievable speed of the trans port unit, without changing the electrical boundary conditions. For a given coil voltage or given coil current, a certain propulsion force can be generated, which moves the transport unit forward. Through the movement of
However, transport unit is induced in a known manner by the magnetic field of the drive magnet of the moving transport unit in the drive coils, a voltage which is also Ge gene EMF (Electromotive Force) is called and counteracts the applied coil voltage. The EMF voltage limits the maximum achievable speed of the transport unit, since the induced voltage counteracts the coil voltage and thus the possible power consumption of the drive coil is limited. By reducing the magnetic flux while maintaining the coil voltage, the achievable maximum speed of the transport unit can be increased because of the reduced magnetic flux, the induced EMF voltages can be reduced.
The object of the invention is further by a transport device in the form of a
Langstatorlinearmotors solved with at least one transport unit and at least one transport path, wherein for changing a magnetic flux in the magnetic circuit during the movement of the transport unit along the transport path to the Trans porteinrichtung an adjusting device for changing a magnetic resistance of the magnetic circuit is provided and / or on the transport unit an additional coil for changing the magnetic voltage is provided on the transport unit.
The subject invention will be explained in more detail below with reference to Figures 1 to 6, which show by way of example, schematically and not by way of limitation advantageous embodiments of the invention. It shows
1 shows an embodiment of a transport device in the form of a long-stator linear motor,
2a is a plan view of a transport unit with adjustable drive magnets on a straight stretch section of a transport route,
2b and 2c each show a plan view of a transport unit with adjustable drive magnets on a curved section of a transport route,
3a and 3b each show a plan view of a transport unit on a straight section of a transport path with adjustable drive coils,
4 shows a cross section through a transport unit with resistance elements on a bilateral section of a transport route,
4a is a plan view of a transport unit on a straight stretch of a transport path with stator-side resistance elements,
5 is a plan view of a transport unit with additional coils on a straight section of a transport route,
6 shows a controller structure according to the invention,
7a and 7b a plan view of a transport unit in the longitudinal direction in a transfer position of a transport path.
1 shows a transport device 1 in the form of a long-stator linear motor by way of example. The transport device 1 consists of a number of transport segments TSk (k> 1 here is an index that stands for all existing transport segments TS1, TS2, TS3, ...), of which for reasons of clarity, for example, only the transport segments TS1 ... TS7 are designated. A transport segment TSk is arranged in each case on one side of the transport path 2. The transport segments TSk form different route sections, for example a straight line, curves with different angles and radii, switches, etc., and can be assembled very flexibly in order to form the transport route 2 of the transport device 1. The transport segments TSk together thus form the fixed transport path 2, along which the transport units Tn (n> 1 is an index which stands for all existing transport units T1, T2, T3, T4,. This modular design allows a very flexible design of the transport device 1. The transport segments TSk are of course arranged on a stationary support structure, not shown. The transport device 1 is designed as a long stator linear motor, in which the transport segments TSk in a conventional manner each form part of a long stator of the long stator linear motor. Along the transport segments TSk are therefore in the longitudinal direction in a known manner a plurality of the stator forming, stationarily arranged electric drive coils 7, 8 arranged (in Figure 1 for reasons of clarity only for the transport segments TS1, TS2, TS4, TS5, TS6, TS7 indicated), with the drive magnet 4, 5 at the transport units T1. Tn (indicated in Figure 1 for reasons of clarity only for the transport unit T6) to produce a driving force Fv can cooperate. The drive coils 7, 8 are actuated in a well-known manner by a control unit 10 (only indicated in FIG. 1) in order to apply the coil voltages required for the desired movement of the transport units Tn.
There may also be route sections along the transport route 2, on which transport segments TSk are arranged on both sides, between which a transport unit Tn is moved (for example the transport segments TS1, TS4). If the transport unit Tn is equipped with drive magnets 4, 5 on both sides (in the direction of movement), then the transport unit Tn can also co-operate simultaneously with the transport segments TSk arranged on both sides, or with its drive coils 7, 8. Thus, of course, in total, a larger driving force FV can be generated.
On the transport unit Tn are of course also (not shown here for reasons of clarity) guide elements, such as rollers, wheels, sliding surfaces, guide magnets, etc., be provided to guide the transport unit Tn along the transport path 2 and to hold, especially at standstill. The guide elements of the transport unit Tn cooperate for guiding with the transport path 2 or the transport segments TSk, e.g. in which the guide elements are supported on the transport path, hook in, slide on or unroll, etc. Between the drive coils 7, 8 and the drive magnets 4, 5, an air gap 20 is formed.
With reference to Fig. 2a, a first embodiment of the invention will be explained. It shows a plan view of an embodiment of a transport device 1 according to the invention on a straight stretch with a transport segment TSk. In a known manner, an air gap 20 with an air gap distance L is arranged between a drive magnet 4 of the transport unit Tn and the drive coils 7 of the long stator in the form of the transport segment TSk. A drive magnet 4 can be designed as an electromagnet (excitation coils) and / or as a permanent magnet. The drive coils 7 are preferably arranged on teeth 12 of a ferromagnetic core 13 (for example, an iron laminated core). Of course, the drive coils 7 can also be coreless.
This forms in a known manner between the energized drive coil 7 and the drive magnet 4, a magnetic circuit 21 (indicated in Figure 2), in the closed magnetic path, the magnetic flux adjusts.. Each energized drive coil 7 and each drive magnet 4 can be regarded as a magnetic voltage source. This results in a magnetic voltage source on the transport path 2 (from the individual energized drive coils 7) and a magnetic voltage source to the transport unit Tn (from the individual drive magnet 4), each generating a magnetic voltage Um. The magnetic circuit 21 has a magnetic resistance Rm, which in a known manner as the sum of the different magnetic resistances of the individual sections of the closed magnetic
Path results. For the magnetic circuit 21 then the known relationship Um =
Rm ^. According to the invention, in order to change the magnetic flux ψ in the magnetic circuit 21 during the movement of the transport unit Tn along the transport path 2, either the height of the magnetic voltages Um of the magnetic circuit 21 generated by the magnetic voltage sources of the transport unit Tn can be changed and / or the magnetic field can be changed Resistance Rm of the magnetic circuit 21 are changed, as will be described in more detail below.
The change in the magnetic resistance Rm of the magnetic circuit 21 or the magnetic voltage Um of the magnetic circuit 21 at the transport unit Tn during the movement of the transport unit Tn along the transport path 2 has hitherto been avoided, because the practical realization compared to changing the coil current of the Drive coils 7 is relatively expensive.
In Fig. 2a, a first embodiment of the invention is shown. The drive magnets to 4 of the transport unit Tn are preferably arranged on a support plate 6, which is connected via at least one first actuator 9, preferably via a plurality of first actuators 9, with the base body 3 of the transport unit Tn. Preferably, the support plate 6 is made of a solid ferromagnetic material, such as e.g. Iron, to guide the magnetic field purposefully. Here, for each drive magnet 4, a separate first actuator 9, or more first actuators 9, may be provided, or it may be a first actuator 9, or even a plurality of first actuators 9, for several drive magnets 4 may be provided. The assignment of a first actuator 9 to a
Drive magnet 4 is irrelevant. It is important that at least one drive magnet 4 can be moved by at least one first actuator 9 in at least one of the six possible degrees of freedom of movement. On the support plate 6 can also be dispensed with, if the at least one first actuator 9 acts directly on the at least one drive magnet 4 to. The actuator 9 allows in the illustrated embodiment the
Movement of at least one drive magnet 4, for example via the support plate 6, in
Transverse direction y (normal to the direction of movement x of the transport unit Tn along the
Transport path) relative to the base body 3 of the transport unit Tn. Due to the structurally predetermined guidance of the transport unit Tn on the transport path 2 or on a transport segment TSk in the transverse direction y, which is a transverse displacement of the transport unit
Tn in the transverse direction prevents y, is changed by such a movement of the drive magnets 4 in the transverse direction y of the air gap distance L of the air gap 20.
The at least one first actuator 9 is driven by a drive unit A. In this way, it is possible by means of the at least one first actuator 9 to change the air gap distance L of the air gap 20 in the region of at least one drive magnet 4, preferably all drive magnets 4, during the movement of the transport unit Tn along the transport path.
By changing the air gap distance L can of course be acted directly on the magnetic resistance Rm of the magnetic circuit 21 and thus also on the self-adjusting magnetic flux ψ.
The at least one drive magnet 4 can in principle be changed as desired in its position on the transport unit Tn with the first actuator 9 but also for the adjustment of the magnetic resistance Rm. If the position of the at least one drive magnet 4 changed by moving and / or twisting freedom in at least one movement, so changes, in addition to a possible change in the air gap 20, the magnetic path of the magnetic circuit 21 and thus the magnetic resistance Rm and the magnetic flux ψ in the magnetic circuit 21. Is eg one
Drive magnet 4 has rotated by 90 ° has the direct effect on the magnetic path and thus on the magnetic flux ψ in the magnetic circuit 21st
The at least one first actuator 9 is preferably designed so that it can within a short time, for example within a few milliseconds, sufficiently high forces and ways for moving the drive magnets 4, can muster. Ideally, for example, the air gap distance L and thus the magnetic resistance Rm within a time step of the control of the drive coils 7 are changed. The timing step of the regulation defines how often a new manipulated variable (for example a new coil voltage) is predetermined by the control unit 10 and applied to the drive coils 7. In addition, the first actuator 9 should for adjusting the air gap distance L of the Luftspaltes20bzw. for adjusting the magnetic resistance Rm of the magnetic circuit 21 have a low energy requirement. Preferably, the first actuator 9 is formed by a sufficiently fast piezoelectric actuator, but it would also be conceivable other embodiments having similar properties as a piezoelectric actuator. For the power supply of the at least one first actuator 9 and the drive unit A, a power source 11, such as e.g. a battery may be disposed on the transport unit Tn. However, the energy could also be provided differently, e.g. by inductive energy transfer from the long stator or another component of the transport path, which could also serve to charge an energy source 11. It is important in any case that the transport unit Tn or the at least one first actuator 9 at any time during operation with sufficient energy for adjusting the at least one drive magnet 4 is supplied. The drive unit A can also be used to adjust the air gap distance L commands from another device of the long-stator linear motor 1, for example by the control unit 10, or a separate control unit 14 may be arranged on the transport unit Tn.
Heretofore, in the prior art, a fixed, constant air gap has been provided between stationary drive magnets 4 arranged on a transport unit Tn and stationary drive coils 7 of a long stator. However, this arrangement has the disadvantage that arise especially on long transport units Tn on highly curved transport routes, different distances L between the individual drive magnet 4 of the transport unit Tn and the drive coil 7 of the long stator of the long stator linear motor. These different distances L lead to larger flow fluctuations during movement of the transport unit Tn along the curved transport path 2 and require greater control interventions on the drive coils 7 by the control unit 10 in order to maintain the desired driving force Fv.
Fig. 2b shows such an embodiment of the invention with reference to a plan view of the transport device 1 in the region of a curved section of a transport section 2. In contrast to the previously described embodiment of FIG. 2a is here no Trä gerplatte 6 between the at least one first actuator 9 and the drive magnet 4, but the positions of individual drive magnets 4i can be individually changed here by means of corresponding first actuators 9j in each case a degree of freedom of movement, here in the transverse direction y. Of course, it would also be conceivable to move the positions of the drive magnets 4i in several degrees of freedom of movement, e.g. a movement in the transverse direction Y and a rotation about the Y-axis or other combinations of the six possible degrees of freedom of movement. In order to change the magnetic resistance Rm of the magnetic circuit 21, only the distance Li between the corresponding drive magnet 4i of the transport unit Tn and the co-operating drive coils 7 of the long stator is adjusted in the exemplary embodiment shown in FIG. This makes it even when cornering, i. in a curved section of a transport path, it is possible to set an approximately constant air gap distance Li between individual drive magnets 4i and the co-operating drive coils 7, i. over the entire length of the transport unit Tn.
Preferably, for this purpose, each drive magnet 4i of the transport unit Tn for changing the magnetic resistance Rm of the magnetic circuit 21 is assigned a first actuator 9j, so that each drive magnet 4i can be adjusted individually in its position, as shown in FIG. 2b (the indices i, j stand for the number of arranged drive magnet 4 and first actuators 9). But it could also be sufficient not to adjust all, but only certain drive magnets 4i, for example, the first and last drive magnet 4i seen in the direction of movement x.
In the embodiment according to FIG. 2c, the position of at least one drive magnet 4i in a second degree of freedom of movement (here an angle αί about the z-axis) can be changed. Thus, not only the air gap distance Li between at least one drive magnet 4i of the transport unit Tn and at least one co-operating drive coil 7 of the transport path 2 can be adjusted individually by means of at least one corresponding first actuator 9j, but additionally the angle ai of the transport unit Tn between the at least one drive magnet 4iand Advantageously, however, a plurality of drive magnets 4i are adjusted by means of a plurality of corresponding first actuators 9j, whereby, for example an approximately uniform air gap distance L over the entire length of the transport unit Tn can be achieved, as shown in Fig.2c.
Of course, it would also be conceivable, e.g. only to adjust the first and the last drive magnet 4i of the transport unit Tn by means of corresponding first actuators 9j and to arrange the intermediate drive magnet 4i on a common by one or more first actuators 9j adjustable support plate 6 analogous to the embodiment of FIG. 2a. It would also be conceivable to carry out each individual drive magnet 4i in an adjustable manner (for example in FIG. 2b drive magnets 4i by means of actuators 9i) or the drive magnets 4i e.g. to be arranged in pairs on a smaller support plate 6, which may be adjustable by means of one or more first actuators 9j. In principle, many such embodiments are conceivable and depending on the type and design of the transport unit Tn and the transport path an embodiment of the invention can be selected, for example, depending on the length of the transport unit Tn, the number of drive magnets 4i of the transport unit Tn or the curvature of the transport path. Of course, the change in position is not limited to the examples mentioned, any other combinations of degrees of freedom would be conceivable to adjust the drive magnets 4i in their positions and thereby targeted the magnetic resistance Rm and thus the magnetic flux Ψ of the magnetic circuit 21 influence.
According to a further embodiment of the invention, the position of at least one drive coil 7 of the transport path 2 by means of at least one disposed on the transport path 2 and cooperating with the at least one drive coil 7 of the transport path 2 second actuator 16, to change the magneti's resistance Rm of the magnetic circuit 21, 17 are changed in at least one degree of freedom of movement as will be described below with reference to Figures 3a and 3b.
In Fig. 3a is a plan view of a transport unit Tn on a straight stretch section
a transport path 2 shown. In this case, to change the air gap distance L (and thus the magnetic resistance Rm of the magnetic circuit 21) between the drive magnet 4 of the transport unit Tn and the cooperating to drive coils 7 of the transport path 2 and a transport segment TSk, preferably a plurality of second actuators 16i on the transport path 2 arranged. For example, the second actuators 16i may be disposed between the stationary support structure 22 of the transfer section 2 and a transport segment TSk, and e.g. be controlled by the control unit 10. Analogously to the first actuators 9i, the second actuators 16i may be e.g. be designed as piezo actuators or other suitable actuators. The second actuators 16i are, preferably controlled by the control unit 10, so that during the movement of the transport unit Tn along the transport path 2 for example, a transport segment TSk with arranged thereon drive coils 7 in the transverse direction Y can be adjusted. As a result, the air gap distance L between the drive magnet 4 and the drive coil 7 of the transport segment TSk is changed, whereby the magnetic resistance Rm and consequently the magnetic flux Ψ of the magnetic circuit 21 can be selectively influenced. Of course, a combination with the position adjustment of the drive magnets 4 of the transport unit Tn (as described with reference to 2a-2c described) would be conceivable, for example, to enhance the effect of changing the magneti's resistance Rm or if the feasible paths or strokes of the first and / or second actuators 9i, 16i are limited.
In Fig. 3b, a further embodiment is shown, wherein the second actuators 16i are arranged on movable coil segments 26a transport segment TSk, whereby the positions of the drive coil 7i including a part of the ferromagnetic core 13, in particular the teeth 12 of the core 13 individually in at least one Freedom of movement can be adjusted, preferably in the transverse direction Y. The specific embodiment of the coil segments 26 is not critical, eg it would be conceivable to arrange the coil segments 26 movably by means of suitable guides on the transport segment TSk so that the coil segments 26 can be changed in their position by means of the second actuators 16i. By adjusting the coil segments 26 and arranged thereon drive coils 7i in the Y direction can (similar to the embodiments of FIG. 2b, 2c) of the air gap Li between individual drive coils 7i and cooperating drive magnet 4i are set individually, which has a direct influence on the magnetic Resistor Rm of the magnetic circuit 21 and thus has on the magnetic flux Ψ. Again, the second actuators 16i are preferably configured by piezo actuators or other suitable actuators, which can be controlled, for example, by the control unit 10 (not shown in Fig. 3b). Of course, also, e.g. a combination with adjustable drive magnet 4i according to one of the variants described possible. In Fig. 3b, e.g. the variant shown analogous to the embodiment described with reference to FIG. 2a, wherein drive magnets 4 of the transport unit Tn are arranged on a common carrier plate 6 that can be adjusted in the Y direction. The support plate 6 is controlled by the control unit 14 of the drive unit A by means of first actuators 9 so that the drive magnets 4 are movable in the Y direction, whereby the magnetic resistance Rm of the magnetic circuit 21 can be changed and thus the magnetic flux Ψ.
In principle, the exact structural design of the adjustment of the position of a drive coil 7i and / or a drive magnet 4 is not decisive for the invention, it is only important that the position of at least one, preferably a plurality of drive coils 7i in at least one degree of freedom of movement is variable, so that the magnetic resistance Rm of Of course, there are many ways to realize this.
For the sake of simplicity of illustration, the embodiments have been described with reference to a one-sided design of the transport path 2, of course, but of the invention also comprises a two-sided embodiment, in the seen in the direction of movement x both sides of the transport unit Tn drive magnets 4i, 5i and transport segments TSk, TSm are provided with drive coils 7i, 8i. So it could be both the
Transport unit Tn on both sides by means of first actuators 9i, 10i adjustable to drive magnets 4i, 5i have, as well as the transport path 2 on both sides of the transport unit Tn arranged transport segments TSk, TSm by means of second actuators 16i, 17i adjustable drive coils 7i, 8i have (transport segment TSm and second actuators 17i are not shown in Figs. 3 and 3b, the embodiment is analogous to the transport segment TSk and the second actuators 16i). Combinations would of course be conceivable.
A further embodiment of the invention is illustrated in FIG. 4 on the basis of a cross section through a transport unit Tn in the region of a transport path 2 on both sides. The transport unit Tn has drive magnets 4, 5 on both sides and the transport path 2 has transport segments TSk, TSm on both sides, on which drive coils 7, 8 are arranged, which are known to be connected to the drive magnets 4, 5 on the corresponding side of the transport unit Tn to cooperate to produce a driving force Fv. According to the invention, at least one magnetic resistance selement 24 is provided for changing the respective magnetic resistance Rm of the magnetic circuits 21a, 21b of the two sides, by means of a third to the transport unit Tn or at the Trans port 2 arranged third actuator 23a, 23b between drive magnets 4, 5 and drive coils 7, 8 are introduced. The resistance element 24 is preferably designed such that it has a certain magnetic permeability μ for influencing the magnetic resistance Rm of the corresponding magnetic circuit 21a, 21b. Depending on the desired embodiment, the material of the magnetic resistance element 24 can be selected so that the magnetic resistance Rm of ent speaking magnetic circuit 21 a, 21 b increases or decreases. As can be seen in FIG. 4, the at least one third actuator 23a, 23b can be arranged either on the transport unit Tn (actuator 23a) or on the transport path 2 (actuator 23b). For example, the at least one third actuator 23 could in turn be embodied as a piezoactuator or another suitable actuator. A third actuator 23b disposed on the transport path 2 could be e.g. can be controlled by the control unit 10 and an actuator 23a arranged on the transport unit Tn could e.g. be controlled by the control unit 14. Depending on the specific embodiment, it would be conceivable to use the magnetic resistance element 24, e.g. to swing into the air gap 20 by means of a suitable mechanism, insert or otherwise introduce into the air gap 20 in an appropriate manner. The exact embodiment is for the invention but not critical, it is important that the magnetic resistance element 24 can be introduced into the air gap 20 in a sufficiently short time, so that the magnetic resistance Rm of the magnetic circuit 21a, 21b can be selectively changed and thus the magnetic Flow Ψ in the magnetic circuit 21a, 21b. Of course, such a resistance element 24 can also be used in a one-sided arrangement, as in FIG. 2a or FIG. 3a.
A further embodiment of the invention is shown in Fig. 4a. To change the magnetic resistance Rm of the magnetic circuit 21, it is provided according to the invention that openings 29 are provided on the transport path 2, into which magnetic resistance elements 27 can be introduced. For this purpose, fourth actuators 28 are arranged on the transport path 2, with which the magnetic resistance elements 27 for changing the magnetic resistance Rm of the magnetic circuit 21 into the opening 29 and out of the opening 29 can be moved out, as indicated by the double arrow in Fig. 4a is symbolized. The opening 29 can, as shown in Fig. 4a, be designed so that it extends on the transport path 2 in the transverse direction, ie in the Y direction through the support structure 22 and into the ferromagnetic core 13 of the transport segment TSk. It is important that the opening 29 extends into the core 13 (or in the region in which the magnetic circuit 21 is formed), so that the magnetic resistance element 27 when moving in or out of the opening 29, the magnetic Resistance can influence Rm of the magnetic circuit 21, which propagates in the core 13. The illustration in Fig. 4a is of course to be understood only as an example, it could also be more or fewer openings 19, magnetic resistance elements 27 and fourth actuators 28 may be arranged. The size and shape of the openings 29 and magnetic resistance elements 27 is arbitrary. To enhance the influence of the magnetic circuit 21 it would e.g. also conceivable that the openings 29 extend into the teeth 12 of the core 13 and. The magnetoresistive elements 27 and the fourth actuators are, of course, designed so that the magnetic resistance elements 27 are movable in the Y direction in the case of openings Y extending in the Y-direction. Depending on the desired embodiment, the material, that is to say essentially the magnetic permeability μ of the magnetic resistance element 27, can be selected such that the magnetic resistance Rm of the magnetic circuit 21 increases or decreases when the magnetic resistance element 27 is introduced. The fourth actuator 28 disposed on the transport path 2 could be e.g. be controlled by the control unit 10. However, it would also be conceivable for the openings 29 to be arranged on the transport path 2 such that they do not extend in the Y direction, but in the Z direction, and that the magnetic resistance element 27 is displaceably arranged in the Z direction. However, the precise embodiment is not critical to the invention, it is important that the magnetic resistance element 27 can be introduced into the opening 29 by means of a suitable mechanism by swiveling in, pushing in or in another suitable manner in a sufficiently short time, so that the magnetic resistance Rm of the magnetic circuit 21 and thus the magnetic flux Ψ in the magnetic circuit 21.
A further embodiment of the invention is illustrated in FIG. 5 with reference to a plan view of a transport unit Tn at a section of a transport path 2. In contrast to the previously described embodiments, it is not the magnetic resistance Rm of the magnetic circuit 21 that is changed, but the magnetic voltage Um generated at the transport unit Tn. To change the magnetic voltage Um at the transport unit Tn at least one additional coil 25 is disposed on the transport unit Tn, wherein the auxiliary coil 25 for at least temporarily increasing or decreasing the magnetic voltage Um at the transport unit Tn at least temporarily an additional electrical voltage Uz can be applied whereby an additional magnetic flux Umz of the drive magnets 4i is generated equal or opposite, whereby an additional magnetic flux Ψζ can be generated, which increases or decreases the magnetic flux Ψ of the magnetic circuit 21. Preferably, a plurality of additional coils 25i are arranged on the transport unit, for example an additional coil 25i per drive magnet 4i. The auxiliary coils 25i may be e.g. are arranged by the arranged on the transport unit Tn power source 11 with the additional voltage Uz and are controlled by the control unit 14 of the drive unit A of the transport unit Tn. As a result of the at least temporary application of the additional voltage Uz, an additional magnetic voltage Umz is generated by the additional coils 25i, which is superimposed on the magnetic voltage Um of the drive magnets 4i. According to the relationship Um = Rm * Ψ, the magnetic flux Ψ of the magnetic circuit 21 can also be selectively changed or increased thereby.
According to the invention, the methods described so far for changing the magnetic flux Ψ of the magnetic circuit 21 can be used particularly advantageously to compensate for inaccuracies in guiding a transport path 2, to increase the maximum achievable speed Vmaxein a transport unit Tn or a transfer of a transport unit Tn in a transfer position U of a two-sided transport path to realize, as explained in more detail below.
According to a first use of one of the described methods according to the invention, it is provided that a magnetic actual flux ΨΚ. Ι is determined in the magnetic circuit 21 and that a control unit 10, 14 controls the actual magnetic flux ΨΚ. The flux is controlled by changing the magnetic resistance Rm and / or the magnetic voltage Um at the transport unit Tn by the control unit 10, 14. However, "rules" in this context does not necessarily mean a "closed-loop" control with a feedback of a determined actual magnetic flux Ψκ, (or a physically equivalent variable), but it would also be a controlled "o pen-loop". Operation conceivable. For example, characteristic curves could be used e.g. a magnetic
Target flow Ψ5οΝ be deposited in the control unit 10, 14, wherein the control unit 10, 14 controls the existing actuators 9, 16, 23 according to the characteristics. The actual magnetic flux Ψ ^ can be measured in a known manner, or can be estimated in an observer from available measured quantities. As already described in detail, the magnetic flux Ψ of the magnetic circuit 21 can be changed in various ways, for example by changing the position of the drive magnets 4, 5 of the transport unit Tn, by changing the position of the drive coils 7, 8 of the transport path 2, by introducing a magnetic resistance element 24th in the air gap 20, by introducing a magnetic resistance element 27 in an opening 19 of the transport path 2 or by changing the magnetic voltage Um to the transport unit Tn.Bei straight or little highly curved transport routes 2, it may be sufficient, for example to arrange the drive magnets 4 on a common support plate 6 and to adjust the support plate 6 by means of at least a first actuator 9 in the Y direction to the air gap distance L in the air gap 20 and thus the magnetic resistance Rm and consequently the magnetic flux Ψ of the magnetic circuit 21 change. Alternatively, for example, the position of at least one drive coil 7 of the transport path 2 can be changed by means of at least one second actuator 16, preferably in the Y direction. For more curved transport routes, it is advantageous if at least the air gap distance Li individual drive magnet 4i individually by means of at least one first actuator 9, preferably a plurality of first actuators 9j is adjustable. For an additional increase in the uniformity of the air gap 20, individual drive magnets 4i can also be designed to be angularly adjustable, the angle αi in the air gap 20 between the individual drive magnets 4i and the co-operating drive coils 7 being adjusted by means of at least one first actuator 9, preferably by means of a plurality of first actuators 9j can be.
In order not to fall off the transport path 2, in particular in curves, guide elements (not shown) may be arranged on a transport unit Tn which cooperate with the transport path for guiding the transport unit Tn, that is to say e.g. support it by means of suitable guide elements. The accuracy of such guidance depends on various factors such as e.g. of manufacturing tolerances of the individual components, the wear of the transport path 2 and the guide components, of the maintenance, etc. For example, there may be areas of the transport path 2, which have a higher wear and areas with less wear, e.g. due to different loads and / or speeds of the transport units Tn. Also, the transport unit Tn is of course subject to wear, which can lead to the fact that increases the play of the mechanical guide elements
Transport unit Tn and / or at the transport line 2 may e.g. cause the size of the air gap 20, so the distance L between the drive magnet 4 of the transport unit Tn and the drive coil 7 of the long stator, with movement of the transport unit Tn along the transport path 2 changes, corresponding to different magnetic fluxes Ψ in the magnetic Circle 21 would lead. Assuming e.g. a desired constant driving force Fv of the transport unit Tn would consequently the coil voltage of the drive coils 7 to compensate for the fluctuating magnetic flux Ψ by the controller (control unit 10) of the movement of the transport unit Tn be adapted continuously, due to the required dynamics of the control (large control intervention in short Time steps) would increase the requirements for the control. With the modification of the magnetic flux Ψ according to the invention which has already been described in detail, it is now possible to compensate for such guidance inaccuracies by a decoupled control (control unit 14 of the transport unit Tn or additional control in the control unit 10) by the magnetic flux Ψ in the magnetic circuit 21 being independent of the regulation of the movement of the transport unit Tn is regulated, as will be described below with reference to FIG.
FIG. 6 shows a block diagram of the control structure according to the invention. The controlled variable is the actual magnetic flux Ψ ^ of the magnetic circuit 21 and the reference variable is the nominal magnetic flux Ψ5οΝ of the magnetic circuit 21. The actual magnetic flux Ψ ^ can be determined, for example, by means of a suitable observer on the long stator or by measurement. To form a control error eΨ the actual magnetic flux Ψ ^ is compared with the desired magnetic flux Ψ ^ ιι. The control error eΨ is regulated (depending on the embodiment) either in the control unit 10 of the transport path 2 and / or in the control unit 14 of the transport unit Tn by means of a suitable controller RL, for example a simple PID or PI controller or any other controller, in which from the controller RL a manipulated variable s is calculated by the at least one first actuator 9 in a change in the position of the associated at least one drive magnet 4 and / or by the at least one second actuator 16 in a change in the position of the associated at least one drive coil 7 and / or of the at least one third actuator 23 in a movement of the at least one magnetic resistance element 24 and / or of the at least one fourth actuator 28 in a movement of the at least one magnetic resistance element 27 and / or in the at least one additional coil 25th the transport unit Tn to be applied additional voltage U is set. In the case of a piezo actuator as actuator 9, 16, 23, 24, the manipulated variable s, for example, be an electrical voltage signal. To set a desired control characteristic such as e.g. Response, dynamics, overshoot, damping, depending on the design of the controller (s) RL whose (its) controller parameters can be set or specified. The control unit 10, 14 can be used as hardware e.g. be executed as a separate component or as software, e.g. be involved in a control unit of the long stator linear motor. In the embodiments shown (Figs. 2a-2c, Fig. 4), the control unit 14 of the transport unit Tn may e.g. be integrated in the drive unit A of the transport unit Tn. The controller RL is usually implemented as software.
In order to compensate for guide inaccuracies of the transport path 2, the choice of a specific desired magnetic flux Ψ50ΐ1 can be used, for example. a desired, the magnetic desired flux Ψ80 | ι corresponding constant air gap 20 are predetermined and adjusted.
According to a further use of one of the methods according to the invention for changing the magnetic flux Ψ of the magnetic circuit 21, the maximum achievable speed Vmax of the transport unit Tn can be increased in a simple manner, as described below. In principle, the maximum achievable speed Vmax of a transport unit Tn is limited by the maximum coil voltage that can be applied to the drive coil 7. The maximum coil voltage that can be applied is essentially predetermined by the performance of the power electronics units of the drive coil 7. The power electronics units may be integrated in the control unit 10, but may also be separate hardware components. In this case, of course, the lowest possible coil voltages are desirable for thermal reasons.
Due to the physical Induktionsgesetztes is induced by the moving magnetic field of the drive magnet 4 a moving transport unit Tn in a drive coils 7 of the long stator, a so-called emf voltage UEMK (EMF = electromotive force), which counteracts the applied coil voltage to the drive coil 7 and a so-called counter -EMK generated. The higher the speed of the transport unit Tn, the higher the EMF voltage UEMK and thus the back EMF. The maximum speed Vmax of the transport unit Tn is reached when the induced emf voltage UEMK corresponds in magnitude to the applied coil voltage at the drive coil 7, because then the drive coil 7 can not receive any further current. Although in principle the applied coil voltage at the drive coil 7 of the long stator could be increased, in practice this coil voltage is limited by a predetermined maximum voltage of the power electronics units, but also by thermal restrictions. Generally, the emf voltage UEMK is proportional to the velocity V of the transport unit Tn and the magnetic flux Ψ of the drive magnet 4 and any additional coils 25 present, as shown below. U aV · Ψ EMF p
The magnetic flux Ψρ in this context refers to the magnetic flux Ψρ generated by the drive magnets 4 as well as the additional magnetic flux of one or more additional coil (s) 25 arranged on the transport unit Tn, since only this flux Ψρ is opposite that of the stationary drive coils 7 is moved at the speed V of the transport unit Tn and induces a voltage in the drive coils 7. The above-mentioned magnetic flux Ψ in the magnetic circuit 21, however, is the, based on the magnetic voltage sources (drive magnets 4, drive coils 7 and possibly additional coils 25) resulting magnetic flux.
However, if the maximum achievable speed Vmax of the transport unit Tn is nevertheless to be increased at least temporarily, for example to move a transport unit Tn from one workstation of a production process to the next workstation as quickly as possible, but without increasing the coil voltage, according to the invention the magnetic flux Ψ of the magnetic circuit 21 is reduced by the magnetic resistance Rm and / or the magnetic tension Um is changed at the transport unit Tn. In this case, the change in the magnetic resistance Rm and / or the magnetic voltage Um can be carried out with one of the methods already described in detail, but it would also be conceivable to combine several of the methods. It would therefore be conceivable to arrange only a first actuator 9 (or a plurality of first actuators 9) on the transport unit Tn, with which the magnetic resistance Rm of the magnetic circuit 21 is increased by a change in position of the drive magnets 4. But it could also only a second actuator 16 (or a plurality of second actuators 16) are arranged on the transport path 2, with which the position of at least one drive coil 7 of the transport path 2 and thereby the magnetic resistance Rm of the magnetic circuit 21 can be increased. It would also be conceivable to increase the magnetic resistance Rm by means of one (or more) magnetic resistance element 24 to be removed from the air gap 20 between at least one drive magnet 4 of the transport unit Tn and at least one drive coil 7 of the transport path 2 cooperating therewith (or analogously by means of stator-side resistance element 27). , Or, the magnetic voltage Um at the transport unit Tn could be reduced by applying a magnetic additional voltage Umz directed from an auxiliary coil 25 arranged on the transport unit Tn and opposing the magnetic voltage Um of the drive magnets. By increasing the magnetic resistance Rm of the magnetic circuit 21 decreases, assuming an unchanged coil voltage in the drive coil 7, not only magnetic flux Ψ of the magnetic circuit 21, but of course caused by the drive magnet 4 magnetic flux Ψρ and thus the EMF SpannungUEMK. However, as a direct consequence, the maximum achievable speed Vmax of the transport unit Tn can be increased. With reduced EMF voltage, a drive coil 7 can absorb more current at the same speed V, which makes it possible to increase the maximum achievable speed Vmax of the transport unit Tn. The fact that at the same time the achievable driving force FV is reduced, can be accepted, since it is only about increasing the maximum achievable speed Vmax. Normally, in a transport device 1, the drive coils 7, 8 of a transport segment TSk are controlled, for example, by a control unit 10 such that the transport unit Tn cooperating with the drive coils 7 of the corresponding transport segment TSk is moved in the desired manner (position, speed, acceleration) by the generated drive force FV. Jerk) is moved along the transport segment TSm. For example, a constant speed V of the transport unit Tn can thereby be regulated independently of the loading and routing. If the magnetic resistance Rm is increased while the coil voltage remains constant at the drive coils 7 and / or the magnetic voltage Um is reduced in order to reduce the magnetic flux ψ in the magnetic circuit 21, the resulting lower emf voltage UEMK will occur simultaneously also increase the speed V of the transport unit Tn. This case can occur, for example, in a simple feed-forward control of the drive coils 7 by the control unit 10.
Normally, a feedback control will be implemented in the control unit 10 for controlling the movement of the transport unit Tnaber. Here, e.g. a desired speed of the transport unit Tn predetermined and adjusted by the control unit 10 by specifying the coil voltages of the acting drive coils 7. In this case, if the magnetic resistance Rm is increased and / or the magnetic voltage Um is decreased to reduce the magnetic flux ψ in the magnetic circuit 21, the control unit 10 will still cause the target speed to be adjusted. The control unit 10 will therefore reduce the applied coil voltages in this case to counteract the increasing speed V of the transport unit Tn. In this case, however, a higher speed V of the transport unit Tn can be achieved by increasing the setpoint speed. In this way, the higher speed potential can still be utilized.
In both cases, it is thus possible that also the maximum achievable speed Vmax of the transport unit Tn can be increased despite the coil voltage limited in particular by the power electronics and thermal limits. This results in a larger speed range for the transport unit Tn with unchanged power electronics units, which can be reacted more flexibly to a desired process control. The change according to the invention of the magnetic resistance Rm of the magnetic circuit 21 or of the magnetic voltage Um can of course also be carried out with a transport section constructed on both sides. For this purpose, drive magnets 4, 5 are arranged on both sides on the base body 3 of the transport unit Tn, which drive magnets 7, 8 of the two-sided transport path interact to produce a driving force Fv. The drive magnets 4, 5 by means of first actuators 9, 10, the drive coils 7, 8 by means of second actuators 16, 17, the magnetic resistance elements 24, 27 are used by means of third and fourth actuators 23, 28 for changing the magnetic resistance Rm and / or the auxiliary coil 25 for changing the magnetic voltage To be used at the transport unit Tn, or a combination of the possibilities. However, it would also be conceivable in a two-sided embodiment, e.g. only the magnetic resistance Rm of the magnetic circuit 21a and the magnetic voltage Um on one side (the side of the drive magnets 4) adjustably perform and the magnetic resistance Rm of the magnetic circuit 21b and the magnetic voltage Um on the other side (the side of Drive magnets 4) invariably perform.
For example, the increase of the maximum achievable speed Vmax of the transport unit Tn can be achieved by means of the control method described in FIG. Also again independent of the regulation of the movement of the transport unit Tn. given a desired magnetic flux Ψ80 | ι, which leads to a larger air gap 20, whereby a larger magnetic resistance Rm and consequently lower magnetic flux Ψ results. As an alternative to changing the air gap 20, as described for changing the magnetic flux Ψ e.g. Also, a magnetic resistance element 24 are removed from the air gap 20, or a magnetic resistance element 27 from the openings 29 of the transport path 2 to increase the magnetic resistance Rm. Of course, the control can again be carried out with any combination of the described methods for changing the magnetic flux Ψ.
With reference to FIGS. 7a and 7b, a further advantageous application of the method according to the invention for transferring a transport unit Tn to a transfer position U of a transport path 2 is shown. Such a transfer position U is shown for example in the form of a switch in Fig. 1. Of course, a transfer position U could also be embodied as a straight transfer position U, as also shown in FIG. 1 (eg in transport segments TS1, TS4), in order to guide the transport unit Tn along the transport segments TSk on one side to the transport segments TSm on one side to pass on the other side. In the area of a transfer position U, drive coils 7, 8 are arranged on both sides in the direction of movement x. The transport unit Tn is designed so that on both sides of the main body 3An driving magnets 4i, 5i are arranged, which cooperate on both sides arranged drive coils 7.8 of the transport path 2 to form a driving force Fv in the direction of movement x. However, as already described, a transport path 2 can also be designed on both sides outside a transfer position U, ie with drive coils 7, 8 arranged on both sides, for example, in comparison to a unilateral transport path 2 a larger driving force Fv for overcoming slopes of the transport path 2, for transporting higher To generate loads or for high accelerations. In order to move a transport unit Tn forward, stator currents iA1, iA2 of equal magnitude are preferably impressed on the two-sided drive coils 7, 8, whereby different stator currents iA1, iA2 can be impressed in different drive coils 7, 8 of one side. For the movement of the transport unit Tn, however, the drive coils 7, 8 arranged on both sides need not be energized at the same time by applying a coil voltage to a stator current iA1, iA2. In principle, it suffices if the driving force Fv acting on the transporting unit Tn for movement is generated only by means of the drive coils 7, 8 of one side and driving magnets 4i, 5i on the associated side of the transporting unit Tn.
As is known, lateral forces FS1, FS2 always act on the transport unit Tn on the two sides in the transverse direction y due to the interaction of the drive magnets 4i, 5i of the transport unit Tn with the ferromagnetic components of the long stator of the transport path 2, e.g. with teeth 12 of a ferromagnetic core 13. The lateral forces FS1, FS2 acting on both sides of the transport unit Tn are normally equal and opposite, with equal air gaps 20a, 20b of the same construction of the long stators on both sides, etc., so that the vectorial sum of the acting excitation magnetic side forces FS1, FS2 is zero. Ideally, the transport unit Tn is therefore free of lateral forces. As already described in detail, the subject invention is based on the fact that the magnetic flux Ψ formed in the by the drive magnets 4i, 5i of the transport unit Tn and the drive coils 7, 8 magnetic circuit 21 by changing the magnetic resistance Rm and / or the magnetic voltage Um is specifically influenced. This inventive change of the magnetic flux Ψ by changing the magnetic resistance Rm and / or the magnetic voltage Um can now but also in a transfer position U as shown in Fig. 7a and 7b, used to selectively influence the side forces FS1, FS2 so in that a steering effect of the transport unit Tn is achieved. It should be noted that the transport unit Tn does not change its position in the transverse direction Y, since the transport unit Tn is held by a guide (not shown) as centrally as possible between the two transport segments TSk, TSm. The steering effect therefore only means that the force relationships at the transport unit Tn change in the region of the transfer position U, but not its position in the transverse direction Y.
The example of the embodiment in FIG. 7a (corresponds to the principle of the embodiment according to FIG. 2a) with drive magnets 4i, 5i arranged on both sides on the transport unit Tn and arranged on movable carrier plates 6i, 10i which can be actuated by means of first actuators 9i, 10i will be, for example, the air gap distance L1 of FIG Air gap 20a on one side of the transport unit Tn between drive magnet 4 and drive coil 7 increases and / or reduces the air gap L2 of the air gap 20b on the other side of the transport unit Tn between drive magnet 5i and drive coils 8 (or vice versa, depending on the control of the transport unit Tn at the transfer position U). It would, of course, also be possible to increase only the air gap distance L1 of the air gap 20a on one side and to keep the air gap distance L2 of the air gap 20b constant on the other side; important here is only the relative change of the air gaps 20a, 20b relative to one another. In an alternative embodiment of the transport unit Tn or the adjustment of the air gap as described with reference to FIG. 2b and FIG. 2c, of course, the distances Li and angle ai in the air gap 20 between individual drive magnets 4i, 5i and drive coils 7, 8 could be adjusted , Due to the now different air gap distances L1 Φ L2 arise on the two sides of different magnetic fluxes Ψ1 Φ Ψ2 in the magnetic circuits 21a, 21b, which assuming constant coil voltages or stator currents iA1, iA2 to different sized excitation magnetic side forces FS2 Φ FS1 leads. This results from the vectorial sum of the two excitation magnetic lateral forces FS2, FS1 a resultant lateral force FsΣ in the transverse direction y in the direction of one of the two sides. If the transport unit Tn now moves further in the direction of movement x into the divergent region of the transfer position U, this resulting lateral force FS1 causes the transport unit Tn to be moved further along the transport segment TSm + 1. This makes it possible to direct the transport unit Tn by targeted change in the magnetic flux Ψ1, Ψ2 in the two magnetic circuits 21a, 21b targeted in one direction, here, for example, in the direction of the lower section, without the coil voltages or stator currents iA1, iA2 of Drive coils 7, 8 to change. Of course, this method can also be used for straight transfer positions U.
Of course, the handover method could also be performed with another described embodiment for changing the magnetic flux Ψ. In Fig. 7b, e.g. a transfer position U shown in which (analogous to the embodiment of FIG. 3a) on one side of the transport path 2 second actuators 16i between the stationary support structure 22 and transport segments TSk are arranged, with which the magnetic flux Ψ1 of the magnetic circuit 21a can be changed by the magnetic resistance Rm is variable by changing the air gap distance L1. If the air gap distance L1 between the drive magnet 4 and the drive coil 7 of the Trans port segment TSk compared to the air gap L2 between the drive magnet 5 and the drive coil 8 of the transport segment Tsm is reduced (L1 <L2), the magnetic resistance Rm of the magnetic circuit 21a decreases in Comparison to the magnetic resistance Rm of the magnetic circuit 21b. As a result, the magnetic flux Ψ1 in the magnetic circuit 21a increases as compared with the magnetic flux Ψ2 in the magnetic circuit 21b (Ψ1> Ψ2), resulting in a side force FS1 greater than the side force FS2 (FS1> FS2), thereby causing the transport unit Tn consequently a resultant side force FsΣ acts in the direction of the upper transport segment TSk, and the transport unit Tn is thereby guided safely along the transport segment TSk, TSk + 1 as it continues to move.
Of course, outside the range of the transfer position U, the excitation magnetic side forces FS2, FS1 can be equal again (provided that a two-sided arrangement of drive coils 7, 8 is provided), since steering action is no longer required.
Furthermore, the method for changing the magnetic resistance Rm could be used by means of magnetic resistance elements 24, 27 for transferring the transport unit in a transfer position U or the additional coil 25 according to the invention on the transport unit Tn for changing the magnetic voltage Um to the transport unit Tn. Also any combination the described possibilities for changing the magnetic flux ψ on one or both sides is conceivable. Since these methods have already been sufficiently described and follow the inventive concept of the change in the magnetic flux ψ, it will not be dealt with separately again with respect to the transfer position U.

权利要求:
Claims (18)
[1]
claims
1. A method for operating a transport device (1) in the form of a Langstatorline armotors in which a transport unit (Tn) along a transport path of the Langstatorlinearmotors is moved, wherein drive magnets (4, 5) of the transport unit (Tn) for generating a driving force with drive coils (7 , 8) of the transport path, wherein the drive magnets (4, 5) of the transport unit (Tn) and the drive coils (7, 8) of the transport path of the long stator linear motor magnetic voltage sources of a forming magnetic circuit (21), characterized in that the change a magnetic flux (Ψ) in the magnetic circuit (21) during the movement of the transport unit (Tn) along the transport path (2), a magnetic resistance (Rm) of the magnetic circuit (21) and / or on the transport unit (Tn) a magnetic voltage (Um) of the magnetic circuit (21) are changed.
[2]
2. The method according to claim 1, characterized in that for changing the magnetic resistance (Rm) of the magnetic circuit (21) the position at least egg nes drive magnet (4, 5) of the transport unit (Tn) by means of at least one of the trans port unit (Tn) arranged and with the at least one drive magnet (4, 5) of the transport unit (Tn) cooperating first actuator (9, 10) is changed in at least one degree of freedom of movement.
[3]
3. The method according to claim 1 or 2, characterized in that for changing the magnetic resistance (Rm) of the magnetic circuit (21) the position of at least one drive coil (7, 8) of the transport path (2) by means of at least one of the transport path (2). arranged and with the at least one drive coil (7, 8) of the transport route (2) cooperating second actuator (16, 17) in at least one movement Liberty degree is changed.
[4]
4. The method according to any one of claims 1 to 3, characterized in that for changing the magnetic resistance (Rm) of the magnetic circuit (21) at least one magnetic resistance element (24) of certain magnetic permeability (μ) by means of at least one of the transport unit ( Tn) or on the transport path (2) arranged third actuator (23) in an air gap (20) between at least one to drive magnet (4, 5) of the transport unit (Tn) and at least one cooperating therewith the drive coil (7, 8) of the transport path (2) is introduced.
[5]
5. The method according to any one of claims 1 to 4, characterized in that for changing the magnetic resistance (Rm) of the magnetic circuit (21) at least one magnetic resistance element (27) of certain magnetic permeability (μ) by means of at least one on the transport path ( 2) arranged fourth actuator (28) in a, on the transport path (2) arranged opening (29) is introduced.
[6]
6. The method according to any one of claims 1 to 4, characterized in that for changing the magnetic tension (Um) on the transport unit (Tn) at least one additional coil (25) on the transport unit (Tn) is arranged, wherein the auxiliary coil (25 ) for at least temporarily increasing or decreasing the magnetic voltage (Um) on the transport unit (Tn) at least temporarily an additional electrical voltage (Uz) is applied to one, the magnetic tension (Um) of the drive magnets (4, 5) gleich- or to generate reverse magnetic additional voltage (Umz), whereby the magnetic flux (Ψ) is increased or decreased.
[7]
7. Use of the method according to one of claims 1 to 6 for the compensation of guidance inaccuracies of the transport device (1), characterized in that a magnetic actual flux ^ is) in the magnetic circuit (21) is determined and that a control unit (10, 14) the actual magnetic flux ist is) is controlled to a defined desired magnetic flux soll soll) by the magnetic resistance (Rm) and / or the magnetic voltage (Um) at the transport unit (Tn) from the control unit (10, 14) is changed.
[8]
8. Use of the method according to one of claims 1 to 6 for the transfer of the transport unit (Tn) at a transfer position (U) of the transport route, characterized in that on at least one side of the transport unit (Tn) of the magnetic resistance (Rm) and / or the magnetic strain (Um) on the transport unit (Tn) of the respective side is changed to produce a lateral force acting on the transport unit (Tn).
[9]
9. Use of the method according to one of claims 1 to 6 for increasing the maximum achievable speed (Vmax) of the transport unit (Tn), characterized in that the magnetic flux (Ψ) of the magnetic circuit (21) is reduced by the magnetic resistance (Rm) and / or the magnetic voltage (Um) at the transport unit (Tn) is changed.
[10]
10. Transport device (1) in the form of a long-stator linear motor with at least one transport unit (Tn) and at least one transport path (2), wherein the transport unit (Tn) has a base body (3), wherein on at least one side of the base body (3) drive magnets ( 4, 5) are arranged, which cooperate for generating a driving force (Fv) with drive coils (7, 8) of the transport path (2) of the long stator linear motor, wherein the drive magnets (4, 5) of the transport unit (Tn) and the drive coils (7, 8) of the transport path (2) of the long stator linear motor magnetic voltage sources of a forming magnetic circuit (21), characterized in that for changing a magnetic flux (Ψ) in the magnetic circuit (21) during the movement of the transport unit (Tn) along the transport path (2) on the Transportein direction (1) an adjusting device for changing a magnetic resistance (Rm) of the magnetic circuit (21) v is seen and / or on the transport unit (Tn) an additional coil (25) for changing the magnetic voltage (Um) to the Transportein unit (Tn) is provided.
[11]
11. Transport device (1) according to claim 10, characterized in that the adjusting device for changing the magnetic resistance (Rm) of the magnetic circuit (21) as the first, on the transport unit (Tn) arranged actuator (9, 10) is executed with in that the position of at least one drive magnet (4, 5) of the transport unit (Tn) is adjustable in at least one degree of freedom of movement.
[12]
12. Transport device (1) according to claim 10 or 11, characterized in that the adjusting device for changing the magnetic resistance (Rm) of the magneti's circle (21) as a second, arranged on the transport path actuator (16, 17) is executed with in that the position of at least one drive coil (7, 8) is adjustable in at least one degree of freedom of movement.
[13]
13. Transport device (1) according to any one of claims 10 to 12, characterized in that the adjusting device for changing the magnetic resistance (Rm) of the magnetic circuit (21) as at least one on the transport unit (Tn) or on the transport path (2) arranged third actuator (23) with at least one magnetic resistance element (24) of certain magnetic permeability (μ) is executed, wherein the at least one magnetic resistance element (24) by means of the third actuator (23) in an air gap (20) between at least one drive magnet (4 , 5) of the transport unit (Tn) and at least one cooperating drive coil (7, 8) of the transport path (2) can be introduced.
[14]
14. Transport device (1) according to any one of claims 10 to 13, characterized in that the adjusting device for changing the magnetic resistance (Rm) of the magnetic circuit (21) as at least one on the transport path (2) arranged fourth actuator (28) with at least a magnetic resistance element (27) of specific magnetic permeability (μ) is carried out, wherein the at least one magnetic resistance element (27) by means of the fourth actuator (28) in an on the transport path (2) arranged opening (29) can be introduced.
[15]
15. Transport device (1) according to any one of claims 10 to 14, characterized in that at least temporarily an additional voltage (Uz) can be applied to the additional coil (25) for at least temporary change in the magnetic tension (Um) on the transport unit (Tn).
[16]
16. Use of the transport device (1) according to one of claims 10 to 15 for compensation of leadership inaccuracies of the transport device (1), characterized in that the transport device (1) comprises a control unit (10, 14), wherein a determined magnetic actual flux ^ is) in the magnetic circuit (21) by the control unit (10, 14) to a defined target magnetic flux ^ soll) is controlled by the magnetic resistance (Rm) of the magnetic circuit (21) by means of the adjusting device and / or the magnetic Voltage (Um) at the transport unit (Tn) by means of the additional coil (25) of the control unit (10, 14) is changed.
[17]
17. Use of the transport device (1) according to one of claims 10 to 15 for transfer of the transport unit (Tn) at a transfer position (U) of the transport path, characterized in that on at least one side of the transport unit (Tn) of the magnetic resistance (Rm) of the magnetic Circuit (21) is changed by means of the adjusting device and / or the magnetic tension (Um) on the transport unit (Tn) by means of the auxiliary coil (25) is changed to generate a lateral force on the transport unit (Tn).
[18]
18. Use of the transport device (1) according to any one of claims 10 to 15 for increasing the maximum achievable speed (Vmax) of the transport unit (Tn), characterized in that the magnetic flux (Ψ) of the magnetic circuit (21) is reduced by the magnetic Resistance (Rm) of the magnetic circuit (21) is changed by means of the adjusting device and / or the magnetic voltage (Um) on the transport unit (Tn) by means of the additional coil (25) is changed.

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同族专利:

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公开号 | 公开日

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EP3547530B1|2020-08-05|

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CN109217616A|2019-01-15|

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EP3422562A1|2019-01-02|

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CN113839540A|2021-12-24|

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US20190002214A1|2019-01-03|

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CA3009902A1|2018-12-29|

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US11161701B2|2021-11-02|

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EP3547530A1|2019-10-02|

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EP3422562B1|2021-10-20|

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US20200223646A1|2020-07-16|

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US11161700B2|2021-11-02|

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AT520088B1|2019-01-15|

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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

---

ATA50537/2017A|AT520088B1|2017-06-29|2017-06-29|Method for operating a transport device in the form of a long-stator linear motor|ATA50537/2017A| AT520088B1|2017-06-29|2017-06-29|Method for operating a transport device in the form of a long-stator linear motor|

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EP18180019.4A| EP3422562B1|2017-06-29|2018-06-27|Method for operating a transport device in the form of a linear motor with guideway stator|

---

EP19173456.5A| EP3547530B1|2017-06-29|2018-06-27|Method for operating a transport device in the form of a linear motor with guideway stator|

---

CA3009902A| CA3009902A1|2017-06-29|2018-06-28|Method for operating a transport apparatus in the form of a long stator linear motor|

---

CN201810682646.0A| CN109217616A|2017-06-29|2018-06-28|Method for running the transport device in long stator linear motor form|

---

US16/022,038| US11161700B2|2017-06-29|2018-06-28|Method for operating a transport apparatus in the form of a long stator linear motor|

---

CN202111213050.4A| CN113839540A|2017-06-29|2018-06-28|Method for operating a transport device and transport device|

---

US16/834,509| US11161701B2|2017-06-29|2020-03-30|Method for operating a transport apparatus in the form of a long stator linear motor|