Energy transmission in linear transport systems

Abstract

The present invention relates to a method for transmitting energy from a fixed unit 111 of a linear transport system 101 to a mobile unit 103 of the linear transport system 101, wherein the linear transport system 101 comprises a guide rail 105 for guiding the mobile unit 103, a plurality of fixed units 111, a control unit 133, and a linear motor 107 for driving the mobile unit 103 along the guide rail 105, wherein the linear motor 107 comprises a stator 109 and a rotor 113, wherein the stator 109 comprises fixed units 111, each of which comprises one or more drive coils, and wherein the rotor 113 is arranged on the mobile unit 103. 03 and includes one or more magnets, wherein the fixed unit 111 respectively includes one or more energy transmitting coils 125, wherein the mobile unit 103 includes at least one energy receiving coil 127, and has the following steps implemented by the control unit 133: determining position data of the energy receiving coil 127 of the mobile unit 103; selecting at least one energy transmitting coil 125 in the linear transport system 101 based on the position data of the energy receiving coil 127; and outputting a control signal to the fixed unit 111, wherein the control signal includes identification information, and the at least one energy transmitting coil 125 can be identified by using the identification information.

Description

Technical Field

[0001] The present invention relates to energy transmission in a linear transport system. The invention particularly comprises a method for transmitting energy in a linear transport system, a control unit and a computer program for implementing the method, a machine-readable storage medium containing the computer program, a fastening unit for a linear transport system, and a linear transport system.

[0002] This application claims the benefit of German patent application DE 10 2020 107 782.3 filed on March 20, 2020, the contents of which are incorporated by reference in their entirety. Background Art

[0003] Linear transport systems are known from the prior art, in which a mobile unit can be moved along a guide rail and which include a linear motor for driving the mobile unit, wherein the linear motor comprises a stator and a rotor. The stator can include at least one motor module, which is fixedly arranged along the guide rail and has one or more drive coils, while the mobile unit is arranged on a carriage and can include one or more magnets. By energizing the drive coils, a force can be generated that acts on the magnets of the mobile unit, causing the mobile unit to move along the guide rail. Furthermore, provision can be made for the mobile unit or carriage to carry a tool, wherein energy must be transferred from the fixed unit to the mobile unit to operate the tool, and data can be transferred from the fixed unit to the mobile unit and vice versa. German Patent Application DE 10 2018 111 715 A1, filed May 16, 2018, discloses such a linear transport system, which includes energy transmission between a fixed coil module (i.e., the fixed unit) and a movable carriage (i.e., the mobile unit). For this purpose, an energy transmitting coil and an energy receiving coil are provided for energy transmission, and a first data coil or a second data coil is provided for data transmission. Summary of the Invention

[0004] The object of the present invention is to provide an improved method for transferring energy from a stationary unit to a mobile unit of a linear transport system. Another object of the present invention is to provide a control device capable of controlling the execution of the method, a computer program for executing the method, and a machine-readable storage medium for the computer program. Another object of the present invention is to provide a stationary unit of a linear transport system designed to carry out the energy transfer according to the method of the present invention, as well as a linear transport system in which such energy transfer is possible.

[0005] These objects are achieved by the method, control unit, computer program, machine-readable storage medium, holding unit and linear transport system according to the independent claims. Advantageous embodiments are described in the dependent claims.

[0006] The linear transport system includes a guide rail for guiding a mobile unit, multiple fixed units, a control unit, and a linear motor for driving the mobile unit along the guide rail. The linear motor has a stator and a rotor, wherein the stator includes the fixed unit. Each fixed unit has one or more drive coils. The rotor is arranged on the mobile unit and includes one or more magnets. When the drive coils of the fixed unit are energized, a magnetic force is applied to the magnets of the rotor, thereby moving the rotor and, therefore, the mobile unit, along the guide rail. Each fixed unit includes one or more energy transmitting coils, and the mobile unit includes at least one energy receiving coil.

[0007] In a method for transmitting energy from a stationary unit of a linear transport system to a mobile unit of the linear transport system, a control unit performs the following steps: first, position data of an energy receiving coil of the mobile unit is determined. Then, based on the position data of the energy receiving coil, at least one energy transmitting coil within the linear transport system is selected. Then, a control signal is output to the stationary unit, which includes the at least one energy transmitting coil, wherein the control signal includes identification information by which the at least one energy transmitting coil can be identified.

[0008] Multiple stationary units can be arranged within a linear transport system, each of which can include one or more energy transmitting coils. By selecting one of the energy transmitting coils within the linear transport system based on the position data of the mobile unit, it is possible to energize only the energy transmitting coil or coils that are currently capable of effectively transmitting energy to the mobile unit. Typically, these are the energy transmitting coils closest to the mobile unit. Other energy transmitting coils farther from the mobile unit, i.e., not required for energy transmission, can be energized less frequently or not at all, thereby saving energy overall.

[0009] In this case, provision can be made to set an energy level and / or a power and / or a current intensity of the energization of the selected energy transmitting coil, wherein the energy level and / or the power and / or the current intensity are set during initialization.

[0010] Provision can be made for the execution of the method to be controlled by a central control unit of the linear transport system, since the position data of the mobile unit is detected in this central control unit in any case in order to control the energization of the drive coils based on the position data. This is particularly possible when the linear transport system has more than one mobile unit on the guide rail. The control unit then outputs a control signal to the stationary unit corresponding to the energy transmitting coil selected for energy transmission. The corresponding stationary unit can be configured to receive the control signal and select an energy transmitting coil that can be identified based on the identification information. Furthermore, the stationary unit can optionally be configured to energize the selected energy transmitting coil based on the energy level information.

[0011] The linear transport system can have a control unit according to the invention, a fixed unit according to the invention, and at least one mobile unit having at least one rotor and an energy receiving coil.

[0012] In one embodiment of the method, the control signal includes energy amount information, which includes the amount of energy to be transmitted, thereby enabling control or regulation of the energy to be transmitted.

[0013] In one embodiment of the method, the energy level information includes the amplitude and / or frequency of the AC voltage or AC current. If the energy transmission coil is energized with a higher-amplitude AC voltage or AC current, more energy can be transmitted. This also applies to energizing the energy transmission coil with a higher-frequency AC voltage or AC current. In this case, energy transmission coils not currently used for energy transmission can be energized, for example, with an amplitude close to zero or zero. The amplitude and / or frequency of the AC voltage or AC current can be used to easily set or control the desired energy level.

[0014] If multiple mobile units are provided, different energy transmission coils can also be energized with different AC voltages or AC currents in order to transmit different amounts of energy. It can be provided that the amplitudes and / or frequencies of the different AC voltages or AC currents are set differently.

[0015] In one embodiment of the method, the energy amount includes a load energy amount at a first point in time and an idle energy amount at a second point in time. The load energy amount is respectively adapted to the operation of a tool disposed on the mobile unit. The idle energy amount is at most sufficient to maintain the energy supply to the communication unit of the mobile unit. It can be provided that the mobile unit includes a tool that requires energy for operation. If the communication unit indicates that the tool is to perform an action and, for this reason, requires a load energy amount, the energy transmission coil can be energized so that the load energy amount is transmitted. If the tool is not to perform an action, an idle energy amount can be transmitted, for example, by radio transmission. This idle energy amount is sufficient to maintain communication between the mobile unit and the stationary unit, but is insufficient for the tool to perform an additional action. Further energy savings can be achieved by controlling the energy transmission to the mobile unit only so that the load energy amount is transmitted when the tool is currently performing an action that requires a corresponding amount of energy.

[0016] In one embodiment of the method, the idle energy level is zero. In this case, at the second point in time, no energy is transferred between the stationary unit and the mobile unit, and thus no communication link is provided. This may be the case, for example, when the mobile unit and the tool are located in an area where movement of the tool is not necessary.

[0017] In one embodiment of the method, the position data is determined based on measurements from at least one position sensor and / or based on energizing the linear motor. By energizing the linear motor, the movement of the mobile unit along the guide rail can be understood to a certain extent, since a certain energization results in a certain movement of the mobile unit. This may be sufficient to determine the position data with sufficient accuracy, based on which the energy transmission coil should be selected. Provision may be made for the energization to be extracted from control data and / or measured using a sensor. Alternatively or additionally, however, the position data may also be determined using measurements from at least one position sensor, typically by using a magnetic field sensor of the stationary unit to determine the magnetic field of a position magnet disposed on the mobile unit. The position magnet may be part of the magnets of the rotor.

[0018] In one embodiment, when position data indicates an amount of energy to be transmitted via multiple energy transmitting coils arranged sequentially along a guide rail, the energy amount information is adapted based on the area of the interspaces between the energy transmitting coils and the area of the energy receiving coils. Area-based adaptation can also be performed based on the dimensions of the energy transmitting coils and the interspaces. Interspaces are provided between the energy transmitting coils, for example, between two energy transmitting coils of one stationary unit or between two energy transmitting coils of a second stationary unit. These interspaces are smaller in area than the energy transmitting coils. This can be achieved, for example, by having the interspaces have a width in the direction of movement of the mobile unit that is smaller than the length of the energy receiving coils. If the mobile unit, equipped with the energy receiving coils, now moves through these interspaces, no energy can be transmitted in the area of the interspaces. If the area of the interspaces is, for example, 10% of the area of the energy receiving coils, provision can be made to increase the energy transmitted by energizing the energy transmitting coils by 10% to compensate for the area of the interspaces and thus ensure continuous energy transmission as the mobile unit moves along the guide rail from one energy transmitting coil to another. The energization can be increased, for example, in terms of amplitude and / or frequency, wherein the increase does not necessarily have to be proportional to the covered area. Another functional relationship can also be selected that allows a constant power (or constant energy over time) to be transmitted.

[0019] In one specific embodiment, phase information is output, wherein the phase information is used to set the phase of the alternating currents of the plurality of energy transmission coils and thereby ensure that the energy transmission coils are energized in phase.

[0020] In one embodiment of the method, an actual energy level signal from the mobile unit is evaluated, and the energy level is regulated based on the actual energy level signal. The actual energy level signal can be a signal transmitted from the mobile unit to the stationary unit or control unit, indicating whether the action currently being performed by the tool of the mobile unit requires a higher or lower energy level. The energy transmitted by means of the energy transmitting coil can be adapted by a control circuit. The control circuit can be located within the stationary unit, in which case an energy level control device in the stationary unit regulates the energy provided by the energy transmitting coil based on the energy level information and the actual energy level signal. Alternatively, the control circuit can be designed such that the actual energy level signal is transmitted from the stationary unit to the control unit or directly from the mobile unit to the control unit. In this case, the control circuit can include the control device adapting the energy level information of the control signal accordingly. The energy level information can include the transmitted energy level, the actual current value, or the transmitted power.

[0021] The present invention includes a control unit configured to execute the method according to the present invention. The present invention also includes a computer program comprising program code that, when executed on a computer, causes the computer to execute the method according to the present invention. The present invention also includes a machine-readable storage medium comprising the computer program.

[0022] The stationary unit of the linear transport system includes a stator with one or more drive coils for driving a rotor. The stationary unit also includes at least one energy transmitting coil and is configured to receive a control signal. The control signal includes identification information that can be used to identify the at least one energy transmitting coil and energy level information that includes the amount of energy to be transmitted. The stationary unit is configured to select one or more energy transmitting coils based on the identification information and to set energy transmission for the one or more energy transmitting coils based on the energy level information.

[0023] In one specific embodiment, the stationary unit has a control loop, with the aid of which the energy level actual signal is evaluated and used to set the energy transmission.

[0024] In one embodiment, the fixed unit further has a guide rail and one or more driving coils for driving the moving unit.

[0025] A linear transport system comprises a control unit according to the present invention, at least one fixed unit according to the present invention, and at least one mobile unit. The mobile unit comprises an energy receiving coil. A rotor is arranged on the mobile unit and includes one or more magnets. The stator and rotor form a linear drive. In this linear transport system, a predetermined amount of energy can be selectively transmitted to the mobile unit, thereby saving energy by not energizing energy transmitting coils that can only transmit energy inefficiently to the mobile unit at that point in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be described in detail below based on the embodiments and with reference to the accompanying drawings. Here, the following schematic diagrams are shown:

[0027] Figure 1 A linear transport system is shown;

[0028] Figure 2 Show Figure 1 Part of a linear transport system;

[0029] Figure 3 Show Figure 2 A partial side view of the linear transport system;

[0030] Figure 4 A first example of a coil pair for energy transfer is shown;

[0031] Figure 5 A second coil pair for energy transfer is shown;

[0032] Figure 6 A third coil pair is shown for energy transfer;

[0033] Figure 7 showing a coil assembly; and

[0034] Figure 8 Circuit diagram showing the fixed unit and the mobile unit. DETAILED DESCRIPTION

[0035] Hereinafter, identical reference numerals may be used for identical features. In addition, for the sake of clarity, it may be provided that not all elements are shown in each figure. In addition, for the sake of clarity, it may be provided that not every element is provided with its own reference numeral in each accompanying drawing.

[0036] Figure 1 The linear transport system 101 is shown. The linear transport system 101 comprises a moving unit 103 guided by a guide rail 105. The moving unit 103 comprises running rollers (not shown here) and a rotor 113 with magnets. The running rollers of the moving unit 103 can roll on the running surface of the guide rail 105.

[0037] The linear transport system 101 further comprises a linear motor 107, wherein the linear motor 107 comprises a stator 109. The stator 109 of the linear motor 107 is arranged in a fixing unit 111, which for this purpose each comprises a plurality of drive coils. Figure 1 The linear motor 107 is designed differently in some parts, wherein each fixed unit 111 can be straight or curved. The linear motor 107 also includes a rotor 113, which is arranged on the mobile unit 103 and includes one or more magnets. The fixed units 111 each include an energy transmitting coil 125. The mobile unit 103 includes an energy receiving coil 127. Figure 1 In an alternative embodiment not shown in FIG, the fixing unit 111 may also include a plurality of energy transmitting coils 125 .

[0038] The fixed unit 111 also includes an optional fixed antenna 129. The mobile unit 103 includes an optional mobile antenna 131. The mobile antenna 131 is fixed to the mobile unit 103, but can be moved along the guide rail 105 together with the mobile unit 103. With the help of the fixed antenna 129 and the mobile antenna 131, data can be exchanged between the fixed unit 111 and the mobile unit 103. Alternatively, however, such data transmission can also be carried out, for example, with the help of a wireless LAN connection or a Bluetooth connection or an infrared connection or a 5G connection or according to the DECT standard or designed as an optical transmission. The fixed unit 111 then does not include the fixed antenna 129. The mobile unit 103 then does not include the mobile antenna 131, respectively. Figure 1 However, other antennas may be located on the mobile unit 103. The fixed antennas and / or the mobile antennas may be completely independent of Figure 1 Arrangement of the design shown in .

[0039] The linear transport system 101 further comprises a control unit 133, which is directly connected to one or all of the stationary units 111. Figure 1 The connection to one of the stationary units 111 is shown in FIG. In this case, it can be provided that the stationary units 111 include a communication bus, by means of which signals from the control unit 133 can be exchanged between the stationary units 111. Figure 1 An additional communication unit not shown in the figure may be arranged between the controller 133 and one or more fixed units.

[0040] Figure 2A more detailed view of the stationary unit 111 is shown, on which the mobile unit 103 is arranged. The mobile unit 103 includes a tool 137, which can be designed as an electric tool, for example. To operate the tool 137, energy must be transferred from the stationary unit 111 to the mobile unit 103. This is achieved via an energy transmitting coil 125 in the stationary unit 111 and an energy receiving coil 127 in the mobile unit 103. If the energy transmitting coil 125 is energized, for example with alternating current, a corresponding magnetic field is generated, which induces a voltage in the energy receiving coil 127. This induced voltage can then be used to power the tool 137 in the mobile unit 103.

[0041] Figure 3 A side plan view of a fixed unit 111 is shown, which includes a guide rail 105 on which the mobile unit 103 is arranged. The mobile unit 103 can also be guided by means of an alternative, not shown, design. The running rollers 139 of the mobile unit 103 can roll on the running surface 141 of the guide rail 105 and thus enable a substantially one-dimensional movement of the mobile unit 103 along the guide rail 105. Figure 3 Also shown is the magnet 117 of the movable unit 103, which forms the rotor 113 of the linear motor 107. Also shown is the stator 109 of the linear motor 107, which is formed by stator teeth and drive coils (not shown). Below the magnet 117 and stator 109, the movable unit 103 has a position detection element 143. The fixed unit 111 has a position sensor 145 in this area. Position sensor 145 can, for example, measure the inductive behavior of a coil that is altered by a metal sheet embedded in the position detection element 143. To this end, position sensor 145 can, for example, have a current-carrying coil, where the changing inductance through the position detection element 143 causes the current in the coil to change, thereby enabling the position of the position detection element 143 and, therefore, the position of the movable unit 103 to be detected. However, position sensor 145 can also be designed differently, for example, each having an excitation coil and a receiving coil, which also measure the inductance of the metal sheet embedded in the position detection element 143. Furthermore, for example, a magnet 117 embedded in the position detection element 143 or a light barrier evaluation for position determination is also possible.

[0042] The mobile antenna 131 and the tool 137 can be powered by Figures 1 to 3The energy transmission coil 125 or the energy reception coil 127 shown in FIG. It may be provided that the mobile unit 103 has an energy storage device, wherein the energy storage device may be designed as a capacitor, battery, supercapacitor, superconducting magnetic energy storage device, or flywheel. This allows energy to be stored, for example, to transmit a larger amount of energy long in advance for an action of the tool 137 that requires a higher power than can be provided by the energy transmission coil 125 in the short term. Furthermore, energy can be stored in this way to bridge a larger area without energy transmission and still maintain communication there using the mobile antenna 131, or to carry out an action of the tool 137 there.

[0043] In a method for transmitting energy from a stationary unit 111 of a linear transport system 101 to a mobile unit 103, a control unit 133 may perform the following steps: First, position data of the mobile unit 103 is determined. This position data may include the position of the mobile unit 103 of the linear transport system 101 relative to the stationary unit 111. Provision may be made for the position data to be determined using a position sensor 145. Subsequently, at least one of the energy transmitting coils 125 is selected. This selection is performed based on the position data. Provision may be made for the energy transmitting coil 125 to be selected such that the selected energy transmitting coil 125 is at least partially, in particular completely, opposite the energy receiving coil 127. This selection may include not only the selection of the stationary unit 111 but also, if the stationary unit 111 includes multiple energy transmitting coils 125, the selection of the energy transmitting coils 125 within the stationary unit 111. Provision may also be made for multiple energy transmitting coils 125 to be selected for energy transmission in a stationary unit 111 that includes multiple individually controllable energy transmitting coils 125. Furthermore, it may be provided that both energy transmitting coils 125 are selected when the mobile unit 103 is situated exactly at the transition between two energy transmitting coils 125 .

[0044] The selection of the energy transmission coils 125 can also be designed such that either a good transmission is ensured or a poor energy transmission is selected in a targeted manner, wherein the energy to be transmitted can be controlled thereby.

[0045] After selecting at least one energy transmitting coil 125 within the linear transport system 101 based on the position data, a control signal including identification information is output by the control unit 133. The at least one energy transmitting coil 125 can be identified by means of the identification information.

[0046] In one embodiment, the control signal includes energy level information. The energy level information includes the amount of energy to be transmitted. The control signal is output by the control unit 133 to the corresponding fixed unit 111. Within the fixed unit 111, the energy transmitting coil 125 can then be energized so that the amount of energy defined by the energy level information is transmitted to the mobile unit 103. The amount of energy to be transmitted may also include the power required.

[0047] The energy level information may include the amplitude and / or frequency of the AC voltage or AC current. The energy and / or power transmitted via the energy transmitting coil 125 to the energy receiving coil 127 may be set using both the amplitude and the frequency of the AC voltage / AC current.

[0048] It can be provided that the stationary unit 111 independently selects the frequency and / or amplitude, for example using a corresponding table. This allows for optimal transmission of the amount of energy to be transmitted. For this purpose, it can be advantageous to inform the stationary unit 111 of the position data and, optionally, the dimensions of the mobile unit 103.

[0049] In one embodiment, the energy level includes a loaded energy level at a first point in time and an unloaded energy level at a second point in time. The loaded energy level is sufficient to operate tool 137 located on mobile unit 103. The unloaded energy level is sufficient at most to maintain the energy supply of the communication unit of mobile unit 103. This means that when mobile unit 103 is at a point where tool 137 is required to operate, a higher amount of energy is transmitted, namely the energy level required to operate tool 137. At other locations, provision may be made to transmit only an energy level that is sufficient to maintain communication via fixed antenna 129 and mobile antenna 131.

[0050] In one embodiment, the no-load energy level is zero. This is the case if there are also locations within the linear transport system 101 where no communication should take place between the stationary unit 111 and the mobile unit 103 at all.

[0051] In one embodiment, the position data is determined based on measurements of at least one position sensor 145. In another embodiment, the position data is determined based on the energization of the linear motor 107. Both options may be sufficient to determine the position of the mobile unit 103 relative to the fixed unit 111 with sufficient accuracy to select the energy transmission coil 125. Another option for determining the position data is to measure the position of one or more magnets 117 of the mobile unit using a magnetic field sensor, such as a (3D) Hall sensor.

[0052] In addition to the energy transmission from the energy transmitting coil 125 to the energy receiving coil 127 , it can be provided that energy is also transmitted in the opposite direction in certain circumstances. This can occur, for example, when more energy than required is transmitted to the mobile unit 103 , particularly when the mobile unit 103 has an energy storage device as described above. If the energy storage device of the mobile unit 103 includes a battery, it can be provided that the battery is discharged in a targeted manner to extend its service life by discharging the battery to a predetermined charge level when a predetermined charge level, for example, 80% of the maximum charge, is exceeded.

[0053] Furthermore, it can be provided that the mobile unit 103 can be actively braked. In this case, the linear motor 107 acts as a generator. The kinetic energy of the mobile unit 103 is fed back into the intermediate circuit of the linear motor 107, causing the intermediate circuit voltage to rise. To prevent the intermediate circuit voltage from becoming too high, it can be provided that this energy is converted into heat in an upstream braking resistor. However, as an alternative to a braking resistor, it is also advantageous to activate energy transfer from the energy transmitting coil 125 to the energy receiving coil 127 in order to charge the energy storage device of the mobile unit 103, even if this energy is not needed at the time. This improves efficiency because the energy generated by the braking process is not converted into heat, but is instead transferred to an energy storage device on the mobile unit 103.

[0054] Figure 4 A first coil pair consisting of an energy transmitting coil 125 and an energy receiving coil 127 is shown. The energy transmitting coil 125 is arranged on a circuit board 147 as a so-called circuit board coil. In this case, the circuit board 147 has a recess in which a ferromagnetic molded part 149 is arranged. The energy receiving coil 127 consists of a plurality of windings of a wire around another ferromagnetic molded part 150. In this embodiment, the energy receiving coil 127 is wound along the direction of travel. As a result, the structure of the energy receiving coil 127 is longer along the direction of travel, but narrower transversely to the direction of travel. In addition, the finished wound air coil can be brought more easily to the other ferromagnetic molded part 150, which makes more advantageous production possible. In addition, in Figure 4 1 shows an optional film 151 and an optional further film 152, wherein film 151 covers the energy transmitting coil 125 and further film 152 covers the energy receiving coil 127 and thereby enables, for example, a simple hygienic design, wherein the energy transmitting coil 125 and the energy receiving coil 127 are not exposed. Film 151 or further film 152 can be, for example, a thin stainless steel film, a plastic film such as Teflon, or also a lacquer layer.

[0055] Figure 5The second coil pair is shown, which consists of an energy transmitting coil 125 and an energy receiving coil 127. Figure 4 The energy receiving coil 127 is constructed identically, but the windings are arranged differently on a further ferromagnetic molded part 150. In this embodiment, the energy receiving coil 127 is wound transversely to the direction of travel. This allows multiple mobile units 103 to travel one after another with relatively short distances along the direction of travel. This is important in many applications.

[0056] exist Figure 5 1 shows an energy receiving coil 127 consisting of a first coil element 126 and a second coil element 128. This is an optional design; only one energy receiving coil 127 may be provided. It may be provided that first coil element 126 is always connected and used to power the electronics of mobile unit 103, while the second coil element is only connected at specific times and operates tool 137 using the energy transmitted via second coil element 128. This minimizes energy losses.

[0057] Figure 6 A third coil arrangement is shown which also consists of an energy transmitting coil 125 and an energy receiving coil 127. The energy transmitting coil 125 is shown here as in Figure 4 and 5 . The energy receiving coil 127 is also arranged as a printed circuit board coil on a further printed circuit board 148, wherein the further printed circuit board 148 also has a recess in which the further ferromagnetic molded part 150 is arranged. This design is very advantageous from a production perspective, because further electronic components can be contacted directly on the further printed circuit board 148, and only the further ferromagnetic molded part 150 needs to be used.

[0058] Figure 7 Another schematic diagram of a coil assembly is shown, which includes two energy transmitting coils 125 and one energy receiving coil 127. The energy receiving coils have ferromagnetic moldings 149 arranged inside the energy transmitting coils 125, and the energy receiving coils also have another ferromagnetic molding 150 in the center of the coils. To simplify the illustration, only the part of the ferromagnetic molding 149 located inside the energy transmitting coils 125 and the part of the other ferromagnetic molding 150 located inside the energy receiving coils 125 are shown. Here, the energy transmitting coils 125 and the energy receiving coils 127 are arranged in a Figure 7 The energy receiving coil 127 can be arranged in front of the energy transmitting coil 125 so that the ferromagnetic molding 149 and the further ferromagnetic molding 150 overlap, i.e. similar to Figures 4 to 6The energy transmitting coil 125 has a first dimension 153. First dimension 153 corresponds to the dimension of the ferromagnetic molding 149. A second dimension 155 is defined between the two ferromagnetic moldings 149 of the energy transmitting coil 125. Thus, second dimension 155 represents the distance between the two ferromagnetic moldings 149. A third dimension 157 is the dimension of the other ferromagnetic molding 150 of the energy receiving coil 127.

[0059] The energy transmitting coil 125 has a fourth dimension 159, which corresponds to the height of the ferromagnetic molding 149. The energy receiving coil 127 has a fifth dimension 161, which corresponds to the height of the further ferromagnetic molding 150 of the energy receiving coil 127. It can be provided that the fourth dimension 159 and the fifth dimension 161 are identical. The definition of the first to fifth dimensions 153, 155, 157, 159, 161 results from the fact that the magnetic flux is substantially concentrated by the ferromagnetic molding 149 or the further ferromagnetic molding 150. This creates a magnetic gap between the energy transmitting coil 125 and the energy receiving coil 127 that corresponds to the second dimension 155.

[0060] If the energy receiving coil 127 is now moved along the energy transmitting coil 125, the energy receiving coil 127 will move from one of the energy transmitting coils 125 to the other of the energy transmitting coils 125. It is unimportant whether this movement takes place within the stationary unit 111 and the energy transmitting coil 125 is part of the stationary unit or whether the transition is caused by a transition between two stationary units 111. It can be provided that the energy level is to be determined for the position data with the aid of a plurality of energy transmitting coils 125 (in Figure 7In the case of transmission using two energy transmitting coils 125 (shown in FIG), the energy amount information is adapted based on the area of the interspace between the energy transmitting coils 125 and the area of the energy receiving coil 127. In the area defined by the second dimension 155, the energy transmission is reduced due to the fact that no ferromagnetic molding 149 is arranged there. For this reason, it is useful to adapt the energy transmitted by the energy transmitting coil 125 when the energy receiving coil 127 is located in this area. The adaptation can be performed based on the area of the energy receiving coil 127 and the area of the interspace, where the area of the energy receiving coil 127 is the product of the third dimension 157 and the fifth dimension 161, and the area of the interspace is the product of the second dimension 155 and the fourth dimension 159. If the fourth dimension 159 is equal to the fifth dimension 161, the energy amount can also be adapted simply based on a comparison of the second dimension 155 and the third dimension 157. If, for example, the product of second dimension 155 and fourth dimension 159 is 10% of the product of third dimension 157 and fifth dimension 161, the energy transmitted by energy transmitting coil 125 can be increased by 10%. This increase in energy can be achieved by energizing energy transmitting coil 127 with an alternating current having a higher frequency and / or amplitude, thereby transmitting a constant amount of energy or power while mobile unit 103 moves through the interspace between energy transmitting coils 125. Due to nonlinear edge effects, it may be necessary to simply observe the geometric overlap of energy receiving coil 127 and the interspace. However, in this case, the functional relationship is also known, and the energization can be varied according to a predetermined function to transmit a constant amount of power or energy.

[0061] It can be provided that the third dimension 157 is greater than the second dimension 155. In another embodiment, it can be provided that the third dimension 157 is greater than the sum of the first dimension 153 and the second dimension 155. In another embodiment, it can be provided that the first dimension 153 is greater than the third dimension 157, and the third dimension is in turn greater than the second dimension 155. These embodiments enable continuous energy transmission from the energy transmitting coil 125 to the energy receiving coil 127 even when the energy receiving coil 127 is moved from one energy transmitting coil 125 to another in the linear transmission system 101. It can be provided that the energization of the two illustrated energy transmitting coils 125 is synchronized so that the magnetic fields generated by the energization are in phase. This advantageously allows the magnetic flux generated in the other molded part 150 to be added together. This results in more uniform power transmission during the transition.

[0062] Figure 8The circuit diagram of the stationary unit 111 and the mobile unit 103 is shown. The stationary unit 111 has multiple energy transmitting coils 125. The energy transmitting coils are controlled by MOS Fets 174, which can be operated by a driver 163. The driver 163 can receive signals from a microcontroller 165. The microcontroller 165 can be connected to other stationary units 111 and / or the control unit 133 via a communication interface 167. This connection can also be a multi-core communication interface, such as a serial SPI interface. Other power semiconductors such as transistors or IGBTs can also be used instead of MOS Fets 174. The stationary unit 111 also has a power supply 169. The driver 163 is connected to each energy transmitting coil 125 via a MOS Fets 174. Based on the position data, one of the energy transmitting coils 125, namely the energy transmitting coil 125 opposite the mobile unit 103, can be selected. If power is now supplied to the energy transmitting coil 125, the current, through its magnetic field and magnetic coupling, induces a corresponding voltage in the energy receiving coil 127 of the mobile unit 103. This voltage can be smoothed by means of a diode 175 and a capacitor 177 and then provided as a mobile voltage source 179 to a tool 137 of the mobile unit 103. The tool 137 can be connected here by means of a connecting element 181. Furthermore, a communication controller 183 can be provided, which controls the data transmission to the mobile unit 103.

[0063] Also in Figure 8 , an ammeter 173 is shown, which can be used to transmit the amount of energy output by the energy transmission coil 125 as an actual energy amount signal in the form of current intensity to the microcontroller 165. The energy amount output by the energy transmission coil 125 can then be regulated based on the actual energy amount signal. This regulation can be performed by the microcontroller 165. In an alternative embodiment, the actual energy amount signal is forwarded to the control unit 133 via the communication interface 167, and the regulation is performed by the control unit 133. In this case, the control unit 133 can modify the control signal, in particular the energy amount information within the control signal, and output this control signal back to the stationary unit 111, where the energy transmission coil 125 is now operated based on the modified control signal. In both cases, regulation can be based on a setpoint current intensity compared to the measured current intensity. Alternatively, the transmitted energy amount or the transmitted power can be determined from the measured current intensity and regulation can be based on this energy amount or the transmitted power.

[0064] The present invention also includes a control unit 133 configured to carry out the described method and output a control signal corresponding to the method based on position data. It can also be provided that the control unit 133 is configured to perform control operations based on the actual energy level signal. The control unit 133 can also be configured to activate the tool 137 in a future manner dependent on the position. In this case, a higher power transmission can also be pre-set, for example, as a pre-control. The control unit 133 may, for example, know that the tool 137 should be operated at a predetermined distance. In this case, the control unit 133 can already pre-determine the distance at which the higher power transmission should occur. This represents an alternative to controlling operations based on the actual energy level signal. The present invention also includes a computer program comprising program code executed on a computer to cause the computer to perform the method. Such a computer program can, for example, be stored in the control unit 133. The present invention also includes a machine-readable storage medium containing the computer program.

[0065] The present invention also includes a stationary unit 111 of a linear transport system 101, which includes a stator 109 having one or more drive coils. Furthermore, the stationary unit 111 includes at least one energy transmitting coil 125 and is configured to receive a control signal from a control unit 133. The control signal includes identification information that can be used to identify the at least one energy transmitting coil 125 of the stationary unit 111 and energy level information including an amount of energy to be transmitted. The control unit 133 is configured to select one or more energy transmitting coils 125 of the stationary unit 111 based on the identification information and to set energy transmission by the one or more energy transmitting coils 125 based on the energy level information.

[0066] In one exemplary embodiment, the fixing unit 111 comprises a controller 173 , which can be designed as a control loop, for example, and by means of which the actual energy quantity signal is evaluated and used to set the energy transmission.

[0067] In one embodiment, the fixing unit 111 additionally has a guide rail 105 , by means of which the movement unit 103 can be moved along the fixing unit 111 .

[0068] The present invention also includes a linear transport system 101 having a control unit 133 designed as described above, at least one fixed unit 111 designed as described above, and at least one mobile unit 103 designed as described above. Thus, the linear transport system 101 can be composed of a plurality of fixed units 111, and the linear transport system 101 can also include a plurality of mobile units 103, although only one mobile unit 103 is shown in each case in the figures.

[0069] The linear transport system 101 can be used, for example, in automation technology. The tool 137 arranged on the mobile unit 103 can include, for example, a gripper, a slide, a drill, an orientation device, a mechanical or magnetic coupling of multiple mobile units 103, or a measuring tool for measuring physical variables (e.g., temperature, pressure, current, voltage, acceleration, mass, or light incidence). Furthermore, the tool 137 can include a readhead that reads an encoder tape and thus enables further position determination. This additional, more precise position can then be used to improve the control of the mobile unit 103 and / or the control of the linear motor 107. This principle can also be used with other physical quantities measured on the mobile unit 103, such as acceleration or vibration. Furthermore, physical quantities can be generated on the mobile unit 103 using the tool 137. Forces can be generated by moving the tool 137 on the mobile unit 103, and these forces can be adjusted or set using adjustable current limits on the drive coils used. Furthermore, a vacuum can be generated. Thus, products can be gently sucked into and released from the product itself using special suction devices. Test voltages can also be generated. This test voltage also allows functional testing of products consisting of more complex electronic circuits.

[0070] Communication with more complex products equipped with communication interfaces is also possible. Other physical quantities for material testing, such as ultrasound, current, or light, can also be generated. Communication with workpieces transported by mobile unit 103 can also be established. When this data is linked to other data in control unit 133 and written, for example, to a database, inspections or other production monitoring, such as seamless product tracking, can be performed. Data can thus be written to and read from workpieces in an advantageous manner.

[0071] Furthermore, heaters can be provided to generate higher temperatures in a targeted and limited manner at small locations, for example, to dry adhesives or paint more quickly and energy-efficiently. Provision can be made to maintain the workpiece or product on the mobile unit 103 at a specific temperature, for example, to allow for longer processing. For example, data transmission can be omitted, and energy can be transmitted only to the areas to be heated using the associated energy transmission coils. The transmitted energy is then used for heating on the mobile unit, for example, by directly connecting the energy receiving coils to heating elements and thereby automatically heating them during energy transmission. Using a switchable magnetic field source (coil), magnetic components can be easily fixed, transported, and removed. Furthermore, the mobile unit 103 can include cameras or other sensors to monitor the linear transport system 101 for wear, dirt, and other factors. This is particularly useful when the linear transport system 101 has only difficult-to-access or completely inaccessible locations.

[0072] Any type of movement can be performed on the mobile unit 103, for example, also transversely to the direction of travel defined by the guide rails 105. Grippers can grasp and release products without the need for spring-loaded mechanical slides. Depending on the product's state, it can also be placed on another belt and, for example, sorted out. The tool 137 can have a slide to specifically push products from the mobile unit 103 onto, for example, a belt. Using slides or similar moving elements on the mobile unit 103, the product flow unwound from the linear transport system 101 can be distributed onto different onward transport mechanisms, such as belts. Thus, using only one linear transport system 101 without a switch, by which the mobile unit 103 could be guided in different directions, it is possible to divide a fast product flow as needed and also to bring it together again in the opposite direction.

[0073] Tool 137 can be used to manipulate product movements, for example, to erect cardboard or process products. In this case, pressure can be applied to the product using a drill or a press. Furthermore, rotational movement can be performed, for example by rotating a workpiece support to change the product's orientation from longitudinal to transverse. Products can be lifted. Products can be rotated, for example, to screw on bottle caps. The distance between products can also be changed. Actuators on the mobile units 103 can be used to move products, thereby compensating for product defects on empty mobile units 103. Thus, if a product defect is found in a row of mobile units 103, the product on the unit to the left can be moved half the distance to the right, and vice versa on the other side. This allows products without defects to be removed from the subsequent machine unit at the same distance from each other for further processing.

[0074] For example, if you want to put a label, a stamp or other parts such as a straw on the bottle, the bottle or other product can be precisely oriented. The movements can be superimposed. Different hardware can be integrated into the tool 137 of the mobile unit 103 and can be controlled by setpoints, for example, also by PWM signals (solenoid valves, DC motors, steppers, small servos, voice coil motors, vibration elements, electromagnets, vacuum, lasers, ultrasonic sources). Absolute positioning can also be achieved without return by HW end position switches or movement against a stop, for example in the case of a DC motor. The product can be measured by means of grippers or other mechanical devices and by measuring the current consumption during movement (condition monitoring of components of the mobile unit 103 and product components is also possible). Products can be sorted and transferred, for example, between the mobile unit 103 and a storage station.

[0075] To increase the driving force, the mobile units 103 can be coupled and decoupled as needed, for example by hooking a mechanically moving part of one mobile unit 103 into another or by means of electromagnetic coupling. Space can be saved between the mobile units 103 when the tool 137 can be moved perpendicular to the direction of travel predetermined by the guide rails 105, in synchronization with the products moving on the belt. This allows the tool 137 to enter and handle narrow gaps between products, thereby increasing machine performance. The mobile units 103 that can transport products together are mechanically coupled during transport. This coupling ensures that sensitive products are retained and prevented from falling or being damaged, for example, due to different rotations of the mobile units 103, even in the event of a malfunction (e.g., a power outage). This is possible both when the two mobile units 103 are part of the same linear transport system 101 and when they are part of different linear transport systems 101.

[0076] It is also possible to replace the power tool on the mobile unit 103. The tool / receiver / holder can be intelligently adapted to the specific dimensions of the product.

[0077] Provision can be made to set the frequency and / or amplitude as needed using energy level information. The energy level information can be different for each mobile unit 103. The position of the mobile unit and the task being performed by the mobile unit 103 at that position are known to the control unit 133. Therefore, in areas where, for example, a specific action on the mobile unit 103 requires less (applied) energy, the primary coil current of the energy transmission coil 125 can be adapted in terms of frequency, amplitude, and also signal shape (e.g., sinusoidal or triangular), thereby transmitting less (or more) energy. Advantageously, the mobile unit 103 can also transmit information about its energy status using data communication via the fixed antenna 129 and the mobile antenna 131. This allows the primary coil current to be set accordingly in an optimal and generally loss-free manner or to be regulated via communication feedback. This can also prevent, for example, excessive energy from being dissipated unnecessarily by the mobile unit 103 and, for example, converted into heat, in the event of a (constantly set) excessive energy transmission, particularly in locations or situations where the mobile unit 103 does not require much energy. Another possibility for such energy regulation is to switch the energy receiving coil 127 on and off via an electronic circuit. This also allows, for example, the tool 137 to be switched on or off. Furthermore, a consumer can be present on the mobile unit 103, which, in the event of excessive energy transmission to the mobile unit 103, for example due to fluctuations in the air gap or varying coil coverage, dissipates the excess transmitted energy so that no overvoltage occurs on the mobile unit 103. Such a consumer can be, for example, a varistor or power resistor with corresponding electronic circuitry.

[0078] For all mentioned applications, energy and data transmission according to the invention between the stationary unit 111 and the mobile unit 103 may be necessary.

[0079] Reference Signs List

[0080] 101 Transportation System

[0081] 103 mobile units

[0082] 105 guide rail

[0083] 107 Linear Motor

[0084] 109 stator

[0085] 111 fixed unit

[0086] 113 rotor

[0087] 117 Magnet

[0088] 125 Energy sending coil

[0089] 126 first coil component

[0090] 127 Energy receiving coil

[0091] 128 second coil component

[0092] 129 Fixed Antenna

[0093] 131 Mobile Antenna

[0094] 133 Control Unit

[0095] 135 drive coil

[0096] 137 Tools

[0097] 139 Running Roller

[0098] 141 running surface

[0099] 143 Position detection element

[0100] 145 Position Sensor

[0101] 147 Circuit Board

[0102] 148 Another circuit board

[0103] 149 Ferromagnetic molded parts

[0104] 150 Another ferromagnetic molded part

[0105] 151 film

[0106] 152 Another Film

[0107] 153 First Size

[0108] 155 Second Size

[0109] 157 Third Dimension

[0110] 159 Fourth Size

[0111] 161 The Fifth Dimension

[0112] 163 Driver

[0113] 165 Microcontroller

[0114] 167 Communication Interface

[0115] 169 Power Supply

[0116] 173 Ammeter

[0117] 174 MOS-Fet

[0118] 175 diode

[0119] 177 capacitor

[0120] 179 Power Bank

[0121] 181 Connecting elements

[0122] 183 Communication Controller

Claims

1. A method for transmitting energy from a fixed unit (111) of a linear transport system (101) to a mobile unit (103) of the linear transport system (101), wherein: The linear transport system (101) comprises a guide rail (105) for guiding the mobile unit (103), a plurality of fixed units (111) and a linear motor (107) for driving the mobile unit (103) along the guide rail (105), wherein the linear motor (107) comprises a stator (109) and a rotor (113), wherein the stator (109) comprises a fixed unit (111), wherein the fixed units each comprise one or more drive coils, wherein the rotor (113) is arranged on the mobile unit (103) and comprises one or more magnets (117), wherein the fixed units (111) each comprise one or more energy transmitting coils (125), wherein the mobile unit (103) comprises at least one energy receiving coil (127), wherein the linear transport system (101) comprises a control unit (133), wherein the following steps are implemented by the control unit (133): - determining position data of the energy receiving coil (127) of the mobile unit (103); - selecting at least one energy transmitting coil (125) within the linear transport system (101) based on the position data of the energy receiving coil (127); - outputting a control signal to the fixed unit (111), the fixed unit comprising the at least one energy transmitting coil (125), wherein the control signal comprises identification information, by means of which the at least one energy transmitting coil (125) can be identified, wherein the control signal comprises energy amount information, the energy amount information comprising the energy amount to be transmitted, wherein the energy amount comprises a loaded energy amount at a first point in time and a no-load energy amount at a second point in time, wherein the loaded energy amount is sufficient to operate a tool (137) arranged on the mobile unit (103), and wherein the no-load energy amount is sufficient at most to maintain the energy supply to the communication unit of the mobile unit (103).

2. The method according to claim 1, wherein The energy magnitude information includes the amplitude and / or frequency of the AC voltage or AC current.

3. The method according to claim 1 or 2, wherein: The position data are determined based on measurements of at least one position sensor (145) and / or based on energizing the linear motor (107).

4. The method according to claim 1 or 2, wherein: The position data indicates that the energy amount should be transmitted by means of a plurality of energy transmitting coils (125), wherein the plurality of energy transmitting coils (125) are arranged in sequence along the guide rail (105), and the energy amount information is adapted based on the area of the intermediate space between the energy transmitting coils (125) and the area of the energy receiving coil (127).

5. The method according to claim 4, wherein Phase information is also output, wherein the plurality of energy transmitting coils (125) are energized in phase.

6. The method according to claim 4, wherein: When the mobile unit (103) is located in the region of the intermediate space, the energy level is increased.

7. The method according to any one of claims 1 or 2, wherein: An energy level actual signal of the mobile unit (103) is evaluated, and the energy level is adjusted based on the energy level actual signal.

8. A control unit (133) configured to carry out the method according to any one of claims 1 to 7. 9 . A computer program product comprising a program code, wherein the program code is executed on a control unit according to claim 8 and causes the computer to execute the method according to claim 1 .

10. A machine-readable storage medium comprising the computer program product according to claim 9.

11. A fixing unit (111) of a linear transport system (101), wherein: The fixed unit (111) comprises a stator (109) having one or more drive coils for driving a rotor (113), wherein the fixed unit (111) comprises at least one energy transmitting coil (125), wherein the fixed unit (111) is configured to receive a control signal, wherein the control signal comprises identification information and energy amount information, wherein the identification information can be used to identify at least one energy transmitting coil (125), and the energy amount information comprises the amount of energy to be transmitted, and based on the identification information, one or more energy transmitting coils (125) of the fixed unit (111) are selected and based on the energy amount information, energy transmission of the one or more energy transmitting coils (125) is set, wherein the fixed unit (111) is configured to set a load energy amount at a first time point and to set an idle energy amount at a second time point, wherein the load energy amount is sufficient to operate a tool (137) arranged on the mobile unit (103), and wherein the idle energy amount is sufficient at most to maintain energy supply to a communication unit of the mobile unit (103). 12 . The fastening unit ( 111 ) according to claim 11 , further comprising a control circuit, by means of which the actual energy level signal is evaluated and used to set the energy transmission.

13. The fixing unit (111) according to claim 11 or 12, further comprising a guide rail (105).

14. A linear transport system (101) comprising a control unit (133) according to claim 8, a fixed unit (111) according to any one of claims 11 to 13 and a mobile unit (103), wherein: The movement unit (103) has an energy receiving coil (127), wherein a rotor (113) is arranged on the movement unit (103) and comprises one or more magnets (117), wherein the stator (109) and the rotor (113) form a linear drive.

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