Transportation system, transportation equipment and running track

Abstract

The invention relates to a transport system (335), a transport device (100) and a track (105). The transport system (335) comprises a running track (105) having a running track section (110) and a movable transport device (100). The first running surface (115) of the running track section (110) has a substantially circular surface (130) and comprises a guide center (135). The guide center (135) substantially forms a geometric circle center (140), the circular surfaces (145) of which each substantially comprise a circular surface (130) of the first running surface (115). A first roller (155) of the transport device (100) rotatably rests on the first running surface (115). A first roller (155) is rotatably mounted (175) on a movable element (170) of the transport device (100). The first roller (155) is designed to perform a pivoting movement (185) along a substantially circular surface (130) of the first running surface (115). The axis of rotation (190) of the movable element (170) and the guide center (135) are arranged substantially at the same height (195).

Description

Technical Field

[0001] The present invention relates to a transportation system, transportation equipment for use in a transportation system, and a running track for use with the transportation equipment in the transportation system.

[0002] This patent application claims the priority of German patent application DE 102022120032.9, the disclosure content of which is incorporated herein by reference. Background Art

[0003] A transport device having a plurality of rollers and contacting a curved running track of a transport system via the rollers is known in particular from EP 3 476 773 A1. EP 3 476 773 A1 discloses a transport device cooperating with a running track, wherein the transport device has three rollers, two of which are each rotatably in contact with a first running surface of the running track, and a third roller is rotatably in contact with a second running surface of the running track. The first running surface and the second running surface are both arranged on opposite sides of the running track.

[0004] In order for the mentioned roller to come into contact with the running surface of the running track, in particular in a curved running track section or in the transition from a straight running track section to a curved running track section (or vice versa), the third roller is supported translationally on a movable element of the transport device. The movable element is prestressed via a spring unit, wherein the spring unit generates a spring force which enables the third roller to perform a translational movement relative to the first roller and the second roller, for example in the vertical direction towards or away from each other.

[0005] However, with such prestressed transport devices or transport systems having a spring-loaded movable element with a translational guide or a linear guide, the problem often arises that an unwanted torque is generated on the translational guide, whereby a parallel and stable alignment of the transport device with the running track is no longer ensured when traveling along a curved running track section. As a result, the transport device begins to tip over. This effect can be avoided, for example, if the spring unit and the linear guide are arranged in the same plane in which the third roller itself is arranged. Summary of the invention

[0006] The object of the present invention is to provide an improved transport system and an improved transport device for a transport system having a stabilizing guide.

[0007] This object is achieved by the features of the independent claim. Further advantageous embodiments of the invention are specified in the dependent claims.

[0008] A transport system is proposed, comprising at least one running track with at least one running track section and at least one movable transport device guided along the at least one running track section. The running track section has a first running surface. The first running surfaces have a substantially circular surface and each include a guide center. The guide center essentially forms a geometric circle center, whose circular surface approximately includes the circular surface of the first running surface. The transport device has at least one first roller, which is rotatably attached to the first running surface, wherein the first roller is rotatably supported on at least one movable element of the base of the transport device so as to perform a pivoting movement along the substantially circular surface of the first running surface, wherein the rotation axis of the movable element for the pivoting movement and the guide center are arranged at substantially the same height.

[0009] The running track includes at least one curved running track section. The transport equipment is guided along the at least one curved running track section. The curved running track section has a first running surface and a second running surface arranged on opposite sides of the curved running track section. The first running surface and the second running surface both have substantially circular surfaces and both include a guiding center. The guiding center substantially forms a geometric circle center, and its circular surface substantially includes a circular surface of the first running surface or a circular surface of the second running surface. The transport equipment has a plurality of rollers for guiding. At least the first roller and the second roller are each rotatably abutted against the first running surface, and at least one third roller is rotatably abutted against the second running surface. The first roller and the second roller and / or the third roller are rotatably supported on at least one movable element of the base of the transport equipment. The first roller and the second roller and / or the third roller are each rotatably supported on the movable element, and are each designed to perform a pivoting motion along the substantially circular surface of the first running surface and / or to perform a pivoting motion along the substantially circular surface of the second running surface. The rotation axis of the movable element and the guiding center are substantially arranged at the same height.

[0010] For example, at approximately the same height, the height arrangement of the rotation axis and the guide center of the movable element may differ by up to 1 mm and may therefore also be understood to lie approximately in a common plane.

[0011] A substantially circular surface may be understood to mean a circular or round running track profile or a circular or round face / surface. For example, the running track profile may approximately comprise a segment of a circle in a two-dimensional representation.

[0012] The pivoting movement can be a rotational movement away from the base of the transport device. It can be used in particular for adjusting the prestress in a curved running track section (i.e. curved area) and for maintaining the contact of the stick on the running surface of the running track.

[0013] The guide center can be an axis passing through the running track and being approximately at the same height or in the same plane as the rotation axis of the movable element.

[0014] The proposed transport system or the proposed transport device for the transport system advantageously improves the position accuracy of a drive device of the transport device of the transport system by preferably rotatably supporting the first roller and the second roller via a movable element. The drive device is preferably designed as a linear drive and can include a motor module with a coil, which is particularly designed as a linear motor module along a running track. The thrust of the transport device that causes the transport device to move along the running track can be generated by an operative connection between a magnet arranged on the transport device and the coil of the motor module. With the proposed structure, the magnet and the coil can better overlap their positions, thereby strengthening their operative connection for the movement of the transport device.

[0015] A further advantage of the proposed transport system or the proposed transport device is that, due to the preferably rotatable mounting of the first roller on the movable element, the transport device can be arranged on the running track (or can be removed from the running track) more easily than conventional transport devices, which require the use of so-called track locks (i.e. running track sections that are specially inserted into the running track) to re-track or remove the transport device. For this purpose, the running track must be at least partially de-adjusted. With the proposed arrangement, track locks and the steps performed in this case are completely eliminated.

[0016] Furthermore, the proposed arrangement ensures that the preload, contact pressure, pressure or roller force changes between the straight running track section and the curved running track section of the first roller of the transport device on the first running surface and the base body of the transport device are small. This also has a favorable effect on the vibration behavior and control parameters of the transport device or the transport system and increases the stability of the transport device on the running track, so that the guidance of the transport device along the running track can be simplified.

[0017] The stability of the transport device on the running surface of the running track of the transport system depends on a number of factors and largely on the distance between the opposing rollers, the choice of roller and running track profiles and the preload on the running surface of the running track of the transport system. The position of the axis of rotation of the movable element and the center of the guide at approximately the same height, i.e. in the same plane, has a positive effect on the stability of the transport device, since this arrangement prevents the transport device from starting to tilt as a whole during a pivoting movement along the curved surface of the running surface in a curved running track section. Despite the pivoting movement, the transport device remains stable on the running surface.

[0018] In another embodiment, the first roller defines a pivot plane during the pivoting movement, which is oriented obliquely relative to the travel plane, which is oriented substantially parallel to the guiding direction of the first roller. Advantageously, despite the pivoting movement of the movable element, which is preferably designed as an articulated block, for adjusting the prestress in the curved running track section, an overall tilting of the transport device can be avoided, but the contact of the first roller with the running surface can still be maintained. For this purpose, the position of the axis of rotation of the movable element and the guiding center has been advantageously selected according to the above explanations.

[0019] In another embodiment, the movable element is preloaded for rotatable support by at least one spring unit adjacent to the movable element. The spring unit has a spring element. The spring element and the axis of rotation have a first distance from each other. The first roller and the axis of rotation are both at a second distance from each other. The first distance can be made greater than the second distance. The mentioned arrangement has the following advantages: the spring force provided by the spring unit uses the lever law for the mentioned distance, resulting in an increased roller force, which acts on the first roller and the second roller to press them against the first running surface (for example, the spring force can advantageously become a factor that can be increased using the proposed arrangement). This situation can be advantageously considered when selecting the spring element. Therefore, it is preferred to use a helical compression spring as the spring element of the spring unit because it provides high fatigue strength, has compact dimensions and can generate a relatively large spring force. As described above, the contact pressure, pressure, prestress or roller force is advantageously generated by the spring force.

[0020] In another embodiment, the spring unit also has a clamping element, which is particularly designed as a clamping screw. The clamping element is designed to preload the spring element, which is particularly designed as a helical compression spring. The spring unit can advantageously be used to adjust or change the preload without having to remove the transport device from the running track. This saves time and costs.

[0021] In addition, by utilizing the above-mentioned lever effect to achieve the required preload, small spring elements can be used, which advantageously enables a compact, space-saving design of the transport device and the transport system. The spring type of the spring element used (helical compression spring) advantageously has a high fatigue strength and is therefore robust and suitable for use.

[0022] The use of spring-loaded rotating bearings for automatically adjusting the wear of rollers or running rails also advantageously enables almost constant prestressing (i.e. extending the running time of individual components, especially rollers) and constant control and oscillation behavior of the transport device over the entire running time (without readjustment).

[0023] In another embodiment, the transport system has a drive device for the transport device. The drive device is preferably designed as a linear drive and can include a motor module with a coil, which is particularly designed as a linear motor module along the running track. The coil can be powered separately. The magnet is arranged on at least one transport device. The coil generates a magnetic field for operative connection with the magnet arranged on the at least one transport device. The at least one transport device moves via the operative connection.

[0024] The advantage of the transport system design is that it can be realized without cables. Cables would clutter the transport system and lead to limited mobility of the transport equipment. In addition, since the transport system does not use transmissions, belts or chains, the transport system does not require complex installation and maintenance. Through flexible movement profiles (e.g., controlling only a single transport device of the transport system, etc.), simple to highly complex processes can also be implemented, thereby optimizing the entire manufacturing process. In addition, the proposed transport system is manufactured in an easy-to-clean design and is therefore also advantageously suitable for hygiene-sensitive application areas.

[0025] In another embodiment, the base of the transport device is substantially U-shaped and has a base with a first leg and a second leg. The base has a recess at least partially on the outer side of the base and on the outer side of the first leg, in which the at least one movable element is arranged. The spring element is arranged in the base region. The magnets of the drive device are each arranged on a first inner side of the first leg and on a second inner side of the second leg of the U-shaped base. This advantageously enables a space-saving, compact and resource-saving design.

[0026] In addition, a running track for use with at least one transport device of a transport system is proposed. The running track may have at least one curved running track section, wherein the at least one transport device is guided along the at least one curved running track section. The curved running track section has at least one first running surface and a second running surface arranged on opposite sides of the curved running track section. The first running surface and the second running surface both have substantially circular surfaces and both include a guide center. The guide center substantially forms a geometric circle center, whose circular surface substantially includes the circular surface of the first running surface or the circular surface of the second running surface.

[0027] Advantageously, the geometry of the two running surfaces enables a first roller and a second roller, which are arranged on the movable element, to preferably perform a pivoting movement along the circular surface of the first running surface in the curved running track section in order to adjust the prestressing of the transport device and thus maintain contact of the rollers. The roller profile can advantageously differ from the running track profile mentioned, which can, for example, approximately form a segment of a circle. The proposed running track is therefore advantageously well compatible with many transport devices having different roller profiles.

[0028] In another embodiment, the running track further has at least one straight running track section adjacent to the curved running track section. The curved running track section has a first running surface spacing, and the straight running track section has a second running surface spacing. The first running surface spacing and the second running surface spacing are substantially the same.

[0029] The mentioned running surface distances are advantageously designed to be substantially the same, so that the distance between the running surfaces is approximately constant, for example on a running track, regardless of whether the running track section is straight or curved. In order to ensure contact between the rollers and to adjust the prestress, the first roller and the second roller are advantageously rotatably supported on the above-mentioned movable element of the base body of the transport device so as to perform a pivoting movement along the circular surface of the first running surface in a curved region, i.e. in a curved running track section.

[0030] The advantageous developments and further developments of the invention explained above and / or reproduced in the dependent claims can be used individually or in any desired combination with one another, for example in the case of explicit dependencies or incompatible alternatives. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above-mentioned features, characteristics and advantages of the present invention, as well as the manner of achieving these, will be more clearly understood in conjunction with the following description of exemplary embodiments, which are explained in more detail in conjunction with the following schematic diagrams.

[0032] In the attached figure:

[0033] Figure 1 shows a perspective view of a transport apparatus having a curved running track section;

[0034] Figure 2 A schematic diagram showing the arrangement of rollers of a transport device;

[0035] Figure 3 shows a cross-sectional view of a transport device;

[0036] Figure 4 Shows Figure 3 Detail of a view showing the pivoting movement of the roller when adjusting the roller prestress;

[0037] Figure 5 An enlarged perspective view showing a movable element rotatably supporting a first roller and a second roller of a transport device;

[0038] Figure 6 shows a perspective view of a transport system having a transport device;

[0039] Figure 7 An enlarged cross-sectional view of a transport apparatus having a straight running track section is shown;

[0040] Figure 8 A schematic diagram showing the process of removing a transport device from a running track.

[0041] It should be noted that the drawings are schematic in nature and are not drawn to scale. In this sense, the components and elements shown in the drawings may be shown exaggeratedly larger or reduced in size for a better understanding. Furthermore, it should be noted that if the reference numerals in the drawings are elements and / or components and / or dimensions of the same design, they are selected to be unchanged. DETAILED DESCRIPTION

[0042] Exemplary embodiments of a transport system with at least one transport device are described using the following figures. The transport system can be, for example, a linear transport system for automation technology. In addition to linear drives, other drive systems for the transport system are also conceivable, such as chain conveyors, toothed belt drives or drive systems including a transmission. The indication of the use of a transport system here is not to be understood as a restriction, since the invention can be used for all transport systems in which at least one transport device is provided. The following figures are described using a linear transport system, at least one transport device of which is guided externally, for example.

[0043] Figure 1 A portion of a transport system 335 is shown with a transport device 100 and a running track 105. Figure 6 The transport system 335 is shown in FIG. Figure 1 and Figure 6 reason. Figure 6 ≤ transport equipment is shown in the figure, a first transport equipment 101, a second transport equipment 102 and a third transport equipment 103. The running track 105 of the transport system 335 can be formed, for example, as a steel rail. However, the material specifications of the running track 105 are only to be understood as examples and can also be implemented differently. Figure 1 In the embodiment, the running track 105 is curved. The running track 105 can also be designed to be straight. However, the running track 105 can have any shape and can be composed of both a straight running track section 1102 and a curved running track section 1101, for example.

[0044] like Figure 6 As shown, the running track 105 has at least one curved running track section 1101 and at least one straight running track section 1102, wherein the at least one straight running track section 1102 is adjacent to the curved running track section 1101 to form a closed path 340, such as a closed ellipse. The running track 105 can also be designed as an open system.

[0045] The curved running track section 1101 has a first running surface spacing 121, and the straight running track section 1102 has a second running surface spacing 123. Here, the first running surface distance 121 and the second running surface distance 123, for example, each represent the distance between the first running surface 115 and the second running surface 120 arranged on the opposite sides 125 of the curved running track section 1101 and the straight running track section 1102. The first running surface spacing 121 can be designed to be the same as the second running surface spacing 123, that is, the same size or the same length. In other words, the running track cross section is constant, for example, for the curved running track section 1101 and the straight running track section 1102.

[0046] exist Figure 6 In the embodiment, the first transport device 101 is guided along the curved running track section 1101 in the guiding direction 350 . The second transport device 102 and the third transport device 103 are guided along the straight track section 1102 .

[0047] Here, since the first running surface 115 and the second running surface 120 are arranged on opposite sides 125 of the running track 105, the guide can correspond to an external guide. For example, the guide direction 350 can be aligned or oriented in the same manner for the curved running track section 1101 and the straight running track section 1102. It should be understood that the number of transport devices 100 shown is merely exemplary in nature, and the transport system 335 is not limited thereto.

[0048] The first transport device 101, the second transport device 102 and the third transport device 103 can all be constructed identically and have identical components, so the following explanations (also in conjunction with the following figures) apply to the first transport device 101, the second transport device 102 or the third transport device 103. The transport device 100 can also be referred to as a carriage including a platform for transporting objects, a cart with a holder for fastening and transporting objects, or as a mover. In addition, other designs of the transport device 100 are conceivable.

[0049] The transport device 100 has a plurality of rollers 150, for example made of metal. The material information is not to be understood as limiting here either and can also be implemented in an alternative manner. For example, the first roller 155 and the second roller 160 each rest rotatably on the first running surface 115, while the third roller 165 rests rotatably on the second running surface 120, for example. Rotatable is to be understood here as, for example, in such a way that the first roller 155 and the second roller 160 rest and roll on the first running surface 115, and the third roller 165 rests and rolls on the second running surface 120. Rotatable resting or rolling can take place here, for example, about a roller rotation axis 355, which extends approximately centrally through the roller, but in a manner similar to that of the roller 155 and the second roller 160. Figure 1 155 is shown only as an example of the first roller 155 .

[0050] Alternatively, the transport device can also be designed and constructed with a different number of rollers. At least one roller is provided for each running surface on the transport device. For example, the transport device 100 can be designed with only a first roller 155 rotatably abutting against the first running surface 115 and a third roller 165 (not shown) rotatably abutting against the second running surface 120. Any number of rollers can be provided on the transport device 100 for each running surface. The number of rollers for each running surface can be different, such as Figure 1 As in the exemplary embodiment shown. This design is particularly advantageous for curved running track sections 1101, so as to be able to improve turning. For example, all rollers can be realized by adopting the same roller diameter.

[0051] The first roller 155 and the second roller 160 are Figure 1 The rotatable support 175 is for example rotatably mounted on a movable element 170 of a base body 180 of the transport device 100. The rotatable support 175, i.e. a rotatable or pivotable mounting, is schematically indicated by an arrow and is combined with Figure 4 In addition or alternatively, the third roller 165 can also be rotatably supported 175 on the movable element 170 of the base body 180. However, this is not shown in the figures.

[0052] Basically, at least the roller assigned to the running surface is rotatably supported. It can also be a separate roller here.

[0053] The first roller 155 and the second roller 160 rotatably supported 175 on the movable element 170 are each designed to cooperate with the running track 105, more precisely with the first running surface 115. For this purpose, the first running surface 115 and the second running surface 120 each include a substantially circular surface 130. This can be Figure 1 As can be seen in more detail in FIG, although the running track 105 of the transport system 335 also has a circular surface 130 on the second running surface 120. The interaction of the rotatable bearing 175 of the first roller 155 and the second roller 160 with the substantially circular surface 130 of the first running surface 115 will be explained in detail using the following figures.

[0054] The base body 180 of the transport device 100 is, for example, substantially U-shaped and has a base 285 with a first leg 290 and a second leg 295. The base body 180 can have a recess 360 at least partially on the outer side of the base 300 and on the outer side of the first leg 305, in which the movable element 170 is arranged.

[0055] The transport system 335 also has a drive device 270, which includes a plurality of motor modules 271. The motor module 271 may include an arc motor module 272 and a linear motor module 273, wherein the geometric shape of the motor module 271 may be changed and combined as needed, and the contours of the curved running track section 1101 and / or the straight running track section 1102 may also be changed and combined. The motor module 271 is designed as a linear motor and has a plurality of stator teeth 275. An electric coil (not shown) is wound around at least a portion of the stator teeth 275 and may be energized individually and separately from each other. In this way, a magnetic field may be generated using the coil.

[0056] In addition, the drive device 270 includes a plurality of magnets 280. The magnets 280 are arranged here, for example, each on a first inner side 310 of a first leg 290 and a second inner side 315 of a second leg 295 of the base body 180 of the transport device 100. The magnets 280 arranged on the surface of the base body 180 of the transport device 100 can be driven in conjunction with the magnetic field (travel magnetic field) generated by the coil, without requiring additional active drive elements on the transport device 100.

[0057] The current in the coil generates a magnetic field for operative connection with the magnet 280 of the transport device 100. The operative connection describes the interaction of the magnetic field of the coil with the magnet 280 of the transport device 100, whereby the transport device 100 moves along the curved track section 1101 or along the straight track section 1102.

[0058] In order to maintain the active connection and the associated thrust for guiding the transport device 100, it is assumed that, for example, the magnets 280 of the transport device 100 should follow an approximately ideal path when guiding the transport device 100 along the running rail 105. The ideal path can be located, for example, in the middle of the running rail 106, such as Figure 2 The distance 107 to the center of the running track 106 may be a first value A for the selected running track 105 , both for the straight running track section 1102 and for the curved running track section 1101 .

[0059] The above assumption is supported by the fact that for the straight running track section 1102, the third distance 108 of the third roller 165 to the center of the running track 106 has, for example, the second value B, and for the curved running track section 1101, the fifth distance 112 of the third roller 165 to the center of the running track 106 also has the second value B. Therefore, the third distance 108 and the fourth distance 109 of the third roller 165 to the center of the running track 106 are constant in the area of ​​the entire running track 105. Therefore, the third roller 165 alone is able to maintain the distance 107 from the center of the running track 106 and thus maintain the ideal position of the path of the magnet 280. As a result, the third roller 165 is rigidly fixed to the proposed transport device 100.

[0060] The two rollers of the transport device 100, for example the first roller 155 and the second roller 160, arranged one behind the other in the guiding direction 350, are optimally arranged for straight travel (i.e., along the straight running track section 1102) due to their geometry. However, when turning (i.e., along the curved running track section 1101), the first roller 155 and the second roller 160 will want to leave the path due to their geometry, thereby creating an air gap or play. This is also called the so-called secant effect. The first roller 155 will, for example, want to move out of the curve (i.e., the curved running track section 1101) and lose contact with the first running surface 115, and the second roller 160 will, for example, want to move into the curve and not lose contact with the first running surface 115.

[0061] In order to avoid the above-mentioned effects and to ensure that the first roller 155 and the second roller 160 are also in contact with the first running surface 115 when turning, the transport device 100 is designed with a movable element 170 of the proposed rotatable bearing 175, which can be prestressed by a spring unit 222. The spring-loaded rotatable bearing 175 of the first roller 155 and the second roller 160 using the movable element 170 allows the position of the first roller 155 and the second roller 160 to be adjusted (as well as the prestressing of the transport device 100 in the curved running track section 1101).

[0062] The position of the first roller 155 and the second roller 160 is adjusted as follows, for example Figure 2The fourth distance 109 of the first roller 155 and the second roller 160 to the center of the running track 106, at which the first roller 155 and the second roller 160 for the straight running track section 1102 are both in contact with the first running surface 115, has a second value B. The sixth distance 113 of the first roller 155 and the second roller 160 to the center of the running track 105, i.e. for the curved running track section 1101 where the first roller 155 and the second roller 160 are respectively in contact with the first running surface 115, has a third value C for the selected running track 105. In order to maintain the contact of the two rollers, i.e. the first roller 155 and the second roller 160, on the first running surface 115, it is necessary to reduce the fourth distance 109 of the first roller 155 and the second roller 160 to the center of the running track 105 and the sixth distance 113 of the first roller 155 and the second roller 160 to the center of the running track 105 of the two rollers, i.e. the first roller 155 and the second roller 160, for the curved running track section 1101.

[0063] The magnet 280 is usually arranged in the upper region of the transport device 100, as explained in conjunction with the previous figures, so that in order to achieve an optimal active connection or thrust of the transport device 100 according to the above assumptions, the position of the plurality of rollers 150 can advantageously be adjusted by adjusting the position of the first roller 155 and the second roller 160. Conversely, the thrust can be reduced, for example, by means of a rotatable bearing 175 of the third roller 165, because when the position of the third roller 165 changes, the magnet 280 can then slide down from the ideal path on the middle of the running rail 106. Due to the sliding, the magnet 280 will no longer be at the optimal height for active connection to the coil (less overlap of the resulting magnetic fields), and thus has a negative effect on the continued movement of the transport device 100.

[0064] Figure 2 The first roller 155, the second roller 160 and the third roller 165 are arranged roughly in a triangle, such as Figure 1 The first roller 155 and the second roller 160 each have, for example, a first roller diameter 240, wherein the first roller diameter 240 is, for example, Figure 2 155. The third roller 165 has a second roller diameter 245. The first roller diameter 240 is smaller than the second roller diameter 245, for example, because the third roller 165 should bear the same load as the first roller 155 and the second roller 160 must bear together. In designs with only two or four rollers, the first roller diameter 240 and the second roller diameter 245 are then of the same size.

[0065] In order to ensure that the first roller 155, the second roller 160 and the third roller 165 are always in full contact with the first running surface 115 and the second running surface 120 of the curved running track section 1101 and the straight running track section 1102, a certain force is required to provide pressure for the first roller 155, the second roller 160 and the third roller 165 to the first running surface 115 or the second running surface 120 of the running track 105.

[0066] This force is also referred to as pressure, contact pressure or prestress or roller force. These terms should be understood as synonyms. In principle, contact can be established between the roller and the running surface without high preload. In order to make the transport equipment sit on the running track as rigidly as possible, an increased preload is used, which ensures that the transport equipment will not tilt or only slightly tilt due to dynamic forces or moments or working forces during travel. The closer the contact between the transport equipment and the running track, the more dynamically or with a larger installed mass the transport equipment can operate. Typically, the contact pressure of the transport equipment 100 is different on the straight running track section 1102 and the curved running track section 1101. This means that the stability or rigidity of the transport equipment 100 on the running track 105 is not constant. In some cases, this may have a negative impact on the vibration behavior of the transport equipment 100 or the transport system 335 or the control parameters to be set. Therefore, the purpose is to keep the contact pressure of the entire running track 105 (that is, independent of the corresponding running track section 110) approximately constant or reduce the difference.

[0067] By means of the proposed transport device 100 with the proposed movable element 170 of the rotatably supported 175, which can be preloaded via the spring unit 222, the contact pressure difference between the straight track section 1102 and the curved track section 1101 can be reduced (the difference between the contact pressure of the straight track section 1102 and the contact pressure of the curved track section 1101 is generally about 10%). Here, the specified size is so small that it does not affect the control behavior of the transport device 100 or the transport system 335. In other words, this means that the transition between the straight track section 1102 and the curved track section 1101 no longer has a negative impact on the stability of the transport device 100 based on the proposed arrangement.

[0068] Let's describe it together Figure 3 and Figure 7 , because they each show a cross-sectional view of the first transport device 101 or the second transport device 102 having the same configuration and components, so that each component is clearer.

[0069] For example, in Figure 3 In the embodiment, the first transport device 101 is guided along the curved running track section 1101. Figure 7The first transport device 101 or the second transport device 102 is guided along the straight track section 1102 .

[0070] exist Figure 3 , a first running surface 115 and a second running surface 120 of a curved running track section 1101 are shown. They each have a substantially circular surface 130 and each have a guide center 135. The guide center 135 is understood to be a geometric circle center 140, whose circular surface 145 substantially includes the circular surface 130 of the first running surface 115 or the circular surface 130 of the second running surface 120, respectively. In the example shown, only the guide center 135, i.e. the circle center 140 together with the circular surface 145, is shown for the first running surface 115. However, it should be understood that this is only for the sake of clarity and does not represent a limitation.

[0071] In the exemplary embodiment shown, the first roller 155 and the second roller 160 are rotatably supported 175 on a movable element 170 of a base 180. Figure 3 The arrows on both sides schematically show a rotatable or rotating bearing 175. For this purpose, the movable element 170 can be designed as a hinge block, for example. As already explained, it is also possible to use only one roller, for example the first roller 115 guided on the first running surface 115. Alternatively, additional rollers can also be provided.

[0072] As already explained, the third roller 165 can also be rotatably supported 175 on the movable element 170. Therefore, the following explanations apply equally to the third roller 165 on the second running surface 120 or also to other possible rollers on the second running surface 120.

[0073] Due to the swivel bearing 175, the first roller 155 and the second roller 160 are each designed to perform a pivoting movement 185 along the substantially circular surface 130 of the first running surface 115 at the transition from the straight running track section 1102 to the curved running track section 1101, so as to maintain contact with the first roller 155 and the second roller 160 (and adjust the prestressing force) along the curved running track section 1101 on the running track 105 or on the first running surface 115 of the running track 105 when transitioning from the straight running track section 1102 to the curved running track section 1101, as described above. The pivoting movement 185 Figure 4 is shown in more detail in .

[0074] The rotation axis 190 of the movable element 170, that is to say the rotation axis 190 of the movable element 170 designed, for example, as a hinge block, and the guide center 135 are located at Figure 3 and Figure 7The axes of rotation 190 and the guide center 135 are arranged substantially at the same height 195. The approximate arrangement at the same height 195 is indicated by the dashed line. Approximately at the same height 195 can also be understood here as being approximately located in a common plane. For example, the size of the difference in the height arrangement of the rotation axis 190 and the guide center 135 can be up to about 1 mm.

[0075] Thus, the rotation or rotatable mounting 175 of the movable element 170 is realized via the rotation axis 190. The rotation axis 190 can be integrated, for example, into the base body 180 of the transport device 100. The advantage of arranging the rotation axis 190 and the guide center 135 at substantially the same height 195 is that the stability of the transport device 100 on the running rail 105 is maintained even during a pivoting movement 185 of the first roller 155 and the second roller 160 along the substantially circular surface 130 of the first running surface 115 of the running rail 105. The pivoting movement 185 can also be a compression or rebound process of the transport device 100 here.

[0076] The reason for this is that possible torques of the transport device 100 are reduced during the pivoting movement 185 of the first roller 155 and the second roller 160, since the rotation axis 190 and the guide center 135 are arranged at approximately the same height 195. The torque is reduced and the transport device 100 does not tip over during the mentioned movement, but rather an approximately ideal parallel alignment 345 of the transport device 100 and the running rail 105 over the entire path 340 is given.

[0077] The transport device 100 is designed, in particular by means of the above-described arrangement of the rotation axis 190 and the guide center 135, to advantageously perform the above-described adjustment of the position of the first roller 155 and the second roller 160 at the transition from the straight track section 1102 to the curved track section 1101 with a million-fold repeat accuracy.

[0078] The movable element 170, i.e. the hinge block, is preloaded via a spring unit 222, wherein the spring unit 222 is adjacent to the movable element 170 so as to cooperate with the movable element 170. For this purpose, the spring unit 222 comprises a spring element 225, which is preferably designed as a helical compression spring 227, and a clamping element 260, which is preferably designed as a clamping screw 265. The clamping element 260, i.e. the clamping screw 265, is used to preload the spring element 225 so as to provide a spring force F F The transport device 100 is pre-tightened on the running rail 105 .

[0079] Spring force F F The movable element 170 (ie, the hinge block) is used to respectively apply a roller force F Roll The roller force F RollFor example, the force acting on the first roller 155 and the second roller 160 when in contact with the first running surface 115 of the running rail 105 can be represented. In this case, the roller force F Roll The roller force F of the first roller 155 is evenly distributed between the first roller 155 and the second roller 160, and acts solely on the third roller 165. The figure only schematically shows the roller force F of the first roller 155. Roll .

[0080] A specific advantage of using a helical compression spring 227 as a spring element 225 is that it is not susceptible to wear or contributes to reducing the wear sensitivity of the transport system 335 or the transport device 100. The helical compression spring 227 has a high fatigue strength and can therefore be optimally used to adjust the position of the first roller 155 and the second roller 160 of the transport device 100 due to bending and wear. The spring can be relatively soft, i.e., has a low stiffness. The low stiffness ensures that the spring force changes only slightly when the spring length changes, for example when transitioning from a curved running track 110 to a straight running track 111. This means that the transport device 110 continues to run on the path. In addition, the compact helical compression spring 227 can be used to advantageously save installation space in the construction of the transport device 100 and the transport system 335.

[0081] As an alternative to using a helical compression spring 227, for example a disc spring is also conceivable, which is very compact and can also generate a large spring force F F Other alternative spring elements or elastic elements having the properties described above are also conceivable.

[0082] Figure 7 , the spring element 225 and the rotation axis 190 have a first distance 230 from each other. Each of the first roller 155 and the second roller 160 rotatably supported 175 on the movable element 170 has a second distance 235 from the rotation axis 190. The first distance 230 is designed to be greater than the second distance 235.

[0083] By using the lever law, the spring force F of the pressure roller is F The roller force F Roll The factor by which the first distance 230 is divided by the second distance 235 is magnified. For example, the mentioned factor may have a value greater than 2.0. For example, in the mentioned example, the spring force F F can be about 100N, and due to the lever law, the roller force F Roll It can be, for example, 200 N, where the roller force F Roll Evenly distributed on the first roller 155 and the second roller 160 (F Roll =200 / 2N). For example, the roller force F mentioned Roll= 200 N may act on the third roller 165. Using the lever principle of the arrangement shown, a relatively small spring element 225 in the form of a helical compression spring 227 may therefore be used advantageously. It should be understood that the above values ​​are to be understood as purely exemplary and non-limiting in nature.

[0084] The above-mentioned contact pressure, pressure, prestress or roller force is advantageously determined by the spring force F shown. F With the help of the spring unit 222 , the first roller 155 and the second roller 160 of the transport device 100 , which are fixed to the movable element 170 , and the third roller 165 attached to the base body 180 , are prestressed.

[0085] The above-mentioned magnets 280 of the drive device 270 are each arranged on a first inner side 310 of the first leg 290 and on a second inner side 315 of the second leg 295 of the U-shaped base body 180 of the transport device 100 .

[0086] Figure 4 Shows Figure 3 100 is shown in an enlarged view of the transport device 100 in FIG. 10 , in order to explain the process of the pivoting movement 185 in more detail as an example of the first roller 155. The following explanation also applies to the second roller 160 and the third roller 165, as long as they are also rotatably supported 175 (associated with the second running surface 120 of the running track 105). The first roller 155 and the second roller 160 guide the pivoting movement 185 along the substantially circular surface 130 of the first running surface 115 of the running track 105 when transitioning from the straight running track section 1102 to the curved running track section 1101 (or from the curved running track section 1101 to the straight running track section 1102), or when guiding along the curved running track section 1101, so as to maintain contact with the first running surface 115.

[0087] As described above, the positions of the first roller 155 and the second roller 160 can be adjusted by performing a pivoting movement 185, i.e., the fourth distance 109 from the first roller 155 and the second roller 160 to the center 106 of the running track 105 can be reduced to a sixth distance 113 from the first roller 155 and the second roller 160 to the center 106 of the running track 105 (and the prestress is adjusted).

[0088] The spring force F provided by the spring unit 222 FThe pivoting movement 185 of the first roller 155 is transmitted via the movable element 170 and its rotation axis 190, i.e., in its rotational movement, similar to the principle of a pliers, along the substantially circular surface 130 of the first running surface 115 of the running rail 105. The pivoting movement 185 occurs, for example, here away from the first leg 290 of the base body 180 of the transport device 100. In the example shown, the surface of the first running surface 115 is circular. In a two-dimensional representation, the first running surface 115 can, for example, form a segment of a circle. The profile 250 of the first roller 155 can, for example, correspond to a Gothic profile 255 in order to perform an optimal pivoting movement 185 along the circular surface 130. In addition, the first roller 155 can also have a circular profile, a V-groove (prismatic) profile or an alternative profile (not shown) that allows a pivoting movement 185 along the circular surface 130 of the first running surface 115.

[0089] During the pivoting movement 185, the first roller 155 defines a pivot plane 200, which is oriented 220 obliquely relative to the travel plane 205. For example, the pivot plane 200 and the travel plane 205 can enclose an angle α with each other, wherein the angle forms an acute angle α, for example. The travel plane 205 can be oriented, for example, substantially parallel to a guide direction 350 of the first roller 155. The guide direction 350 can, for example, indicate the direction in which the first roller 155 is guided along the running rail 105, i.e., corresponds, for example, to its rolling direction. Thus, within narrow limits, the pivoting movement 185 can take place transversely to the rolling direction of the first roller 155. Figure 4 A first parallel displacement 210 of the pivot plane 200 and a second parallel displacement 215 of the travel plane 205 at the location of the rotation axis 190 of the movable element 170 are shown.

[0090] With a fixed mounting of third roller 165 and a rotatable mounting 175 of first roller 155 and second roller 160 , third roller 165 for curved running track section 1101 is oriented, for example, parallel to travel plane 205 , while first roller 155 and second roller 160 of curved running track section 1101 are oriented, for example, parallel to pivot plane 200 .

[0091] Figure 5 Shows Figure 3 and Figure 4 An enlarged perspective view of a movable element 170 is shown on which a first roller 155 and a second roller 160 of a transport device 100 are rotatably mounted 175 together with a spring unit 222. The spring unit 222 has a clamping element 260 designed as a clamping screw 265 and a spring element 225 designed as a helical compression spring 227.

[0092] In particular, the spring element 225 adjoins the movable element 170 designed as a hinge block for prestressing purposes or leads to the movable element 170 designed as a hinge block. The first roller 155 is clamped on the movable element 170 by the first fixing element 325. The second roller 160 is fastened to the movable element 170 by the second fixing element 330. For example, the first fixing element 325 and the second fixing element 330 can both be designed as screws. Alternatively, bolts or similar fixing elements are also conceivable.

[0093] The movable element 170 has a rotation axis 190 which is transverse to the adjacent spring element 225. The rotation axis 190 can be designed, for example, in the form of a cylindrical pin. Since the movable element 170 performs a pivoting movement 185 (i.e., a rotational movement) about the rotation axis 190 at each transition from the straight running track section 1102 to the curved running track section 1101 and at each transition from the curved running track section 1101 to the straight running track section 1102, the movable element 170 can be mounted 320. In order to extend the service life of the rotation axis 190, the mounting 320 of the movable element 170 can be realized, for example, using one or more sliding bearings around the cylindrical pin as the rotation axis 190 (not shown).

[0094] Figure 8 A schematic diagram of a removal process 365 of the transport device 100 from the running rail 105 is shown. The proposed transport device 100 or the proposed transport system 335 allows a particularly simple removal of the transport device 100 from the running rail 105 (and a particularly simple placement of the transport device 100 on the running rail 105, i.e., a so-called heavy rail), as described below. For the removal process 365, the clamping element 260 (i.e., the clamping screw 265) of the spring unit 222 must be loosened to the extent that the spring element 225 (i.e., the helical compression spring 227) is relaxed.

[0095] If the spring element 225 relaxes, the spring force F F The movable element 170 (i.e. the hinge block) is no longer active and can be rotated in the direction 375 of the first leg 290 to such an extent that the movable element 170 in the recess 360 abuts 370 against the base body 180. Due to the rotation and abutment 370 of the movable element 170, the first roller 155 and the second roller 160 of the transport device 100 are lifted from the first running surface 115, so that a gap 380 is formed between the substantially curved surface 130 of the first running surface 115 and the first roller 155 and the second roller 160. The gap 380 is in particular an air gap.

[0096] The gap 380 is designed to be large enough to first lift the first roller 155 and the second roller 160 from the first running surface 115 and then lift the third roller 165 from the second running surface 120 (lifting not shown), so that the transport device 100 can be removed from the running track 105. It should be understood that the insertion process of the transport device 100 onto the running track 105 (not shown) can be performed in the reverse order, for example starting with placing the fixed third roller 165 on the second running surface 120.

[0097] Due to the positioning and configuration of the spring unit 222 and the interaction with the movable element 170, the transport device 100 can be removed 365 from the running track 105 or placed (re-tracked) onto the running track 105 particularly easily. As described above, since the removal process 365 does not require additional steps, such as the use of track locks, i.e., special running track sections 110 that are tailored only for the removal or insertion process of the transport device 100, which usually involves a readjustment (dejustage) of at least one area of ​​the running track 105 that is required for the use of track locks, such readjustment of the track 105 can be advantageously avoided using the proposed transport device 100 and the proposed transport system 335.

[0098] The present invention has been described in detail by preferred exemplary embodiments. Instead of the described exemplary embodiments, other exemplary embodiments are conceivable, which may have further modifications or combinations of the described features. For this reason, the present invention is not limited by the disclosed examples, as those skilled in the art may derive other variations therefrom without departing from the scope of the present invention.

[0099] Reference numerals list

[0100] 100 Transportation Equipment

[0101] 101 First Transportation Equipment

[0102] 102 Second transport equipment

[0103] 103 Third Transportation Equipment

[0104] 105 Running Track

[0105] 106 Running Track Center

[0106] 107 Distance from the center of the orbit

[0107] 108 The third distance from the third roller to the center of the running track

[0108] 109 The fourth distance between the first roller and the second roller and the center of the running track

[0109] 110 Running track section

[0110] 1101 Curved track section

[0111] 1102 Straight track section

[0112] 112 The fifth distance from the third roller to the center of the running track

[0113] 113 The sixth distance between the first roller and the second roller and the center of the running track

[0114] 115 First running surface

[0115] 120 Second running surface

[0116] 121 First running surface distance

[0117] 123 Second running surface distance

[0118] 125 Opposite side

[0119] 130 substantially circular surface

[0120] 135 Guidance Center

[0121] 140 Geometric center

[0122] 145 round face

[0123] More than 150 rollers

[0124] 151 Arrangement

[0125] 155 First Roll

[0126] 160 Second Roller

[0127] 165 Third Roller

[0128] 170 Moving parts

[0129] 175 Rotating bearing

[0130] 180 Matrix

[0131] 185 Pivot Movement

[0132] 190 Rotation axis

[0133] 195 Basically at the same height

[0134] 200 Pivot plane

[0135] 205 Traveling plane

[0136] 210 first parallel movement pivot plane

[0137] 215 Second parallel motion travel plane

[0138] 220 Tilt

[0139] 222 Spring unit

[0140] 225 Spring element

[0141] 227 Helical compression spring

[0142] 230 First Distance

[0143] 235 Second Distance

[0144] 240 First roller diameter

[0145] 245 Second roller diameter

[0146] 250 Profiles

[0147] 255 Gothic silhouette

[0148] 260 Clamping element

[0149] 265 Clamping screw

[0150] 270 Drive Equipment

[0151] 271 Multiple Motor Modules

[0152] 272 Arc Motor Module

[0153] 273 Straight motor module

[0154] 275 stator teeth

[0155] 280 Magnet

[0156] 285 Base

[0157] 290 First Leg

[0158] 295 Second Leg

[0159] 300 Outside of the base

[0160] 305 Outer side of first leg

[0161] 310 First inner side of first leg

[0162] 315 Second inner side of the second leg

[0163] 320 Installation of movable components

[0164] 325 First fixing element

[0165] 330 Second fixing element

[0166] 335 Transportation System

[0167] 340 closed paths

[0168] 345 Parallel Alignment

[0169] 350 Guidance

[0170] 355 Roller rotation axis

[0171] 360 recess

[0172] 365 Removal Process

[0173] 370 Stick

[0174] 375 Towards the direction of the first leg

[0175] 380 Clearance

[0176] F F Spring force

[0177] F Ro11 Roller force

[0178] α Angle

Claims

1. A transport system (335), comprising: at least one running track (105) having at least one running track section (110) and at least one movable transport device (100) guided along the at least one running track section (110), The running track section (110) has a first running surface (115). wherein the first running surface (115) has a substantially circular surface (130) and comprises a guide center (135), wherein the guide center (135) substantially forms a geometric circle center (140), whose circular surface (145) substantially includes the circular surface (130) of the first running surface (115), The transport device (100) comprises at least one first roller (155), which is rotatably attached to the first running surface (115). wherein the first roller (155) is rotatably supported (175) on at least one movable element (170) of a base body (180) of the transport device (100) so as to perform a pivoting movement (185) along a substantially circular surface (130) of the first running surface (115), and Therein, the axis of rotation (190) of the movable element (170) for the pivoting movement (185) and the guide center (135) are arranged substantially at the same height (195).

2. The transport system (335) according to claim 1, in, The running track (105) comprises at least one curved running track section (1101), wherein the curved running track section has a first running surface (115) and a second running surface (120) arranged on opposite sides (125) of the curved running track section (1101). wherein the first running surface (115) and the second running surface (120) each have a substantially circular surface (130) and each include a guide center (135), wherein the guide centers (135) substantially form a geometric circle center (140), and the circular surface (145) thereof substantially surrounds the circular surface (130) of the first running surface (115) or the circular surface (130) of the second running surface (120), respectively; The transport device (100) has a plurality of rollers (150) for guiding. wherein at least a first roller (155) and a second roller (160) are each rotatably in contact with a first running surface (115), and at least one third roller (165) is rotatably in contact with a second running surface (120), wherein the first roller (115) and the second roller (120) and / or the third roller (165) are rotatably supported (175) on at least one movable element (170) of a base body (180) of the transport device (100), wherein the first roller (155) and the second roller (160) and / or the third roller (165) are each rotatably supported (175) on a movable element (170) and are each designed to perform a pivoting movement (185) along a substantially circular surface (130) of the first running surface (115) and / or to perform a pivoting movement (185) along a substantially circular surface (130) of the second running surface (120), and Therein, the rotation axis (190) of the movable element (170) and the guide center (135) are arranged substantially at the same height (195).

3. The transport system (335) according to claim 1 or 2, in, The first rollers (155) define during the pivoting movement (185) a pivot plane (200) which is oriented obliquely (220) relative to a travel plane (205) which is substantially parallel to a guide direction (350) of the first rollers (155).

4. The transport system (335) according to any one of claims 1 to 3, in, The movable element (170) is preloaded for a swivel mount (175) by at least one spring unit (222) adjoining the movable element (170), wherein the spring unit (222) has a spring element (225).

5. The transport system (335) according to claim 4, in, The spring element (225) and the rotation axis (190) are at a first distance (230) from each other, A first roller (155) rotatably supported (175) on the movable element (170) and the rotation axis (190) are at a second distance (235) from each other, wherein the first distance (230) is designed to be greater than the second distance (235).

6. The transport system (335) according to claim 4 or 5, in, The spring unit (222) also has a clamping element (260), which is in particular designed as a clamping screw (265). The clamping element (260) is designed to preload a spring element (225), which is in particular designed as a helical compression spring (227).

7. The transport system (335) according to any one of the preceding claims, The invention comprises a driving device (270) for driving the transport device (100), a motor module with a coil formed along the running track (105) and capable of being powered individually, and a magnet (280) arranged on at least one transport device (100). in, The coil generates a magnetic field for an operative connection with a magnet (280) arranged on at least one transport device (100), wherein the at least one transport device (100) is moved by the operative connection.

8. The transport system (335) according to claim 7, in, The base body (180) of the transport device (100) is substantially U-shaped and has a base (285) with a first leg (290) and a second leg (295). The base (180) has a recess (360) at least partially on the outer side of the base (300) and on the outer side of the first leg (305), and at least one movable element (170) is arranged in the recess. wherein the spring element (225) is arranged in the region of the base (285), and The magnets (280) of the drive device (270) are respectively arranged on a first inner side (310) of a first leg (290) and a second inner side (315) of a second leg (295) of the U-shaped base (180).

9. A transport device (100) for a transport system (335) according to any one of claims 1 to 8.

10. A running track (105) for use in a transport system (335) according to any one of claims 1 to 8 together with at least one transport device (100) according to claim 9.

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