Transportation systems, transportation equipment and operating tracks

Abstract

The present invention relates to a transport system (335) and a transport device (100), as well as a running track (105). The transport system (335) includes a running track (105) having a running track section (110) and a movable transport device (100). A first running surface (115) of the running track section (110) has a substantially circular surface (130) and includes a guide center (135). The guide center (135) substantially forms a geometric circle center (140), the circular surface (145) of which substantially encompasses the circular surface (130) of the first running surface (115). A first roller (155) of the transport device (100) is rotatably abutted against the first running surface (115). The first roller (155) is rotatably supported (175) on a movable element (170) of the transport device (100). The first roller (155) is designed to perform a pivoting motion (185) along a generally circular surface (130) of the first running surface (115). The rotation axis (190) of the movable element (170) and the guide center (135) are arranged at substantially the same height (195).

Description

Technical Field

[0001] This invention relates to a transportation system, transportation equipment for the transportation system, and a running track used with the transportation equipment in the transportation system.

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

[0003] A transport device having multiple rollers and contacting a curved running track of a transport system via the rollers is known in particular from EP 3476 773 A1. EP 3476 773 A1 discloses a transport device that cooperates with a running track, wherein the transport device has three rollers, two of which are rotatably abutted against a first running surface of the running track, and a third roller is rotatably abutted against a second running surface of the running track. The first and second running surfaces are both arranged on opposite sides of the running track.

[0004] For the aforementioned roller to contact the running surface of the running track, particularly in curved sections of the running track, or during the transition from a straight section to a curved section of the running track (and vice versa), the third roller is translatably supported on a movable element of the transport device. The movable element is prestressed via a spring unit, which generates a spring force that allows the third roller to translate relative to the first and second rollers, for example, towards or away from each other in the vertical direction.

[0005] However, for such prestressed transport equipment or systems with spring-loaded movable elements featuring translational or linear guides, the problem often arises where unwanted torque is generated on the translational guide. Consequently, when traveling along curved sections of the running track, the parallelism and stable alignment of the transport equipment with the running track is no longer guaranteed. Therefore, the transport equipment 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 as the third roller itself. Summary of the Invention

[0006] The purpose of this invention is to provide an improved transportation system and an improved transportation device for a transportation system with a stable guide.

[0007] The objective is achieved by the features of the independent claim. Other advantageous embodiments of the invention are described in detail in the dependent claims.

[0008] A transport system is proposed, comprising at least one operating track having at least one operating track section and at least one movable transport device guided along the at least one operating track section. The operating track section has a first operating surface. The first operating surface has a substantially circular surface and each includes a guide center. The guide center substantially forms the center of a geometric circle, the circular surface of which generally encompasses the circular surface of the first operating surface. The transport device has at least one first roller rotatably abutting against the first operating surface, wherein the first roller is rotatably supported on at least one movable element of the base of the transport device to perform a pivoting movement along the substantially circular surface of the first operating surface, wherein the axis of rotation of the movable element for the pivoting movement and the guide center are arranged at substantially the same height.

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

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

[0011] Basically, a circular surface can be understood as referring to a circular or round running track profile or a circular or round face / surface. For example, a running track profile can be approximated as a segment of a circle in a two-dimensional representation.

[0012] Pivoting motion can be a rotational motion of the base away from the transport equipment. It can be used in particular to adjust the prestress in curved running track sections (i.e., curved areas) and to maintain contact between the roller and the running surface of the running track.

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

[0014] The proposed transport system or transport equipment for the transport system advantageously improves the positional accuracy of the drive device of the transport equipment by preferably rotatably supporting the first and second rollers via movable elements. The drive device is preferably designed as a linear drive and may include a motor module with coils, particularly designed as a linear motor module along a running track. The thrust of the transport equipment causing it to move along the running track can be generated by the kinetic connection between a magnet arranged on the transport equipment and the coil of the motor module. With the proposed structure, the magnet and the coil can better overlap their positions, thereby strengthening their kinetic connection for the movement of the transport equipment.

[0015] Another advantage of the proposed transport system or equipment is that, based on the first roller being preferably rotatably supported on a movable element, the transport equipment can be set onto (or removed from) the running track more easily than conventional transport equipment, which requires the use of so-called track locks (i.e., specially inserted sections of the running track) to remount or remove the transport equipment. For this, the running track must be at least partially misaligned. With the proposed arrangement, track locks and the steps required in this case are completely eliminated.

[0016] Furthermore, the proposed arrangement ensures that variations in preload, contact pressure, pressure, or roller force between the straight and curved running track sections of the first roller of the transport equipment are minimized on the first running surface and substrate of the transport equipment. This also has beneficial effects on the vibration behavior and regulation parameters of the transport equipment or system, and improves the stability of the transport equipment on the running track, thereby simplifying the guidance of the transport equipment along the running track.

[0017] The stability of the transport equipment on the running surface of the transport system's track depends on a variety of factors, and to a large extent on the distance between the relative rollers, the selection of the roller and track profiles, and the preload on the running surface of the transport system's track. Positioning the rotation axis of the movable element and the center of the guide at approximately the same height, i.e., in the same plane, has a positive impact on the stability of the transport equipment, as this arrangement prevents the transport equipment from initiating overall tilting during pivoting movements along the curved surfaces of the running surface in curved sections of the track. Despite the pivoting movement, the transport equipment remains stably positioned on the running surface.

[0018] In another embodiment, the first roller defines a pivot plane during its pivoting motion, which is oriented at an angle relative to the travel plane, which is substantially parallel to the guide direction of the first roller. Advantageously, although the movable element, preferably designed as a hinge block, pivots to adjust prestress in the curved running track section, overall tilting of the transport equipment is avoided, while contact between the first roller and the running surface is still maintained. For this purpose, the positions of the axis of rotation and the guide center of the movable element have been advantageously chosen according to the explanation above.

[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 are at 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 greater than the second distance. The aforementioned arrangement has the advantage that the spring force provided by the spring unit, using the lever law with respect to the mentioned distance, results in an increased roller force acting on the first and second rollers to press them against the first running surface (e.g., the spring force can advantageously be an factor that can be increased using the proposed arrangement). This can be advantageously considered when selecting the spring element. Therefore, a helical compression spring is preferred as the spring element of the spring unit because it provides high fatigue strength, has a compact size, and is capable of generating a relatively large spring force. As mentioned above, the contact pressure, pressure, prestress, or roller force is advantageously generated by the spring force.

[0020] In another embodiment, the spring unit also includes a clamping element, specifically designed as a clamping screw. The clamping element is designed to preload the spring element, specifically a helical compression spring. The spring unit can be advantageously used to adjust or change the prestress without removing the transport equipment from the running track. This saves time and cost.

[0021] Furthermore, by utilizing the aforementioned leverage effect to achieve the required preload, small spring elements can be used, which advantageously enables a compact and space-saving design for transport equipment and systems. The spring type (coil compression spring) used advantageously possesses high fatigue strength, making it robust and suitable for use.

[0022] The use of spring-loaded rotary bearings to automatically adjust the wear of rollers or running guides also advantageously enables the achievement of nearly constant prestress throughout the entire operating time (i.e., extending the operating time of individual components, especially rollers) and constant adjustment and oscillating behavior of the transport equipment (without the need for readjustment).

[0023] In another embodiment, the transport system has a drive device for the transport equipment. The drive device is preferably designed as a linear drive and may include a motor module with coils, specifically designed as a linear motor module along a running track. The coils may be individually powered. Magnets are arranged on at least one transport device. The coils generate a magnetic field for kinetic connection with the magnets arranged on the at least one transport device. The at least one transport device moves through this kinetic connection.

[0024] The advantage of this transport system design is that it eliminates the need for cables. Cables would complicate transport systems and restrict the mobility of transport equipment. Furthermore, since the transport system does not use gearboxes, belts, or chains, it requires no complex installation or maintenance. Flexible motion profiles (e.g., controlling only individual transport devices within the system) allow for the implementation of processes ranging from simple to highly complex, thus optimizing the overall manufacturing process. In addition, the proposed transport system is manufactured with an easy-to-clean design, making it advantageously suited for hygiene-sensitive applications.

[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 recesses at least partially on the outer side of the base and on the outer side of the first leg, with at least one movable element disposed in the recess. A spring element is disposed in the base region. Magnets for the drive device are respectively disposed on the first inner side of the first leg and the second inner side of the second leg of the U-shaped base. This advantageously achieves a space-saving, compact, and resource-efficient design.

[0026] Furthermore, a running track for use with at least one transport device in a transport system is proposed. The running track may have at least one curved running track section along which at least one transport device is guided. The curved running track section has at least one first running surface and a second running surface disposed on opposite sides of the curved running track section. Both the first and second running surfaces have substantially circular surfaces and both include a guide center. The guide center substantially forms the center of a geometric circle, the circular surface of which generally comprises the circular surface of either the first or the second running surface.

[0027] Advantageously, the geometry of the two running surfaces preferably allows the first and second rollers, arranged on the movable element, to pivot along the circular surface of the first running surface in a curved running track section, in order to adjust the prestress of the transport device and thus maintain contact between the rollers. Here, the roller profile can advantageously differ from the aforementioned running track profile, which can, for example, approximately form a circle. Therefore, the proposed running track is advantageously compatible with many transport devices having different roller profiles.

[0028] In another embodiment, the running track further includes 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, while the straight running track section has a second running surface spacing. The first and second running surface spacings are substantially the same.

[0029] The aforementioned running surface distances are advantageously designed to be substantially the same, such that the distance between the running surfaces remains approximately constant, for example, on the running track, regardless of whether the running track section is straight or curved. To ensure contact between the rollers and to adjust the prestress, the first and second rollers are advantageously rotatably supported on the aforementioned movable element of the transport equipment's base so as to perform pivoting movements along the circular surface of the first running surface in curved regions, i.e., in curved running track sections.

[0030] The advantageous developments and further developments of the invention explained above and / or reproduced in the dependent claims may be used alone or in any combination of each other, for example, in cases of explicit dependence or incompatible alternatives. Attached Figure Description

[0031] The features, characteristics, and advantages of the present invention described above, as well as the ways in which they are implemented, will be more clearly understood in conjunction with the following description of exemplary embodiments, which are explained in more detail with reference to the following schematic diagrams.

[0032] In the attached image:

[0033] Figure 1 A perspective view of a transport device with curved running track sections is shown;

[0034] Figure 2 A schematic diagram of the arrangement of rollers in the transport equipment is shown;

[0035] Figure 3 A cross-sectional view of the transport equipment is shown;

[0036] Figure 4 It shows Figure 3 A detailed diagram showing the pivoting motion of the roller when adjusting the prestress of the roller;

[0037] Figure 5 An enlarged perspective view shows a movable element of a first and second roller that is rotatably supported by a transport device;

[0038] Figure 6 A perspective view of a transportation system with transportation equipment is shown;

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

[0040] Figure 8 A schematic diagram illustrating the process of removing transport equipment from the operating track is shown.

[0041] It should be noted that the accompanying drawings are schematic in nature and not drawn to scale. In this sense, components and elements shown in the drawings may be depicted as exaggeratedly large or reduced in size for better understanding. Furthermore, it should be noted that if the reference numerals in the drawings refer to elements and / or parts and / or dimensions of the same design, they are chosen to remain unchanged. Detailed Implementation

[0042] Exemplary embodiments of a transport system having at least one transport device are described below using the accompanying drawings. For example, the transport system may be a linear transport system for automation technology. Other drive systems for transport systems, such as chain conveyors, toothed belt drives, or drive systems including gearboxes, are contemplated in addition to linear drives. The indications of use of this transport system should not be construed as limiting, as the invention can be used in all transport systems in which at least one transport device is provided. The following drawings utilize a linear transport system in which at least one transport device is guided, for example, externally.

[0043] Figure 1 A portion of a transportation system 335, including transportation equipment 100 and operating tracks 105, is shown. Then... Figure 6 The transportation system 335 is shown in the figure, which is a description of Figure 1 and Figure 6 The reason. Figure 6 The diagram shows at least three transport devices: a first transport device 101, a second transport device 102, and a third transport device 103. The running track 105 of the transport system 335 can, for example, be formed as a steel rail. However, the material specifications of the running track 105 are only understood as an example and may be implemented differently. Figure 1 In this design, 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, for example, both a straight running track segment 1102 and a curved running track segment 1101.

[0044] like Figure 6 As shown, the running track 105 has at least one curved running track segment 1101 and at least one straight running track segment 1102, wherein the at least one straight running track segment 1102 is adjacent to the curved running track segment 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 track section 1101 has a first running surface spacing 121, and the straight 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 a first running surface 115 and a second running surface 120 arranged on opposite sides 125 of the curved track section 1101 and the straight track section 1102. The first running surface spacing 121 can, for example, be designed to be the same as the second running surface spacing 123, i.e., the same size or the same length. In other words, the track cross-section is constant, for example, for the curved track section 1101 and the straight track section 1102.

[0046] exist Figure 6 In this configuration, 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] 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 way for curved running track section 1101 and 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 the same components; therefore, the following explanation (also in conjunction with the following figures) applies to the first transport device 101, the second transport device 102, or the third transport device 103. The transport device 100 may also be referred to as a carriage including a platform for transporting objects, a trolley having retainers for securing and transporting objects, or a mover. Furthermore, other designs for 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 should not be construed as limiting, and alternative methods can also be used. For example, the first roller 155 and the second roller 160 are each rotatably attached to a first running surface 115, while the third roller 165 is, for example, rotatably attached to a second running surface 120. Rotatability should be understood here as, for example, in such a way that the first roller 155 and the second roller 160 are attached to and roll on the first running surface 115, and the third roller 165 is attached to and rolls on the second running surface 120. Rotatable attachment or rolling can occur, for example, about a roller rotation axis 355, which extends approximately centrally through the roller, but... Figure 1 The example shown is only for the first roller 155.

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

[0051] The first roller 155 and the second roller 160 are in Figure 1 For example, a rotatable support 175 is mounted on a movable element 170 of the base 180 of the transport device 100. The rotatable support 175, meaning it is rotatably or pivotally mounted, is schematically indicated by arrows and is connected to... Figure 4 To explain in more detail. Alternatively, the third roller 165 may also be rotatably supported 175 on the movable element 170 of the base 180. However, this is not shown in the figures.

[0052] Basically, at least the rollers assigned to the running surface are rotatably supported. These can also be separate rollers.

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

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

[0055] The transport system 335 also includes a drive unit 270, which comprises multiple motor modules 271. The motor modules 271 may include arc-shaped motor modules 272 and linear motor modules 273, wherein the geometry of the motor modules 271 can be changed and combined as needed, and the contours of the curved running track section 1101 and / or the linear running track section 1102 can also be changed and combined. The motor modules 271 are designed as linear motors and have multiple stator teeth 275. Electrical coils (not shown) are wound around at least a portion of the stator teeth 275 and can be energized individually and separately from each other. In this way, a magnetic field can be generated using the coils.

[0056] Additionally, the drive device 270 includes a plurality of magnets 280. These magnets 280 are, for example, each 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 base 180 of the transport device 100. The magnets 280 arranged on the surface of the base 180 of the transport device 100 can be driven by a magnetic field (travel magnetic field) generated by a coil, without requiring additional active drive elements on the transport device 100.

[0057] The current in the coil generates a magnetic field for interacting with the magnet 280 of the transport device 100. The interaction describes the interaction between the magnetic field of the coil and the magnet 280 of the transport device 100, thereby allowing the transport device 100 to move along a curved running track section 1101 or along a straight running track section 1102.

[0058] To maintain the functional connection and the associated thrust used to guide the transport device 100, it is assumed that, for example, the magnet 280 of the transport device 100 should follow an approximately ideal path as it guides the transport device 100 along the running track 105. This ideal path could, for example, be located in the middle of the running track 106, such as... Figure 2 As shown. The distance 107 to the center of the running track 106 can be a first value A for the selected running track 105, not only for the straight running track section 1102 but also 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 from the third roller 165 to the center of the running track 106 has, for example, a second value B, while for the curved running track section 1101, the fifth distance 112 from the third roller 165 to the center of the running track 106 also has a second value B. Therefore, the third distance 108 and the fourth distance 109 from the third roller 165 to the center of the running track 106 are constant throughout the region of the running track 105. Thus, the third roller 165 alone can maintain a distance 107 from the center of the running track 106, and therefore maintain the ideal position of the magnet 280's path. Thus, the third roller 165 is rigidly fixed to the proposed transport device 100.

[0060] The two rollers of the transport device 100, arranged one after the other in the guiding direction 350, such as the first roller 155 and the second roller 160, 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, thus creating air gaps or clearances. This is also known as 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] To avoid the aforementioned effects and ensure that the first roller 155 and the second roller 160 also contact the first running surface 115 during turns, the transport device 100 is designed with a movable element 170 of a proposed rotatable support 175, which can be preloaded by a spring unit 222. The spring-loaded rotatable support 175 using the movable element 170 allows adjustment of the position of the first roller 155 and the second roller 160 (and adjustment of the prestress of the transport device 100 in the curved running track section 1101).

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

[0063] Magnets 280 are typically arranged in the upper region of the transport device 100, as explained in conjunction with the preceding figures. Therefore, in order to achieve optimal operational connection or thrust of the transport device 100 according to the above assumptions, the positions of the plurality of rollers 150 can advantageously be adjusted by adjusting the positions of the first roller 155 and the second roller 160. Conversely, thrust can be reduced, for example, by utilizing the rotatable support 175 of the third roller 165, because when the position of the third roller 165 changes, magnets 280 can then slide down from an ideal path in the middle of the running track 106. Due to this sliding, magnets 280 will no longer be at the optimal height for operational connection to the coil (less overlap in generating the magnetic field), and thus have an adverse 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 in a roughly triangular pattern, as shown below. Figure 1 As shown. 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, the same as... Figure 2 The first roller 155 is shown together with the second roller 165. The third roller 165 has a second roller diameter 245. Here, the first roller diameter 240 is, for example, smaller than the second roller diameter 245, because the third roller 165 should bear the same load that 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 have the same dimensions.

[0065] In order for the first roller 155, the second roller 160, and the third roller 165 to always be 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 on the first running surface 115 or the second running surface 120 of the running track 105 to the first roller 155, the second roller 160, and the third roller 165.

[0066] This force is also called pressure, contact pressure, prestress, or roller force. These terms should be understood as synonyms. In principle, high prestress is not required to establish contact between the roller and the running surface. To ensure that the transport equipment sits as rigidly as possible on the running track, an increased prestress is used, which ensures that the transport equipment does not tilt or tilt only slightly due to dynamic forces, moments, or working forces during travel. The tighter the contact between the transport equipment and the running track, the more dynamically or with a greater installation mass the transport equipment can operate. Typically, the contact pressure of the transport equipment 100 differs between 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 can negatively affect the vibration behavior of the transport equipment 100 or the transport system 335, or the control parameters to be set. Therefore, the aim is to keep the contact pressure throughout the running track 105 (i.e., independent of the respective running track section 110) substantially constant or reduce the difference.

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

[0068] Let's describe it together below. Figure 3 and Figure 7 They each show a cross-sectional view of the first transport device 101 or the second transport device 102 having the same construction and components, so that the individual components are clearer.

[0069] For example, in Figure 3 In the middle, 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 running track section 1102.

[0070] exist Figure 3 The diagram shows a first running surface 115 and a second running surface 120 of a curved running track segment 1101. Each has a substantially circular surface 130 and a guide center 135. The guide center 135 is understood as a geometric circle center 140, whose circular surface 145 substantially encompasses the circular surface 130 of either the first running surface 115 or the second running surface 120. In the example shown, the guide center 135, i.e., the circle center 140 together with the circular surface 145, is shown only for the first running surface 115. However, it should be understood that this is for clarity only 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 the base 180. Figure 3 The arrows on either side schematically indicate a rotatable or rotating support 175. For this purpose, the movable element 170 can be designed as, for example, a hinge block. As already explained, a single roller, such as a first roller 115 guided on the first running surface 115, can also be used. Alternatively, additional rollers may be provided.

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

[0073] Due to the rotary support 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 of the curved running track section 1101 or 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 prestress) as described above when transitioning from the straight running track section 1102 to the curved running track section 1101 on the running track 105 or on the first running surface 115 of the running track 105 along the curved running track section 1101. The pivoting movement 185 in… Figure 4 It is shown in more detail below.

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

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

[0076] The reason for this is that, since the rotating shaft 190 and the guide center 135 are arranged at approximately the same height 195, the possible torque on the transport device 100 is reduced during the pivoting motion 185 of the first roller 155 and the second roller 160. This reduced torque prevents the transport device 100 from tipping over during the aforementioned motion, instead providing a near-ideal parallel alignment 345 between the transport device 100 and the running track 105 along the entire path 340.

[0077] The transport equipment 100, in particular by means of the aforementioned arrangement of the rotating shaft 190 and the guide center 135, is advantageously designed to perform the aforementioned adjustment of the position of the first roller 155 and the second roller 160 from the straight running track section 1102 to the curved running track section 1101 with repeatability by a million times.

[0078] The movable element 170, i.e., the hinge block, is preloaded via a spring unit 222, which is adjacent to the movable element 170 for engagement. For this purpose, the spring unit 222 includes a spring element 225 and a clamping element 260. The spring element is preferably designed as a helical compression spring 227, and the clamping element 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 to provide a spring force F. F The transport equipment 100 is then pre-tensioned onto the running track 105.

[0079] Spring force F F The movable element 170 (i.e., the hinge block) is respectively subjected to roller force F Roll The force F is transmitted to the first roller 155 and the second roller 160. RollFor example, this can be represented by 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 track 105. Here, the roller force F... Roll The force is evenly distributed between the first roller 155 and the second roller 160, while acting solely on the third roller 165. The figure only schematically illustrates the roller force F of the first roller 155. Roll .

[0080] A specific advantage of using a helical compression spring 227 as the spring element 225 is its resistance to wear or its contribution to reducing the wear sensitivity of the transport system 335 or the transport equipment 100. The helical compression spring 227 has high fatigue strength, thus it can be optimally used to adjust the position of the first roller 155 and the second roller 160 of the transport equipment 100 due to bending and wear. The spring can be relatively soft, i.e., with low stiffness. Low stiffness ensures that when the spring length changes, for example, when transitioning from a curved running track 110 to a straight running track 111, the spring force changes only slightly. This means that the transport equipment 110 continues to operate on the path. Furthermore, the compact helical compression spring 227 can be used to advantageously save installation space in the construction of the transport equipment 100 and the transport system 335.

[0081] As an alternative to using the helical compression spring 227, a disc spring is also conceivable, as it is very compact and can generate a large spring force F. F Other alternative spring elements or elastic elements with the above-mentioned characteristics are also conceivable.

[0082] Figure 7 In this configuration, the spring element 225 and the rotating shaft 190 have a first distance 230 from each other. The first roller 155 and the second roller 160, each rotatably supported 175 on the movable element 170, have a second distance 235 from the rotating shaft 190. The first distance 230 is designed to be greater than the second distance 235.

[0083] It utilizes the lever principle to make the spring force F of the pressure roller... F The generated roller force F Roll The factor by which the first distance 230 is magnified is divided by the second distance 235. For example, the factor mentioned can have a value greater than 2.0. For example, in the example mentioned, the spring force F F It can be approximately 100N, and due to the lever law, the roller force F Roll It can be, for example, 200N, where the roller force F Roll Evenly distributed onto the first roller 155 and the second roller 160 (F Roll =200 / 2N). For example, the mentioned roller force F Roll=200N can be applied to the third roller 165. Using the lever law of the arrangement shown, a relatively small spring element 225 in the form of a helical compression spring 227 can therefore be advantageously used. It should be understood that the above values ​​should be understood as purely exemplary and not limiting in nature.

[0084] The aforementioned contact pressure, pressure, prestress, or roller force is advantageously determined by the spring force F shown. F 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 180 are pre-tensioned with the help of the spring unit 222.

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

[0086] Figure 4 It shows Figure 3 An enlarged view of the transport device 100 is provided to illustrate the process of pivoting motion 185 in more detail, using the first roller 155 as an example. The following explanation also applies to the second roller 160 and the third roller 165, provided that 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 pivoting motion 185 along the generally circular surface 130 of the first running surface 115 of the running track 105 as they transition from a straight running track section 1102 to a curved running track section 1101 (or from a curved running track section 1101 to a straight running track section 1102), or as they are guided along the curved running track section 1101, in order 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 pivoting 185, that is, the fourth distance 109 between the first roller 155 and the second roller 160 and the center 106 of the running track 105 can be reduced to the sixth distance 113 between the first roller 155 and the second roller 160 and the center 106 of the running track 105 (and the prestress is adjusted).

[0088] The spring force F provided by spring unit 222 FThe pivoting motion 185, transmitted via the movable element 170 and its rotational axis 190, is carried out on the first roller 155, i.e., in its rotational motion, similar to the principle of pliers, along the substantially circular surface 130 of the first running surface 115 of the running track 105. The pivoting motion 185 occurs, for example, at the first leg 290 of the base 180, away from 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 may, for example, form a segment of a circle. The profile 250 of the first roller 155 may, for example, correspond to a Gothic profile 255 to perform optimal pivoting motion 185 along the circular surface 130. Alternatively, the first roller 155 may also have a circular profile, a V-groove (prism) profile, or an alternative profile (not shown) that allows pivoting motion 185 along the circular surface 130 of the first running surface 115.

[0089] During the pivoting motion 185, the first roller 155 defines a pivoting plane 200, which is inclined 220 relative to the travel plane 205. For example, the pivoting plane 200 and the travel plane 205 may form an angle α with each other, such as an acute angle α. The travel plane 205 may here be oriented substantially parallel to the guide direction 350 of the first roller 155, for example. The guide direction 350 may, for example, indicate the direction in which the first roller 155 is guided along the running track 105, i.e., corresponding to its rolling direction, for example. Thus, within a narrow limit, the pivoting motion 185 may occur transversely to the rolling direction of the first roller 155. Figure 4 The first parallel displacement 210 of the pivot plane 200 and the second parallel displacement 215 of the travel plane 205 at the position of the rotation axis 190 of the movable element 170 are shown.

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

[0091] Figure 5 It shows Figure 3 and Figure 4 An enlarged perspective view of the movable element 170 is shown, in which the first roller 155 and the second roller 160 of the transport device 100 are rotatably supported together with the 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] Specifically, spring element 225 is adjacent to movable element 170, which is designed as a hinge block, for prestressing purposes or as a gateway to movable element 170, which is designed as a hinge block. First roller 155 is clamped to movable element 170 by first fixing element 325. Second roller 160 is fastened to movable element 170 by second fixing element 330. For example, both first fixing element 325 and second fixing element 330 can be designed as screws. Alternatively, bolts or similar fixing elements are also conceivable.

[0093] The movable element 170 has a rotation axis 190 transverse to the adjacent spring element 225. The rotation axis 190 can be designed, for example, in the form of a pin. The movable element 170 can be mounted 320 because it performs a pivoting movement 185 (i.e., rotational movement) about the rotation axis 190 during each transition from the straight running track section 1102 to the curved running track section 1101 and during each transition from the curved running track section 1101 to the straight running track section 1102. To extend the service life of the rotation axis 190, the mounting 320 of the movable element 170 can be achieved, for example, by utilizing one or more sliding bearings (not shown) surrounding the pin that serves as the rotation axis 190.

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

[0095] If spring element 225 is relaxed, then the spring force F F The movable element 170 (i.e., the hinge block) is no longer in use, and the movable element 170 can rotate 375 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 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 rise from the first running surface 115, such 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 allow the first roller 155 and the second roller 160 to be lifted first from the first running surface 115, and then the third roller 165 from the second running surface 120 (lifting not shown), thereby enabling the transport device 100 to be removed from the running track 105. It should be understood that the insertion process (re-railing) of the transport device 100 onto the running track 105 (not shown) can be performed in reverse order, for example, starting from setting the fixed third roller 165 onto the second running surface 120.

[0097] Due to the positioning and construction of the spring unit 222 and its interaction with the movable element 170, the transport device 100 can be removed from or placed (on the heavy rail) onto the operating track 105 with particular ease. As mentioned above, because the removal process 365 does not require additional steps, such as the use of a track lock, i.e., a special operating track section 110 tailored specifically for the removal or insertion process of the transport device 100, which typically involves readjustment of at least one area of ​​the operating track 105 required by the track lock, such readjustment of the track 105 can be advantageously avoided using the proposed transport device 100 and the proposed transport system 335.

[0098] The invention has been described in detail through 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. Therefore, the invention is not limited to the disclosed examples, as those skilled in the art can derive other variations therefrom without departing from the scope of the invention.

[0099] List of reference numerals

[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 Operational Track Center

[0106] 107 Distance from the center of the operating track

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

[0108] 109 The fourth distance from the first and second rollers to the center of the running track

[0109] 110 Operating 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 from the first and second rollers to the center of the running track

[0114] 115 First Operating Surface

[0115] 120 Second Operating Surface

[0116] 121 First operating surface distance

[0117] 123 Second running surface distance

[0118] 125 Opposite side

[0119] 130 Basic circular surface

[0120] 135 Guidance Center

[0121] 140 Geometric center

[0122] 145 Circular Surface

[0123] More than 150 rollers

[0124] 151 Arrangement

[0125] 155 First Roller

[0126] 160 Second Roller

[0127] 165 Third Roller

[0128] 170 Movable Components

[0129] 175 Rotary bearing

[0130] 180 matrix

[0131] 185 Pivotal Movement

[0132] 190° Rotation axis

[0133] 195 are basically at the same height

[0134] 200 Pivot Plane

[0135] 205 Travel Plane

[0136] 210 First Parallel Movement Pivot Plane

[0137] 215 Second Parallel Movement 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 Outline

[0147] 255 Gothic silhouette

[0148] 260 Clamping element

[0149] 265 Clamping screw

[0150] 270 drive device

[0151] More than 271 motor modules

[0152] 272 Arc Motor Module

[0153] 273 Direct Motor Module

[0154] 275 stator teeth

[0155] 280 magnets

[0156] 285 base

[0157] 290 First leg

[0158] 295 Second leg

[0159] 300 outer side of the base

[0160] 305 The outer side of the first leg

[0161] 310 The first inner side of the first leg

[0162] 315 The second inner side of the second leg

[0163] 320 Installation of movable components

[0164] 325 First fixed element

[0165] 330 Second fixing element

[0166] 335 Transportation System

[0167] 340 Closed Path

[0168] 345 Parallel Alignment

[0169] 350 Guiding Direction

[0170] 355 Roller Rotation Axis

[0171] 360 recess

[0172] 365 Removal Process

[0173] 370 Attachment

[0174] 375 Facing the direction of the first leg

[0175] 380° gap

[0176] F F Spring force

[0177] F Ro11 Roller force

[0178] α angle

Claims

1. A transportation system (335), comprising: At least one operating track (105), the operating track having at least one operating track section (110) and at least one movable transport device (100) guided along the at least one operating track section (110), The running track section (110) has a first running surface (115). The first operating surface (115) has a circular surface (130) and includes a guide center (135). The guiding center (135) forms a geometric circle center (140), and its circular surface (145) includes the circular surface (130) of the first running surface (115). The transport device (100) includes at least one first roller (155) that is rotatably attached to the first running surface (115). The first roller (155) is rotatably supported (175) on at least one movable element (170) of the base (180) of the transport device (100) to perform a pivoting movement (185) along the circular surface (130) of the first running surface (115). Its features are, The rotation axis (190) and guide center (135) of the movable element (170) for pivoting motion (185) are arranged at the same height (195).

2. The transportation system (335) according to claim 1, in, The running track (105) includes at least one curved running track section (1101), the curved running track section having a first running surface (115) and a second running surface (120) disposed on opposite sides (125) of the curved running track section (1101). Both the first operating surface (115) and the second operating surface (120) have circular surfaces (130) and both include a guide center (135). Each of the guide centers (135) forms a geometric circle center (140), and its circular surface (145) respectively surrounds the circular surface (130) of the first running surface (115) or the circular surface (130) of the second running surface (120). The transport device (100) has a plurality of guide rollers (150). In this configuration, at least the first roller (155) and the second roller (160) are each rotatably attached to the first running surface (115), and at least one third roller (165) is rotatably attached to the second running surface (120). The first roller (115), the second roller (120), and / or the third roller (165) are rotatably supported (175) on at least one movable element (170) of the base (180) of the transport device (100). The first roller (155), 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 circular surface (130) of a first running surface (115) and / or along a circular surface (130) of a second running surface (120). The rotation axis (190) of the movable element (170) and the guide center (135) of the first running surface (115) are arranged at the same height (195).

3. The transportation system (335) according to claim 1 or 2, in, The first roller (155) defines a pivot plane (200) during pivoting motion (185), the pivot plane being tilted (220) relative to the travel plane (205), the travel plane being parallel to the guiding direction (350) of the first roller (155).

4. The transportation system (335) according to claim 1, in, The movable element (170) is preloaded for rotational support (175) by at least one spring unit (222) adjacent to the movable element (170), wherein the spring unit (222) has a spring element (225).

5. The transportation system (335) according to claim 4, in, The spring element (225) and the rotating shaft (190) are at a first distance (230) from each other. The first roller (155) rotatably supported (175) on the movable element (170) and the rotating shaft (190) have a second distance (235) between them. The first distance (230) is designed to be greater than the second distance (235).

6. The transportation system (335) according to claim 4 or 5, in, The spring unit (222) also has a clamping element (260). The clamping element (260) is designed to preload the spring element (225).

7. The transportation system (335) according to claim 1, It includes a drive device (270) for driving the transport equipment (100), a motor module with coils formed along the running track (105) and individually energized, and a magnet (280) disposed on at least one transport device (100). in, The coil generates a magnetic field for interacting with a magnet (280) arranged on at least one transport device (100), and At least one transport device (100) is moved by means of action connection.

8. The transportation system (335) according to claim 7, in, The base (180) of the transport equipment (100) is designed in a U-shape and has a base (285) with a first leg (290) and a second leg (295). The base (180) has at least a recess (360) on the outer side of the base (300) and the outer side of the first leg (305), and at least one movable element (170) is arranged in the recess. The movable element (170) is preloaded for rotational support (175) by at least one spring unit (222) adjacent to the movable element (170), wherein the spring unit (222) has a spring element (225) arranged in the region of the base (285), and The magnets (280) of the drive device (270) are respectively arranged on the first inner side (310) of the first leg (290) and the second inner side (315) of the second leg (295) of the U-shaped base (180).

9. The transportation system (335) according to claim 6, wherein, The clamping element is designed as a clamping screw (265).

10. The transportation system (335) according to claim 6, wherein, The spring element is designed as a helical compression spring (227).

Images