Transportation system

Abstract

The invention relates to a transportation system. The invention relates to an electromagnetic transport system (1) in the form of a long-stator linear or planar motor, having a fixed part or stator (2) consisting of at least two or more stator segments (21, 22, 2i), and at least one movable part or shuttle (3, 3i), the movable part or shuttle is movable relative to the stator (2) along a transport path. A magnet unit (4, 4i) is arranged on at least one shuttle (3, 3i), which interacts electromagnetically with a magnetic element arranged on the stator (2). In order to increase operational safety and enhanced safety functionality, in particular to provide user-interactive safety motion functionality in a simple and cost-effective manner, the transport system (1) comprises at least one conventional transport device (5, 5i) which replaces at least one of the stator segments (2i) along the transport path.

Description

Technical Field

[0001] This invention relates generally to the field of factory engineering, and particularly to the field of automation technology. The invention relates to an electromagnetic transport system comprising a fixed portion or stator consisting of at least two or more stator segments, and at least one movable portion or shuttle movable relative to the stator along a transport path, wherein magnetic units are arranged on at least one shuttle, and wherein the magnetic units of at least one shuttle electromagnetically interact with magnetic elements arranged on the stator to move the shuttle along the transport path in at least one direction of movement. Background Technology

[0002] Today, in most modern manufacturing and production facilities, it is necessary to use transport equipment to move parts, workpieces, products, etc., between various processing stations and production stations. Various transport and conveying devices are used to transport parts, workpieces, products, etc. Traditional transport systems, such as continuous conveyors, chain conveyors, or conveyor belts of various designs, can be used to transport and / or convey parts, products, or workpieces. These traditional transport systems typically convert the rotary movement of electrically driven components into linear movement, such as chains, belts, etc. However, the flexibility of traditional transport systems is considerably limited, especially the individual transport of single transport units. Therefore, electromagnetic transport systems in the form of long stator linear motors (or simply LLMs) and / or planar motors (or simply PMs) are increasingly used to meet the requirements of modern and flexible transport equipment in manufacturing and production facilities.

[0003] Long-stator linear motors and planar motors, along with their applications and operating modes, are well known in the prior art. Both types of motors—long-stator linear motors and planar motors—comprise at least one movable part and a fixed part (stator), the movable part also referred to as a transport unit or shuttle, at least one shuttle moving relative to the fixed part due to interacting magnetic fields in at least one direction of movement. For this purpose, a magnetic unit comprising electromagnets or permanent magnets is arranged on one part of the part, such as the shuttle. The magnetic unit interacts with a magnetic field generated by magnetic elements (e.g., excited drive coils) on another part (e.g., the stator) to generate a propulsive force. If a voltage is applied to the drive coil, a magnetic field is generated that interacts with the magnetic field of the magnetic unit, thereby generating a force that moves the shuttle. The moving magnetic field is generated by appropriate control of the excitation of the drive coil to move the shuttle along a transport track or along a predefined path within a transport plane.

[0004] Long stator linear motors generally include a stationary section or stator, which is typically composed of a number of stator segments. Drive coils are usually arranged on the stator or stator segments at positions fixed to each other. The stator segments can have different geometries (e.g., straight lines, curves, track switches, etc.) and can be assembled into a desired stator by arranging them accordingly. The stator or several stator segments then form a transport track or transport path, along which at least one shuttle, typically several shuttles, moves. For this purpose, several drive magnets constituting magnet units are arranged on the shuttles, wherein the magnetic field of the magnet units interacts with the electromagnetic field generated by exciting the drive coils of the stator. LLMs are known, for example, from WO2013 / 143783A1 or US2013 / 0074724A1.

[0005] For example, planar motors used in production or transportation processes requiring complex motion profiles also have stators similar to those of long-stator linear motors. However, the stator or stator segment of the planar motor forms a transport plane, in which one or more shuttles can move at least in two dimensions. Therefore, the drive coils of the planar motor are arranged within the transport plane, and in some embodiments, within several planes. A driving force is generated acting on the shuttle to move it, for example, along a transport path within the transport plane. For this purpose, a magnetic field generated, for example, by the magnet unit of the shuttle interacts with a stator magnetic field correspondingly generated by energizing the drive coils. For example, US9,202,719B2 or WO2019 / 129576A1 discloses the basic structure and operating mode of a planar motor.

[0006] Since the basic motor principles of long stator linear motors or planar motors are well known, there is no need to elaborate further here.

[0007] Electromagnetic transport systems are increasingly used in production lines, where shuttles are primarily used to move different objects (e.g., loads, components, products, workpieces, or packaging units such as bottles and containers) between different workstations. At each workstation, many processing interactions involving the objects transported by the shuttle can be performed primarily by robots, but some interactions, such as manual assembly of products or workpieces, product inspection, and manual product loading, require user interaction. Because shuttles move at high speeds, with high forces and / or high torques along the transport path provided by the stator or stator segment of the transport system, they experience very little friction, posing a high risk of injury to people entering the electromagnetic transport system. Therefore, safety zones can be defined, and if a user enters a predefined safety zone, it is necessary to ensure that the moving shuttle does not pose a risk and to protect the user from harm.

[0008] Therefore, electromagnetic transport systems are typically enclosed by an enclosure (such as a protective grille, housing, etc.) to prevent unintentional, unforeseen, or even unauthorized access by individuals. However, even with enclosed electromagnetic transport systems, users may need to access the system, for example, when performing setup and / or maintenance work. Therefore, the enclosure usually has protective doors to provide access.

[0009] However, a particularly significant drawback is that these protective doors exceed the actual protection provided by the enclosure, meaning that reopening the corresponding protective door poses a high risk of personal injury. If a user opens the protective door, the safety circuitry implemented in the transport system can cause a power outage, resulting in the cessation of all shuttle services and production disruption. Furthermore, such enclosures can increase the space requirements of the transport system, necessitating more components and thus increasing the cost of constructing and implementing the electromagnetic transport system.

[0010] Certain basic safety functions can also be implemented for electromagnetic transport systems to meet certain safety requirements. Safety functions, or safety-related functions (in the sense of functional safety), are typically the functions of the drive units of automated systems, such as electromagnetic transport systems. The safety functions implemented in the drive units or drive systems of automated systems should ensure safe operation and prevent damage to personnel and machinery, and can be summarized as safe motion functionality. "Safety" and "security" in this document always refer to functional safety or determinism, depending on the applicable safety requirements imposed, through which a function is ensured to be sufficiently reliable. Depending on the type and purpose of the automated system, these requirements can be assigned to corresponding safety requirement levels (e.g., Safety Integrity Level (SIL)), each level presenting different safety requirements. Definitions of these requirements can be found in the international IEC 61508 series of standards, where IEC 61508 defines (functional) safety as "the part of the overall safety associated with the EUC (Controlled Equipment) and the EUC control system, which depends on the proper operation of E / E / PE safety-related systems, other technical safety-related systems, and external risk reduction facilities." The basic concept is that any safety-related system must function correctly, or it can only fail in a predictable (safe) manner.

[0011] One of the most common safety features implemented in electromagnetic transport systems is safety pulse suppression, also known as "safe torque shutdown" or "STO function." The purpose of the STO function is to switch the electric drive when there is no torque. This ensures that the electric drive unit does not continue to receive any current that would otherwise cause rotational motion. Therefore, the STO function ensures that no torque-generating current can continue to act on the electric drive unit, preventing continuous rotational motion or undesirable starting. This also applies in a similar way to driving linear motors and their linear movement. Implementing functions such as STO in electromagnetic transport systems requires safely interrupting the energy supply to, for example, the drive coils of the stator or at least one stator segment in the event of a fault or hazard. Due to the lack of energy supply to the drive coils, the shuttle moving on the stator or corresponding stator segment will stop moving.

[0012] In addition to or as an alternative to the outer casing, basic safety functions, such as STO (Safety Tolerance) functions, can be implemented in electromagnetic transport systems, particularly in the system's control unit. For example, the STO function can be triggered if a user or unauthorized person enters the safety area of ​​the electromagnetic transport system, or when user interaction with the system is required. However, due to the very high torque and very low friction of the shuttle, the braking performance within the system is very poor when energy is released, as with the STO function. This results in long braking distances, uncontrollable stopping positions of the shuttle, and uncontrollable movement that may occur before stopping, posing a risk of injury to people. Furthermore, if the energy supply to the electromagnetic transport system or at least one of its components must be cut off to allow user interaction, especially for a single shuttle, this can also reduce the productivity of the electromagnetic transport system and the entire production line it operates on. Summary of the Invention

[0013] In this context, the present invention is based on the task of providing an electromagnetic transport system, particularly in the form of a long stator linear motor and / or planar motor, which provides increased operational safety and enhanced safety features in a simple and cost-effective manner, especially providing user interaction.

[0014] The electromagnetic transport system according to the independent claim solves these and other objectives. The dependent claims describe advantageous embodiments of the invention.

[0015] According to the invention, these and other objectives are achieved by an electromagnetic transport system having a fixed portion or stator consisting of at least two or more stator segments, and at least one movable portion or shuttle movable relative to the stator along a transport path, wherein magnetic units are arranged on at least one shuttle, and wherein the magnetic units of at least one shuttle electromagnetically interact with magnetic elements arranged on the stator to move the shuttle along the transport path in at least one direction of movement. The transport system includes at least one conventional transport device that replaces at least one stator segment among the stator segments along the transport path, wherein the at least one conventional transport device includes at least a drive unit and a conveying device, wherein the drive unit uses safety functions to drive and control the conveying device to meet predefined safety requirements, and wherein regardless of where the conventional transport device replaces at least one stator segment, the conveying device of the conventional transport device interacts with at least one shuttle such that at least one shuttle moves with the movement of the conveying device, thereby allowing safety functions to be applied to at least one shuttle, and limiting the energy that can be delivered by at least one shuttle.

[0016] A key aspect of this invention is the provision of safe motion functionality by the electromagnetic transport system, as safety functions implemented in conventional transport equipment, particularly in the drive unit, can be applied to the shuttle. Safe motion functionality encompasses safety functions or safety-related functions (in the sense of functional safety), ensuring safe operation and preventing damage to personnel and machinery, thereby meeting predefined safety requirements. This allows users to interact with the electromagnetic transport system, at least within the areas of conventional transport systems, particularly with individual shuttles. For the user, desired interactions can be performed, such as manual assembly of products or workpieces, product inspection, manual product loading, etc., without stopping the shuttle operation. This increases the productivity of the transport system while maintaining high safety standards. Furthermore, it is feasible even without enclosures or protective grilles, especially in areas of the transport system where the stator section is replaced by conventional transport equipment. This reduces the construction and implementation costs of the electromagnetic transport system.

[0017] In a preferred embodiment, the conveying device of a conventional transport device includes a ferromagnetic material that interacts with a magnetic unit of at least one shuttle to generate magnetic attraction. The ferromagnetic material can be designed as a ferromagnetic element embedded in the conveying device.

[0018] It is advantageous if at least one shuttle interacts with the conveying device due to frictional forces and / or magnetic attraction generated between the ferromagnetic material and at least one magnetic unit of the shuttle. In the presence of contact between the shuttle and the conveying device, after the shuttle is moved to the conventional transport equipment, the shuttle can readily adapt to the movement of the conveying device (e.g., speed, direction of movement, etc.) due to the frictional forces acting between the shuttle and the conveying device. If the conveying device has embedded ferromagnetic material, the magnetic attraction generated between the ferromagnetic material and the magnetic unit of the shuttle further supports the interaction, and safety features can be applied to the shuttle more quickly.

[0019] Alternatively, at least one shuttle may interact with the conveying device solely due to the magnetic attraction generated between the ferromagnetic material and the magnetic unit of at least one shuttle. This is especially true if there is no contact between the conveying device and the shuttle, as there is no interruption in the area of ​​conventional transport equipment due to the guide elements on the shuttle and / or the route guide elements arranged along the stator of the transport system. The magnetic attraction generated between the ferromagnetic material and the magnetic unit of at least one shuttle has the effect that the shuttle can interact with the conveying device and, for example, adapt to the movement of the conveying device (e.g., speed, direction of movement, etc.), also applies the safety functions implemented in conventional transport systems to the shuttle. Therefore, even if there is no contact between the shuttle and the conveying device, the magnetic attraction generated between the ferromagnetic material and the magnetic unit of at least one shuttle can be combined with the safety movement functionality of the drive unit of conventional transport equipment.

[0020] In a preferred embodiment, the conventional transport system is designed as a continuous conveyor, particularly a belt conveyor or chain conveyor. A continuous conveyor can easily replace at least one stator segment and is therefore easily integrated into an electromagnetic transport system. Furthermore, the continuous conveyor may include a drive unit with safety features providing safe movement functionality. Ideally, the conveying device is designed as a conveyor belt or chain, particularly a modular conveyor belt or chain made of plastic. Ferromagnetic materials can be easily embedded in the plastic conveyor belt. If the conveyor belt is designed as a modular plastic conveyor belt, ferromagnetic materials designed as ferromagnetic elements can be embedded in modules that form the conveyor belt.

[0021] In a preferred embodiment of the electromagnetic transport system, the safety functions implemented in the drive unit of conventional transport equipment and applicable to shuttles meet the safety requirements specified in the international IEC 61508 series of standards. Therefore, it is ensured that these requirements can be assigned to the corresponding safety requirement level (e.g., Safety Integrity Level (SIL)) and that the electromagnetic transport system operates correctly in a predictable (safe) manner or only malfunctions in areas where user interaction is performed.

[0022] Furthermore, it is advantageous if the safety functions implemented in the drive unit of conventional transport equipment include those specified in the standard IEC 61800-5-2:2016, which at least include safety functions such as Safe Torque Off (STO), Safe Speed ​​Limit (SLS), Safe Direction (SD), Safe Torque Limit (SLT), and Safe Acceleration Limit (SLA). Other safety functions specified by IEC 61800-5-2:2016 include, for example, Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safe Operation Stop (SOS), Save Speed ​​Monitoring (SSM), Safe Speed ​​Range (SSR), Safe Limit Position (SLP), Safe Position (SP), or Safe Braking Control, Safe Braking Test (SBT, SBC), etc. One or more of these safety functions can also be implemented in the drive unit and therefore can be applied to shuttle vehicles. Providing all these safety functions is to ensure the safe operation of the electrical drive components and to prevent damage to personnel and machinery. Depending on the purpose of the drive units, they can be assigned to different levels of security requirements, and fewer, more, or potentially different security requirements can be imposed on them.

[0023] Furthermore, the electromagnetic transport system is designed as a long stator linear motor and / or a planar motor. Due to this invention, long stator linear motors and planar motors are frequently used in production lines and can also provide user interaction within a defined area. Attached Figure Description

[0024] The following is for reference. Figures 1 to 3b The invention will be described in more detail below. Figures 1 to 3b Illustrative and non-limiting advantageous embodiments of the invention are illustrated by way of example. In the accompanying drawings:

[0025] Figure 1 An electromagnetic transport system in the form of a long stator linear motor with safety features according to the present invention is shown from a top view perspective;

[0026] Figure 2 An electromagnetic transport system in the form of a planar motor with safety features according to the present invention is shown from a top view perspective;

[0027] Figure 3a This illustrates the possible interaction between the shuttle of the electromagnetic transport system according to the present invention and the conveying device of conventional transport equipment;

[0028] Figure 3b This illustrates another possible interaction between the shuttle of the electromagnetic transport system according to the invention and the conveying device of conventional transport equipment. Detailed Implementation

[0029] Figure 1 An electromagnetic transport system 1, for example, in the form of a long stator linear motor (LLM), is shown. The electromagnetic transport system 1 includes a fixed portion 2 or a stator 2 and at least one movable portion 3, 3i or a shuttle 3, 3i. The stator 2 typically consists of at least two, normally multiple stator segments 21, 22, 2i. Due to interacting magnetic fields, the movable portion 3, 3i or the shuttle 3, 3i can move relative to the (fixed) stator 2. For this purpose, drive coils are arranged on the stator 2, which... Figure 1 Not shown in the diagram. In the case of an electromagnetic transport system 1 in the form of a long stator linear motor (e.g.) Figure 1 As shown, the drive coils are arranged adjacent to each other in the direction of movement T of the individual shuttles 3, 3i. The stator 2 forms a transport track and thus predefines the transport path, along which the shuttles 3, 3i can move in the direction of movement T. Figure 1 In this system, the predefined transport path defined by stator 2 or stator segments 21, 22, 2i is, for example, a closed transport path. Furthermore, the LLM-type electromagnetic transport system 1 may have a route guidance element 9 ( Figure 1 (Not shown in the image), this route guidance element is the same as the guidance element 10 of shuttle cars 3 and 3i ( Figure 1 (Not shown in the image) Interaction. The guide element 10 of the shuttle 3, 3i can be designed as a roller, wheel, sliding element, guide surface or sliding surface, etc., so the route guide element 9 must be designed such that the corresponding guide element 10 can be guided therein.

[0030] Each shuttle 3, 3i includes a magnet unit 4, 4i with multiple drive magnets. If the drive coil of stator 2 is energized (by applying voltage) within the range of a single shuttle 3i, for example in the control unit ( Figure 1 Under the control of (not shown), a driving magnetic field is generated, which interacts with the magnetic field of the magnet unit 4i of the individual shuttle 3i. This generates a propulsive force that drives the individual shuttle 3i and moves it along a predefined transport path formed by the stator 2 or stator segment 2i. Typically, permanent magnets are used as the driving magnets for the shuttles 3, 3i, but electromagnets may also be used. In the case where an electromagnet is used as the driving magnet, the permanent magnet can be mounted on the fixed portion 2 of the transport system 1 instead of the driving coil 4. Since the motor principle of a long stator linear motor is well known, it will not be discussed in detail here.

[0031] In addition, such as Figure 1The exemplary embodiment of the electromagnetic transport device 1 or LLM includes at least one conventional transport device 5 that replaces at least one stator segment 2i. The conventional transport device 5 is, for example, arranged between a first stator segment 21 and a second stator segment 22 in a predefined transport path. If shuttles 3, 3i move along the transport path of the transport system 1, then, depending on, for example, the direction of movement T of the shuttles 3, 3i on the stator 2, the shuttle 3 moves from, for example, from the first stator segment 21 to the conventional transport device 5, and from the conventional transport device 5 to the second stator segment 22. That is, between the two stator segments, the exemplary shuttle 3 is moved by the conventional transport device 5.

[0032] A conventional transport device 5 includes at least a drive unit 6 or drive system 6 and a conveying device 7. The drive unit 6 or drive system 6 drives and controls the conveying device 7. Therefore, the drive unit 6 may include a drive element 61 and a motor unit 62 (e.g., an electric motor) connected to the drive element 61 via a drive shaft to generate a rotational motion R of the drive element 61, and thus linearly move the conveying device 7 in the direction of movement M. Thus, the rotational motion R of the drive shaft driven by the motor unit 62 and the drive element 61 is converted into a linear movement M of the conveying device 7. Furthermore, the drive unit 6 may include a control unit 63 that monitors and controls the motor unit 62, and by doing so also monitors and controls the movement M of the conveying device 7.

[0033] For example, conventional transport equipment 5 is designed as a continuous conveyor or belt conveyor. The conveying device 7 is, for example, a conveyor belt or conveyor chain made of plastic. Specifically, the conveying device 7 can be composed of linked modules forming a conveyor belt or chain to move the shuttle 3. In a preferred embodiment, the conveying device 7 may also include a ferromagnetic material 8 (e.g., steel, iron, cobalt, nickel, etc.). For example, the ferromagnetic material 8 can be embedded in the conveying device 7. If the conveying device 7 is composed of linked plastic modules, the ferromagnetic material 8 can be designed in the form of ferromagnetic elements 8, which are embedded in the modules of the conveying device 7, such as... Figure 3a and Figure 3b As illustrated in the example.

[0034] The drive unit 6 has implemented safety functions, which are typically monitored and executed by the control unit 63 and can trigger defined actions, such as issuing warnings, switching the system to a safe operating state, reducing or limiting motor speed, or stopping energy supply or the system in a controlled manner. Using these safety functions enables the movement of the conventional transport equipment 5, primarily the conveyor 7, to meet predefined safety requirements, ensuring the safe operation of the transport equipment 5 and preventing damage to personnel and machinery. The implemented group of safety functions can be summarized as safe motion functionality. In this document, "safety" and "security" always refer to functional safety or determinism, depending on the applicable safety requirements, ensuring that a function can be adequately guaranteed in terms of reliability. These requirements can be assigned to corresponding safety requirement levels (e.g., Safety Integrity Level (SIL)), each level presenting different safety requirements. For example, the definitions of these requirements can be found in the international IEC 61508 series of standards. Therefore, the drive unit 6 or drive system 6 of the conventional transport equipment 5 must have integrated safety functions to meet predefined safety requirements and provide safe motion functionality. Safety functions, such as those specified in standard IEC 61800-5-2:2016, can be implemented or integrated in the drive unit 6, particularly in the control unit 63 of the drive unit 6. These safety functions include Safe Torque Off (STO), Safe Speed ​​Limit (SLS), Safe Direction (SD), Safe Torque Limit (SLT), Safe Acceleration Limit (SLA), etc., to provide safe operation and movement of the conveyor 7. This also allows for user interaction, thereby eliminating the need for enclosures or protective grilles in the area of ​​the conventional transport equipment 5. For example, SLS is a safety function used to monitor defined speed limits, such as those of the drive element and / or the conveyor, and to trigger predefined actions, such as shifting the system to a safe operating state or safely stopping the system in case of a fault. For example, SLT is a frequently used safety function that prevents the drive element from exceeding a predefined torque, or, in the case of an electromagnetic transport system 1 based on a linear motor, prevents the drive element from exceeding a specified force. For example, SD ensures that the drive element can only move in a specified direction and can trigger predefined actions, such as shifting the system to a safe operating state or safely stopping the system in case of a fault. For example, SLA is a safety function, specifically designed to prevent the motor unit 62 from accelerating or decelerating too quickly, and to trigger, for example, STO when the acceleration exceeds a predefined limit. More safety functions are specified in standard IEC 61800-5-2:2016, such as...

[0035] During operation of the electromagnetic transport system 1 or LLM, shuttles 3, 3i move along a transport path adjacent to stator 2. Shuttle 3 moves from the first stator segment 21 to the conveyor 7 of the conventional transport equipment 5, replacing at least one stator segment in stator segment 21. The interaction between shuttle 3 and the conveyor 7 of the conventional transport equipment 5 begins upon switching from the first stator segment 21 to the conveyor 7. (Refer to the following...) Figure 3a and Figure 3b A detailed explanation of possible embodiments of the interaction between shuttle 3 and conveyor 7 is provided. The interaction between shuttle 3 and conveyor 7 links shuttle 3 and conveyor 7 together to form a unit. Therefore, the safety functions of conventional transportation equipment 5 implemented or integrated in drive unit 6 can also be applied to shuttle 3, and the energy that shuttle 3 can deliver is limited.

[0036] Figure 2 For example, an electromagnetic transport system 1 in the form of a planar motor (PM) is shown from a top view. The stator 2 of the PM-type electromagnetic transport system 1 includes at least one stator segment 2i. Typically, the stator 2 includes two or more stator segments 2i, which can be connected in any pattern required for the corresponding application of the PM. The stator 2 of the electromagnetic transport system 1 or the PM forms a transport plane. Figure 2 In the example shown, the transport plane is, for example, a horizontal plane. However, other arrangements are of course possible, such as vertical and / or transport planes inclined at an angle. Essentially, the arrangement of the transport plane depends on the specific purpose and application area of ​​the transport system 1.

[0037] At least one shuttle 3, 3i moves on a transport plane, for example, two-dimensionally along a transport path due to interacting magnetic fields. For this purpose, the stator 2 includes magnetic elements, such as drive coils, arranged in groups in a plane on the stator 2, which defines the direction T of movement T of the shuttle 3, 3i on the transport plane. Similar to the transport system 1 of the LLM form, each shuttle 3, 3i includes a magnet unit 4, 4i, which, due to angular relationships, [is positioned in a specific orientation]. Figure 2 The motion of shuttles 3 and 3i along a transport path on the transport plane is not visible in the diagram. To move shuttles 3 and 3i along the transport path on the transport plane, the drive coils are correspondingly energized, and the generated magnetic field interacts with the magnetic units 4 and 4i of the corresponding shuttles 3 and 3i, causing the shuttles 3 and 3i to move along the transport path on the transport plane, which can be defined by energizing the drive coils. Since the principle of planar motors is well-known, it will not be discussed in detail here.

[0038] In addition, such as Figure 2The embodiment of the electromagnetic transport device 1 or PM, as exemplified in the illustration, includes at least one conventional transport device 5, 5i, particularly a continuous conveyor or belt conveyor. At least one conventional transport device 5, 5i replaces at least one stator segment 2i of the PM. In the illustrated example, a plurality of conventional transport devices 5, 5i replace stator segments 2i. These conventional transport devices 5, 5i are arranged between stator segments 21, 22, 2i. For example, conventional transport device 5 is arranged between the first stator segment 21 and the second stator segment 22 of the planar motor.

[0039] The conventional transport device 5 also includes a drive unit 6 that drives and controls the conveying device 7. The conveying device 7 may be, for example, a conveyor belt or conveyor chain, and is made of plastic. In particular, the conveying device 7 may be a module composed of linked plastic modules. In a preferred embodiment, the conveying device 7 may also include a ferromagnetic material 8 (e.g., steel, iron, cobalt, nickel, etc.) embedded in the conveying device 7.

[0040] In addition, such as Figure 1 The drive unit 6 may include a drive element 61 and a motor unit 62 (e.g., an electric motor) connected to the drive element 61 via a drive shaft to linearly drive the conveyor 7 in the direction of movement M. The drive unit 6 has implemented safety functions. These safety functions ensure that the movement of the conventional transport equipment 5, primarily the conveyor 7, meets predefined safety requirements during operation, thus ensuring safe operation of the transport equipment 5 and preventing damage to personnel and machinery. Similar to the electromagnetic transport system 1 of the LLM form according to the invention, the electromagnetic transport system 1 of the PM form according to the invention also includes at least one conventional transport equipment 5 with a drive unit 6 or drive system 6 having integrated safety functions to meet predefined safety requirements and thus providing safe motion functionality. Safety functions that can be implemented or integrated in the drive unit 6, particularly in the control unit 63 of the drive unit 6, may include safety functions such as safety torque off (STO), safety speed limit (SLS), safety direction (SD), safety torque limit (SLT), safety acceleration limit (SLA), etc., as specified in, for example, standard IEC 61800-5-2:2016. These implemented safety functions provide safe operation and movement of the conveyor 7, and also allow user interaction, thus eliminating the need for enclosures or protective grilles in the area of ​​the conventional transport equipment 5. Safety controls (SLS), such as Safety Stop 1 (SS1), Safety Stop 2 (SS2), Safety Operation Stop (SOS), Save Speed ​​Monitoring (SSM), Safe Speed ​​Range (SSR), Safe Limit Position (SLP), Safe Position (SP), or Safe Braking Control, Safe Braking Test (SBC, SBT), may also be implemented in the drive unit 6 if necessary.

[0041] For example, when shuttle 3 moves along the transport path in direction T on the transport plane of transport system 1, shuttle 3 can also be transferred from the first stator segment 21 to the conventional transport device 5, and from the conventional transport device 5 to the second stator segment 22, for example, due to the movement M of the conventional transport device 5. That is, between the two stator segments, the exemplary shuttle 3 is moved by the conventional transport device 5. When shuttle 3 switches to (e.g., slides to) the conveying device 7 of the conventional transport device 5 that replaces at least one of the stator segments 21, the interaction between shuttle 3 and the conveying device begins, linking shuttle 3 and conveying device 7. Thus, shuttle 3 and conveying device 7 form a unit, and the safety functions of conventional transport device 5 implemented or integrated in drive unit 6 can also be applied to shuttle 3, and the energy that can be delivered by shuttle 3 is limited.

[0042] Figure 3a The possible interaction between the shuttle 3 of the electromagnetic transport system 1 and the conveying device 7 of the conventional transport equipment 5 is illustrated, thereby replacing at least one stator segment in the stator segment 2i. Figure 3a This is shown, for example, from a top-down view. Figure 1 The LLM or from the side view angle Figure 2 The PM has two exemplary stator sections 21 and 22. A conventional transport device 5 is arranged between the first stator section 21 and the second stator section 22. The conventional transport device 5 includes a drive unit 6 and a conveyor 7. The drive unit 6 includes, for example, a motor unit 62 for driving the drive element 61 via a drift shaft to drive the conveyor 7, and a control unit 63 for controlling the movement of the conveyor 7. Furthermore, the drive unit 6 has implemented safety functions that meet predefined safety requirements, thus providing safe movement functionality.

[0043] During the operation of the transport system 1, for example, due to the air gap between the stator surface and the shuttle 3, the shuttle 3 moves along the transport path in the direction of movement T on the stator 2 of the transport system 1 at high speed, with large force and small friction. The movement of the shuttle 3 is due to the interaction between the magnetic unit 4 of the shuttle 3 and the electromagnetic field of the excitation drive coil of the stator 2 or stator segments 21, 22. When switching from the first stator segment 21 to the conventional transport device 5, it slides onto the conveying device 7 of the conventional transport device 5 and begins to interact with the conveying device 7.

[0044] In the simplest embodiment ( Figure 3a and Figure 3b (Not shown in the image), the conveying device 7 is made solely of plastic. Since there is no electromagnetic field in the conveying device 7, in the simplest embodiment, the frictional force F between the shuttle 3 and the conveying device 7... FThe shuttle 3 interacts with the conveyor. Due to frictional force F F Due to the influence of the coefficient of friction, the shuttle 3 is adapted to the movement of the conveying device 7, such as in terms of speed, direction of movement M, acceleration, and deceleration. As a result, the energy that can be delivered by the shuttle 3 is limited, and the safety functions of conventional transportation equipment 5 can be applied to the shuttle 3.

[0045] In a preferred embodiment of the invention, the conveying device may include a ferromagnetic material 8 (e.g., steel, iron, cobalt, nickel, etc.). For example, the ferromagnetic material 8 may be embedded in the conveying device 7. If the conveying device 7 is composed of linked plastic modules, the ferromagnetic material 8 may be designed in the form of ferromagnetic elements 8, which are embedded in the modules of the conveying device 7, such as... Figure 3a and Figure 3b As illustrated in the example.

[0046] When shuttle 3 slides onto conveyor 7, shuttle 3 is affected not only by friction F F It interacts with the transmission device 7, and is also affected by magnetic attraction F. A Interacting with the transmission device 7. Magnetic attraction F A The interaction between the shuttle 3 and the conveying device 7 is caused by the temporary induced magnetization of the ferromagnetic material 8 of the conveying device 8, which is due to the magnet of the magnet unit 4 of the shuttle 3. Therefore, the interaction between the shuttle 3 and the conveying device 7 is the frictional force F between the shuttle 3 and the conveying device 7. F and magnetic attraction F A The combination of the shuttle 3 and the conveyor 7 has the effect of adapting the shuttle 3 to the movement of the conveyor 7, for example, in terms of speed, direction of movement M, acceleration, deceleration, etc., wherein the movement of the conveyor 7 (e.g., speed, acceleration, deceleration, direction of movement M, etc.) is defined as the rotational motion R of the drive element 61 driven by the motor unit 62 of the drive unit 6 and controlled by the control unit 63 of the drive unit 6. Due to the frictional force F between the shuttle 3 and the conveyor 7... F and magnetic attraction F A The interaction between the shuttle and the conventional transport equipment 5, implemented or integrated in the drive unit 6, is linked together, thus the safety functions of the conventional transport equipment 5 can also be applied to the shuttle 3, and the energy that can be delivered by the shuttle 3 is limited. Therefore, the interaction between the shuttle and the conveying device 7 of the conventional transport equipment 5 provides the safe movement functionality of the shuttle 3. That is, the shuttle 3 also meets predefined safety requirements, which ensures safe operation and makes it possible for the user to interact with the shuttle 3 during the operation of the electromagnetic transport system 1. For example, the user can perform processing operations while the shuttle 3 is still moving, such as manually loading or unloading the shuttle 3, manually assembling objects transported by the shuttle 3, product inspection, etc.

[0047] Figure 3bThis illustrates another possible exemplary interaction between the shuttle 3 of the electromagnetic transport system 1 and the conveying device 7 of the conventional transport equipment 5, thereby replacing at least one stator segment in stator segment 2i. Figure 3b In the example, a cross-section is shown from a top-down view perspective, which includes, for example, a section such as... Figure 1 The electromagnetic transport system 1 in the form of an LLM is shown with two exemplary stator sections 21 and 22. The transport system 1 includes a route guiding element 9, which is also disposed in an area, for example, that of a conventional transport device 5. The route guiding element 9 interacts with the guiding element 10 of the shuttle 3. The guiding element 10 of the shuttle 3, 3i can be designed as a roller, wheel, sliding element, guiding surface, or sliding surface, etc., thus the route guiding element 9 must be designed such that the corresponding guiding element 10 can be guided therein.

[0048] Similarly, Figure 3a As shown, the conventional transport device 5 is arranged between the first stator section 21 and the second stator section 22. The conventional transport device 5 includes a conveying device 7 and a drive unit 6. The drive unit 6 includes, for example, a motor unit 62 for driving the drive element 61 via a drift shaft to drive the conveying device 7, and a control unit 63 for controlling the movement of the conveying device 7. Furthermore, the drive unit 6 has implemented safety functions that meet predefined safety requirements, thereby providing safe movement functionality.

[0049] Due to the route guiding elements 9 and 10 of the shuttle 3, the shuttle 3 does not come into contact with the conveying device 7 when it moves from the first stator section 21 to the conventional transport device 5. That is, a gap 11 exists between the shuttle 3 and the conveying device 7, which is determined, for example, by the route guiding elements 9 and 10 of the shuttle 3. Since the conveying device comprises a ferromagnetic material 8 (e.g., steel, iron, cobalt, nickel, etc.), a magnetic attraction F is generated when the shuttle 3 moves close to the conveying device, for example, when switching from the first stator section 21 to the conventional transport device 5. A The magnetic attraction F A This is caused by the temporary induced magnetization of the ferromagnetic material 8 of the transmission device 8 due to the magnet of the magnet unit 4 of the shuttle 3. Then, due to the generated magnetic attraction F A The shuttle 3 will interact with the transmission device 7. The shuttle 3 will be connected by magnetic attraction F. A It is linked to conventional transport equipment 5 and conveyor device 7. That is, due to magnetic attraction F AThe shuttle 3 interacts with and adapts to the movement of the conveyor 7 (e.g., speed, acceleration, deceleration, direction of movement M, etc.). Therefore, the safety functions of conventional transport equipment 5 implemented or integrated in the drive unit 6 can also be applied to the shuttle 3, and the energy that can be delivered by the shuttle 3 is limited. Thus, safe movement functionality is provided to the shuttle 3, and the shuttle 3 also meets predefined safety requirements, which ensures safe operation and makes interaction between the user and the shuttle 3 possible during the operation of the electromagnetic transport system 1.

[0050] Figure Labels

[0051] 1 Electromagnetic transport system

[0052] 2. Stator

[0053] 21, 22, 2i stator segments

[0054] 3. 3i shuttle

[0055] 4. 4i magnet unit

[0056] 5. 5i conventional transportation equipment

[0057] 6 drive units

[0058] 61 Driving element

[0059] 62 motor units

[0060] 63 control unit

[0061] 7. Conveying devices, conveyors

[0062] 8. Ferromagnetic Materials

[0063] 9. Route guidance element

[0064] 10 guiding elements

[0065] 11. Gap between the shuttle and the conveyor

[0066] F F friction

[0067] F A Magnetic attraction

[0068] The direction of movement of the T shuttle

[0069] M Conveyor direction of movement

[0070] R rotational motion

Claims

1. An electromagnetic transport system (1), the electromagnetic transport system having a fixed part or stator (2) consisting of at least two or more stator segments (21, 22, 2i), and at least one movable part or shuttle (3, 3i) movable relative to the stator (2) along a transport path, wherein magnet units (4, 4i) are arranged on the at least one shuttle (3, 3i), and wherein the magnet units (4, 4i) of the at least one shuttle (3, 3i) interact electromagnetically with magnetic elements arranged on the stator (2) to cause the shuttle (3, 3i) to move along the transport path in at least one direction of movement (T), characterized in that, The transport system (1) includes at least one conventional transport device (5, 5i) that replaces at least one stator segment (2i) along the transport path. The at least one conventional transport device (5, 5i) includes at least a drive unit (6) and a conveying device (7), wherein the drive unit (6) uses safety functions to drive and control the conveying device (7) to meet predefined safety requirements. Furthermore, regardless of where the conventional transport device (5, 5i) replaces at least one stator segment (2i), the at least one shuttle (3) interacts with the conveying device (7) such that the at least one shuttle (3) moves with the movement of the conveying device (7), thereby enabling the safety functions to be applied to the at least one shuttle (3).

2. The electromagnetic transport system (1) according to claim 1, characterized in that, The conveying device (7) of the conventional transport equipment (5) includes a ferromagnetic material (8), which interacts with the magnet unit (4) of the at least one shuttle (3) to generate magnetic attraction (F). A ).

3. The electromagnetic transport system according to claim 1 or 2, characterized in that, The at least one shuttle (3) is affected by the frictional force (F) generated between the ferromagnetic material (8) and the magnet unit (4) of the at least one shuttle (3). F ) and / or the magnetic attraction (F A It interacts with the transmission device (7).

4. The electromagnetic transport system according to claim 2, characterized in that, The at least one shuttle (3) is only affected by the magnetic attraction (F) generated between the ferromagnetic material (8) and the magnet unit (4) of the at least one shuttle (3). A It interacts with the transmission device (7).

5. The electromagnetic transport system (1) according to any one of claims 1 to 4, characterized in that, The conventional transport equipment (5, 5i) is designed as a continuous conveyor.

6. The electromagnetic transport system (1) according to any one of claims 1 to 5, characterized in that, The conveying device (7) is designed as a conveyor belt or conveyor chain, particularly a modular conveyor belt or conveyor chain made of plastic.

7. The electromagnetic transport system (1) according to any one of claims 1 to 6, characterized in that, The security features meet the security requirements specified in the international IEC 61508 series of standards.

8. The electromagnetic transport system (1) according to any one of claims 1 to 7, characterized in that, The safety functions implemented in the drive unit (6) of the conventional transport equipment (5, 5i) include the safety functions specified in the standard IEC 61800-5-2:2016, which include at least safety functions such as safety torque cut-off, safety speed limit, safety direction, safety torque limit and safety acceleration limit.

9. The electromagnetic transport system (1) according to any one of claims 1 to 8, characterized in that, The electromagnetic transport system (1) is designed as a long stator linear motor and / or a planar motor.

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