Transport equipment, transport system and method for transporting objects

Abstract

Transport device (10) for transporting at least one object comprising a ferromagnetic material, comprising at least one mounting element for mounting the object for the purpose of transporting the object with the transport device (10), a first magnet movably arranged in relation to the mounting element for exerting a magnetic field on the object for fixing the object to the mounting element, and at least one movable element (20) in operative connection with or capable of being brought into contact with the first magnet for moving the first magnet in order to influence the force exerted by the first magnet.exertable magnetic field in the position of the system element, characterized in that the movable element (20) has a contact area (22) for the mechanical introduction of a force (45) by means of a contact element (31, 32) performing a relative movement to the transport device (10), so that it can be moved when the force (45) is introduced by the contact element (31, 32) for the purpose of realizing the movement of the first magnet.

Description

[0001] The invention relates to a transport device and a method for transporting at least one object comprising ferromagnetic material, as well as a transport system for transporting objects.

[0002] As industrial production becomes increasingly flexible, a highly variable supply of the required parts or assemblies to the respective manufacturing process is desirable. This can mean, for example, that a required part or assembly is transported to a specific location for further processing at a predetermined time, where differently shaped parts or assemblies are processed. Typically, various transport systems are used, adapted to the specific characteristics, particularly the size and geometry, of the parts or assemblies being transported. These transport systems, as well as the parts or assemblies attached to them, can be conveyed, for example, by indexing conveyors or accumulation conveyors.

[0003] This has the disadvantage that different transport and / or conveying systems, such as accumulation conveyors, are present at each processing station. Therefore, a large number of parallel systems are necessary to provide the required components. Furthermore, if the product being manufactured changes, for example, to produce new or modified models, a complex system of transport systems must be retrofitted, adapted, or replaced.

[0004] To increase the variability of transport systems and thus improve efficiency, it is desirable to transport differently shaped parts or assemblies, regardless of their geometry, without requiring different transport systems, as is achieved, for example, in indexing conveyors or accumulation conveyors. This is particularly desirable in car body manufacturing, where a large number of different components are processed and ultimately a single production line should be usable for manufacturing different variants or models.

[0005] German patent DE 20 2005 004 456 U1 describes a gripping device for grasping and lifting ferromagnetic workpieces. This device comprises a permanent magnet movably mounted within the gripping device. For example, a small servomotor, requiring little power, can be used to move the magnet. The magnet can be pivoted along a pivot axis aligned parallel to the gripping surface, allowing it to swivel towards or away from the gripping surface. Hydraulic, pneumatic, or mechanical drives, such as a joint mechanism or a toggle lever, can also be used to move the magnet.

[0006] DE 10 2016 111 908 A1 discloses a gripping device for grasping ferromagnetic objects. This device comprises an actuator for moving a magnet from an active position for gripping ferromagnetic objects to a passive position for releasing the objects. A pole shoe with a contact surface for the objects to be gripped has a ferromagnetic material. The magnet at least partially surrounds the pole shoe and is displaceable relative to it. Between the active and passive positions, the magnet is rotatable or linearly displaceable by a maximum of 90° about a longitudinal axis. The pole shoe is divided into two components parallel to the longitudinal axis, between which a gap or a non-ferromagnetic material is arranged.

[0007] DE 20 2005 004 004 U1 describes a conveyor belt for transporting magnetizable goods with an integrated permanent magnet. This magnet can be embedded in a carrier layer and covered by a top layer. It can be welded, bonded, or pressed into the carrier layer. In this way, magnetizable goods can be held in place on the conveyor belt, and particularly high conveying speeds can be achieved. The conveyor belt can have several permanent magnets evenly distributed transversely to the direction of travel. These can be arranged with alternating orientations such that their magnetic fields overlap. This enhances the magnetic effect.

[0008] The known solutions have the disadvantage that they are comparatively complicated in design, require a large amount of space, are not very flexible in their application and / or are only suitable to a limited extent for transporting components for manufacturing.

[0009] The object of the invention is to provide a transport device, a transport system and a method by which the transport of differently shaped objects is possible in a particularly simple way.

[0010] The problem is solved by the transport device for transporting at least one object comprising ferromagnetic material according to claim 1, by the transport system for transporting objects according to claim 8, and by the method for transporting at least one object comprising ferromagnetic material according to claim 10. Embodiments of the transport device are specified in dependent claims 2 to 7, and an embodiment of the transport system is specified in dependent claim 9.

[0011] A first aspect of the invention is a transport device for transporting at least one object comprising a ferromagnetic material. This device comprises at least one mounting element for mounting the object for transporting the object with the transport device and a first magnet movably arranged relative to the mounting element for exerting a magnetic field on the object for fixing the object to the mounting element. Furthermore, the transport device comprises at least one movable element, operatively connected or capable of being connected to the first magnet, for moving the first magnet in order to influence the magnetic field exerted or exertable by the first magnet in the position of the mounting element.The movable element has a contact area for the mechanical introduction of a force by means of a contact element that performs a relative movement to the transport device, so that it can be moved when the force is introduced through the contact element in order to realize the movement of the first magnet.

[0012] The mounting element can be configured to hold one or more objects. In the latter case, it can be configured to hold identical and / or different objects. The first magnet can be configured to hold multiple objects, which is advantageous, for example, when several objects are needed simultaneously. The transport device can have multiple first magnets for holding one or more objects. The transport device can have pole pieces for introducing magnetic field lines to improve the object's hold on the mounting element.

[0013] The contact of the object with the contact element means the blocking of at least one translational degree of freedom of the object in one direction, for example, when the object rests on the contact element, in which movement of the object along the direction of gravity is blocked by the contact element. The contact element can be a non-ferromagnetic element. It can be essentially flat or have an essentially flat contact surface for the object to contact. It can, for example, be designed as a contact plate.

[0014] Fixing the object to the fixture by means of a magnetic field refers to the application of a magnetic force to the object, in particular a magnetic attraction force that pulls or pushes the object towards the fixture. In other words, the first magnet can be configured to generate a magnetic attraction force on the object. Specifically, the magnet and the object to be fixed are arranged on opposite sides of the fixture or on a mounting plane defined by the fixture or fixtures. Thus, movement of the object towards the magnet is blocked by the fixture. In particular, the magnet is dimensioned such that the magnetic field exerted on the object is sufficiently strong to hold the object against its weight during overhead operation, for example, in a circulating conveyor.

[0015] For example, the magnetic field between the object and the mounting element can create a frictional connection. This can block further degrees of freedom of the object relative to the magnet. In other words, the first magnet is designed to exert a magnetic force on the object in order to fix the object relative to the mounting element.

[0016] By influencing the magnetic field exerted or exertable by the first magnet at the position of the attachment element, the magnetic force acting on the object can be influenced. This refers, for example, to the magnetic force acting on an object that is in contact with or fixed to the attachment element.

[0017] The first magnet is movably arranged so that the magnetic field exerted or exertable by the first magnet, and thus the magnetic force acting upon it, can be influenced by the position of the attachment element, allowing the object to be fixed or released from the fixation. In other words, the first magnet is designed to be switchable. In particular, it can be moved from a rest position, in which the object is not fixed to the attachment element, to a fixation position, in which the object is fixed to the attachment element. Typically, it can also be moved from the fixation position back to the rest position. Thus, the transport device according to the invention is configured to fix the object to the attachment element and thus to the transport device, as well as to release the object from the attachment element and thus from the transport device.

[0018] The movable element is arranged to be movable relative to the fixture element. It is operatively connected to the first magnet in order to move it. This operative connection is primarily mechanical. However, it is not excluded that the movement of the magnet is achieved by means of a separate drive. In this case, the movable element is designed as a mechanical switching element which, when force is applied via the contact element, actuates the drive to move the magnet.

[0019] The contact area of ​​the movable element serves for mechanical contact via the contact element and consequently for the introduction of force. As a result of the force being introduced, the movable element moves in such a way that it triggers a movement of the first magnet, so that the magnetic field is influenced at least in the position of the attachment element and the magnet is moved into the rest position or the fixed position.

[0020] The movable element is arranged such that its contact area is in contact with the contact element that executes the relative movement to the transport device in order to maintain the force. For this purpose, it projects outwards, in particular with at least a section encompassing the contact area. For example, it projects beyond a boundary of an axis element about which it is rotatably movable, and / or of the support element.

[0021] The movable element can be designed as a rotating device for rotating or pivoting the first magnet. For example, it can be a pivoting lever for moving the first magnet. With such a pivoting lever, the first magnet can be moved, for instance, from a rest position at a considerable distance from the mounting element to a fixed position close to the mounting element. In the rest position, the distance between the magnet and the mounting element can be such that the magnetic attraction force acting on the object is weak, and thus the object is not fixed to the mounting element. In the fixed position, the distance can be such that the magnetic attraction force is strong, resulting in the object being fixed. The rest position allows for easy removal of the object, as the magnetic attraction force approaches zero in this position.

[0022] In addition to the first magnet, at least one further magnet can be arranged to exert a magnetic force on the object. The magnets can be arranged such that their magnetic fields overlap, at least in some areas. The further magnet can also be movably arranged, possibly by means of a movable element.

[0023] The transport device can be designed as a pallet or a parts carrier. In particular, the transport device includes at least one fastening device for attaching the transport device to a means of movement, for example a towing device, so that it can be moved with it for the purpose of transporting the object.

[0024] It is evident that the transport device according to the invention is suitable for transporting objects of different shapes, since the magnetic force acts independently of the shape of the object containing the ferromagnetic material. Thus, no carrier, also referred to as a component nest, adapted in terms of shape or size to the geometry of the object to be transported is necessary.

[0025] The transport device according to the invention is particularly advantageous in car body construction because a large number of differently shaped parts need to be transported or provided, and the transport device according to the invention thus significantly simplifies the production process and is variably usable. It can therefore also be used for future parts whose geometry and size are not yet known.

[0026] A further advantage of the transport device according to the invention is that, thanks to the movable element which, through the application of mechanical force, realizes the movement of the magnet, it requires no external energy supply in the form of electrical energy, compressed air, or similar. Thus, the transport device can also be described as "energy-free." The transport device is suitable for use with rotary tables and linear conveyors with horizontal, inclined, and / or vertical axis arrangements.

[0027] One embodiment of the transport device is characterized in that the transport device further comprises a second magnet and a rotation device, actuated by means of the movable element, for rotating the first magnet and, optionally, also the second magnet. The rotation device is configured to achieve at least the following relative orientations of the two magnets to each other by rotating the first magnet and, optionally, also the second magnet, such that a magnetic field resulting from the superposition of the respective magnetic fields of the first magnet and the second magnet can be influenced in the position of the system element: - a first relative alignment in which like poles of the two magnets are essentially aligned in the same way in order to achieve a maximum strength of at least one region of the resulting magnetic field, as well as - a second relative alignment in which like poles of the two magnets are essentially oppositely aligned in order to achieve a minimum strength of at least one region of the resulting magnetic field.

[0028] The rotating device is operatively connected to the movable element and can be actuated or moved by means of it. It can, for example, be mechanically connected to the movable element. In particular, the movable element serves to move the rotating device and, in this way, at least the first magnet.

[0029] The area of ​​the resulting magnetic field, in which the minimum or maximum strength can be achieved, can correspond, at least essentially, to the position of the attachment element, i.e., the position in which the object can be fixed. Thus, two magnetic fields act at the position of the attachment element, one of which is the magnetic field of the first magnet.

[0030] In particular, the first and second magnets are identical with respect to their magnetic fields. These can also be identical with respect to their geometry and / or size. In one embodiment, the magnets are arranged adjacent to each other.

[0031] Typically, the rotation device serves to rotate at least one magnet about an axis of the magnet that is oriented perpendicular to the magnetic field lines running between the north and south poles of the magnet. It can also serve to rotate at least one magnet about its axis located centrally between the north and south poles. In particular, the first and second magnets are disk-shaped, circular, or annular, respectively. In this embodiment, the rotation device serves to rotate at least one magnet about its central axis. In particular, the magnets are arranged coaxially, so that at least one magnet can be rotated about the common axis by means of the rotation device.

[0032] The rotation by means of the rotating device serves to influence the relative orientation of the first and second magnets to each other, and in particular to influence the relative orientation of the respective north and south poles of the two magnets. Its purpose is to influence the resulting magnetic field, i.e., the magnetic force resulting in a specific area.

[0033] The rotation device can be configured such that only the first magnet is rotated relative to the second magnet, or that both magnets are rotated relative to each other.

[0034] In the first relative orientation, the magnetic north and south poles overlap in at least one viewing direction. In the second relative orientation, the magnetic north pole of the first magnet overlaps the magnetic south pole of the second magnet, and vice versa, in at least one viewing direction. Therefore, moving from the first to the second relative orientation requires a 180° rotation of the first magnet.

[0035] The same orientation means, in particular, that the magnets have the same angular position relative to a common axis. The strength of the resulting magnetic field is, in both relative orientations, referenced to the same region of the magnetic field, i.e., to the same spatial position relative to the mounting element.

[0036] In particular, the first relative orientation achieves a maximum strength of the resulting magnetic field, while the second relative orientation achieves a minimum strength. In the second relative orientation, a complete mutual cancellation of the magnetic fields of the two magnets is typically achieved, at least in certain regions, so that no magnetic field exists, at least in those regions.

[0037] This design offers the advantage of a particularly simple and compact construction, in which, with minimal force, at least the first magnet can be moved from a fixed position (for securing the object) to a rest position (for releasing the object) and back again. Furthermore, only minimal energy is required to switch the magnets in this configuration. A reliable operating principle with minimal installation effort is provided, as the magnets can be supplied pre-matched in a suitable, prefabricated unit. The components are inexpensive.

[0038] One embodiment of the transport device is characterized in that the first magnet and / or the second magnet is a permanent magnet.

[0039] Permanent magnets are also known as permanent magnets. Compared to electromagnets, they are characterized by the fact that their magnetic field does not depend on an external energy supply. This offers the advantage of greater safety, as the fixing or transporting of objects using the transport device is not dependent on a power supply, thus ensuring the secure holding of the object even in the event of a power outage.

[0040] Another embodiment of the transport device is characterized in that the movable element is designed as a gear or lever element for executing a rotational movement as a result of a force exerted by the contact element on the contact area of ​​the movable element. The force refers in particular to a translational force.

[0041] A relative movement occurs between the transport device and the contact element, as a result of which the contact element mechanically contacts the contact area of ​​the moving element, i.e., the gear or lever element, and exerts a force on it. This causes the moving element to rotate, which in turn causes the movement of at least the first magnet.

[0042] In particular, the relative movement occurs due to at least a translational movement of the transport device. However, it is not impossible that the transport device is guided at least partially by rotation, for example in the area of ​​deflection rollers of a circulating conveyor, so that a rotational relative movement occurs between the transport device and the contact element in this area. Here, too, the mechanical contact between the contact element and the contact area and the force exertion can occur as described.

[0043] In other words, due to the relative motion, a force is applied to the movable element, particularly translationally, which, due to its rotational mounting, converts this translational motion into a rotational motion.

[0044] In the case of a gear, the contact element can, for example, be designed as a rack.

[0045] Another embodiment of the transport device is characterized in that the lever element has two lever sections, each with a contact area, and is rotatably mounted between the lever sections. Thus, depending on the angular position of the lever element, one of the lever sections is oriented such that a force exerted on the contact area of ​​the lever section by a contact element associated with that section causes a rotational movement of the lifting element. This force is, in particular, a translational force.

[0046] A lever section can be designed as an arm of a lever element, which has a contact area and is rotatably mounted, particularly at one of its ends. The two lever sections are rigidly connected to each other.

[0047] The force acts during a translational and / or rotational relative motion between the transport device and the contact element. A translational motion can include curved translational motion, i.e., translational motion along a curved path.

[0048] For the purpose of contact by the contact element, the lever sections can be arranged such that one lever section projects laterally outwards to one side and the other lever section to the other side. For example, at least one of the lever sections projects beyond a boundary of an axis element about which the lever element is rotatably movable, and / or of the contact element.

[0049] The contact element is assigned to one of the lever sections and is accordingly arranged in one specific direction or the other to effect the rotation of the lever element. The lever sections are thus configured such that, upon contact with a contact element, they effect rotation in opposite directions. The contact sections of the lever elements are therefore arranged such that they produce different directions of rotation upon contact with a respective contact element. They can both point towards one side of the transport device, for example, towards the side that is at the front during normal transport operation. The two lever elements, or rather their contact sections, can be arranged at an angle to each other.

[0050] In particular, contact elements for the respective contacting of the two contact areas of the lever element are arranged on both sides with respect to a central longitudinal axis of a guide device for guiding the transport device. Thus, the transport device can be used such that, by appropriately arranging the contact elements with respect to the guide device, an insertion area can be defined in which a first contact element is arranged on a first side of the guide device. Upon contacting the contact area of ​​a first lever section, this first contact element rotates the lever element along a first direction of rotation, thereby bringing the first magnet into the fixing position or achieving the first relative alignment of the first and second magnets. In this way, the magnetic attraction force of at least the first magnet takes effect, and an object can be fixed to the contact area of ​​the transport direction.Furthermore, a removal area can be defined in which a second contact element is arranged on the second side of the guide device, opposite the first side. Upon contact with the contact area of ​​the second lever section, this second contact element rotates the lever element along a second direction of rotation opposite to the first, thus bringing the first magnet into its rest position or achieving the second relative alignment of the first and second magnets. This eliminates the magnetic attraction of at least the first magnet, allowing an object fixed to the contact area of ​​the transport direction to be released.

[0051] This design offers the advantage of allowing the position of the first magnet to be adjusted in a particularly simple and safe manner. The transport device requires few parts, especially with few moving parts, and has a very simple mechanism. This results in reduced manufacturing effort and therefore lower production costs. Furthermore, it is easy to install, requires little maintenance, and is not very susceptible to dirt.

[0052] Another embodiment of the transport device is characterized in that the transport device has a gearbox for transmitting and, if necessary, translating the movement of the movable element to the first magnet. The gearbox particularly includes a traction drive for transmitting and, if necessary, translating a rotational movement of the movable element.

[0053] In other words, the movement of the moving element is mechanically transmitted to the first magnet. The term "transmission" encompasses ratios greater than and less than one. The drive can also be configured to change the direction of rotation. This design allows for a spatial separation of the moving element from the first magnet, thus providing greater design freedom for the transport device. A traction drive is a simple, proven, and cost-effective means of transmitting power or motion.

[0054] Furthermore, a rotation of approximately 180° of the first magnet is often necessary to move from the first relative alignment of the magnets to the second relative alignment. A transmission gear can be suitable for converting a translation or a rotation through a different angular range into the required 180° rotation.

[0055] Another embodiment of the transport device is characterized in that the mounting element(s) define a mounting plane, wherein the transport device has at least one stop element for blocking one translational degree of freedom of the object along a direction parallel to the mounting plane. In other words, the stop element serves to prevent movement of the object along the mounting plane.

[0056] A mounting plane is a plane into which an object can be placed. For example, a mounting element can extend along the mounting plane, such as in the case of a planar or plate-shaped mounting element, or several mounting elements can be arranged that have surface areas arranged at least partially along the mounting plane, so that the object can be placed in the mounting plane. This is the case, for example, if the object rests on at least three mounting elements at a single point.

[0057] The stop element serves to make contact with the object before, during, and / or after it is fixed to the support element. It can be designed, for example, as a limiting edge or a limiting pin. In particular, the transport device has two or three stop elements.

[0058] This design offers the advantage that, in addition to the translational degree of freedom towards the magnet, at least one further translational degree of freedom of the object, perpendicular to it, is also blocked in the fixed state. This further increases the reliability of the object's fixation in the direction of transport.

[0059] The invention further relates to a transport device for transporting at least one object comprising a ferromagnetic material, comprising at least one mounting element for mounting the object for transporting the object with the transport device, and a first magnet for exerting a magnetic field on the object for fixing the object to the mounting element, wherein the first magnet is movably arranged in relation to the mounting element in order to influence the magnetic field exerted or exertable by the first magnet. The transport device may include a fastening device for mounting the transport device on a means of movement, for example, a traction element. A transport system may, in addition to the transport device, include a guide device for at least translationally guiding the transport device.Guiding can refer to movement along a substantially predetermined path. The guiding device can include a means of movement for the transport device, for example, a traction element. The means of movement can be arranged circumferentially. In particular, the guiding device is a circulating conveyor such as an accumulation conveyor or indexing conveyor.

[0060] A further aspect of the invention is a transport device for transporting at least one object comprising a ferromagnetic material. This device comprises at least one mounting element for mounting the object for transport purposes and a magnetic device for exerting a magnetic field on the object to fix the object to the mounting element. The magnetic device is controllable such that the magnetic field exerted or exertable by the magnetic device can be influenced in the position of the mounting element.

[0061] The magnetic device is a device for generating a magnetic field. It includes at least one magnet, in particular the first magnet.

[0062] Controlling the magnetic device means influencing the magnetic device in such a way that the magnetic field it exerts or can exert is affected or changed in the position of the attachment element. This can be achieved by moving or switching the magnetic device or the first magnet. In particular, this is done by increasing or decreasing the magnetic force that can be exerted in this position, so that an object is held against or released from the attachment element.

[0063] Switching can be achieved, for example, by at least one electrical pulse, where the first magnet is a permanent magnet. Such magnets are also called switchable magnets. In one embodiment of a switchable magnetic device, an electrical pulse can cause the magnetic device to switch between two magnetic states. For example, the magnetic flux inside the magnetic device can be redirected for this purpose. The magnetic device typically has electrical contacts. Switching can cause a reversal of the magnetic device's polarity, thus making the transport device feasible without moving parts.

[0064] Switching can also be carried out by at least one pneumatic impulse or by applying force to at least one area of ​​the transport device by means of a pressurized gas.

[0065] Moving the magnetic device or the first magnet can be achieved by applying a mechanical force to an element that is operatively connected or mechanically linked to the magnetic device. This movement of the magnetic device or the first magnet can, in particular, occur in relation to the mounting element.

[0066] The switching can involve or include moving the magnetic device or the first magnet in order to influence the magnetic field exerted or exertable by the magnetic device in the position of the system element.

[0067] In other words, the transport device can, as an alternative to mechanical control of the device generating the magnetic force, also allow for electrical or pneumatic control or switching, for example of permanent magnets. Consequently, in some configurations, it can operate without any moving parts.

[0068] A second aspect of the invention is a transport system for transporting objects. This system comprises at least one transport device according to the invention, a guide device for at least translationally guiding the transport device, and at least one contact element for mechanically exerting a force on the contact area of ​​the movable element. The guide device is, in particular, a circulating conveyor. The transport system especially comprises a plurality of transport devices.

[0069] The guidance system is designed for the straight and / or curved guidance of the transport device. In particular, it is designed for at least translational movement of the transport device.

[0070] The contact element serves to mechanically contact the contact area and consequently to exert a force, particularly translational, on the contact area.

[0071] The guiding device may include at least one means of motion for moving the transport device, for example, a traction element such as a conveyor belt or chain. The means of motion may be arranged circumferentially. In particular, the guiding device is a circulating conveyor such as an accumulation conveyor or indexing conveyor. The transport device may include a fastening device for attaching the transport device to the means of motion.

[0072] In one embodiment, the guide device, as already described, comprises contact elements arranged at least on one side and in particular on both sides of a central longitudinal axis for contacting one of the two contact areas of the lever element.

[0073] One embodiment of the transport system is characterized in that the contact element is movably arranged relative to the guide device, so that it can be moved into a contact position for contacting the contact area of ​​the movable element of the transport device. In particular, the transport system has a drive device for driving the contact element for the purpose of moving the contact element.

[0074] Typically, the contact element can be moved from a transit position, in which it does not contact the contact area of ​​the movable element, to the contact position. In particular, it can also be moved back. This can be achieved by means of the drive unit. The drive unit can, for example, comprise a pneumatic cylinder.

[0075] The contact position of the contact element is characterized in that, during a movement of the transport device guided by the guide device, the contact area of ​​the movable element of the transport device passes through this position in such a way that mechanical contact between the contact area and the contact element can occur, allowing the contact element to exert a force on the contact area of ​​the movable element. The passage position is similarly characterized in that, during a movement of the transport device guided by the guide device, no mechanical contact between the contact area and the contact element occurs when the transport device passes through this position; the transport device thus passes the contact element in the passage position without contact.

[0076] Thus, the contact element can be moved as needed to fix or release the object. This advantageously enables particularly flexible use of the transport system, since on and off positions can be defined as required without modifying the transport device.

[0077] A third aspect of the invention is a method for transporting at least one object comprising a ferromagnetic material. In this method, a transport device or transport system according to the invention is provided, and a contact element performing a relative movement to the transport device exerts a force on the contact area of ​​the movable element. The resulting movement of the movable element causes the magnet to move in order to influence the magnetic field acting on the object.

[0078] Typically, the transport device moves, for example along a guide direction specified by a guide device, so that the movable element is moved in relation to the contact element.

[0079] Mechanical contact is made between the contact element and the contact area of ​​the moving element of the transport device, as a result of which the contact element exerts force on the contact area.

[0080] Positioning the object on or against the transport device and / or removing the object from the transport device can be accomplished, for example, using a robot. A magnetic gripper or a suction gripper can be used.

[0081] The invention will be explained below with reference to the exemplary embodiments shown in the accompanying drawings.

[0082] They show Fig. 1: a schematic representation of a transport system according to the invention, Fig. 2: a schematic detailed representation of a first movement of an embodiment of a transport device according to the invention, Fig. 3: a schematic detailed representation of a second movement of the transport device Fig. 2, Fig. 4: a schematic detailed representation of a first movement of a further embodiment of a transport device according to the invention, Fig. 5: a schematic detailed representation of a second movement of the transport device Fig. 4, as well as Fig. 6: a schematic detailed representation of a first and a second movement of a further embodiment of a transport device according to the invention.

[0083] Fig. Figure 1 shows a schematic representation of a transport system 15 according to the invention. This system comprises several transport devices 10 which perform movements 43 guided by means of a guide direction 18. The guide direction 18 is designed as a circulating conveyor.

[0084] A loading area 60 of the transport system 15, shown on the left, is characterized in that the transport devices 10 located therein have a first relative alignment 81 of their two magnets, and the magnets are thus arranged in a fixing position for fixing objects. This is indicated by the hatched representation of the respective transport devices 10. The loading area 60 serves for loading and transporting the objects.

[0085] The transport device 10 located in the removal area 62 of the transport system 15 shown on the right has a second relative orientation 82 of its two magnets and is shown without hatching. Thus, the magnets are arranged in a rest position for releasing the fixation. The removal area 62 serves for removing the objects.

[0086] Along the movement path of the transport system 15 or the guide device 18, a first contact element (not shown) is located on a first side of the guide device in an energizing position 64 for moving the first magnet into the fixing position. Similarly, along the movement path, a second contact element (not shown) is located on a second side of the guide device in an energizing position 66 for moving the first magnet into the rest position. The energizing position 64 and the energizing position 66 separate the insertion area 60 from the removal area 62. The specific processes involved in moving the first magnet are described in relation to the following figures.

[0087] Each transport device comprises a first and a second magnet, both designed as identical, disc-shaped permanent magnets and arranged coaxially one above the other (not shown here). The first magnet, located at the top, can be rotated by means of the rotating mechanism to influence the relative alignment of the two magnets. The second magnet, located at the bottom, is fixed to or within the transport device. The first magnet rotates about a common central axis shared by both magnets.

[0088] In the second relative orientation, the magnetic north pole of the first magnet superimposes on the magnetic south pole of the second magnet, and vice versa. This results in a mutual cancellation of the two magnetic fields, so that the resulting magnetic field is minimal or approaches zero, at least at the location of the component. In other words, the poles of the two magnets are essentially oppositely aligned.

[0089] In the first relative alignment, the poles of the two magnets are essentially aligned in the same direction; that is, the magnetic north pole of the first magnet overlaps the magnetic north pole of the second magnet, and vice versa. Thus, the respective magnetic fields superimpose, resulting in a maximum strength of the resulting magnetic field.

[0090] Fig. Figure 2 shows details of an embodiment of the transport device according to the invention. The transport device shown here has a movable element 20 designed as a lever element 37, which, due to a translational movement 43 of the (not fully shown) transport device, performs a rotational movement 40 and in this way moves the two magnets from the second relative orientation 82, i.e. the rest position, shown without hatching, to the first relative orientation 81, i.e. the fixing position, shown with hatching.

[0091] The lever element 37 comprises a first lever section 51 and a second lever section 52. It is rotatably mounted between the lever sections 51 and 52 about the pivot point 54. A contact section 22 is arranged on each of the lever sections 51 and 52. The surface normals of the respective contact sections 22 point with at least one component of their extension direction along the direction of movement 43 of the transport device.

[0092] Furthermore, a first contact element 31, arranged in a fixed position, is shown. This element serves to contact the contact area 22 of the first lever section 51 or is associated with the first lever section 51. It is located to the right of the pivot point 54 of the lever element 37, relative to the direction of movement 43 of the transport device.

[0093] The figure on the left shows the state immediately before the movement 43 of the transport device and the associated movement 40 of the movable element 20. There is only a small gap between the first contact element 31 and the contact area 22 of the first lever section 51, so that during a continued translational movement 43 of the transport device relative to the stationary first contact element 31, mechanical contact occurs between the contact area 22 and the first contact element 31. As a result, the first contact element 31 exerts a force 45 on the contact area 22, thus causing the rotation 40 of the movable element 20 about the pivot point 54.

[0094] The figure on the right shows the state immediately after the movement 43 of the transport device and the associated movement 40 of the movable element 20. The position of the first contact element 31 corresponds to the position of the first contact element 31 in the left-hand illustration. It is evident that the movable element 20 is rotated approximately 90° clockwise compared to the left-hand illustration, and the hatched area indicates that the two magnets are in the first relative orientation 81 with respect to each other, such that the like poles of the two magnets are arranged essentially identically to achieve maximum strength in at least one area of ​​the resulting magnetic field. In other words, the magnets are in the fixing position for fixing an object. There is no longer any mechanical contact between the first contact element 31 and the contact area 22 of the first lever area 51.

[0095] The movable element 20 shown here can, for example, be arranged in the lower area of ​​the transport device between two traction elements designed as chains of a guide and movement device.

[0096] Fig. Figure 3 shows a switching process from the fixed position to the rest position of the magnets. The left position of the movable element 20 is analogous to the right position in [reference missing]. Fig. 2 shown, with the right position in Fig. 2 and the left position in Fig. 3. A further translational movement 43 of the transport device and thus of the movable element has already taken place. Therefore, the first contact element 31 is no longer located in the area of ​​the movable element 20 and is consequently no longer shown. However, in Fig. Figure 3 shows a second contact element 32 arranged on the left side in relation to the direction of movement 43. This serves to contact the contact area 22 of the second lever section 52 and thus to rotate the movable element 20 counterclockwise around the pivot point 54. It is associated with the second lever section 52.

[0097] Similar to what was already in Fig. In Figure 2, the second contact element 32 is shown in relation to the first contact element 31. Here, it is in a position contacting the contact area 22 of the second lever area 52. It exerts the force 45 on the second lever area 52 and thus, with continued translational movement 43, causes the aforementioned rotation 40 of the movable element 20. This is analogous to the left-hand illustration. Fig. 2 constructed right-hand representation from Fig. Figure 3 shows the state after the aforementioned counterclockwise rotational movement 40 has been carried out. It is evident that this movement of the movable element 20 aligns the magnets in the second relative orientation 82 to each other, and thus places them in their rest position.

[0098] The Fig. 2 and Fig. Figure 3 shows the effect of a translational force 45 on the respective contact areas 22 of the movable element 20, which is caused by the translationally guided movement 43 of the transport device. However, it is of course not excluded that the transport device is guided at least partially by rotation, as is the case, for example, in the deflection areas located on the right and left in Fig. 1 is shown, and that in these areas a first contact element 31 or a second contact element 32 is arranged in order to exert a corresponding force on the movable element 20.

[0099] Fig. Figure 4 shows an alternative embodiment of the movable element 20 and the transmission of motion to the first magnet. The movable element 22 is designed as a lever element 37, specifically as a switching star 58. This comprises six lever sections, each of which has contact areas 22 on both sides, such that mechanical contact or force application by a corresponding first contact element 31, or optionally a second contact element, causes a rotation of the switching star 58 by approximately 60°. To enable mechanical contact with the corresponding contact element, the switching star 58 is arranged at the edge of the transport device 10, which is schematically depicted as a rectangular pallet, so that the respective lever sections project outwards beyond the transport device 10.

[0100] The transport device 10 shown here further comprises a gearbox 56, namely a traction drive 57, which is designed to transmit the rotary motion of the switching star 58 to the first magnet and to translate the motion. The translation is necessary because, to ensure switching from the first relative orientation 81 to the second relative orientation 82 and back, a rotation of the switching star 58 by 60° must cause a rotation of the first magnet by 180°.

[0101] Similarly to Fig. Figure 2 on the left shows the relative position between transport device 10 and the first contact element 31 shortly before they make contact. As a result of this contact, and with the continued translational movement 43 of the transport device 10, the first contact element 31 exerts the force 45 on the contact area 22. The relative position of these elements after the rotational movement 40 is shown on the right, whereby the two magnets are aligned in the first relative orientation 81, i.e., the fixing position.

[0102] Similarly, shows Fig. 5 the circuit from the first relative orientation 81, shown on the left, to the second relative orientation 82, shown on the right. In contrast to the one in the Fig. 2 and Fig. In the embodiment of the transport device shown in section 3, this is also achieved in this embodiment by a first contact element 31, which is positioned in the same way as in Fig. 4 exerts a force on the contact area 22 of the following lever area. In other words, a continuation of the in Fig. 4. Movement shown by a further 60°, which in turn causes a rotation of the first magnet by 180°.

[0103] A further embodiment of the transport device 10 and associated movements of switching from the first relative orientation 81 to the second relative orientation 82 of the two magnets and back is described in Fig. 6 shown.

[0104] Here, the movable element 20 is designed as a gear 35 and the contact element 31 as a fixed rack 34 that can engage with it. Corresponding areas of the teeth of the gear 35 serve as the contact area 22 of the movable element 20. It can be seen that the guided translational movement 43 of the transport device 10 leads to a mechanical contact between the gear 35 and the rack 34 and consequently to the exertion of a force 45 by the rack 34 on the gear 35.

[0105] Since the rack 34 is located in the left area of ​​the Fig. Since the first magnet is positioned on the left side with respect to the direction of movement 43, the application of force 45 causes the gear 35 to rotate counterclockwise around its pivot point 54. By appropriately dimensioning the rack 34, the angle of rotation 40 can be adjusted such that the first magnet is rotated by 180° and thus the switching process occurs from the first relative orientation 81 to the second relative orientation 82.

[0106] Similarly, in the right area of ​​the Fig. 6 a rack 34 arranged to the right with respect to the direction of movement 43 as a second contact element 32, which, upon corresponding contact and application of force with the gear 35, causes a rotation 40 of the gear 35 in a clockwise direction and thus positions the two magnets again in the first relative orientation 81. Reference symbol list 10 Transport equipment 15 Transport system 18 Guide system 20 Movable element 22 Contact area 31 First contact element 32 Second contact element 34 Rack and pinion 35 gear 37 Lever element 40 Rotational movement 43 Movement 45 force 51 First lever range 52 Second lever area 54 Pivot point 56 gearboxes 57 Traction drive 58 Switch star 60 Insertion area 62 Extraction area 64 Switch-on position 66 Switch-off position 81 First relative alignment 82 Second relative alignment

Claims

[1] Transport device (10) for transporting at least one object comprising a ferromagnetic material, comprising at least one mounting element for mounting the object for the purpose of transporting the object with the transport device (10), a first magnet movably arranged in relation to the mounting element for exerting a magnetic field on the object for fixing the object to the mounting element, and at least one movable element (20) operatively connected or movable to the first magnet for moving the first magnet in order to influence the magnetic field exerted or exertable by the first magnet in the position of the mounting element. characterized by, that the movable element (20) has a contact area (22) for the mechanical introduction of a force (45) by means of a contact element (31, 32) performing a relative movement to the transport device (10), so that it can be moved when the force (45) is introduced through the contact element (31, 32) for the purpose of realizing the movement of the first magnet. [2] Transport device (10) according to claim 1, characterized by, that the transport device (10) further comprises a second magnet and a rotation device operable by means of the movable element (20) for rotating the first magnet and, if necessary, also the second magnet, wherein the rotation device is configured to realize at least the following relative orientations of the two magnets to each other by rotating the first magnet and, if necessary, also the second magnet, such that a magnetic field resulting from the superposition of the respective magnetic fields of the first magnet and the second magnet can be influenced in the position of the system element: - a first relative alignment (81) in which like poles of the two magnets are substantially aligned in order to achieve a maximum strength of at least one region of the resulting magnetic field, as well as - a second relative alignment (82) in which like poles of the two magnets are oriented substantially oppositely in order to realize a minimum strength of at least one region of the resulting magnetic field. [3] Transport device (10) according to any one of the preceding claims, characterized by that the first magnet and / or the second magnet is a permanent magnet. [4] Transport device (10) according to any of the preceding claims, characterized by , that the movable element (20) is designed as a gear (35) or lever element (37) for carrying out a rotary movement (40) as a result of a force (45) exerted by the contact element (31, 32) on the contact area (22) of the movable element (20), in particular a translational force. [5] Transport device (10) according to claim 4, characterized by, that the lever element (37) has two lever areas (51, 52) each with a contact area (22) and is rotatably mounted between the lever areas (51, 52) such that, depending on the angular position of the lever element (37), one of the lever areas (51, 52) is oriented in such a way that, when a force (45) is exerted, in particular a translational force, on the contact area (22) of the lever area (51, 52) assigned to the respective lever area (51, 52), it causes a rotational movement (40) of the lifting element. [6] Transport device (10) according to any of the preceding claims, characterized by, that the transport device (10) has a transmission (56) for transmitting and, if necessary, translating the movement of the movable element (20) to the first magnet, wherein the transmission (56) in particular comprises a traction drive (57) for transmitting and, if necessary, translating a rotary movement (40) of the movable element (20). [7] Transport device (10) according to any of the preceding claims, characterized by that the installation element or elements define an installation plane, wherein the transport device (10) has at least one stop element for blocking one translational degree of freedom of the object along a direction parallel to the installation plane. [8] Transport system (15) for transporting objects, comprising at least one transport device (10) according to one of claims 1-7, a guide device for at least translational guidance of the transport device (10), wherein the guide device is in particular a circulating conveyor, and at least one contact element (31, 32) for mechanically exerting a force (45) on the contact area (22) of the movable element (20). [9] Transport system (15) for transporting objects according to claim 8, characterized by , that the contact element (31, 32) is movably arranged in relation to the guide device, so that it can be moved into a contact position for contacting the contact area (22) of the movable element (20) of the transport device (10), wherein the transport system (15) in particular has a drive device for driving the contact element (31, 32) for the purpose of moving the contact element (31, 32). [10] Method for transporting at least one object comprising a ferromagnetic material, in which a transport device (10) according to one of claims 1-7 or a transport system (15) according to one of claims 8 and 9 is provided and a contact element (31, 32) performing a relative movement to the transport device (10) exerts a force (45) on the contact area (22) of the movable element (20), wherein the resulting movement of the movable element (20) causes a movement of the magnet for the purpose of influencing the magnetic field acting on the object.

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