LINEAR CONVEYOR SYSTEM FOR CONVEYING WORKPIECES

Abstract

Linear conveyor system (1) for conveying goods (19), comprising - a conveyor section (3) with a conveyor rail (4) and a plurality of conveyor slide elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) which can be movably mounted on it for receiving at least one of the conveyed goods (19); - a linear motor unit (6a) and a feed element (7a), wherein the linear motor unit (6a) is configured to move the feed element (7a) along the conveying direction (8) in order to transport conveying carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) mounted on the conveying rail (4) along a conveying direction (8) from an inlet (3a) of the conveying line (3) linearly to an outlet (3b) of the conveying line (3); - a further linear motor unit (6b) and a stop element (7b), wherein the further linear motor unit (6b) is configured to move the stop element (7b) along the conveying direction (8), wherein the conveying carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) mounted on the conveying rail (4) are arranged between the feed element (7a) and the stop element (7b); - a return device (9) which is configured to return one of the conveyor slide elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) from the outlet (3b) of the conveyor section (3) to the inlet (3a) of the conveyor section (3); - an input-side transfer unit (10a) configured to take the conveying carriage element (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) returned to the input (3a) of the conveying section (3) from the return device (9) and to transfer it by rotating it about an axis of rotation parallel to the conveying direction (8), so that the transferred conveying carriage element (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) is aligned with the conveying rail (4); and - at least one control unit for controlling the linear motor unit (6a), the return device (9) and the input-side conversion unit (10a), wherein the at least one control unit is configured to control or regulate the linear motor unit (6a) and the further linear motor unit (6b) in such a way that the conveyor slide elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) which are mounted on the conveyor rail (4) during transport are clamped between the feed element (7a) and the stop element (7b).

Description

[0001] The present invention relates to a linear conveyor system for conveying workpieces and a corresponding method for conveying conveyed goods.

[0002] Conveyor systems for conveying materials, especially workpieces or components such as surface-mounted components (SMDs), medical products or devices, and so on, are widely known. Such conveyor systems can, for example, be integrated or used in systems or equipment that process, measure, test, combine the materials with other components, and so on.

[0003] For example, it is known to use rotary indexing tables as conveyor systems. Various processing stations can be arranged tangentially on a rotary indexing table, for example, and the workpieces can be transported tangentially between the individual processing stations, for example using a rotating plate or the like. Such rotary indexing systems have significant disadvantages, especially when conveying small materials. Materials that require multiple processing steps, for example, and therefore require many processing stations, necessarily require a very large working diameter in a rotary indexing system in order to accommodate the required processing stations. This results in a larger mass of the rotary indexing table, increasing centrifugal forces during the movement of the materials, and increasing angular errors during their positioning.To counteract this, the conveying speed, especially the cycle rate in intermittent conveying, must necessarily be reduced.

[0004] Document DE 10 2005 017 455 A1 describes a linear conveyor system and a corresponding method for the high-precision conveying of small components. Conveyor carriage elements are movably mounted on a conveyor rail. A linear motor unit with a feed element is provided on the input side to drive the conveyor carriage elements linearly via the feed element. A return unit is also provided for returning a conveyor carriage element from the output to the input of the conveyor line. The return unit is designed for unhooking the unhooking conveyor carriage element from the output side of the conveyor rail, returning the unhooking conveyor carriage element from the output to the input, and for hooking the returned conveyor carriage element into the conveyor rail on the input side.

[0005] Document DE 10 2020 117 829 A1 describes a conveyor system with at least three axle devices for transporting component receiving sections for receiving a component and / or a component holder on a station route along a main transport direction H in a component station. The axle devices each have a carriage assembly with one of the component receiving sections and with a delivery device for delivering the component receiving section from an avoidance state to a transport position, as well as a linear axis device for moving the component receiving section in the transport position along the station route in the main transport direction and for returning the component receiving section in the avoidance state in an opposite direction. In at least two of the axle devices, the component receiving sections are arranged laterally offset from one another in the avoidance state in the region of the station route.One of the axis devices can be designed as a pivoting offset device which can move the component receiving section from the avoidance state into the transport position and / or in the opposite direction by pivoting.

[0006] It is an object of the present invention to provide an improved concept for the linear conveying, in particular for the clocked linear conveying, of conveyed goods, by means of which the positioning accuracy of the conveyed goods is increased during conveying and / or a possible conveying speed of the conveying is increased.

[0007] This object is achieved by the respective subject matter of independent claims 1 and 11. Advantageous further developments and preferred embodiments are the subject matter of the dependent claims.

[0008] The invention is based on the idea of ​​taking over said conveyor carriage elements from the return device by means of an input-side transfer unit and transferring them by rotation in a linear conveyor system in which conveyor carriage elements are transported linearly on a conveyor rail from an input of a conveyor line to an output of the conveyor line and are returned to the input by means of a return device, so that the transferred conveyor carriage element is arranged in alignment with the conveyor rail.

[0009] According to one aspect of the invention, a linear conveyor system for conveying materials is specified. The linear conveyor system has a conveyor line with a conveyor rail and a plurality of conveyor carriage elements movably mounted on the conveyor rail for respectively receiving at least one of the materials to be conveyed. The linear conveyor system has a linear motor unit and a feed element, wherein the feed element is coupled to the linear motor unit and the linear motor unit is configured to move the feed element along the conveying direction, in particular to move it in a timed manner according to a predetermined conveying cycle, in order to transport conveyor carriage elements mounted on the conveyor rail linearly from an inlet of the conveyor line to an outlet of the conveyor line along a conveying direction that is in particular parallel to a longitudinal direction of the conveyor rail.The linear conveyor system has a return device which is designed to return one of the conveyor carriage elements, in particular a conveyor carriage element transported from the entrance to the exit of the conveyor line by means of the linear motor unit and the feed element, from the exit of the conveyor line to the entrance of the conveyor line.

[0010] The linear conveyor system has an input-side transfer unit configured to receive the conveyor carriage element returned to the entrance of the conveyor line by means of the return device from the return device and to transfer the received conveyor carriage element by rotating, in particular by 180°, the input-side transfer unit and thus the received conveyor carriage element about a rotation axis parallel to the conveying direction, so that the transferred conveyor carriage element, in particular a rail element of the transferred conveyor carriage element, is arranged in alignment with the conveyor rail. The linear conveyor system also has at least one control unit for controlling the linear motor unit, the return device, and the input-side transfer unit.

[0011] In other words, the at least one control unit is configured to control or regulate the linear motor unit so that it moves the feed element as described, to control or regulate the return device for returning the conveyor carriage element, and to control or regulate the input-side transfer unit for rotation about the rotation axis.

[0012] The fact that the converted conveyor carriage element is arranged in alignment with the conveyor rail can be understood in particular in such a way that the converted conveyor carriage element is arranged in alignment with the conveyor carriage elements mounted on the conveyor rail.

[0013] For example, one or more processing stations can be arranged along the conveyor line, which are designed to process the conveyed goods conveyed on the conveyor carriage elements. These processing stations are not necessarily part of the linear conveyor system. The linear conveyor system can be part of a processing system that also includes the processing stations. In other embodiments, the linear conveyor system can also include the processing stations. For example, the processing stations can be attached to a base block of the linear conveyor system. Alternatively or in addition to the processing stations, measuring and / or testing stations can also be provided for carrying out measurements and / or tests on or with the conveyed goods. The explanations regarding the processing stations can be applied analogously to the measuring and / or testing stations.This also applies to further explanations of the processing stations below, unless otherwise noted.

[0014] The conveyed goods can, in principle, be any type of goods that can be provided individually. The conveyed goods can be arranged on the conveyor carriage elements in various ways. For example, the conveyed elements can be held on the conveyor carriage elements by vacuum suction or by a clamping device, and so on.

[0015] The conveyed goods include, for example, workpieces, electronic components, medical devices or products, or the like. These are therefore preferably small goods. For example, goods with a maximum dimension of less than 60 mm, preferably less than 10 mm, can be referred to as small goods.

[0016] During operation of the linear conveyor system, not all conveyor carriage elements are necessarily located on the conveyor rail. In particular, the conveyor carriage elements are continuously transported from the entrance of the conveyor line to the exit of the conveyor line, individually brought onto the return device or taken over from it, for example, by an exit-side transfer unit of the linear conveyor system, returned from the return device to the entrance of the conveyor line, transferred by the entrance-side transfer unit as described, then brought onto the conveyor rail by the linear motor unit and the feed element, and then moved again toward the exit of the conveyor line.During operation of the linear conveyor system, the individual conveyor carriage elements are located on the conveyor rail, on or in the return device, on the input-side transfer unit or, if applicable, on the output-side transfer unit.

[0017] The return device can be designed in various ways. For example, the return device can have a toothed belt driven by an associated motor. The conveyor carriage elements can have an element corresponding to the toothed belt that can engage between the teeth of the toothed belt, so that the return device can transport the conveyor carriage element with the toothed belt and thus return it. It is also conceivable for the return device to have one or more robot units that can take over the corresponding conveyor carriage element and return it. Furthermore, it is conceivable for the return device to also have a corresponding linear motor unit and a corresponding feed element for returning the conveyor carriage element.

[0018] To transport the conveyor carriage elements mounted on the conveyor rail, the feed element is in mechanical contact with one of the conveyor carriage elements. The conveyor carriage elements mounted on the conveyor rail can be referred to as a conveyor carriage stack, which are in mechanical contact with each other in the conveying direction. The feed element is therefore in mechanical contact with the conveyor carriage element of the conveyor carriage stack closest to the input side and pushes all conveyor carriage elements of the conveyor carriage stack along the conveying direction.

[0019] The input-side transfer unit can, for example, have an input-side rotary vane that is elongated and, according to its longitudinal direction, aligned parallel to the conveyor rail or parallel to the axis of rotation. The axis of rotation can run through the longitudinal axis of the rotary vane. The rotary vane can, for example, have rail elements on two opposite sides that are essentially identical, for example, with the same or essentially the same cross-sectional profile as the conveyor rail. After the input-side transfer unit has transferred the returned conveyor carriage element as described, one of the rail elements is aligned flush with the conveyor rail. This rail element therefore represents an extension of the conveyor rail that directly adjoins the conveyor rail in the direction of the entrance to the conveyor line.The opposite rail element is then arranged on the side of the return device. The rotation of the returned conveyor carriage element around the axis of rotation thus corresponds in particular to a rotation of 180°. The transferred conveyor carriage element can be pushed directly back onto the conveyor rail using the feed element, thus enabling continuous transport, in particular synchronized transport, of the conveyor carriage elements. The input-side transfer unit can have an input-side transfer motor configured to rotate the rotary vane around the axis of rotation. The transfer motor is accordingly controlled by the at least one control unit.

[0020] By using the transfer unit, which can transfer the returned conveyor carriage element by rotation about a rotation axis parallel to the conveying direction or the conveyor rail from the return device in such a way that the conveyor carriage element is aligned with the conveyor rail and can be pushed directly back onto it, not only is continuous, cyclical conveying possible, but also highly precise positioning of the transferred conveyor carriage element in the conveying direction as well as with regard to rotation.Since the transfer of the returned conveyor carriage element from the return device to the side of the conveyor rail is carried out by the rotational movement as described and not by a linear movement, a linear positioning accuracy of the conveyed conveyor carriage elements along the conveying direction is not negatively affected by the transfer, so that the conveyor carriage elements can be positioned with high precision during conveying along the conveying direction.

[0021] The linear conveyor system comprises a further linear motor unit and a stop element, wherein the further linear motor unit is configured to move the stop element along the conveying direction, wherein the conveyor carriage elements mounted on the conveyor rail are arranged between the feed element and the stop element.

[0022] In particular, the entire conveyor rail stack is arranged, in particular clamped, between the feed element and the stop element, so that the conveyor carriage elements of the conveyor carriage stack are in mutual contact.

[0023] The stop element can be designed analogously to the feed element, but as described also at the opposite output end of the conveyor carriage stack.

[0024] The at least one control unit is configured to control or regulate the linear motor unit and the further linear motor unit such that the conveyor carriage elements mounted on the conveyor rail during transport are clamped between the feed element and the stop element.

[0025] In other words, the feed element exerts a feed force in the direction of conveyance on the conveyor carriage stack, and the stop element exerts a retention force in the opposite direction. This allows for highly precise, particularly timed, transport. The feed force and retention force can be adjusted, in particular, by adjusting the corresponding operating currents of the linear motor unit or the additional linear motor unit.

[0026] In particular, the at least one control unit can operate the linear motor unit as a master unit and the further linear motor unit as a slave unit. In other words, the feed speed or the conveying cycle can be specified, for example, by the linear motor unit and the feed element, and the further linear motor unit can ensure, via the stop element, that the conveyor carriage stack always remains clamped as long as none of the conveyor carriage elements is removed from the conveyor carriage stack on the output side or added to it on the input side. For this purpose, for example, a movement of the stop element in the conveying direction during transport can be slightly delayed compared to a movement of the feed element during transport, so that an unimpaired feed of the conveyor carriage stack is achieved.

[0027] To keep the clamping force acting on the conveyor carriage stack as constant as possible, the stop element can, in various embodiments, have a spring-loaded component that is in contact with the conveyor carriage stack, allowing a small amount of advance even when the stop element remains in its overall position. This increases the acceptable tolerances for the timing of the additional linear motor unit with respect to the control of the linear motor unit.

[0028] According to at least one embodiment of the linear conveyor system, the system comprises an output-side transfer unit which is configured to receive the conveyor carriage element transported from the input to the output of the conveyor line by means of the linear motor unit and the feed element from the conveyor rail and to transfer the received conveyor carriage element to the return device by rotation about the rotation axis, in particular by rotation through 180°.

[0029] Depending on the design of the return device, the output-side transfer unit can place the received conveyor carriage element onto the toothed belt of the return device in such a way that the teeth of the conveyor carriage element engage with the teeth of the toothed belt. In other corresponding designs of the return device, the output-side transfer unit can position the conveyor carriage element through rotation in an area where the return device can take over the conveyor carriage element. The return device can then return the conveyor carriage element transferred to it by the output-side transfer unit to the entrance of the conveyor line, so that the cyclic transport can continue as described above.

[0030] In particular, the at least one control unit is also configured to control or regulate the output-side conversion unit for rotation about the rotation axis. The output-side conversion unit can, for example, be configured analogously to the input-side conversion unit, i.e., in particular, have an output-side rotary vane and an output-side conversion motor configured to rotate the output-side rotary vane about the rotation axis. The rotation axis relative to which the input-side rotary vane is rotated and relative to which the output-side rotary vane is rotated can, for example, be collinear. The explanations regarding the input-side conversion unit can, unless otherwise stated, be transferred analogously to the output-side conversion unit.

[0031] In particular, the output-side rotary vane has two opposing rail elements, which are also designed identically or essentially identically to the conveyor rail. Before and while the output-side transfer unit picks up the conveyor carriage element transported to the exit of the conveyor line, the corresponding rail element of the output-side rotary vane is aligned with the conveyor line. The corresponding conveyor carriage element can thus be pushed directly from the conveyor rail onto the output-side rotary vane by linear advancement using the feed element, driven by the linear motor unit, and then transferred to the return device by rotation.

[0032] The above-mentioned advantages regarding the rotational movement are transferred analogously to the output-side conversion unit.

[0033] According to at least one embodiment, the at least one control unit is configured to control or regulate the linear motor unit and, in corresponding embodiments, the further linear motor unit, such that the linear motor unit moves the feed element in a timed manner according to a predetermined step size and, if appropriate, that the further linear motor unit moves the stop element in a timed manner according to the predetermined step size.

[0034] The timed transport can therefore, in particular, comprise a plurality of cyclically successive cycles, with each cycle containing a feed phase and a dwell phase. During the feed phase, the conveyor carriage stack moves in the conveying direction, driven by the linear motor unit and, if applicable, the additional linear motor unit. During the dwell phase, the conveyor carriage elements of the conveyor carriage stack remain in an unchanged position.

[0035] During the dwell phase, the processing stations can, for example, process the goods positioned at the corresponding points along the conveyor line. The linear conveyor system according to the invention enables highly precise positioning of the conveyor carriage elements and thus of the goods located on the conveyor carriage elements relative to the processing stations, particularly during the dwell phases.

[0036] The input-side transfer unit and optionally the output-side transfer unit can be controlled or regulated by the at least one control unit in synchronization with the clocked transport, so that in an initial position of the conveyor carriage stack, a conveyor carriage element arranged at the input-side end of the conveyor carriage stack is located on the input-side rotary wing, or its rail element aligned accordingly with the conveyor rail, and the remaining conveyor carriage elements of the conveyor carriage stack are already positioned on the conveyor line.The timed transport then takes place as described along the conveying direction until, in a final cycle or in its dwell phase, a conveyor carriage element of the conveyor carriage stack arranged at the output-side end of the conveyor carriage stack is located on the output-side rotary wing, or on its rail element aligned with the conveyor rail, and the remaining conveyor carriage elements of the conveyor carriage stack are still positioned on the conveyor rail.

[0037] In the dwell phase of the final cycle, the conveyor carriage element located on the output-side rotary wing can be transferred to the return device, whereas an already returned conveyor carriage element is located on the rail element of the input-side transfer unit facing away from the conveyor rail and is transferred by the input-side rotary wing, so that the feed element can transport it together with the other conveyor carriage elements of the conveyor carriage stack in the conveying direction again in the following cycle.

[0038] This means in particular that the linear motor unit moves back against the conveying direction by slightly more than the length of a conveyor carriage element before moving the returned conveyor carriage element, so that the subsequently moved conveyor carriage element can form the new input-side conveyor carriage element of the conveyor carriage stack.

[0039] The conveyor carriage elements of the conveyor carriage stack move by a predefined increment during the feed phase of a cycle. The increment and dwell time can be adapted to the specific requirements of the application. It is also possible that not all cycles have the same increment and dwell time, but that these also change cyclically. However, the increment and dwell time are preferably the same for all cycles.

[0040] The step size can be adapted in particular to the length of the individual conveyor carriage elements, which is in particular the same for all conveyor carriage elements, the total length of the conveyor section or the conveyor rail and the pitch of the conveyor carriage elements, i.e. the number of goods that can be conveyed by one conveyor carriage element.

[0041] The feed rate during the feed phase can be selected as high as possible, so that the input-side and output-side transfers can be completed by the input-side and output-side rotary vanes, respectively, within the available time, and sufficiently long processing times are available during the dwell phase. Advantageously, the return device or the return of the corresponding conveyor carriage element is largely decoupled from the feed movement of the conveyor carriage stack. In particular, several cycles of the feed movement are generally available for the return of the conveyor carriage element.

[0042] According to at least one embodiment, each of the conveyor carriage elements has a nominal dimension bar made of a hard metal, which is aligned parallel to a longitudinal direction of the respective conveyor carriage element, i.e. is parallel thereto, wherein the longitudinal direction of the conveyor carriage element is in particular parallel to the conveying direction when the respective conveyor carriage element is mounted on the conveyor rail.

[0043] Hard metal can be understood, in particular, as a sintered material or metal matrix composite material comprising a metallic matrix and particles of a hard material, such as a carbide, embedded in the matrix. The carbide particles can be, for example, particles of tungsten carbide (WC). In addition to or as an alternative to tungsten carbide particles, particles of other carbides, such as titanium carbide (TiC), tantalum carbide (TaC), niobium carbide (NbC), vanadium carbide (VC), or chromium carbide, in particular trichrome carbide (Cr3C2), can also be embedded in the metallic matrix. Hard metals advantageously exhibit very high hardness, wear resistance, and toughness, as well as low thermal expansion.

[0044] The nominal dimension bars of adjacent conveyor carriage elements in the conveyor carriage stack are in contact with each other, particularly during transport, for example clamped between the feed element and the stop element, so that the aforementioned properties of the hard metal of the nominal dimension bar contribute to the robustness and precision of the positioning of the conveyor carriage elements.

[0045] In particular, each of the conveyor carriage elements has a support profile, for example made of a metal, especially aluminum, to which the nominal dimension bar is attached. The nominal dimension bar projects beyond the support profile on both sides in the longitudinal direction.

[0046] This ensures that only the nominal dimension bars of adjacent conveyor carriage elements in the conveyor carriage stack, and not the support profiles of adjacent conveyor carriage elements, are in contact with each other. This means that the properties that significantly influence the precision of the positioning of the transported conveyor carriage elements, such as hardness, wear resistance, and thermal expansion coefficient, do not have to be ensured with high accuracy for the entire conveyor carriage element, but only by the nominal dimension bar. In particular, a low thermal expansion coefficient of the nominal dimension bar is sufficient to avoid temperature-related positioning deviations. Overall, the effort required to manufacture the conveyor carriage elements can be reduced and the accuracy of the positioning of the conveyor carriage elements during transport can be increased.

[0047] The projection of the nominal dimension bar over the support profile can be adapted to the thermal expansion coefficients of the materials involved, ensuring a projection on both sides in the relevant temperature ranges. The projection can be a fraction of a millimeter, for example, one or more tenths of a millimeter or one or more hundredths of a millimeter, depending on the length of the support profiles. In a non-limiting example with a nominal length of the nominal dimension bar of 300 mm to 400 mm, the projection can be, for example, 0.02 to 0.04 mm on each side. Here, too, the use of carbide has a positive effect, as carbide components can be manufactured and cut to length with high precision.

[0048] According to at least one embodiment of the linear conveyor system, it has a base block, in particular a base block made of granite, to which the conveyor rail is fastened.

[0049] Granite is a natural hard rock known for its use in precision engineering. The material's virtually absence of residual stress is particularly beneficial, resulting in high precision and geometric consistency. Granite also exhibits a high modulus of elasticity and low thermal expansion, which also contribute to precision. Other advantages include its good damping properties, hardness, and aging resistance.

[0050] In addition to the well-known advantages of granite as a material in precision engineering, the significant advantage of appropriate designs of the conveyor slide elements with the nominal dimension bars made of hard metal is that the hard metal of the nominal dimension bar can be selected such that it exhibits essentially identical thermal expansion to the granite of the base block. For example, the thermal expansion coefficient of granite is 5.5 to 6.5 ×10 -6 K -1 The thermal expansion coefficient of various cemented carbide grades can also be selected within this range. For example, cemented carbide grades are known and commercially available with thermal expansion coefficients of 5.4×10 -6 K -1 , 5.5 ×10 -6 K -1 , 5.7×10 -6 K -1 or 6.1×10 -6 K -1These include, for example, a cobalt-based matrix and tungsten carbide particles, as well as vanadium carbide particles and / or trichrome carbide particles.

[0051] By selecting the appropriate hard metal, so that it, like the granite of the base block, has a thermal expansion coefficient in the range of 5.5 to 6.5 ×10 -6 / K, a physical compensation of the temperature expansions of the components of the linear conveyor system relevant for the positioning accuracy, namely the nominal dimension bars and the base block, can be achieved and the positioning accuracy can be further increased accordingly.

[0052] According to at least one embodiment, each of the conveyor carriage elements has a carrier plate for receiving at least one of the conveyed goods, wherein the carrier plate is fastened to the carrier profile.

[0053] The carrier plate can be made of steel, for example. In embodiments in which the conveyor carriage elements have the nominal dimension bar made of hard metal, the length of the carrier plate is such that the nominal dimension bar can extend beyond the carrier plate on both sides. In particular, the length of the carrier plate is equal to the length of the carrier profile.

[0054] Depending on the application, the carrier plate can, for example, feature vacuum feedthroughs for vacuum suction of the conveyed goods. The vacuum feedthroughs can also run through the carrier profile. Alternatively or additionally, clamping claws can be attached to the conveyor carriage elements for clamping the conveyed goods. Further or alternative fastening options for the conveyed goods are also possible.

[0055] According to at least one embodiment, the nominal dimension bar is attached centrally to the support profile with respect to the longitudinal direction, in particular immovably or stationary. The nominal dimension bar has a longitudinally oriented elongated hole. The nominal dimension bar is attached to the respective support profile by means of an elongated fastening element extending through the elongated hole.

[0056] Central fastening can be achieved, for example, by firmly connecting the nominal dimension bar to the support profile in the center or at a center point in the longitudinal direction. Alternatively or additionally, the fastening itself can also be made away from the center point, for example, at two points equidistant from the center point, with the center point between them.

[0057] The slotted hole is located on one side of the center point, for example, in the end area of ​​the nominal dimension bar. The slotted hole secures the nominal dimension bar to the support profile by means of an elongated fastening element, such as a fastening pin or a screw, in such a way that, in the event of thermal expansion of the support profile and the nominal dimension bar, they can move relative to each other parallel to the longitudinal direction. The central fastening of the nominal dimension bar and the enabling of longitudinal movement due to the slotted hole automatically compensate for the different linear expansions of the nominal dimension bar and the support profile.

[0058] For example, the nominal dimension bar has an additional elongated hole oriented in the longitudinal direction, and the nominal dimension bar is attached to the respective support profile by means of an additional elongated fastening element extending through the additional elongated hole. The additional elongated hole is arranged, in particular, opposite the elongated hole with respect to the center point of the nominal dimension bar.

[0059] According to at least one embodiment, the linear conveyor system comprises a scale bar attached to the base block and oriented parallel to the conveying direction, with a length scale parallel to the conveying direction. The linear conveyor system comprises a read head, in particular an optical read head, attached to the feed element, which is configured to read the length scale of the scale bar and, depending thereon, generate a readout signal. The at least one control unit is configured to control or regulate the linear motor unit depending on the readout signal.

[0060] According to at least one embodiment, the linear conveyor system comprises a further scale bar, which is attached to the base block and oriented parallel to the conveying direction and has a further length scale parallel to the conveying direction, as well as a further reading head attached to the stop element, which is configured to read the further length scale of the further scale bar and, depending thereon, generate a further readout signal. The at least one control unit is configured to control or regulate the further linear motor unit depending on the further readout signal.

[0061] In this way, an absolute length measurement or an absolute position measurement of the feed element or stop element, and thus of the conveyor carriage stack, can be achieved, in the sense that the position is always given relative to the base block. Since this is preferably made of granite, highly precise positioning can be achieved.

[0062] According to a further aspect of the invention, a method for the linear conveying of conveyed goods is specified. Conveyor carriage elements mounted on a conveyor rail are transported linearly along a conveying direction from an inlet of a conveyor line to an outlet of the conveyor line for respectively receiving at least one of the conveyed goods. The conveyor carriage elements are moved along the conveying direction by a feed element. The feed element is moved in the conveying direction by a linear motor unit, and a stop element is moved along the conveying direction by means of a further linear motor unit. The conveyor carriage elements mounted on the conveyor rail are arranged between the feed element and the stop element.The linear motor unit and the additional linear motor unit are controlled or regulated in such a way that the conveyor carriage elements mounted on the conveyor rail during transport are clamped between the feed element and the stop element. One of the conveyor carriage elements is returned from the exit of the conveyor line to the entrance of the conveyor line by means of a return device. The conveyor carriage element returned to the entrance of the conveyor line is relocated by rotation about an axis of rotation parallel to the conveying direction, so that the relocated conveyor carriage element is aligned with the conveyor rail.

[0063] According to at least one embodiment of the method, the conveyor carriage element is transferred from the conveyor rail by rotation about the axis of rotation of the return device before being returned.

[0064] Further embodiments of the method according to the invention follow directly from the various embodiments of the linear conveyor system according to the invention, and vice versa. In particular, individual features and corresponding explanations, as well as advantages relating to the various embodiments of the linear conveyor system according to the invention, can be transferred analogously to corresponding embodiments of the method according to the invention. In particular, the linear conveyor system according to the invention is designed or programmed to carry out a method according to the invention. In particular, the linear conveyor system according to the invention carries out the method according to the invention.

[0065] Further features of the invention emerge from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description as well as the features and combinations of features mentioned below in the description of the figures and / or shown in the figures can be encompassed by the invention not only in the respectively specified combination, but also in other combinations. In particular, the invention can also encompass embodiments and combinations of features that do not have all the features of an originally formulated claim. Furthermore, the invention can encompass embodiments and combinations of features that go beyond the combinations of features set out in the backreferences to the claims or deviate from them.

[0066] The invention is explained in more detail below using specific embodiments and associated schematic drawings. In the figures, identical or functionally equivalent elements may be provided with the same reference numerals. The description of identical or functionally equivalent elements may not necessarily be repeated for different figures.

[0067] The figures show Fig. 1 a schematic representation of an exemplary embodiment of a linear conveyor system according to the invention in a first state in a perspective view; Fig. 2 a schematic representation of the linear conveyor system from Fig. 1 in the first state in plan view; Fig. 3 a schematic representation of an exemplary embodiment of a linear conveyor system according to the invention in a second state in a perspective view; Fig. 4 a schematic representation of the linear conveyor system from Fig. 1 in a third state in perspective view; Fig. 5 a schematic representation of the linear conveyor system from Fig. 1 in a fourth state in perspective view; Fig. 6 a schematic representation of the linear conveyor system from Fig. 1 in a fifth state in perspective view; Fig. 7 a schematic representation of the linear conveyor system from Fig. 1 in a sixth state in perspective view; Fig. 8 a schematic detailed view of the linear conveyor system from Fig. 1 in the fourth state in perspective view; Fig. 9 another schematic detailed view of the linear conveyor system from Fig. 1 in the fourth state in perspective view; Fig. 10 is a schematic perspective view of a conveyor carriage element of another exemplary embodiment of a linear conveyor system according to the invention; Fig. 11 is a schematic perspective view of a conveyor carriage element of another exemplary embodiment of a linear conveyor system according to the invention; and Fig. 12 a schematic representation of a conveyor carriage element of another exemplary embodiment of a linear conveyor system according to the invention in a perspective view.

[0068] Fig. 1 shows a schematic representation of an exemplary embodiment of a linear conveyor system 1 according to the invention in a first state in a perspective view.

[0069] A conveyor line 3 of the linear conveyor system 1 has a conveyor rail 4, which runs parallel to a conveying direction 8 from an inlet 3a to an outlet 3b of the conveyor line 3. The linear conveyor system 1 has a plurality of conveyor carriage elements 5a, 5b, 5c, 5d, 5e, 5f, 5g, which can be movably mounted on the conveyor rail 4 and which each carry one or more conveyed goods 19 (see Fig. 12) can pick up or carry.

[0070] The linear conveyor system 1 has a return device 9, which is configured to return one of the conveyor carriage elements 5g from the output 3b of the conveyor line 3 to the input 3a of the conveyor line 3. The linear conveyor system 1 has an input-side transfer unit, which in particular includes an input-side rotary vane 10a and an input-side transfer motor 12a, which can rotate the rotary vane 10a about a rotational axis parallel to the conveying direction 8. The linear conveyor system 1 further has, for example, an output-side transfer unit, which in particular includes an output-side rotary vane 10b and an output-side transfer motor 12b, which can also rotate the rotary vane 10b about the rotational axis.

[0071] In the example of Fig. 1, five of the conveyor carriage elements 5b, 5c, 5d, 5e, 5f are mounted on the conveyor rail 4, and a further conveyor carriage element 5a is located on a first rail element of the input-side rotary wing 10a, wherein the first rail element is arranged in alignment with the conveyor rail 4, so that in particular the conveyor carriage element 5a is arranged in alignment with the conveyor rail 4 or the other conveyor carriage elements 5b, 5c, 5d, 5e, 5f mounted on the conveyor rail 4. Adjacent conveyor carriage elements of the conveyor carriage elements 5b, 5c, 5d, 5e, 5f mounted on the conveyor rail 4 and the conveyor carriage element 5a are in contact with one another and form a conveyor carriage stack. A further conveyor carriage element 5g is located on a second rail element of the input-side rotary wing 10a, opposite the first rail element.

[0072] The linear conveyor system 1 has an input-side linear motor unit 6a and a feed element 7a, wherein the linear motor unit 6a is configured to move the feed element 7a along the conveying direction 8 in order to transport the conveyor carriage stack linearly along the conveying direction 8 from the input 3a of the conveyor line 3 to the output 3b of the conveyor line 3. The linear conveyor system 1 has at least one control unit (not shown) for the corresponding control of the input-side linear motor unit 6a.

[0073] The at least one control unit is in particular designed to control or regulate the linear motor unit 6a in such a way that it moves the feed element 7a in a timed manner according to a predetermined step size in the conveying direction 8.

[0074] A first rail element of the output-side rotary wing 10b is initially arranged, for example, in alignment with the conveyor rail 4, so that in particular the conveyor carriage element 5f can be pushed from the conveyor rail onto the first rail element of the output-side rotary wing 10b, as for example in Fig. 3 and Fig. 4. If the conveyor carriage element 5f is completely received by the output-side rotary vane 10b, as in Fig. 4, the transfer motor 12b rotates the rotary wing 10b by 180° so that the conveyor carriage element 5f is transferred to the return device 9. Fig. 5 and Fig. 6 schematically show the rotary wing 10b during and after rotation. Fig. Figure 9 shows a detailed illustration of the output-side rotary vane 10b or the conveyor carriage element 5f during rotation. The conveyor carriage element 5f can then be returned to the inlet 3a of the conveyor line 3 by means of the return device 9.

[0075] In Fig. 6 and Fig. 7 also shows how the conveyor carriage element 5g is returned to the entrance 3a of the conveyor line 3 by means of the return device 9. In Fig. 3 and Fig. 4, the conveyor carriage element 5g has already been completely pushed onto a second rail element of the input-side rotary wing 10a. As in Fig. 5, the transfer motor 12a then rotates the input-side rotary vane 10a by 180°, for example simultaneously with the rotation of the output-side rotary vane 10b, and thereby transfers the conveyor carriage element 5g to the side of the conveyor rail 4, so that the conveyor carriage element 5g is now part of the conveyor carriage stack and is arranged in alignment with the conveyor rail 4. Fig. Figure 8 shows a detailed representation of the input-side rotary vane 10a or the conveyor carriage element 5g during rotation.

[0076] As in Fig. 1 to Fig. 4, the feed element 7a is in contact with the conveyor carriage element 5a arranged on the input side during the transport of the conveyor carriage stack. After the conveyor carriage element 5f arranged on the output side has been taken over by the output-side rotary wing 10b and before the input-side rotary wing 10a transfers the conveyor carriage element 5g, the linear motor unit 6a moves the feed element 7a by slightly more than the length of a conveyor carriage element against the conveying direction 8 in order to make room for the conveyor carriage element 5g, as shown in Fig. 5. After the conveyor carriage element 5g has been moved, the linear motor unit 6a moves the feed element 7a back into contact with the conveyor carriage stack.

[0077] The linear conveyor system 1 has an output-side linear motor unit 6b and a stop element 7b, which is configured in particular analogously to the feed element 7a, but is arranged at the output-side end of the conveyor carriage stack. The linear motor unit 6b is configured to move the stop element 7b synchronously with the movement of the feed element 7a along the conveying direction 8, wherein the conveyor carriage stack is arranged between the feed element 7a and the stop element 7b. During transport, i.e., in particular until the conveyor carriage elements 5f, 5g are transferred as described above, the conveyor carriage stack is clamped between the feed element 7a and the stop element 7b.

[0078] The linear conveyor system 1 comprises a base block 2, which is made in particular of granite, and to which the conveyor rail 4 is attached. For example, the feed element 7a, the stop element 7b, and / or other of the aforementioned components of the linear conveyor system 1 are also attached to the base block 2.

[0079] Furthermore, an input-side scale bar 11a oriented parallel to the conveying direction 8 and an output-side scale bar 11b oriented parallel to the conveying direction 8, each with a respective length scale, can be attached, for example, glued, to the base block 2. A reading head is attached to the feed element 7a and the stop element 7b, which is configured to read the length scale of the input-side or output-side scale bar 11a, 11b and, depending thereon, generate a corresponding readout signal. The at least one control unit can then control or regulate the linear motor units 6a, 6b depending on the respective readout signals, in particular synchronously.

[0080] In Fig. 10, one of the conveyor carriage elements 5 is shown schematically. This comprises a support profile 13, for example made of aluminum, and a support plate 17 fastened to the support profile 13 for receiving the conveyed goods 19. The support plate 17 can be made of steel, for example. In alternative embodiments, the support plate 17 and the support profile 13 can also be formed as a single piece. Furthermore, the conveyor carriage element 5 has a nominal dimension bar 14 made of a hard metal, the thermal expansion coefficient of which is preferably as close as possible to that of the base block 2, in particular to that of the granite. The nominal dimension bar 14 is oriented parallel to the longitudinal direction of the support profile 13 and fastened to it, for example by means of a center pin with a pin 16.In the two end areas of the nominal dimension bar 14, this can, for example, each have an elongated hole 15a, 15b, to which the nominal dimension bar is additionally fastened, for example screwed, to the support profile 13.

[0081] The conveyed goods 19 can be held on the carrier plate in different ways, for example by vacuum suction via corresponding structures 20 in the surface of the carrier plate 17, as in Fig. 11. Alternatively or additionally, the conveyed goods 19 can be held by means of clamping claws 18, as in Fig. 12 shown. LIST OF REFERENCE SYMBOLS: 1 linear conveyor system 2 base block 3 conveyor line 3a Entrance conveyor line 3b Exit conveyor line 4 conveyor rail 5, 5a, 5b, 5c, conveyor carriage elements 5d, 5e, 5f, 5g conveyor carriage elements 6a, 6b Linear motor units 7a Feed element 7b Stop element 8 Conveying direction 9 Return device 10a, 10b rotary wing 11a, 11b Scale bars 12a, 12b Transfer motors 13 Carrier profile 14 Nominal dimension bar 15a, 15b Slotted holes 16 pin 17 Carrier plate 18 clamps 19 conveyed goods 20 structures

Claims

[1] Linear conveyor system (1) for conveying materials (19), comprising - a conveyor track (3) with a conveyor rail (4) and a plurality of conveyor carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) movably mounted thereon for respectively receiving at least one of the conveyed goods (19); - a linear motor unit (6a) and a feed element (7a), wherein the linear motor unit (6a) is configured to move the feed element (7a) along the conveying direction (8) in order to transport conveyor carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) mounted on the conveyor rail (4) linearly along a conveying direction (8) from an inlet (3a) of the conveyor line (3) to an outlet (3b) of the conveyor line (3); - a further linear motor unit (6b) and a stop element (7b), wherein the further linear motor unit (6b) is designed to move the stop element (7b) along the conveying direction (8), wherein the conveyor carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) mounted on the conveyor rail (4) are arranged between the feed element (7a) and the stop element (7b); - a return device (9) which is designed to return one of the conveyor carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) from the exit (3b) of the conveyor line (3) to the entrance (3a) of the conveyor line (3); - an input-side transfer unit (10a) which is designed to receive the conveyor carriage element (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) returned to the input (3a) of the conveyor line (3) from the return device (9) and to transfer it by rotation about a rotation axis parallel to the conveying direction (8), so that the transferred conveyor carriage element (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) is arranged in alignment with the conveyor rail (4); and - at least one control unit for controlling the linear motor unit (6a), the return device (9) and the input-side transfer unit (10a), wherein the at least one control unit is designed to control or regulate the linear motor unit (6a) and the further linear motor unit (6b) in such a way that the conveyor carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) mounted on the conveyor rail (4) during transport are clamped between the feed element (7a) and the stop element (7b). [2] Linear conveyor system (1) according to claim 1, comprising an output-side transfer unit (10b) which is designed to receive a conveyor carriage element (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) transported to the output (3b) of the conveyor line (3) from the conveyor rail (4) and to transfer it to the return device (9) by rotation about the axis of rotation. [3] Linear conveyor system (1) according to one of the preceding claims, wherein each of the conveyor carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) has a nominal dimension bar (14) made of a hard metal, which is aligned parallel to a longitudinal direction of the conveyor carriage element (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g), wherein the longitudinal direction is parallel to the conveying direction (8) when the respective conveyor carriage element (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) is mounted on the conveyor rail (4). [4] Linear conveyor system (1) according to claim 3, wherein each of the conveyor carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) has a support profile (13) to which the nominal dimension bar (14) is fastened, wherein the nominal dimension bar (14) projects beyond the support profile (13) on both sides in the longitudinal direction. [5] Linear conveyor system (1) according to claim 4, wherein each of the conveyor carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) has a carrier plate (17) for receiving the at least one of the conveyed goods (19), which is fastened to the carrier profile (13). [6] Linear conveyor system (1) according to claim 5, wherein - the nominal dimension bar (14) is fixed centrally to the support profile (13) with respect to the longitudinal direction; - the nominal dimension bar (14) has a longitudinally oriented slot (15a, 15b); and - the nominal dimension bar (14) is fastened to the respective support profile (13) by means of an elongated fastening element running through the elongated hole (15a, 15b). [7] Linear conveyor system (1) according to one of claims 3 to 6, wherein the nominal dimension bars (14) of adjacent conveyor carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) clamped between the feed element (7a) and the stop element (7b) are in contact with each other during transport. [8] Linear conveyor system (1) according to one of the preceding claims, comprising a base block (2) made of granite to which the conveyor rail (4) is fastened. [9] Linear conveyor system (1) according to claim 8, comprising - a scale bar (11a) with a length scale, attached to the base block (2) and oriented parallel to the conveying direction (8); and - a reading head mounted on the feed element (7a) which is configured to read the length scale of the scale bar (11a) and to generate a readout signal depending thereon, wherein the at least one control unit is configured to control or regulate the linear motor unit (6a) depending on the readout signal. [10] Linear conveyor system (1) according to one of the preceding claims, wherein the at least one control unit is configured to control or regulate the linear motor unit (6a) in such a way that it moves the feed element (7a) in a clocked manner according to a predetermined step size. [11] Method for the linear conveying of materials (19), wherein - conveyor carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) mounted on a conveyor rail (4) for respectively receiving at least one of the conveyed goods (19) are transported linearly along a conveying direction (8) from an inlet (3a) of a conveyor line (3) to an outlet (3b) of the conveyor line (3), in that the conveyor carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) are moved along the conveying direction (8) by means of a feed element (7a), wherein the feed element (7a) is moved in the direction of the conveying direction (8) by a linear motor unit (6a), and wherein a stop element (7b) is moved along the conveying direction (8) by means of a further linear motor unit (6b), and the conveyor carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) mounted on the conveyor rail (4) 5d, 5e, 5f, 5g) are arranged between the feed element (7a) and the stop element (7b); - the linear motor unit (6a) and the further linear motor unit (6b) are controlled or regulated in such a way that the conveyor carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) mounted on the conveyor rail (4) during transport are clamped between the feed element (7a) and the stop element (7b); - one of the conveyor carriage elements (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) is returned from the exit (3b) of the conveyor line (3) to the entrance (3a) of the conveyor line (3) by means of a return device (9); and - the conveyor carriage element (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) returned to the entrance (3a) of the conveyor line (3) is converted by rotation about a rotation axis parallel to the conveying direction (8), so that the converted conveyor carriage element (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) is arranged in alignment with the conveyor rail (4). [12] Method according to claim 11, wherein the conveyor carriage element (5, 5a, 5b, 5c, 5d, 5e, 5f, 5g) is transferred from the conveyor rail (4) by rotation about the axis of rotation of the return device (9) before being returned.

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