Carrier module for a linear motor conveyor system, linear conveyor system and associated process

Abstract

The invention relates to a carrier module (350) for a linear motor conveyor system, wherein the carrier module comprises a carrier component (353) and at least two wheels (351.3, 352.3), wherein the carrier module (350) is configured to be received between a first side part and a second side part of a rail module, wherein at least one first of the at least two wheels and at least one second of the at least two wheels are arranged opposite each other on the carrier component, such that the at least one first wheel faces the first side part and the at least one second wheel faces the second side part when it is received in the rail module, wherein the carrier module is configured to exert a force that pushes the carrier module towards the second side part of the rail module and away from the first side part of the rail module when the carrier module (350) is received in the rail module.

Description

Description

[0001] The present invention relates to a support module for a linear motor conveyor system, a linear motor conveyor system, and a method for operating a linear motor conveyor system. The linear motor conveyor system comprises one or more rail modules and one or more support modules to be guided in the one or more rail modules. Description

[0002] Linear conveyor systems, such as linear motor conveyor systems, can be used for a variety of applications, including industrial ones. For example, linear motor conveyor systems can be used in high-speed conveyor solutions for transport within a machining center and / or for transport between machining centers. Suitable applications include inverted linear motor systems that can control small workpiece carriers precisely and with high dynamics. The carriers themselves can be passive. Disclosure of the invention

[0003] According to the invention, a carrier module, a linear motor conveyor system, and a corresponding method having the features of the independent claims are proposed. Advantageous embodiments are the subject of the dependent claims and the following description.

[0004] The present invention relates to linear motor conveyor systems and support modules moved therein. A linear motor conveyor system according to the invention comprises one or more rail modules and one or more support modules that are to be guided in the one or more rail modules. The rail modules can be standardized modules. Several of these rail modules can be connected to one another to form a rail system. A rail module has or defines at least one conveyor path, i.e. the path along which the support modules are to be guided and moved. The rail modules can be of different shapes and types, for example straight rail modules, curved modules and switch modules. The different rail modules, in appropriate number and shape, form a rail system according to a predetermined requirement.While straight modules and curve modules typically form only one conveyor path, a switch module can form at least two conveyor paths or one conveyor path divided into two conveyor paths.

[0005] One embodiment of the invention relates to a corresponding carrier module. The carrier module comprises a carrier component and at least two wheels, preferably at least four wheels. The wheels can, for example, be (rotatably) mounted on corresponding legs of the carrier component. In one embodiment, the wheels can also be pivotably mounted on the carrier component about an axis parallel to the conveying direction of the carrier module. The conveying direction can be defined as the direction of movement of the carrier module along the conveyor track when accommodated in the rail modules. Typically, the conveying direction is horizontal.

[0006] The carrier module is configured and intended to be received between a first side component and a second side component of a rail module. The rail modules will be described in more detail later. At least a first of the at least two wheels and at least a second of the at least two wheels are arranged opposite one another on the carrier component such that the at least one first wheel faces the first side component and the at least one second wheel faces the second side component when the carrier module is received in the rail module.

[0007] In the embodiment with at least four wheels, at least two first of the at least four wheels and at least two second of the at least four wheels are arranged opposite one another on the support component, such that the at least two first wheels face the first side component and the at least two second wheels face the second side component when the support module is accommodated in the track module, and that a higher of the at least two first wheels is arranged opposite a higher of the at least two second wheels, and that a lower of the at least two first wheels is arranged opposite a lower of the at least two second wheels. When the wheels are referred to as upper and lower wheels, this means in particular that a higher wheel is arranged above a corresponding lower wheel in a direction perpendicular to the conveying direction; this is then typically a vertical direction.This enables a more stable arrangement of the carrier module in a track module.

[0008] In one embodiment, at least one of the carrier modules has two magnetic motor components forming a counterpart. A first of the two magnetic motor components forming a counterpart and a second of the two magnetic motor components forming a counterpart are arranged opposite one another on the carrier module, such that the first magnetic motor component forming a counterpart faces a first electromagnetic motor component of the rail module and the second magnetic motor component forming a counterpart faces a second electromagnetic motor component of the rail module when the carrier module is accommodated in the rail module. This enables electromagnetic drive of the carrier module.

[0009] Furthermore, the support module is configured to exert a force that pushes the support module toward the second side portion of the rail module and away from the first side portion of the rail module when said support module is received in said rail module. Preferably, the support module is configured to exert this force passively and / or by mechanical means, i.e., without the need to supply electrical power.

[0010] Typically, such a linear motor conveyor system is driven by applying electrical power, e.g. to the rail modules or their electromagnetic motor components (this will be explained in more detail later). When entering a switch module, the carrier module can be pushed either more towards the first side panel or more towards the second side panel. In this way, the carrier module can be guided either along a left or right conveyor path within the switch module. However, in the event of a power failure, no electromagnetic force can be maintained, and thus the carrier module is in an undefined state when it is in or shortly before a switch module. This means that when the carrier module comes to a standstill after a power failure, it is guided neither to the left nor to the right in a defined manner.

[0011] This undefined condition can be avoided by a force being exerted to push the support module towards one of the two sides. It should be noted that the terms first and second side are merely for differentiation and are thus interchangeable, i.e. either side of a side part can be the first or the second side. Due to passive means and / or (purely) mechanical means, this force is maintained even in the event of a power failure. It is important that this force is exerted only towards one of the two sides. Thus, the force is preferably exerted by means different from the opposing electromagnetic motor components, which normally exert equal forces directed towards both sides.The side towards which the force moves the support module can be selected, for example, by inserting the support module into the rail modules in a defined manner, so that the first or the second side is the side that is desired or selected as the preferred direction, for example by a customer.

[0012] In one embodiment, the support module is preconfigured to push a preloaded one of the at least first wheels (if there is only one first wheel, this first wheel is the preloaded wheel) toward the side part and away from the support component. By pushing the preloaded wheel away from the support component, toward the first side part of the rail module, the support module is forced toward the second side part. In the embodiment of at least four wheels, a lower one of the first wheels is preferably such a preloaded wheel.

[0013] In one embodiment, the support module comprises a force-exerting means, wherein the force-exerting means is arranged on the support component such that it exerts a preloading force on the preloaded wheel to urge the preloaded wheel in the outward direction. The force-exerting means may, for example, comprise one or two or more springs, e.g., compression springs.

[0014] In one embodiment, the support component comprises a wheel mount supporting the preloaded wheel, wherein the preloaded wheel is pivotally mounted by means of the wheel mount, and wherein the force-applying means is arranged to provide the preload force for pivoting the preloaded wheel through the wheel mount. The preloaded wheel can be pivotally mounted by means of the wheel mount about an axis parallel to the conveying direction.

[0015] In one embodiment, the force-exerting means comprises at least one magnet, preferably at least one permanent magnet. Such a magnet can, for example, be used instead of—or in addition to—the spring means. In one embodiment, the force-exerting means comprises at least two magnets, wherein at least one of the two said magnets is arranged on the wheel mount and wherein another of the at least two magnets is arranged on the carrier at a location different from said wheel mount, such that the at least two magnets repel each other. In this way, a passive force can be easily exerted via magnets.

[0016] In one embodiment, the support module further comprises an outward stroke limiter configured to limit movement of the preloaded wheel in the outward direction. In one embodiment, the support module further comprises an inward stroke limiter configured to limit movement of the preloaded wheel in the inward direction, wherein the inward direction is opposite to the outward direction. These stroke limits can be achieved by providing a dowel pin within a drilled hole or the like, so that inward and outward stroke can be limited.

[0017] A further embodiment of the invention relates to a linear motor conveyor system comprising one or more rail modules and one or more support modules, as described above, which are inserted into and guided by the one or more rail modules. Preferably, the one or more rail modules have at least four wheels. To connect multiple rail modules to one another, suitable connecting means such as screws or fittings for mechanical connection can be provided. The electrical connection of the electromagnetic motor components should also be provided.

[0018] In one embodiment, the linear motor conveyor system further comprises a control system for controlling the linear motor conveyor system to move the one or more carrier modules within the one or more track modules. This may include controlling (and supplying power to) the electromagnetic motor components, e.g., the coils, of the track modules in a suitable manner.

[0019] In one embodiment, at least one of the rail modules of the linear motor conveyor system is a switch-type module. Each additional rail module is one of the following rail module types: a straight module, a curved module, or a switch module. As mentioned above, a force exerted by the carrier module can prevent an indeterminate state of a carrier module in the event of a power failure in or shortly before such a switch module.

[0020] In one embodiment, a rail module comprises a rail component and at least four running rails. The rail component comprises a first side part, a second side part, and a lower part along at least part of a conveying path, wherein the first side part and the second side part are arranged opposite one another. The lower part is preferably designed such that it is placed and / or aligned and / or mounted on a floor surface. Thus, the lower part can be oriented substantially horizontally, and the first and second side parts can be oriented substantially vertically. The rail component can, for example, be U-shaped in cross-section, viewed in the direction of the conveying path (with the first and second side parts forming the legs of the U).

[0021] At least two first of the at least four guide rails are arranged on the first side part or are formed integrally with the first side part, and at least two second of the at least four guide rails are arranged on the second side part or are formed integrally with the second side component, such that the at least two first guide rails and the at least two second guide rails face one another, specifically such that the upper of the at least two first guide rails guides the upper first wheel of the carrier module, the lower of the at least two first guide rails guides the lower first wheel, the upper of the at least two second guide rails guides the upper second wheel, and a second of the at least two lower second guide rails guides the lower second wheel.

[0022] The rail module can also comprise more than four guide rails, for example, three primary and three secondary guide rails. The number of guide rails should ideally match the number and / or arrangement of the carrier module's wheels.

[0023] The rail module preferably allows the support module to assume a suspended state between the two side sections of the rail module, which reduces rattling. Switches (i.e., switch-type rail modules) can be easily passed, unlike, for example, rail modules that are guided only on one side. This enables high speeds, especially when negotiating curves. Guidance on only one side, for example, would limit speed in curves due to the centrifugal force acting on the support module as it negotiates a curve.

[0024] In one embodiment, such a rail module further comprises two electromagnetic motor components, each preferably having one or more electrical coils. A first of the two electromagnetic motor components is arranged on the first side part and a second of the two electromagnetic motor components is arranged on the second side part, such that the first magnetic motor component and the second electromagnetic motor component face each other. Preferably, the rail module is designed such that the first electromagnetic motor component is assigned to a first magnetic motor component forming a counterpart, which has one or more permanent magnets on the carrier module, and such that the second electromagnetic motor component is assigned to a second magnetic motor component forming a counterpart, which likewise has one or more permanent magnets on the carrier module.

[0025] For example, unilateral guidance from only one side would require only single-sided motor components. If the carrier module is only supplied with power from one side, the attractive force between the magnets and coils exerts a relatively high pressure on the wheels. This means that the wheels (e.g., plastic wheels) wear out relatively quickly. However, with the force exerted by the carrier component, an indeterminate state does not occur in such a single-sided system.

[0026] In one embodiment, the first electromagnetic motor component is attached to the first side panel by means of adhesives and / or screws, and / or the second electromagnetic motor component is attached to the second side panel by means of adhesives and / or screws. This enables simple, quick, and secure fixation.

[0027] Another embodiment of the invention relates to a method for operating the linear motor conveyor system. The method comprises inserting the one or at least one of the plurality of support modules into the one or more rail modules such that the second side part of the rail module, configured as a switch module, corresponds to a desired side part. It should be noted that such support modules are typically designed to function equally in both directions. Thus, if the support module is turned over, the first side becomes the second side, and vice versa.

[0028] Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings.

[0029] It goes without saying that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or alone, without departing from the scope of the present invention.

[0030] The invention is illustrated schematically in the figures using exemplary embodiments and is described in detail below with reference to the drawings. Short description of the drawings Fig. 1 shows a linear motor conveyor system in perspective view; Fig. 2 shows a rail module in a perspective view; Fig. 3a shows a rail module and a carrier module according to an embodiment in a single view; Fig. 3b shows the rail module and the carrier module of the Fig. 3a in cross section; Fig. 3c shows the carrier module of the Fig. 3a in perspective view; Fig. 3d shows the carrier module of the Fig. 3c in a more detailed view; Fig. 3e shows a carrier module according to another embodiment in a detailed view; Fig. 4 shows a rail module and a carrier module according to an embodiment; and Fig. 5 shows a method for operating a linear motor conveyor system according to one embodiment. Detailed description of the drawings

[0031] Fig. Figure 1 schematically illustrates a linear motor conveyor system 100 in a perspective view. The linear motor conveyor system 100 comprises, for example, several rail modules. Depending on the requirements of a specific application for the linear motor conveyor system, different types and numbers of rail modules can be provided and also connected to each other to form a rail system. Rail modules include, for example, straight modules, curved modules, and switch modules.

[0032] For example, two rail modules 101 are straight modules and four rail modules 102.1, 102.2, 102.3, 102.4 are curved modules. The two straight modules 101 in the Fig. 1 are identical modules. However, it should be noted that straight modules can have different lengths, with the length of a straight module 101 in Fig. 1 can be seen in the direction of movement or conveyance along a conveyor track P.

[0033] The curve modules 102.1, 102.2, 102.3, 102.4 differ in the Fig. 1. For example, the curve modules 102.1, 102.2, 102.3, and 102.4 have different radii and / or curve shapes. However, it should be noted that the four different curve modules are for illustrative purposes only. Depending on requirements, different curve modules with different radii and / or different shapes can be provided. What the curve modules have in common, however, is that they are all curved modules, in particular, modules curved over their entire length.

[0034] The straight module 101 on the lower left side in Fig. 1 will now be described in more detail. The rail module 101 comprises a rail component 110 and at least two guide rails 131, 132. Examples are shown in Fig. 1 shows six guide rails, of which only two are marked with a reference symbol.

[0035] Furthermore, the rail component 110 comprises a first side part 111, a second side part 112, and a lower part 113, wherein the first side part 111 and the second side part 113 are arranged opposite one another. For example, the rail component 110 and also each of the first side parts 111, the second side parts 112, and the lower parts 113 are designed to have a structure with struts or ribs instead of a solid material structure. This allows for the use of less material while maintaining a robust structure.

[0036] At least a first of the at least two guide rails (here, for example, guide rail 131) is arranged on the first side part 111 or is formed integrally with the first side part, and at least a second of the at least two guide rails (here, for example, guide rail 132) is arranged on the second side part 112 or is formed integrally with the second side part 112, so that the at least one first guide rail 131 and the at least one second guide rail 132 face each other.

[0037] For example, the guide rails are formed by structures such as wires that are inserted into the first side part 111 and the second side part 112 or inserted into recesses. In general, however, such a guide rail can also be formed integrally by the first side part 111 and the second side part 112, e.g., by certain shapes.

[0038] It should be noted that this way of forming a rail module applies not only to straight modules 101, but also to other types of modules such as curve modules 102.1, 102.2, 102.3, 102.4 and switch modules 203.

[0039] Each of the straight modules and the curve modules that are in Fig. 1, have a transport path, although only shown for a straight module 101, from a respective first to a respective second end. When the rail modules are connected to each other, the individual transport paths form a cumulative conveyor line along which the carrier modules are guided and conveyed. It should be noted that carrier modules can be moved or conveyed in both directions of a conveyor line, either in the direction of the arrow indicating the conveyor platform P, or vice versa. As can be seen from Fig. As can be seen in Figure 1, a conveying path P, for example, forms conveying directions R or defines them, also in both directions.

[0040] Furthermore, the linear motor conveyor system 100 comprises, for example, several carrier modules 150 (six carrier modules are in Fig. 1, only one of which is identified by a reference numeral). The rail module 101 is designed to accommodate such a carrier module 150 between the first side part 111 and the second side part 112, in particular such that the at least one first guide rail 131 guides at least one first wheel of the carrier module 150 and that the at least one second guide rail 132 guides at least one second wheel of the carrier module 150. This is shown in Fig. but will be discussed later in relation to Fig. explained and described in more detail.

[0041] Furthermore, in one embodiment, the linear motor conveyor system 100 may comprise a control system 190 for controlling the linear motor conveyor system 100 to move the carrier modules 150 within the rail modules 101, 102.1, 102.2, 102.3, 102.4, ie in the movement or conveying direction R, as shown in Fig. It should be noted that such a conveying direction R is a straight line for straight modules, but a curved line for curved modules. To operate the linear motor conveyor system 100, electromagnetic motor components, for example on the rail modules, must be controlled by the control system 190. Such electromagnetic motor components are in Fig. 1 are not shown, but are shown in Fig. 3a, Fig. 3b shown.

[0042] Fig. 2 schematically illustrates a rail module 203 according to one embodiment in a perspective view. The rail module 203 is a switch module, i.e., a rail module of the switch type. In contrast to straight modules or curved modules, the carrier module is not limited to moving from one of the two ends to the other of the two ends, i.e., entering the rail module at a first end and exiting the rail module at a second end (in a single transport path). Rather, the carrier module can enter the switch module at a first end 215.1 and exit the switch module again either at a second end 215.3 or at a third end 215.3. The switch module 203 thus has two conveying paths P1 and P2, wherein the conveying path P2 differs from the conveying path P1.

[0043] To control a linear motor conveyor system with such a switch module so that the carrier module uses conveyor path P1 and exits at the second end 215.2 (here on the left), or uses conveyor path P2 and exits at the third end 215.3 (here on the right), electromagnetic motor components, e.g., on the rail modules (not shown here), must be controlled so that the carrier module is driven either toward the second end 215.2 or the third end 215.3. When the carrier module enters the switch module at the second end 215.2 or the third end 215.3, in both cases the carrier module exits the switch module 203 at the first end 215.3. In other words: the two conveyor paths P1, P2 are merged.

[0044] Similar to the Fig. 1, the switch module 203 has a rail component 210 for a conveyor path, e.g., P1. The switch module 203 has at least two guide rails 231, 232. Examples are shown in Fig. 2 shows six guide rails, of which only two are marked with a reference symbol.

[0045] As mentioned above, in the event of a power failure, the carrier module cannot be forced to either the second end 215.2 or the third end 215 via active control. An undefined situation may occur. A solution provided within the scope of the present invention is described in more detail below.

[0046] Furthermore, the rail component 210 along the conveying path P1 comprises a first side part 211, a second side part 212, and a lower part 213, wherein the first side part 211 and the second side part 213 are arranged opposite one another. It should be noted that the second side part 211 along the conveying path P1 is interrupted due to a transition of the conveying path P2. Analogous to the conveying path P1, the rail component along the conveying path P2 has a first side part, a second side part, and a lower part (not identified by reference numerals here).

[0047] For example, the rail component 210 and also each of its first side parts 211, the second side parts 212 and the lower parts 113 are designed to have a complete material structure, deviating from the Fig. 1. For the rail modules shown, the wheels of the support modules must have a corresponding inclination or arrangement depending on the design of the running rails, e.g. their inclination.

[0048] At least one of the at least two guide rails (here, for example, guide rail 231) is arranged on the first side part 211 or is an integral part of the first side part 211, and at least a second of the at least two guide rails (here, for example, guide rail 232) is arranged on the second side part 212 or is an integral part of the second side component 212, so that the at least one first guide rail 231 and the at least one second guide rail 232 are opposite one another.

[0049] In contrast to the Fig. 1, the guide rails are formed by the first side part 211 and the second side part 212, which have specific shapes or geometries. However, such a switch module could also comprise guide rails which are designed as shown in Fig. 1. Such a switch module could also comprise a rail component which, as for the Fig. 1 shown rail modules.

[0050] Switch modules, as in Fig. shown, can be used together with straight modules and curve modules as shown in Fig. used to form a (complex) rail system and a linear motor conveyor system. It is important to note that the guide rails of the different rail modules should be of the same type.

[0051] Fig. 3a illustrates a rail module 301 and a carrier module 350 according to an embodiment in a perspective view. Fig. 3b illustrates the rail module 301 and the carrier module 350 of the Fig. 3a in a cross-section in the xy-plane. Fig. 3c illustrates the carrier module 350 of Fig. 3a in a perspective view, but without most parts of the rail module. Fig. 3d illustrates a lower part of the carrier module 350 of Fig. 3c in more detail. The Fig. 3a, Fig. 3b, Fig. 3c and Fig. 3d are to be described together as follows.

[0052] Rail module 301 is an example of a straight module to explain the basic structure and composition of a rail module. The rail module 301 can be used with the rail module 101 of the Fig. 1, but shows additional components. The following explanations also apply to other types of track modules, such as curve modules and switch modules.

[0053] The rail module 301 comprises a rail component 310 and, for example, six guide rails 331.1, 331.2, 331.3, 332.1, 332.2, 332.3. Furthermore, the rail component 301 has a first side part 311, a second side part 312, and a lower part 313 along a conveying path, wherein the first side part 311 and the second side part 313 are arranged opposite one another. The conveying path is not in Fig. 3, but extends along the y-direction and can be similar or equal to the conveying path P, as in Fig. 1 shown.

[0054] For example, the rail component 310, as well as each of the first side parts 311, the second side part 312, and the bottom part 313, are configured to have a strut or rib structure instead of a solid material structure. This allows for the use of less material while maintaining a robust structure. For example, the bottom part 313 and portions of each first side part 311 and the second side part 312 have a double-walled structure with support ribs between the two walls.

[0055] Three first guide rails (here, for example, guide rails 331.1, 331.2, 331.3) are arranged on the first side part 311 or are an integral part of the first side part 311, and the three second guide rails (here, for example, guide rails 332.1, 332.2, 332.3) are arranged on the second side part 312 or are an integral part of the second side part 312, so that the first guide rails 331.1, 331.2, 331.3 and the second guide rails 332.1, 332.2, 332.3 are opposite one another, i.e., aligned with one another. This means that all guide rails are located on the inside of the corresponding first and second side parts and form a conveyor path.

[0056] For example, the guide rails are formed by support structures such as wires that are arranged or inserted into recesses in the first side part 311 and the second side part 312. In general, however, such a guide rail can also be formed by, for example, specific shapes of the first side part 311 and the second side part 312.

[0057] In one embodiment, the rail module 301 further comprises two electromagnetic motor components, a first electromagnetic motor component 340.1 and a second electromagnetic motor component 340.2. The first electromagnetic motor component 340.1 and the second electromagnetic motor component 340.2 extend along the conveyor path (here: in the y-direction). The first electromagnetic motor component 340.1 is arranged on the first side part 311, and the second electromagnetic motor component 340.2 is arranged on the second side part 312, so that the first electromagnetic motor component 340.1 and the second electromagnetic motor component 340.2 face each other.

[0058] In one embodiment, the first electromagnetic motor component 340.1 comprises one or more electrical coils 341.1; the number of electrical coils may depend on how the coils are manufactured. Furthermore, the first electromagnetic motor component 340.1 may comprise one or more magnetic or ferromagnetic cores or a magnetic core structure 342.1, e.g., made of iron. Such a magnetic or ferromagnetic core increases the magnetic forces generated by the electrical coils. Furthermore, the first electromagnetic motor component 340.1 may have a holding or fastening structure 343.1 for fastening the coils and the magnetic core to the first side part 311. The first electromagnetic motor component 340.1 may be fixed to the first side part 311, for example, by gluing and / or screwing.

[0059] Likewise, the second electromagnetic motor component 340.2 comprises one or more electrical coils 341.2; the number of electrical coils may depend on how the coils are manufactured. Furthermore, the second electromagnetic motor component 340.2 may comprise one or more magnetic or ferromagnetic cores or a magnetic core structure 342.2, e.g., made of iron. Such a magnetic or ferromagnetic core increases the magnetic forces generated by the electrical coils. Furthermore, the second electromagnetic motor component 340.2 may have a holding or fastening structure 343.2 for fastening the coils and the magnetic core to the second side part 312. The second electromagnetic motor component 340.2 may be fastened to the second side part 312, for example, by gluing and / or screwing.

[0060] In one embodiment, the base part 313 is designed to be placed on and / or aligned with and / or attached to a base surface. Such a base surface would be located under the lower part 313, in the z-direction in the Fig. 3a, Fig. 3b. In one embodiment, the base 313 has one or more holes 314 facing the base. This allows for the removal of smaller pieces of dirt. Furthermore, any liquid, such as water, can drain away, for example, splashing water.

[0061] The rail module 301 is designed to accommodate a carrier module 350 between the first side part 311 and the second side part 312 and is preferably designed such that the first guide rails 332.1, 332.2, 332.3 guide the respective first wheels of the carrier module 350 and the second guide rails 332.1, 332.2, 332.3 guide the respective second wheels of the carrier module 350.

[0062] While in the Fig. 3a, Fig. 3b shows the carrier module 350 in a rail module 301, Fig. 3c shows the carrier module 350 as such. Fig. 3c, the six guide rails 331.1, 331.2, 331.3, 332.1, 332.2, 332.3 (in this example, these are wires). The support module 350 comprises a support component 353 and, for example, six wheels, three first wheels 351.1, 351.2, 351.3 and three second wheels 352.1, 352.2, 352.3 (note that the wheel 352.2 in Fig. 3c is not visible). The carrier module 350 is designed to be received between the first side part 311 and the second side part 312 of the rail module 301.

[0063] For example, the three first wheels 351.1, 351.2, 351.3 and the three second wheels 352.1, 352.2, 352.3 are arranged opposite one another on the carrier component 353, so that three first wheels 351.1, 351.2, 351.3 face the first side component 311 and three second wheels 352.1, 352.2, 352.3 face the second side component 312 when the carrier module 350 is accommodated in the rail module 301. This is shown in the Fig. 3a, Fig. 3b. Each of the wheels 351.1, 351.2, 351.3, 352.1, 352.2, 352.3 is guided by one of the six guide rails 331.1, 331.2, 331.3, 332.2, 332.3. This is shown in Fig. can be seen. In relation to the guide rails and the wheels, "fitting" means that a wheel can be guided and rolled on a respective guide rail. A guide rail could therefore also be referred to as a rolling surface. The wheels can, for example, have a groove that fits the guide rail.

[0064] In one embodiment, the carrier module 350 further comprises two counterpart magnetic motor components, a first counterpart magnetic motor component 356 (shown in Fig. 3c) and a second counterpart magnetic motor component (not visible in Fig. ). Each of these counterpart magnetic motor components can, for example, comprise one or more permanent magnets. The first counterpart magnetic motor component 356 and the second counterpart magnetic motor component 356 are arranged opposite one another on the carrier component 353, so that the first counterpart magnetic motor component 356 faces the first electromagnetic motor component 340.1 of the rail module 301 and the second counterpart magnetic motor component faces the second electromagnetic motor component 340.2 of the rail module 301. This is shown in Fig. shown.

[0065] The first counterpart magnetic motor component 356 interacts with the first electromagnetic motor component 340.1, i.e., these two components interact electromagnetically with each other, and together form a first electric linear motor. This generally also requires an air gap of appropriate size between the two components. Similarly, the second counterpart magnetic motor component interacts with the second electromagnetic motor component 340.2, i.e., these two components also interact electromagnetically with each other, and together form a first electric linear motor. This generally also requires an air gap of appropriate size between these two components. Thus, the rail module 301 enables the carrier module 350 to assume a levitation state between the two side parts of the rail module 301; which significantly reduces cogging.

[0066] As can be seen from the Fig. 3b, Fig. As can be seen in Figure 3c, the three first guide rails 331.1, 331.2, and 331.3 are arranged one above the other, viewed in the z-direction (in a direction perpendicular to the conveying direction). While one of the first guide rails 331.3 is a lower first guide rail, the other first guide rails 331.1 and 331.2 are upper first guide rails. This also applies to the corresponding second guide rails.

[0067] Similarly, as in the Fig. 3b, Fig. As can be seen in Figure 3c, the three first wheels 351.1, 351.2, and 351.3 are arranged one above the other, as seen in the z-direction (a direction perpendicular to the conveying direction). While one of the first wheels 351.3 is a lower first wheel, the other first wheels 351.1 and 351.2 are upper first wheels. This also applies to the corresponding second wheels.

[0068] Furthermore, the carrier module 350 is designed to press the lower first wheel 351.3 in a direction O outwardly toward the respective first side component 311 and away from the corresponding lower second wheel 352.3, which is arranged opposite, and away from the carrier connection 353. For example, the carrier module 350 further comprises a spring means, e.g., a compression spring 355 (see Fig. 3b, Fig. 3d). The compression spring 355 is arranged on the support component 353 such that it exerts a force, e.g., a preload force, on the lower first wheel 351.3.

[0069] The support component 353 comprises a supporting wheel mount 354.3, wherein the lower first wheel 351.3 is pivotally mounted by means of the wheel mount 354.3, e.g., about an axis (or bearing) 358. The axis 358 may run parallel to the conveying direction. A compression spring 355 is arranged such that a biasing force for pivoting the lower first wheel 351.3 is provided by the wheel mount 354.3. In this example, the compression spring 355 is arranged below (viewed in the vertical direction) the axis 358 such that the biasing force pivots the lower first wheel 351.3 upwards, to the side where the wheel contacts the track. Another arrangement may result in the wheel pivoting downwards.

[0070] Furthermore, the support module 350 has a first device configured to limit an outward movement of the preloaded wheel in the direction O. Furthermore, the support module 350 has a second device configured to limit an inward movement of the preloaded wheel opposite to the direction O. This device comprises a dowel pin 357.1, which is fastened to the wheel holder 354.3 within a borehole 357.2 and is intended to move within a larger-diameter borehole in the support component 353. The dowel pin 357.1 is movable within this hole, but limits the movement of the wheel when it abuts the outer edge 357.2 or the inner edge 357.3. Instead of such a dowel pin, other means can also be used, e.g., screws that allow fine adjustment of the strokes.

[0071] While the lower first wheel 351.3 is pivotable about the axis 358 running parallel to the conveying direction via the wheel holding means 354.3 and is also preloaded, all other wheels can also be pivotally mounted about an axis running parallel to the conveying direction, but without preload.

[0072] Furthermore, Fig. 3d shows that the wheels (be they pre-tensioned or not) can pivot around a vertical axis, which allows the wheels to move smoothly along the guide rails.

[0073] The force with which the pre-tensioned wheel 351.3 is pressed outwards in direction O is given in the Fig. 3b, Fig. 3c, Fig. 3d with F1. This force F1 induces a counterforce F2, which pushes the carrier module 350 towards the second side part 312 when the carrier module 350 is accommodated in the rail module, as in Fig. 3b shown.

[0074] Fig. Figure 3e shows another embodiment of a carrier module, carrier module 350'. The view shown here is similar to that of Fig. 3d. However, instead of the spring, two permanent magnets 359.1, 359.2 are used to generate a force F1'. The permanent magnet 359.1 is arranged on the wheel mount 354.3, and the permanent magnet 359.2 is arranged opposite each other on the support component 353. The two permanent magnets 359.1, 359.2 face each other and are arranged so that they repel each other.

[0075] In this way, the permanent magnets exert a force that pushes the carrier module 350 towards the second side part 312, ie a similar force as F2 in Fig. 3b can be exercised passively.

[0076] Fig. 4 schematically illustrates a rail module 403 and a carrier module 350 according to an embodiment in a plan view. The rail module 403, a switch module, basically corresponds to the rail module 203 in Fig. 2, with similar components, which are provided with corresponding reference numbers, but with a leading 4 instead of a leading 2. The carrier module 350 corresponds to that of the Fig. 3b. It should be noted that the basic structure of the rail module and the type of track as such are not of particular importance, but the rail modules and support modules used together must have matching structures.

[0077] The rail module 403, for example, comprises several sections or areas 403.1, 403.2, 403.3, 403.4, 403.5. The behavior of the carrier module 350 in the event of a power failure is described below based on these sections or areas.

[0078] The carrier module 350 is moved in a conveying direction R and thus enters the rail module 403 from the right end of section 403.1. Section 403.1 is a straight section. It should be noted that, depending on the specific geometry of the rail modules, section 403.1 could also be part of a separate straight rail module.

[0079] In normal operation, ie without power failure, the carrier module 350 enters the branch section 403.3, where both conveyor paths P1 and P2 could be followed. In the area 403.2, the transition from section 403.1 to section 403.3, the carrier module 350 loses contact with one of the two side parts 411, 412. By appropriate control of the electromagnetic motor components (not in Fig. 4), the carrier module 350 can either move to the left, i.e., follow path P1, or to the right, i.e., follow path P2. In the branching section 403.3, the carrier module has contact with only one side part and is guided by the magnetic forces between the electromagnetic motor elements of the respective side part and the corresponding electromagnetic motor elements of the carrier module.

[0080] After the branching section 403.3, the carrier module enters the carrier detection section 403.4 of the respective path. In this carrier detection section 403.4, the carrier module 350 again comes into contact with both side panels—which, due to the branching of the conveyor paths, are different, new side panels. After the carrier detection section 403.4, the carrier module 350 then arrives in a section of a standard rail 403.5.

[0081] In the event of a power failure, the carrier module 350 can neither actively follow path P1, i.e., to the left, nor to the right, i.e., path P2, as it approaches area 403.2 while decelerating. With the help of the passive force F2, the carrier module 350 is nevertheless guided to the right, i.e., follows path P2. However, how far the carrier module can follow path P2 depends on the speed of the carrier module upon entering the rail module 403. In any case, an undefined situation during the branching of the paths is prevented.

[0082] It should be noted that the force F2 (or F1) should be selected such that the carrier module can still be actively guided in the desired direction during regular operation. In other words, the force F2 should not exceed the force generated by the electromagnetic motor components and their counterparts, but should be sufficiently high to still be able to passively guide the carrier module.

[0083] Fig. Figure 5 illustrates a method for operating a linear motor conveyor system according to one embodiment. In step 500, a carrier module is inserted into the rail modules. A person inserting the carrier module can select the orientation in which the carrier module is inserted. For example, if the carrier module is to be passively aligned with path P2 of Fig. 4, the carrier module must be installed as shown in Fig. 4. However, if the carrier module is to be passively connected to path P1 of Fig. 4, the carrier module must be inserted upside down, ie the right end of the carrier module 350 of Fig. 4 now points to the left. This causes the passive force F2 to act in the opposite direction. After insertion, the carrier module can be driven in the rail modules in step 502.

Claims

[1] Carrier module (350) for a linear motor conveyor system, wherein the carrier module comprises a carrier component (353) and at least two wheels (351.1, 351.2, 351.3, 352.1, 352.2, 352.3), wherein the carrier module (350) is adapted to be received between a first side part and a second side part of a rail module (101, 102.1, 102.2, 102.3, 102.4, 203, 301), wherein at least a first of the at least two wheels and at least a second of the at least two wheels are arranged opposite one another on the support component, so that the at least one first wheel faces the first side part and the at least one second wheel faces the second side part when it is accommodated in the rail module, and wherein the support module (350) is configured to exert a force that pushes the support module toward the second side portion of the rail module and away from the first side portion of the rail module when the support module (350) is received in the rail module. [2] The carrier module (350) of claim 1, which is adapted to exert the force by passive and / or mechanical means. [3] Support module (350) according to claim 1 or 2, wherein the support module (350) is configured to press a preloaded (351.3) of the at least one first wheel in an outward direction (O) towards the first side part of the rail module and away from the support component. [4] The carrier module (350) of claim 3, further comprising a force applying means (355, 359.1, 359.2), wherein the force applying means is arranged on the carrier component (353) to apply a biasing force to the preloaded wheel to urge the preloaded wheel (351.3) in the outward direction (O). [5] Carrier module (350) according to claim 4, wherein the carrier component (353) has a wheel holder (354.3) carrying the preloaded wheel (351.3), wherein the preloaded wheel is pivotally mounted by means of the wheel holder, and wherein the force applying means is arranged to provide the preload force for pivoting the preloaded wheel via the wheel support. [6] Support module (350) according to claim 4 or 5, wherein the force applying means comprises a spring device (355). [7] Carrier module (350) according to one of claims 4 to 6, wherein the force exerting means comprises at least one magnet (359.1, 359.2), preferably at least one permanent magnet. [8] The carrier module (350) of claim 7 when appended to claim 4, wherein the force applying means comprises at least two magnets, wherein one (359.1) of the at least two magnets is arranged on the wheel mount (354.3) and wherein another (359.2) of the at least two magnets is arranged on the carrier component at a location different from the wheel mount such that the at least two magnets push away from each other. [9] A carrier module (350) according to any one of the preceding claims, further comprising two counterpart magnetic motor components, wherein a first of the two counterpart magnetic motor components and a second of the two counterpart magnetic motor components are arranged opposite each other on the carrier component, such that the first counterpart magnetic motor component faces a first electromagnetic motor component of the rail module and the second counterpart magnetic motor component faces a second electromagnetic motor component of the rail module when they are received in the rail module. [10] Linear motor conveyor system (100), comprising one or more rail modules and one or more carrier modules according to one of the preceding claims, wherein the one or more carrier modules are to be guided in the one or more rail modules, wherein the one or each of the plurality of rail modules is adapted to receive a carrier module (350) between a first side part (111, 311) and a second side part (112, 312), and wherein the one or each of the plurality of support modules is received or receivable in the one or each of the plurality of rail modules. [11] Linear motor conveyor system (100) according to claim 10, when appended to claim 9, wherein the one or each of the plurality of rail modules further comprises two electromagnetic motor components (340.1, 340.2), each preferably comprising one or more electrical coils, wherein a first (340.1) of the two electromagnetic motor components is arranged on the first side part (311) and a second (340.2) of the two electromagnetic motor components is arranged on the second side part (312), so that the first electromagnetic motor component and the second electromagnetic motor component are opposite each other. [12] The linear motor conveyor system (100) of claim 10 or 11, further comprising a control system for controlling the linear motor conveyor system to move the one or each of the plurality of carrier modules within the one or more rail modules. [13] Linear motor conveyor system (100) according to one of claims 10 to 12, wherein the one or at least one of the plurality of rail modules is designed as a switch module, and wherein in the case of a plurality of rail modules, each of the remaining rail modules is one of the following rail module types: a straight module, a curved module, a switch module. [14] Method for operating the linear motor conveyor system (100) according to one of claims 10 to 13, wherein the one or at least one of the plurality of support modules is inserted into the one or more rail modules such that the second side part of the rail module, which is designed as a switch module, corresponds to a desired side part.

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