TRANSPORT SYSTEM

Description

[0001] The invention relates to a transport system, in particular a multi-carrier system, and a method for transferring a transport element from a section of a transport system to a secondary section or to a siding.

[0002] Transport systems, and in particular multi-carrier systems, preferably comprise a multitude of transport elements, so-called runners, movers, or carriers, which are moved by several linear motors arranged along a guide track or path. The transport elements can be moved individually and independently of one another, so that multi-carrier systems can be flexibly adapted to various industrial processes and, in particular, can react flexibly to changes in an industrial process.

[0003] Linear motors are typically equipped with rails to enable and guide the movement of the transport elements along their path, while simultaneously fixing them with a certain amount of play perpendicular to this direction of movement, usually in a transverse and an upward or downward direction. However, this fixed position makes it difficult to add or remove transport elements from the system, especially when the system is actively operating.

[0004] DE 10 2016 212 227 A1 discloses the preamble of claims 1 and 8 and shows a linear drive arrangement of a device for filling packaging materials, in which guide means for a runner are provided. The device further discloses a return transport system, which is also provided with guide means. The runner can be transferred from the return transport system to the linear drive arrangement by means of a transfer unit.

[0005] It is an object of the present invention to simplify the addition or removal of transport elements into or from the transport system - especially also during operation.

[0006] This problem is solved by the subject matter of independent claims.

[0007] Advantageous further developments are the subject of the dependent claims and result from the description and the drawings.

[0008] The transport system according to the invention is disclosed by claim 1.

[0009] In this transport system, it is particularly possible for several transport elements to be moved simultaneously through the guide rail and / or the linear motors for transfer from the main track to the secondary track or to the storage rail in the second direction.

[0010] The transport system, i.e., the track, can be configured as a continuous loop, meaning the linear motors form a closed loop along which the transport elements, also known as carriers, movers, or runners, can theoretically move endlessly in the same direction. The transport element(s) are magnetically driven. For this purpose, the transport elements have one or more permanent magnets which are energized by a changing and / or moving magnetic field generated by the linear motors. This driving force causes the transport elements to move along the guide track. Workpieces, for example, can thus be transported along the guide track using these transport elements. Preferably, several transport elements can be arranged simultaneously on the track and, in particular, moved independently and separately from one another.

[0011] The terms "first direction," "second direction," and "third direction" refer to a coordinate system that moves with the transport element, the origin of which can be located, in particular, at the center of mass of the transport element. The first direction corresponds to the direction of movement of the transport element. The second direction is defined as orthogonal to the first direction, while the third direction, mentioned later, is orthogonal to both the first and second directions. The first, second, and third directions thus correspond, in particular, to the directions of the three axes of the Cartesian coordinate system that moves with the transport element. If the transport element moves horizontally, the second direction can, in particular, correspond to a vertical direction. The third direction corresponds, for example, to a transverse direction of the transport element and is then towards or away from the linear motors.In the moving coordinate system, the first direction corresponds, for example, to the x-direction, the second direction to the z-direction, and the third direction to the y-direction.

[0012] The guide structure refers specifically to any features of the guide rail or a part thereof that are suitable for influencing the transport elements in such a way that movement of the transport elements along the track is enabled, but movements of the transport element perpendicular to the first direction, i.e., within a plane to which the direction of movement is normal, are prevented. This is achieved by the guide structure absorbing the corresponding forces acting on the transport element. The guide structure can be formed, for example, by geometric features such as grooves, projections, or angles.

[0013] To facilitate and better automate the addition and removal of transport elements into or out of the transport system, particularly during operation, the guide structure at the transfer point is at least partially interrupted, allowing movement of the transport element in at least the second direction. The transport element can then move in a direction orthogonal to the direction of movement, for example, vertically. Specifically, the transport element can then move vertically to the guide rail or a portion thereof. Movement in the second direction is advantageous for removing the transport element from the guide rail, for example, to transfer it to an adjacent track (hereinafter also referred to as a secondary track) or to a storage rail.On the other hand, due to the interruption of the guidance structure, additional transport elements can also be added, i.e., fed into the route.

[0014] The guide rail has at least one main guide rail for absorbing forces in the second direction by means of the guide structure and at least one transfer guide rail for absorbing forces in the second direction by means of the guide structure, wherein the guide structure of the main guide rail is interrupted at the transfer point. If the guide rail, as in this case, has several sub-rails that together form the guide structure, it may therefore be sufficient if only the guide structure of one sub-rail, here the main guide rail, is interrupted. To enable movement of the transport element in the second direction, the transfer guide rail then contributes to this movement, as will be explained in more detail later.

[0015] At least one of the main guide rails and the transfer guide rail can be designed to absorb forces in a third direction, orthogonal to the first and second directions, by means of the guide structure. Particularly when the third direction is the transverse direction, this can help prevent lateral fallout. This provides an additional safety measure beyond the attractive force of the linear motor's magnetic field.

[0016] At least at the transfer point, the transfer guide rail can be movable or tiltable to move the transport element in the second direction. The transfer guide rail then contributes to the movement of the transport element in the second direction. In particular, this can optionally be fully automated, so that automated removal of the transport element from the track is possible, for example, by the transfer guide rail raising or lowering the transport element to a level different from the track. Preferably, the transport element is brought to a level corresponding to the siding or the storage track, so that the transport element can be automatically transferred to it.

[0017] The transport system may, in particular, include a secondary track or a stabling rail located at the transfer point and defined by a secondary guide rail. The stabling rail may, for example, be designed to be arranged or positioned at the transfer point, for instance by means of a gripper arm.

[0018] The secondary guide rail can – like the transfer guide rail – have a receiving guide rail that is movable or tiltable in the second direction. This makes it possible, in particular, to "accept" the transport element moving in the second direction. Preferably, the transfer guide rail and the receiving guide rail can interact so that the transfer guide rail "indicates" the transport element and the receiving guide rail "accepts" the transport element. In particular, this can shorten the travel times of the transfer guide rail, so that the transfer guide rail returns to its operating position more quickly, allowing any subsequent transport elements along the track to enter or pass the transfer point.

[0019] The transport element is equipped with running elements that interact with the guide structure to guide the transport elements along the direction of movement. In particular, all running elements of a transport element can be arranged on one side of the transport element facing the guide rail, which corresponds to an asymmetrical design of a transport element.

[0020] The method according to claim 8 is used to transfer a transport element from a section defined by a guide rail of a transport system to a secondary section or a storage rail. The transport system comprises several linear motors arranged in series and encompassing the guide rail, and the transport element, which is movable along the section in a first direction by the linear motors. The guide rail has a guide structure that interacts with the transport element to guide the movement of the transport element in the first direction and to absorb forces acting on the transport element transversely to the first direction.The guide structure is at least partially interrupted at at least one transfer point along the track, allowing movement of the transport element in a second direction orthogonal to the first direction, and enabling the transport element to be moved in the second direction for transfer from the main track to the secondary track or to the siding. The guide rail has at least one main guide rail for absorbing forces in the second direction by means of the guide structure and at least one transfer guide rail for absorbing forces in the second direction by means of the guide structure, wherein the guide structure of the main guide rail is interrupted at the transfer point. The method comprises the following steps: Moving the transport element in the first direction to the transfer point and moving the transport element in the second direction to transfer the transport element onto the secondary track or onto the siding.

[0021] The process therefore involves transferring the transport element by moving it in the second direction. For this purpose, the guide structure is at least partially interrupted, thus enabling the movement of the transport element. This allows, in particular, the removal of the transport element from the track during operation.

[0022] Preferably, the transport element is moved in the second direction by the guide rail and / or the linear motors, so that in particular automated removal of the transport element is possible without manual intervention by an operator.

[0023] Preferably, the transfer guide rail is movable or tiltable in the second direction, at least at the transfer point, and the method further comprises moving or tilting the transfer guide rail in the second direction, at least at the transfer point, to move the transport element. This results in automated movement in the second direction to raise or lower the transport element to a level that differs from the level of the track.

[0024] After moving in the second direction, the transport element can be moved in the first direction to engage with a secondary guide rail of the auxiliary track or with the support rail. This movement can be effected, for example, by linear motors of the auxiliary track or the support rail (i.e., magnetically), or by some other force. This corresponds to a movement parallel to the direction of travel of the track after the transport element has been, for example, lifted or laterally displaced. This can be advantageous if, for instance, the support rail extends at least partially parallel to the track.

[0025] The secondary guide rail can have a receiving guide rail that is movable or tiltable in the second direction, the method further comprising moving or tilting the receiving guide rail to receive the transport element. Thus, in particular, it is possible to "receive" the transport element moving in the second direction. Preferably, the transfer guide rail and the receiving guide rail can interact such that the transfer guide rail "indicates" the transport element and the receiving guide rail "receives" the transport element.

[0026] Preferably, the support rail is positioned at the transfer point or moved away from the transfer point, particularly by means of a gripper arm. It is especially conceivable that a gripper arm positions the support rail there, particularly parallel to the track, then the transport element is transferred from the track onto the support rail, and subsequently the support rail is moved away by the gripper arm.

[0027] In the Furthermore, the statements made regarding the transport system according to the invention apply accordingly to the method according to the invention.

[0028] The invention is described below schematically and by way of example with reference to the drawings. These show: Fig. 1 a top view of a multi-carrier system, Fig. 2 a cross-sectional view of a transfer point where a transport element is transferred from a main line to a secondary line, and Fig. 3 a cross-sectional view of a transfer point where a transport element is transferred from a main line to a siding.

[0029] In Fig. 1A top view of a transport system 10, designed as a multi-carrier system, is shown. The transport system 10 has a plurality of linear motors 11 arranged in series, forming a continuous track 13 in this example. Along the track 13, three carriers or transport elements 15a, 15b are arranged in this example. These are magnetically driven by the linear motors 11 due to a changing or moving magnetic field and can therefore be moved independently and separately from one another. Two of the transport elements 15a are symmetrically designed, as shown in the cross-section in Fig. 2 The third transport element 15b, however, is asymmetrically designed, as shown in the cross-section in Fig. 3 shown.

[0030] The transport elements 15a, 15b are in Fig. 1Each is assigned a coordinate system that moves with it. The x-direction corresponds to the direction of motion, i.e., the direction of a velocity vector of the transport element 15a, 15b. The y-direction is a transverse direction, orthogonal to the x-direction. In the present embodiments, the x-direction and the y-direction lie in a horizontal plane. The z-direction is shown in the cross-sectional views according to Fig. 2 and 3 to recognize and corresponds to the remaining direction of the Cartesian comoving coordinate system.

[0031] This example shows Fig. 1Furthermore, a branch line 25, a section of which is shown, runs parallel to a transfer point 23 of the line 13. The branch line 25 is arranged in the area of ​​the transfer point 23 such that the symmetrically designed transport elements 15a cover the branch line 25 in the present embodiment, as can also be seen in the cross-sectional view in Fig. 2 This is evident. In this figure, a linear motor 11 of track 13 is shown on the right, and another linear motor 11 of the secondary track 25 is shown on the left. The linear motors 11 of track 13 are provided with a guide rail 17, which in this embodiment has main guide rails 19 and a transfer guide rail 21. Similarly, the linear motors 11 of secondary track 25 are provided with a secondary guide rail 29, which in this embodiment has a receiving guide rail 31 and rails 33.

[0032] The guide rails 17, 29 have a Fig. 2 The guide structure is schematically indicated and partially depicted with dashed lines. The guide structure refers to those structural features that engage with the running elements 35 of the transport element 15a and interact with the running elements 35 in such a way that the transport element 15a can be moved along the guide structure in the x-direction, while forces in the y-direction and z-direction are absorbed by the guide structure, thus preventing movement of the transport element 15a away from the guide rail 17, 29. The transport element 15a is thereby securely held against the respective guide rail 17, 29.

[0033] Before the transport element 15a enters the transfer point 23, it is guided by the guide structures of the main guide rails 19 (shown as dashed lines) and the transfer guide rail 21. In the area of ​​the transfer point 23, the guide structure of the main guide rails 19 is interrupted such that the main guide rails 19 can still absorb forces in the y-direction, but no longer in the z-direction. The guide structure of the transfer guide rail 21, however, is not interrupted. Movement of the transport element 15a in the z-direction is therefore possible.

[0034] As in Fig. 2 As indicated, the guide structures of rail 33 of branch line 25 are also interrupted in the area of ​​transfer point 23, whereas the guide structure of the receiving guide rail 31 is not interrupted. As further indicated in Fig. 2As indicated, the rails 33 and their guide structure are offset vertically along the z-direction relative to the main guide rails 19. To transfer the transport element 15a from track 13 to the secondary track 25, the transport element 15a must therefore be moved along the z-direction so that the running elements 35 can engage with the guide structure of the rails 33. In the present embodiment, this is achieved by the transfer guide rail 21, as shown in Fig. 2 As indicated by an arrow, the transport element 15a moves in the z-direction until it reaches the level of the secondary track 25. If it does not, the transport element 15a remains on track 13. Additionally or alternatively, it is also conceivable that the receiving guide rail 31 moves in the z-direction. Furthermore, it is also conceivable that the rails 21 and 31 are not moved, but rather tilted.

[0035] Once the transport element 15a has reached the level of the secondary track 25, it can be transferred to the secondary track 25 by engaging its running elements 35 with the secondary guide rail 29. This can be done, in particular, by driving it with the linear motors 11 of the secondary track 25.

[0036] Another possible application is based on Fig. 3 The figure highlights the transfer of a transport element 15b to a siding 27 instead of a branch line. The basic functionality corresponds to the previously described functionality, so not all details will be repeated below, but only differences will be explained separately.

[0037] Also in Fig. 3 The guide structures of both the main guide rail 19 and the siding rail 27 outside the transfer point 23 are shown as dashed lines. As shown from Fig. 3As can be seen, the guide structures of the main guide rail 19 are interrupted in the area of ​​the transfer point 23 such that movement of the transport element 15b in the z-direction is permitted. The parking rail 27 is also arranged offset in the z-direction relative to the main guide rail 19. By moving the transfer guide rail 21 along the z-direction (indicated by the arrow), the transport element 15b is lifted so that the running elements 35 can engage with the guide structures of the parking rail 27. The transport element 15b can then be "parked" on the parking rail 27. Furthermore, the parking rail can be moved by means of a gripper arm (not shown) as in Fig. 3 shown, positioned, or moved away.

[0038] If according to the representation in Fig. 3Since both rails are arranged on one side, it is possible to provide such an asymmetrical transport element 15b in which all running elements 35 are arranged on the same side of the transport element 15b, namely on the side of the transport element 15b facing the guide rail 17 and the support rail 27. Reference symbol list

[0039] 10 Transport system 11 Linear motor 13 Track 15a Transport element 15b Transport element 17 Guide rail 19 Main guide rail 21 Transfer guide rail 23 Transfer point 25 Secondary track 27 Parking rail 29 Secondary guide rail 31 Receiving guide rail 33 Rail 35 Running element

Claims

1. A transport system (10), in particular a multi-carrier system, comprising a plurality of linear motors (11), which are arranged in a row and have at least one guide rail (17) that defines a path (13), and at least one transport element (15a, 15b) which can be moved by the linear motors (11) in a first direction (x) along the path (13), wherein the guide rail (17) has a guide structure, which cooperates with the transport element (15a, 15b), for guiding the movement of the transport element (15a, 15b) in the first direction (x) and for absorbing forces acting on the transport element (15a, 15b) transversely to the first direction (x), and that the guide structure is at least partly interrupted at at least one transfer point (23) along the path (13) so that a movement of the transport element (15a, 15b) is enabled in a second direction (z) orthogonal to the first direction (x) and the transport element (15a, 15b) can be moved in the second direction (z) by the guide rail (17) and / or the linear motors (11) for a transfer from the path (13) to a secondary path (25) or to a placement rail (27), characterized in that the guide rail (17) has at least one main guide rail (19) for absorbing forces in the second direction (z) by means of the guide structure and at least one transfer guide rail (21) for absorbing forces in the second direction (z) by means of the guide structure, with the guide structure of the main guide rail (19) being interrupted at the transfer point (23).

2. A transport system (10) according to claim 1, characterized in that at least one of the main guide rail (19) and the transfer guide rail (21) is configured to absorb forces in a third direction (y), which is orthogonal to the first direction (x) and the second direction (z), by means of the guide structure.

3. A transport system (10) according to claim 1 or 2, characterized in that the transfer guide rail (21) can be moved or inclined at least at the transfer point (23) for moving the transport element (15a, 15b) in the second direction (z).

4. A transport system (10) according to any one of the preceding claims, characterized by a secondary path (25), which is arranged at the transfer point (23) and defined by a secondary guide rail (29), or by a placement rail (27) which is suitable for being arranged at the transfer point (23).

5. A transport system (10) according to claim 4, characterized in that the placement rail (27) is suitable for being positioned at the transfer point (23) or moved away from the transfer point (23), in particular by means of a gripper arm.

6. A transport system (10) according to claim 4 or 5, characterized in that the secondary guide rail (29) has a pick-up guide rail (31) which can be moved or inclined in the second direction (z).

7. A transport system (10) according to any one of the preceding claims, characterized in that the transport element (15b) is provided with running elements (35) which cooperate with the guide structure, with all the running elements (35) being arranged at a side of the transport element (15b) facing the guide rail (17).

8. A method for transferring a transport element (15a, 15b) from a path (13) defined by a guide rail (17) of a transport system (10) to a secondary path (25) or to a placement rail (27), wherein the transport system (10) has a plurality of linear motors (11), which are arranged in a row and comprise the guide rail (17), and the transport element (15a, 15b) which can be moved by the linear motors (11) in a first direction (x) along the path (13), wherein the guide rail (17) has a guide structure, which cooperates with the transport element (15a, 15b), for guiding the movement of the transport element (15a, 15b) in the first direction (x) and for absorbing forces acting on the transport element (15a, 15b) transversely to the first direction (x), wherein the guide structure is at least partly interrupted at at least one transfer point (23) along the path (13) so that a movement of the transport element (15a, 15b) in a second direction (z) orthogonal to the first direction (x) is enabled and the transport element (15a, 15b) can be moved in the second direction (z) for a transfer from the path (13) to the secondary path (25) or to the placement rail (27), characterized in that the guide rail (17) has at least one main guide rail (19) for absorbing forces in the second direction (z) by means of the guide structure and at least one transfer guide rail (21) for absorbing forces in the second direction (z) by means of the guide structure, with the guide structure of the main guide rail (19) being interrupted at the transfer point (23), wherein the method comprises: - moving the transport element (15a, 15b) in the first direction (x) to the transfer point (23), and - moving the transport element (15a, 15b) in the second direction (z) to transfer the transport element (15a, 15b) to the secondary path (25) or to the placement rail (27).

9. A method according to claim 8, characterized in that the transport element (15a, 15b) is moved in the second direction (z) by the guide rail (17) and / or the linear motors (11).

10. A method according to claim 8 or 9, characterized in that the transfer guide rail (21) can be moved or inclined in the second direction (z) at least at the transfer point (23), wherein the method further comprises that the transfer guide rail (21) is moved or inclined at least at the transfer point (23) for moving the transport element (15a, 15b) in the second direction (z).

11. A method according to any one of the claims 8 to 10, characterized in that the transport element (15a, 15b) is moved in the first direction (x) after the movement in the second direction (z) in order to enter into guiding engagement with a secondary guide rail (29) of the secondary path (25) or with the placement rail (27).

12. A method according to claim 11, characterized in that the secondary guide rail (29) has a pick-up guide rail (31) which can be moved or inclined in the second direction (z), with the method further comprising moving or inclining the pick-up guide rail (31) to take over the transport element (15a, 15b).

13. A method according to any one of the claims 8 to 12, characterized by positioning the placement rail (27) at the transfer point (23) or moving the placement rail (27) away from the transfer point (23), in particular by means of a gripper arm.