Conveying system

Abstract

The present invention provides, in a simple and cost-effective manner, improved operational safety and enhanced safety features, particularly for user interaction. [Solution] The present invention relates to an electromagnetic transport system (1) which is either in the form of a long stator linear motor or a planar motor, comprising a stationary part or stator (2) composed of at least two or more stator segments (21, 22, 2i), and at least one movable part or shuttle (3, 3i) that is movable relative to the stator (2) along a transport path. A magnet unit (4, 4i) is disposed on at least one shuttle (3, 3i), and this magnet unit (4, 4i) electromagnetically interacts with a magnetic element disposed on the stator (2) to move the shuttle (3, 3i) in at least one direction of movement (T) along the transport path.

Description

[Technical Field]

[0001] The present invention relates generally to the field of plant engineering, and more particularly to the field of automation technology. The present invention relates to an electromagnetic transport system comprising a stationary part or stator consisting of at least two or more stator segments, and at least one movable part or shuttle that is movable relative to the stator along a transport path, wherein a magnetic unit is disposed on at least one shuttle, and the magnetic unit of at least one shuttle electromagnetically interacts with a magnetic element disposed on the stator to move the shuttle in at least one direction of movement along the transport path. [Background technology]

[0002] Today, most modern manufacturing and production facilities require the use of conveying equipment to move parts, workpieces, products, etc., between individual handling and production stations. Various conveying and transporting devices are used for conveying parts, workpieces, products, etc. Conventional conveying systems, such as continuous conveyors, chain conveyors, or conveyor belts, in different designs, can be used to convey and / or transport parts, products, or workpieces. These conventional conveying systems typically convert the rotational motion of an electric drive into linear motion, such as a chain or belt. However, the flexibility of conventional conveying systems is significantly limited, and in particular, individual conveying of a single conveying unit is impossible. Therefore, electromagnetic conveying systems in the form of long stator linear motors (LLMs) and / or planar motors (PMs) have become more frequently used to meet the requirements of modern and flexible conveying equipment in manufacturing and production facilities.

[0003] Long stator linear motors and planar motors, as well as their applications and operating modes, are well known from the current technical status. Both motors—long stator linear motors and planar motors—compose a movable part, also called a transport unit or shuttle, and a stationary part (stator), wherein at least one shuttle is moved relative to the stationary part by a magnetic field interacting in at least one direction of movement. For this purpose, a magnetic unit comprising either an electromagnet or a permanent magnet is placed on one of these parts, for example, on the shuttle. The magnetic unit interacts with a magnetic element on the other part (e.g., the stator), for example, a magnetic field generated by an energized drive coil, to generate a thrust. When a voltage is applied to the drive coil, a magnetic field is generated, which interacts with the magnetic field of the magnetic unit, thereby generating a force that moves the shuttle. The moving magnetic field is generated by appropriate control of the energization of the drive coil to move the shuttle in a transport plane or along a predetermined path along a transport trajectory.

[0004] A linear motor with a long stator generally comprises a stator, which is typically composed of many stator segments. The drive coils are usually positioned on the stator or on the stator segments in a fixed position relative to each other. The stator segments may have different geometric shapes (e.g., straight lines, curves, trajectory switching, etc.) and can be assembled into a desired stator by appropriately aligning the stator segments. The stator or several stator segments then form a transport trajectory or transport path along which at least one shuttle, usually several shuttles, are moved. For this purpose, several drive magnets, which constitute a magnet unit, are positioned on the shuttles, and the magnetic field of the magnet unit interacts with the electromagnetic field generated by energizing the drive coils of the stator. LLMs are known from, for example, WO2013 / 143783A1 or US2013 / 0074724A1.

[0005] Planar motors, used in processes requiring complex motion profiles, such as production or transport processes, also have a stator, similar to a long-stator linear motor. However, the stator or stator segments of a planar motor form a transport plane, within which one or more shuttles can move at least two-dimensionally. The drive coils of the planar motor are therefore located within the transport plane, and in some embodiments, within several planes. A driving force acting on the shuttle is generated, for example, along a transport path within the transport plane, to move the shuttle. For this purpose, for example, a magnetic field generated by the shuttle's magnet unit interacts appropriately with the stator's magnetic field generated by energizing the drive coils. For example, US9,202,719B2 or WO2019 / 129576A1 disclose the basic structure and operating modes of planar motors.

[0006] The basic motor principles of long-stator linear motors and planar motors are well known, so there is no need to explain them in further detail here.

[0007] Electromagnetic conveying systems are increasingly used in production lines today, and the shuttles of these systems are primarily used to move different objects (e.g., cargo, parts, products, workpieces, or packaging units such as bottles, containers, etc.) between different workstations on the production line. While many handling interactions with objects conveyed by shuttles can be performed at the workstations, mainly by robots, certain handling interactions, such as manual assembly of products or workpieces, product inspection, or manual loading of products, require user interaction. Since the shuttles move at high speed, with high force and / or high torque, with minimal friction, along a conveying path provided by the stator or stator segments of the conveying system, these shuttles can pose a high risk of injury to individuals approaching the electromagnetic conveying system. Therefore, a safety zone may be established, and it is necessary to ensure that when a user enters the designated safety zone, the moving shuttle does not pose a danger and the user is protected from injury.

[0008] Therefore, electromagnetic transport systems are often enclosed by enclosures such as protective grates, housings, etc., to prevent unintentional, unpredictable, or even unauthorized access by individuals. However, even with enclosed electromagnetic transport systems, users may need to access the system when performing setup and / or maintenance work. Therefore, enclosures often have protective doors to provide access.

[0009] However, a particularly serious drawback is that these protective doors negate the actual protection provided by the enclosure, meaning that opening the corresponding protective door poses a high risk of injury to individuals, as before. If a user opens a protective door, the safety circuit implemented in the transport system may shut off the power to the transport system, resulting in the cessation of all shuttles and a disruption of production. Furthermore, such enclosures can lead to increased space requirements for the transport system, necessitating more components and thus increasing the cost of constructing and implementing the electromagnetic transport system.

[0010] Certain basic safety features may also be implemented in electromagnetic conveying systems to meet specific safety requirements. Safety features, or safety-related features (in the sense of functional safety), are typically functions of drive units in automation systems, such as electromagnetic conveying systems. Safety features implemented in drive units or drive systems of automation systems ensure safe operation, prevent injury to people and machines, and can be summarized as safe motion functionality. In this context, "safety" and "safe" always refer to functional safety or certainty, ensuring that certain functions can be guaranteed with sufficient reliability, depending on the relevant safety requirements imposed. Depending on the type and use of the automation system, these requirements are assigned to corresponding safety requirement levels (e.g., Safety Integrity Levels (SIL)), each of which may have different safety requirements imposed. The definition of the above requirements can be found in the international IEC 61508 standard series, where IEC 61508 defines (functional) safety as "the portion of the overall safety of EUCs (controlled equipment) and EUC control systems that depends on the normal functioning of E / E / PE safety-related systems, other technical safety-related systems, and external risk mitigation equipment." The basic concept is that any safety-related system must function normally or fail only in a predictable (safe) manner.

[0011] One of the most common safety features typically implemented in electromagnetic transport systems is safety pulse suppression, also known as the "Safe Torque Off function" or "STO function." The purpose of the STO function is to switch off the electric drive without torque. Its purpose is to ensure that the electric drive does not continue to receive any current that could lead to rotational motion. Thus, the STO function ensures that no torque-forming current can continue to act on the electric drive, and that continuous rotational motion or undesirable starting is prevented. Naturally, this also applies equally to driving linear motors and their linear motion. In electromagnetic transport systems, for example, implementing the STO function requires safely interrupting the energy supply to the drive coils of, for example, the stator or at least one stator segment in the event of a failure or danger. A shuttle moving on the stator or each stator segment will stop moving due to the loss of energy supply to the drive coils.

[0012] In addition to or as an alternative to enclosures, basic safety features such as STO (Stop-to-Stop) functions may be implemented in electromagnetic transport systems, particularly in the control unit of the system. STO functions can be triggered, for example, if a user or unauthorized person enters the safe area of ​​the electromagnetic transport system, or when user interaction with the electromagnetic system is required. However, because the shuttle has very high torque with minimal friction, the braking characteristics within the system are very low in the case of energy release such as the STO function. This results in long braking distances, uncontrollable stopping positions of the shuttle, and, in some cases, uncontrollable movement of the shuttle before stopping, which poses a risk of injury to people. Furthermore, if the energy supply of the electromagnetic transport system or at least a part thereof must be switched off, particularly to provide user interaction with individual shuttles, this can also lead to a reduction in the productivity of the electromagnetic transport system and the entire production line in which it is used. [Overview of the Initiative]

[0013] Against this backdrop, the present invention is based on the task of providing an electromagnetic transport system, particularly in the form of a long stator linear motor and / or planar motor, that provides improved operational safety and enhanced safety features, in order to provide user interaction, in a simple and cost-effective manner.

[0014] These and other objectives are addressed by the electromagnetic transport system according to the independent claims of this application. Advantageous embodiments of the present invention are described by the dependent claims of this application.

[0015] According to the present invention, these and other objectives are achieved by an electromagnetic transport system having a stationary part or stator comprising at least two or more stator segments, and at least one movable part or shuttle that is movable relative to the stator along a transport path, wherein a magnet unit is located on at least one shuttle, and the magnet unit of at least one shuttle electromagnetically interacts with a magnetic element located on the stator to move the shuttle in at least one direction of movement along the transport path. The transport system comprises at least one conventional transport device replacing at least one of the stator segments along the transport path, the at least one conventional transport device comprising at least a drive unit and transport means, the drive unit driving and controlling the transport means using safety functions to satisfy predetermined safety requirements, and wherever the conventional transport device replaces at least one stator segment, the transport means of the conventional transport device interacts with at least one shuttle so that at least one shuttle moves with the movement of the transport means, thereby safety functions are applied to at least one shuttle and the energy that can be supplied by at least one shuttle is limited.

[0016] A key aspect of the present invention is that safety functions implemented in conventional conveying devices, particularly in the drive unit, can be applied to the shuttle, thus providing safety operation functions through the electromagnetic conveying system. Safety operation functions are a collection of safety features or safety-related features (in the sense of functional safety) that ensure safe operation, prevent injury to people and machinery, and thus meet predetermined safety requirements. This allows users to interact with the electromagnetic conveying system, and in particular with individual shuttles, at least within the domain of conventional conveying systems. For users, necessary interactions, such as manual assembly of products or workpieces, product inspection, manual loading of products, etc., can be performed without stopping the shuttle's operation. This improves the productivity of the conveying system while still maintaining high safety standards. Additionally, enclosures or protective grates may be unnecessary, particularly in areas where the stator segments of the conveying system are replaced by conventional conveying devices. This reduces the construction and implementation costs of the electromagnetic conveying system.

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

[0018] It is advantageous if at least one shuttle interacts with the transport by friction and / or magnetic attraction between the ferromagnetic material and at least one magnetic unit of the shuttle. When there is contact between the shuttle and the transport, after the shuttle is moved to a conventional transport device, the shuttle can adapt fairly easily to the movement of the transport (e.g., speed, direction of movement, etc.) due to the friction acting between the shuttle and the transport. If the transport has an embedded ferromagnetic material, the magnetic attraction between the ferromagnetic material and the magnetic unit of the shuttle further supports the interaction, and safety features can be applied to the shuttle more quickly.

[0019] Alternatively, at least one shuttle may interact with the transport means solely by the magnetic attraction force generated between the ferromagnetic material and at least one magnetic unit of the shuttle. This is particularly true when there is no contact between the transport means and the shuttle, for example, by guide elements on the shuttle and / or route guide elements positioned along the stator of the transport system that are not interrupted in the area of ​​the conventional transport device. The magnetic attraction force generated between the ferromagnetic material and at least one magnetic unit of the shuttle has the effect that the shuttle interacts with the transport means and, for example, adapts to the movement of the transport means (e.g., speed, direction of movement, etc.) to apply safety features implemented in conventional transport systems to the shuttle as well. Therefore, the combined use of the magnetic attraction force generated between the ferromagnetic material and at least one magnetic unit of the shuttle and the safety operating functions of the drive unit of a conventional transport device can be used even if there is no contact between the shuttle and the transport means.

[0020] In preferred embodiments, the conventional conveying system is designed as a continuous conveyor, particularly as a belt conveyor or chain conveyor. The continuous conveyor can easily replace at least one stator segment and is therefore easily incorporated into an electromagnetic conveying system. Furthermore, the continuous conveyor may include a drive unit with safety features implemented to provide safe operation. Ideally, the conveying means is designed as a conveyor belt or conveyor chain, particularly as a modular conveyor belt or conveyor chain made of plastic. Ferromagnetic materials can be easily embedded in plastic conveyor belts. If the conveyor belt is designed as a modular plastic conveyor belt, ferromagnetic materials designed as ferromagnetic elements can be embedded in these modules forming the conveyor belt.

[0021] In a preferred embodiment of the electromagnetic transport system, safety features implemented in the drive unit of a conventional transport device and applicable to the shuttle satisfy the safety requirements specified in the international IEC 61508 series of standards. Thus, these requirements can be assigned to the corresponding safety requirement level (e.g., Safety Integrity Level (SIL)), ensuring that the electromagnetic transport system functions normally or fails only in a predictable (safe) manner in the area where user interaction occurs.

[0022] Furthermore, it is advantageous if the safety functions implemented in the drive unit of the conventional conveying device include at least the safety functions defined in the standard IEC61800-5-2:2016, such as Safe Torque Off (STO), Safe Limited Speed (SLS), Safe Direction (SD), Safe Limited Torque (SLT), and Safe Limited Acceleration (SLA). Further safety functions defined in IEC61800-5-2:2016 include, for example, Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safe Operation Stop (SOS), Save Speed Monitor (SSM), Save Speed Range (SSR), Safe Limited Position (SLP), Safe Position (SP), or functions such as Safe Brake Control, Safe Brake Test (SBC, SBT). One or more of these safety functions can also be implemented in the drive unit and are thus applicable to the shuttle. All of these safety functions are provided to ensure the safe operation of the electric drive unit and prevent damage to personnel and machinery. Depending on the use of the drive unit, these can be assigned to different safety requirement levels, with fewer, more, or, in some cases, different safety requirements imposed on them.

[0023] Additionally, the electromagnetic conveying system is designed as a long stator linear motor and / or a planar motor. Both long stator linear motors and planar motors are often used in production lines and can also provide user interaction in the area defined by the present invention.

[0024] The present invention will be described in more detail below, by referring to FIGS. 1 to 3b which show schematic and non-limiting advantageous embodiments of the present invention as examples.

Brief Description of the Drawings

[0025] [Figure 1] FIG. 1 shows an electromagnetic conveying system in the form of a long stator linear motor according to the present invention having a safety function, from the perspective of a top view. [Figure 2] FIG. 2 shows an electromagnetic conveying system in the form of a planar motor according to the present invention having a safety function, from the perspective of a top view. [Figure 3a] FIG. 3a shows a possible interaction between the shuttle of the electromagnetic conveying system according to the present invention and the conveying means of a conventional conveying device. [Figure 3b] FIG. 3b shows another possible interaction between the shuttle of the electromagnetic conveying system according to the present invention and the conveying means of a conventional conveying device.

Embodiments for Carrying Out the Invention

[0026] Figure 1 shows, for example, an electromagnetic transport system 1 in the form of a long stator linear motor (LLM). The electromagnetic transport system 1 comprises a stationary part 2 or stator 2 and at least one movable part 3, 3i or shuttle 3, 3i. The stator 2 is typically composed of at least two, and usually many, stator segments 21, 22, 2i. The movable part 3, 3i or shuttle 3, 3i can be moved relative to the (stationary) stator 2 by interacting magnetic fields. For this purpose, drive coils are arranged on the stator 2, but are not shown in Figure 1. In the case of the electromagnetic transport system 1 in the form of a long stator linear motor (as shown in Figure 1), the drive coils are arranged adjacent to each other in the direction of movement T of the individual shuttles 3, 3i. The stator 2 forms a transport trajectory and thus predefines a transport path, along which the shuttles 3, 3i can be moved, for example, in the direction of movement T. In Figure 1, the transport path predefined by the stator 2 or stator segments 21, 22, 2i is, for example, in the form of a closed transport path. Furthermore, the electromagnetic transport system 1 in the form of an LLM may have route guide elements 9 (not shown in Figure 1) that interact with guide elements 10 (not shown in Figure 1) of the shuttles 3, 3i. The guide elements 10 of the shuttles 3, 3i may be designed as rollers, wheels, sliding elements, guide surfaces, or sliding surfaces, etc., and so the route guide elements 9 must be designed so that each guide element 10 can be guided within them.

[0027] Each shuttle 3, 3i is equipped with a magnet unit 4, 4i having multiple drive magnets. When the drive coil of the stator 2 is energized (by applying voltage) within the range of each shuttle 3i, for example under the control of a control unit (not shown in Figure 1), a drive magnetic field is generated, and this drive magnetic field interacts with the magnetic field of the magnet unit 4i of each shuttle 3i. Thus, a propulsive force is generated that drives each shuttle 3i and moves it along a predetermined transport path formed by the stator 2 or stator segment 2i. Normally, permanent magnets are used as the drive magnets for the shuttles 3, 3i, but electromagnets can also be used. When electromagnets are used as drive magnets, permanent magnets may be provided on the fixed part 2 of the transport system 1 instead of the drive coil 4. The motor principle of the long stator linear motor is well known and will not be described in detail here.

[0028] Furthermore, as illustrated in Figure 1, an embodiment of the electromagnetic transport system 1 or LLM includes at least one conventional transport device 5 that replaces at least one stator segment 2i. The conventional transport device 5 is positioned, for example, between a first stator segment 21 and a second stator segment 22 along a predetermined transport path. When shuttles 3, 3i are moving along the transport path of the transport system 1, for example, shuttles 3 are transported, for example, from the first stator segment 21 to the conventional transport device 5, and from the conventional transport device 5 to the second stator segment 22, depending on the direction T of movement of shuttles 3, 3i on the stator 2. That is, between the two stator segments, the exemplary shuttle 3 is transported by the conventional transport device 5.

[0029] A conventional transport device 5 comprises at least a drive unit 6 or drive system 6 and a transport means 7. The drive unit 6 or drive system 6 drives and controls the transport means 7. Accordingly, the drive unit 6 comprises a drive element 61 and a motor unit 62 (e.g., an electric motor) coupled to the drive element 61 by, for example, a drive shaft, thereby generating rotational motion R of the drive element 61, and thus enabling linear movement M of the transport means 7. Thus, the rotational motion R of the drive shaft and drive element 61 driven by the motor unit 62 is converted into linear movement M of the transport means 7. Furthermore, the drive unit 6 may include a control unit 63, which monitors and controls the motor unit 62, and in doing so, also monitors and controls the movement M of the transport means 7.

[0030] Conventional conveying devices 5 are designed, for example, as a continuous conveyor or a belt conveyor. The transport means 7 is, for example, a conveyor belt or conveyor chain made of plastic. In particular, the transport means 7 may consist of connected modules that form a conveyor belt or chain for moving the shuttle 3. In a preferred embodiment, the transport means 7 may also include a ferromagnetic material 8 (e.g., steel, iron, cobalt, nickel, etc.). The ferromagnetic material 8 may be embedded in the transport means 7, for example. If the transport means 7 consists of connected plastic modules, the ferromagnetic material 8 may be designed in the form of ferromagnetic elements 8 embedded in the modules of the transport means 7, as illustrated in Figures 3a and 3b.

[0031] The drive unit 6 implements safety functions, which are typically monitored and performed by the control unit 63 and can trigger defined actions, such as issuing warnings, transitioning the system to a safe operating state, reducing or limiting motor speed, supplying energy in a controlled manner, or stopping the system. These safety functions are used to ensure that the movement of the conventional conveying device 5, mainly the transport means 7, is safe and meets predetermined safety requirements to prevent injury to people and machinery. The set of safety functions implemented is obtained as safe operating functions. In this context, "safety" and "safe" always refer to functional safety or certainty, which should ensure that certain functions can be guaranteed with sufficient reliability, depending on the relevant safety requirements imposed. These requirements can be assigned to corresponding safety requirement levels (e.g., Safety Integrity Level (SIL)), each with different safety requirements imposed. Definitions of the above requirements can be found, for example, in the international IEC 61508 standard series. Therefore, the drive unit 6 or drive system 6 of the conventional conveying device 5 must incorporate certain safety functions in order to satisfy predetermined safety requirements and provide safe operation functions. Safety functions that can be implemented or incorporated in the drive unit 6, in particular the control unit 63 of the drive unit 6, are specified in the standard IEC61800-5-2:2016, which includes safety functions such as safe torque off (STO), safe speed limit (SLS), safe direction (SD), safe torque limit (SLT), safe acceleration limit (SLA), etc., to provide safe operation and movement of the conveying means 7, which also enables user interaction, thereby eliminating the need for enclosures or protective grates in the area of ​​the conventional conveying device 5. For example, SLS is a safety function used to monitor a defined speed limit of the drive unit and / or conveying means, and when it is observed, it triggers a predetermined action such as transitioning the system to a safe operation state or stopping the system in a safe manner in the event of a failure. For example, SLT is a frequently used safety feature that prevents the drive unit from exceeding a predetermined torque, or, in the case of an electromagnetic transport system 1 based on a linear motor, from exceeding a specified force.For example, SD ensures that the drive unit can move only in a defined direction and can trigger a predetermined action, such as transitioning the system to a safe operating state or stopping the system in a safe manner in the event of a failure. For example, SLA is a safety feature that prevents the motor unit 62 from accelerating or decelerating excessively rapidly and triggers, for example, STO when the acceleration exceeds a predetermined limit. The standard IEC61800-5-2:2016 specifies further safety features, such as the following:

[0032] During the operation of the electromagnetic conveying system 1 or LLM, the shuttles 3, 3i move along the conveying path formed by the stator 2. The shuttle 3 moves from the first stator segment 21 to the conveying means 7 of the conventional conveying device 5, which replaces at least one stator segment 2i. Upon moving from the first stator segment 21 to the conveying means 7, interaction between the shuttle 3 and the conveying means 7 of the conventional conveying device 5 begins. Possible embodiments of the interaction between the shuttle 3 and the conveyor 7 will be described in detail later with reference to Figures 3a and 3b. The interaction between the shuttle 3 and the conveying means 7 connects the shuttle 3 and the conveying means 7 to form a unit. Thus, safety features of the conventional conveying device 5, implemented or incorporated in the drive unit 6, may also apply to the shuttle 3, limiting the energy that can be supplied by the shuttle 3.

[0033] Figure 2 shows, from a top view, an electromagnetic transport system 1 in the form of, for example, a planar motor (PM). The stator 2 of the electromagnetic transport system 1 in the form of a PM comprises at least one stator segment 2i. Typically, the stator 2 comprises two or more stator segments 2i that can be connected in substantially any pattern required for each application of the PM. The stator 2 of the electromagnetic transport system 1 or PM forms a transport plane. In the example shown in Figure 2, the transport plane is, for example, a horizontal plane. However, other arrangements, such as a vertical one, and / or an arrangement in which the transport plane is inclined at a certain angle, are of course possible. Essentially, the arrangement of the transport plane depends on each use and application area of ​​the transport system 1.

[0034] At least one shuttle 3, 3i is moved two-dimensionally along a transport path on a transport plane by, for example, an interacting magnetic field. For this purpose, the stator 2 is equipped with magnetic elements such as drive coils, which are arranged in groups in a plane on the stator 2 and determine the direction T of movement of the shuttles 3, 3i on the transport plane. Similar to the transport system 1 in the form of an LLM, each shuttle 3, 3i is equipped with magnetic units 4, 4i, which are not visible in Figure 2 from this viewpoint. To move the shuttles 3, 3i along a transport path on the transport plane, the drive coils are energized accordingly, and the resulting magnetic field interacts with the magnetic units 4, 4i of each shuttle 3, 3i so that the shuttles 3, 3i are moved on the transport plane along a transport path which can be determined by energizing the drive coils. The motor principle of planar motors is also well known and will not be described in detail here.

[0035] Furthermore, as illustrated in Figure 2, embodiments of the electromagnetic conveying system 1 or PM include at least one conventional conveying device 5, 5i, in particular a continuous conveyor or a belt conveyor. At least one conventional conveying device 5, 5i replaces at least one stator segment 2i of the PM. In the examples shown, there are several conventional conveying devices 5, 5i that replace stator segments 2i. These conventional conveying devices 5, 5i are located between stator segments 21, 22, 2i—for example, a conventional conveying device 5 is located between the first stator segment 21 and the second stator segment 22 of the planar motor.

[0036] Conventional conveying devices 5 also include a drive unit 6 that drives and controls the conveying means 7. The conveying means 7 is, for example, a conveyor belt or conveyor chain and may be made of plastic. In particular, the conveying means 7 may be modular, consisting of interconnected plastic modules. In a preferred embodiment, the conveying means 7 may also include a ferromagnetic material 8 (e.g., steel, iron, cobalt, nickel, etc.) embedded in the conveying means 7.

[0037] Furthermore, as illustrated in Figure 1, the drive unit 6 may comprise a drive element 61 and a motor unit 62 (e.g., an electric motor) coupled to the drive element 61 by a drive shaft to linearly drive the transport means 7 in the direction of movement M, thereby implementing safety functions. The safety functions are used so that the movement of the conventional transport device 5, mainly the transport means 7, satisfies predetermined safety requirements during operation, which ensures the safe operation of the transport device 5 and prevents injury to people and machinery. Similar to the electromagnetic transport system 1 in the LLM form according to the present invention, the electromagnetic transport system 1 in the PM form according to the present invention also comprises at least one conventional transport device 5 having a drive unit 6 or drive system 6 that provides safe operation functions, which have certain safety functions incorporated to satisfy predetermined safety requirements. Safety features that may be implemented or incorporated into the drive unit 6, particularly the control unit 63 of the drive unit 6, may include, for example, safety torque off (STO), safety speed limit (SLS), safety direction (SD), safety torque limit (SLT), safety acceleration limit (SLA), etc., as specified in the standard IEC61800-5-2:2016. These implemented safety features provide safe operation and movement of the transport means 7, which also enables user interaction, thereby eliminating the need for enclosures or protective grates in the area of ​​conventional transport devices 5. For example, SLS, such as safety stop 1 (SS1), safety stop 2 (SS2), safety operation stop (SOS), safety speed monitoring (SSM), safety speed range (SSR), safety position limit (SLP), safety position (SP), or safety brake control, safety brake test (SBC, SBT), may also be implemented in the drive unit 6 as needed.

[0038] For example, while the shuttle 3 is moving along the transport path in direction T on the transport plane of the transport system 1, the shuttle 3 may also be transported from the first stator segment 21 to the conventional transport device 5, and from the conventional transport device 5 to the second stator segment 22, for example, by the movement M of the conventional transport device 5. That is, between the two stator segments, the exemplary shuttle 3 is moved by the conventional transport device 5. When the shuttle 3 moves onto the transport means 7 of the conventional transport device 5 that replaces at least one stator segment 2i (for example, by sliding onto it), interaction between the shuttle 3 and the transport means begins, thereby connecting the shuttle 3 and the transport means 7. Thus, the shuttle 3 and the transport means 7 form a unit, and the safety features of the conventional transport device 5, which is mounted or incorporated into the drive unit 6, may also apply to the shuttle 3, limiting the energy that can be supplied by the shuttle 3.

[0039] Figure 3a illustrates possible interactions between the shuttle 3 of the electromagnetic transport system 1 and the transport means 7 of a conventional transport device 5 that replaces at least one stator segment 2i. Figure 3a shows two exemplary stator segments 21, 22, either LLM of Figure 1 from a top view or PM of Figure 2 from a side view. The conventional transport device 5 is positioned between the first stator segment 21 and the second stator segment 22. The conventional transport device 5 comprises a drive unit 6 and the transport means 7. The drive unit 6 comprises, for example, a motor unit 62 for driving a drive element 61 via a drift shaft to drive the transport means 7, and a control unit 63 for controlling the movement of the transport means 7. Furthermore, the drive unit 6 implements safety functions that meet predetermined safety requirements and therefore provides safe operation functions.

[0040] During the operation of the transport system 1, the shuttle 3 moves on the stator 2 of the transport system 1 at high speed, high force, and low friction, for example, along a transport path in the direction of movement T, due to the air gap between the stator surface and the shuttle 3. The movement of the shuttle 3 is due to the interaction between the magnetic unit 4 of the shuttle 3 and the electromagnetic field of the energized drive coils of the stator 2 or stator segments 21, 22. When moving from the first stator segment 21 to the conventional transport device 5, the shuttle 3 slides onto the transport means 7 of the conventional transport device 5 and begins to interact with the transport means 7.

[0041] In the simplest embodiment (not shown in Figures 3a and 3b), the transport means 7 is made of plastic material only. Since there is no electromagnetic field in the transport means 7, in the simplest embodiment, the shuttle 3 is subjected to friction F between the shuttle 3 and the transport means 7. F It interacts with the conveying means. The friction F is affected by the coefficient of friction. F As a result, the shuttle 3 adapts to the movement of the transport means 7, for example, in terms of speed, direction of movement M, acceleration, deceleration, etc., thereby limiting the energy that can be supplied by the shuttle 3, and allowing the safety functions of the conventional transport device 5 to be applied to the shuttle 3.

[0042] In a preferred embodiment of the present invention, the conveyor means may comprise a ferromagnetic material 8 (e.g., steel, iron, cobalt, nickel, etc.). The ferromagnetic material 8 may be embedded, for example, in the transport means 7. If the transport means 7 consists of interconnected plastic modules, the ferromagnetic material 8 may be designed in the form of a ferromagnetic element 8 embedded in the modules of the transport means 7, as illustrated in Figures 3a and 3b.

[0043] When the shuttle 3 slides onto the transport means 7, the shuttle 3 experiences friction F F In addition to interacting with the transport means 7, the magnetic attractive force F A It also interacts with the transport means 7. Magnetic attraction force F AIt results from the temporary induced magnetization of the ferromagnetic material 8 of the conveying means 7 by the magnets of the magnet unit 4 of the shuttle 3. Therefore, the interaction between the shuttle 3 and the conveying means 7 is the combination of the friction F F between the shuttle 3 and the conveying means 7 and the magnetic attraction force F A This has the effect that the shuttle 3 adapts to the movement of the conveying means 7 in terms of, for example, speed, moving direction M, acceleration, deceleration, etc. The movement of the conveying means 7 (for example, speed, acceleration, deceleration, moving direction M, etc.) is defined by the rotational movement R of the driving element 61 that is driven by the motor unit 62 of the driving unit 6 and controlled by the control unit 63 of the driving unit 6. The shuttle 3 and the conveying means 7 are connected by their interaction due to the friction F F between the shuttle 3 and the conveying means 7 and the magnetic attraction force F A So, the safety functions of the conventional conveying device 5 implemented or incorporated in the driving unit 6 can also be applied to the shuttle 3, and the energy that can be supplied by the shuttle 3 is limited. Therefore, the interaction between the shuttle and the conveying means 7 of the conventional conveying device 5 provides the safety operating function of the shuttle 3. That is, the shuttle 3 also meets the predetermined safety requirements, which ensures safe operation and enables user interaction with the shuttle 3 during the operation of the electromagnetic conveying system 1. For example, the user can perform handling operations such as manually loading and unloading the shuttle 3, manually assembling the objects conveyed by the shuttle 3, product inspection, etc., for example, when the shuttle 3 is still moving.

[0044] Figure 3b illustrates another possible interaction between the shuttle 3 of the electromagnetic conveying system 1 and the transport means 7 of a conventional conveying device 5 that replaces at least one stator segment 2i. In Figure 3b, a section comprising two exemplary stator segments 21, 22 of the electromagnetic conveying system 1 in the form of an LLM as shown in Figure 1 is shown, for example, from a top view perspective. The conveying system 1 includes a route guide element 9, which is also provided in the area of ​​the conventional conveying device 5, for example. The route guide element 9 interacts with the guide element 10 of the shuttle 3. The guide element 10 of the shuttles 3, 3i may be designed as rollers, wheels, sliding elements, guide surfaces, or sliding surfaces, etc., so that the route guide element 9 must be designed so that each guide element 10 can be guided therein.

[0045] The conventional conveying device 5 is positioned between the first stator segment 21 and the second stator segment 22, as also shown in Figure 3a. The conventional conveying device 5 comprises a transporting means 7 and a drive unit 6, the drive unit 6 comprising, for example, a motor unit 62 for driving a drive element 61 via a drift shaft to drive the transporting means 7, and a control unit 63 for controlling the movement of the transporting means 7. Furthermore, the drive unit 6 implements safety functions that meet predetermined safety requirements and therefore provides safe operation functions.

[0046] The route guidance element 9 and the guide element 10 of the shuttle 3 ensure that the shuttle 3 does not come into contact with the transport means 7 when it is moved from the first stator segment 21 to the conventional transport device 5. That is, there is a gap 11 between the shuttle 3 and the transport means 7, which is determined, for example, by the route guidance element 9 and the guide element 10 of the shuttle 3. Since the conveyor means is equipped with a ferromagnetic material 8 (e.g., steel, iron, cobalt, nickel, etc.), when the shuttle 3 is moved near the transport means—for example, when moving from the first stator segment 21 to the conventional transport device 5—a magnetic attractive force F arises from the temporary induced magnetization of the ferromagnetic material 8 of the transport means 7 by the magnets of the magnet unit 4 of the shuttle 3. AThis occurs. In this case, shuttle 3 is affected by the magnetic attraction force F that is generated. A This will cause the shuttle 3 to interact with the transport means 7. The shuttle 3 is attracted by the magnetic force F A It is connected to the conventional transport device 5 and transport means 7. That is, the shuttle 3 interacts with the transport means 7 and is attracted by a magnetic force F A This adapts to the movement of the transport means 7 (e.g., speed, acceleration, deceleration, direction of movement M, etc.). Accordingly, the safety functions of the conventional transport device 5 implemented or incorporated into the drive unit 6 can also be applied to the shuttle 3, limiting the energy that can be supplied by the shuttle 3. The safe operation function is thus provided to the shuttle 3, and the shuttle 3 also meets the specified safety requirements, which ensures safe operation and allows user interaction with the shuttle 3 during the operation of the electromagnetic transport system 1.

[0047] [Reference sign] 1. Electromagnetic conveying system 2 Stator 21, 22, 2i stator segments 3, 3i Shuttle 4, 4i Magnetic Unit 5.5i Conventional conveying equipment 6 Drive Unit 61 Drive element 62 Motor Unit 63 Control Unit 7. Means of transport, conveyors 8 Ferromagnetic materials 9 Route Guidance Elements 10 Guidance Elements 11. Gap between the shuttle and the transport means F F friction F A Magnetic attraction Direction of movement of the T-shuttle M Direction of movement of the transport means R rotational motion

Claims

1. In an electromagnetic transport system (1) having a stationary part or stator (2) composed of at least two or more stator segments (21, 22, 2i) and at least one movable part or shuttle (3, 3i) that is movable relative to the stator (2) along a transport path, a magnet unit (4, 4i) is disposed on the at least one shuttle (3, 3i), and the magnet unit (4, 4i) of the at least one shuttle (3, 3i) electromagnetically interacts with a magnetic element disposed on the stator (2) to move the shuttle (3, 3i) in at least one direction of movement (T) along the transport path, the transport system (1) replaces at least one of the stator segments (2i) along the transport path An electromagnetic transport system (1) characterized by comprising at least one conventional transport device (5, 5i), the at least one conventional transport device (5, 5i) comprising at least a drive unit (6) and a transport means (7), wherein the drive unit (6) drives and controls the transport means (7) using safety functions to satisfy predetermined safety requirements, and interacts with the transport means (7) such that the at least one shuttle (3) moves along with the movement of the transport means (7) regardless of which at least one stator segment (2i) the conventional transport device (5, 5i) replaces, thereby allowing the safety functions to be applied to the at least one shuttle (3).

2. The transport means (7) of the conventional transport device (5) is equipped with a ferromagnetic material (8), and the ferromagnetic material (8) has a magnetic attractive force (F Ａ The electromagnetic transport system (1) according to claim 1, characterized in that it interacts with the magnet unit (4) of at least one shuttle (3) in order to generate ).

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

4. The magnetic attraction force (F) generated between the ferromagnetic material (8) and the magnet unit (4) of the at least one shuttle (3) Ａ The electromagnetic transport system (1) according to claim 2, characterized in that it interacts with the transport means (7) solely by means of the transport means (7).

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

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

7. The electromagnetic transport system (1) according to any one of claims 1 to 6, characterized in that the safety function satisfies the safety requirements specified in the International IEC 61508 standard series.

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

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

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