Motor module for a linear transport system, and linear transport system

Abstract

The invention relates to a motor module (100) for a magnetic linear motor (207) of a linear transport system (200), wherein the motor module (100) comprises a motor module housing (101), a drive coil arrangement (103) for providing a drive magnetic field of the magnetic linear motor (207), and control electronics (105) for controlling the motor module (100), wherein the control electronics (105) comprise a control circuit board arrangement (113) having at least one first circuit board (115) and one second circuit board (117), wherein a first normal direction (N1) of the first circuit board (115) and a second normal direction (N2) of the second circuit board (117) are each disposed perpendicular to the direction of action (W), and wherein the first circuit board (115) is disposed substantially parallel to the longitudinal direction (L) and the second circuit board (117) is disposed substantially parallel to the transverse direction (Q). The invention also relates to a linear transport system (200).

Description

[0001] Description

[0002] Motor module for a linear transport system and linear transport system

[0003] The invention relates to a motor module for a linear transport system. The invention further relates to a linear transport system.

[0004] The patent application claims priority from German patent application 10 2024 117 274.6, the disclosure content of which is hereby incorporated by reference.

[0005] Linear transport systems are known from the prior art, each comprising at least one moving unit, a stationary unit with a guide rail for guiding the moving unit, and a linear motor for driving the moving unit along the guide rail, wherein the linear motor comprises a stator and a rotor, wherein the stator has several motor modules arranged stationary along the guide rail, each of which has several drive coils, wherein the rotor is arranged on the moving unit and comprises several magnets.

[0006] It is therefore an object of the invention to provide an improved motor module for a linear transport system and an improved linear transport system.

[0007] This task is accomplished by the motor module and the linear transport system of the independent claims. Advantageous embodiments are specified in the dependent claims.

[0008] According to one aspect, a motor module for a magnetic linear motor of a linear transport system is provided, wherein the motor module comprises a motor module housing, a drive coil arrangement for providing a drive magnetic field of the magnetic linear motor, and control electronics for controlling the motor module, wherein the motor module housing defines a longitudinal direction, a transverse direction perpendicular to the longitudinal direction, and an effective direction of the motor module perpendicular to both the longitudinal and transverse directions, wherein the drive coil arrangement and the control electronics are arranged within the motor module housing, wherein the drive coil arrangement comprises at least one coil core unit with a plurality of yoke elements and a plurality of drive coils arranged around the yoke elements, wherein magnetic field directions of the drive magnetic fields of the drive coils are defined via extension directions of the yoke elements.wherein the extension directions of the yoke elements are aligned along the direction of action, wherein the drive coils are spaced apart from each other along the longitudinal direction, wherein the control electronics comprise a control circuit board arrangement with at least a first circuit board and a second circuit board, wherein a first normal direction of the first circuit board and a second normal direction of the second circuit board are each arranged perpendicular to the direction of action, and wherein the first circuit board is arranged substantially parallel to the longitudinal direction and the second circuit board is arranged substantially parallel to the transverse direction.

[0009] This allows for the technical advantage of providing an improved motor module for a magnetic linear motor of a linear transport system. In the motor module according to the invention, a drive coil arrangement with a plurality of drive coils and control electronics of the motor module, comprising a control circuit board arrangement with at least a first circuit board and a second circuit board, are arranged within a motor module housing. The first and second circuit boards of the control circuit board arrangement are each arranged substantially parallel to a direction of action of the drive coil arrangement.

[0010] The direction of action of the drive coil assembly corresponds to the primary field direction of the stator magnetic fields generated by energizing the drive coils of the drive coil assembly. The direction of action of the drive coil assembly defines a direction of action for the motor module. By arranging the first and second circuit boards of the control circuit board assembly essentially parallel to the direction of action and thus essentially parallel to the primary field direction of the stator magnetic fields, a space-saving arrangement of the drive coil assembly and the control electronics within the motor module housing can be achieved.

[0011] Furthermore, the first and second circuit boards of the control circuit board assembly can be positioned next to the drive coil assembly with respect to the direction of operation and spaced apart from the drive coil assembly. This distance between the circuit boards of the control circuit board assembly and the drive coils of the drive coil assembly protects the first and second circuit boards of the control circuit board assembly and the control electronics components mounted on them from heat generated by the current flowing through the drive coils.

[0012] By arranging the first and second circuit boards of the control board assembly parallel to the field direction of the stator magnetic fields of the energized drive coils and adjacent to the drive coils with respect to their direction of action, the influence of the stator magnetic fields of the energized drive coils on the control components of the circuit boards can be reduced or avoided. Furthermore, by arranging the first circuit board essentially parallel to the longitudinal direction and the second circuit board essentially parallel to the transverse direction of the motor module or motor module housing, it can be achieved that the circuit boards of the control board assembly are at least partially arranged around the drive coil assembly. This, in turn, allows for a space-saving arrangement of the control electronics and the drive coil assembly within the motor module housing.

[0013] Furthermore, by arranging the first and second circuit boards of the control circuit board assembly around the drive coil assembly, the distance between the circuit boards and the drive coils of the drive coil assembly can be maximized as much as possible.

[0014] This further reduces the magnetic and / or heat-related influences of the energized drive coils on the control components of the control electronics mounted on the circuit boards of the control circuit board assembly.

[0015] Furthermore, by arranging the circuit boards around the drive coils, it is possible to contact the drive coils directly with the motor module housing primarily via the coil core unit. This results in improved thermal transfer between the drive coils and the housing, allowing heat from the drive coils to be effectively dissipated.

[0016] According to one embodiment, the control circuit board arrangement further comprises a third circuit board and a fourth circuit board, wherein the third circuit board is oriented substantially parallel to the first circuit board and the fourth circuit board is oriented substantially parallel to the second circuit board, and wherein the drive coil arrangement is arranged between the first circuit board and the third circuit board and between the second circuit board and the fourth circuit board.

[0017] This achieves the technical advantage that the third and fourth circuit boards of the control board assembly allow for the placement of additional control electronics components within the motor module housing. The third circuit board is arranged essentially parallel to the first, and the fourth is arranged essentially parallel to the second. Furthermore, the first through fourth circuit boards are arranged around the drive coil assembly. This arrangement allows for a space-saving configuration of the control board circuit boards within the motor module housing. By arranging the control board circuit boards around the drive coils, the distances between the control board circuit boards and the drive coils can be maximized.

[0018] This in turn minimizes or prevents the heat-related or magnetic influences of the energized drive coils on the components of the control electronics arranged on the circuit boards of the control circuit board assembly.

[0019] According to one embodiment, the circuit boards are electrically connected to each other in pairs via electrical connecting elements.

[0020] This allows for the technical advantage that an electrical connection between the first to fourth circuit boards of the control circuit board arrangement is made possible for the components of the control electronics arranged on the individual circuit boards.

[0021] According to one embodiment, the electrical connecting elements comprise flexible connecting elements.

[0022] This allows the technical advantage to be achieved that the angles between the first to fourth circuit boards can be varied by means of the flexible connecting elements, via which the electrical connection of the individual circuit boards of the control circuit board arrangement is effected.

[0023] By appropriately bending the flexible connecting elements, the relative orientation of the individual circuit boards of the control board assembly can be adjusted to match the desired arrangement of the circuit boards within the motor module housing. This variable alignment of the individual circuit boards of the control board assembly relative to each other is particularly advantageous during the manufacturing process of the motor module.

[0024] According to one embodiment, the electrical connecting elements comprise rigid connecting elements.

[0025] This achieves the technical advantage that the rigid connecting elements between the circuit boards of the control board assembly enable a robust connection between the circuit boards. Furthermore, the rigid connecting elements of the control board assembly provide mechanical stiffness, which contributes to the robustness of the control board assembly. According to one embodiment, the drive coils are electrically contacted on the first circuit board and / or the third circuit board.

[0026] This allows for the technical advantage that the control components of the control electronics, which are formed on the circuit boards of the control circuit board arrangement, can be directly controlled by the drive coils of the drive coil arrangement.

[0027] According to one embodiment, the control circuit board arrangement further comprises a coil contacting circuit board, wherein the drive coils are each electrically connected to the coil contacting circuit board, and wherein the drive coils are electrically contacted to the first circuit board via the coil contacting circuit board.

[0028] This allows the technical advantage to be achieved that the drive coils of the drive coil assembly connected to the coil contact circuit board can be connected in one piece to the first and / or second circuit boards of the control circuit board assembly via the coil contact circuit board.

[0029] The coil contact circuit board connected to the drive coils of the drive coil assembly thus enables simplified contacting of the drive coils of the drive coil assembly with the corresponding circuit boards of the control circuit board assembly.

[0030] This significantly simplifies the manufacturing of the motor module and the replacement of the drive coils in the drive coil assembly or the circuit boards in the control circuit board assembly. The cumbersome and individual contacting of each drive coil in the drive coil assembly with the respective circuit board in the control circuit board assembly is thus eliminated.

[0031] According to one embodiment, the motor module further comprises at least one power connection element, wherein the at least one power connection element is electrically connected to the first circuit board and / or to the second circuit board.

[0032] This achieves the technical advantage that, via the appropriate contacting of the power connection elements with the respective circuit boards of the control circuit board assembly, the control electronics arranged on the circuit boards of the control circuit board assembly can be connected to a power supply for the motor module. According to one embodiment, the motor module further comprises at least one magnetic sensor element, wherein the at least one magnetic sensor element is arranged on the second circuit board and / or on the fourth circuit board.

[0033] This achieves the technical advantage that a position detection system is integrated within the motor module via the magnetic sensor element formed on the second or fourth circuit board of the control circuit board assembly. During operation of the linear transport system, the at least one magnetic sensor element can detect the rotor magnetic fields of the drive magnet elements of the moving units of the linear transport system, and based on this, position and / or speed determinations of the moving units of the linear transport system can be performed.

[0034] According to one embodiment, the motor module further comprises at least one safety module, wherein the at least one safety module is arranged on the second circuit board and / or the fourth circuit board and is electrically connected to the at least one magnetic sensor element, and wherein the at least one safety module is configured to determine a position and / or a speed of the moving unit of the linear transport system based on sensor values ​​of the at least one magnetic sensor element.

[0035] This allows for the technical advantage that a safety detection system can be integrated into the motor module via at least one safety module. Safety functions of the linear transport system can be monitored via the at least one safety module, which is associated with, i.e., electrically connected to, at least one magnetic sensor element and is configured to perform position and / or speed determinations of the moving unit detected by the magnetic sensor element relative to the stationary unit of the linear transport system, based on the sensor values ​​of the magnetic sensor element.

[0036] In particular, the safety module can be configured to transmit motion states of the detected moving units based on the sensor values ​​of the magnetic sensor element, and to check whether these motion states of the moving units comply with predefined safety criteria of the linear transport system.

[0037] For example, the detected motion states of the moving units can be assessed as unsafe or pose a safety risk if the position and / or speed values ​​of the detected moving unit, calculated by the safety module based on the sensor values ​​of the at least one magnetic sensor element, reach or exceed predefined limit values ​​for position and / or speed. If the motion states of the detected moving units are classified in this way, the at least one safety module can also initiate the execution of safety functions by the motor module. These safety functions can, for example, include controlling the drive coils in such a way that the speed of the moving unit is reduced and / or the movement of the moving unit is stopped and / or the moving unit is held in a predefined position.

[0038] The functionality of the motor module can thus be extended via at least one safety module and the associated safety monitoring.

[0039] According to one embodiment, at least one magnetic sensor element is designed as a Hall sensor.

[0040] This allows for the technical advantage of providing a robust and reliable magnetic sensor element.

[0041] According to one embodiment, the control circuit board arrangement further comprises a fifth circuit board, wherein the fifth circuit board is electrically connected to the second circuit board, wherein a fifth normal direction of the fifth circuit board is oriented essentially parallel to the direction of action of the motor module, and wherein at least one radio antenna element is formed on the fifth circuit board.

[0042] This allows for the technical advantage of integrating an additional control electronics component, in the form of a radio antenna element, into the motor module via the fifth circuit board. This radio antenna element enables data communication between the motor module and a moving unit of the linear transport system based on wireless data communication.

[0043] According to one embodiment, at least one radio antenna element is designed as a near-field communication antenna element.

[0044] This allows for the technical advantage of enabling technically reliable data communication.

[0045] According to one embodiment, the coil core unit comprises a base element connected to the yoke elements, wherein the base element is connected to the motor module housing.

[0046] This achieves the technical advantage that the drive coil assembly can be securely fixed to the motor module housing via the base element of the coil core unit. The yoke elements of the coil core unit improve or increase the homogeneity and / or magnetic field strength of the stator magnetic fields generated by energizing the drive coils. These yoke elements are made of a metallic material.

[0047] According to one aspect, a linear transport system is provided with a stationary unit, at least one moving unit, at least one guide rail and a magnetic linear motor, wherein the magnetic linear motor comprises a stator formed on the stationary unit and at least one rotor formed on the at least one moving unit, wherein the stator comprises a plurality of motor modules arranged on the stationary unit along the at least one guide rail according to one of the preceding embodiments, wherein the rotor of the moving unit comprises a plurality of drive magnet elements.

[0048] This allows for the technical advantage of providing an improved linear transport system with improved motor modules offering the technical advantages described above.

[0049] The invention is explained in more detail with reference to the accompanying figures. These show:

[0050] Fig. 1 shows a schematic representation of a linear transport system according to one embodiment;

[0051] Fig. 2 shows a schematic representation of a motor module of the linear transport system according to one embodiment;

[0052] Fig. 3 shows a schematic representation of a drive coil arrangement of a motor module of the linear transport system according to one embodiment;

[0053] Fig. 4 shows a schematic representation of a control circuit board arrangement of control electronics of a motor module of the linear transport system according to one embodiment;

[0054] Fig. 5 shows a further schematic representation of the control circuit board arrangement of the control electronics of a motor module of the linear transport system according to a further embodiment; and

[0055] Fig. 6 shows a further schematic representation of the control circuit board arrangement of the control electronics of a motor module of the linear transport system according to another embodiment. In the following, the same reference numerals can be used for elements that act in concert. In this way, it may be omitted to describe these elements again in each figure. Nevertheless, these elements that act in concert can be provided accordingly in all embodiments.

[0056] Fig. 1 shows a schematic top view of a linear transport system 200.

[0057] The linear transport system 200 comprises a stationary unit 201, at least one movable unit 203, at least one guide rail 205 for guiding the at least one movable unit 203 and a linear motor 207 for driving the movable unit 203 along the guide rail 205.

[0058] The linear motor 207 comprises a stator 209 and at least one rotor 211. The stator 209 is formed on the stationary unit 201, and the at least one rotor 211 is formed on the at least one moving unit 203. The stator 209 is arranged adjacent to the guide rail 205 on the stationary unit 201 and has several motor modules 100 arranged stationary along the guide rail 205.

[0059] Each of the motor modules 100 comprises a motor module housing 101 and at least one drive coil arrangement 103 with a plurality of drive coils 111 arranged in the motor module housing 101. Stator magnetic fields can be generated by the motor modules 100 by energizing the drive coils 111. The at least one rotor 211 formed on the at least one movable unit 203 comprises a plurality of drive magnet elements 213.

[0060] A rotor magnetic field can be generated for each moving unit 203 via the drive magnet elements 213 of the rotor 211. The moving units 203 can be moved along the guide rail 205 of the stationary unit 201 via a magnetic interaction between the stator magnetic fields of the motor modules 100 of the stator 209 of the stationary unit 201 and the rotor magnetic fields of the rotors 211 of the moving units 203. In Fig. 1, the drive magnet elements 213 of the respective rotor 211 are explicitly shown only for one of the two exemplary moving units 203.

[0061] Figure 1 shows, by way of example, three motor modules 100 of the stator 209 spaced apart from one another along the guide rail 205. In the embodiment shown, each motor module 100 comprises three drive coils 111, which are spaced apart from one another along a longitudinal direction L of the respective motor module 100. The number of motor modules 100 and drive coils 111 shown is merely exemplary and is not intended to limit the present invention.

[0062] Any number of motor modules 100 can be arranged on the stationary unit 201, depending on the length of the stationary unit 201. The motor modules 100 can comprise a different size and a different number of drive coils 111 than shown in Fig. 1.

[0063] As an example of a linear transport system 200 according to the invention, Fig. 1 shows a section of a stationary unit 201 with three motor modules 100 and two movable units 203, each with a rotor 211. One of the motor modules 100 is partially obscured by a movable unit 203 in Fig. 1.

[0064] In the illustrated embodiment, the motor modules 100 each further comprise a plurality of magnetic sensor elements 133. The magnetic sensor elements 133 can detect the rotor magnetic fields of the rotors 211 of the moving units 203. This allows the positions and / or velocities of the moving units 203 relative to the stationary unit 201 to be determined. For this purpose, the magnetic sensor elements 133 are designed as magnetic field sensors, for example as 1D Hall sensors, 2D Hall sensors, or 3D Hall sensors.

[0065] In the illustrated embodiment, each motor module 100 has two magnetic sensor elements 133 at opposite ends. Alternatively, the motor modules 100 can have more or fewer magnetic sensor elements 133 at different locations.

[0066] According to the invention, the motor modules 100 comprise, in addition to the drive coils 111, further components which are not fully shown in Fig. 1 for the sake of clarity. For a detailed description of the motor modules 100, reference is made to the description of Figs. 2 to 5.

[0067] In the illustrated embodiment, the multiple motor modules 100 of the stator 209 are spaced apart from one another along a longitudinal axis LA of the stator 209 on the stationary unit 201. The multiple motor modules 100 are spaced apart from one another by gaps 219. In the illustrated embodiment, the motor modules 100 each have a coil length LM, wherein the adjacently positioned drive coils 111 of a motor module 100 each form a coil length LM.

[0068] The rotor 211 has a rotor length LL. The area between the drive coils 111 of two adjacent motor modules 100 has a gap length Ls, with the gap 219 being formed in this area. In the area forming the gap length Ls, other elements of the motor modules 100 can also be arranged in addition to the gap 219.

[0069] The rotor length LL preferably corresponds to n times the sum of the coil length LM and the gap length Ls. In particular, the rotor length LL can therefore be determined using the formula

[0070] LL > n (LM + Ls) can be calculated, where n is a natural number. The concept of n-fold therefore also includes, in particular, that the rotor length corresponds to the sum of the coil length and the gap length.

[0071] In the simplest case, however, it would also suffice if the rotor length LL were at least equal to the gap length Ls. This is possible because the drive coils 111 of the motor modules 100 can also exert repulsive forces on the drive magnet elements 213 when the rotor 211 is no longer positioned above the motor module. In particular, the rotor length can then be determined using the formula

[0072] LL > Ls is given, which specifies a minimum length of the runner.

[0073] The gap 219 between the motor modules 100 allows for the elimination of motor modules 100 and, in particular, drive coils 111 on the stationary unit 201 along the length of the guide rail 205. Thus, along the guide rail 205, there are areas, especially in the gaps 219 between the motor modules 100, where no drive coils 111 are located. This enables the provision of a more resource-efficient linear transport system 200.

[0074] The gap length Ls can vary in different areas of the stationary unit 201. For example, the gap 219 can be enlarged or reduced in certain areas of the stationary unit 201. If necessary, the gap 219 can also be omitted completely.

[0075] In areas along the guide rail 205, the ratio between rotor length LL to coil length LM and gap length Ls can vary, for example, from n = 1 to n = 3. This can be achieved by positioning additional motor modules 100 in the gap 219. Crucially, for the reliable operation of the moving unit 203, a magnetic element 213 of the rotor 211 must always be within the effective range of at least one drive coil 111 of a stator 209. Alternatively, the motor modules 100 can also be arranged directly adjacent to one another on the stationary unit 201 without a gap 219.

[0076] In the illustrated embodiment, an application 215 is arranged on each of the movable units 203. Various processes, such as loading and unloading objects to be transported onto and from the movable unit 203, can be carried out via the application 215. In addition to a loading / unloading application, other applications 215 are also possible.

[0077] The linear transport system 200 further comprises a control unit 217, which is connected via a connecting line 221 to the stationary unit 201 and the motor modules 100 of the stator 209. The control unit 217 can be used to control the motor modules 100 to energize the drive coils 111 and thereby generate the stator magnetic fields to move the movable units 203 along the guide rail 205.

[0078] Fig. 2 shows a schematic representation of a top view of a motor module 100 of the stator 209 of the linear transport system 200 according to one embodiment.

[0079] In the embodiment shown, the motor module 100 comprises a motor module housing 101 and a drive coil assembly 103 arranged in the motor module housing 101. In the embodiment shown, the drive coil assembly 103 comprises three drive coils 111: a first drive coil 111-1, a second drive coil 111-2, and a third drive coil 111-3. The drive coil assembly 103 is arranged centrally in the motor module housing 101.

[0080] The motor module housing 101 defines a longitudinal direction L, a transverse direction Q arranged perpendicular to the longitudinal direction L and an effective direction W arranged perpendicular to the longitudinal direction L and transverse direction Q.

[0081] In the illustrated embodiment, the three drive coils 111 of the drive coil arrangement 103 are spaced apart from each other relative to the longitudinal direction L of the motor module 100. In the illustrated embodiment, the drive coils 111 are designed with a substantially rectangular cross-sectional area, having a short side 155 and a correspondingly longer side 157.

[0082] The drive coil arrangement 103 also has a substantially rectangular cross-sectional area and comprises a longitudinal extension 179 arranged parallel to the longitudinal direction L and a transverse extension 177 arranged parallel to the transverse direction Q. The transverse extension 177 corresponds to the long side 157 of the drive coils 111. The longitudinal extension 179 corresponds to the totality of the short sides 155 of the three drive coils 111 arranged at intervals along the longitudinal direction L.

[0083] In the embodiment shown, the longitudinal extent 179 of the drive coil arrangement 103 is larger than the transverse extent 177.

[0084] In other embodiments, the transverse dimension 177 of the drive coil arrangement 103 can be larger than the longitudinal dimension 179, or the transverse dimension 177 and the longitudinal dimension 179 of the drive coil arrangement can be the same size.

[0085] According to the invention, the drive coil arrangement 103 comprises, in addition to the multiple drive coils 111, a coil core unit 107 with a plurality of yoke elements 109. The individual drive coils 111 are arranged around the yoke elements 109. The yoke elements 109 are integrally connected to a base element 141 of the coil core unit 107 and extend along the direction of action W. The drive coil arrangement 103 is fixed to the motor module housing 101 of the motor module 100 via the base element 141.

[0086] According to the invention, the drive coils 111 of the drive coil arrangement 103 are arranged in the motor module housing 101 such that a primary field direction of the stator magnetic fields generated by energizing the drive coils 111 is essentially parallel to the direction of action W of the motor module 100.

[0087] According to the invention, the motor module 100 comprises, in addition to the drive coil arrangement 103, a control electronics unit 105. The control electronics unit 105 is formed in the motor module housing 101 and comprises a control circuit board arrangement 113. The control circuit board arrangement 113 comprises at least a first circuit board 115 and a second circuit board 117.

[0088] The first circuit board 115 is arranged essentially parallel to the longitudinal direction L, while the second circuit board 117 is arranged parallel to the transverse direction Q. Furthermore, the first circuit board 115 and the second circuit board 117 are aligned such that a first normal direction N1 of the first circuit board 115 and a second normal direction N2 of the second circuit board 117 are each positioned perpendicular to the direction of action W of the motor module 100. Accordingly, the first circuit board 115 and the second circuit board 117 are positioned essentially parallel to the direction of action W.

[0089] In the illustrated embodiment, the control circuit board arrangement 113 further comprises a third circuit board 119 and a fourth circuit board 121. The third circuit board 119 is arranged parallel to the first circuit board 115, and the fourth circuit board 121 is aligned parallel to the second circuit board 117. The third normal direction N3 of the third circuit board 119 is oriented oppositely and parallel to the first normal direction N1 of the first circuit board 115, and the fourth normal direction N4 of the fourth circuit board 121 is oriented oppositely and parallel to the second normal direction N2 of the second circuit board 117.

[0090] The first to fourth circuit boards 115, 117, 119, 121 are arranged around the drive coil assembly 103, so that the drive coil assembly 103 is positioned between the first circuit board 115 and the third circuit board 119 and between the second circuit board 117 and the fourth circuit board 121.

[0091] In the illustrated embodiment, the first to fourth circuit boards 115, 117, 119, 121 are connected in pairs via electrical connecting elements 123. An electrical connection between the circuit boards 115, 117, 119, 121 of the control circuit board arrangement 113 is established via the electrical connecting elements 123.

[0092] In the embodiment shown, the connecting elements 123 between the first to fourth circuit boards 115, 117, 119, 121 are designed as flexible connecting elements 125.

[0093] In the illustrated embodiment, the control circuit board assembly 113 further comprises a connecting circuit board 147. The connecting circuit board 147 is positioned parallel to the transverse direction Q and connects the first circuit board 115 and the third circuit board 119. The connection of the connecting circuit board 147 to the first and third circuit boards 115, 119 is made via rigid connecting elements 127. The rigid connecting elements 127 can, for example, be implemented by plug connectors.

[0094] In the illustrated embodiment, the drive coils 111 of the drive coil arrangement 103 are electrically connected to the first circuit board 115. In the illustrated embodiment, the electrical connection of the drive coils 111 to the first circuit board 115 is effected via a coil contact circuit board 129.

[0095] The individual drive coils 111 are each electrically connected to the coil contact circuit board 129. The coil contact circuit board 129 is in turn electrically connected to the first circuit board 115. The coil contact circuit board 129 is oriented along the longitudinal direction L of the motor module 100. In the illustrated embodiment, the motor module 100 further comprises two power connection elements 131, a first power connection element 131-1 and a second power connection element 131-2. The motor module 100 can be connected to a power supply via the power connection elements 131.

[0096] In addition to the power supply, the power connection elements 131 can also include data connection elements, not shown in Fig. 2, which enable the integration of the motor module 100 into a data communication network of the linear transport system 200.

[0097] In the embodiment shown, the two power connection elements 131 are electrically connected to the third circuit board 119.

[0098] In the illustrated embodiment, several status indicator elements 175 are also provided on the third circuit board 119. The operating status of the motor module 100 can be visually indicated via the status indicator elements 175.

[0099] In the illustrated embodiment, the third circuit board 119 is also electrically connected to a grounding conductor 143. The grounding conductor 143 provides electrical grounding for the components of the control electronics 105.

[0100] In the illustrated embodiment, a magnetic sensor element 133 is formed on both the second circuit board 117 and the fourth circuit board 121. A first magnetic sensor element 133-1 is arranged on the second circuit board 117, and a second magnetic sensor element 133-2 is arranged on the fourth circuit board 121. The magnetic sensor elements 133 detect the rotor magnetic fields of the rotors 211 of the linear motor 207, which are formed on the moving units 203 of the linear transport system 200.

[0101] The rotor magnetic fields are generated by the drive magnet elements 213 of the various moving units 203. When the moving units 203 are positioned on the guide rail 205, the rotor magnetic fields of the drive magnet elements 213 can be detected via the magnetic sensor elements 133 of the motor module 100.

[0102] Using a corresponding position determination system of the linear transport system 200, which is implemented, for example, by the control unit 217 of the linear transport system 200, positions and / or speeds of the moving units 203 moving along the guide rail 205 can be determined based on the sensor values ​​of the magnetic sensor elements 133 of the motor module 100, which represent the rotor magnetic fields of the rotors 211 of the linear motor 207, i.e., the drive magnet elements 213 of the moving units 203.

[0103] In the illustrated embodiment, a safety module 135 is arranged on both the second circuit board 117 and the fourth circuit board 121. A first safety module 135-1 is formed on the second circuit board 117, and a second safety module 135-2 is formed on the fourth circuit board 121. The first safety module 135-1 is associated with the first magnetic sensor element 133-1, i.e., electrically connected, and the second safety module 135-2 is similarly associated with the second magnetic sensor element 133-2.

[0104] The motor module 100 incorporates a safety monitoring system via the safety modules 135, which allows the safe operation of the linear transport system 200 to be monitored. The safety modules 135 are configured to determine the movement states of the moving units 203 along the guide rail 205 based on the sensor values ​​of the magnetic sensor elements 133.

[0105] Alternatively, magnetic sensor elements, not shown in Fig. 2, can also be directly incorporated into the safety modules 135 for safety verification.

[0106] Furthermore, safety components can be designed by means of which the coil currents of the drive coils 111 can be measured in multiple channels in order to ensure the provision of the magnetic force.

[0107] The motion states include position values ​​and / or speed values ​​of the moving units 203 represented by the sensor values ​​of the magnetic sensor elements 133. The safety modules 135 can also be configured to assess the operating states of the linear transport system 200 based on the determined motion states of the moving units 203.

[0108] For example, the safety modules 135 can be configured to classify the operating state of the linear transport system 200 as hazardous to safety if positions and / or speeds of the motion states of the moving units 203 determined on the basis of the sensor values ​​of the magnetic sensor elements 133 reach or exceed predefined limit values.

[0109] The safety modules 135 can also be configured to execute or initiate predefined safety functions when the operating state of the linear transport system 200 is classified as a safety-endangering operating state. These safety functions can include, for example, reducing the speed of the moving unit 203, stopping the movement of the moving unit 203, or holding the moving unit 203 in a predefined position.

[0110] In the embodiment shown, the magnetic sensor elements 133 and the associated safety modules 135 are designed as separate units. Alternatively, the magnetic sensor elements 133 and the corresponding associated safety modules 135 can be implemented in a common design.

[0111] As an alternative to the embodiment shown, a larger number of magnetic sensor elements 133 and / or safety modules 135 can also be provided on the second and fourth circuit boards 117, 121. In particular, the safety modules 135 can be associated with magnetic sensor elements 133 explicitly dedicated to safety monitoring. Alternatively, the safety modules 135 can be associated with the magnetic sensor elements 133 of the position detection system of the linear transport system 200, which are primarily used to determine the position of the moving units 203 relative to the motor modules 100 of the stationary unit 201.

[0112] In the illustrated embodiment, the second circuit board 117 is spaced a distance A1 from the first drive coil 111-1 of the drive coil assembly 103. The fourth circuit board 121 is similarly spaced a distance A2 from the third drive coil 111-3 of the drive coil assembly 103. The first and second circuit board distances A1 and A2 are defined between the respective second circuit board 117 and fourth circuit board 121, respectively, and an outer edge 191 of the respective first drive coil 111-1 and third drive coil 111-3, respectively.

[0113] In the illustrated embodiment, the first circuit board spacing A1 and the second circuit board spacing A2 are of equal size. The first and second circuit board spacings A1, A2 ensure that the first and second magnetic sensor elements 133-1, 133-2, respectively, formed on the second circuit board 117 and fourth circuit board 121, are spaced apart from the drive coils 111 of the drive coil arrangement 103 by the respective first and second circuit board spacings A1, A2.

[0114] This ensures that the sensor values ​​of the magnetic sensor elements 133 of the second circuit board 117 or fourth circuit board 121 are not influenced by the stator magnetic fields of the drive coils 111 of the drive coil arrangement 103.

[0115] In the illustrated embodiment, the motor module housing 101 has a substantially rectangular shape and comprises two parallel transverse sides 165 and two parallel longitudinal sides 167. In the illustrated embodiment, cooling fins 169 are formed on each of the two longitudinal sides 167. The cooling fins 169 facilitate or improve the dissipation of heat from the drive coil assembly 103 and / or the control electronics 105 from the interior of the motor module 100 to the environment.

[0116] Furthermore, two fixing devices 171 are provided on each of the longitudinal sides 167. The motor module 100 can be fixed to the stationary unit 201 of the linear transport system 200 via the fixing devices 171. The two power connection elements 131 are arranged on one of the longitudinal sides 167. The power connection elements 131 thus extend through the motor module housing 101.

[0117] In the embodiment shown, the motor module housing 101 further comprises a sealing element 145. The sealing element 145 is arranged extending along the transverse sides 165 and longitudinal sides 167 of the motor module housing 101.

[0118] Not shown in Fig. 2 is a cover element of the motor module housing 101. The motor module housing 101 is gas-tightly sealed via the cover element by contact with the sealing element 145.

[0119] Fig. 3 shows a schematic representation of a drive coil arrangement 103 of a motor module 100 of the linear transport system 200 according to one embodiment.

[0120] In Fig. 3, the drive coil arrangement 103 of the embodiment in Fig. 2 is shown in perspective.

[0121] The drive coil assembly 103 comprises three drive coils 111-1, 111-2, 111-3, each arranged on the three yoke elements 109-1, 109-2, 109-3 of the coil core unit 107. The first drive coil 111-1 is formed around a first yoke element 109-1. The second drive coil 111-2 is arranged around a second yoke element 109-2, and the third drive coil 111-3 is arranged around a third yoke element 109-3.

[0122] The yoke elements 109 are each cuboid in shape and have a rectangular cross-sectional area with a long side 153 and a short side 151. The cuboid yoke elements 109 extend along the direction of action W of the motor module 100.

[0123] The drive coils 111 arranged around the yoke elements 109 also have a substantially rectangular cross-sectional area with a long side 157 and a short side 155. The cross-sectional areas additionally have rounded corners 159. In the embodiment shown, the three yoke elements 109 are integrally connected to the base element 141 of the coil core unit 107. Two fixing elements 149 are also formed on the base element 141. The coil core unit 107 can be connected to the motor module housing 101 via the fixing elements 149.

[0124] Figure 3 further illustrates the electrical connection of the drive coils 111 to the coil contact circuit board 129 of the control circuit board assembly 113. Each of the drive coils 111 is electrically connected to the coil contact circuit board 129 via at least two ends of the winding wire 163 of the respective drive coil 111.

[0125] Fig. 4 shows a schematic representation of a control circuit board arrangement 113 of a control electronics 105 of a motor module 100 of the linear transport system 200 according to one embodiment.

[0126] In the embodiment shown, the control circuit board arrangement 113 has, in addition to the first to fourth conductor positions 115, 117, 119, 121, a fifth circuit board 137.

[0127] Fig. 4 shows the first to fifth printed circuit boards 115, 117, 119, 121, 137 of the control circuit board assembly 113 in an unassembled configuration. In this configuration, the first to fifth printed circuit boards 115, 117, 119, 121, 137 are integrally connected and arranged in the same plane. The printed circuit boards 115, 117, 119, 121, 137 are each integrally connected to one another via connecting bridges 161. Electrical connecting elements 123 are also formed between the connecting bridges 161.

[0128] According to the embodiment shown in Fig. 2, the first circuit board 115 and the second circuit board 117 are connected to each other via the first connecting element 123-1, the second circuit board 117 and the third circuit board 119 via the second connecting element 123-2, the third circuit board 119 and the fourth circuit board 121 via the third connecting element 123-3, and the second circuit board 117 and the fifth circuit board 137 via the fourth connecting element 123-4. The first to fourth connecting elements 123-1, 123-2, 123-3, 123-4 are designed as flexible connecting elements 125 according to the embodiment shown in Fig. 2.

[0129] In the embodiment shown, the first to fifth printed circuit boards 115, 117, 119, 121, 137 are essentially rectangular and have a length 181 and a width 183. The first printed circuit board 115 has a first length 181-1. The second printed circuit board 117 has a second length 181-2. The third printed circuit board 119 has a third length 181-3. The fourth printed circuit board 121 has a fourth length 181-4. The fifth printed circuit board 137 has a fifth length 181-5. The first length 181-1 of the first printed circuit board 115 is less than or equal to the third length 181-3 of the third printed circuit board 119. The fourth length 181-4 of the fourth printed circuit board 121 is less than or equal to the second length 181-2 of the second printed circuit board 117.

[0130] The first circuit board 115, the second circuit board 117, and the third circuit board 119 each have an identical first width 183-1. The fourth circuit board 121 has a second width 183-2. In the illustrated embodiment, the second width 183-2 corresponds to approximately one-third of the first width 183-1. The fifth circuit board 137 has a third width 183-3.

[0131] After the flexible connecting elements 125 have been formed, the connecting webs 161 can be broken and the circuit boards 115, 117, 119, 121, 137 can be brought into the desired orientation relative to each other by bending the flexible connecting elements 125.

[0132] Fig. 5 shows a further schematic representation of the control circuit board arrangement 113 of the control electronics 105 of a motor module 100 of the linear transport system 200 according to a further embodiment.

[0133] Fig. 5 shows the control circuit board arrangement 113 of Fig. 4 in the installed arrangement of the embodiment in Fig. 2. Compared to the arrangement of the control circuit board arrangement 113 from Fig. 4, in Fig. 5 the connecting webs 161 between the adjacent circuit boards 115, 117, 119, 121, 137 are separated and the flexible connecting elements 125 connecting the respective adjacent circuit boards 115, 117, 119, 121, 137 are bent accordingly such that adjacent circuit boards 115, 117, 119, 121, 137 have an almost right angle to each other.

[0134] In the embodiment shown, the fifth circuit board 137 is arranged such that a fifth normal direction N5 of the fifth circuit board 137 is aligned parallel to the direction of action W.

[0135] In the illustrated embodiment, the flexible connecting elements 125 each have a flexible sheath element 185 and contact elements 187 arranged at the ends of the flexible sheath element 185. Each flexible connecting element 125 is connected via a contact element 187. The contact elements 187 are planar and connected to the respective printed circuit board 115, 117, 119, 121, 137 via an electrically conductive connection.

[0136] The flexible sheathing elements 185 are designed as flexible surface-bearing or wire-shaped bending elements and are electrically conductively connected to the contacting elements 187. The contacting elements 187 are preferably made of metallic material, while the flexible sheathing elements 185 can be made of an insulating material.

[0137] In particular, the contacting elements 187 can be designed to extend through the sheathing elements 185, while in this embodiment the flexible sheathing elements 185 can be designed as insulating coatings around the contacting elements 187.

[0138] In the illustrated embodiment, a radio antenna element 139 is further formed on the fifth circuit board 137. Radio data communication between the motor module 100 and the moving units 203 of the linear transport system 200 is enabled via the radio antenna element 139. The radio antenna element 139 can, for example, be configured as a near-field communication radio antenna element, such as an RFID or NFC antenna.

[0139] In the embodiment shown, the first circuit board 115 further has circuit board recesses 189 on a longitudinal edge 193. The circuit board recesses 189 allow the coil contact circuit board 129, not shown in Fig. 5, to be fixed in place.

[0140] In the embodiment shown, the first to fourth electrical connecting elements 123-1 , 123-2, 123-3, 123-4 have different sizes.

[0141] The first circuit board 115 and the second circuit board 117 are connected, in particular, via two first electrical connecting elements 123-1. Similarly, the second circuit board 117 and the third circuit board 119 are connected via two adjacent second electrical connecting elements 123-2. Alternatively, the first circuit board 115 and the second circuit board 117 can be connected via a single first connecting element 123-1. Similarly, the second circuit board 117 and the third circuit board 119 can be connected via a common second electrical connecting element 123-2.

[0142] The electrical connecting elements 123 can be soldered in particular via the contacting elements 187 on the respective printed circuit boards 115, 117, 119, 121, 137.

[0143] Fig. 6 shows a further schematic representation of the control circuit board arrangement 113 of the control electronics 105 of a motor module 100 of the linear transport system 200 according to a further embodiment. Fig. 6 shows a top view from the direction of action W of the motor module 100 of the control circuit board arrangement 113 of the embodiment in Fig. 5. Fig. 6 shows the essentially U-shaped or wave-shaped design of the flexible sheathing elements 185 of the flexible connecting elements 125.

[0144] Figures 2 to 6 show the motor module 100, the drive coil assembly 103, and the control circuit board assembly 113 of the control electronics 105 in a highly simplified representation. In particular, the control electronics 105 are shown in a highly simplified manner, and only selected components of the control electronics 105, such as the control circuit board assembly 113, are explicitly depicted. However, this is not intended to limit the present invention.

[0145] The control electronics 105 of the motor module 100 according to the invention comprises all components of the control electronics 105 known from the prior art for motor modules 100 for magnetically operated linear transport systems 200.

[0146] Furthermore, the embodiments shown in Figures 1 to 6 are merely exemplary, and the present invention also includes deviations from the exemplary embodiments shown.

[0147] The drive coil arrangement 103 of a motor module 100 can thus comprise a different number of drive coils 111 than those shown in Figures 1 to 3. The arrangement and design of the drive coils 111 can also differ from the embodiments shown above. Furthermore, the actual arrangement of the circuit boards 115, 117, 119, 121, 137 of the control circuit board arrangement 113 can differ from the embodiments shown in Figures 2 to 6.

[0148] Reference symbol list

[0149] 100 motor module

[0150] 101 Motor module housing

[0151] 103 Drive coil arrangement

[0152] 105 Control electronics

[0153] 107 coil core unit

[0154] 109 Yoke element

[0155] 109-1 first yoke element

[0156] 109-2 second yoke element

[0157] 109-3 third yoke element

[0158] 111 Drive coil

[0159] 111-1 first drive coil

[0160] 111-2 second drive coil

[0161] 111-3 third drive coil

[0162] 113 Control circuit board arrangement

[0163] 115 first circuit board

[0164] 117 second circuit board

[0165] 119 third circuit board

[0166] 121 fourth circuit board

[0167] 123 electrical connecting element

[0168] 123-1 first electrical connecting element

[0169] 123-2 second electrical connecting element

[0170] 123-3 third electrical connecting element

[0171] 123-4 fourth electrical connecting element

[0172] 125 flexible connecting element

[0173] 127 rigid connecting element

[0174] 129 Coil contact strip

[0175] 131 Power connection element

[0176] 131-1 first power connection element

[0177] 131-2 second power connection element

[0178] 133 Magnetic sensor element

[0179] 133-1 first magnetic sensor element

[0180] 133-2 second magnetic sensor element

[0181] 135 Safety module

[0182] 135-1 first safety module

[0183] 135-2 second safety module fifth circuit board radio antenna element base element grounding sealing element connecting circuit board fixing element short side of yoke element long side of yoke element short side of drive coil long side of drive coil rounded corner area connecting web winding wire transverse side longitudinal side cooling fin fixing device status light element transverse dimension longitudinal dimension length -1 first length -2 second length -3 third length -4 fourth length -5 fifth length width -1 first width -2 second width -3 third width flexible sheathing element contacting element circuit board recess outer edge longitudinal edge 200 linear transport system

[0184] 201 stationary units

[0185] 203 movable units

[0186] 205 Guide rail

[0187] 207 Linear motor

[0188] 209 Stator

[0189] 211 runners

[0190] 213 Drive magnet element

[0191] 215 Application

[0192] 217 Control unit

[0193] 219 gap

[0194] 221 Connecting line

[0195] A1 first PCB spacing

[0196] A2 second PCB spacing

[0197] LA Longitudinal axis of the stationary unit

[0198] LL runner length

[0199] LM coil length

[0200] Ls gap length

[0201] N1 first normal direction

[0202] N2 second normal direction

[0203] N3 third normal direction

[0204] N4 fourth normal direction

[0205] N5 fifth normal direction

[0206] L Longitudinal direction of the motor module

[0207] Q transverse direction of the motor module

[0208] W Direction of action of the motor module

Claims

Claims 1. Motor module (100) for a magnetic linear motor (207) of a linear transport system (200), wherein the motor module (100) comprises a motor module housing (101), a drive coil assembly (103) for providing a drive magnetic field of the magnetic linear motor (207), and control electronics (105) for controlling the motor module (100), wherein the motor module housing (101) defines a longitudinal direction (L), a transverse direction (Q) perpendicular to the longitudinal direction (L), and an effective direction (W) of the motor module (100) perpendicular to the longitudinal direction (L) and transverse direction (Q), wherein the drive coil assembly (103) and the control electronics (105) are arranged within the motor module housing (101), wherein the drive coil assembly (103) comprises at least one coil core unit (107) with a plurality of yoke elements (109) and a plurality of yokes around the yoke elements. (109) arranged drive coils (111) includes,wherein magnetic field directions of the drive magnetic fields of the drive coils (111) are defined via extension directions of the yoke elements (109), wherein the extension directions of the yoke elements (109) are aligned along the direction of action (W), wherein the drive coils (111) are arranged spaced apart from each other along the longitudinal direction (L), wherein the control electronics (105) comprises a control circuit board arrangement (113) with at least a first circuit board (115) and a second circuit board (117), wherein a first normal direction (N1) of the first circuit board (115) and a second normal direction (N2) of the second circuit board (117) are each arranged perpendicular to the direction of action (W), and wherein the first circuit board (115) is arranged substantially parallel to the longitudinal direction (L) and the second circuit board (117) is arranged substantially parallel to the transverse direction (Q).

2. Motor module (100) according to claim 1, wherein the control circuit board arrangement (113) further comprises a third circuit board (119) and a fourth circuit board (121), wherein the third circuit board (119) is oriented substantially parallel to the first circuit board (115) and the fourth circuit board (121) is oriented substantially parallel to the second circuit board (117), and wherein the drive coil arrangement (103) is arranged between the first circuit board (115) and the third circuit board (119) and between the second circuit board (117) and the fourth circuit board (121).

3. Motor module (100) according to claim 1 or 2, wherein the circuit boards (115, 117, 119, 121) are electrically connected to each other in pairs via electrical connecting elements (123).

4. Motor module (100) according to claim 3, wherein the electrical connecting elements (123) comprise flexible connecting elements (125).

5. Motor module (100) according to claim 3 or 4, wherein the electrical connecting elements (123) comprise rigid connecting elements (127).

6. Motor module (100) according to one of the preceding claims, wherein the drive coils (111) are electrically contacted on the first circuit board (115) and / or the third circuit board (117).

7. Motor module (100) according to claim 6, wherein the control circuit board arrangement (113) further comprises a coil contacting circuit board (129), wherein the drive coils (111) are each electrically connected to the coil contacting circuit board (129), and wherein the drive coils (111) are electrically contacted to the first circuit board (115) via the coil contacting circuit board (129).

8. Motor module (100) according to one of the preceding claims, wherein the motor module (100) further comprises at least one power connection element (131), and wherein the at least one power connection element (131) is electrically connected to the first circuit board (115) and / or to the third circuit board (119).

9. Motor module (100) according to one of the preceding claims, wherein the motor module (100) further comprises at least one magnetic sensor element (133), wherein the at least one magnetic sensor element (133) is arranged on the second circuit board (117) and / or on the fourth circuit board (121).

10. Motor module (100) according to claim 9, wherein the motor module (100) further comprises at least one safety module (135), wherein the at least one safety module (135) is arranged on the second circuit board (117) and / or the fourth circuit board (121) and is electrically connected to the at least one magnetic sensor element (133), and wherein the at least one safety module (135) is configured to determine a position and / or a speed of the moving unit of the linear transport system based on sensor values ​​of the at least one magnetic sensor element (133).

11. Motor module (100) according to one of the preceding claims 9 or 10, wherein the at least one magnetic sensor element (133) is designed as a Hall sensor.

12. Motor module (100) according to one of the preceding claims, wherein the control circuit board arrangement (113) further comprises a fifth circuit board (137), wherein the fifth circuit board (137) is electrically connected to the second circuit board (117), wherein a fifth normal direction (N5) of the fifth circuit board (137) is oriented substantially parallel to the direction of action (W) of the motor module (100), and wherein at least one radio antenna element (139) is formed on the fifth circuit board (137).

13. Motor module (100) according to claim 12, wherein the at least one radio antenna element (139) is designed as a near field communication antenna element.

14. Motor module (100) according to one of the preceding claims, wherein the coil core unit (107) comprises a base element (141) connected to the yoke elements (109), and wherein the base element (141) is connected to the motor module housing (101).

15. Linear transport system (200) comprising a stationary unit (201), at least one movable unit (203), at least one guide rail (205) and a magnetic linear motor (207), wherein the magnetic linear motor (207) comprises a stator (209) formed on the stationary unit (201) and at least one rotor (211) formed on the at least one movable unit (203), wherein the stator (209) comprises a plurality of motor modules (100) arranged on the stationary unit (201) along the at least one guide rail (205) according to one of the preceding claims 1 to 14, wherein the rotor (211) of the movable unit (203) comprises a plurality of drive magnet elements (213).

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