Electrodynamic transport system having a mobile transport unit, such a mobile transport unit, and method for operating an electrodynamic transport system
Patent Information
- Application Number
- PCT/EP2026/057791
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-03-24
- Filing Date
- 2026-03-19
- Publication Date
- 2026-10-01
Smart Images
Figure EP2026057791_01102026_PF_FP_ABST
Abstract
Description
[0001] Description
[0002] Electrodynamic transport system with a mobile transport unit, such mobile transport unit and method for operating an electrodynamic transport system
[0003] State of the art
[0004] The invention relates to an electrodynamic transport system, in particular an electrodynamic planar transport system, with at least one stator, in particular comprising a coil unit, which is provided for a drive of a mover, in particular planar mover, which can be arranged on, in particular on, the stator, and with at least one mobile transport unit, in particular driverless transport vehicle, which is movable, in particular traversable, relative to a surface.
[0005] Electrodynamic transport systems comprising at least one stator and at least one mover mounted on it are known, for example, under the product names XTS and XPianar from Beckhoff Automation GmbH & Co. KG, under the product name XBot® from Planar Motor Inc., and under the product names ACOPOS 6D and ACOPOStrak from B&R Industrial Automation GmbH.
[0006] Furthermore, an electrodynamic transport system is already known, for example, from DE 102022 114 144 Al, which comprises at least one stator intended for driving a mover that can be arranged on the stator, and at least one mobile transport unit that is movable relative to a surface, in particular, traversable. Using the mobile transport unit, the stator can, for example, be transported to or from an interface of a production plant for repair or maintenance purposes, wherein the stator, in a state arranged on the mobile transport unit, does not perform any operational function, but is merely transported with the mobile transport unit in order to then be removed from the mobile transport unit at a final station.After the stator has been transported to the production plant, the mobile transport unit is moved away from the production plant again independently of the stator, for example to retrieve another stator from a parking station or to transport it to the parking station.
[0007] The object of the invention is, in particular, to provide a generic electrodynamic transport system, a generic mobile transport unit, a generic production plant, and a generic method with improved properties with regard to flexibility, networking, and automation. This object is achieved according to the invention by the features of claims 1, 9, 10, and 11, respectively, while advantageous embodiments and further developments of the invention can be found in the dependent claims.
[0008] Disclosure of the invention
[0009] The invention relates to an electrodynamic transport system, in particular an electrodynamic planar transport system, with at least one stator, in particular comprising a coil unit, which is provided for a drive of at least one mover, in particular planar mover, which can be arranged on, in particular on, the stator, and with at least one mobile transport unit, in particular driverless transport vehicle, which is movable, in particular traversable, relative to a surface.
[0010] It is proposed that the mobile transport unit has at least one connection interface, in particular a mechanical and / or electrical interface, by means of which the stator is operationally connected to the mobile transport unit. The inventive design of the electrodynamic transport system advantageously allows for a high degree of flexibility regarding the deployment location of the electrodynamic transport system within a production environment. The electrodynamic transport system can advantageously be used flexibly to extend stationary processing and / or transport stations within a production environment, thus enabling, for example, the creation of stationary processing and / or transport stations with additional transport and / or handling capabilities for products, tailored to specific needs or production requirements.It can advantageously enable the transport of products and / or movers between different processing and / or transport stations, particularly without a fixed arrangement of transport units such as stationary conveyor belts, stationary electrodynamic transport systems, stationary robots, or the like. With regard to the hardware components of a production plant comprising the electrodynamic transport system (especially a mobile one) with the mobile transport unit, a high degree of networking can be advantageously achieved with respect to various stationary processing and / or transport stations of the production plant. Depending on demand and / or utilization of the stationary processing and / or transport stations, the electrodynamic transport system according to the invention can advantageously be used to expand the functionality of these stations.It is advantageous to prevent machine downtime at stationary processing and / or transport stations for production-related modifications, as the expansion can be carried out automatically and during operation using the electrodynamic transport system according to the invention. Manual intervention by operators can be advantageously minimized, since the mobile transport unit allows the stator(s) arranged at the connection interface to be moved, particularly automatically, to various stationary processing and / or transport stations of the production plant. A high level of user-friendliness can be advantageously achieved.
[0011] The electrodynamic transport system is preferably designed as an electrodynamic planar transport system. Preferably, the electrodynamic transport system is designed as a mobile electrodynamic transport system, in particular as a mobile electrodynamic planar transport system, which, especially within a production environment, is movable as a whole, preferably between the individual stationary processing and / or transport stations of the production plant comprising the electrodynamic transport system. The electrodynamic transport system has, in particular at least with regard to the interaction and configuration of movers and stators, a design already known to a person skilled in the art. Preferably, the electrodynamic transport system comprises a plurality of stators, in particular horizontally oriented ones, which are equipped with electromagnetic drive elements, in particular coil units, such as electromagnets or similar devices.The stators are equipped with permanent magnet units and are connected to one another, in particular to form a planar plane of motion for the mover or a plurality of movers of the electrodynamic transport system. However, it is also conceivable that, in an alternative configuration, the stators have permanent magnet units and are connected to one another, in particular to form a planar plane of motion for the mover or the plurality of movers. The plurality of stators is preferably operationally connected to the mobile transport unit via the connection interface. The electrodynamic transport system preferably comprises a plurality of movers, in particular electrodynamically movable ones, which are movable relative to the stators, in particular without contact, especially as a result of an interaction of the permanent magnet units of the movers with the electromagnetic drive elements or with the permanent magnet units of the stators.The stators preferably form a drive surface along or on which the movers, in particular in a floating manner, are movable. In particular, the electrodynamic transport system can detect and evaluate the position of the individual movers relative to the stators in a manner already known to those skilled in the art, in order to control or regulate the movement of the movers. Preferably, the electrodynamic transport system comprises at least one computing unit for controlling or regulating the movement and / or positioning of the movers and / or the mobile transport unit. A "computing unit" is understood to be, in particular, a unit with an information input, information processing, and information output. Advantageously, the computing unit comprises at least one processor, a memory, input and output means, other electrical components, an operating program, control routines, and / or calculation routines.Preferably, the components of the computing unit are arranged on a common circuit board and / or advantageously in a common housing. The movers preferably have more than two degrees of freedom, in particular at least six degrees of freedom, especially relative to the stator(s). Preferably, each mover has at least one axis of motion, in particular three axes of motion, along and / or about which the movers are movable relative to the stator(s), in particular as a result of an interaction of the permanent magnet units of the movers with the coil units or with the permanent magnet units of the stators. The axis(es) of motion preferably run at least substantially parallel or at least substantially perpendicular to the horizontal plane and / or the plane of motion defined by the stator(s).The term "essentially parallel" is to be understood in particular as an alignment of a direction relative to a reference direction, especially in a plane, wherein the direction has a deviation from the reference direction of, in particular, less than 8°, advantageously less than 5°, and most advantageously less than 2°. The expression "essentially perpendicular" is to be understood in particular as an alignment of a direction relative to a reference direction, wherein the direction and the reference direction, especially when viewed in a projection plane, enclose an angle of 90°, and the angle has a maximum deviation of, in particular, less than 8°, advantageously less than 5°, and most advantageously less than 2°.
[0012] Preferably, the electrodynamic transport system is intended for handling products, such as food, pharmaceuticals, or the like, and / or packaging within the production plant comprising the electrodynamic transport system. "Intended" is understood to mean, in particular, specially configured, specially designed, specially equipped, and / or specially programmed. The fact that an object is intended for a specific function is understood to mean, in particular, that the object fulfills and / or performs this specific function in at least one application and / or operating state. In a state of the stator(s) arranged on the mobile transport unit, a principal plane of extension of the stator(s) preferably extends at least substantially parallel to a horizontal plane, in particular to form a horizontally oriented plane of motion.The drive surface of the stator(s), on or along which the movers are movable, preferably runs at least substantially parallel to the main extension plane of the stator(s) in a state of the stator(s) arranged on the mobile transport unit.
[0013] The mobile transport unit can be designed without a drive or with a drive, in particular an electric motor. In a design without a drive, the mobile transport unit includes, for example, rollers or wheels by means of which the mobile transport unit can be moved manually by an operator relative to the ground, in particular a production floor. In a design without a drive, the mobile transport unit can, for example, be designed as a table trolley or the like. In a design with a drive, the mobile transport unit is preferably designed as an automated guided vehicle (AGV).The mobile transport unit comprises, particularly in a drive configuration, at least one or more electric motors, which are automatically or manually controllable or adjustable to move the mobile transport unit relative to the ground, in particular to traverse it. Preferably, the stator(s) in a state arranged at the connection interface can be moved by the mobile transport unit to a stationary processing and / or transport station of the production plant in order to connect the stator(s) in a state arranged at the connection interface to the stationary processing and / or transport station, in particular to other stators of the stationary processing and / or transport station.Preferably, the mobile transport unit comprises at least one locking unit designed to securely connect the mobile transport unit and the stationary processing and / or transport station by means of a positive and / or force-fit connection, in particular to advantageously align the stator(s) with the stationary processing and / or transport station, especially with other stators of the stationary processing and / or transport station, in a state of the stator(s) arranged at the connection interface and to counteract unintentional separation.The locking unit preferably comprises at least one mechanical centering element, particularly to advantageously enable precise alignment of the mobile transport unit and the stationary processing and / or transport station when the mobile transport unit approaches the stationary processing and / or transport station. The locking unit can be designed as a mechanical, pneumatic, hydraulic, and / or electromechanical locking unit. It is conceivable that the locking unit provides a simple locking action or that it can also establish an electrical and data connection.
[0014] The connection interface is preferably designed to connect a plurality of stators, particularly simultaneously, to the mobile transport unit in an operational manner. However, it is also conceivable that the mobile transport unit comprises a plurality of connection interfaces, with each individual connection interface within the plurality being designed to connect a single stator to the mobile transport unit in an operational manner. In a configuration of the mobile transport unit with a plurality of connection interfaces, all connection interfaces preferably have an identical design, so that a description of a single connection interface can be applied to all connection interfaces.However, it is also conceivable that, in a design of the mobile transport unit with a multitude of connection interfaces, one or all connection interface(s) may be configured differently with respect to at least one dimension, or that one or all connection interface(s) may be adjustable with respect to at least one dimension, particularly to allow the arrangement of stators of different sizes on the mobile transport unit. Preferably, the stator or the multitude of stators in a state arranged on the mobile transport unit can be supplied with a utilizing medium, such as electrical energy or the like, and / or with electronic data, such as control data or the like, via the connection interface(s), particularly to enable operation of the stator(s) in a state arranged on the mobile transport unit.Preferably, the connection interface(s) and the stator(s) are connectable according to a so-called plug-and-play principle. The connection interface(s) preferably form a receptacle for the stator(s), in which the stator(s) is / are arranged in a state of the stator(s) as mounted on the mobile transport unit.
[0015] Furthermore, it is proposed that the mobile transport unit comprises at least one power supply unit, wherein the connection interface includes at least one power supply element that is wirelessly or via cable connected to the stator arranged at the connection interface and to the power supply unit in order to supply energy to the stator in a state of the stator arranged at the connection interface. The power supply unit preferably comprises at least one battery. The battery is preferably connected to the power supply element via cable. Alternatively or additionally, the power supply unit comprises at least one coil.The coil may, for example, be designed to charge the battery, in particular by interacting with induction coils embedded in a subsurface, especially in the floor of a production facility, in order to supply the stator(s) with energy via the battery, and / or the coil may, for example, be designed to supply the stator(s), in particular independently of the battery, with energy via the energy supply element by interacting with the induction coils embedded in the subsurface.The power supply unit can alternatively or additionally have a plug or socket that can be connected to a corresponding socket or plug of the production plant, in particular a processing and / or transport station, at which the mobile transport unit is arranged as an extension of the processing and / or transport station, in order to supply the stator(s) with energy in a state arranged at the connection interface.For example, it is conceivable that the power supply unit, which has a plug or socket, is automatically connected to a corresponding socket or plug of the processing and / or transport station as a result of the mobile transport unit approaching, in particular docking, the processing and / or transport station, in order to supply the stator(s) with energy in a state arranged at the connection interface. It is also conceivable that the power supply unit, which has a plug or socket, is manually connected by an operator to a corresponding socket or plug of the processing and / or transport station after the mobile transport unit has approached the station.The power supply element of the connection interface can be designed as a plug, a socket, an induction coil, or any other power supply element deemed suitable by a person skilled in the art to supply the stator(s) with energy in a state arranged at the connection interface. The stator(s) preferably comprises, in particular each, at least one corresponding power supply element which, in a state of the stator(s) arranged at the connection interface, interacts with the power supply element of the connection interface for the wireless or wired transfer of energy. The inventive design of the electrodynamic transport system advantageously and structurally simplifies the achievement of a reliable power supply to the stator for operation in a state of the stator arranged at the connection interface.A high degree of flexibility regarding the deployment location of the electrodynamic transport system within a production environment can be advantageously achieved, particularly since the stator can be powered even during movement of the mobile transport unit, enabling operation in a state of the stator located at the connection interface. The electrodynamic transport system can be used advantageously and flexibly to expand stationary processing and / or transport stations within a production environment, thus enabling, for example, the creation of stationary processing and / or transport stations with additional transport and / or handling capabilities for products, tailored to specific needs or production requirements.It can be advantageous with regard to hardware components of a production plant comprising, in particular, a mobile electrodynamic transport system with the mobile transport unit, to achieve a high degree of networking with respect to various stationary processing and / or transport stations of the production plant.
[0016] Furthermore, it is proposed that the mobile transport unit comprise at least one carrier unit on which the connection interface is arranged, wherein the connection interface has at least one locking element, in particular a movable one, which, in a state of the stator arranged at the connection interface, interacts with the stator in a form-fit and / or force-fit manner to connect the stator to the carrier unit in a positionally secure manner. The carrier unit is preferably designed as a frame, a rack, a base plate, or the like. The locking element can be designed as a latching element, a clamping element, a bayonet fitting, an insertion element, a movable clamping lever, a screw connection, or the like.The stator(s) preferably comprises, in particular each, at least one corresponding locking element which, in a state of the stator(s) arranged at the connection interface, interacts with the locking element of the connection interface. The locking element is preferably designed to form a detachable connection with the stator, in particular to allow the stator to be removed from the connection interface if necessary, such as in the case of stator maintenance or replacement, or the like. The stator can preferably be fixed to the support unit by means of the locking element. The stator can preferably be secured to the support unit against movement, in particular unintentional movement, relative to the support unit by means of the locking element.The inventive design of the electrodynamic transport system advantageously and structurally simply achieves reliable securing of the stator in a state arranged at the connection interface. A high degree of flexibility regarding the deployment location of the electrodynamic transport system within a production environment can be advantageously achieved, particularly since relative movement of the stator and the carrier unit can be advantageously counteracted even during movement of the mobile transport unit. This allows for the advantageous maintenance of a precise alignment of the stator relative to the carrier unit, which is essential for the safe and precise interaction of the stator arranged on the mobile transport unit and at least one stator of a stationary processing and / or transport station.The electrodynamic transport system can be advantageously and flexibly used to expand stationary processing and / or transport stations within a production environment. This allows, for example, the creation of stationary processing and / or transport stations with additional transport and / or handling capabilities tailored to specific needs or production requirements. Furthermore, a high degree of networking can be achieved with regard to the hardware components of a production plant comprising the electrodynamic transport system, particularly the mobile transport unit, and connecting it to various stationary processing and / or transport stations within the production plant.Depending on the need and / or utilization of the stationary processing and / or transport stations, a reliable functional extension of the stationary processing and / or transport stations can be advantageously realized by means of the electrodynamic transport system according to the invention.
[0017] Furthermore, it is proposed that the electrodynamic transport system includes at least one communication unit configured to transmit control or regulation commands to and from the stator wirelessly or via cable in a state of the stator located at the connection interface. The communication unit is preferably designed as a wireless communication unit. When configured as a wireless communication unit, it can be, for example, a WLAN communication unit, a Bluetooth communication unit, a radio communication unit, an RFID communication unit, an NFC communication unit, an infrared communication unit, a mobile network communication unit, a ZigBee communication unit, or the like. The communication unit is particularly preferably designed for bidirectional data transmission.Alternatively or additionally, the communication unit is designed as a wired communication unit, such as a LAN communication unit, a USB communication unit, an industrial bus system (Ethernet / IP, ProfiNET, EtherCAT, Ethernet POWERLINK, etc.), or the like. It is advantageous to enable the use of defined interfaces, such as OPC UA and PackML, or the like, to facilitate defined machine-to-machine communication. For wired transmission of control commands, the connection interface preferably includes at least one data transmission element that is connected by cable to the stator arranged at the connection interface, in particular to a corresponding data transmission element of the stator, in order to transmit the control commands to and / or from the stator.For wireless transmission of control or regulation commands to and / or from the stator in a state of the stator arranged at the connection interface, the stator itself can have a data transmission module for wireless data transmission, or the stator can be connected by cable to the data transmission element of the connection interface, which is connected to the communication unit. Further embodiments for wired or wireless transmission of control or regulation commands to and / or from the stator that would appear sensible to a person skilled in the art are also conceivable.Preferably, control or regulation commands can be transmitted to and / or from the stator via the communication unit, wherein the control or regulation commands can be processed and / or generated by an internal control or regulation unit of the mobile transport unit, by the computing unit of the electrodynamic transport system and / or by a central control or regulation unit of the production plant.The control or regulation commands can control the stator to move the mover, such as moving the mover to a parking position during movement of the mobile transport unit between different stationary processing and / or transport stations, moving the mover to transport a product on the stator, moving the mover from the mobile transport unit to the stationary processing and / or transport station or vice versa to transport a product between the mobile transport unit and the stationary processing and / or transport station in a state of the mobile transport unit arranged at the stationary processing and / or transport station, or the like.The inventive design of the electrodynamic transport system advantageously enables data exchange for precise control of the stator in a state of the stator arranged at the connection interface, particularly to facilitate advantageous movement of the mover arranged on the stator. A high degree of networking of the production plant comprising the electrodynamic transport system can advantageously be achieved. A high level of user-friendliness can also be advantageously provided. It is further proposed that the mobile transport unit comprises at least one chassis, at least one support unit (in particular the previously mentioned one) on which the connection interface is arranged, and at least one movement unit (in particular a lifting unit) for moving the support unit, particularly along a vertical axis of the mobile transport unit, relative to the chassis.Preferably, the mobile transport unit comprises at least one chassis, in particular at least one wheel and / or track, which is arranged on the chassis. The mobile transport unit preferably has at least one drive train, in particular comprising an electric motor, by means of which the wheel(s) and / or track(s) can be driven. The movement unit is preferably designed as a lifting unit, by means of which the carrier unit can be moved relative to the chassis along a lifting axis of the movement unit that extends at least substantially perpendicular to the planar plane of motion of the stator(s). The lifting unit can have at least one pneumatic cylinder, at least one hydraulic cylinder, or at least another mechanical component that would appear useful to a person skilled in the art, which is provided for realizing a lifting movement.The motion unit can be provided, alternatively or additionally to a lifting motion, for movement of the carrier unit relative to the chassis along and / or around a linear and / or rotational axis of the motion unit extending at least substantially parallel to the planar plane of motion of the stator(s), in particular to advantageously bridge, compensate for, or otherwise compensate for a distance, height difference, angular offset, or the like between the carrier unit and the stationary processing and / or transport station on which the mobile transport unit is arranged, or to enable precise horizontal alignment of the carrier unit and thus of the stator(s) arranged at the connection interface. The carrier unit is preferably movably mounted relative to the chassis by means of the motion unit.Alternatively or additionally, it is conceivable that the stationary processing and / or transport stations include a lifting unit at least in a connecting section where the mobile transport unit can be attached to the respective stationary processing and / or transport station, particularly to adapt the connecting section to a vertical position of the stator(s) arranged on the mobile transport unit. The inventive design of the electrodynamic transport system advantageously enables a reliable operative connection between the stator(s) arranged on the mobile transport unit and the stators of the stationary processing and / or transport stations. A high degree of flexibility regarding the deployment location of the electrodynamic transport system within a production environment can advantageously be achieved.The electrodynamic transport system can advantageously be used flexibly to expand stationary processing and / or transport stations within a production environment, for example, to enable stationary processing and / or transport stations with additional transport and / or handling capabilities for products, tailored to specific needs or production requirements. Depending on the demand and / or utilization of the stationary processing and / or transport stations, the electrodynamic transport system according to the invention can advantageously be used to expand the functionality of these stations.
[0018] Furthermore, it is proposed that the electrodynamic transport system comprises at least one detection unit for detecting a position, such as height along the vertical axis, a deflection along a horizontal axis, or the like, and / or an orientation, such as inclination relative to the horizontal plane, or the like, of the carrier unit relative to the chassis and / or relative to an external unit, in particular a stationary processing and / or transport station of the production plant, wherein the carrier unit is movable relative to the chassis by the motion unit depending on a position and / or orientation of the carrier unit detected by the detection unit. The detection unit can, for example, be a camera, an infrared sensor, a laser sensor, a distance sensor, an accelerometer, an inclination sensor, or the like.The unit is equipped to detect the position and / or orientation of the carrier unit relative to the chassis and to detect the position and / or orientation of the carrier unit relative to the external unit, in particular the stationary processing and / or transport station. Preferably, the data acquired by the detection unit can be evaluated by the processing unit of the electrodynamic transport system, preferably to control the motion unit accordingly. The detection unit is preferably arranged on the carrier unit. It is conceivable that the detection unit is provided alternatively or additionally for detecting the position and / or orientation of the stator relative to the connection interface, in particular to enable precise and automatic positioning of the stator at the connection interface, for example, by means of a multi-axis robot.Further detection options using the detection unit, which would appear useful to a person skilled in the art, are also conceivable. The inventive design of the electrodynamic transport system advantageously enables reliable operation of the stator in a state where the stator is located on the mobile transport unit. It also advantageously allows for precise alignment of the stator to ensure a reliable operative connection between the stator located on the mobile transport unit and the stators of the stationary processing and / or transport stations. Furthermore, it advantageously achieves a high degree of flexibility regarding the deployment location of the electrodynamic transport system within a production environment.The electrodynamic transport system can advantageously be used flexibly to expand stationary processing and / or transport stations within a production environment, for example, to enable stationary processing and / or transport stations with additional transport and / or handling capabilities for products, tailored to specific needs or production requirements. Depending on the demand and / or utilization of the stationary processing and / or transport stations, the electrodynamic transport system according to the invention can advantageously be used to expand the functionality of these stations.
[0019] Furthermore, it is proposed that the electrodynamic transport system comprises at least one handling unit, in particular a multi-axis robot, wherein the mobile transport unit comprises at least one carrier unit, in particular the one already mentioned, on which the connection interface and the handling unit are arranged, the handling unit being designed for handling objects and / or the stator, in particular for automatically positioning the stator at the connection interface or for automatically removing the stator from the connection interface. The handling unit is preferably designed as an articulated robot, in particular a multi-axis, preferably a five-axis, preferably a six-axis, or as a SCARA robot. The handling unit is preferably designed as a collaborative articulated robot.The handling unit preferably comprises, in a manner known to those skilled in the art, a plurality of drives, in particular servomotors or the like, for controlled or regulated movement of a robot arm of the handling unit and / or a robot flange of the handling unit relative to each other and / or relative to a robot base of the handling unit. The handling unit preferably includes at least one end effector for handling objects, the mover, and / or the stator. Preferably, the end effector is interchangeably connectable to the robot flange via a connection interface of the end effector in a manner known to those skilled in the art.The end effector is preferably located on the robot flange and can be supplied with energy for operation in a manner known to those skilled in the art, and is connected to the computing unit of the electrodynamic transport system for data transmission. The handling unit can, for example, transfer objects to or from the mover, which is mounted on the stator. It is also conceivable that the handling unit could automatically replace a defective stator, or similarly. The inventive design of the electrodynamic transport system advantageously minimizes manual intervention and the risk of operator error, as the handling unit can advantageously perform various functions within the production plant. This also allows for a high level of user-friendliness.A high degree of flexibility regarding the deployment location of the electrodynamic transport system within a production environment can be advantageously achieved. The electrodynamic transport system can be used to flexibly expand stationary processing and / or transport stations within a production environment, thus enabling, for example, the addition of stationary processing and / or transport stations with extra transport and / or handling capabilities for products, tailored to specific needs or production requirements. Furthermore, a high degree of networking can be advantageously achieved with regard to the hardware components of a production plant comprising the electrodynamic transport system, particularly the mobile transport unit, and connecting it to various stationary processing and / or transport stations within the production plant.Depending on the need and / or utilization of the stationary processing and / or transport stations, it is advantageous to implement a functional extension of the stationary processing and / or transport stations using the electrodynamic transport system according to the invention.
[0020] Furthermore, it is proposed that the electrodynamic transport system comprises at least one barrier unit, in particular a restricted access barrier system, an intrusion protection system, a zone separation system, an aseptic or high-potency insulator, and / or a unidirectional air flow unit, wherein the mobile transport unit comprises at least one carrier unit, in particular the one already mentioned, on which the connection interface and the barrier unit are arranged, the barrier unit at least partially surrounding the connection interface. Preferably, the barrier unit at least partially surrounds the carrier unit. The barrier unit preferably comprises at least two side guards, with each of the two side guards being arranged on one side of the carrier unit.The barrier unit can include additional protective walls to at least partially surround the connection interface and the stator(s) located at the connection interface. It is also conceivable that the barrier unit completely surrounds at least the connection interface and the stator(s) located at the connection interface. The barrier unit can have a movable closing element, such as a flap, a door, a roller shutter, a transfer port, an airlock, or the like. The closing element can, for example, open or close a connecting opening in the barrier unit, through which movers can travel back and forth between the stator(s) located at the connection interface and the other stators of the stationary processing and / or transport station in a state of the mobile transport unit located at the stationary processing and / or transport station.The closure element can also be designed as an airlock or form part thereof, particularly to enable advantageous use of the electrodynamic transport system in an aseptic production environment or in a cleanroom environment. Preferably, at least the connection interface, the stator(s) arranged at the connection interface, and the handling unit are arranged within the barrier unit on the carrier unit. The barrier unit preferably comprises at least one airflow generator for generating a directed airflow, particularly within a space bounded by protective walls of the barrier unit. More preferably, the barrier unit comprises at least one seal designed to interact with a protective wall of the stationary processing and / or transport station when the mobile transport unit and the stationary processing and / or transport station are coupled.Other embodiments of the barrier unit that would appear sensible to a person skilled in the art are also conceivable. The inventive design of the electrodynamic transport system advantageously enables a high level of safety for an operator and / or for an object located within the barrier unit. Furthermore, it advantageously allows the electrodynamic transport system to be used in a sterile production environment. A high degree of flexibility regarding the location of the electrodynamic transport system within a production environment can also be advantageously achieved.The electrodynamic transport system can be advantageously and flexibly used to expand stationary processing and / or transport stations within a production environment, in order to advantageously enable, for example, stationary processing and / or transport stations with additional transport and / or handling options for products, tailored to specific needs or production requirements.
[0021] Furthermore, the invention relates to a mobile transport unit, in particular one already mentioned, and especially an automated guided vehicle (AGV), for an electrodynamic transport system according to the invention. It is proposed that the mobile transport unit comprises at least one connection interface, in particular one already mentioned, which is configured for an operational connection with at least one stator of the electrodynamic transport system. Preferably, the connection interface is configured to supply the stator in a state arranged on the mobile transport unit with an operating medium, such as electrical energy or the like, and / or with electronic data, such as control data or the like, in particular to enable operation of the stator in a state arranged on the mobile transport unit.The inventive design of the mobile transport unit enables a simple retrofit solution for electrodynamic transport systems, allowing for advantageously high flexibility regarding the deployment location of the electrodynamic transport system within a production environment.
[0022] Furthermore, a production plant, in particular the one already mentioned, with at least one electrodynamic transport system according to the invention is proposed. The production plant preferably comprises a plurality of electrodynamic transport systems according to the invention. Preferably, the production plant comprises a plurality of stationary processing and / or transport stations. The design of the production plant according to the invention advantageously allows for a high degree of flexibility. The electrodynamic transport system can advantageously be used flexibly to expand the number of stationary processing and / or transport stations within a production environment, in order to advantageously enable, for example, on-demand or production-oriented stationary processing and / or transport stations with additional transport and / or handling capabilities for products.It can be advantageous to achieve a high degree of networking with regard to hardware components of the production plant, specifically concerning various stationary processing and / or transport stations and the electrodynamic transport systems.
[0023] Furthermore, the invention relates to a method for operating an electrodynamic transport system according to the invention. It is proposed that in at least one method step, the stator is operated in a state arranged at the connection interface of the mobile transport unit, in particular to drive the mover arranged on the stator. The stator can preferably be operated during movement of the mobile transport unit while the mobile transport unit is arranged at a stationary processing and / or transport station of the production plant, in particular while docked thereto, and / or during another state of the mobile transport unit that would appear useful to a person skilled in the art.Preferably, the stator is supplied with energy by the power supply unit of the electrodynamic transport system during operation in a state arranged at the connection interface of the mobile transport unit. Preferably, the stator receives control or regulation commands via the communication unit of the electrodynamic transport system during operation in a state arranged at the connection interface of the mobile transport unit. The design according to the invention advantageously allows for a high degree of flexibility regarding the deployment location of the electrodynamic transport system within a production environment.The method according to the invention advantageously enables the electrodynamic transport system to be used flexibly to expand stationary processing and / or transport stations within a production environment, thus advantageously allowing, for example, stationary processing and / or transport stations with additional transport and / or handling capabilities for products, tailored to specific needs or production requirements. It can advantageously enable the transport of products and / or movers between different processing and / or transport stations, particularly without a fixed arrangement of transport units such as stationary conveyor belts, stationary electrodynamic transport systems, stationary robots, or the like.Depending on demand and / or utilization of the stationary processing and / or transport stations, the electrodynamic transport system according to the invention can advantageously be used to expand the functionality of these stations. This also helps to avoid machine downtime for production-related modifications, as the expansion can be performed automatically and during operation using the electrodynamic transport system according to the invention. Furthermore, manual intervention by operators can be minimized, as the mobile transport unit allows one or more stators arranged at the connection interface to be moved, particularly automatically, to different stationary processing and / or transport stations within the production plant.
[0024] The electrodynamic transport system, the mobile transport unit, the production plant, and / or the method according to the invention are not / should not be limited to the application and embodiment described above. In particular, the electrodynamic transport system, the mobile transport unit, the production plant, and / or the method according to the invention may, to achieve a functionality described herein, have a different number of individual elements, components, units, and process steps than the number specified herein. Furthermore, values within the specified limits of the value ranges stated in this disclosure shall also be considered disclosed and freely usable.
[0025] Drawings
[0026] Further advantages become apparent from the following description of the drawings. The drawings illustrate exemplary embodiments of the invention. The drawings, the description, and the claims contain numerous features in combination. A person skilled in the art will expediently consider the features individually and combine them into meaningful further combinations.
[0027] They show:
[0028] Fig. 1 A schematic representation of an overall view of a production plant according to the invention with a plurality of stationary processing and / or transport stations and with at least one electrodynamic transport system according to the invention, in particular mobile, and in particular with a plurality of electrodynamic transport systems according to the invention.
[0029] Fig. 2a shows a detailed view of a possible embodiment of an electrodynamic transport system according to the invention in a schematic representation,
[0030] Fig. 2b shows a schematic detail view of another possible embodiment of an electrodynamic transport system according to the invention. Fig. 3 shows a schematic detail view of a transfer container of the production plant according to the invention for the contamination-free transfer of a stator and / or a mover via a transfer port of the production plant according to the invention into an insulator of the production plant according to the invention, wherein the stator and / or the mover can be arranged on a mobile transport unit of the electrodynamic transport system according to the invention before or after the transfer.
[0031] Fig. 4 shows a flowchart of a method according to the invention for the operation of an electrodynamic transport system and / or a production plant according to the invention in a schematic representation.
[0032] Description of the exemplary implementations
[0033] Figure 1 shows an overall view of a production plant 44, which preferably comprises a plurality of stationary processing and / or transport stations 42 and at least one, in particular mobile, electrodynamic transport system 10, and in particular a plurality of mobile electrodynamic transport systems 10. The production plant 44 is preferably intended for use in the food, pharmaceutical, and / or cosmetics industries and / or for use in component manufacturing, such as for electronic components or the like. The stationary processing and / or transport stations 42 are preferably intended for transporting, manufacturing, processing, packaging, and / or filling food products, pharmaceuticals, and / or cosmetics.The stationary processing and / or transport stations 42 can, for example, comprise transport devices, sterilization devices, filling devices, closure devices, repackaging devices, isolators 76, and / or other devices that would appear useful to a person skilled in the art, which are used in the manufacture, processing, packaging, and / or filling of food, pharmaceuticals, and / or cosmetics. The stationary processing and / or transport stations 42 can all have an identical design to perform identical tasks of the production plant 44, or at least some or all of the stationary processing and / or transport stations 42 can have different designs to perform different tasks of the production plant 44. The stationary processing and / or transport stations 42 are preferably arranged at fixed positions in a production environment of the production plant 44.The electrodynamic transport system 10 or systems 10 is / are preferably mobile within the production environment of the production plant 44. The electrodynamic transport systems 10 of the production plant 44 can all be identical, or individual or all of the electrodynamic transport systems 10 of the production plant 44 can be configured differently.
[0034] Figure 2a shows a possible embodiment of an electrodynamic transport system 10 of the production plant 44. The electrodynamic transport system 10 is preferably designed as an electrodynamic planar transport system. Preferably, the electrodynamic transport system 10 is designed as a mobile electrodynamic transport system 10, in particular as a mobile electrodynamic planar transport system, which, in particular within the production environment of the production plant 44, is movable as a whole, preferably between the individual stationary processing and / or transport stations 42 of the production plant 44. The electrodynamic transport system 10 comprises at least one stator 14, in particular a coil unit 12, which is provided for driving at least one mover 16, in particular a planar mover, of the electrodynamic transport system 10, which can be arranged on, in particular on, the stator 14.The electrodynamic transport system 10 has, in particular at least with regard to an interaction and design of movers 16 and stators 14, preferably a design already known to a person skilled in the art.
[0035] The electrodynamic transport system 10 further comprises at least one mobile transport unit 18, which is movable relative to a surface 20, in particular, is traversable. In the possible embodiment of the electrodynamic transport system 10 shown in Figure 2a, the mobile transport unit 18 is preferably designed as a driverless transport vehicle. Preferably, the electrodynamic transport system 10 comprises at least one computing unit 54 for controlling or regulating the stator 14 for movement and / or positioning of the mover 16 and / or for controlling or regulating the mobile transport unit 18. It is also conceivable that the stator 14 is controlled or regulated by a computer unit 54.the control of the mover 16 and / or the mobile transport unit 18 of the electrodynamic transport system 10 is alternatively or additionally carried out by means of a central control or regulating unit (not shown in detail here) of the production plant 44 or that the central control or regulating unit interacts with the computing unit 54 in order to control or regulate the stator 14 or the mover 16 and / or the mobile transport unit 18 of the electrodynamic transport system 10.
[0036] The mobile transport unit 18 has at least one connection interface 22 by means of which the stator 14 is operationally connected to the mobile transport unit 18. Preferably, the stator 14, in a state arranged on the mobile transport unit 18, can be supplied via the connection interface 22 with an operating medium, such as electrical energy or the like, and / or with electronic data, such as control data or the like, in particular to enable operation of the stator 14 in a state arranged on the mobile transport unit 18.Preferably, the stator 14 can be moved to one of the stationary processing and / or transport stations 42 of the production plant 44 in a state arranged at the connection interface 22 by means of the mobile transport unit 18 in order to connect the stator 14 in a state arranged at the connection interface 22 with the stationary processing and / or transport station 42, in particular with at least one further stator 56 (see Figure 1) of the stationary processing and / or transport station 42.
[0037] Preferably, the mobile transport unit 18 comprises at least one locking unit 58, which is designed to securely connect the mobile transport unit 18 and the stationary processing and / or transport station 42, to which the mobile transport unit 18 has moved, by means of a positive and / or force-fit connection, in particular to advantageously align the stator 14 in a state arranged at the connection interface 22 with the stationary processing and / or transport station 42, in particular with the at least one further stator 56 of the stationary processing and / or transport station 42, and to counteract unintentional separation.The locking unit 58 preferably comprises at least one mechanical centering element 60, particularly to advantageously enable precise alignment of the mobile transport unit 18 and the stationary processing and / or transport station 42 when the mobile transport unit 18 approaches the stationary processing and / or transport station 42. The locking unit 58 can be designed as a mechanical, pneumatic, hydraulic, and / or electromechanical locking unit 58. It is conceivable that the locking unit 58 can be used solely for locking, or that, in addition to locking, an electrical and data connection can also be established using the locking unit 58.
[0038] The mobile transport unit 18 preferably comprises at least one power supply unit 24, wherein the connection interface 22 has at least one power supply element 26, which is wirelessly or via cable connected to the stator 14 arranged at the connection interface 22 and to the power supply unit 24 in order to supply the stator 14 with energy in a state of the stator 14 arranged at the connection interface 22. The power supply unit 24 preferably comprises at least one battery 62. The battery 62 is preferably connected to the power supply element 26 via cable. Alternatively or additionally, the power supply unit 24 comprises at least one coil (not shown here). The coil can, for example, be provided to charge the battery 62, in particular by interaction with a substrate 20 (see Figure 2).Figure 1), in particular to charge induction coils (not shown in detail here) embedded in the floor of a production facility. The power supply unit 24 can alternatively or additionally have a plug 64 or a socket (not shown in detail here) which can be connected to a corresponding socket (not shown in detail here) or to a corresponding plug (not shown in detail here) of the production plant 44, in particular the processing and / or transport station 42, at which the mobile transport unit 18 is at least temporarily arranged, in order to supply the stator 14 with energy in a state arranged at the connection interface 22. The plug 64 or the socket of the power supply unit 24 is designed as a separate component in Figure 2a.However, it is also conceivable that the plug 64 or the socket of the power supply unit 24 is integrated into the locking unit 58.
[0039] Preferably, the mobile transport unit 18 comprises at least one carrier unit 28 on which the connection interface 22 is arranged, wherein the connection interface 22 has at least one locking element 30 (shown schematically as a dashed rectangle in Figure 2a), which is in particular movably mounted, and which, in a state of the stator 14 arranged at the connection interface 22, interacts with the stator 14 in a form-fit and / or force-fit manner to connect the stator 14 to the carrier unit 28 in a positionally secure manner. The carrier unit 28 is preferably designed as a frame, a rack, a base plate, or the like. The locking element 30 can be designed as a latching element, a clamping element, a bayonet fitting, an insertion element, a movable clamping lever, a screw connection, or the like.The stator 14 preferably comprises at least one corresponding locking element (not shown in detail here) which, in a state of the stator 14 arranged at the connection interface 22, interacts with the locking element 30 of the connection interface 22. The locking element 30 is preferably provided in a releasable connection with the stator 14, in particular with the corresponding locking element of the stator 14. The stator 14 can preferably be secured at the connection interface 22 against movement of the stator 14 relative to the carrier unit 28, in particular against unintentional movement, by means of the locking element 30.
[0040] The electrodynamic transport system 10 preferably comprises at least one communication unit 32, which is configured to transmit control or regulation commands wirelessly or via cable to and / or from the stator 14 in a state of the stator 14 arranged at the connection interface 22. Preferably, control or regulation commands can be transmitted to and / or from the stator 14 by means of the communication unit 32, wherein the control or regulation commands can be processed and / or generated by the computing unit 54 of the electrodynamic transport system 10 and / or by a central control or regulation unit of the production plant 44.The control or regulation commands can be used to control the stator 14 to move the mover 16, such as moving the mover 16 to a parking position during movement of the mobile transport unit 18 between different stationary processing and / or transport stations 42, moving the mover 16 to transport a product on the stator 14, moving the mover 16 from the mobile transport unit 18 to the stationary processing and / or transport station 42 or vice versa, for example to transport a product between the mobile transport unit 18 and the stationary processing and / or transport station 42 in a state of the mobile transport unit 18 arranged at the stationary processing and / or transport station 42, or the like.
[0041] Preferably, the mobile transport unit 18 comprises at least one chassis 34, at least the carrier unit 28 on which the connection interface 22 is arranged, and at least one movement unit 36, in particular a lifting unit, for moving the carrier unit 28, in particular along a vertical axis 38 of the mobile transport unit 18, relative to the chassis 34. Preferably, the mobile transport unit 18 comprises at least one chassis 66 (indicated only by dashed lines in Figure 2a), in particular comprising at least one wheel and / or a track, which is arranged on the chassis 34. The mobile transport unit 18 preferably has at least one drive train 68 (indicated only by dashed lines in Figure 2a), in particular comprising an electric motor, by means of which the wheel(s) and / or the track(s) can be driven.The motion unit 36 is preferably designed as a lifting unit by means of which the carrier unit 28 can be moved, in particular translationally, along a lifting axis 72 of the motion unit 36 extending at least substantially perpendicular to a planar plane of motion 70 of the stator 14 relative to the chassis 34. Alternatively or additionally, the motion unit 36 can be designed to move the carrier unit 28 relative to the chassis 34 along and / or about a linear and / or rotational axis of the motion unit 36 extending at least substantially parallel to the planar plane of motion 70 of the stator 14, in particular to advantageously bridge, compensate for, or similarly compensate for a distance, a difference in height, an angular offset, or the like between the carrier unit 28 and the stationary processing and / or transport station 42, on which the mobile transport unit 18 is arranged.and / or to enable precise horizontal alignment of the carrier unit 28 and thus of the stator 14 arranged at the connection interface 22. The carrier unit 28 is preferably movably mounted relative to the chassis 34 by means of the motion unit 36. Alternatively or additionally, it is conceivable that the stationary processing and / or transport stations 42 include a lifting unit at least in a connecting section where the mobile transport unit 18 can be arranged at the respective stationary processing and / or transport station 42, in particular to adapt the connecting section to a vertical position of the stator 14 arranged on the mobile transport unit 18.
[0042] The electrodynamic transport system 10 preferably comprises at least one detection unit 40 for detecting the position and / or orientation of the carrier unit 28 relative to the chassis 34 and / or relative to an external unit, in particular to one of the stationary processing and / or transport stations 42, wherein the carrier unit 28 is movable relative to the chassis 34 by the motion unit 36 depending on the position and / or orientation of the carrier unit 28 detected by the detection unit 40. It is conceivable that the detection unit 40 is provided alternatively or additionally for detecting the position and / or orientation of the stator 14 relative to the connection interface 22, in particular to enable precise and automatic positioning of the stator 14 at the connection interface 22 and / or of the mover 16 on the stator 14.Other detection options using the detection unit 40 that would appear useful to a person skilled in the art are also conceivable. Preferably, the detection unit 40 is arranged on the carrier unit 28. However, it is also conceivable that the detection unit 40 is arranged at another position on the electrodynamic transport system 10 or within the production environment of the production plant 44 that would appear useful to a person skilled in the art, or that the detection unit 40 is formed by a sensor unit of the mobile transport unit 18, which is already present, in particular for orientation of the mobile transport unit 18. The detection unit 40 can, for example, be a camera, an infrared sensor, a laser sensor, a distance sensor, an accelerometer, a tilt sensor, or the like.The unit 28 is equipped to detect the position and / or orientation of the carrier unit 28 relative to the chassis 34 and / or to detect the position and / or orientation of the carrier unit 28 relative to the external unit, in particular to one of the stationary processing and / or transport stations 42. Preferably, the data acquired by the detection unit 40 can be evaluated by the processing unit 54 of the electrodynamic transport system 10, preferably to control the motion unit 36 accordingly.
[0043] Preferably, the electrodynamic transport system 10 comprises at least one handling unit 46 arranged on the carrier unit 28. Preferably, the handling unit 46 is designed for handling objects and / or the stator 14, in particular for automatically positioning the stator 14 at the connection interface 22 or for automatically removing the stator 14 from the connection interface 22. The handling unit 46 is preferably designed as an articulated robot, in particular a multi-axis, preferably a five-axis, preferably a six-axis, or as a SCARA robot. The handling unit 46 is preferably designed as a collaborative articulated robot. The handling unit 46 preferably comprises a plurality of drives, in particular servo motors or the like, in a manner already known to those skilled in the art., for a controlled or regulated movement of a robot arm of the handling unit 46 and / or a robot flange of the handling unit 46 relative to each other and / or relative to a robot base of the handling unit 46. The handling unit 46 preferably comprises at least one end effector for handling objects, the stator 14 and / or the mover 16. Preferably, the end effector is interchangeably connectable to the robot flange by means of a connection interface of the end effector in a manner known to a person skilled in the art. The end effector is preferably supplied with energy for operation in a state arranged on the robot flange in a manner known to a person skilled in the art and is connected to the computing unit 54 of the electrodynamic transport system 10 for data transmission.The handling unit 46 can, for example, transfer objects to or from the mover 16, which is arranged on the stator 14. It is also conceivable that the handling unit 46 can automatically replace the stator 14 in the event of a defect, or similar actions. Furthermore, the handling unit 46 is designed to transfer the stator 14 and / or the mover 16 to a transfer container 74 (see Figures 1 and 3) of the production plant 44, particularly in an operational state, or to remove them from the transfer container 74, especially to enable contamination-free transfer of the stator 14 and / or the mover 16 into an insulator 76 (see Figure 1) of the production plant 44, which surrounds at least one stationary processing and / or transport station 42. Other handling functions of the handling unit 46 within the production environment of the production plant 44, which would appear useful to an expert, are also conceivable.
[0044] The electrodynamic transport system 10 preferably comprises at least one barrier unit 48, in particular a restricted access barrier system, an anti-entry system, a zone separation system, an aseptic or high-potency insulator, and / or a unidirectional air flow unit, which is arranged on the carrier unit 28, wherein the barrier unit 48 at least partially surrounds the connection interface 22. Preferably, the barrier unit 48 at least partially surrounds the carrier unit 28 on which the connection interface 22 is arranged. In the exemplary embodiment of the barrier unit 48 shown in Figure 2a, the barrier unit 48 preferably comprises at least two side protection walls 78, 80, wherein one of the two side protection walls 78, 80 is arranged on each side of the carrier unit 28.The barrier unit 48 can comprise further protective walls to at least partially, preferably completely, enclose the connection interface 22 and the stator 14 arranged at the connection interface 22, and in particular the entire support unit 28. The barrier unit 48 can have a movable closing element (not shown in detail here), such as a flap, a door, a roller shutter, or the like. The closing element can, for example, open or close a connecting opening of the barrier unit 48 through which movers 16 can move back and forth between the stator 14 arranged at the connection interface 22 and the further stators 56 of the stationary processing and / or transport station 42 in a state of the mobile transport unit 18 arranged at the stationary processing and / or transport station 42, in particular to realize different cleanroom classes in the pharmaceutical and / or food sectors.Preferably, at least the connection interface 22, the stator 14 arranged at the connection interface 22, and in particular also the mover 16 if it is arranged on the stator 14, and the handling unit 46 are arranged within the barrier unit 48, which at least partially surrounds the carrier unit 28. The barrier unit 48 can include at least one airflow generator (not shown in detail here) for generating a directed airflow, in particular within a space bounded at least by the side walls 78, 80 of the barrier unit 48. Preferably, the barrier unit 48 includes at least one seal 82, which is designed to interact with a protective wall 84 (see Figure 1) of the stationary processing and / or transport station 42 when the mobile transport unit 18 and the stationary processing and / or transport station 42 are coupled.Other configurations of barrier unit 48 that would appear sensible to an expert are also conceivable.
[0045] Figure 2b shows another possible embodiment of an electrodynamic transport system 10' of the production plant 44. In contrast to the possible embodiment of the electrodynamic transport system 10 of the production plant 44 shown in Figure 2a, the electrodynamic transport system 10' shown in Figure 2b preferably has a non-powered mobile transport unit 18'. The non-powered mobile transport unit 18' comprises, for example, rollers or wheels by means of which the non-powered mobile transport unit 18' can be moved manually by an operator relative to the surface 20, in particular to a production floor, and in particular, driven. The non-powered mobile transport unit 18' is shown in Figure 2b as an example designed as a table trolley. However, other configurations are also possible.A person skilled in the art can conceive of various embodiments of the unpowered mobile transport unit 18' that would appear sensible. The electrodynamic transport system 10' shown in Figure 2b preferably has, apart from the difference of the unpowered mobile transport unit 18', an at least substantially analogous design and / or function to the electrodynamic transport system 10 already described in the description of Figure 2a, even if individual units and / or elements are not explicitly shown in Figure 2b. Figure 4 shows a schematic sequence of a method 50 for operating the electrodynamic transport system 10, 10' and / or the production plant 44. In at least one process step 52 of the method 50, the stator 14 is operated in a state of the stator 14 arranged at the connection interface 22 of the mobile transport unit 18.in particular to drive the mover 16 arranged on the stator 14. In process step 52, the stator 14 can preferably be operated during movement of the mobile transport unit 18 while the mobile transport unit 18 is arranged at one of the stationary processing and / or transport stations 42 of the production plant 44, in particular while docked thereto, and / or during another state of the mobile transport unit 18 that appears sensible to a person skilled in the art. Preferably, the stator 14 is supplied with energy by means of the power supply unit 24 during operation in a state arranged at the connection interface 22 of the mobile transport unit 18. Preferably, the stator 14 receives control or regulation commands via the communication unit 32 during operation in a state arranged at the connection interface 22. The method 50 for operating the electrodynamic transport system 10,10' and / or the production plant 44 may include further process steps that appear useful to a person skilled in the art. Furthermore, possible process steps that can be derived from the description of Figures 1 to 3 shall also be deemed disclosed for the process 50, such as a process step in which the mobile transport unit 18, 18' is docked at one of the stationary processing and / or transport stations 42, in particular wherein automatic locking and / or an automatic connection to a data and / or energy transmission takes place, handling of the stator 14 and / or the mover 16 by means of the handling unit 46, a control-technical transfer of the mover 16 between the stator 14 arranged at the connection interface 22 and the further stators 56 of the stationary processing and / or transport stations 42.wherein, in particular, the control or regulation of the mover 16 is transferred, for example, from the computing unit 54 of the electrodynamic transport system 10, 10' to the central control or regulation unit of the production plant 44 or to a computing unit of one of the processing and / or transport stations 42, or other process steps that appear sensible to a person skilled in the art and which can be derived from the description of Figures 1 to 3.
Claims
- 33 - Claims 1. Electrodynamic transport system (10), in particular an electrodynamic planar transport system, comprising at least one stator (14), in particular a coil unit (12), which is provided for a drive of at least one mover (16), in particular a planar mover, which can be arranged on, in particular on, the stator (14), and comprising at least one mobile transport unit (18), in particular a driverless transport vehicle, which is movable, in particular traversable, relative to a surface (20), characterized in that the mobile transport unit (18) has at least one connection interface (22) by means of which the stator (14) is operationally connected to the mobile transport unit (18).
2. Electrodynamic transport system (10) according to claim 1, characterized in that the mobile transport unit (18) comprises at least one power supply unit (24), wherein the connection interface (22) has at least one power supply element (26) which is wirelessly or via cable connected to the stator (14) arranged at the connection interface (22) and to the power supply unit (24) in order to supply the stator (14) with energy in a state of the stator (14) arranged at the connection interface (22).
3. Electrodynamic transport system (10) according to claim 1 or 2, characterized in that the mobile transport unit (18) comprises at least one carrier unit (28) on which the connection interface (22) is arranged, wherein the connection interface (22) has at least one locking element (30), in particular a movably mounted one, which, in a state of the stator (14) arranged on the connection interface (22), interacts with the stator (14) in a form-fit and / or force-fit manner in order to connect the stator (14) to the carrier unit (28) in a positionally secure manner. - 34 - 4. Electrodynamic transport system (10) according to one of the preceding claims, characterized by at least one communication unit (32) which is configured to transmit control or regulation commands wirelessly or via cable from and / or to the stator (14) in a state of the stator (14) arranged at the connection interface (22).
5. Electrodynamic transport system (10) according to one of the preceding claims, characterized in that the mobile transport unit (18) comprises at least one chassis (34), at least one carrier unit (28) on which the connection interface (22) is arranged, and at least one movement unit (36), in particular a lifting unit, for a movement of the carrier unit (28), in particular along a vertical axis (38) of the mobile transport unit (18), relative to the chassis (34).
6. Electrodynamic transport system (10) according to claim 5, characterized by at least one detection unit (40) for detecting a position and / or orientation of the carrier unit (28) relative to the chassis (34) and / or relative to an external unit, in particular a stationary processing and / or transport station (42) of a production plant (44), wherein the carrier unit (28) is movable by the motion unit (36) relative to the chassis (34) depending on a position and / or orientation of the carrier unit (28) detected by means of the detection unit (40).
7. Electrodynamic transport system (10) according to one of the preceding claims, characterized by at least one handling unit (46), in particular a multi-axis robot, wherein the mobile transport unit (18) comprises at least one carrier unit (28) on which the connection interface (22) and the handling unit (46) are arranged, wherein the handling unit (46) is provided for handling objects and / or the stator (14), in particular for automatically arranging the stator (14) at the connection interface (22) or for automatically removing the stator (14) from the connection interface (22). 8.Electrodynamic transport system (10) according to one of the preceding claims, characterized by at least one barrier unit (48), in particular a restricted access barrier system and / or a unidirectional air flow unit, wherein the mobile transport unit (18) comprises at least one carrier unit (28) on which the connection interface (22) and the barrier unit (48) are arranged, wherein the barrier unit (48) at least partially surrounds the connection interface (22).
9. Mobile transport unit (18), in particular driverless transport vehicle, for an electrodynamic transport system (10) according to one of the preceding claims, characterized by at least one connection interface (22) which is configured for an operational connection with at least one stator (14) of the electrodynamic transport system (10).
10. Production plant (44) with at least one electrodynamic transport system (10) according to one of claims 1 to 8.
11. Method (50) for operating an electrodynamic transport system (10) according to one of claims 1 to 8, characterized in that in at least one method step (52) the stator (14) is operated in a state of the stator (14) arranged at the connection interface (22) of the mobile transport unit (18), in particular to drive the mover (16) arranged on the stator (14).