DE102023113031B3 - Transport system and treatment machine with such a transport system - Google Patents

Abstract

The present invention relates to a transport system for conveying objects along a transport route (TS), comprising at least one transport element (2) which consists of a plurality of chain links which are connected to one another in an articulated manner via chain joints (20) to form a closed loop and which can be driven in a cyclic or continuous manner in at least one transport direction (A) via at least one chain wheel (4, 5). The transport system (1) is characterized in particular in that the transport system (1) has at least one workpiece carrier (W) which moves along with the transport pallets (3) in the transport direction (A) and has at least one carrier body (40) which can be rotated about an axis of rotation (DA) for receiving and/or holding the objects (G), wherein the workpiece carrier (W) is arranged on one of the transport pallets (3), and wherein the transport system (1) has at least one turning unit (41) for the at least one workpiece carrier (W), which is designed to subject the rotatable carrier body (40) of the workpiece carrier (W) to a rotational movement about the axis of rotation (DA) when the transport pallets (3) are at a standstill.

Description

The invention relates to a transport system for conveying objects along a transport route and to a treatment machine with such a transport system.

Transport systems with circulating transport elements, which are formed by transport pallets connected to one another in a chain-like manner, are known in various designs and for various applications.

Transport systems are also already known from the prior art in which the transport element is moved along a transport path whose movement path has both a linear and a radial component. As a rule, a guide device for the transport pallets is provided on both sides at least along the linear movement of the transport element, which guides the transport pallets parallel to the movement path.

For example, an inspection and/or processing and/or treatment of objects or workpieces takes place along the transport route of the transport pallets of such a transport system. The treatment then takes place, for example, on the partial lengths of the loop extending between the chain wheel and the deflection or on the sections of a movement path on which the transport pallets or base elements or the axes of the chain joints move between the transport pallets.

A disadvantage of such transport systems is that the transport pallets have a certain length, which then also corresponds to the pitch or the pitch angle of the chain-like transport element and the chain wheel, and that in particular with a greater length or with a greater pitch, for example with a pitch between 80 mm and 150 mm, the polygon effect known from chain drives becomes very noticeable, so that with a clocked drive of the chain wheel, it is basically possible to advance the chain-like transport element in each movement cycle by a single pitch of the transport element or pitch angle of the chain wheel without any problems, but not to advance in steps larger than the pitch, for example to advance with a clocking that includes two, three or four pitches.

In particular, due to the polygon effect when driving the chain strand with a step wheel in the shape of a uniform polygon, a compensation curve is required in order to achieve a constant chain tension and a clean mechanical functioning of the chain system.

For example, the publication attributable to the applicant EN 10 2012 104 213 A1 a transport system has become known which is intended in particular for use in treatment machines, preferably in assembly and/or production machines, and which, in order to avoid the so-called polygon effect in the area of the transport pallet inlet and the transport pallet outlet of the chain wheels and deflections, provides transport pallet guides whose course corresponds to a compensation curve that avoids the polygon effect. When the transport system is used in a treatment machine, work positions or stations are formed on sections of the movement path of the transport pallets between the chain wheels, past which the transport pallets with products, objects or workpieces arranged on them are moved in a timed manner. A certain problem arises, however, when several treatments have to be carried out one after the other at work positions or stations and the transport pallet in question at a work position or station has to be moved precisely by one movement or time step between each two work steps, as is the case, for example, when assembling multiple plug strips or terminals. Up to now, this has required at least a not inconsiderable amount of control effort.

Furthermore, the publication, which also goes back to the applicant, EN 10 2015 107 113 A1 a transport system has become known in which the movement of the transport pallets along the movement path and in particular also on the sections of the movement path extending between the chain wheels is linearly proportional to the rotational movement or the angle of rotation of the chain wheels, and in which a synchronization for the transport pallets is achieved specifically on the sections of the orbit extending between the chain wheels in such a way that each rotation step of the chain wheels results in an equally large movement step of the transport pallets on the sections extending between the chain wheels. EN 10 2015 107 113 A1 the compensation curves provided on the at least two sprockets before the transport pallet inlet and after the transport pallet outlet are each completely accommodated within an angular range that extends between the transport pallet inlet and a plane enclosing the axis of the relevant sprocket or between which the axis of the relevant sprocket is located between the transport pallet outlet and this plane. closing plane. This angular range is 360°/n, where n is the pitch of the drive wheel. For example, in the case of n=8, this is 45° degrees. The compensation curves are therefore each completely within the angular range of the rotary movement of the relevant sprocket, so that those sections of the movement path of the transport pallets which extend between the at least two sprockets or the intersection points of the above-mentioned planes with the respective pitch circle of the relevant sprocket can be used over their entire length for the arrangement of work or treatment positions, etc. and preferably run in a straight line for this purpose.

Regardless of the fact that the transport systems outlined above enable objects to be conveyed with precision along the transport route, the disadvantage of these transport systems is that the objects can only be conveyed precisely in and against the transport direction, i.e. only in a linear direction. As processing machines become increasingly automated, such as assembly and/or production machines, transport systems are required that enable objects to be fed or conveyed in a more flexible and versatile manner.

The object of the invention is to show a transport system which avoids the disadvantages of the prior art and in particular enables a more flexible and versatile feeding or conveying of the objects along the transport route compared to the prior art. To solve this problem, a transport element is designed according to claim 1. A treatment machine is the subject of claim 20. The respective subclaims relate to particularly advantageous developments of the invention.

According to an essential aspect, the present invention relates to a transport system for conveying objects along a transport route, comprising at least one transport element which consists of a plurality of chain links which are articulated to one another via chain joints to form a closed loop and which can be driven in a cyclic or continuous manner in at least one transport direction via at least one chain wheel, wherein the chain links are each designed as transport pallets.

On the at least one sprocket, sprocket engagement or driving areas are provided at a predetermined pitch angle, into which guide and bearing devices formed on the chain joints of the transport pallets engage when the sprocket rotates on at least one pitch circle on which the transport pallets are guided between a transport pallet inlet and a transport pallet outlet radially to a respective axis of the at least one sprocket. Furthermore, transport pallet guides are provided for linearly guiding the guide and bearing devices of the transport pallets between the radial deflections formed by means of the at least one sprocket to form a closed movement path, wherein, with respect to the transport direction, a compensation curve for polygon compensation is provided between a transport pallet inlet and the corresponding linear guide by means of the transport pallet guides and between a transport pallet outlet and the corresponding linear guide by means of the transport pallet guides, along which the guide and bearing devices of the transport pallets are guided for polygon compensation.

According to the invention, the transport system has at least one workpiece carrier that moves with the transport pallets in the transport direction and has at least one carrier body that can be rotated about an axis of rotation for receiving and/or holding the objects, wherein the workpiece carrier is arranged on one of the transport pallets, and wherein the transport system has at least one turning unit for the at least one workpiece carrier, which (turning unit) is designed to subject the rotatable carrier body of the workpiece carrier to a rotary movement about the axis of rotation when the transport pallets are at a standstill. For example, the standstill can be a standstill phase between two work cycles of a clocked movement. The carrier body is advantageously plate-shaped and in particular designed as a rotationally symmetrical body, for example in the shape of a circular disk or an annulus. The carrier body is also advantageously made from a solid material. This provides a transport system that is guided linearly and with high precision on the straight-line movement path between the respective transport pallet outlet and the corresponding transport pallet inlet by means of the transport pallet guides and at the same time an object handled on the workpiece carrier can be subjected to a rotary movement by means of the turning unit. As this rotary movement of the carrier body is guided by the turning unit in terms of the angle of rotation, the rotary movement of the carrier body of the workpiece carrier is also highly precise and precisely specified. Furthermore, the design of the turning unit according to the invention allows the rotary movement of the carrier body in the standstill phase, i.e. a standstill of the transport pallets. In other words, a linear movement of the object can be initiated independently and separately from a rotary movement on the object, the object can be moved either linearly or in a straight line and can also be rotated independently. The transport system according to the invention is also highly precise in the transport of the objects, but is significantly more flexible and versatile in the feeding or conveying of the objects along the transport route than the transport systems known from the prior art, since the objects can be subjected to two different movement components, namely linear conveying and a rotation.

According to an advantageous embodiment variant, it is provided that the turning unit has at least one electric drive device arranged on a machine frame and an output element driven by the drive device about the axis of rotation, wherein the output element is non-positively connected to the carrier body and ultimately transmits the drive movement of the drive device to the carrier body in the form of a rotational movement of preferably 90° or 180° about the axis of rotation DA.

According to a further advantageous embodiment variant, it is provided that a non-positive connection between the output element of the turning unit and the carrier body is produced via a connecting element which is rotatably mounted in a base body of the workpiece carrier and is in particular wave-shaped, wherein the connecting element is non-positively connected to the carrier body at one free end and non-positively connected to the output element at another free end.

According to yet another advantageous embodiment, it is provided that the connecting element of the workpiece carrier, which is mounted in the base body about the axis of rotation, also takes over the rotatable mounting of the output element of the turning unit, which can also be rotated about the axis of rotation.

According to yet another advantageous embodiment, it is provided that the output element has a receiving element with an opening deviating from the circular shape, wherein the opening can be brought into operative engagement with the drive device.

According to yet another advantageous embodiment, the drive device has an electric drive motor, in particular a torque motor, which directly or indirectly drives a drive shaft, the drive shaft being adapted in its external geometry to the geometry of the opening in such a way that the drive shaft can be received in the opening in a force-fitting and/or form-fitting manner and thus a rotating drive movement generated by the drive device can be transmitted to the carrier body. According to an advantageous embodiment, the drive motor itself can have the drive shaft and thus drive the output element. A gearless direct drive of the output shaft is thus provided. In an alternative, the drive device can have a cam gear, in particular a 360° cam gear, and also a drive motor, the drive motor driving the cam gear and the cam gear then having the drive shaft, the external geometry of which is adapted to the geometry of the opening. According to this embodiment, the drive movement generated by the drive motor can be reduced with the cam gear interposed. The drive motor therefore drives the drive shaft of the cam gear indirectly via the cam gear.

According to yet another advantageous embodiment, it is provided that the transport system has an adjusting device, and that the drive device is arranged on the machine frame via the adjusting device in such a way that the drive device is designed to be displaceable transversely to the transport direction and in and/or against the longitudinal direction of the axis of rotation in a controlled and/or regulated manner by means of the adjusting device, so that the drive shaft can be inserted into the opening of the receiving element.

According to yet another advantageous embodiment, it is provided that the drive device is designed to be displaceable between an engagement position and a release position in a controlled and/or regulated manner by means of the adjusting device, wherein the drive shaft is in operative engagement with the opening of the receiving element in the engagement position, while the drive shaft is out of operative engagement with the opening of the receiving element in the release position.

According to yet another advantageous embodiment, it is provided that the turning unit has at least one stationary drive element for the output element, wherein the turning unit is designed by means of the drive element to additionally subject the rotatable carrier body of the workpiece carrier to a rotational movement about the axis of rotation in a rotational angle-guided manner during the conveyance of the workpiece carrier in and/or against the transport direction.

According to yet another advantageous embodiment, it is provided that the turning unit has at least one stationary drive element with two control curves running parallel to one another and an output element driven by the drive element in a curve-controlled manner about the axis of rotation, wherein the output element is non-positively connected to the carrier body, so that ultimately a drive movement can be transmitted to the carrier body in the form of a rotary movement of preferably 90° or 180° about the axis of rotation.

According to yet another advantageous embodiment variant, it is provided that the turning unit is designed to initiate a rotational movement about the axis of rotation by means of the stationary drive element as a function of the linear position of the workpiece carrier during the conveyance of the workpiece carrier along the transport path in and/or against the transport direction on the rotating output element, which is transmitted via the connecting element to the carrier body in such a way that the carrier body also rotates about the axis of rotation.

According to yet another advantageous embodiment, it is provided that a plurality of drive elements are provided along the transport route in the region of the transport pallet guides, wherein the plurality of drive elements are arranged at a distance from one another along the transport route.

According to yet another advantageous embodiment, it is provided that the turning unit is designed to generate the angle-guided rotary movement around the axis of rotation in a cam-controlled manner, wherein the drive element is designed as a control link and has two control curves running parallel and spaced from one another, and the output element has two annular disks, on the respective cover surface of which two rollers are rotatably mounted, which are provided at an angular offset of preferably 180° to one another and which roll along the corresponding control curve in such a contact-locking manner by conveying the workpiece carrier in and/or against the transport direction that a rotary movement around the axis of rotation is initiated on the carrier body.

According to yet another advantageous embodiment, it is provided that the turning unit is designed to generate the angle-guided rotary movement about the axis of rotation by means of a rack and pinion gear, wherein the drive element is designed as a rack and the output element is designed as a gear wheel that is non-positively connected to the carrier body, which is in toothed engagement with the rack by conveying the workpiece carrier in and/or against the transport direction and rolls along the rack, so that a rotary movement about the axis of rotation is introduced onto the carrier body.

According to yet another advantageous embodiment, it is provided that the workpiece carrier has at least one locking device by means of which the carrier body of the workpiece carrier can be locked against rotation about the axis of rotation.

According to yet another advantageous embodiment, it is provided that the locking device has at least one bolt element and, for moving the bolt element, comprises a working cylinder device that can be operated in a controlled and/or regulated manner and that has at least one piston that is movably received in a cylinder and that interacts with the bolt element in a force-fitting manner.

According to yet another advantageous embodiment, it is provided that the at least one bolt element of the locking device is designed as a controlled and/or regulated index pin which, in a locking position for locking the carrier body, can be at least partially retracted into a corresponding index opening of the carrier body and/or can be completely extended from the corresponding index opening for a release position.

According to yet another advantageous embodiment, the carrier body has a plurality of index openings distributed radially around the axis of rotation, which are preferably provided at equal or approximately equal angular distances from one another around the axis of rotation.

According to an advantageous embodiment variant, it can be provided that the compensation curves are formed at least in sections as clothoids or essentially as clothoids.

According to an advantageous embodiment variant, it can be provided that the compensation curves, viewed in the transport direction, each extend completely as a clothoid between the corresponding transport pallet inlet and an associated transport pallet outlet of the linear guide by means of the transport pallet guides and between the transport pallet outlet and an associated transport pallet inlet of the linear guide by means of the transport pallet guides.

According to a further advantageous embodiment variant, it can be provided that the compensation curves each extend over an angular range which can be freely selected, wherein the interval in which this can be freely selected depends on the pitch angle of the sprocket engagement or driving areas.

According to yet another advantageous embodiment, it can be provided that the pitch angle of the sprocket engagement or driving areas is between 15° degrees and 45° degrees, preferably 15° degrees or 45° degrees, so that the corresponding sprocket is designed to be between 8-part and 24-part, preferably 8-part or 24-part.

According to yet another advantageous embodiment, it can be provided that at least one compensation curve is formed in one piece, in particular in one piece, with the pitch circle on which the transport pallets are guided radially to a respective axis between the transport pallet inlet and the transport pallet outlet, in that the at least one compensation curve and the pitch circle are formed as a one-piece deflection device, in particular in the form of a deflection curve.

According to yet another advantageous embodiment, it can be provided that the conveying speed of the transport element in continuous operation is between 2 m/s and 3 m/s, preferably substantially 2.5 m/s.

According to yet another advantageous embodiment, it can be provided that, with respect to the transport direction, the compensation curve following the transport pallet outlet of the respective chain wheel and/or deflection device has a course such that a distance between this compensation curve and the pitch circle in the direction of rotation of the chain wheel has a clothoid-shaped course with increasing angular distance from the transport pallet outlet.

According to yet another advantageous embodiment, it can be provided that, with respect to the transport direction, the compensation curve preceding the transport pallet inlet of the respective chain wheel and/or deflection device has a course such that the distance between this compensation curve and the pitch circle has a clothoid-shaped course against the direction of rotation of the chain wheel with increasing angular distance from the transport pallet inlet.

$$y={\displaystyle \underset{0}{\overset{L}{\int }}\text{sin}\left({\left(f\left(s\right)\right)}^2\right)}ds$$

wobei L die Länge der Klothoide und f(s) eine Funktion ist, die im Wesentlichen eine quadratische Funktion der Form s ↦ (as)² ist, wobei der Klothoidenparameter a sich aus γ und R gemäß folgender Formeln $$\Lambda =\gamma \frac{\pi }{180°}\cdot 2R$$

$$a=\sqrt{\frac{1}{2R\cdot \Lambda }}$$

ergibt, und wobei der Winkel γ in Grad angegeben ist.According to yet another advantageous embodiment, it can be provided that the clothoid shape of the at least one compensation curve is described by the following formulas and Cartesian coordinates, where γ is the angle at which the clothoid merges into the circle, and R is the radius of the circle of curvature at the end of the clothoid, which in the specific application is the radius of the chain wheel. As a result, the clothoid, starting at the point (0,0), is mathematically described as follows: $$x={\displaystyle \underset{0}{\overset{L}{\int }}\text{cos}\left({\left(e\left(s\right)\right)}^2\right)ds}$$

$$y={\displaystyle \underset{0}{\overset{L}{\int }}\text{sin}\left({\left(e\left(s\right)\right)}^2\right)}ds$$

where L is the length of the clothoid and f(s) is a function which is essentially a quadratic function of the form s ↦ (as) ² , where the clothoid parameter a is determined from γ and R according to the following formulas $$\Lambda =\gamma \frac{\pi }{180°}\cdot 2R$$

$$a=\sqrt{\frac{1}{2R\cdot \Lambda }}$$

and where the angle γ is given in degrees.

According to yet another advantageous embodiment, it can be provided that the quadratic function s ↦ (as) ² in the argument of the sine and cosine function in the above formula is replaced by a more general function s ↦ f(s), which is essentially similar to a quadratic function.

According to yet another advantageous embodiment variant, it can be provided that the tangent angle γ is selected in the range between 360/2n and 90-360/2n, where n is the pitch of the chain wheel, in particular between 15° and 75° for n=24, particularly preferably about 20°.

According to yet another advantageous embodiment, it can be provided that the transport pallets are guided at least in sections along the transport route on both sides by means of a first and a second guide device, in which a chain joint has a joint axis running between the first and second guide devices, which is guided at a first free end with a first guide and bearing device in the first guide device and at a second free end with a second guide and bearing device in the second guide device, wherein the first and second guide and bearing devices each comprise at least one first and second roller bearing, which are guided between a first and second guide surface of the respective guide device, which are opposite one another and run parallel to the joint axis, wherein the first roller bearing rests in a first contact section of the first guide surface and the second roller bearing rests in a second contact section of the second guide surface and are guided preloaded relative to one another, wherein the first and second contact sections are offset from one another along the joint axis and are opposite one another. Particularly advantageously, highly precise and almost tolerance-free guidance of the corresponding transport pallet in the transport direction is achieved by bracing the respective first and second roller bearings of the first and second guide devices offset on opposite sides along the axis.

According to a further advantageous embodiment variant, it is provided that the two free ends of the joint axis in the first and second guide device are guided in two guide planes oriented opposite one another and parallel to the transport direction.

According to a further advantageous embodiment variant, it is provided that the first and second roller bearings of the first guide and bearing device are rotatable about the joint axis and are provided immediately adjacent to this in the region of the first free end.

According to a further advantageous embodiment variant, it is provided that the first and second roller bearings of the second guide and bearing device are rotatable about the joint axis and are provided immediately adjacent to this in the region of the second free end.

According to a further advantageous embodiment variant, it is provided that the first roller bearing of the first guide and bearing device is guided in the first guide device so as to bear against the first contact section of the first guide surface and is preloaded against the second roller bearing in the first guide device which bears against the second contact section of the second guide surface, and the first roller bearing of the second guide and bearing device is guided in the second guide device so as to bear against the first contact section of the first guide surface and is preloaded against the second roller bearing in the second guide device which bears against the second contact section of the second guide surface.

According to a further advantageous embodiment variant, it is provided that the first and second roller bearings of the first guide and bearing device are preloaded relative to the first and second roller bearings of the second guide and bearing device.

According to a further advantageous embodiment variant, it is provided that the clothoid of the respective compensation curve is set such that the transport pallets in the corresponding straight section form a synchronous movement with the at least one chain wheel, so that the conveying speed of the transport pallets in the straight section is proportional to the angular speed of the at least one chain wheel.

According to a further advantageous embodiment variant, it is provided that the transport pallet inlet of the section and the transport pallet outlet of the section are offset in the direction of a central plane relative to a horizontal plane enclosing the axis and the corresponding compensation curve extends to the transport pallet inlet and transport pallet outlet offset in the direction of the central plane.

According to a further advantageous embodiment, it is provided that the transport pallet outlet of the section and the transport pallet inlet of the section are offset in the direction of a central plane relative to a horizontal plane enclosing the axis and the corresponding compensation curve extends to the transport pallet inlet and transport pallet outlet offset in the direction of the central plane.

In the sense of the invention, “pitch circle of the sprocket” means the circular path around the axis of the sprocket on which the sprocket engagement or driving areas move, in which the guide and bearing devices of the chain-like transport element engage and which are formed, for example, by recesses open on the circumference of the sprocket between sprocket teeth.

“Treatment machines” within the meaning of the present invention are generally machines or devices for treating products or objects in a wide variety of ways, in particular manufacturing and/or assembly machines or manufacturing and/or assembly devices for mechanically processing and/or assembling components or assemblies, also in several sequential work steps at one and/or different work positions or stations.

“Treatment” in the sense of the invention means any treatment of products or objects in the broadest sense, in particular processing and/or machining and/or assembly, etc.

“Timed movement” in the sense of the invention means a movement in steps followed by a standstill phase, i.e. in movement cycles, each of which has a movement phase and a standstill phase.

In the sense of the invention, “transport pallet inlet of the sprocket” is the angular position of the circular movement path or the pitch circle of the driving areas of the sprocket at which (angular position) the guide and bearing devices of the chain-like transport element are for the first time completely accommodated in a sprocket engagement or driving area of the sprocket or for the first time come into full positive engagement with a sprocket engagement or driving area.

In the sense of the invention, “transport pallet outlet of the sprocket” is that point of the circular movement path of the sprocket engagement or driving areas of the sprocket at which the guide and bearing devices of the chain-like transport element move out of the sprocket engagement or driving areas.

In the sense of the invention, “polygon compensation” also means, in particular, a compensation or balancing of the changing transport speed or the changing transport path of the transport element caused by the polygon effect on the sprockets in such a way that the transport speed or the transport path of a clocked movement of the transport element is constant or essentially constant at least at sections of the linear guide of the transport system at which working positions or stations are also provided.

The expression “essentially” or “approximately” means, in the sense of the invention, deviations from exact values by +/- 10%, preferably by +/- 5% and/or deviations in the form of changes that are insignificant for the function.

Further developments, advantages and possible applications of the invention also emerge from the following description of embodiments and from the figures. All described and/or illustrated features, either individually or in any combination, are fundamentally the subject of the invention, regardless of their summary in the claims or their reference back. The content of the claims is also made part of the description.

• 1a in vereinfachter perspektivischer Darstellung das Transportelement gemäß der Erfindung zur Verwendung bei einer Montage- und/oder Fertigungsmaschine;
• 1b in teilweise dargestellter Seitenansicht der Bereich des vorderen Kettenrades des erfindungsgemäßen Transportsystems gemäß 1a;
• 1c in teilweise dargestellter Seitenansicht der Bereich des hinteren Kettenrades des erfindungsgemäßen Transportsystems gemäß 1a;
• 2 und 3 jeweils in sehr vereinfachter schematischer Darstellung und in Draufsicht das Transportelement der 1;
• 4 in perspektivischer Darstellung zwei gelenkig miteinander verbundene Transportpaletten des Transportsystems;
• 5 einen Vertikalschnitt des Transportsystems auf einer Teillänge zwischen den Kettenrädern des Transportsystems;
• 6 in einer Perspektivansicht einen Bereich des Transportsystems mit einer Ausführungsvariante einer Wendeeinheit für den Werkstückträger;
• 7 in einer Perspektivansicht und freigestellt eine Ausführungsvariante einer Wendeeinheit mit Abtriebselement;
• 8 in einer Perspektivansicht und freigestellt eine Ausführungsvariante eines Antriebselementes für eine Wendeeinheit; und
• 9 in einer Perspektivansicht und freigestellt eine Ausführungsvariante eine Antriebseinrichtung für eine Wendeeinheit.

The invention is explained in more detail below using the figures as an example. They show:

• 1a in a simplified perspective view, the transport element according to the invention for use in an assembly and/or production machine;
• 1b in a partially shown side view of the area of the front sprocket of the transport system according to the invention according to 1a ;
• 1c in a partially shown side view of the area of the rear sprocket of the transport system according to the invention according to 1a ;
• 2 and 3 each in a very simplified schematic representation and in plan view the transport element of the 1 ;
• 4 in perspective view two articulated transport pallets of the transport system;
• 5 a vertical section of the transport system over a partial length between the sprockets of the transport system;
• 6 in a perspective view, an area of the transport system with a variant of a turning unit for the workpiece carrier;
• 7 in a perspective view and isolated, a design variant of a turning unit with output element;
• 8th in a perspective view and isolated a variant of a drive element for a turning unit; and
• 9 in a perspective view and isolated a design variant of a drive device for a turning unit.

Identical reference symbols are used in the figures for identical or identically acting elements of the invention. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures that are necessary for the description of the respective figure.

In addition, for better understanding, the figures show coordinate or spatial axes X, Y and Z which run perpendicular to one another, of which in the embodiment shown the X-axis and Y-axis define a horizontal or substantially horizontal XY plane and of which the Z-axis is oriented perpendicular to this XY plane.

In the figures, 1 denotes a transport system for conveying objects G along a transport path TS. The transport system 1 comprises at least one hinged belt or chain-like transport element 2 (chain strand) with a plurality of transport pallets 3, which are connected to one another in a chain-link-like and articulated manner via chain joints 20, namely to the transport element 2 forming a closed loop, which is guided over, for example, two chain wheels 4 and 5 spaced apart from one another in the horizontal direction, ie in the direction of the X-axis, as shown in the 1a and 2 is presented in more detail.

Advantageously, at least one of the two sprockets 4 and 5, preferably both sprockets 4 and 5, can be driven directly, i.e. gearless, by an electric motor 6, preferably by a torque motor, in at least one transport direction A. The two sprockets 4 and 5 are oriented with their axes 4.1 and 5.1 in the horizontal direction or essentially in the horizontal direction, i.e. parallel to the Z axis. Furthermore, the transport system 1 has a machine frame or a machine stand 7 on which all components and assemblies of the transport system 1 are arranged and accommodated and by means of which the transport system stands on a floor level.

The loop formed by the transport element 2 is thus arranged in a horizontal or essentially horizontal plane, i.e. in the XY plane. Outside at least the chain wheel 4, i.e. in the transport section of the transport path TS in which the transport pallets 3 are not in engagement with the chain wheel 4, the transport pallets 3 are each guided on both sides by means of the transport pallet guides 30, 31 provided on the machine frame 7, in particular a first and second transport pallet guide 30, 31.

In the version of the 1a to c, the transport pallet guides 30, 31 arranged on the machine frame extend at least between the first and second sprockets 4 and 5 and guide the transport element 2, in particular the individual transport pallets 3 of the transport element 2, at least in this transport section along the transport path TS - i.e. in the transport section of the transport path TS in which the transport pallets 3 are out of engagement with the first and second sprockets 4 and 5. The individual transport pallets 3 are thus guided at least in sections along the transport path TS on both sides by means of the first and second guide devices 30 and 31.

The loop formed by the transport element 2 is in the embodiment of the 1a to c in a vertical or essentially vertical plane, ie in the XY plane. The spatial orientation of the loop formed by the transport element 2 is not fixed to any of the embodiments shown as examples. Rather, the transport element 2 can be arranged in any orientation in three-dimensional space.

In the illustrated embodiment of the 2 the two sprockets 4 and 5 are identically designed, namely as eight-part sprockets, so that they each have eight sprocket engagement or driving areas or receptacles 8, which act as driving areas for the chain links of the transport element 2 and rotate at preferably uniform angular intervals, i.e. pitch angle TW on a circular path or pitch circle 8.1 around the axis 4.1 or 5.1 of the relevant sprocket 4 or 5. The design variant of the 1a to 1c has a 24-part sprocket 4, in which the sprocket engagement or driving areas or receptacles 8 are provided adjacent to one another at a pitch angle of 15°.

The pocket-like recesses 8, which are open towards the circumference of the respective sprocket 4 or 5, form a "sprocket tooth" between them and have the pitch angle TW which corresponds to the chain link length KL of the chain links of the transport element 2, i.e. the length of the chain link of each transport pallet or the axis distance between two joint axes GAS following one another in the transport direction A is the length of the base side of an isosceles triangle with vertex angle TW and vertex length R, where R is the radius of the sprocket, i.e. the distance from the center of the sprocket to the center of the roller bearings or the joint axes GAS. Preferably, with identically designed sprockets 4, 5 each with eight sprocket engagement or driving areas 8 in the design variant of the 2 between correspondingly adjacent engagement or driving areas 8 a pitch angle TW of 45° degrees and in the design variant of the 1a to 1c of just 15° degrees.

The engagement or driving areas 8 of the chain wheels 4, 5 engage, depending on the rotational position, in a first and second guide and bearing device 32, 33 formed on the respective joint axes GAS, which are preferably provided on the respective free ends GAS1, GAS2 of a joint axis GAS of the chain joint 20 of the respective transport pallets 3. In other words, the first and second guide and bearing devices 32, 33, which are provided on the free ends of the respective joint axes GAS of the chain joint 4 are provided, form-fitting manner in the engagement or driving regions 8 of the two chain wheels 4 and 5 depending on the rotational position, so that a drive movement in the transport direction A can be transmitted to the transport element 2 by means of the at least one driven chain wheel 4. The respective joint axis GAS of the corresponding chain joint 20 can be designed as a one-piece, in particular one-piece, joint rod which extends between its first and second free ends GAS1, GAS2 in such a way that the chain joint 20 has a joint axis GAS running between the first and second guide devices 30, 31. The joint axis GAS forms a joint pin of the chain joint 20 between two adjacent transport pallets 3.

When the drive 6 is switched on, the transport pallets 3 thus move in the transport direction A on a movement path, generally designated 10 in the figures, corresponding to the closed loop of the transport element 2, which initially has two circular arc-shaped sections 11 and 12, of which section 11 is formed between the transport pallet inlet 11.1 and the transport pallet outlet 11.2 of the chain wheel 11 and section 12 is formed between the transport pallet inlet 12.1 and the transport pallet outlet 12.2 of the chain wheel 5. This is in 3 abstractly shown for different sprocket pitches, whether 8-part or 24-part sprocket 4, 5.

As also particularly in 3 shown, the movement path 10 further comprises two straight sections 13 and 14, which each extend in the X-axis between the two chain wheels 4 and 5 or the chain wheel 4 and the deflection device U, but in the direction of the Y-axis have a distance from each other that is in particular greater than twice the radius of the pitch circle 8.1, ie each section 13 and 14 has a distance in the direction of the Y-axis from an XZ plane or center plane EM1 enclosing the axes 4.1 and 5.1 that is greater by the offset d than the radius of the respective pitch circle 8.1. In addition, the compensation curves 24, 24a can be realized in such a way that they already, in the sense of the direction of movement in 3 , start well before the intersection of the plane E4 or E5 and the respective straight section 13, 14. In other words, the length of the straight sections 13, 14 can be shorter than the distance between the centers of the two sprockets.

The transport pallet inlet 13.1 of section 13 and the transport pallet outlet 14.2 of section 14 are offset in the direction of a central plane EM2 relative to a horizontal YZ plane that includes axis 4.1 and is designated E4. Similarly, the transport pallet outlet 13.2 of section 13 and the transport pallet inlet 14.1 of section 14 are also offset in the direction of the central plane EM2 relative to a YZ plane that includes axis 5.1 and is designated E5. In the area of these planes E4 and E5 that include axis 4.1 and 5.1, respectively, there is also an offset d.

According to a further advantageous embodiment variant, it is provided that the transport pallet inlet 13.1 of the section 13 and the transport pallet outlet 14.2 of the section 14 are offset in the direction of a central plane EM2 relative to a horizontal plane E4 enclosing the axis 4.1 and the corresponding compensation curve 24, 24a extends to the transport pallet inlet 13.1 and transport pallet outlet 14.2 offset in the direction of the central plane EM2.

According to a further advantageous embodiment variant, it is provided that the transport pallet outlet 13.2 of the section 14 and the transport pallet inlet 14.1 of the section 14 are offset in the direction of a central plane EM2 relative to a horizontal plane E5 enclosing the axis 5.1 and the corresponding compensation curve 24, 24a extends to the transport pallet inlet 14.1 and transport pallet outlet 13.2 offset in the direction of the central plane EM2.

It can also be provided that the clothoid of the respective compensation curve 24, 24a is set such that the transport pallets 3 in the corresponding straight section 13, 14 form a synchronous movement with the at least one chain wheel 4, 5, so that the conveying speed of the transport pallets 3 in the section 13, 14 is proportional to the angular speed of the at least one chain wheel 4, 5.

The individual transport pallets 3 are therefore guided at least in the respective straight section 13, 14 along the transport route TS on both sides by means of the first and second transport pallet guides 30 and 31.

Transport pallet inlet 11.1 or 12.1 and transport pallet outlet 11.2 or 12.2 means the angular position of the rotational movement of the respective sprocket 4 or 5 at which the respective transport pallet 3 is fully positively gripped by the sprocket 4 or 5 or is released from the positive engagement with the sprocket 4 or 5.

In relation to the pitch angle TW of, for example, an eight-part sprocket 4, 5 of 45°, the respective transport pallet inlet 11.1, 12.1 is offset by an angular range α, β of at least TW/2 in the respective direction of rotation B, C of the corresponding sprocket 4, 5, i.e. by an angular range α, β that is greater than half the pitch angle TW.

The movement path 10 further comprises sections 15 - 18, of which section 15 extends between the transport pallet outlet 11.2 and the transport pallet inlet 13.1, section 16 between the transport pallet outlet 13.2 and the transport pallet inlet 12.1, section 17 between the transport pallet outlet 12.2 and the transport pallet inlet 14.1 and section 18 between the transport pallet outlet 14.2 and the transport pallet inlet 11.1. Thus, sections 15 - 18 each extend over the angular range α, β of, for example, 22.5° degrees or more. In addition, the compensation curves 24, 24a can also extend beyond the planes E4 and E5.

It can be provided that the compensation curves 24, 24a each extend over an angular range α, β, which can be freely selected, wherein the interval in which this can be freely selected depends on the pitch angle TW of the chain wheel engagement or driving areas 8.

The angle range α, β can be chosen arbitrarily. It should correspond to at least half the pitch angle TW and should be a maximum of 90°-TW/2. In particular, the angle over which the clothoid or the essentially clothoid-shaped curve extends is not a function of the pitch angle TW, i.e. there is no functional connection between the two angles.

The sections 15-18 are designed at least with regard to the horizontal guidance (in the XY plane) or the radial guidance (relative to the respective axis 4.1 and 5.1) of the transport pallets 3 in the manner described in more detail below, so that a complete compensation of the polygon effect (polygon compensation) is achieved when the chain-like transport element 2 rotates. In particular, each of the sections 15-18 is assigned a compensation curve 24, 24a, or in each of the sections 15-18 a compensation curve 24, 24a is formed in the manner described in more detail below. In particular, the respective compensation curve 24, 24a extends over the respective section 15-18.

Sections 15 and 17 are basically identical in terms of the course of the transport pallet guide 30, 31 for the transport pallets 3 and can extend beyond the plane E4 or E5. In more detail, however, section 16 and its transport pallet guide 30, 31 are designed to be mirror-symmetrical to section 17 and its transport pallet guide 30, 31 with respect to the central plane EM1 including the axes 4.1 and 5.1. Section 18 and its transport pallet guide 30, 31 are also designed to be mirror-symmetrical to section 15 and its transport pallet guide 30, 31 with respect to the central plane EM1.

As particularly in the 6 shown, the respective joint axis GAS of a corresponding chain joint 20 is guided at a first free end GAS1 with the first guide and bearing device 32 in the first transport pallet guide 30 and at a second free end GAS2 with the second guide and bearing device 33 in the second transport pallet guide 31, in particular in two opposite guide planes FE1, FE2 oriented parallel to the transport direction A and thus preferably perpendicular to the joint axis GAS. Thus, the first and second transport pallet guides 30, 31 in the embodiment of the 6 This provides horizontal guidance at least in the respective straight section 13, 14 along the transport path TS for the respective joint axis GAS.

In addition, the first and second guide and bearing devices 32, 33 each comprise at least one first and second roller bearing 34...37, which can be designed, for example, as a roller mounted so as to be rotatable about the joint axis GAS of the corresponding chain joint 20, and which are guided between a first and second guide surface 30.1, 30.2 or 31.1, 31.2 of the respective first and second transport pallet guides 30, 31, which are opposite one another and run parallel to the joint axis GAS.

In particular, the first and second roller bearings 34, 35 of the first guide and bearing device 32 are guided between the guide surfaces 30.1, 30.2 of the first transport pallet guide 30, which are opposite one another and run parallel to the joint axis GAS, and the first and second roller bearings 36, 37 of the second guide and bearing device 33 are guided between the guide surfaces 31.1, 31.2 of the second transport pallet guide 31, which are opposite one another and run parallel to the joint axis GAS. Thus, the first and second roller bearings 34...37 of the respective first and second guide and bearing device 32, 33 are guided between the respective guide surfaces 30.1, 30.2 and 31.1, 31.2 of the corresponding first and second transport pallet guide 30, 31 parallel to the transport direction A and thus in particular perpendicular to the management levels FE1 and FE2.

In particular, it is provided that the first roller bearing 34 of the first guide and bearing device 32 is provided in the area of the first free end GAS1 so that it can rotate about the joint axis GAS, while the second roller bearing 35 on the side of the first roller bearing 34 facing the second free end GAS2 is also provided so that it can rotate about the joint axis GAS, preferably immediately adjacent to the first roller bearing 34, for example in a contact-fitting manner. In relation to the longitudinal extent of the joint axis GAS, the first roller bearing 34 of the first guide and bearing device 32 forms a first outer roller bearing 34 and the second roller bearing 35 forms a second inner roller bearing 35, which is provided on the joint axis GAS immediately adjacent to the first outer roller bearing 34, offset along the joint axis GAS by approximately the width of the first outer roller bearing 34 in the direction of the second free end GAS2.

Due to the mirror-symmetrical structure, the first roller bearing 36 of the second guide and bearing device 33 is provided in the area of the second free end GAS2 so that it can rotate about the joint axis GAS, while the second roller bearing 37 on the side of the first roller bearing 36 facing the first free end GAS1 is also provided so that it can rotate about the joint axis GAS, preferably immediately adjacent to the first roller bearing 36, for example in a contact-fitting manner. In relation to the longitudinal extent of the joint axis GAS, the first roller bearing 36 of the second guide and bearing device 33 thus forms a first outer roller bearing 36 and the second roller bearing 37 forms a second inner roller bearing 37, which is provided on the joint axis GAS immediately adjacent to the first outer roller bearing 36, offset along the joint axis GAS by approximately the width of the first outer roller bearing 36 in the direction of the first free end GAS1.

The respective first roller bearing 34, 36 of the first and second guide and bearing device 32, 33 are guided in a first contact section 30.11, 31.11 of the respective first guide surface 30.1, 31.1 and the second roller bearing 35, 37 are guided in a respective second contact section 30.21, 31.21 of the respective second guide surface 30.2, 31.2 so as to be adjacent and preloaded with respect to one another, wherein the respective first and second contact sections 30.11 and 30.21 or 31.11 and 31.21 are offset from one another along the joint axis GAS and are provided opposite one another.

Advantageously, the first roller bearing 34 of the first guide and bearing device 32 is guided in the first transport pallet guide 30 so as to bear against the first contact section 30.11 of the first guide surface 30.1 and is preloaded against the second roller bearing 35 in the first contact section 30.21 of the second guide surface 30.2, and the first roller bearing 36 of the second guide and bearing device 33 is guided in the first contact section 31.11 of the first guide surface 31.1 and is preloaded against the second roller bearing 37 in the second transport pallet guide 31 so as to bear against the second contact section 31.21 of the second guide surface 31.2.

Furthermore, it is advantageous for the first roller bearing 34 of the first guide and bearing device 32 to rest against the first contact section 30.11 of the first guide surface 30.1 and the second roller bearing 35 resting against the second contact section 30.21 of the second guide surface 30.2 to be guided in the first transport pallet guide 30 in a pre-tensioned manner relative to the first roller bearing 36 of the second guide and bearing device 33 resting against the first contact section 31.11 of the first guide surface 31.1 and the second roller bearing 37 of the second transport pallet guide 31 resting against the second contact section 31.21 of the second guide surface 31.2.

Due to the pre-tensioned guidance of the joint axis GAS in the first and second transport pallet guides 30, 31, pre-tensioning forces directed perpendicularly to the joint axis GAS act in the area of the first guide and bearing device 32 from the first and second bearing sections 30.11, 30.21 of the first transport pallet guide 30, which are thus offset along the joint axis GAS and opposite each other, i.e. directed towards each other, and thus ensure that the first guide and bearing device 32 is braced along the longitudinal extent of the joint axis GAS in the first guide device 30 relative to the second guide and bearing device 33 guided in the second transport pallet guide 31, while in the area of the second guide and bearing device 33, pre-tensioning forces directed perpendicularly to the joint axis GAS act in the area of the first guide and bearing device 32 from the first and second bearing sections 31.11, 31.21 of the second transport pallet guide 31, which are thus offset along the joint axis GAS and opposite each other, i.e. directed towards each other, and thus ensure that the first guide and bearing device 32 is braced along the longitudinal extent of the joint axis GAS in the first guide device 30 relative to the second guide and bearing device 33 guided in the second transport pallet guide 31. Ensure that the second guide and bearing device 33 is braced along the longitudinal extension of the joint axis GAS in the second transport pallet guide 31 relative to the first guide and bearing device 32 guided in the first transport pallet guide 30.

For this purpose, the first transport pallet guide 30 forms a first guide space FR1 between the first and second guide surfaces 30.1, 30.2, which in the area of the first and second contact surfaces 30.11, 30.21 jumps back into the first guide space FR1, i.e. is stepped in this area, such that the first guide roller 34 of the first guide and storage device 32 rests on the first guide surface 30.1 in the area of the first contact section 30.11 that jumps back into the first guide space FR1 and the second guide roller 35 rests on the second guide surface 30.2 in the area of the second contact section 30.21 that jumps back into the first guide space FR1, while the second guide roller 35 of the first guide and storage device 32 comes free from the first guide surface 30.1 on the section that does not jump back into the first guide space FR1, i.e. in particular does not rest against it, and the first guide roller 34 from the section that does not jump back into the first guide space FR1 recessed portion of the second guide surface 30.2 is released.

In addition, the second transport pallet guide 31 also forms a second guide space FR2 between the first and second guide surfaces 31.1, 31.2, which in the area of the first and second contact surfaces 31.11, 31.21 jumps back into the second guide space FR2, i.e. is designed in a stepped manner in this area, such that the first guide roller 36 of the second guide and bearing device 33 rests on the first guide surface 31.1 in the area of the first contact section 31.11 that jumps back into the second guide space FR2 and the second guide roller 37 rests on the second guide surface 31.2 in the area of the second contact section 31.21 that jumps back into the second guide space FR2, while the second guide roller 37 of the second guide and bearing device 33 comes free from the first guide surface 31.1 on the section that does not jump back into the second guide space FR2, i.e. in particular does not rest on it, and the first guide roller 36 from the section that does not jump back into the second guide space FR2 recessed portion of the second guide surface 31.2 is released.

If the transport element 2 is conveyed in the transport direction A, the first and second roller bearings 34...37 rotate in opposite directions to each other about the axis of rotation formed by the joint axis GAS. The joint axis GAS can be firmly but detachably fixed in a joint section 20.1 of the respective transport pallet 3 via a holding means, for example a grub screw, and can be prevented from rotating, i.e. rotating about the longitudinal extent of the joint axis GAS. The opposite rotation of the respective first roller bearings 34, 36 to the respective second roller bearings 35, 37 is caused by the stepped design of the corresponding first and second guide spaces FR1, FR2, so that the first roller bearings 34, 36 only roll or roll against the first contact section 30.11, 31.11 of the respective first guide surface 30.1, 31.1 and the second roller bearings 35, 37 only roll or roll against the second contact section 30.21, 31.21 of the respective second guide surface 30.2, 31.2.

The 5 a variant of the transport pallets 3, in which two further rotating roller bearings 50, 51 are arranged on the corresponding transport pallet 3 between two adjacent joint axes GAS on the underside 3.2 opposite the top side 3.1, which in the variant shown are guided for vertical guidance of the transport pallets 3 between the first and second transport pallet guides 30, 31 and a further guide rail 52 provided between the two roller bearings 50, 51. The guide rail 52 can be arranged, in particular screwed, on the first and second transport pallet guides 30, 31, in particular on their underside, which forms a guide device base, for example. In particular, the two roller layers 50, 51 lie in particular on the middle guide rail 52 extending parallel to the transport direction A and roll or roll along it.

4 shows in perspective an exemplary embodiment of two transport pallets 3 of the transport system 1 according to the invention, which are free-standing and connected to one another via a chain joint 20. In particular, the transport pallets 3 have an elastic connecting section 53 in their respective joint section 20.1 on their respective upper sides 3.1, which elastically spans the respective joint section 20.1 of two adjacent transport pallets 3. In particular, the connecting section 53 can be arranged, in particular riveted, in an elastically prestressed manner on the respective upper sides 3.1 of two adjacent transport pallets 3. The connecting section 53 can be made from an elastic natural and/or artificial textile fabric.

At sections 15 and 17, the first and second transport pallet guides 30, 31 are designed such that at least the first roller bearings 34, 36 of a corresponding joint axis GAS of a chain joint 20 move on a compensation curve 24 or are guided on the compensation curve 24, which is designed in accordance with the 7 and 8th with increasing angle range α (in direction of rotation B or C around axis 4.1 or 5.1) from the transport pallet outlet 11.2 or 12.2 radially to axis 4.1 or 5.1 has a distance Δ from the pitch circle 8.1 which changes according to a clothoid curve. In particular, the clothoid used is parameterized such that the distance to the circular line of the chain wheel Δ increases while passing through the compensation curve and has the value d when transitioning to the straight section. This value results from the parameters of the clothoid or essentially clothoid-shaped curve through a mathematical functional relationship. R denotes the radius of the pitch circle 8.1, i.e. the axis distance that exists between the axis 4.1 or 5.1 and the joint axis GAS between two transport pallets 3 when this joint axis GAS is located on section 11 or 12 of the orbit or movement path 10. r24 denotes the radial distance of the compensation curve 24 from the axis 4.1 or 5.1.

In relation to a plane which includes the bisector of the rotational movement of the chain wheel 4 or 5 between the transport pallet inlet 11.1 and the transport pallet outlet 11.2 or between the transport pallet inlet 12.1 and the transport pallet outlet 12.2 and which is oriented perpendicular to the XY plane, the course of the compensation curves 24a on the sections 16 and 18 is, for example, mirror-symmetrical to the compensation curves 24. In particular, however, the compensation curves 24, 24a have the same relative course with respect to the generated distance Δ on the respective angular range α, β.

Furthermore, in the embodiment shown, the compensation curve 24 at the transport pallet outlet 11.2 or 12.2 of each sprocket 4 or 5 is designed to be mirror-symmetrical to the compensation curve 24a of the transport pallet inlet 11.1 or 12.1 of the other sprocket 5 or 4, respectively, in relation to a center plane EM2 that includes the Y-axis and the Z-axis and is oriented perpendicular to a connecting line between the axes 4.1 and 5.1 of the sprockets 4 and 5. For the compensation curves 24a, a course of the distance Δ results that corresponds to the course of this distance Δ for the compensation curves 24, but depending on an angular range β (opposite the direction of rotation B or C around the axis 4.1 or 5.1) from the transport pallet inlet 11.1 or 12.1.

According to the invention, the compensation curves 24, 24a are designed as a clothoid or as a substantially clothoid-shaped curve, at least in sections, i.e. at least a partial length of their total length.

wobei s die Klothoidenlänge und r der Radius des Krümmungskreises in dem Punkt der Klothoide ist, der entlang der Klothoide um die Länge s vom Startpunkt der Klothoide entfernt ist.In the following, preferred shapes of the clothoid-shaped compensation curves 24, 24a and their dimensions are discussed in more detail. A clothoid is a curve in which the curvature changes linearly with the arc length, also known as the clothoid length. This means that $$s\cdot r=cOnst.$$

where s is the clothoid length and r is the radius of the circle of curvature at the point on the clothoid that is located along the clothoid by the length s from the starting point of the clothoid.

This constant is often expressed by a clothoid parameter a, so that: $$sr=\frac{1}{2a^2}$$

wobei sich die rechte Seite aus Gleichung 2 ergibt.Let θ be the tangent angle between the main tangent HT at the beginning of the clothoid (ie at the transition from the straight section to the clothoid) and the tangent at a curve point of the clothoid. Since the curvature of a plane curve corresponds to the change in the angle θ and the reciprocal value of the radius of curvature, one obtains $$\frac{d\theta }{ds}=\frac{1}{r}=2a^{2}s$$

where the right-hand side is given by equation 2.

By integrating this equation with respect to s, one obtains a quadratic relationship between θ and s, i.e. $$\theta \left(s\right)={\left(as\right)}^2$$

This gives the formulas for the Cartesian coordinates x,y, which are listed above.

The choice of clothoid parameters is based on the geometric requirements of the transport system. In particular, it appears advantageous to calculate the clothoid parameter and the clothoid length from the parameters γ and R. The angle should preferably be chosen as stated above. The total clothoid length is then preferably in the range between 5 mm and 250 mm.

The aforementioned parameterization of the clothoid-shaped compensation curves 24, 24a achieves a uniform deflection in the sense of a uniform build-up of the radial acceleration (proportional to the centripetal force) on the transport pallet 3. In particular, this minimizes wear on the transport element 3 at high conveying speeds of preferably 2.5 m/s.

It can be provided that the compensation curves 24, 24a, viewed in the transport direction A, each extend completely as a clothoid between the corresponding transport pallet inlet 11.1, 12.1 and an associated transport pallet outlet 13.2, 14.2 of the linear guide by means of the transport pallet guides 30, 31 and between the transport pallet outlet 11.2, 12.2 and an associated transport pallet inlet 13.1, 14.1 of the linear guide by means of the transport pallet guides 30, 31.

The compensation curves 24, 24a can also each extend over an angle range α and/or β between 5° degrees and 45° degrees, which is set depending on the pitch angle TW of the sprocket engagement or driving areas 8. Here, if the pitch angle TW of the sprocket engagement or driving areas 8 is between 15° degrees and 45° degrees, the corresponding sprocket 4, 5 can be designed between 8-part and 24-part.

It is particularly advantageous that at least one compensation curve 24, 24a is formed in one piece, in particular in one piece, with the pitch circle 8.1, on which the transport pallets 3 are guided between the transport pallet inlet 11.1, 12.1 and the transport pallet outlet 11.2, 12.2 radially to a respective axis 4.1, 5.1, in that the at least one compensation curve 24, 24a and the pitch circle 8.1 are formed as a one-piece deflection device U, in particular in the form of a deflection curve.

The conveying speed of the transport element 3 is between 2 m/s and 3 m/s, preferably substantially 2.5 m/s.

It can also advantageously be provided that, with respect to the transport direction A, the compensation curve 24 following the transport pallet outlet 11.2, 12.2 of the respective chain wheel 4, 5 and/or deflection device U has a course such that a distance Δ between this compensation curve 24 and the pitch circle 8.1 in the direction of rotation B, C of the chain wheel 4, 5 has a clothoid-shaped course with increasing angular distance α from the transport pallet outlet 11.2, 12.2. In this context, with respect to the transport direction A, the compensation curve 24a preceding the transport pallet inlet 11.1, 12.1 of the respective chain wheel 4, 5 and/or deflection device U can also have a course such that the distance Δ between this compensation curve 24a and the pitch circle 8.1 opposite to the direction of rotation B, C of the chain wheel 4, 5 has a clothoid-shaped course with increasing angular distance β from the transport pallet inlet 11.1, 12.1.

According to the invention, the transport system 1 has at least one workpiece carrier W that moves with the transport pallets 3 in the transport direction A and has at least one carrier body 40 that can be rotated about an axis of rotation DA for receiving and/or holding the objects G, wherein the workpiece carrier W is arranged on one of the transport pallets 3, and wherein the transport system 1 has at least one turning unit 41 for the at least one workpiece carrier W, which is designed to subject the rotatable carrier body 40 of the workpiece carrier W to a rotational movement about the axis of rotation DA when the transport pallets 3 are at a standstill. The turning unit 41 preferably generates a rotation of 90° or 180° on the carrier body 40.

The carrier body 40 of the workpiece carrier W is advantageously plate-shaped and in particular designed as a rotationally symmetrical body, for example in the shape of a circular disk or an annular ring. The carrier body 40 is also advantageously made of a solid material, for example a metal.

Furthermore, the transport system 1 has at least one turning unit 41 for initiating a rotational movement on the carrier body 40 about the axis of rotation DA, wherein the axis of rotation DA preferably runs transversely or perpendicularly to the transport direction A.

For this purpose, the turning unit 41 comprises at least one electric drive device 48 arranged on the machine frame 7 and an output element 47 driven by the drive device 48 about the axis of rotation DA, which is non-positively connected to the carrier body 40 and ultimately transmits the drive movement of the drive device 48 to the carrier body 40 in the form of a rotary movement of preferably 90° or 180° degrees about the axis of rotation DA. By means of the drive device 48, a rotary movement of preferably 90 or 180° degrees is thus introduced to the output element 47 and from there via the connecting element 44 to the carrier body 40.

In more detail, the workpiece carrier W has a base body 42 with a base body base 43, wherein the base body base 43 is arranged on the top side 3.1 of one of the transport pallets 3, in particular is detachably screwed on. The base body 42 can be designed in the shape of a sleeve. Furthermore, a connecting element 44 that is rotatably mounted about the axis of rotation DA can be accommodated in the base body 42, which can be designed, for example, as a connecting shaft or connecting tube.

The connecting element 44 preferably projects laterally beyond the sleeve-shaped base body 42 on both sides, with the carrier body 40 and the turning unit 41, or more specifically the output element 47 of the turning unit 41, being arranged at one free end in a rotationally fixed manner at the other end, so that when a rotational movement is initiated by means of the turning unit 41, the connecting element 44 and thus the carrier body 40 and thus ultimately the object G held on the carrier body 40 rotates - depending on the rotational movement of the turning unit 41.

The non-positive connection between the output element 47 of the turning unit 41 and the carrier body 40 can be established via the connecting element 44 received in the base body 42 of the workpiece carrier W, in particular the connecting shaft, which is non-positively connected to the carrier body 40 at one free end and non-positively connected to the output element 47 at the other free end.

In more detail, the connecting element 44 of the workpiece carrier W, which is mounted in the base body 42 about the rotation axis DA, can also take over the rotatable mounting of the output element 47 of the turning unit 41, which can also be rotated about the rotation axis DA. Since the workpiece carrier W and the turning unit 41 form a common rotation axis DA, a common mounting for the drive element 47 and the carrier body 40 can take place in the base body 42 by means of the connecting element 44, which is mounted so as to be rotatable about the common rotation axis DA. The output element 47 can be connected directly or indirectly to the connecting element 44 in a force-fitting manner.

In particular, the output element 47 has a receiving element 60 with an opening 61 that deviates from the circular shape, wherein the opening 61 can preferably be triangular, square or polygonal in plan view. The receiving element 60 is arranged in a force-fitting manner on the output element 47, for example screwed, soldered or welded, and is designed to absorb a torque for the opening 61.

The opening 61 of the receiving element 60 of the output element 47 can be brought into operative engagement with the drive device 48. In more detail, the drive device 48 can have an electric drive motor 68, in particular a torque motor, which directly or indirectly drives a drive shaft 62, the drive shaft 62 being adapted in its external geometry to the geometry of the opening 61 in such a way that the drive shaft 62 can be received in the opening 61 in a force-fitting and/or form-fitting manner and thus a rotating drive movement generated by the drive device 48 can be transmitted to the carrier body 40. In particular, the drive shaft 62 can have an external geometry that deviates from the circular shape, for example a triangular, square or polygonal external geometry. According to an embodiment variant not shown, the drive motor 68 itself can have the drive shaft 62 and thus drive the output element 47. A gearless direct drive of the output shaft 62 is thus provided. In an alternative, the drive device 48 can have a cam gear 69, in particular a 360° cam gear, and additionally a drive motor 68, wherein the drive motor 68 drives the cam gear 69, and the cam gear 69 then has the drive shaft 62, the external geometry of which is adapted to the geometry of the opening 61. According to this embodiment, the drive movement generated by the drive motor 68 can therefore be reduced with the cam gear 69 interposed. The drive motor 68 therefore drives the drive shaft 62 of the cam gear 69 indirectly with the cam gear 69 interposed.

Furthermore, the drive shaft 62 can be inserted into the opening 61. For this purpose, the drive device 48 of the turning unit 41 can be arranged on the machine frame 7 via a motor-driven actuating device 65 in such a way that the drive device 48 is designed to be displaceable transversely to the transport direction A and in and/or against the longitudinal direction of the rotation axis DA in a controlled and/or regulated manner by means of the actuating device 65, so that the drive shaft 62 can be inserted into the opening 61 of the receiving element 60. For example, the actuating device 65 can have a guide carriage 66 and a carriage 67 that can be displaced transversely to the transport direction A in a controlled and/or regulated manner on the guide carriage 66, on which carriage the drive device 48 is permanently mounted.

In particular, the drive device 48 is designed to be displaceable between an engagement position and a release position in a controlled and/or regulated manner by means of the adjusting device 65, wherein the drive shaft 62 is in operative engagement with the opening 61 of the receiving element 60 in the engagement position, while the drive shaft 62 is out of operative engagement with the opening 61 of the receiving element 60 in the release position. In other words, the drive shaft 62 is not in operative engagement in the release position.

According to a further advantageous embodiment, it can be provided that the turning unit 41 - in addition to the electric drive device 48 - has a drive element 46 for the Output element 47, wherein the turning unit 41 is designed by means of the drive element 46 to additionally subject the rotatable carrier body 40 of the workpiece carrier W to a rotational movement about the axis of rotation DA in a rotationally guided manner during the conveyance of the workpiece carrier W in and/or against the transport direction A.

For this purpose, the turning unit 41 comprises at least one stationary drive element 46, preferably arranged on the machine frame 7. It can be provided that the turning unit 41 has at least one stationary drive element 46 with two control curves SK1, SK2 running parallel to one another and an output element 47 driven by the drive element 46 in a cam-controlled manner about the axis of rotation DA, wherein the output element 47 is non-positively connected to the carrier body 40, so that ultimately a drive movement can be transmitted to the carrier body 40 in the form of a rotary movement of preferably 90° or 180° degrees about the axis of rotation DA. By means of the drive element 46, a rotary movement of preferably 90 or 180° degrees is thus initiated on the output element 47 and from there via the connecting element 44 to the carrier body 40.

The turning unit 41 is thus designed to initiate a rotational movement about the axis of rotation DA on the rotating output element 47 by means of the stationary drive element 46 as a function of the linear position of the workpiece carrier W during the conveyance of the workpiece carrier W along the transport path TS in and/or against the transport direction A, which is transmitted via the connecting element 44 to the carrier body 40 in such a way that the carrier body 40 also rotates about the axis of rotation DA.

In this case, a plurality of drive elements 46 can be provided along the transport route TS in the region of the transport pallet guides 30, 31, wherein the plurality of drive elements 46 are arranged at a distance from one another along the transport route TS.

According to an advantageous embodiment, the turning unit 41 is designed to generate the angle-guided rotary movement around the axis of rotation DA in a cam-controlled manner, the drive element 46 being designed as a control link for this purpose and having two control curves SK1, SK2 that run parallel and at a distance from one another, and the output element 47 having two annular disks 49, on the respective cover surface 49.1 of which two rollers 52 are rotatably mounted, which are provided at an angular offset of preferably 180° to one another and which roll along the corresponding control curve SK1, SK2 in such a contact-locking manner by conveying the workpiece carrier W in and/or against the transport direction A that a rotary movement around the axis of rotation DA is initiated on the carrier body 40. In particular, the disks 49 of the output element 47 are each connected to the connecting element 44 in a force-locking manner for this purpose.

According to a further embodiment variant not shown in the figures, the turning unit 41 is designed to generate the angle-guided rotary movement about the axis of rotation DA by means of a rack and pinion gear, wherein the drive element 46 is designed as a rack and the output element 47 is designed as a gearwheel that is non-positively connected to the carrier body 40, which is in toothed engagement with the rack by conveying the workpiece carrier W in and/or against the transport direction A and rolls along the rack, so that a rotary movement about the axis of rotation DA is introduced onto the carrier body 40. In particular, the output element 47 designed as a gearwheel is non-positively connected to the connecting element 44 for this purpose.

Furthermore, the workpiece carrier W has at least one locking device 45, by means of which the carrier body 40 of the workpiece carrier W can be locked against rotation about the axis of rotation DA. In more detail, the locking device 45 can be designed for locking and/or mechanically locking the carrier body 40 in its respective rotation angle position.

According to an advantageous embodiment variant, it can be provided that the locking device 45 has a bolt element 45.1 which is spring-loaded in the release position and which is designed to reach the locking position with the index opening 40.1 for locking the carrier body 40 when the index opening 40.1 is passed over by relaxing the spring and is automatically preloaded again into the release position when a torque acting on the carrier body 40 is exceeded, in which position the bolt element 45.1 is released from the index opening 40.1. In other words, the bolt element 45.1 is preloaded in the locking position by means of a spring and, when the rotating body 40 rotates at the time when the bolt element 45.1 is above the index opening 40.1, is moved by relaxing or unloading the spring into the locking position in which the bolt element 45.1 of the carrier body 40 is blocked from further rotation. Particularly advantageously, the spring force is selected such that when a definable torque of the rotational force acting on the carrier body 40 is exceeded, the spring-loaded bolt element 45.1 is moved independently from the index opening 40.1 into the release position and thus releases the rotary movement of the carrier body 40 again. By means of the spring-loaded bolt element 45.1, the rotary movement of the carrier body 40 is blocked up to a definable torque acting on the carrier body 40, which can be adjusted via the spring force.

According to a further embodiment, the locking device 45 can have at least one bolt element 45.1 and, for moving the bolt element 45.1, can comprise a working cylinder device 45.2 that can be operated in a controlled and/or regulated manner and that has at least one piston that is movably accommodated in a cylinder and that interacts with the bolt element in a force-locking manner. Furthermore, the at least one displaceable bolt element 45.1 can interact with index openings 40.1 provided on the carrier body 40.

In more detail, it can be provided that the at least one bolt element 45.1 of the locking device 45 is designed as a controlled and/or regulated index pin which, in a locking position for locking the carrier body 40, can be at least partially retracted into a corresponding index opening 40.1 and/or can be fully extended from the index opening 40.1 for a release position. The carrier body 40 advantageously has a plurality of index openings 40.1 distributed radially around the axis of rotation DA, which are preferably provided at the same or approximately the same angular distances from one another around the axis of rotation DA.

In the retracted locking position, the bolt element 45.1 fully engages in the respective index opening 40.1 and mechanically fixes the carrier body 40, while in the extended release position the bolt element 45.1 fully releases the carrier body 40 for a further rotation by a predeterminable angle of rotation.

The invention has been described above using exemplary embodiments. It is understood that numerous changes and modifications are possible without departing from the inventive concept underlying the invention.

Claims (20)

Transport system (1) for conveying objects (G) along a transport route (TS), comprising at least one transport element (2) which consists of a plurality of chain links which are connected to one another in an articulated manner via chain joints (20) to form a closed loop and which can be driven in a cyclic or continuous manner in at least one transport direction (A) via at least one chain wheel (4, 5), the chain links each being designed as transport pallets (3), the at least one chain wheel (4, 5) having chain wheel engagement or entrainment areas (8) provided at a predetermined pitch angle (TW), into which guide and bearing devices (32, 33) formed on the chain joints (20) of the transport pallets (3) engage when the chain wheel (4, 5) is rotating on at least one pitch circle (8.1) on which the transport pallets (3) are arranged between a transport pallet inlet (11.1, 12.1) and a transport pallet outlet (11.2, 12.2) are guided radially to a respective axis (4.1, 5.1) of the at least one chain wheel (4, 5), wherein transport pallet guides (30, 31) are also provided for linearly guiding the guide and bearing devices (32, 33) of the transport pallets (3) between the radial deflections formed by means of the at least one chain wheel (4, 5) to form a closed movement path (10), wherein, with respect to the transport direction (A), between a transport pallet inlet (11.1, 12.1) and the corresponding linear guide by means of the transport pallet guides (30, 31) and between a transport pallet outlet (11.2, 12.2) and the corresponding linear guide by means of the transport pallet guides (30, 31), a compensation curve (24, 24a) is provided for polygon compensation, along which the guide and bearing devices (32, 33) of the transport pallets (3) for Polygon compensation, wherein the transport system (1) has at least one workpiece carrier (W) which moves along with the transport pallets (3) in the transport direction (A) and has at least one carrier body (40) which can be rotated about an axis of rotation (DA) for receiving and/or holding the objects (G), wherein the workpiece carrier (W) is arranged on one of the transport pallets (3), and wherein the transport system (1) has at least one turning unit (41) for the at least one workpiece carrier (W), which is designed to subject the rotatable carrier body (40) of the workpiece carrier (W) to a rotary movement about the axis of rotation (DA) when the transport pallets (3) are at a standstill. Transport system (1) to Claim 1 , characterized in that the turning unit (41) has at least one electric drive device (48) arranged on a machine frame (7) and an output element (47) driven by the drive device (48) about the axis of rotation (DA), wherein the output element (47) is non-positively connected to the carrier body (40) and thus the drive movement of the drive device (48) is transmitted to the carrier body (40) in the form of a rotary movement of preferably 90° or 180° around the axis of rotation DA. Transport system (1) to Claim 1 or 2 , characterized in that a non-positive connection between the output element (47) of the turning unit (41) and the carrier body (40) is produced via a connecting element (44) which is rotatably mounted in a base body (42) of the workpiece carrier (W) and is in particular wave-shaped, wherein the connecting element (44) is non-positively connected to the carrier body (40) at one free end and non-positively connected to the output element (47) at another free end. Transport system (1) to Claim 3 , characterized in that the connecting element (44) of the workpiece carrier (W), which is mounted in the base body (42) about the axis of rotation (DA), also takes over the rotatable mounting of the output element (47) of the turning unit (41), which is also rotatable about the axis of rotation (DA). Transport system (1) according to one of the preceding claims, characterized in that the output element (47) has a receiving element (60) with an opening (61) deviating from the circular shape, wherein the opening (61) can be brought into operative engagement with the drive device (48). Transport system (1) according to one of the preceding claims, characterized in that the drive device (48) has an electric drive motor, in particular a torque motor, which directly or indirectly drives a drive shaft (62), the drive shaft (62) being adapted in its external geometry to the geometry of the opening (61) in such a way that the drive shaft (62) can be received in the opening (61) in a force-fitting and/or form-fitting manner and thus a rotating drive movement generated by the drive device (48) can be transmitted to the carrier body (40). Transport system (1) according to one of the preceding claims, characterized in that the transport system (1) has an adjusting device (65), and that the drive device (48) is arranged on the machine frame (7) via the adjusting device (65) in such a way that the drive device (48) is designed to be displaceable transversely to the transport direction (A) and in and/or against the longitudinal direction of the axis of rotation (DA) in a controlled and/or regulated manner by means of the adjusting device (65), so that the drive shaft (62) can be inserted into the opening (61) of the receiving element (60). Transport system (1) according to one of the preceding claims, characterized in that the drive device (48) is designed to be displaceable between an engagement position and a release position in a controlled and/or regulated manner by means of the adjusting device (65), wherein the drive shaft (62) in the engagement position is in operative engagement with the opening (61) of the receiving element (60), while the drive shaft (62) in the release position is out of operative engagement with the opening (61) of the receiving element (60). Transport system (1) according to one of the preceding claims, characterized in that the turning unit (41) has at least one stationary drive element (46) for the output element (47), wherein the turning unit (41) is designed by means of the drive element (46) to additionally subject the rotatable carrier body (40) of the workpiece carrier (W) to a rotational movement about the axis of rotation (DA) in a rotational angle-guided manner during the conveyance of the workpiece carrier (W) in and/or against the transport direction (A). Transport system (1) to Claim 9 , characterized in that the turning unit (41) has at least one stationary drive element (46) with two control cams (SK1, SK2) running parallel to one another and an output element (47) driven by the drive element (46) about the axis of rotation (DA) in a cam-controlled manner, wherein the output element (47) is non-positively connected to the carrier body (40), so that ultimately a drive movement can be transmitted to the carrier body (40) in the form of a rotary movement by preferably 90° or 180° about the axis of rotation (DA). Transport system (1) ) according to one of the preceding Claims 9 or 10 , characterized in that the turning unit (41) is designed to initiate a rotational movement about the axis of rotation (DA) on the rotating output element (47) by means of the stationary drive element (46) depending on the linear position of the workpiece carrier (W) during the conveyance of the workpiece carrier (W) along the transport path (TS) in and/or against the transport direction (A), which is transmitted via the connecting element (44) to the carrier body (40) in such a way that the carrier body (40) also rotates about the axis of rotation (DA). Transport system (1) according to one of the preceding Claims 9 until 11 , characterized in that a plurality of drive elements (46) are provided along the transport route (TS) in the region of the transport pallet guides (30, 31), wherein the plurality of drive elements (46) are arranged at a distance from one another along the transport route (TS). Transport system (1) according to one of the preceding Claims 9 until 12 , characterized in that the turning unit (41) is designed to generate the angle-guided rotary movement about the axis of rotation (DA) in a cam-controlled manner, wherein the drive element (46) is designed as a control link and has two control curves (SK1, SK2) running parallel and at a distance from one another, and the output element (47) has two annular disks (49), on the respective cover surface (49.1) of which two rollers (52) are rotatably mounted, which are provided at an angular offset of preferably 180° to one another and which roll along the corresponding control curve (SK1, SK2) in such a contact-locking manner by conveying the workpiece carrier (W) in and/or against the transport direction (A) that a rotary movement about the axis of rotation (DA) is initiated on the carrier body (40). Transport system (1) according to one of the preceding Claims 9 until 13 , characterized in that the turning unit (41) is designed to generate the angle-guided rotary movement about the axis of rotation (DA) by means of a rack and pinion gear, wherein the drive element (46) is designed as a rack and the output element (47) is designed as a gear wheel which is non-positively connected to the carrier body (40), which is in toothed engagement with the rack by conveying the workpiece carrier (W) in and/or against the transport direction (A) and rolls along the rack, so that a rotary movement about the axis of rotation (DA) is introduced onto the carrier body (40). Transport system (1) according to one of the preceding claims, characterized in that the workpiece carrier (W) has at least one locking device (45) by means of which the carrier body (40) of the workpiece carrier (W) can be locked in a rotationally secure manner against rotation about the axis of rotation (DA). Transport system (1) according to one of the preceding claims, characterized in that the locking device (45) has a bolt element (45.1) which is spring-loaded in the release position and which is designed to reach the locking position with the index opening (40.1) for locking the carrier body (40) when the index opening (40.1) is passed over by relaxing the spring and is automatically preloaded again into the release position when a torque acting on the carrier body (40) is exceeded, in which position the bolt element (45.1) is released from the index opening (40.1). Transport system (1) according to one of the preceding claims, characterized in that the locking device (45) has at least one bolt element (45.1) and, for moving the bolt element (45.1), comprises a working cylinder device (45.2) which can be operated in a controlled and/or regulated manner and which has at least one piston which is movably received in a cylinder and which cooperates with the bolt element in a force-fitting manner. Transport system (1) according to one of the preceding claims, characterized in that the at least one bolt element (45.1) of the locking device (45) is designed as a controlled and/or regulated index pin which, in a locking position for locking the carrier body (40), can be at least partially retracted into a corresponding index opening (40.1) of the carrier body (40) and/or can be fully extended from the corresponding index opening (40.1) for a release position. Transport system (1) according to one of the preceding claims, characterized in that the carrier body (40) has a plurality of index openings (40.1) distributed radially around the axis of rotation (DA), which are preferably provided at equal or approximately equal angular distances from one another around the axis of rotation (DA). Treatment machine, for example an assembly and/or manufacturing machine, with a transport system (1) with transport pallets (3) for receiving products or objects (G), wherein the transport pallets (3) are moved on a self-contained movement path (10), preferably moved in a synchronized manner, and work stations are provided on the movement path (10), characterized in that the transport system (1) is designed according to one of the preceding claims.

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