EP1651464A1 - Alimentation en energie sans contact pour consommateurs mobiles - Google Patents

Alimentation en energie sans contact pour consommateurs mobiles

Info

Publication number
EP1651464A1
EP1651464A1 EP04736981A EP04736981A EP1651464A1 EP 1651464 A1 EP1651464 A1 EP 1651464A1 EP 04736981 A EP04736981 A EP 04736981A EP 04736981 A EP04736981 A EP 04736981A EP 1651464 A1 EP1651464 A1 EP 1651464A1
Authority
EP
European Patent Office
Prior art keywords
secondary part
energy
field
linear motor
consumers
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04736981A
Other languages
German (de)
English (en)
Inventor
Eberhard Schemm
Bernd Schnurr
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rexroth Indramat GmbH
Original Assignee
Rexroth Indramat GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rexroth Indramat GmbH filed Critical Rexroth Indramat GmbH
Publication of EP1651464A1 publication Critical patent/EP1651464A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/0009—Energy-transferring means or control lines for movable machine parts; Control panels or boxes; Control parts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/50—Energy storage in industry with an added climate change mitigation effect

Definitions

  • the invention relates to the supply of electrical consumers on the secondary part (movable part) of a linear motor according to spoke 1, in particular a linear motor, which is preferably used in processes of industrial automation.
  • the patent EP 0580 107 B1 shows a magnetic levitation system, which is designed for transport purposes with straight and curved path sections.
  • the focus here is on the regulation of the air gap, depending on the load on the secondary part, by means of a control device attached to the secondary part.
  • This control device is supplied with energy without contact via an induction loop with a 10 kHz voltage source.
  • the induction loop is only available on the straight sections.
  • a buffer battery arranged on the hover vehicle must provide energy.
  • the arrangement should also be less prone to failure.
  • the invention ensures contactless energy transmission, which fulfills all the required points and in particular ensures the required ease of maintenance, since there is hardly any additional mechanics involved.
  • an additional energy supply field into the field-generating coils used to generate the locomotion field (traveling field) and the associated use of an already existing linear motor component (primary part)
  • the secondary part and primary part of the linear motor do not have to be expanded by mechanical components (induction loops, additional windings, etc.). Only an energy transfer interface is additionally required. Circuit-wise expansion of the coil supply to couple the electrical field required for energy transmission into the field-generating windings must also be carried out. However, these measures entail relatively low costs.
  • the consumers can be function blocks for locomotion or movement control as well as data processing devices for position detection and the associated sensors and / or means for communication. Overall, this makes the device very flexible with regard to the conceivable fields of application. From the complex transport, packaging and automation equipment with a large number of independently operated ones Secondary parts up to the implementation of a simple linear movement, all embodiments are conceivable and feasible.
  • process energy is understood to mean energy that is not required to supply drive-relevant consumers, but rather to carry out a process within a process. This could be, for example, the welding of a film for food after it has been filled by a packaging machine. Any other application forms are conceivable.
  • at least one consumer on the secondary part is a process-relevant apparatus that takes on a processing or processing step within an industrial process.
  • a route constructed from the linear motor according to the invention it would be designed such that it is controlled in one or more phases and has a locomotion or movement control, in particular for modular transport devices with straight and curved route sections that form a route , with at least one secondary part communicating via an information transmission interface, which contains parts of the control, the secondary part having at least one permanent magnet and a signal processing device with locomotion or movement controller, which generates at least one setpoint value relevant to a coil control, the setpoint value being transmitted via a setpoint interface
  • Secondary part of a coil control which is stationary with respect to the primary part, is supplied as a variable used for commutation, and means for stiffening Storage of the secondary part are provided, which guide the secondary part along the predetermined distance.
  • the energy supply according to the invention feeds the signal processing device with movement or locomotive controller arranged on the secondary part.
  • the coil control is fixed, for example, on the primary part and generates the locomotion field for the secondary part.
  • the signal processing device calculates control variables, such as a current or voltage setpoint, from actual values received via sensors and / or interfaces.
  • a setpoint could in turn serve as an input variable for the stationary coil control and could be transmitted contactlessly to receiver coils of the coil control via a setpoint interface.
  • the target specifications for the coil control are thus made directly and wirelessly via the movable secondary part, depending, among other things, on its current position.
  • the movement or locomotion regulation could also be part of a movement regulation.
  • a position setpoint or speed setpoint or the like could be generated by a central or decentralized controller and transmitted to the secondary part via wireless interfaces, for example inductively. It would thus be possible to supply only those field-producing coils with locomotive energy which are in the immediate vicinity of the secondary part and which have to be energized for its next movement step.
  • This solution creates the basic requirements for a universal system which, thanks to the feasibility of modular sections of any shape, offers a solution as a modular solution for almost every transport and / or processing problem in industrial machines.
  • the AC / DC converter is used to convert the AC voltage coupled in via the energy interface into a DC voltage, since the consumers are generally supplied with a DC voltage. If all consumers require an identical supply, they can be connected to the supply via an energy supply bus, which enormously reduces the circuitry outlay and reduces the probability of failure. If the consumers were connected to the energy transfer interface via DC / DC converters, they could be operated with a wide variety of supply voltages. Despite one As a result, power transmission interfaces of different levels can be realized.
  • the DC / DC converter which merely changes the voltage level to the desired value, would be connected upstream of a consumer or could be integrated into the consumer.
  • a mode of operation in which only those windings of the primary part that generate an energy supply field that are essentially opposite to the secondary part is particularly energy-saving.
  • an energy supply field is generated only via the field-exciting coils, in the immediate vicinity of which the energy transmission interface of the secondary part is located.
  • Further energy saving measures result from the fact that only those windings of the primary part generate an energy supply field that are essentially opposite the energy transmission interface of the secondary part.
  • the idea behind this solution is to use this feature in a system initialization. This serves to record the initial configuration, ie the position of the secondary parts on the movement path.
  • the arbitrary energization of all coils increases the heat or energy losses and thus also reduces the lifespan or service life of the arrangement.
  • a targeted control of the windings concerned can be implemented via a position detection and the known dimensions or the mounting location of the energy transmission interface on the secondary part, for example via a central controller or via the distributed control logic known from claim 3.
  • an initial detection of the position of the secondary parts for example when the system is switched on or after a system fault such as a collision, can be done without additional circuitry and, above all, wirelessly.
  • all secondary parts regardless of their location within their locomotion path, are supplied with energy and all coils are energized at the time of activation. Without this measure, no information regarding the location of the secondary parts would be available for central control according to the system (new) start, because the systems attached to the secondary part are not yet working due to a lack of energy.
  • the proposed solution is a further step in the direction of maintenance-free because of the lack of additional power sources the dynamic. It would be useful if the linear motor was further characterized in that accumulators and / or batteries and / or solar cells buffered via the energy interface during normal operation ensure the required energy supply. Then the secondary parts would receive their position data even in the de-energized state and a brief interruption in operation in which the secondary parts would maintain their original position, at least without influencing the position detection of the control.
  • the invention is further based on the object of creating the basis for an industrial machine, in particular for use in automation lines which comprises an industrial process, e.g.
  • an industrial machine in particular for use in automation lines which comprises an industrial process, e.g.
  • Flat materials, packaging and tools including a linear movement, which a linear motor of the secondary part, which is supplied with at least one energy transfer interface, is arranged on the consumer, and with at least one primary part with field-generating coils lined up along a predetermined path for locomotion of the secondary part is equipped with a locomotion field and is characterized in that an energy supply field of higher frequency is superimposed on the locomotion field, which is inductively coupled in via the energy transmission interface of the secondary part and supplies consumers attached to the secondary part with energy.
  • the number of secondary parts can be freely determined and, depending on the process, is only limited by the requirements of the process, the geometry of the secondary parts and the routing of the primary part.
  • Figure 1 shows a rough schematic of the cross section of a linear motor according to the invention.
  • Figure 2 shows a linear motor of a similar type, but with others
  • Figure 3 shows the arrangement shown in Fig. 2 in plan view and Fig. 4 shows a possible implementation of the coil control. 5 shows a basic circuit diagram for the possible realization of the power coupling or power coupling.
  • the linear motor shown in FIG. 1 consists of secondary part (s) 4 (only one shown here) and primary part (s) 5, which form a movement path (only a section shown here).
  • the arrangement is drawn on average. The cut is made parallel to the possible direction of movement 10 along the central axis.
  • Permanent magnets 11 are arranged on the underside of the secondary part 4, which lies opposite the primary part 5. The field of these permanent magnets 11 interacts with the locomotion field or traveling field of the field-generating coils 1 and drives the secondary part 4 due to the resulting Lorentz force.
  • consumers 2 are arranged, which are supplied with energy by means of voltage and / or level converters 8, which are connected to one another via a line 12.
  • the energy supply interface 3 is docked onto the secondary part on a side 14 running transversely to the direction of movement.
  • the energy interface 3 could be attached to any other location of the secondary part 4, the only important thing when choosing the installation location is that a good to optimal coupling factor is achieved. It would also be conceivable to arrange the interface in the middle of the secondary part 4 or between the permanent magnets 11.
  • the converter 8 arranged above the energy supply interface 3 is connected directly to the output of the interface 3 and in turn provides a connection for all consumers 2 traveling with it.
  • the energy is absorbed via the energy supply field 6, which is indicated in the air gap 15 between the energy supply interface 3 and the primary part 5. If the secondary part now moves according to the indicated direction of movement 10, the energy interface 3 is carried along.
  • a setpoint interface 9 with downstream signal processing 13 is used for locomotion control or motion control.
  • the setpoint interface 9 like the energy interface, is docked on a side 14 running transversely to the direction of movement.
  • data could be transmitted via this interface with a higher-level control or the coil control.
  • Each individual winding of the field-generating coils 1 is supplied with current via the coil control 7, which may be integrated in the primary part 5, and can accordingly be controlled individually.
  • Part of the coil control are signal sources 16 for generating the locomotion or energy transfer field.
  • the energy supply field superimposed on the locomotion field could be generated by connecting the alternating voltage source 16a required for producing a locomotion field with a frequency of, for example, 50 Hz (any other frequency is conceivable) a further alternating voltage source 16b with, for example, 10 kHz or even variable frequency, that the desired effect arises from the superposition of both voltages and both fields overlap.
  • the receiver resonant circuit on the secondary part 4 is tuned to the frequency to be coupled out, so that it couples the maximum possible energy.
  • the voltage and level converter 8 adapts the output voltage to the requirements of the consumers 2, which are connected to the latter via the line 12. It would also be conceivable to assign a unique frequency to each secondary part in order to then selectively control it via this assigned frequency. In addition, other modulation methods known from the prior art for controlling the secondary parts are also conceivable.
  • these consumers 2 could use the Power supply interface 3 and possibly a further, parallel voltage and / or level converter 8 (not shown here) are supplied with current.
  • AC / DC, AC / AC and DC / DC converters 8 can be used to supply both consumers with AC and DC voltage connections.
  • Integrated voltage dividers make it possible to adapt the voltage level tapped at the power supply interface 3 to the consumers 2. It is therefore conceivable that each consumer 2 has its own converter 8, which ensures the individual, consumer-specific voltages and levels.
  • the energy supply interface 3 travels along the path 10 on the secondary part 4.
  • a non-stationary, moving or traveling energy supply field 6 is used, which follows the movement of the secondary part according to its speed or acceleration specifications by the control. Only those field-generating coils 1 carry energy for energy supply here, which are now arranged under the secondary part 4 or possibly even only under the energy supply interface 3.
  • the advantage lies in reduced energy consumption and reduced heat loss. In the case of system initialization, it makes sense to supply all field-generating coils 1 with energy at the same time or in sections in order to supply all traveling consumers 2 with electricity immediately without a separate position detection mechanism, and to be able to query the required data by means of a controller.
  • the spatial expansion of the energy supply field 6 can be realized in a wide variety of ways. It could be permanently present on the entire route even in normal operation, or only on relevant route sections, depending on the current position of the secondary part (s) 4 to be fed. In the latter case, of course, higher demands are made on the control of the field-generating components ,
  • One or more of the consumers 2 could also be designed as an energy store (accumulator), so that they can supply the other consumers connected via the line 12 after the charging process in the event of a power failure.
  • Other energy sources are also conceivable that supply the line 12 with energy (batteries, solar cells, etc.).
  • the linear motor shown in FIG. 2 consists of secondary part (s) 4 and primary part (s) 5.
  • the primary part 5 forms a route on which preferably a plurality of secondary parts 5 can travel simultaneously.
  • a signal processing device 19 for regulating movement or locomotion is arranged on the secondary part 4 and travels with movement. This device is also connected to the energy transmission interface 3, the transmitter interface 17 and the control interface 18 and additionally to the setpoint interface 9.
  • a movement status sensor 21 delivers via a further contactless sensor interface
  • Position information to the signal processing device 19 This data is used by the signal processing device 19 in order to record the current position of the assigned secondary part 4 relative to the primary part 5.
  • the signal source 16 arranged on the primary part 5 also supplies the signal processing device 19 on the secondary part 4 without contact with electrical current via the
  • the control of the field-generating coils 1 is carried out by the coil control 7, which receives specifications regarding the required field strength via the setpoint interface 9.
  • the setpoint could be a current setpoint which is directly proportional to the intensity of the magnetic field and thus to the acceleration of the secondary part.
  • a voltage setpoint would also be conceivable.
  • the current setpoint is supplied via the contactless interface, the setpoint interface 9, directly from the signal processing device 19 of the secondary part 4.
  • the signal processing device 19 derives this setpoint value directly from the data that it receives from the transmitter interface 17 and the control interface
  • the data from the control interface 18 could be a position setpoint from which the signal processing device 19 calculates the required acceleration and speed depending on the distance to be covered and then requests the necessary traveling field strength by means of the current setpoint.
  • Other types of setpoints are conceivable depending on the application.
  • a combination of the devices shown in FIGS. 1 and 2 is, for example, optimally suitable for use in industrial machines. Consumers with a wide range of performance requirements can be attached and supplied on the secondary section using the combination of AC / DC, AC / AC and DC / DC converters described.
  • the process including a linear movement that includes a single or multi-phase controlled linear motor including motion control with at least one secondary part 4 and at least one primary part 5 field-generating coils 1 in concentrated or overlapping winding along a predetermined
  • the route is suitable.
  • the compact design and the outsourcing of control intelligence to the secondary part 4 enables the production of very flexible modular components that could be offered in the form of a kit.
  • the route sections formed from primary parts 5 can theoretically be produced in any shape, that is to say as straight or curved sections with right or left curve sense or as sections for bridging an incline, and thus make it possible to solve almost any transport problem.
  • Figure 3 shows a section of a section 25 formed from primary parts by means of three-phase controlled coils in plan view.
  • This secondary part 4 can move above the distance 25 along the arrows in the forward and / or backward direction.
  • the secondary part could be rigidly supported, for example, by rollers and rails, but a magnetic levitation system would also be conceivable.
  • the transmission of the setpoint from the signal processing device via the setpoint interface 9 of the secondary and primary part takes place here for each of the three phases via a separate interface, therefore three setpoint interfaces 9 are shown adjacent to one another on the secondary part 4, but offset in the direction of movement.
  • Each of the three segment-like setpoint interfaces 9 of the primary part 5 controls a group of windings 1 in parallel via the corresponding setpoint interface 9 of the primary part 5, thereby ensuring an in-phase supply of current. It is important to know that only those coils that are actually required to drive the secondary part 4 are supplied with current. So those windings that are just below or immediately in front of the secondary part 4. This principle of coil control depending on the secondary part position effectively limits, among other things, the power loss of the transport system. In a 3-phase system - as drawn in FIG. 3 - every third coil is supplied with current of identical phase position via its own coil control 7. The coil control 7 is only indicated here by a transistor symbol.
  • the setpoint interfaces 9 arranged on the underside of the secondary part move along the Distance and pass their corresponding interfaces on the primary part. This leads to the already mentioned commutation of the coil current according to the course of the movement. If the setpoint interface 9 of the secondary part 4 leaves the detection range of the interface on the primary part 5, this leads to the current in the affected coils being switched off. If the arrangement reaches a new interface, this leads to the activation of the coil current, which then drives the secondary part in the desired direction. Via the setpoint value transmitted to the coil control 7, there is also the possibility of influencing the locomotion, for example an increase in speed due to acceleration depending on a load or the specification of a central control device.
  • the coil control 20 is shown in the form of a block diagram.
  • a current setpoint value obtained from the setpoint interface 9 for controlling the coils is compared with the current actual current value 28 of the coils. This actual value is determined directly via a measuring device 32.
  • the result of this comparison is fed to a pulse width modulator 26 which drives a field-generating coil via two IGBTs connected as half-bridge 33.
  • the coil control 20 thus consists of a comparator 27, the PWM control 26, the half-bridge 33 and a measuring device 32.
  • additional components may also be required.
  • the coil control 20 receives the input signals from the setpoint interface 9 and from the feedback 28.
  • the output signal is used directly to supply the field-generating coils 1.
  • a bipolar voltage supply is used here as the supply voltage of the device, characterized by the line feeds 29 and 30.
  • the actual current value is measured relative to the ground 31. Further configurations for controlling the coils are conceivable.
  • FIG. 5 shows in more detail the control (transistor symbol 7) of the coils 1 shown in FIG. 3, which form a section of the route.
  • the modular units designated n, n + 1 and n + 2 repeat themselves along the number of coils to be controlled Distance.
  • the half-bridge 33 known from FIG. 4 with its supply voltage 29/30 can be seen and the coil 1, which is connected to ground 31 and is required for generating the locomotion field.
  • the coil 34 has two connections 37. At the contact point of the two transistors of a half-bridge 33, a capacitance 35 is additionally shown, which is connected to an RF voltage source 36.
  • the reference numerals 35, 1, 34 and 37 are essentially relevant for understanding the energy transfer. If one considers a module, for example module n + 1, it works as follows: The secondary part is moved as already described in detail in FIG. 4. A higher-frequency supply voltage (or a supply voltage that is variable in frequency) is coupled in via the supply line 36 via the capacitance 35, the field of which overlaps the field of the driving supply voltage. The coil 34 traveling with the secondary part, in the ideal case, completely taps off the power fed in via the capacitance 35 and provides the voltage required at the connection 37 for the power supply of the assemblies attached to the secondary part. As already described in detail above, different voltage levels that are specifically designed for the consumers could now be generated at the connection 37 via AC / DC converters.
  • comparator 5 28 Actual value generation 29 Supply voltage with polarity a 30 Supply voltage with polarity b 31 Ground 32 Measuring device 10 33 Half bridge 34 Coupling coil of a secondary part 35 Coupling capacitance 36 Power supply for secondary parts 37 Power consumption through secondary parts

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Linear Motors (AREA)
  • Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
  • Linear Motors (AREA)

Abstract

L'invention concerne une alimentation en énergie sans contact pour des consommateurs électriques placés sur la partie mobile d'un moteur linéaire, laquelle alimentation ne nécessite aucune dépense supplémentaire notable en termes de matériel et de fabrication ni aucune source de tension supplémentaire. Pour réaliser un ensemble de ce type, on superpose un champ d'alimentation en énergie (6) de fréquence supérieure au champ de déplacement, lequel champ est extrait inductivement par l'intermédiaire de l'interface de transmission d'énergie (3) de la partie secondaire (4) et alimente en énergie des consommateurs (2) placés sur ladite partie secondaire (4).
EP04736981A 2003-07-29 2004-06-17 Alimentation en energie sans contact pour consommateurs mobiles Withdrawn EP1651464A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10334737A DE10334737A1 (de) 2003-07-29 2003-07-29 Berührungslose Energieversorgung für bewegte Verbraucher
PCT/EP2004/006508 WO2005021317A1 (fr) 2003-07-29 2004-06-17 Alimentation en energie sans contact pour consommateurs mobiles

Publications (1)

Publication Number Publication Date
EP1651464A1 true EP1651464A1 (fr) 2006-05-03

Family

ID=34088944

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04736981A Withdrawn EP1651464A1 (fr) 2003-07-29 2004-06-17 Alimentation en energie sans contact pour consommateurs mobiles

Country Status (5)

Country Link
US (1) US7958830B2 (fr)
EP (1) EP1651464A1 (fr)
JP (1) JP4427544B2 (fr)
DE (1) DE10334737A1 (fr)
WO (1) WO2005021317A1 (fr)

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WO2005021317A1 (fr) 2005-03-10
DE10334737A1 (de) 2005-02-24
JP2007500494A (ja) 2007-01-11
JP4427544B2 (ja) 2010-03-10
US20070289476A1 (en) 2007-12-20
US7958830B2 (en) 2011-06-14

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