EP3969394A1

EP3969394A1 - Transport system and transport method

Info

Publication number: EP3969394A1
Application number: EP20731799.1A
Authority: EP
Inventors: Yimin Gan; Rolf Hofbauer; Jochen Beck; Michael Thumm; Ludwig Albrecht
Original assignee: Homag GmbH
Current assignee: Homag GmbH
Priority date: 2019-01-23
Filing date: 2020-05-14
Publication date: 2022-03-23
Also published as: DE102019112868A1; JP2022533130A; US11866265B2; WO2020229598A1; US20220212877A1; CN113811421A

Abstract

Transport system (1) for transporting workpieces (2) that preferably consist at least partially of wood, wood materials, plastic or the like, having at least one circulating transport means (15); a guide arrangement (4) for guiding the at least one circulating transport means (15); at least one sensor (10, 11, 12) for sensing at least one state variable, in particular the preload force and/or instantaneous load on the at least one circulating transport means (15) and/or the dynamic behavior of at least one portion (6, 8) of the transport system (1); and at least one actuator (13, 20) for influencing at least one state variable of the transport system (1).

Description

Transport system and transport method

Technical area

The invention relates to a transport system and a

Transport method.

State of the art

Processing machines can be designed

various, for example cutting or separating machining operations on continuously fed

Perform workpieces. For this purpose, the workpieces to be machined using one or more transport means through the machining area of a

Processing machine are transported.

Processing machines in which the workpieces

Continuously running through one or more processing areas are also referred to as throughfeed machines.

A transport system that is used to transport the to

machining workpieces can be used through the machining area of a throughfeed machine is disclosed, for example, in EP 2377786 A1.

For the purpose of workpiece transport, a

Transport system have transport structures that are in direct contact with the workpiece to be processed during transport, such as chains, belts or others

Circulation means of transport. The one for transporting the workpieces necessary connection between the (circulating) transport and the workpiece can for example by the

Gravity resulting static friction between the workpiece and the transport structure or can be generated by driver elements. Upper pressure belts can also be used. Such a transport system is usually arranged in a transport means housing within a processing machine.

The functionality, reliability and service life of a transport system with circulating transport means depends on many factors, such as the appropriate preload, position accuracy of the toothing and the degree of wear of the circulating transport system. These parameters change during operation due to the mechanical and

thermal stress. This can lead to a reduced precision of the conveying operation, which results in

Processing machines in a diminished

Machining quality and machining accuracy

can knock down.

It is also known that the transport system needs maintenance after a certain period of time in order to use the in

Adjust or adapt to changed parameters depending on the degree of wear. Without timely maintenance and adjustment, the transport system can wear out prematurely or even fail. This can result in great economic damage. One known solution is to carry out maintenance in a short maintenance cycle, such as every two weeks. However, this preventive measure has economic disadvantages due to the reduced availability of the machine. Presentation of the invention

The object of the invention is to provide a transport system or a transport method that has a precise conveying operation, a high level of reliability and a long service life, as well as low maintenance costs.

According to the invention, this object is achieved by a

Transport system according to claim 1 and by a

Transport method according to claim 16 solved. Preferred

Refinements are given in the subclaims.

The invention is based on the idea of recognizing the causes of the above-mentioned problems at an early stage and actively influencing the system in order to eliminate or alleviate them. For this purpose, the invention

Transport system at least one sensor for detection

at least one state variable, in particular the

Pretensioning force and / or instantaneous load of the at least one circulating transport means and / or the dynamic behavior of at least one section of the transport system, and

at least one actuator for influencing at least one state variable of the transport system.

By providing at least one sensor for detecting at least one state variable, the conveying operation of the transport system according to the invention can always be monitored, so that possible problems and possibly also their

Causes can be identified at an early stage. On this

The system can be actively influenced in order to Eliminate or at least mitigate problems and, if possible, their causes.

On this basis, a more precise and

reproducible setting of the chain tensioning force

possible, in particular in combination with the at least one actuator.

The vibration and noise emissions can be minimized due to the optimized chain pretensioning forces. Furthermore, the transport system offers an increase in

Process security through detection of wrong

Process parameters. Early detection of

Component defects reduce maintenance costs and significantly increase service life and availability of the

Machine can be achieved. Furthermore, the at least one sensor can also be used to detect wear and special events such as brief force and tension peaks, and the transport system can be stopped automatically in this case. Preventive maintenance based on measurement data and statistical models can also be made possible. Ultimately, in machine tools that are equipped with a transport system according to the invention, the service life of the tool and the machining quality and machining precision of a workpiece to be machined increase.

This also applies in particular if the transport system has several circulating transport means, such as with

so-called double-sided machines. Thanks to the invention, a particularly synchronous operation of the circulation transport means can be achieved, so that the advantages mentioned above

can be achieved particularly pronounced. According to a further development of the invention it is provided that the guide arrangement has at least two sections

having, preferably at least one actuator between a first and a second portion of the

Guide arrangement is provided. This opens up particularly diverse and effective possibilities, by means of at least one actuator on the dynamic and

to influence other properties of the transport system, so that the advantages mentioned above can be achieved particularly easily and effectively.

The transport system according to the invention can have a large number of sensors. But it is special

it is preferred that the transport system comprises at least one first sensor for detecting a state variable which

is preferably selected from the pretensioning force, instantaneous load, elongation, displacement, speed and acceleration of the at least one circulating transport means. In this way, the state and the current properties of the at least one means of transport can be recorded particularly directly, so that precise conclusions can be drawn and suitable measures can be taken on this basis, if necessary.

The result is again a more precise one

Conveying operation, high reliability and service life, and low maintenance costs for the transport system according to the invention.

In addition, according to a further development of the

The invention provides that the transport system has at least one second sensor for detecting the dynamic behavior of at least one section of the transport system, in particular the circulation transport means and / or the

Includes guide arrangement. In this way, the dynamic behavior and also the dynamic

Reliability and durability of the transport system according to the invention can be optimized. It is particularly preferred that at least one sensor is arranged on at least one circulation transport means around which

To record vibration behavior of the circulation transport means as directly and undistorted as possible. Alternatively or additionally, however, according to a development of the invention, it can also be advantageous for at least one sensor to be arranged on the guide arrangement. This can

For example, it can be determined whether vibrations may have their cause in the area of the guide arrangement or whether and what influence the guide arrangement has on the

Has vibrations of the circulation transport means. On this basis, as in the previous aspects of the invention, suitable optimization measures can be taken, such as, for example, an adaptation of the system using the at least one actuator, or others

Adjustment or maintenance measures.

As an actuator come under the present

Invention of a wide variety of components or devices into consideration. It is particularly preferred, however, that at least one actuator has an actuator that is able to control or regulate at least one state variable of the transport system (1) by applying force or position setting and is preferably selected from a pneumatic actuator, hydraulic actuator, electromagnetic actuator , Piezo actuator, threaded spindle, servo motor and linear motor. By using an actuator as an "active" actuator, the dynamic properties of the transport system can be optimized particularly effectively, in which case the data determined by the at least one sensor can be accessed again. That way you get an active one

Transport system that shows its properties

can adapt a wide variety of influencing variables and parameters, such as conveying speed, conveying load, temperature, state of wear, degree of contamination, etc.

Alternatively or additionally, a development of the invention provides that at least one actuator has an adjustable damping element whose

Damping properties are adjustable, in particular controllable or regulatable. In this way, too, the

dynamic properties of the invention

Transport system can be specifically adapted to the respective requirements or to the respective operating parameters. The at least one adjustable damping element fulfills a double function in that it always enables vibration damping of the transport system, but this damping behavior can be adapted actively and in a controlled manner in such a way that overall an optimal and always to the

Requirements and operating parameters adaptable behavior of the transport system results.

With regard to the control or regulation of the

at least one actuator is provided according to a development of the invention that the transport system a

Having control module which is set up, depending on a detection result of at least one sensor, the at least one actuator and / or at least one

Driving means for driving the rotary transport means control, prefer to regulate. In this way, as already mentioned above, the invention provides an active transport system which can be adapted quickly and effectively to the respective requirements and operating parameters. This makes a great contribution to solving the

underlying task, namely with a

Transport system a precise conveyor operation, a high

Reliability and service life as well as a low

Allow maintenance effort.

In the context of the invention, it is in principle possible to use the at least one actuator only in larger periods of time

Use intervals to influence at least one state variable of the transport system, for example when changing an operating mode. According to a development of the invention, however, it is provided that the control module is set up to control or regulate the at least one actuator at least temporarily with a frequency of at least 1 Hz.

As a result, the idea of an active transport system is implemented particularly consistently, and none arise

Times in which vibrations can intensify, damage propagate or machining inaccuracies can add up. Once again, this makes a contribution to the solution of the underlying problem mentioned at the beginning.

It is particularly preferred to use a frequency of at least 10 Hz, particularly preferably at least 30 Hz, when controlling or regulating. As a result, possible vibrations or other undesirable effects are nipped in the bud, so that a completely new dimension of a precise, stable and low-maintenance transport process is achieved. To achieve the above-mentioned advantages, it is provided according to a development of the invention that a

The at least one actuator is not only activated when the transport system is idle, but rather that the control module is set up to control or regulate the at least one actuator during a transport movement of the at least one circulating transport means. It is therefore not necessary to stop the machine in order to control the at least one actuator. Rather, according to this development, it is always possible to react flexibly to the respective operating parameters even during the conveying operation of a specific workpiece. For example, the at least one actuator can be activated as soon as a workpiece conveyed on the transport system comes into contact with a processing unit, so that itself

Vibrations and forces from a processing unit to a workpiece and thus to the transport system

are applied by the inventive

Transport system can be compensated. It lies

In retrospect it is obvious that this creates a

drastic increase in machining precision and

Can achieve processing quality, while at the same time damage to the transport system and also the

possibly existing processing units are avoided.

Although it is the invention

Transport system can also be a passive transport system, in which the objects to be transported are advanced in some other way, is according to a

Further development of the invention provided that the

Transport system a propulsion means to propel the Having circulation transport means. In this way, it can influence the transport operation of the

Transport system can be taken, for example, by the drive means is controlled or regulated on the basis of a detection result of the at least one sensor.

The circulating transport means can be designed in different ways within the scope of the present invention. According to a development of the invention, however, it is provided that the circulation transport means

Has link transport means such as in particular a transport chain and / or a belt. These circulation means of transport have proven themselves in practice. At the same time, the advantages of the

Realize the invention particularly effectively. In particular in the case of articulated transport means, the so-called polygon effect can be compensated for by means of the invention, so that, as a result, a robust and precise transport system with high reliability and service life and low maintenance expenditure can be provided with simple means. Similar

Considerations apply to belts where depending on

Embodiment, a polygon effect can also occur, and in which, depending on the longitudinal stiffness, dynamic peculiarities can occur, which by the inventive

Transport system can be advantageously balanced.

According to a development of the invention it is further provided that the transport system has an interface that communicates with the control module and

is designed, at least one state variable of the

To send transport system to a database and / or to receive data from a database in order to send them to the control module to pass on. In this way there is not only a general networking of the transport system with others

Production units are possible, but also completely new possibilities for optimizing the operating parameters as well as maintaining and repairing the transport system

opened. Operating parameters of different transport systems can be accessed via the interface and the database

be merged and matched to get on this

The basis for identifying optimal settings,

for example for the at least one actuator. In addition, there is also the possibility of targeted

Condition monitoring ("condition monitoring") opens up, which allows maintenance and repair measures to be carried out much more specifically and thus with less impairment of the

To plan and carry out production operations ("predictive maintenance"). In particular, potential maintenance and repair requirements can be identified at an early stage. Using the data from the at least one sensor, conclusions can be drawn about the state of wear of certain components so that, if necessary, an order for spare parts can be initiated in good time and a maintenance or repair date can be scheduled in the production process. This leads to a drastic increase in machine availability and

Last but not least, it also reduces the risk of fatal accidents on the transport system.

The database can be local within the scope of the invention

be provided and for example with a

Transport system or possibly be networked with several machines. According to a further development of the invention, however, it is provided that the interface is set up via the Internet or another Remote data transmission connection with the database

communicate. In this way, the advantages mentioned above can be achieved particularly across the board. In particular, it is also possible to use the database connection for communication between the operator of the transport system, the maintenance company of the transport system, the manufacturer of the transport system and, if necessary, other parties involved.

According to a further development of the invention, it is also provided that the transport system has a display device which is designed to visualize data, in particular from the at least one sensor and / or actuator. The data can be raw data and / or processed data. In this way, an operator is always informed about the current status of the transport system ("condition monitoring") and can, if necessary, the

take necessary measures.

A transport method according to the invention using the transport system according to the invention is the subject matter of claim 16. This is characterized in that at least one state variable is recorded during the actual transport process. It is therefore not necessary to stop the machine or carry out a special calibration operation. In addition, the method enables immediate feedback, i.e. a control or regulation is carried out on a continuous basis during the transport operation, which the

enables advantages described above.

Brief description of the figures Preferred embodiments of the present invention and further configurations and advantages emerge from the following description of the figures:

Fig. 1 shows schematically a side view of a

Embodiment of the invention

Transport system;

Fig. 2 shows schematically a partial side view of a

Embodiment of the invention

Transport system;

Fig. 3 shows schematically a partial side view of a

Embodiment of the invention

Transport system.

Detailed description of preferred embodiments

Preferred embodiments of the invention are described in detail below with reference to the accompanying drawings.

A transport system 1 as an embodiment of the invention is shown schematically in a side view in FIG. In this embodiment, the transport system 1 is part of a processing device 100 which is used to process

Workpieces 2 is used. The workpieces can be made of wood, wood-based materials,

Plastic or the like exist, as they are widely used in the furniture and construction element industry. To process these workpieces, the Machining device 100 has a machining unit 101 with a machining tool 102. However, it should be noted that various other configurations of the

Processing device 100 are possible. It should also be noted that the transport device 1 also as

Single machine can be used, or that the

Transport system 1 can also be combined with completely different devices.

The transport system 1 comprises a circulation transport means 15, which in the present embodiment by a

Transport chain is formed. Alternatively or in addition, however, other circulating transport means such as belts or the like can also be used. The

Circulating transport means 15 is guided by a guide arrangement 4 and at the two free ends of the

Guide device 4 deflected by suitable wheels (not shown). In the present embodiment, the guide arrangement is constructed in several parts. As can be seen, for example, in FIG. 2, the guide arrangement can have a first section 6 and a second section 8.

Furthermore, the transport system in the present

Embodiment several sensors 10, 11 and 12, which for

Detection of different state variables of the transport system are used. A first sensor 11 is arranged on the first section 6 of the guide device 4 and is used to detect a pretensioning force or momentary load of the circulating transport means 15. A second sensor 12 is on top of the second

Section 8 of the guide arrangement is arranged and serves to control the vibration behavior or dynamic behavior of the second section 8 of the guide arrangement and indirectly also to detect the circulation transport means 15. Another sensor 10 is provided directly on or in the circulating transport means 15 and thus detects this directly

Vibration behavior of the circulation transport means 15. Im

In the area of a deflection wheel, the transport system has a drive 14 for driving the circulating transport means 15.

In addition, the transport system 1 comprises an actuator 13, which in the present embodiment is arranged between the first section 6 and the second section 8 of the guide arrangement, wherein, as shown in FIG. 2, between the actuator 13 and the first section 6 of the guide arrangement 4 the first sensor 11 is still inserted.

The actuator 13 is used to influence one or more state variables of the transport system, for example by changing the clear distance between the first section 6 and the second section 8 of the guide arrangement 4 and thus acts directly on the pretensioning force or instantaneous load of the circulating transport means 15. In this way, however, not only can the tension of the circulating transport means be changed, but it can also be changed directly

Vibrations of the circulating transport means 15 are intercepted or mitigated. For this purpose, the actuator 13 in the present embodiment is designed as an actuator, it being for example a pneumatic actuator,

hydraulic actuator, piezo actuator, a threaded spindle, a servo motor or a linear motor.

Of course, combinations of these actuators and other actuators are also possible. As can best be seen in FIG. 2, the transport system 1 further comprises a control module such as one

Controller 30, which receives the data detected by sensors 10, 11 and 12 as input data and on this

Based on the (at least one) actuator 13 and

if necessary, the drive 14 also controls or regulates. "Controls" or "regulates" is to be understood as meaning that in the simplest case it can be a control

however, preferred to a regulation.

The controller 30 operates in the present

Embodiment with a frequency of 10 Hz, although other frequencies are also possible, for example in the range of at least 1 Hz up to 100 Hz or more. With this

Frequency controls or regulates at least one actuator 13 on the basis of the data detected by the sensors 10, 11 and 12. The goal can be to minimize the vibrations occurring in the circulation transport means 15. Depending on the application, however, other goals can also be added, such as one

Minimizing wear and tear, minimizing the

Noise development, maximizing operational safety, etc., whereby often several goals can be pursued or weighted at the same time.

The control operation of the controller 30 can in principle take place at any point in time, the controller 30 in the present embodiment being set up to control the at least one actuator during a transport movement of the

to control or regulate at least one circulation transport means 15. Fig. 2 also shows a display device 50 which is used to display various data including that of the

To visualize sensors 10, 11 and 12 as well as the actuator 13. The display device 50 can also serve to operate the machine or also have other functionalities.

Furthermore, as shown in FIG. 2, the transport system 1 has a data interface 32 which communicates with the controller 30 and serves to send one or more state variables of the transport system 1 to a database 40

and / or to receive data from the database 40 in order to in turn forward these to the controller 30. In the present embodiment, the database 40 is stored "in the cloud", i.e. the interface 32 communicates with the database 40 via the Internet or another suitable remote data transmission connection.

The connection of the controller 30 to a database enables, on the one hand, targeted data collection and networking

with regard to entire production systems or independent machines in a wide variety of locations. Simultaneously

However, this networking also enables the current state variables of the transport system to be compared with certain target parameters in order to draw conclusions on this basis

for example in terms of maintenance and

In need of repair. On this basis, a forecast concept for maintenance and repairs can be made

("Predictive maintenance") can be realized, in which emerging maintenance and repair needs are recognized at an early stage and therefore suitable measures are also taken early on

can be initiated, such as the order of Spare parts, the scheduling of maintenance and repair work, etc. In addition, the

State variables of different transport systems are compared with each other and optimized on this basis

Operating parameters for the same or similar

Transport systems are derived that lead, for example, to minimized wear or vibrations. These compared data can then be played back to the controller 30 as control or regulation data in order to further optimize the operation of the transport system 1.

An alternative embodiment of the invention

Transport system 1 is shown schematically in FIG. 3. This differs from that shown in FIG

Embodiment primarily in that instead of the actuator 13 an adjustable (controllable or regulatable)

Damping element 20 is provided between the first section 6 and the second section 8 of the guide device 4. There is thus a less active actuator used, which is less on an adjustment of the distance between the first section 6 and the second section 8 of the

Guide device is directed, but ensures a spring-loaded mounting of the second section 1 with respect to the first section 6. You can also do this in this way

Effectively minimize vibrations of the circulating transport means 15 that occur. It should be noted that also

Combinations of both concepts are possible, for example by placing between the first section 6 and the second

Section 8 of the guide arrangement 4 both an actuator and an adjustable damping element is provided, which can then be arranged, for example, in series one behind the other. Reference character

1 transport system

2 workpiece

6 first section of the guide arrangement

8 second section of the guide arrangement

10 rotation sensor

11 first sensor

12 second sensor

13 actuator

14 Propellants

15 circulation means of transport

20 dampers

30 control module

32 interface

40 database

50 Display device

Claims

Expectations

1. Transport system (1) for transporting

Workpieces (2), which are preferably at least partially made of wood, wooden materials, plastic or the like, having:

at least one circulating transport means (15);

a guide arrangement (4) for guiding the at least one circulating transport means (15);

at least one sensor (10, 11, 12) for detecting at least one state variable, in particular the

Pretensioning force and / or instantaneous load of the at least one circulating transport means (15) and / or the dynamic one

Behavior of at least one section (6, 8) of the

Transport system (1); and

at least one actuator (13, 20) for influencing at least one state variable of the transport system (1).

2. Transport system (1) according to claim 1, wherein the guide arrangement has at least two sections (6, 8), preferably at least one actuator (13, 20) between a first (6) and a second (8) section of the

Guide arrangement (4) is provided.

3. Transport system (1) according to one of the previous ones

Claims, where

the transport system (1) comprises at least one first sensor (11) for detecting a state variable, which is preferably selected from pretensioning force, instantaneous load, elongation, displacement, speed and acceleration of the

at least one circulation transport means (15).

4. Transport system (1) according to one of the previous ones

Claims, wherein the transport system (1) has at least one second sensor (12, 10) for detecting the dynamic

Behavior of at least one section of the transport system (1), in particular the circulating transport means (15) and / or the guide arrangement (4).

5. Transport system (1) according to one of the previous ones

Claims, wherein at least one sensor (10) is arranged on at least one circulation transport means (15), and / or at least one sensor (11, 12) is arranged on the guide arrangement (4).

6. Transport system (1) according to one of the previous ones

Claims, wherein at least one actuator has an actuator (13) which is able to control or regulate at least one state variable of the transport system (1) by applying force or position adjustment and is preferably selected from a pneumatic actuator, hydraulic actuator, electromagnetic actuator, Piezo actuator, threaded spindle,

Servo motor and linear motor.

7. Transport system (1) according to one of the previous ones

Claims, wherein at least one actuator has an adjustable damping element (20) whose damping properties are preferably adjustable, in particular controllable or regulatable, in the rebound and / or compression stages.

8. Transport system (1) according to one of the previous ones

Claims, wherein the transport system has a control module (30) which is set up, depending on a detection result of at least one sensor (10, 11, 12) to the at least one actuator (13, 20) and / or at least one drive means (14) To control driving the circulation transport means (15), preferably to regulate.

9. Transport system (1) according to claim 8, wherein the control module (30) is set up, the at least one

Actuator (13, 20) at least temporarily with one frequency of at least 1 Hz, preferably at least 10 Hz, particularly preferably at least 30 Hz.

10. Transport system (1) according to claim 8 or 9, wherein the control module (30) is set up to control or regulate the at least one actuator (13, 20) during a transport movement of the at least one circulating transport means (15).

11. Transport system (1) according to one of the previous ones

Claims, further comprising:

a driving means (14) for driving the

Circulation transport means (15).

12. Transport system (1) according to one of the previous ones

Claims, where

the circulation transport means (15)

Has link transport means, in particular a transport chain, and / or a belt.

13. Transport system (1) according to one of the previous ones

Claims, further comprising:

an interface (32) which communicates with the control module (30) and is configured, at least one

To send the state variable of the transport system (1) to a database (40) and / or to send data from a database (40)

received in order to pass them on to the control module (30).

14. Transport system (1) according to claim 13, wherein the interface (32) is set up to communicate with the database (40) via the Internet or another remote data transmission connection.

15. Transport system (1) according to one of the previous ones

Claims, also having: a display device (50) which is designed to visualize data, in particular from the at least one sensor and / or actuator.

16. Transport method for transporting a workpiece (2) by means of at least one circulation transport means (15) of a transport system (1) according to one of the preceding claims, wherein

during the transport at least one state variable, in particular the pre-tensioning force and / or instantaneous load of the at least one circulating transport means (15) and / or the dynamic behavior of at least one section (6, 8) of the transport system, and

a control and / or regulation of at least one actuator (13, 20) takes place based on the recorded data.