NL2017855B1 - Positioning and conveying device - Google Patents

Abstract

A positioning and conveying device comprises an endless conveyor belt which runs around two rollers mounted to a frame. The outer surface of the roller is defined by a plurality of roller segments which complementary cover the perimeter. The segments are individually movable in the axial direction for laterally moving the conveyor belt relative to the frame. The device includes at least one actuator assembly comprising a controllable magnetic actuator mounted at either end of the roller. At either end of the segments a ferromagnetic counterpart is mounted to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction. Each magnetic actuator comprises an electromagnet. Each ferromagnetic counterpart is arranged on a radial inner side of the associated segment. During rotation of the roller the roller segments and the associated counterparts follow a circular trajectory during a part of which they face the corresponding electromagnets. A variable axial air gap is present between the electromagnet and the ferromagnetic counterpart. Concentrically with the ferromagnetic counterpart a stationary ferromagnetic curved plate is arranged leaving a constant radial gap between the ferromagnetic counterpart and the ferromagnetic plate. The ferromagnetic curved plate being coupled to the core of the electromagnet such that a magnetic field created by the electromagnet runs through said ferromagnetic curved plate.

Description

Patent center

The Netherlands

Θ 2017855 (21) Application number: 2017855 © Application submitted: 11/23/2016

BI PATENT (51) Int. CL:

B65H 5/02 (2017.01) B65H 29/16 (2017.01) B65G 39/071 (2017.01) B65H 7/02 (2017.01)

(Tl) Application registered: (73) Patent holder (s): 28/05/2018 C.C.M. Management B.V. to NUENEN. (43) Application published: - (72) Inventor (s): Ronald Plak in WHERE. (w) Patent granted: Gert van Ooik in NUENEN. 28/05/2018 (45) Patent issued: (74) Agent: 14/06/2018 ir. H.V. Mertens et al. In Rijswijk.

Positioning and conveying device (57) A positioning and conveying device comprises an endless conveyor belt which runs around two rollers mounted to a frame. The outer surface of the roller is defined by a variety of roller segments which complement the perimeter cover. The segments are individually movable in the axial direction for laterally moving the conveyor belt relative to the frame. The device includes at least one actuator assembly including a controllable magnetic actuator mounted at either end of the roller. At either end of the segments a ferromagnetic counterpart is mounted to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction. Each magnetic actuator comprises an electromagnet. Each ferromagnetic counterpart is arranged on a radial inner side of the associated segment. During rotation of the roller segments and associated counterparts follow a circular trajectory during a part of which they face the corresponding electromagnets. A variable axial air gap is present between the electromagnet and the ferromagnetic counterpart. Concentrically with the ferromagnetic counterpart a ferromagnetic stationary curved plate is arranged leaving a constant radial gap between the ferromagnetic counterpart and the ferromagnetic plate. The ferromagnetic curved plate being coupled to the core of the electromagnet such a magnetic field created by the electromagnet runs through said ferromagnetic curved plate.

NL BI 2017855

This patent has been granted regardless of the attached result of the research into the state of the art and written opinion. The patent corresponds to the documents originally submitted.

P32908NL00 / CHO

Title: Positioning and conveying device

Many positioning and / or conveying assemblies incorporate conveyor belts to transport material or work pieces and position it at a desired location. In those applications a belt is used in the form of a continuous loop which is supported at opposite reversing ends by rollers or the like. The belt might be used for transferring an object from one place to another and / or to position an object at a desired location, for example for processing, treating or machining the object. Proper operation of these systems may require the belt moves in a controlled way with minimal positioning errors. For example, in inkjet printers each individual color plane is in general transferred to the substrate at different locations along the travel path or the conveyor belt or other substrate carrier. Therefore the position of the object (or substrate as it is called in printing technology) on the conveyor belt needs to be very stable and reproducible, for example within ± 10 pm, to ensure that the resulting image is of good quality. Position errors of the conveyor belt may cause errors in the positioning of the object that is placed on the conveyor belt.

The present invention relates to a positioning and conveying device including an endless conveyor belt which runs around two rollers mounted to a stationary frame, such that the belt has an upper run forming a carrying side for objects to be positioned and transferred, and a lower run forming a return side of the belt. The outer surface or at least one of the rollers is defined by a multiple of roller segments extending in the axial and tangential direction of the roller, each of the segments is axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementary cover the perimeter of the roller. The segments are individually movable in the axial direction of the roller for laterally moving the conveyor belt relative to the frame. The device furthermore includes at least one actuator assembly for driving the segments in the axial direction of the roller, said actuator assembly including a controllable magnetic actuator stationary mounted at either end of the roller. At either end or each of the segments a ferromagnetic counterpart is mounted which is configured and arranged to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction of the roller.

Such a positioning and conveying device is known from EP 2603445.

It is an object of the present invention to improve the positioning accuracy of the positioning and conveying device.

-2According to one aspect of the invention this object has been achieved by a positioning and conveying device according to the preamble of claim 1, each controllable magnetic actuator includes an electromagnet including a core and a coil, each ferromagnetic counterpart is arranged on a radial inner side of the associated roller segment and extends radially inwards and tangentially, during rotation of the roller segments and associated counterparts follow a circular trajectory during a part of which they face the corresponding electromagnets, subject to a variable axial air gap is present between the electromagnet and the ferromagnetic counterpart, and its concentrically (radially inward) with the ferromagnetic counterpart a stationary ferromagnetic curved plate is arranged leaving a constant radial gap between the ferromagnetic counterpart and the ferromagnetic plate, said ferromagnetic curved plate being coupled to the core of the electromagnet such that a magnetic field created by the electromagnet runs through said ferromagnetic curved plate.

The axial position of the roller segment relative to the electromagnet varies during operation of the device. This varying axial position results in a varying distance between the electromagnet and the ferromagnetic counterparts passing by said electromagnet. This varying distance causes a variation in the actuator force as a function of the electrical current fed to the coil or the electromagnet. By adding the stationary ferromagnetic curved plate with the constant radial gap with respect to the counterpart, the variation in the actuator force as a function of the current is reduced. Thereby a more accurate force control can be achieved, which results in a more accurate positioning accuracy of the positioning and conveying device.

In a practical configuration the device comprises an electronic controller connected to the electromagnets to control electric current through the coil of the electromagnets, and the device furthermore includes one or more gap distance sensors connected to the controller and provided near each of the electromagnets to measure the variable axial air gap between the electromagnet and the ferromagnetic counterpart.

In a preferred further embodiment the controller is configured such that it compensates for the variation in actuator force as a function of the current for varying positions of the roller segments.

-3In further embodiment the controller comprises a memory, a look-up table is stored in the memory in which the actuator force is a function of the current for varying lateral positions of the segment is stored.

According to another aspect of the invention the object mentioned is achieved by a positioning and conveying device comprising an endless conveyor belt which runs around two rollers mounted to a stationary frame, such that the belt has an upper run forming a carrying side for objects to be positioned and transferred, and a lower run forming a return side of the belt, the outer surface or at least one of the rollers is defined by a multiple of roller segments extending in the axial and tangential direction of the roller, each of the segments is axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementary cover the perimeter of the roller, the segments are individually movable in the axial direction of the roller for laterally moving the conveyor belt relative to the frame, the device furthermore including at least one actuator assembly for driving the segments in the axial direction of the r oller, said actuator assembly including a controllable magnetic actuator stationary mounted at either end of the roller, said at either end of each of the segments a ferromagnetic counterpart is mounted which is configured and arranged to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction of the roller, in which the roller has a stationary central shaft and a hub that is arranged concentrically rotatable around the central shaft, eg by means of bearings, and in which the roller segments are coupled to the hub by means of radial spacers including leaf springs allowing movement of the roller segments in the axial direction of the roller and biasing the roller segments to a neutral (central) axial position when out of the neutral axial position, the device includes a tensioning system for tensioning the belt in its longitudinal direction, the belt being pretensioned by the tensioning system, such that the axial force component on the roller segment resolved from the belt pretension force counterbalances the axial force on the roller segment due to stiffness of the leaf springs and a deviation of the roller segment from the neutral axial position.

According to this aspect of the invention the tensioning force results in a compression force on the leaf springs. The compression force on the leaf springs resolves in a force in the axial direction of the roller that is away from the neutral or central position of the segment. In the meantime an axial deviation from the neutral or central axial position of the segment causes in the leaf springs a deformation which in combination with the spring stiffness results in a

-4spring force in the axial direction of the roller that wants the segment to move to the neutral axial position. The two forces thus work in opposite directions. The two forces vary both approximately linear with the axial position of the roller segment relative to the neutral position. Thus is achieved in the axial working range of the segments the axial force component on the roller segment resolved from the belt pretension force counterbalances the axial force on the roller segment due to stiffness of the leaf springs when the roller segment is away from the neutral axial position. In the neutral position the compression force on the leaf springs does not resolve in an axial force component and the leaf springs are not flexed thus no spring force is induced. With this aspect of the invention a structure has been achieved no friction has been overcome to move the segments, and no counteracting a spring force has been overcome to move a roller segment. Therefore less control force is necessary to move the roller segments in the axial direction, the controllability of the device is improved and thus the positioning accuracy of the device is improved.

According to yet another aspect of the invention the object mentioned is achieved by a positioning and conveying device comprising an endless conveyor belt which runs around two rollers mounted to a stationary frame, such that the belt has an upper run forming a carrying side for objects to positioned and transferred, and a lower run forming a return side of the belt, on the outer surface or at least one of the rollers is defined by a multiple of roller segments extending in the axial and tangential direction of the roller, subject each of the segments is axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementary cover the perimeter of the roller, the segments are individually movable in the axial direction of the roller for laterally moving the conveyor belt relative to the frame, the device furthermore including at least one actuator assembly for driving the segments in the axial direction of t he roller said actuator assembly including a controllable magnetic actuator stationary mounted at either end of the roller, said at either end or each of the segments a ferromagnetic counterpart is mounted which is configured and arranged to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction of the roller, in the device comprises at the roller a "set" actuator assembly and a "reset" actuator assembly, the "set" actuator assembly is arranged to work on the roller segments that are in contact with the belt to move the belt in the lateral direction, and with the “reset” actuator assembly is arranged to work on the roller segment (s) that is / are not in contact with the belt to reset the roller segment (s) to a neutral position.

-5The roller has a multiple of segments, in a practical version it has three or more segments, such that during a full rotation the segment has a part of the circular trajectory in which it is not in contact with the conveyor belt running around the rollers . By controlling the axial position of the segments that are in contact with the belt, the lateral position of the belt can be controlled. This is done by the "set" actuator assembly. The segments that are not in contact with the belt must be repositioned (towards the neutral or central position). Repositioning in general is done often by means of a spring. However using springs (for example the leaf springs as mentioned above) to reposition the segments would result in vibrations that can cause positioning errors for the belt. Therefore, according to this aspect of the invention repositioning is done by the "reset" actuator assembly which, like the "set" actuator assembly comprises a controllable magnetic actuator. The repositioning with controllable magnetic actuators as proposed allows repositioning of the segments in a controlled way such disturbances on the belt caused by this repositioning are avoided or minimized. Thereby the positioning accuracy or the device is improved.

In a preferred embodiment each of the magnetic actuators or the "set" actuator assembly and "reset" actuator assembly is able to submit a magnetic force on the passing segments in a circle sector which is defined by an angle with respect to a center plane of the conveyor belt extending in the middle between the upper run and the lower run, with the angle a <± 30 ° with respect to said center plane. By this configuration the angle between the influence area of the "set" and "reset" actuator assemblies (<120 °) is larger than the angle of a roller segment (<120 °), when the roller has at least three segments. Therefore the roller segment cannot be in front of magnetic actuators or both the "set" and "reset" actuator assemblies. Deliver the "set" actuator assembly and the "reset" actuator assembly cannot apply a magnetic force on the same segment at the same time. Thereby the "set" and "reset" actuator assemblies do not influence each other and disturbances on the belt position, due to repositioning or the segment that is not in contact with the belt, are prevented.

In a preferred embodiment the device comprises an electronic controller connected to the controllable magnetic actuators to control the magnetic force generated by the magnetic actuators, and the device furthermore includes one or more gap distance sensors connected to the controller and provided near each of the magnetic actuators to measure the variable axial air gap between the magnetic actuator and the ferromagnetic counterpart.

In a further embodiment the device has two air gap sensors near the "set" actuator assembly. In this embodiment two air gap sensors are thus positioned near the actuator assembly that controls the position of the segments that are in contact with the belt. When the gap measurement or one of these gap sensors is disturbed by a transition from one segment to

-6the next segment a correct gap measurement can be done with the other gap sensor. The angular spacing between the two gap sensors is unequal to the angle between the roller segments (120 °) to prevent that multiple gap sensors are disturbed at the same time by roller segment transitions.

In a further embodiment, an angle γ is defined between two virtual planes that respectively extend from the center of the roller through the respective air gap sensors positioned near the "set" actuator assembly, according to the angle γ <120 °. In this embodiment the angle γ between the two air gap sensors is thus narrower than the angle between the roller segments such that both air gap sensors measure the distance of the same segment before the measurement of the air gap sensor located downstream is disturbed by a segment transition.

In a further embodiment, one air gap sensor is located near the "reset" actuator assembly. Preferably the air gap sensor that is positioned near the "reset" actuator assembly is positioned in a center plane of the conveyor belt extending in the middle between the upper run and the lower run, the gap measurement at the "reset" actuator assembly is not disturbed by segment transitions when the segment is free from the belt.

Preferably the "set" and "reset" actuator assemblies are similar.

It is noted that combinations of the mentioned aspects of the invention are also envisaged.

The invention also relates to a printing system including a printer station and a positioning and conveying device as described in the above for conveying and positioning a substrate at the printer station. In a practical embodiment the printer station comprises inkjet printing heads.

The invention will be elucidated further in the following description with reference to the drawing, in which:

FIG. 1 shows schematically a side view of a positioning and conveying device according to the invention,

FIG. 2 shows in a view in perspective a roller or a preferred embodiment of the device or Fig. 1

FIG. 3 shows a sectional view in perspective the roller or Fig. 2

-7fig. 4 shows in a cross section in perspective the roller or Fig. 2

FIG. 5 shows schematically a longitudinal section of the roller or FIG. 2

FIG. 6 shows schematically a cross section of the roller or Fig. 2 with a belt running around it,

FIG. 7 illustrates schematically a longitudinal section of the device according to the invention, and

FIG. 8 shows a detail or FIG. 7.

FIG. 1 shows schematically a positioning and conveying device 1. The device 1 comprises an endless conveyor belt 2 which runs around two rollers 3 and 4 respectively mounted to a stationary frame 5. The conveyor belt 2 has an upper run 2A forming a carrying side for objects 6 to be positioned and transferred, and a lower run 2B forming a return side of the belt 2. In Fig. 1 the conveying direction or the conveyor belt 2 is indicated by a double arrow 200.

The positioning and conveying device 1 is particularly suitable for use with a printing system, with the objects 6 are substrates or webs that are conveyed along a path passing a printer station 300. The printer station 300 in particular comprises inkjet printing heads 301. In inkjet printers each individual color plane is in general transferred to the substrate at different locations along the travel path or the conveyor belt. Therefore the position of the object 6 (substrate or web) on the conveyor belt 2 needs to be very stable and reproducible, for example within ± 10 pm, to ensure that the resulting image is of good quality.

It should be mentioned here, besides printing applications, the positioning and conveying device 1 can also be used in combination with other article processing systems with a high positioning accuracy is needed. An example is a laser engraving system.

For positioning the objects 6 on the belt 2 a position control system is proposed which a.o. comprises a controller 400 that is able to control actuator assemblies 7, 8 in the rollers 3, 4 as will be described in the following.

In a preferred embodiment of the invention both rollers 3, 4 are the same. In the following structure and working of the roller 3 will be elucidated with reference to Figs 2 - 6. It must be understood that this description is the same for the opposite roller 4.

In Figs 2-6 the roller 3 is shown in more detail. The roller 3 has a stationary portion including a central spindle 35 and two side plates 36 and 37 respectively mounted to the respective ends of the spindle 35 (see Figs 3 and 5). The roller 3 also has a rotatable portion, which is rotatable around the central spindle 35. This rotatable portion includes a hub 38 formed as a cylindrical body that is mounted coaxially with the central spindle 35 and is supported rotatably relative to the spindle 35 by means or bearings 39, in this example ball bearings, mounted at either end of the cylindrical body of the hub 38.

The rotatable portion of the roller 3 furthermore comprises an outer jacket consituted by three roller segments 31, 32, 33. The outer surfaces of the segments 31, 32, 33 define the cylindrical outer surface of the roller 3. Each roller segment 31, 32 , 33 is connected to the hub 38 by means of spacer elements 40. The spacer elements 40 function essentially as spokes in a wheel. As will be described below, the segments 31, 32, 33 are movable in the axial direction of the roller 3, thus in a transverse direction of the belt 2. The spacer elements 40 are designed as flexible elements such that they allow a movement of the segments 31, 32, 33 in the axial direction of the roller 3.

The roller segments 31, 32, 33 extend in the axial and tangential direction of the roller 3.

Each of the roller segments 31, 32, 33 is axially dimensioned to support the full width of the conveyor belt 2 and tangentially dimensioned such that the three segments 31, 32, 33 complementary cover the perimeter of the roller 3 except for a number of ( in this embodiment three) longitudinal transitional areas 34 between the segments 31, 32, 33. Each of the segments 31, 32, 33 in tangential direction of the roller 3 extends over an angle β 2 120 ° (see Fig. 6).

The segments 31, 32, 33 are individually movable back and forth in the axial direction of the roller 3 axis is indicated for the segments 31 and 32 in FIG. 5 by double arrows 310 and 320. The axial direction of the roller is perpendicular to the conveying direction 200 or the conveyor belt 2. By moving the segments 31, 32, 33 the friction between conveyor belt 2 and the roller segments 31, 32, 33 results in that the belt 2 has been moved in its transverse direction relative to the stationary frame 5. Thereby an object 6 on the belt 2 can be positioned in the transverse direction and in the conveying direction.

The flexible spacer elements 40 guide the axial movement of the roller segments 31, 32, 33 without friction. To this end the flexible spacer elements 40 include leaf springs. The flexible spacer elements 40 are arranged such that if the segment 31, 32, 33 is moved laterally, seen in the longitudinal direction of the conveyor 1, out of a central position, the

-9resiliency of the leaf springs 40 biases the segment 31, 32, 33 back to the central position in which the leaf springs 40 are not loaded.

For providing the actuating force to move the segments 31, 32, 33 controllable magnetic actuators are provided inside the end portions of the roller 3. In the preferred embodiment of the Figs. 2-6, the roller 3 has two actuator assemblies 7 and 8 respectively. The first actuator assembly 7 is a "set" actuator assembly that is capable of providing force to the segment (s) 31, 32, 33 on the outer side. For example in FIG. 4 mainly the segment 31 is in front of the "set" actuator assembly 7. For example in FIG. 6 the segments 31 and 33 are in front of the "set" actuator assembly 7. The second actuator assembly 8 is a "reset" actuator assembly that is able to provide force to the segment (s) 31, 32, 33 on the inner side. For example in FIG. 4 the segment 32 is in front of the "reset" actuator assembly 8. For example in FIG. 6 the segment 32 is in front of the "reset" actuator assembly 8.

The "set" actuator assembly is arranged to work on the roller segments that are in contact with the belt to move the belt 2 in the lateral direction; in the example of FIG. 6 these are the segments 31 and 33. The “reset” actuator assembly is arranged to work on the roller segment (s) that is / are not in contact with the belt 2 to reset the roller segment (s) to the central position also called neutral position; in the example of FIG. 6 this is the segment 32.

As can be seen in Figs 3 and 5 the “set” actuator assembly 7 comprises two electromagnets 71 and 72 respectively, each located stationary inside an end portion of the roller 3. The electromagnets 71 and 72, respectively, are mounted to the side plates 36 and 37, respectively. The "reset" actuator 8 comprises electromagnets 81 and 82 respectively, each mounted stationary inside an end portion of the roller 3. The electromagnets 81 and 82, respectively, are mounted to the side plates 36 and 37, respectively.

The electromagnets 71, 72, 81, 82 comprise a core 71 A, 72A, 81 A, 82A or ferromagnetic material and a coil 71B, 72B, 81B, 82B wound around the corresponding core 71 A, 72A, 81 A, 82A. Radially inward from the electromagnets a stationary ferromagnetic cylindrical ring 83, 84 is arranged. The cylindrical ring 83, 84 is connected to one or more radial flanges 85, 86 mounted to the end plates 36, 37. The cylindrical ring 83, 84 extends beyond the electromagnet 71, 72, 81, 82 and radially inward from counterparts 41, 42, 43, 51, 52, 53, which will be described further below, leaving a constant radial gap 60 between the ferromagnetic counterparts 41.42, 43, 51, 52, 53 and the ferromagnetic cylindrical ring 83, 84. The core 71 A, 72A, 81 A, 82A or each one of the electromagnets 71, 72, 81, 82 is positioned against the or one of the radial flanges 85, 86 of the cylindrical ring 83, 84 such

- that magnetic field created by the electromagnet 71, 72, 81, 82 runs through said ferromagnetic cylindrical ring 83, 84. This is indicated in FIG. 5 by dashed lines.

The segments 31, 32 and 33, respectively, have counterparts 41,42 and 43, respectively, mounted on the inner side of the segments near one end. Furthermore, the segments 31, 32 and 33, respectively, have counterparts 51, 52 and 53, respectively, mounted on the inner side of the segments near the other end. The counterparts 41,42, 43 are configured and arranged to cooperate with the respective magnetic actuators 71, 72 so as to move the respective segments 31, 32, 33 in one axial direction of the roller 3. The counterparts 51, 52, 53 are configured and arranged to cooperate with the respective magnetic actuators 81, 82 so as to move the respective segments 31, 32, 33 in the opposite axial direction of the roller

3. The ferromagnetic counterparts 41, 42, 43, 51, 52, 53 are in the preferred embodiment formed as a circular ring sector that extends radially inwards from the roller segment 31, 32, 33 and extends over an arc of the inner surface or the corresponding ring segment 31, 32,

33. The circular ring sector may be made of ferromagnetic plate material, in particular steel plate material.

During rotation of the roller 3, the roller segments 31, 32, 33 and the associated ferromagnetic counterparts 41,42, 43, 51, 52, 53 follow a circular trajectory during a part of which the counterparts 41,42, 43, 51, 52 53 face the corresponding electromagnets 71, 72, 81, 82. A variable axial air gap 90 is present between the electromagnet 71, 72, 81, 82 and the ferromagnetic counterpart 41,42, 43, 51, 52, 53.

By feeding an electrical current to the coil 71B, 72B, 81B, 82B of the electromagnet 71, 72, 81, 82, a magical field is generated, which attracts the ferromagnetic counterpart 41, 42, 43, 51, 52, 53. Thereby the ferromagnetic counterpart will move towards the actuated electromagnet and the associated segment will move accordingly.

The electrical current that is fed to the coil 71B, 72B, 81B, 82B of the electromagnets 71, 72, 81, 82 is controlled by the electronic controller 400 connected to the electromagnets 71, 72, 81, 82. The device 1 furthermore includes gap distance sensors 9, 10, 11 connected to the controller 400 and provided near part of the electromagnets to measure the variable axial air gap 90 between the electromagnet and the ferromagnetic counterpart.

In use the segments thus have a variable axial position. There is a varying distance between the electromagnets and the ferromagnetic counterparts passing by said electromagnets. If an electromagnet is actuated this varying distance causes a variation in the actuator force as a function of the electrical current fed to the coil of the electromagnet. By

- 11 adding the stationary ferromagnetic curved plate with the constant radial gap 60 with respect to the counterpart, the variation in the actuator force as a function of the current is reduced. Thereby a more accurate force control can be achieved, which results in a more accurate positioning accuracy of the positioning and conveying device.

In the system 1 the gap distances are measured, which are the representative for the lateral position of the belt 2. The controller 400, the electromagnets and the gap distance sensors form part of a position control loop.

The controller 400 is configured such that using the measurements by the gap distance sensors 9, 10.11 it is able to compensate for the variation in actuator force as a function of the current for varying positions of the roller segments 31, 32, 33. In practice a calibration measurement is done to measure the variation of actuator force as a function of the actuator current for varying axial positions of the roller segments 31, 32, 33. This calibration measurement is stored as a look up table in a memory of the controller 400 and is used by the controller 400 to adapt the control signal (current) based on the measured gap distance

An angle y can be defined between two virtual planes that respectively extend from the center of the roller through the respective air gap sensors 9 and 10 positioned near the actuator assembly set (see Fig. 6). The angle y <120 °. The angle y between the two air gap sensors 9 and 10 is thus narrower than the angle between the roller segments such that both air gap sensors 9 and 10 measure the distance of the same segment 31, 32, 33 before the measurement of the air gap sensor 9 located downstream is disturbed by a segment transition 34 (see Fig. 6).

The air gap sensor 42 that is positioned near the "reset" actuator assembly is positioned in a center plane, indicated by A-A in FIG. 6 of the conveyor belt 2, which center plane A-A extends through the center axis of the spindle 35 and in the middle between the upper run 2A and the lower run 2B.

Each one of the magnetic actuators or the "set" actuator assembly and "reset" actuator assembly is able to submit a magnetic force on the passing countreparts 41,42, 51, 52 of the segments 31, 32, 33 in a circle sector which is defined by an angle with respect to a center plane AA or the conveyor belt 2, with the angle a ± 30 ° with respect to said center plane AA as is indicated in FIG. 6.

12As is shown in FIG. 7 the device 1 includes a tensioning system 70 for tensioning the belt 2. the belt 2 is given a pretension by the tensioning system 70 by controlling the distance between the spindles 35 and 45 of the rollers 3 and 4. The pretension results in the belt 2 applying a compression force on the roller 3, 4, which will be described referring to roller 3. It must be understood that for the other roller 4 the same applies. The tensioning system 70 is preferably connected to the controller 400 that also controls the actuator assemblies 7, 8 or the rollers 3, 4.

The pretensioning force results in a compression force on the leaf springs 40 which is indicated in FIG. 8 by an arrow 110. The compression force 110 on the leaf springs 40 resolves in a force 112 in the axial direction of the roller 3 that is away from the neutral or central position of the segment. In the meantime an axial deviation from the neutral or central axial position of the segment causes in the leaf springs 40 a deformation which in combination with the spring stiffness results in a spring force 111 in the axial direction of the roller 3 that pushes the segment 31 , 32, 33 towards the neutral axial position.

The two forces 111, 112 thus work in opposite directions. The two forces 111, 112 vary both approximately linearly with the axial position of the roller segment 31, 32, 33 relative to the neutral position. Thus achieved in the axial working range of the segments 31, 32, 33 the axial force component 112 on the roller segment 31, 32, 33 resolved from the belt pretension force 110 counterbalances the axial force 111 on the roller segment 31, 32 , 33 due to stiffness of the leaf springs 40 when the roller segment 31, 32, 33 is moved away from the neutral axial position.

In the neutral position the compression force 110 on the leaf springs 40 does not resolve in an axial force component and the leaf springs 40 are not flexed thus no spring force is induced. Advantageously the segments 31, 32, 33 can be moved without friction forces that have to be overcome. Moreover, by the described counterbalancing feature no counteracting spring force has to overcome the magnetic actuators to move a roller segments 31,

32, 33. Therefore, less control force is necessary to move the roller segments 31, 32, 33 in the axial direction, the controllability of the device 1 is improved and thus the positioning accuracy of the device 1 is improved.

The invention can be summarized by the following clauses:

1. Positioning and conveying device comprising an endless conveyor belt which runs around two rollers mounted to a stationary frame, such that the belt has an upper run forming

- 13a carrying side for objects to be positioned and transferred, and a lower run forming a return side of the belt, the outer surface or at least one of the rollers is defined by a multiple or roller segments extending in the axial and tangential direction of the roller, each of the segments is axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementary cover the perimeter of the roller, are the segments individually movable in the axial direction of the roller for laterally moving the conveyor belt relative to the frame, the device furthermore including at least one actuator assembly for driving the segments in the axial direction of the roller, said actuator assembly including a controllable magnetic actuator stationary mounted at either end of the roller, at either end or each of the segments a ferromagnetic counterpart is mounted which is configured and arranged to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction of the roller, characterized in that each controllable magnetic actuator comprises an electromagnet including a core and a coil, each ferromagnetic counterpart is arranged on a radial inner side of the associated roller segment and extends radially inwards and tangentially, during rotation of the roller segments and the associated counterparts follow a circular trajectory during a part of which they face the corresponding electromagnets, a variable axial air gap is present between the electromagnet and the ferromagnetic counterpart, and concentrically with the ferromagnetic counterpart a ferromagnetic stationary ferromagnetic curved plate is arranged leaving a constant radial gap between the ferromagnetic counterpart and the ferromagnetic plate, said ferromagnetic curved plate being coupled to the core of the electromagnetic such that a magnetic field created by the electromagnet runs through said ferromagnetic curved plate.

2. Positioning and conveying device according to clause 1, the device comprises an electronic controller connected to the electromagnets to control electric current through the coil of the electromagnets, and the device furthermore includes one or more gap distance sensors connected to the controller and provided near each of the electromagnets to measure the variable axial air gap between the electromagnet and the ferromagnetic counterpart.

- 143. Positioning and conveying device according to clause 2, the controller is configured such that it compensates for the variation in actuator force as a function of the current for varying positions of the roller segments.

4. Positioning and conveying device according to clause 2 or 3, where the controller comprises a memory, where a look-up table is stored in the memory in which the actuator force is as a function of the current for varying lateral positions of the segment stored.

5. Positioning and conveying device according to any of the preceding clauses, comprising the device comprising at the roller a set "actuator assembly and a reset" actuator assembly, wherein the "set" actuator assembly is arranged to work on the roller segments that are in contact with the belt to move the belt in the lateral direction, and considering the “reset” actuator assembly is arranged to work on the roller segment (s) that is / are not in contact with the belt to reset the roller segment ( s) to a neutral position.

6. Positioning and conveying device according to clause 2 and 5, the device has two air gap sensors near the actuator assembly set and one air gap sensor near the reset actuator assembly.

7. Positioning and conveying device according to clause 6, regarding an angle γ is defined between two virtual planes that respectively extend from the center of the roller through the respective air gap sensors positioned near the "set" actuator assembly, according to the angle y < 120 °.

8. Positioning and conveying device according to clause 6 or 7, regarding the air gap sensor that is positioned near the "reset" actuator assembly is positioned in a center plane of the conveyor belt extending in the middle between the upper run and the lower run .

9. Positioning and conveying device according to any of the clauses 5-8, each one of the magnetic actuators of the "set" actuator assembly and "reset" actuator assembly is able to submit a magnetic force on the passing segments in a circle sector which is defined by an angle with respect to a center plane or the conveyor belt extending in the middle between the upper run and the lower run, with the angle a <± 30 ° with respect to said center plane.

10. Positioning and conveying device according to any of the preceding clauses, each roller has three or more roller segments.

- 1511. Positioning and conveying device according to clause 10, each of the segments in tangential direction or the roller extends over an angle β 2 120 °.

12. Positioning and conveying device according to any of the preceding clauses, the roller has a stationary central shaft and a hub that is concentrically rotatable around the central shaft, eg by means of bearings, and the roller segments are coupled to the hub by means of radial spacers.

13. Positioning and conveying device according to clauses 12, the radial spacers are leaf springs allowing movement of the roller segments in the axial direction of the roller and biasing the roller segments to a neutral (central) position when out of the neutral position.

14. Positioning and conveying device according to clause 13, the device includes a tensioning system for tensioning the belt, the belt being pretensioned by the tensioning system, such that the axial force component on the roller segment resolved from the belt pretension force counterbalances axial force on the roller segment due to stiffness of the leaf springs and a deviation of the roller segment from the neutral position.

15. Positioning and conveying device including an endless conveyor belt which runs around two rollers mounted to a stationary frame, such that the belt has an upper run forming a carrying side for objects to be positioned and transferred, and a lower run forming a return side or the belt, the outer surface or at least one of the rollers is defined by a multiple of roller segments extending in the axial and tangential direction of the roller, each of the segments is axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementary cover the perimeter of the roller, the segments are individually movable in the axial direction of the roller for laterally moving the conveyor belt relative to the frame, the device furthermore including at least one actuator assembly for driving the segments in the axial direction of the roller, said actuator assembly comprising a controllable magnetic actuator stati onary mounted at either end of the roller, at at either end of each of the segments a ferromagnetic counterpart is mounted which is configured and arranged to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction of the roller, marked in that

- 16the roller has a stationary central shaft and a hub that is arranged concentrically rotatable around the central shaft, eg by means of bearings, and roller segments are coupled to the hub by means of radial spacers including leaf springs allowing movement of the roller segments in the axial direction of the roller and biasing the roller segments to a neutral (central) axial position when out of the neutral axial position, the device includes a tensioning system for tensioning the belt in its longitudinal direction, the belt being pretensioned by the tensioning system, such that the axial force component on the roller segment resolved from the belt pretension force counterbalances the axial force on the roller segment due to stiffness of the leaf springs and a deviation of the roller segment from the neutral axial position.

16. Positioning and conveying device according to clause 15, the device comprises on the roller a “set” actuator assembly and a “reset” actuator assembly, the “set” actuator assembly is arranged to work on the roller segments that are in contact with the belt to move the belt in the lateral direction, and with the “reset” actuator assembly is arranged to work on the roller segment (s) that is / are not in contact with the belt to reset the roller segment (s) to a neutral position.

17. Positioning and conveying device including an endless conveyor belt which runs around two rollers mounted to a stationary frame, such that the belt has an upper run forming a carrying side for objects to be positioned and transferred, and a lower run forming a return side or the belt, the outer surface or at least one of the rollers is defined by a multiple of roller segments extending in the axial and tangential direction of the roller, each of the segments is axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementary cover the perimeter of the roller, the segments are individually movable in the axial direction of the roller for laterally moving the conveyor belt relative to the frame, the device furthermore including at least one actuator assembly for driving the segments in the axial direction of the roller, said actuator assembly comprising a controllable magnetic actuator stati onary mounted at either end of the roller, at at either end of each of the segments a ferromagnetic counterpart is mounted which is configured and arranged to cooperate with the respective magnetic actuators so as to move the respective segments in the axial direction of the roller, characterized in that the device comprises at the roller a "set" actuator assembly and a "reset" actuator assembly, being the "set" actuator assembly is arranged to work on the roller segments

- 17ths are in contact with the belt to move the belt in the lateral direction, and the “reset” actuator assembly is arranged to work on the roller segment (s) that is / are not in contact with the belt to reset the roller segment (s) to a neutral position.

18. Positioning and conveying device according to clause 17, each one of the magnetic actuators or the "set actuator assembly and" reset "actuator assembly is able to submit a magnetic force on the passing segments in a circle sector which is defined by an angle with respect to a center plane of the conveyor belt extending in the middle between the upper run and the lower run, with the angle as ± 30 ° with respect to said center plane.

19. Positioning and conveying device according to clauses 17 or 18, furthermore including an electronic controller connected to the controllable magnetic actuators to control the magnetic force generated by the magnetic actuators, and the device furthermore includes one or more gap distance sensors connected to the controller and provided near each of the magnetic actuators to measure the variable axial air gap between the magnetic actuator and the ferromagnetic counterpart.

20. Positioning and conveying device according to clause 19, the device has two air gap sensors near the "set" actuator assembly.

21. Positioning and conveying device according to clause 20, regarding an angle γ is defined between two virtual planes that respectively extend from the center of the roller through the respective air gap sensors positioned near the "set" actuator assembly, according to the angle y < 120 °.

22. Positioning and conveying device according to any one of clauses 17 - 21, wherein one air gap sensor is located near the "reset" actuator assembly.

23. Positioning and conveying device according to clause 22, the air gap sensor that is positioned near the “reset” actuator assembly is positioned in a center plane of the conveyor belt extending in the middle between the upper run and the lower run, the gap measurement at the “reset” actuator assembly is not disturbed by segment transitions when the segment is free from the belt.

24. Positioning and conveying device according to any one of clauses 17-23, including the "set" and "reset" actuator assemblies are similar.

- 1825. Printing system including a printer station and a positioning and conveying device according to any one of the preceding clauses, for conveying and positioning a substrate at the printer station.

Claims (15)

CONCLUSIONS A positioning and conveying device comprising an endless conveyor belt that wraps around two rollers mounted on a stationary frame, so that the belt trembles an upper part that forms a bearing side for objects to be positioned and displaced, and a lower part which forms a return side of the belt wherein the outer surface of at least one of the rollers is formed by a plurality of roller segments extending axially and tangentially of the roller, each of the segments being axially dimensioned to support the full width of the conveyor belt and tangentially dimensioned such that the segments complementarily cover the circumference of the roll, the segments being separately movable in the axial direction of the roll for transversely moving the conveyor belt relative to the frame, the device further comprising at least one actuator assembly for driving the segments in the axial direction of the roller, which actuator assembly comprises a controllable magnetic actuator stationarily mounted at both ends of the roller, wherein a ferromagnetic counterpiece is arranged on either side of each of the segments and is configured and engaged to cooperate with the respective magnetic actuators to allow the respective segments to be displaced in the axial direction of the roller, characterized in that each adjustable magnetic actuator comprises an electromagnet comprising a core and a coil, each ferromagnetic counterpiece is threaded on a radial inner side of the associated roller segment and extends radially inwards and tangental, wherein during rotation of the roller the roller segments and the associated counterparts follow a circular path, during a part of which they face the corresponding electromagnets, wherein a variable axial air gap is present between the electromagnet and the ferromagnetic counterstage, and wherein c oncenter (radially inward) with a ferromagnetic counterpart a stationary ferromagnetic curved plate has been braked leaving a constant radial gap between the ferromagnetic counterpart and the ferromagnetic plate, the ferromagnetic curved plate being coupled to the core of the electromagnet the electromagnet created magnetic field passes through the ferromagnetic curved plate. 2. Positioning and transport device as claimed in claim 1, wherein the device comprises an electronic controller connected to the electromagnets to control the electric current through the Control of the electromagnets, and the device further comprises one or more gap spacers connected to the controller near each of the electromagnets to measure the variable axial air gap between the electromagnet and the ferromagnetic counterpart. 3. Positioning and transport device according to claim 2, wherein the controller is configured to compensate for the variation in actuator force as a function of the current intensity at different positions of the roller segments. Positioning and transport device as claimed in claim 2 or 3, wherein the controller comprises a memory, wherein a look-up table is stored in the memory in which the actuator force is stored as a function of the current for different positions in the transverse direction of the segment. Positioning and transport device according to one of the preceding claims, wherein the device comprises a set of actuator assembly and a reset actuator assembly at the roll, the set of actuator assembly being adapted to act on the roll segments in contact with the belt around the to move the belt in the transverse direction, and wherein the reset actuator assembly is adapted to act on the roller segment resp. the roller segments that are not in contact with the tire resp. stand around the role segment resp. return the roller segments to the neutral position. The positioning and transport device according to claims 2 and 5, wherein the device has two air split sensors near the "set" actuator assembly and one air gap sensor near the reset actuator assembly. The positioning and transport device according to claim 8, wherein an angle γ is defined between two virtual planes extending from the center of the roll, respectively, through the respective air-jet sensors near the actuator assembly set, the angle γ <120 A positioning and transport device according to claim 6 or 7, wherein the air gap sensor, positioned near the reset actuator assembly, is positioned in a center plane of the conveyor belt that extends midway between the upper part and the lower part. The positioning and transport device of any one of claims 5-8, wherein each of the magnetic actuators of the set of actuator assembly and the reset actuator assembly is capable of exerting a magnetic force on the passing segments in a -21 circle sector defined by an angle α with respect to a center plane of the conveyor belt extending centrally between the upper part and the lower part, the angle α <± 30 ° with respect to the center plane, Positioning and transport device according to one of the preceding claims, wherein each roll has three or more roost segments. 11. Positioning and transport device according to claim 10, wherein each of the segments extends in an tangential direction of the roll through an angle β <120 12. Positioning and transport device as claimed in any of the foregoing claims, wherein the roller has a stationary center axis, as well as a hub that is concentrically rotatable about the central axis, for example by means of bearings, and wherein the roller segments are coupled to the hub by by means of radial spacers. 13. Positioning and transport device as claimed in claim 12, wherein the radial spacers bend springs, which allow movement of the roller segments In the axial direction of the roller, and which force the roller segments to a neutral (central) position when they move out of the neutral position. 14. Positioning and transport device as claimed in claim 13, wherein the device comprises a tensioning system for tensioning the belt, wherein the tensioning belt is pre-tensioned by the tensioning system, so that the axial force component on the roasting segment disconnected from the tire pre-tensioning force acts as the axial force on the roller segment. due to the stiffness of the biad feathers and to compensate for a deviation of the roe segment from the neutral position, A printing system comprising a printer station and a positioning and transport device according to any one of the preceding claims, for transporting and positioning a substrate at the printer station.