TW202011504A - Handling system with independent and coordinated shuttle, for industrial automation - Google Patents

Handling system with independent and coordinated shuttle, for industrial automation Download PDF

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TW202011504A
TW202011504A TW107131168A TW107131168A TW202011504A TW 202011504 A TW202011504 A TW 202011504A TW 107131168 A TW107131168 A TW 107131168A TW 107131168 A TW107131168 A TW 107131168A TW 202011504 A TW202011504 A TW 202011504A
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shuttle
track
control
type
devices
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TW107131168A
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Chinese (zh)
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黛维迪 斯伯特
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義大利商維斯幕達有限公司
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Abstract

Innovative handling system (1) with independent and coordinated shuttles for industrial automation, of the LSM moving coils drive type, wherein multiple shuttles (10) with on-board coils (102) act on a rail (20) with permanent magnets (201) in an independent but coordinated way, synchronous and/or asynchronous with respect to each other, with a high level of speed, precision in positioning and versatility of use; the invention is particularly suitable for the automated machining of flat semi-finished products such as photovoltaic cells, printed circuits and other circuit boards or for the transport and filling of containers such as phials or flacons.

Description

用於工業自動化的具有獨立的協調梭車的操縱系統Operating system with independent coordinated shuttle for industrial automation
本發明涉及一種用於工業自動化的操縱系統,具有獨立的協調梭車,具有高水平速度以及定位精度以及具有較大的使用通用性。The invention relates to an operation system for industrial automation, which has an independent coordinated shuttle car, has high horizontal speed and positioning accuracy, and has great versatility in use.
本發明發現尤其但不排他地應用於現代自動化裝備領域,用於生產和/或用於工業組件,或者工業自動化,需要大量生產能力以及高精度的作業處理;作為非排他例子,本發明尤其適合於自動化機加工扁平半成品,諸如光伏電池、印刷電路以及其他電路板或者用於傳輸以及填充容器,比如藥瓶或者長頸細口瓶。The present invention finds particular but not exclusive application in the field of modern automation equipment, for production and/or for industrial components, or industrial automation, requiring a large amount of production capacity and high-precision job processing; as a non-exclusive example, the present invention is particularly suitable It is used for automatic machining of flat semi-finished products, such as photovoltaic cells, printed circuits and other circuit boards or for transporting and filling containers, such as medicine bottles or long-necked bottles.
用於自動操縱材料的各種方案呈未加工部件或者印刷元件的形式,半成品產品或者成品產品廣泛公知,已經用於設備、生產車間以及倉庫多年。取決於要處理的材料的類型以及具體作業工藝或者組裝計劃,各種技術方案在市場上可獲得並且設置有複雜性程度、使用靈活性或定位準確性特性。例如,人們應該記得簡單的傳送帶以及旋轉台,或者,相反,現代集成電磁驅動系統具有自動化控制,其中還稱為梭車或者移動器的多個協調車在設置有傳感器的軌道上滑動,這種車旨在分別攜帶半成品,還將半成品以優化方式預先安排在對應工作站。為了自動化工業生產目的的機械設備、設備之間的相互作用的研究學科通常稱為機械電子學,屬於自動化工程。Various solutions for automatically manipulating materials are in the form of unprocessed parts or printed elements. Semi-finished products or finished products are widely known and have been used in equipment, production workshops and warehouses for many years. Depending on the type of material to be processed and the specific work process or assembly plan, various technical solutions are available on the market and are provided with a degree of complexity, flexibility of use, or positioning accuracy characteristics. For example, one should remember a simple conveyor belt and a rotating table, or, conversely, modern integrated electromagnetic drive systems have automated control, in which multiple coordinated vehicles, also called shuttles or movers, slide on rails equipped with sensors. The car is designed to carry semi-finished products separately, and the semi-finished products are pre-arranged in the corresponding workstations in an optimized manner. The research discipline of mechanical equipment and the interaction between equipment for the purpose of automated industrial production is usually called mechatronics and belongs to automation engineering.
顯然,各種操縱系統提供不同的功能性,具有不同的準確度程度以及使用通用性,因而取決於成本和生產要求而選擇。但是,本領域的操作員知道的是,甚至最先進的自動化系統也具有一些涉及定位精度以及重複性的問題;而且,有時在這種複雜系統中發現較差持續時間以及較低總體可靠性,通常是由於單個部件的故障。此外,在自動化軌道系統中,單個梭車和集中控制系統之間的通信有時是困難的、不太有效的和/或不可靠的,這還發生在設置有具有不同任務的多個梭車的系統中。Obviously, various control systems provide different functionalities, have different degrees of accuracy and versatility of use, and therefore are selected depending on cost and production requirements. However, what operators in the field know is that even the most advanced automation systems have some issues related to positioning accuracy and repeatability; moreover, sometimes poor duration and low overall reliability are found in such complex systems, It is usually due to the failure of a single component. In addition, in automated rail systems, communication between a single shuttle and a centralized control system is sometimes difficult, less effective, and/or unreliable, which also occurs when multiple shuttles with different tasks are provided System.
原則上,還公知及期望的是,旨在用於總體管理集成操縱系統的控制系統為簡單的以及強健類型,靈活,易於維持以及修改,還易於與外部操作單元對接和/或同步,比如單個自動化工作站;而且,現在,安全功能,諸如抗碰撞以及抗事故類型,必須集成在軌道上具有梭車的系統中。因此,各種工業操縱系統相對於彼此具有非常多樣化特性以及成本;尤其,這種成本必須取決於系統的總體方便性而估計。實際上,投資量包括新系統的總值,而且操作成本和維修成本考慮需要在其整個可用壽命中考慮。In principle, it is also known and expected that the control system intended for the overall management of integrated operating systems is simple and robust, flexible, easy to maintain and modify, and easy to interface and/or synchronize with external operating units, such as a single Automated workstations; and, now, safety functions, such as anti-collision and anti-accident types, must be integrated into systems with shuttles on the track. Therefore, various industrial operating systems have very diverse characteristics and costs relative to each other; in particular, such costs must be estimated depending on the overall convenience of the system. In fact, the amount of investment includes the total value of the new system, and the operating cost and maintenance cost considerations need to be considered throughout its entire useful life.
考慮到所有這些,在最多使用的公知常規方案中發現一些要考慮的重要問題。主要地,人們應該記得傳送帶,在傳送帶段上,工件或者托盤以正常節奏布置移動,或者連續地,在根據相同運動規則的任何情形下;還公知的是,不同的帶部分的同步施加了許多傳感器和許多致動器和/或定速裝置。而且,對於無用部分或者構件的移動,已經觀察到相當大的能量吸收,也即是說,不是必須用於具體作業處理。總之,所有操縱方案基於傳送帶或者輥特徵滑動以及樞轉工件或者托盤,具有低精度,也即是說,如果不被其他附屬系統輔助的話,具有較小的定位準確度以及重複性;此外,缺乏對抗或者支撐剛度的問題是公知的。最後,在這些系統中,在被污染的帶段上連續工件的相繼污染問題也是公知的,例如在斷裂或者溢出的情況下,以及有高磨損,同時需要頻繁的調節、維修以及替換;為了該目的,例如,已經觀察到的是,斷裂或者替換僅一個帶通常導致整個操縱系統的停止。Considering all this, some important issues to be considered are found in the most commonly used well-known conventional schemes. Mainly, one should remember the conveyor belt, on the conveyor belt section, the workpiece or pallet moves at a normal rhythm, or continuously, in any case according to the same motion rules; it is also known that the synchronization of different belt parts imposes many Sensors and many actuators and/or fixed speed devices. Moreover, for the movement of useless parts or components, considerable energy absorption has been observed, that is, it does not have to be used for specific job processing. In short, all maneuvering schemes are based on conveyor belt or roller feature sliding and pivoting workpieces or pallets, have low accuracy, that is, if not assisted by other auxiliary systems, have less positioning accuracy and repeatability; in addition, lack of The problem of confrontation or support stiffness is well known. Finally, in these systems, the problem of successive contamination of continuous workpieces on the contaminated belt section is also known, such as in the case of breakage or overflow, and high wear, and frequent adjustment, repair, and replacement are required; for this The purpose, for example, has been observed that breaking or replacing only one belt usually results in a stop of the entire handling system.
上文提到的劣勢原則上還會在帶上具有棘爪、鏈條或者漫游處理的操縱系統上觀察到。另一方面,除了布置在污染段上的連續工件的所述相繼污染、磨損、頻繁維修之外,公知的旋轉台系統特徵還未在操作期間難以及時保持穩定的一些可變偏置;此外,在所述系統中在裝載和卸載所述台的操作中存在更多複雜性。In principle, the disadvantages mentioned above will also be observed on control systems with detents, chains or roaming treatments on the belt. On the other hand, in addition to the successive contamination, wear, and frequent maintenance of the continuous workpieces arranged on the contaminated section, the well-known features of the rotating table system have not been able to maintain stable variable offsets in time during operation; in addition, There is more complexity in the operation of loading and unloading the station in the system.
在現代工業操縱系統中,為了穩定性目的,人們還使用具有齒輪輪和/或蝸杆螺栓的線性單元,其中,支撐作業處理的推車沿著直線軌道平移,例如具有對應梯形或者類似輪廓;這種方案需要額外的驅動器件,例如旋轉電動機,還需要高維修水平。其中,人們應該記得具有球再循環滑動的線性單元,其需要連續的頻繁潤滑。更通常,已經觀察到的是,常規類型的線性單元適合於絕緣應用,但是不用於集成的操縱系統,在集成的操縱系統中多個梭車同時執行不同任務,是昂貴的,它們的使用通用性受到限制。In modern industrial handling systems, for stability purposes, people also use linear units with gear wheels and/or worm bolts, where the carts supporting the work process translate along linear tracks, for example with corresponding trapezoids or similar profiles; This solution requires additional drive devices, such as rotating electric motors, and requires a high level of maintenance. Among them, one should remember a linear unit with ball recirculation sliding, which requires continuous and frequent lubrication. More generally, it has been observed that conventional types of linear units are suitable for insulation applications, but are not used in integrated control systems. In an integrated control system, multiple shuttles perform different tasks simultaneously, which is expensive and their use is universal Sex is restricted.
在具有在導軌或者軌道上移動的車輛的系統之中,自主驅動的自推式推車是公知的,其還稱為車輛或者梭車,它們分別被供電操作,安裝在通常被動類型的軌道上;因此,在這種系統中,依靠連接至每個電動機的中央邏輯單元調整所述車輛的移動。每個車輛的能量供給用常規電線或者可移動的接觸系統發生,在通電軌道上具有導電輪或者電刷的類型。更進化的方案也是公知的,其中,每個車輛利用蓄電池自我供能,並且依靠無線系統進行控制;例如,人們應該記得的是,集成和模塊化系統具有獨立的梭車,具有蓄電池,稱為Montrac,屬於瑞士公司Montratec AG-www.montratec.com,該公司現在屬於德國的Schmid有限集團。Among systems with vehicles moving on rails or rails, self-propelled self-propelled carts are known, which are also referred to as vehicles or shuttles, which are operated by power supply respectively and are installed on rails of generally passive type Therefore, in such a system, the movement of the vehicle is adjusted by means of a central logic unit connected to each electric motor. The energy supply of each vehicle takes place with conventional wires or a movable contact system, with conductive wheels or brush types on the energized tracks. More evolutionary schemes are also known, where each vehicle uses a battery to self-power and relies on a wireless system for control; for example, one should remember that the integrated and modular system has an independent shuttle with a battery, called Montrac belongs to the Swiss company Montratec AG-www.montratec.com, which now belongs to the German Schmid Group.
工業自動化部分近來提議高精度的操縱系統,其基於電磁驅動線性同步電動機,其還公知為字母縮寫LSM或者線性致動器。在最進化的方案之中,存在集成的梭車系統具有內置永磁體;這種梭車不被供電,在軌道上滑動,軌道在它們的整個長度上集成了線圈,以選擇性方式被供電,也即是說,為了定位每個車輛的目的被電子地控制。例如,人們應該記得,德國公司倍福自動化有限公司-www.beckoff.com的稱為XTS的集成模塊化系統,或者美國公司滿格內運動公司.-www.magnemotion.com的稱為MMLETM 的系統,或者甚至美國公司ATSA自動工具系統公司-www.atsautomation.com的稱為ATS SuperTrakTM 的系統。這種方案提供通常被動的梭車,沒有電力供給,因此沒有車載邏輯並且被所述線圈的吸引進行平移。The industrial automation section has recently proposed a high-precision control system, which is based on an electromagnetically driven linear synchronous motor, which is also known as the letter abbreviation LSM or linear actuator. Among the most evolved solutions, there is an integrated shuttle system with built-in permanent magnets; this shuttle is not powered, it slides on the rails, the rails integrate coils over their entire length, and are powered in a selective manner, That is to say, the purpose of positioning each vehicle is controlled electronically. For example, one should remember that the German company Beckhoff Automation GmbH-www.beckoff.com called the integrated modular system called XTS, or the American company Mangne Motion.-www.magnemotion.com called MMLE TM System, or even a system called ATS SuperTrak from the American company ATSA Automatic Tool Systems Inc.-www.atsautomation.com. This solution provides a generally passive shuttle, no power supply, and therefore no on-board logic and is translated by the attraction of the coil.
當今,所述線性同步電動機或者LSM的原理還使用在具有內置線圈構造的智能梭車中,內置線圈構造公知為移動線圈線性電動機。在這些情形下,可變磁場通過集成在車輛中的線圈實現,所述線圈適當定型、供電以及選擇性地以及分別控制,以便滑動在直線軌道或者定子上,另一方面直線軌道或者定子在其整個長度上集成固定模塊化磁體板的線性序列,具有交變極性,還稱為永磁體,未被供電。串聯通過軌道中的固定磁體生成的永久磁場與通過每個梭車上的線圈生產的可變場,取決於梭車本身的位置允許以獨立方式改變每個梭車的運動規則。這種方案主要採用在自動化裝備中,其中,操縱發生,具有精確以及精確的定位半成品,或者工具或者操作單元,沿著具有短長度的直線軸線,執行絕緣以及重複性任務,也即是說,不集成或者僅局部集成其他作業處理的任務。例如,人們應該記得還公知為CNC字母縮寫的現代數字控制作業中心。該系統具有機載供給線圈,稱為移動線圈,因此,相對於集成系統以相反方式大致使用LSM驅動,在集成系統中多個梭車具有內置永磁體,稱為移動磁體,梭車沿著選擇性地供給軌道平移,具有更複雜實現和形狀,還呈關閉環形回路的形式。Nowadays, the principle of the linear synchronous motor or LSM is also used in an intelligent shuttle with a built-in coil structure, which is known as a moving coil linear motor. In these cases, the variable magnetic field is achieved by a coil integrated in the vehicle, which is appropriately shaped, powered, and selectively and individually controlled so as to slide on the linear track or stator, on the other hand the linear track or stator A linear sequence of fixed modular magnet plates integrated over the entire length, with alternating polarities, also known as permanent magnets, is not powered. The permanent magnetic field generated by the fixed magnets in the track in series and the variable field produced by the coils on each shuttle, depending on the position of the shuttle itself, allow the movement rules of each shuttle to be changed in an independent manner. This solution is mainly used in automation equipment, where manipulation occurs, with precise and precise positioning of semi-finished products, or tools or operating units, along a linear axis with a short length, to perform insulation and repetitive tasks, that is to say, Does not integrate or only partially integrate tasks of other job processing. For example, one should remember a modern digital control operation center also known as the acronym for CNC. The system has an onboard supply coil, called a moving coil, so the LSM drive is generally used in the opposite way to the integrated system, in which multiple shuttles have built-in permanent magnets, called moving magnets, along which the shuttle is selected It provides a more complicated implementation and shape for the linear translation of the rail, and it also takes the form of a closed loop.
在所述絕緣方案中使用在自動化方面的所述線性同步電動機,也即是說,LSM移動線圈主要具有三個類型:具有單側結構,稱為鐵芯,其中軌道是扁平的並且設置有一個單個固定磁體軌道,滑動器或者移動滑動器在固定磁體軌道上滑動,其集成有纏繞在鐵芯周圍的線圈,或者具有兩側結構,稱為無鐵芯,具有U形軌道或者軌道,設置有兩個前面對稱固定磁體軌道,集成線圈的滑動器或者移動滑動器滑動在磁體軌道內部,或者甚至具有柱形或者管狀結構。例如,人們應該記得商業上瑞士公司Etel S.A.-www.etel.ch的稱為LMA、LMG和LMS離子鐵芯的線性電動機,或者由這些公司稱為ILM以及ILF無鐵芯的線性電動機。The linear synchronous motor used in automation is used in the insulation scheme, that is to say, LSM moving coils mainly have three types: with a single-sided structure, called an iron core, where the track is flat and provided with one A single fixed magnet track, a slider or a moving slider slides on the fixed magnet track, which integrates a coil wound around the iron core, or has a two-sided structure, called an iron-free core, with a U-shaped track or rail, provided with Two front symmetrically fixed magnet tracks, integrated coil sliders or moving sliders slide inside the magnet tracks, or even have a cylindrical or tubular structure. For example, one should remember the linear motors called LMA, LMG and LMS ion cores from the commercial Swiss company Etel S.A.-www.etel.ch, or ILM and ILF coreless linear motors from these companies.
本發明的目的在於實現創造性的操縱系統,為集成模塊化類型,易於工業應用,其總體上是自動的,用於精度作業,具有大的生產率,多個梭車以獨立但協調方式同時作用使得同時執行不同於彼此的任務;尤其,目的在於有利地實施線性同步電動機類型的電磁驅動系統,尤其LSM活動線圈類型,在每個梭車上具有線圈,優選為單側或者雙側類型。The purpose of the present invention is to realize a creative control system, which is an integrated modular type, easy for industrial application, which is generally automatic, used for precision operations, has a large productivity, and multiple shuttles function simultaneously in an independent but coordinated manner so that Simultaneously perform tasks different from each other; in particular, the aim is to advantageously implement an electromagnetic drive system of the linear synchronous motor type, in particular the LSM movable coil type, with coils on each shuttle, preferably single-sided or double-sided types.
為了確定涉及建議的方案的現有技術的目的,進行常規核查,檢索公共檔案,已經發現一些現有技術文獻,其中:For the purpose of determining the state of the art related to the proposed scheme, conducting routine checks and searching public archives, some prior art documents have been found, among them:
D1:US6876107(Jacobs)D1: US6876107 (Jacobs)
D2:US8616134(King等)D2: US8616134 (King, etc.)
D3:WO200850760(Peltier)D3: WO200850760 (Peltier)
D4:US20120145500(Trenner等)D4: US20120145500 (Trenner, etc.)
D5:US5626080(Trenner等)D5: US5626080 (Trenner, etc.)
D6:US8134258(Finkbeiner等)D6: US8134258 (Finkbeiner, etc.)
D1、D2、D3和D4描述一種自動化工業操縱系統其具有在軌道上移動的梭車,具有LSM電磁驅動以及集中電子控制;存在許多模塊化的可移除梭車,充當移動推車或者用於固定和/或傳輸產品或者材料,通常為被動類型,它們設置有車載永磁體,車載永磁體像滑動靴一樣通過線圈平移,線圈在智能類型軌道中集成了整個長度,也即是說,旨在選擇性地給它們供電以獨立於彼此定位梭車;為了該目的,還提供了直接連接至中央控制系統的位置傳感器。在D1中,軌道的路徑關閉並且包括在上方和下方的線圈,以集成橫向滑動推車,比如架子,設置有對置的雙系列磁體。在D2中,梭車設置有角度突起,其超出軌道的保護邊緣並且與它們相互作用,利於可能的方向改變。D1, D2, D3, and D4 describe an automated industrial handling system with shuttles moving on rails, with LSM electromagnetic drives and centralized electronic control; there are many modular removable shuttles that act as mobile carts or Fixing and/or transmitting products or materials, usually of the passive type, they are equipped with vehicle-mounted permanent magnets, which are translated through sliding coils like sliding shoes. The coils integrate the entire length in a smart-type track, that is, they are designed to They are selectively powered to position the shuttles independently of each other; for this purpose, position sensors directly connected to the central control system are also provided. In D1, the path of the track is closed and the coils above and below are included to integrate a horizontal sliding cart, such as a shelf, provided with opposing dual series magnets. In D2, the shuttle is provided with angular protrusions that exceed the protective edge of the track and interact with them, facilitating possible direction changes.
在D3和D4中,具有移動磁體的系統細分為具有線圈的模塊化軌道段,它們分別以獨立方式依靠PLC類型邏輯單元以及用於線性編碼器的讀取器控制,每個梭車設置充分長的線性編碼器類型參考,以能夠還在通過後續段期間進行本地化;系統的全球管理通過直接連接至單個段的中央控制器確保。為了控制的目的,D4描述了感應系統,其旨在分別無線地供電每個梭車,其中,能量從軌道依靠兩個定位在梭車上的線圈在永磁體的側面獲得。In D3 and D4, the system with moving magnets is subdivided into modular track segments with coils, which rely on PLC-type logic units and reader control for linear encoders in an independent manner, each shuttle setting is sufficiently long The reference of the linear encoder type to be able to be localized also during the passage of subsequent segments; global management of the system is ensured by a central controller directly connected to a single segment. For control purposes, D4 describes an induction system, which is designed to power each shuttle individually and wirelessly, where energy is obtained from the track by means of two coils positioned on the shuttle on the side of the permanent magnet.
D5提出了集成系統,其具有在軌道上的獨立梭車,用於工業傳輸半成品或者成品;梭車是自動化車輛,是機動類型的,以及無線地供電,在簡化軌道上滑動,其能夠包括長的鉸接式路徑以用於傳輸的目的。每個車輛在上部分中關聯於平面或者用於材料的托盤,其被約束並且可依靠移動接頭旋轉。D5 proposes an integrated system with an independent shuttle car on the track for industrial transmission of semi-finished or finished products; the shuttle car is an automated vehicle, is a motorized type, and is powered wirelessly, sliding on a simplified track, which can include long The articulated path is used for transmission purposes. Each vehicle is associated with a flat or tray for material in the upper part, which is constrained and can be rotated by means of a moving joint.
D6提出了LSM移動線圈類型電磁驅動線性電動機,其中,具有線圈的推車在軌道上前後平移,同時永磁體被約束至兩個相對於彼此不同地定向的軌道,也即是說,一個向上而一個在側面,使得平面或者托盤關聯於推車,被約束至兩個所述軌道,能夠構造為鉸接式在多個支撐位置,諸如垂直或者水平;所述平面或者托盤包括多個薄壁元件,它們鉸接至彼此以旋轉,還局部以自動化方式旋轉,為了具體作業加工的目的。D6 proposed the LSM moving coil type electromagnetically driven linear motor, in which the cart with the coil is translated back and forth on the track, while the permanent magnets are constrained to two tracks that are oriented differently relative to each other, that is, one upward One on the side, so that the plane or pallet associated with the cart is constrained to two of the rails, can be configured to articulate in multiple support positions, such as vertical or horizontal; the plane or pallet includes multiple thin-walled elements, They are hinged to each other to rotate, and also partially rotate in an automated manner for the purpose of specific operations.
總之,正如公知的,這樣考慮是合理的:In short, as is well known, this consideration is reasonable:
-機械類型的自動工業操縱系統由電動機驅動,具有常規的連續平移器件,諸如傳送帶、輥、移動處理機構以及旋轉台。-Mechanical type automatic industrial handling systems are driven by electric motors, with conventional continuous translational devices such as conveyor belts, rollers, mobile processing mechanisms, and rotating tables.
-具有自動化梭車的集成系統類型,也即是說,在被動軌道上機動化以及獨立,也具有車載蓄電池積蓄器,旨在在托盤上沿著環形或者鉸接式路徑操縱材料;-An integrated system type with an automated shuttle, that is to say, motorized and independent on passive tracks, and also has an on-board battery accumulator, designed to manipulate materials along a circular or articulated path on the pallet;
-集成電磁驅動LSM系統具有沿著軌道移動的多個梭車,梭車設置有車載永磁體,軌道集成了其整個長度,選擇性地控制以及供給線圈,還具有環形路徑,用於連續以及多站機加工周期;-The integrated electromagnetic drive LSM system has multiple shuttles that move along the track, the shuttle is provided with on-board permanent magnets, the track integrates its entire length, selectively controls and supplies coils, and has a circular path for continuous and multiple Station machining cycle;
-移動線圈類型的絕緣電磁驅動LSM系統,其中,設置有選擇性地供電的線圈的梭車沿著包括永磁體的直線軌道滑動,軌道具有有限長度,例如發生在現代CNC機加工中心中,其中,梭車充當移動支撐件,用於要機加工的產品,或者用於工具以及為了功率供給以及控制的目的直接經由線纜連接;-Insulated electromagnetic drive LSM system of the moving coil type, in which a shuttle provided with a selectively powered coil slides along a linear track including permanent magnets, the track has a finite length, for example occurring in modern CNC machining centers, where , The shuttle serves as a moving support for products to be machined, or for tools and directly connected via cables for power supply and control purposes;
-用於電子電路或者光伏電池的金屬化系統,其中,主要操縱隨傳送帶發生,旨在拖拉靠近以及將半成品對準成排的工作站,然後還依靠線性電動機被撿起和/或本地平移而用於印刷目的,其中,滑動靴的行程被限制至所述平移,並且印刷對準和/或定位是依靠移動臂和/或偏心抬升系統發生的;該系統也是公知的,為了印刷的目的提供撿起裝置,同時從傳送器帶抬升單個電池,通過激活垂直活塞,從底部向上朝向固定印刷頭,連續提供多個印刷頭以及多個站。-Metalization system for electronic circuits or photovoltaic cells, where the main manipulation takes place with the conveyor belt, designed to drag and close and align semi-finished products in rows of workstations, and then rely on linear motors to be picked up and/or locally translated For printing purposes, where the travel of the sliding shoe is limited to the translation, and the printing alignment and/or positioning occurs by means of a moving arm and/or an eccentric lift system; this system is also known and provides picking for printing purposes Lift the device, simultaneously lift a single battery from the conveyor belt, by activating the vertical piston, from the bottom upward toward the fixed print head, continuously provide multiple print heads and multiple stations.
缺陷defect
總之,我們已經觀察到,所有公知方案具有一些缺陷或者無論如何具有一些限制。In summary, we have observed that all known solutions have some drawbacks or some limitations in any case.
首先,已經觀察到,集成電磁驅動LSM工業操縱系統具有多個梭車,梭車設置有車載永磁體,軌道設置成越過其整個長度,具有選擇性地供電的線圈,例如在D1-4中,具有顯著控制問題而且還不太通用,尤其是在鉸接式構造的情形下。與每個梭車即時的、連續的、恒定的以及始終有效的通信需要正確地控制這種複雜系統,其基本是集中化的。因此,已經觀察到的是,當梭車被動時這種方案特定地相關,也即是說,不被供電,沒有車載加工以及邏輯能力;人們應該考慮的是,例如,不是驅動梭車而是多個貨車具有車載磁體,也即是說,取決於給定至軌道的命令吸引和/或推動。尤其,公知的是,協調取決於每個梭車的位置以及線圈和單個梭車之間的相互作用而發生,為了確保獨立任務,也即是說,難以相對於其他梭車絕緣。為了該目的,人們應該記得在這些集成系統中鄰近梭車之間的一些電磁干涉現象或者甚至在中通過獨立段軌道之間的定位控制問題。First of all, it has been observed that the integrated electromagnetic drive LSM industrial handling system has multiple shuttles, the shuttles are provided with onboard permanent magnets, the track is arranged across its entire length, with coils for selectively supplying power, for example in D1-4, It has significant control problems and is not very versatile, especially in the case of articulated construction. Immediate, continuous, constant and always effective communication with each shuttle requires the correct control of this complex system, which is basically centralized. Therefore, it has been observed that this scheme is specifically relevant when the shuttle is passive, that is, it is not powered, has no on-board processing and logic capabilities; one should consider that, for example, instead of driving the shuttle Multiple trucks have onboard magnets, that is to say, depending on the command attraction and/or push given to the track. In particular, it is known that coordination takes place depending on the position of each shuttle and the interaction between the coil and a single shuttle, in order to ensure independent tasks, that is to say, it is difficult to insulate from other shuttles. For this purpose, one should remember some of the electromagnetic interference phenomena between adjacent shuttle cars in these integrated systems or even pass the positioning control problem between the independent segment tracks.
其次,已經觀察到的是,像D1-4中的集成系統是非常剛性,也即是說,不太通用,尤其它們不適合於鉸接式構造;實際上,本領域的操作員知道,利用選擇性地供給線圈製造所述軌道是複雜以及昂貴的,具有精度定位的小尺寸為梭車的前方向性。尤其,在曲線中的操作困難是顯著的,這是由於線圈相對於梭車的定位是有問題的;因此,這種系統允許受限制的簡單的路徑。現在,在現代連續生產工業線中利用許多具有不同功能的自動化工作站存在大量生產;在這些情形下,由於所有上述提到的劣勢,類似操縱系統不太靈活並且受限制,也難以利用軌道開關製造複雜的可變路徑。Secondly, it has been observed that the integrated systems like D1-4 are very rigid, that is, they are not very versatile, especially they are not suitable for articulated construction; in fact, operators in the field know that It is complicated and expensive to manufacture the track by supplying coils, and the small size with precise positioning is the forward directionality of the shuttle. In particular, the operational difficulties in the curve are significant, because the positioning of the coil relative to the shuttle is problematic; therefore, such a system allows limited simple paths. Nowadays, in modern continuous production industrial lines, there are a lot of productions using many automated workstations with different functions; in these cases, due to all the disadvantages mentioned above, similar operating systems are not very flexible and limited, and it is also difficult to manufacture with rail switches Complex variable path.
第三,已經觀察到的是,工業操縱系統在被動軌道上具有獨立梭車,例如在D5中,依靠並入的蓄電池自我供能,特徵為尤其複雜以及昂貴的梭車難以協調,具有高水平磨損以及缺陷,還不易於重新裝載;而且,這種梭車的特徵為慣性以及重重量,這種參數對於整個操縱系統的持續時間和性能是重要的。還已經觀察到的是,以上描述的系統大致意味著高消耗以及低能量效率。因此,這些劣勢使得這種系統主要適合於在組件線中傳遞材料或者用於存儲,但是不太適合於自動化、間接以及同步精度機加工小尺寸半成品,例如發生在光伏電池以及電路板或者用於填充藥瓶和長頸細口瓶的情形。Third, it has been observed that the industrial operating system has an independent shuttle on the passive track, for example in the D5, which relies on the incorporated battery to self-power, characterized by a particularly complex and expensive shuttle that is difficult to coordinate and has a high level Wear and defects are not easy to reload; moreover, this shuttle is characterized by inertia and heavy weight. This parameter is important for the duration and performance of the entire control system. It has also been observed that the system described above generally means high consumption and low energy efficiency. Therefore, these disadvantages make this system mainly suitable for transferring materials in component lines or for storage, but it is not suitable for automated, indirect and synchronous precision machining of small-sized semi-finished products, such as occurs in photovoltaic cells and circuit boards or for The case of filling medicine bottles and long-necked flasks.
第四,已經觀察到的是,所述集成方案,例如在D1-5中,佔據較寬空間並且還提供相當大的增加通過每次新採用裝置使用的空間。此外,公知的是,這種方案意味著高投資和維修成本,以及涉及由工廠佔據的空間的高成本。Fourth, it has been observed that the integrated solution, for example in D1-5, occupies a wider space and also provides a considerable increase in the space used by each newly adopted device. In addition, it is known that such a solution implies high investment and maintenance costs, as well as high costs involving the space occupied by the factory.
第五,已經觀察到的是,LSM移動線圈驅動方案,也即是說,在軌道上具有永磁體以及在梭車上具有線圈,例如在D6中,極其可靠的以及精確的定位,但是,它們僅在簡單構造的情形下易於實施,通常是絕緣類型,其中,軌道是短的以及直線的,並且其中,一個單個梭車或者最多一組梭車均質同步滑動;在這種情形下,所述梭車前後平移,支撐托盤或者用於自動化機加工的工具,例如發生在組裝線或者數控作業中心,同時,工具的軸向移動或者精確地平移要機加工的元件,不妨礙其他車輛或者任務。這種方案具有不同的實施方式,其中,後續路徑是長的鉸接式或者曲線式的,並且其中,多個梭車必須同時執行相對於彼此獨立但協調的任務,也即是說,當操縱系統不是絕緣類型而是集成類型時,在梭車和/或外部器件之中還具有若干可變和多樣化相互作用;例如,人們應該考慮自動化連續生產線,其中,多個梭車在非同步的工作站之間平移,以降低時間周期和/或由工廠佔據的空間。Fifth, what has been observed is that the LSM mobile coil drive scheme, that is to say, with permanent magnets on the track and coils on the shuttle, for example in the D6, is extremely reliable and precise positioning, but they It is easy to implement only in the case of a simple construction, usually of the insulated type, where the track is short and straight, and where a single shuttle car or a maximum of a group of shuttle cars slides homogeneously and synchronously; in this case, the The shuttle moves back and forth, supporting pallets or tools for automated machining, such as occurs on the assembly line or CNC operation center. At the same time, the axial movement of the tool or the precise translation of the components to be machined does not hinder other vehicles or tasks. This solution has different implementations, where the subsequent path is long articulated or curved, and where multiple shuttles must simultaneously perform independent but coordinated tasks relative to each other, that is, when operating the system When not an insulated type but an integrated type, there are several variable and diversified interactions between shuttles and/or external devices; for example, one should consider automated continuous production lines, where multiple shuttles are in asynchronous workstations Pan between to reduce the time period and/or the space occupied by the plant.
更詳細地,關於控制系統,還已經觀察到的是,在絕緣LSM構造中不需要集成複雜的傳感器,並且對信息的加工也大致受限制。實際上,本領域的操作員知道,絕緣LSM系統能夠依靠常規使用的可編程邏輯控制單元易於管理;另一方面,已經觀察到的是,常規使用的控制方案在市場上可獲得為硬件和軟件,不合適於複雜LSM驅動應用的情形,也即是說,在集成工業操縱系統中,在相同軌道上多個梭車同時執行任務,任務相對於彼此是多樣性的,尤其任務以獨立但協調方式相互作用。In more detail, regarding the control system, it has also been observed that no complicated sensors need to be integrated in the insulated LSM configuration, and the processing of information is also generally limited. In fact, operators in the field know that insulated LSM systems can be easily managed by conventionally used programmable logic control units; on the other hand, it has been observed that conventionally used control schemes are available in the market as hardware and software , Not suitable for complex LSM drive applications, that is to say, in an integrated industrial control system, multiple shuttles on the same track perform tasks simultaneously, the tasks are diverse with respect to each other, especially the tasks are independent but coordinated Way interaction.
再次,關於絕緣構造,基於LSM驅動,具有設置有移動線圈的梭車,已經觀察到,分別根據短路徑,梭車能夠經由線纜易於連接以便能夠使其移動而不妨礙,正確地供給能量至線圈並且同時核查反饋。在這些情形下,線纜的可靠性是重要的,這是由於能量、電流流動和持續時間相對於彎折應力直接取決於段以及導體質量;實際上,有時發生的是,線纜被大大限制於允許的最大加速,它們還引起斷裂或者故障。為了避免這種問題,因而使用特殊高性能的線纜,稱為高靈活較長壽命,比常規方案更加昂貴。Again, regarding the insulation structure, based on the LSM drive, a shuttle car provided with a moving coil, it has been observed that according to short paths, respectively, the shuttle car can be easily connected via a cable so that it can be moved without hindrance, and the energy is correctly supplied to Coil and check feedback at the same time. In these situations, the reliability of the cable is important because the energy, current flow and duration relative to the bending stress directly depend on the segment and conductor quality; in fact, sometimes it happens that the cable is greatly Limited to the maximum acceleration allowed, they also cause breakage or failure. In order to avoid this problem, special high-performance cables are used, called high flexibility and long life, which is more expensive than conventional solutions.
因此,本領域的公司需要找到一種方案,其相對於現存的方案是更有效以及有利的;本發明的目的還在於解決描述的缺陷。Therefore, companies in the field need to find a solution that is more effective and advantageous than existing solutions; the purpose of the present invention is also to solve the described deficiencies.
有鑒於此,吾等發明人乃潛心進一步研究,並著手進行研發及改良,期以一較佳設作以解決上述問題,且在經過不斷試驗及修改後而有本發明之問世。In view of this, our inventors are devoted to further research and embarked on research and development and improvement, with a better design to solve the above problems, and after continuous testing and modification, the invention came out.
此目的以及其他目的根據隨附權利要求中的特徵通過本發明實現,依靠用於工業自動化的創造性操縱系統(1)解決了上述提到的問題,具有LSM活動線圈驅動類型的集成操縱系統(1),具有獨立的協調梭車,其中,具有內置線圈(102)的多個梭車(10)以獨立但協調的方式相對於彼此同步和/或不同步地作用在具有永磁體(201)的軌道(20)上,具有高速度水平,精度定位以及使用通用性;本發明尤其適合於自動化機加工扁平半成品,諸如光伏電池、印刷電路以及其他電路板或者用於傳輸以及填充容器,比如藥瓶或者長頸細口瓶。This and other objects are achieved by the present invention according to the features in the appended claims. The above-mentioned problems are solved by means of an innovative operating system (1) for industrial automation, an integrated operating system (1) with an LSM active coil drive type (1 ), with an independent coordinated shuttle, in which multiple shuttles (10) with built-in coils (102) act on each other with permanent magnets (201) synchronously and/or asynchronously relative to each other in an independent but coordinated manner On the track (20), it has a high speed level, precision positioning and versatility of use; the invention is particularly suitable for automated machining of flat semi-finished products, such as photovoltaic cells, printed circuits and other circuit boards or for the transmission and filling of containers, such as medicine bottles Or a long-necked bottle.
目的purpose
以該方式,通過考慮允許達到可考慮技術進展的效果的很大創造性貢獻,實現了一些目的以及優勢實現,解決了指出的主要缺點。In this way, by considering a large creative contribution that allows the effect of considering technological progress to be achieved, some objectives and advantages are achieved, and the main shortcomings pointed out are solved.
本發明的第一目的是,創建創造性的操縱系統,其是工業上有利的以及耐用的,利用梭車傳輸,梭車在潛在可變路徑上相對於其他梭車以及所述梭車所停的站以同步和/或不同步方式移動以用於根據可變程序以及序列執行操作,具有單個獨立可變的和/或相互連接的任務。尤其,其是通用的簡單的構造,是模塊化的及緊湊的,還易於集成在已採用的系統中。依靠簡單的軟件控制能夠實時修改每個任務,而不改變或者修改機械部件;由於不存在常規功率供給以及通信布線,所以梭車自由地操作,沒有移動限制。此外,所需輸入/輸出設備的數量顯著降低;系統模擬器易於集成不同的功能和不同的部件。所述系統具有可變構造,因為其是基於這樣的技術,該技術可精確地適應不同的生產要求,具有任意數量的梭車以及軌道路徑。The first object of the present invention is to create an innovative control system that is industrially advantageous and durable, using shuttle transmission, which is on a potentially variable path relative to other shuttles and where the shuttle is parked Stations move in a synchronized and/or asynchronous manner for performing operations according to variable programs and sequences, with a single independently variable and/or interconnected task. In particular, it is a versatile, simple structure, is modular and compact, and is also easy to integrate into the already adopted system. Relying on simple software control can modify each task in real time without changing or modifying mechanical components; since there is no conventional power supply and communication wiring, the shuttle operates freely and has no movement restrictions. In addition, the number of required input/output devices is significantly reduced; the system simulator is easy to integrate different functions and different components. The system has a variable configuration because it is based on a technology that can accurately adapt to different production requirements, with any number of shuttles and track paths.
本發明的第二目的是,增加使用的靈活性。尤其,該系統允許傳輸以及精確地定位寬範圍重量和尺寸的負荷,還允許同時操縱不同的負荷。該系統易於允許添加或者移除電動機,或者組合多個梭車,將梭車在相同任務中協調,這取決於不同的生產要求,諸如例如增加承載能力。而且,能夠易於調節獨立的或者功能上成組的單個梭車的速度和加速度,因此可以隔開可變的間距。因此,取決於計劃的作業序列,所述系統允許相對於彼此以同步或不同步方式操縱單個梭車,作業序列因而能夠是可變的。基本上,本發明提出了通用系統,其中以主動或者半主動方式分別控制每個電動機,還能夠易於集成到不同的已有設備或者系統中,因而優化整體效率。The second object of the present invention is to increase the flexibility of use. In particular, the system allows the transmission and precise positioning of loads of a wide range of weights and sizes, and also allows the simultaneous manipulation of different loads. The system easily allows the addition or removal of electric motors, or the combination of multiple shuttles to coordinate the shuttles in the same task, depending on different production requirements, such as, for example, increasing the carrying capacity. Moreover, the speed and acceleration of individual shuttles that are independent or functionally grouped can be easily adjusted, so that variable spacing can be separated. Therefore, depending on the planned operating sequence, the system allows a single shuttle to be operated in a synchronized or unsynchronized manner with respect to each other, and the operating sequence can thus be variable. Basically, the present invention proposes a universal system in which each motor is controlled separately in an active or semi-active manner, and can also be easily integrated into different existing equipment or systems, thereby optimizing the overall efficiency.
本發明的第三目的是,顯著降低磨損和使用及維修承包。實際上,能夠觀察到的是,所使用的技術是基於電磁驅動,不需要使用周知會受到磨損以及故障的球再循環螺栓、齒輪、帶、齒條或者夾具。而且,由於高定位精度,無需補償任何不精確,另一方面,在常規傳輸方案中需要補償任何的不精確。例如,應該考慮由於負荷以及磨損引起的鏈條的伸長、齒帶的再拉伸或者在負荷變動期間的機械間隙。尤其,顯著降低了移動部件的數量;除了負荷,本發明提供了移動僅包括LSM電動機的移動部分的梭車。而且,能夠觀察到的是,相對於用於連續生產的傳統操縱系統,其降低了能量消耗,除了增加生產率,本發明還提供了更短的非活動時間,還減小了梭車的移動。考慮所有這些,因而降低了與操作有關的負擔和系統的日常大的維修;最終,能夠觀察到的是,主要部件能夠被徹底清潔和/或清洗,而無需移除它們。The third object of the present invention is to significantly reduce wear and use and maintenance contracting. In fact, it can be observed that the technology used is based on electromagnetic drive and does not require the use of ball recirculating bolts, gears, belts, racks or clamps that are known to be subject to wear and failure. Moreover, due to high positioning accuracy, there is no need to compensate for any inaccuracies. On the other hand, in the conventional transmission scheme, any inaccuracies need to be compensated. For example, the elongation of the chain due to load and wear, the re-stretching of the toothed belt, or the mechanical clearance during load fluctuations should be considered. In particular, the number of moving parts is significantly reduced; in addition to the load, the invention provides a shuttle that moves only the moving part of the LSM motor. Moreover, it can be observed that, compared to the conventional operating system for continuous production, it reduces energy consumption. In addition to increasing productivity, the present invention also provides shorter inactivity time and reduces shuttle movement. Considering all of this, the burden associated with operations and the daily major maintenance of the system are reduced; in the end, it can be observed that the main components can be thoroughly cleaned and/or washed without removing them.
本發明的第四目的是,增加生產速度;例如,不具有晃動以及具有最大定位精度,能夠達到速度高達4m/s以及更多,加速度高達m/s2以及更多。而且,相對於給定的運動規則、開始以及停止,沿著整個路徑能夠在任何一個站中執行同步操作。加速輪廓能夠是均勻的,也即是說,不具有晃動,使得還允許傳輸打開的液體。雖然有時操作周期包括對應於工作站的停止和再啟動,但是所述有利特性允許該系統有效確保作業流在任何情形下盡可能連續。實際上,在單個梭車上具有輔助控制軸線的可能性除了簡化對應於每個站的操作和裝備之外,還允許執行這樣的操作,例如製備、定方位、保持或者釋放,它們是獨立的但能夠協調以用於所傳輸的每個部件或者部件組相對於發生在單個站中的那些。以該方式,除了所述簡化,還降低了周期時間,結果,有利地增加了生產節奏,而其他因素保持不變。The fourth object of the present invention is to increase the production speed; for example, without shaking and with maximum positioning accuracy, it is possible to achieve speeds up to 4 m/s and more, and accelerations up to m/s2 and more. Moreover, with respect to a given motion rule, start and stop, synchronous operation can be performed in any station along the entire path. The acceleration profile can be uniform, that is to say without sloshing, so that the open liquid is also allowed to be transferred. Although sometimes the operation cycle includes stopping and restarting corresponding to the workstation, the advantageous characteristics allow the system to effectively ensure that the job flow is as continuous as possible in any situation. In fact, the possibility of having an auxiliary control axis on a single shuttle car not only simplifies the operation and equipment corresponding to each station, but also allows to perform such operations as preparation, orientation, hold or release, they are independent But each component or group of components that can be coordinated for transmission relative to those that occur in a single station. In this way, in addition to the simplification, the cycle time is reduced, and as a result, the production rhythm is advantageously increased, while other factors remain unchanged.
本發明的第五目的是,用於安裝整個設備,佔據的面積降低。使用通過本發明提供的LSM電動機是有效的以及有利的,就所涉及的該類型設備以及操縱系統而言能夠使工程進展;更從技術上來講,裝備的體積最大程度地被開發,因為向前以及返回路徑被使用,拐彎也被依靠獨立梭車用來傳輸主動材料。以該方式能夠降低與機器相關以及還與所佔據的面積有關的成本。此外,能夠觀察到的是,功率電子件、控制和測量基本驅動部的移動,控制輔助軸線以及內置傳感器能夠集成,以便能夠製造緊湊以及低成本的裝備。The fifth object of the present invention is to reduce the area occupied by the installation of the entire device. The use of the LSM motor provided by the present invention is effective and advantageous, as far as the type of equipment involved and the control system are concerned, it is possible to advance the project; more technically, the volume of the equipment is developed to the greatest extent because of the forward As well as the return path being used, turns are also relying on independent shuttles to transfer active materials. In this way, the costs associated with the machine and also the area occupied can be reduced. In addition, it can be observed that the power electronics, control and measurement of the movement of the basic drive, the control auxiliary axis and the built-in sensors can be integrated so that compact and low-cost equipment can be manufactured.
本發明的第六目的是,能夠快速以及靈活調整所加工的產品的形式。這種優勢在工業包裝領域是尤其重要的;實際上,在高生產設備,極其期望的是,容易進行形式的可能改變而不中斷循環,例如當填充容量改變時。還有利的是,這種改變能夠通過改變控制程序的參數快速進行;為了該目的,從先前測試推出的一個或多個經驗值能夠保存為在任何時間能夠被調用的一組參數,還與相同類型的應用可互換。以該方式,能夠在操作周期期間消除大多數的機械調節。The sixth object of the present invention is to be able to quickly and flexibly adjust the form of the processed product. This advantage is particularly important in the field of industrial packaging; in fact, in high production equipment, it is extremely desirable that it is easy to make possible changes in form without interrupting the cycle, for example when the filling capacity changes. It is also beneficial that this change can be made quickly by changing the parameters of the control program; for this purpose, one or more empirical values derived from the previous test can be saved as a set of parameters that can be called at any time, also the same as Types of applications are interchangeable. In this way, most mechanical adjustments can be eliminated during the operating cycle.
本發明的另一目的是,創建操縱系統具有改善的動態,在速度方面具有高性能,也即是說,高達4m/s和更多,具有高加速度,也即是說,高達1m/s2和更多,但是控制具有高精度,也即是說,高達1μm。快速信號處理和稱為快速以太網總線類型的大帶寬通信協議相對於公知系統允許在很大程度上改善在使用期間系統的響應和控制。例如,能夠在使用期間調節操作並且設定系統的參數,這取決於不同的填充水平;而且,定位延遲的監控了防止在機械故障的情形下損壞產品。而且,限制力和/或降低晃動允許在循環的每個階段以及在路徑的不同點以優化方式管理產品的機加工和/或傳遞。Another object of the invention is to create an operating system with improved dynamics, high performance in terms of speed, that is to say up to 4m/s and more, with high acceleration, that is to say up to 1m/s2 and More, but the control has high precision, that is, up to 1 μm. Fast signal processing and a large-bandwidth communication protocol called the Fast Ethernet bus type allow a large improvement in the response and control of the system during use relative to known systems. For example, it is possible to adjust the operation and set the parameters of the system during use, depending on the different filling levels; moreover, the monitoring of the positioning delay prevents damage to the product in the event of a mechanical failure. Moreover, limiting the force and/or reducing sloshing allows the machining and/or delivery of products to be managed in an optimized manner at each stage of the cycle and at different points in the path.
本發明的進一步目的是,增加安全,降低體積;實際上,單個梭車的較小質量潛在地不太危險。不同於具有獨立梭車的LSM系統,在常規機械系統中,例如通常存在通過集中電動機單元操作傳送帶,因此所需的總力等於各個力之和;所述總力因此還在機械故障或錯誤或在人工干涉的情況下沿著傳送帶的整個長度作用。這種傳統系統通常需要功率傳遞構件,如齒輪或者變速齒輪或者皮帶以及軸,它們作為整體在寬空間內移動,即使進展中的操作實際上是局部類型;這產生的是,操作員以及維修操作員或者控制器暴露的風險,因此,LSM驅動系統越大,可顯著最小化這種風險,因為每個負荷被相應的梭車致動。在與障礙物可能衝擊的情況下,涉及一個單個梭車。最終,本發明提供的LSM系統具有裝備有內置傳感器以及各邏輯的智能梭車,但是它們協調,因此,進一步降低了錯誤的可能性以及增加了所述安全。A further object of the invention is to increase safety and reduce volume; in fact, the smaller mass of a single shuttle is potentially less dangerous. Unlike LSM systems with independent shuttles, in conventional mechanical systems, for example, there is usually a conveyor belt operated by a centralized motor unit, so the total force required is equal to the sum of the individual forces; the total force is therefore still in mechanical failure or error or In the case of manual interference, it acts along the entire length of the conveyor belt. This traditional system usually requires power transmission members, such as gears or transmission gears or belts and shafts, which move as a whole in a wide space, even if the operation in progress is actually a partial type; this results in operator and maintenance operations The risk of personnel or controller exposure, therefore, the larger the LSM drive system, the risk can be significantly minimized because each load is actuated by the corresponding shuttle. In the case of possible impact with obstacles, a single shuttle car is involved. Finally, the LSM system provided by the present invention has an intelligent shuttle equipped with built-in sensors and logics, but they are coordinated, therefore, the possibility of errors is further reduced and the safety is increased.
本發明的另一目的是,提供使用有效及便宜的自動控制系統的可能性。在該具體情況下,為了實施具有高生產率、因而具有降低的循環時間的操縱以及機加工系統,通常分類為密集大型使用計算機視頻用於檢查,公知為自動化光學檢查或者縮寫為AOI。典型地,當期望有高分辨率時,提供了具有矩陣照相機的技術,這些照相機裝備有良好光學分辨率,但是是貴的以及需要被控制的對象是固定的,在照相機的透鏡的租用範圍內不能有運動。如本發明,具有獨立的協調梭車的該系統能夠在路徑的指定段施加運動規則,使得能夠使用相當便宜的線掃描照相機,所傳輸的一個或多個對象的總體圖像被重新構建,相對於橫向以及垂直於梭車的運動軸線的照相機的掃描光束的頻率進行平移軸線的內插。以該方式可獲得高控制精度,具有顯著低的成本,無需停止,具有高生產率。Another object of the invention is to provide the possibility of using an effective and inexpensive automatic control system. In this specific case, in order to implement a manipulation and machining system with high productivity and thus reduced cycle time, it is generally classified as intensive large-scale use of computer video for inspection, known as automated optical inspection or abbreviated as AOI. Typically, when high resolution is desired, technology with matrix cameras is provided, these cameras are equipped with good optical resolution, but are expensive and the objects to be controlled are fixed, within the scope of the camera lens rental There can be no exercise. According to the present invention, the system with an independent coordinated shuttle can apply motion rules at specified sections of the path, enabling the use of a relatively inexpensive line scan camera, the overall image of the transmitted object or objects is reconstructed, relative The translation axis is interpolated at the frequency of the scanning beam of the camera transversely and perpendicular to the axis of movement of the shuttle. In this way, high control accuracy can be obtained, with significantly lower cost, without stopping, and with high productivity.
本發明的額外目的是,創建模塊化類型的結構緊湊以及輕質的操縱系統,具有顯著低的工業成本。An additional object of the present invention is to create a modular type of compact and lightweight operating system with significantly lower industrial costs.
借助於隨附示意附圖,從一些優選實施例的以下具體描述中這些和其他優勢將明顯,附圖的實施細節不認為是限制性的,而僅僅是示意性的。With the aid of the accompanying schematic drawings, these and other advantages will be apparent from the following detailed description of some preferred embodiments. The implementation details of the drawings are not to be considered limiting, but merely illustrative.
關於吾等發明人之技術手段,茲舉數種較佳實施例配合圖式於下文進行詳細說明,俾供 鈞上深入瞭解並認同本發明。Regarding the technical means of our inventors, a few preferred embodiments and drawings are described in detail below, in order to provide a deep understanding and recognition of the present invention.
還參考圖(圖1-9),本發明實施的方案是,活動線圈類型的線性同步電動機LSM驅動,以創建工業操縱用的有利的模塊化集成系統(1),該系統具有梭車;尤其,獲得的所述系統(1)是這樣的,其中多個梭車(10)是智能類型,也即是說,梭車上設置有能夠處理的邏輯,根據從內置光學傳感器或者電磁傳感器所接收的信號或者經由天線所接收的信號,梭車在相同軌道(20)上以獨立但協調、同步和/或不同步的方式平移。每個梭車(10)主要包括兩個部分:Referring also to the drawings (FIGS. 1-9), the solution of the present invention is that a linear synchronous motor LSM of the movable coil type is driven to create an advantageous modular integrated system (1) for industrial operation, which system has a shuttle; in particular; The obtained system (1) is such that multiple shuttles (10) are of an intelligent type, that is to say, the shuttle is equipped with logic that can be processed, according to the received from the built-in optical sensor or electromagnetic sensor Signals or signals received via the antenna, the shuttle moves on the same track (20) in an independent but coordinated, synchronized and/or unsynchronized manner. Each shuttle (10) mainly includes two parts:
-下部分是自推式滑動靴(11),其通常稱為滑動靴或者移動器,充當以可移除方式約束至所述軌道(20)的滑動件,並且包括用於執行前進移動以及根據輔助作業軸線實現輔助驅動的所有主動器件,還具有相應的控制以及通信器件;-The lower part is a self-propelled sliding shoe (11), which is commonly referred to as a sliding shoe or mover, acts as a slider that is removably constrained to the track (20), and includes Auxiliary work axis realizes all active devices for auxiliary driving, and also has corresponding control and communication devices;
-上部分是裝備器件(12),通常還公知為托盤,用於致動輔助作業驅動,其被滑動靴(11)以可移除方式支撐和/或約束,使得根據提供的作業處理來支撐和/或傳輸產品(圖1-2)。-The upper part is equipped with devices (12), also commonly known as trays, for actuating auxiliary work drives, which are supported and/or constrained in a removable manner by sliding shoes (11) so that they are supported according to the provided job processing And/or transmission products (Figure 1-2).
每個滑動靴(11)是自主以及獨立的,包括內置線圈(102),為了電磁驅動的目的對所述線圈(102)選擇性地供電以及控制,還具有其邏輯控制單元(103)、傳感器以及用於接收並且傳遞信息的器件;因此,為了功率供給以及數據傳遞,每個梭車是無線連接的(圖3-5)。Each sliding shoe (11) is autonomous and independent, including a built-in coil (102), which is selectively powered and controlled for the purpose of electromagnetic drive, and has its logic control unit (103) and sensors And devices for receiving and transmitting information; therefore, for power supply and data transmission, each shuttle is wirelessly connected (Figure 3-5).
另一方面,軌道(20)包含沿著其整個長度的連續的一系列固定永磁體(201),還包含編碼器類型的絕對參考器件,絕對參考器件能夠由每個梭車(10、110)和中央服務器(2)同時使用,中央服務器(2)充當系統(1、10、103)的控制以及支撐的集中邏輯單元,為了瞬時本地化以及調整的目的(圖5-圖7)。為了該目的,本發明提供了一種智能傳感器系統,其在本地水平和全球水平上相互作用,包括讀取器、安裝在梭車(10、11)上的近距離傳感器以及以連續方式沿著整個路徑固定在軌道上的線性位置感應器或者線性編碼器組成,如固定以及優選絕對參考。以該方式,可以同時實現每個滑動靴(11)的定位的集中控制或者本地控制,還允許在系統(1)中主動的每個梭車(10)知道其他梭車的位置;這種方案在維修、機器停工期或者系統再設定的情形下尤其有用,克服了具有增量型編碼器的系統的公知問題,具有增量型編碼器的系統基本旨在檢測從一個點到另一點的相對定位。此外,軌道(20)能夠有利地包含用於梭車的功率供給和/或用於數據傳遞的器件。On the other hand, the track (20) contains a continuous series of fixed permanent magnets (201) along its entire length, and also contains an absolute reference device of the encoder type, which can be controlled by each shuttle (10, 110) Used together with the central server (2), the central server (2) acts as a centralized logic unit for the control and support of the systems (1, 10, 103), for the purpose of instantaneous localization and adjustment (Figures 5-7). For this purpose, the present invention provides an intelligent sensor system that interacts at a local level and a global level, including a reader, a proximity sensor mounted on a shuttle (10, 11), and a continuous The linear position sensor or linear encoder whose path is fixed on the track is composed of a fixed and preferably absolute reference. In this way, centralized or local control of the positioning of each sliding shoe (11) can be achieved simultaneously, and each shuttle (10) actively in the system (1) is allowed to know the position of other shuttles; this solution It is especially useful in the case of maintenance, machine downtime, or system resetting. It overcomes the well-known problems of systems with incremental encoders. Systems with incremental encoders are basically designed to detect the relative from one point to another. Positioning. Furthermore, the rail (20) can advantageously contain power supply for the shuttle and/or devices for data transfer.
能夠觀察到的是,所述梭車(10)基本上是智能的自主驅動電動機模塊,也即是說,是主動類型,具有內置電磁線圈(102)和所有用於在集成系統(1)中操作的所需功能,也即是說,僅需要功率供給和用於通信的連接。尤其,所述主動模塊不包含移動部分,不會受到磨損,其基本是由全集成線性同步電動機形成的機電一體化單元,也即是說,包括其自身的邏輯控制單元以及用於精確檢測位置的絕對參考類型的一些器件。因此,內置供電線圈的布置以及梭車的結構構造允許實現易於使用的操縱單元,容易移除或者添加,這允許優化控制電子器件以及降低組裝成本。It can be observed that the shuttle (10) is basically an intelligent autonomous drive motor module, that is, it is an active type, with a built-in electromagnetic coil (102) and all used in the integrated system (1) The required functions for operation, that is to say, only power supply and connection for communication are required. In particular, the active module does not contain moving parts and is not subject to wear, and it is basically an electromechanical integration unit formed by a fully integrated linear synchronous motor, that is to say, including its own logic control unit and accurate position detection Some devices of the absolute reference type. Therefore, the arrangement of the built-in power supply coil and the structural construction of the shuttle car allow an easy-to-use manipulation unit to be easily removed or added, which allows optimized control electronics and reduced assembly costs.
主動模塊的平移的測量是自主的,每個梭車設置有沿著整個軌道具有唯一絕對參考的其自身檢測器,如永磁體,也即是說,所述軌道是被動類型。因此,為了在系統中添加或者替換每個梭車,能夠清楚地看到優勢是,無需調節或者校準或者添加任何設備或者裝備,以為了控制、瞬時檢測梭車的位置還有其他連接的自動梭車的位置。以該方式,該系統始終被校準,可自動補償容差。而且,能夠觀察到的是,一旦每個梭車的任務已經被編程在其邏輯單元上,該系統是自主的,無需每個功能的一般控制板,而是僅需集中服務器,每個梭車向集中服務器發送信息以及從該集中服務器接收信息。每個梭車因而是輕質類型的,也即是說,小於5000g,由軌道以及相應的支撐件構成的承載結構也是輕質的,具有緊湊尺寸。最後,易於通過串聯地接合軌道的直段和/或彎曲段和/或翻轉器件和/或軌道開關來構成梭車的路徑。The measurement of the translation of the active module is autonomous, and each shuttle is provided with its own detector with a unique absolute reference along the entire track, such as a permanent magnet, that is, the track is of the passive type. Therefore, in order to add or replace each shuttle in the system, we can clearly see the advantage that there is no need to adjust or calibrate or add any equipment or equipment in order to control and instantaneously detect the position of the shuttle and other connected automatic shuttles The location of the car. In this way, the system is always calibrated and can automatically compensate for tolerances. Moreover, it can be observed that once the task of each shuttle has been programmed on its logic unit, the system is autonomous and does not require a general control board for each function, but only a centralized server, each shuttle Send information to and receive information from the centralized server. Each shuttle is therefore of a light weight type, that is to say, less than 5000g, the load-bearing structure formed by the track and the corresponding support is also light-weight and has a compact size. Finally, it is easy to form the path of the shuttle by joining the straight and/or curved sections of the track and/or the turning device and/or the track switch in series.
軌道包括沿著其整個操作長度的永磁體,由於優化幾何形狀和表面優選有高阻力陽極鋁,因而其以優化方式適應所述梭車(10)的構造,該表面收納用於收納在梭車上的輥或者球軸承的滑動線性引導件,以及使得能快速移動以及不會磨損;以該方式潤滑無需提供以及不是必須的。單個梭車(10)在軌道(20)中的插入或者移除尤其在軌道的主要平移段或者輔助轉軌及維修段是容易的;平移移動是快速但平穩的,也即是說,沒有突然的移動,容差是最小,接觸的元件是預裝載的。更詳細地,滑動靴(11)接合軌道(20)以及在軌道(20)中平移,由於引導件以及預裝載輥或者球大致充當空載軸承;以該方式可最小化磨損,因為負荷以及摩擦是最小的。電動機具有內置線圈以及軌道上的固定磁體,不具有接觸部分或者移動部分,因此磨損程度是零。The track includes permanent magnets along its entire operating length. Due to the optimized geometry and the surface preferably has high-resistance anode aluminum, it adapts to the construction of the shuttle (10) in an optimized manner. The surface is stored for storage in the shuttle Sliding linear guides on the upper rollers or ball bearings, as well as enabling fast movement and no wear; lubrication in this way need not be provided and is not necessary. The insertion or removal of a single shuttle (10) in the track (20) is easy, especially in the main translation section or auxiliary transition and maintenance section of the track; the translation movement is fast but smooth, that is, there is no sudden Moving, the tolerance is minimal, and the contacted components are pre-loaded. In more detail, the sliding shoe (11) engages the track (20) and translates in the track (20), since the guide and the pre-loading roller or ball generally act as an unloaded bearing; in this way wear can be minimized because of load and friction Is the smallest. The motor has a built-in coil and a fixed magnet on the track, and has no contact or moving parts, so the degree of wear is zero.
梭車(10)包含線圈(102),線圈(102)被選擇性地供電,使得生成推進力,從軌道(20)吸收通過永磁體(201)提供的吸引力,尤其最大化平行於所述力的行進方向的部件,並且盡可能多地補償其他部件,因而具有最小化負荷、摩擦以及旋轉元件的磨損(圖7d)。能夠觀察到的是,還在路徑的彎曲部分中,這種方案具有高動態移動而不生成熱量。本發明尤其提供了:The shuttle (10) contains a coil (102), which is selectively powered so that a propulsive force is generated, absorbing the attractive force provided by the permanent magnet (201) from the track (20), especially maximized parallel to the The force travels in the direction of the component, and compensates for as many other components as possible, thus minimizing load, friction, and wear of the rotating elements (Figure 7d). It can be observed that also in the curved part of the path, this scheme has a highly dynamic movement without generating heat. In particular, the invention provides:
-梭車沿著整個路徑沿兩個平移方向移動的最大靈活性;梭車能夠制動、加速、定位其本身,或者當靜止以及在運動期間施加力。其能夠獨立移動,或者像每個線性電動機,其能夠與其他電動機同步,始終不具有線纜,否則會降低其移動性。在路徑是環路類型的情況下,梭車能夠遵循產品流連續循環,如果需要的話具有反向流動部分以利於機加工,縮短周期時間,降低工作站的數量或者使得裝置更緊湊;-Maximum flexibility for the shuttle to move in two translation directions along the entire path; the shuttle can brake, accelerate, position itself, or apply force when stationary and during movement. It can move independently, or like every linear motor, it can be synchronized with other motors, always without cables, otherwise it will reduce its mobility. In the case where the path is a loop type, the shuttle can follow the continuous flow of product flow, and if necessary, have a reverse flow part to facilitate machining, shorten the cycle time, reduce the number of workstations or make the device more compact;
-多個梭車同時移動的最大靈活性;它們能夠獨立於彼此平移,在任何情形下所有涉及絕對位置感應器或者編碼器。而且,它們能夠相對於彼此定位它們自身,還以自動方式防止碰撞,或者它們能夠成組地以同步方式移動。這種方案靠近工作站尤其有用,其中取決於具體作業處理或者控制,一些梭車構成的組能夠一起轉移、以預定速度停止在一站處或者經過一站,然後根據其自身任務以獨立方式進行處理或者重複所述操作多次;因此,顯然的是,能夠動態地改變每組的尺寸,所涉及的梭車的數量和間距;;-Maximum flexibility for multiple shuttles to move simultaneously; they can translate independently of each other, in any case all involving absolute position sensors or encoders. Moreover, they can position themselves relative to each other and also prevent collisions in an automated manner, or they can move in a synchronized manner in groups. This approach is particularly useful near workstations, where depending on the specific job processing or control, groups of shuttles can be transferred together, stopped at a stop at a predetermined speed or after a stop, and then processed in an independent manner according to their own tasks Or repeat the operation many times; therefore, it is obvious that the size of each group, the number and spacing of shuttles involved can be changed dynamically;
-該系統不限制路徑的構造以及梭車的數量,使得以優化方式適應不同的應用要求;基本上,該系統的擴展的唯一限制是,中央服務器的處理能力的固有性;-The system does not limit the structure of the path and the number of shuttles, so that it can adapt to different application requirements in an optimized manner; basically, the only limitation of the expansion of the system is the inherent nature of the processing capacity of the central server;
-恒定的均勻力,還在一個在一個後面的站之間同步操作;例如,能夠成對操縱其保持的大型產品(如柱頭(necking)),或者根據特定操作條件提供負荷減輕或者反向;-Constant uniform force, also operating synchronously between one of the following stations; for example, the large products (such as necking) that can be operated in pairs, or providing load reduction or reverse according to specific operating conditions;
-加速以及離心力能夠有利地被限制,例如在開放容器中運輸液體時發生;-Acceleration and centrifugal forces can be advantageously limited, for example when transporting liquids in open containers;
-依靠滑動靴上的一個或多個輔助控制軸線,能夠有利地執行控制滑動靴(11)或者移動器所運輸的托盤(12)的平面的可變傾斜,一個或多個輔助控制軸線根據滑動靴本身的運動規則被同步化。-Depending on one or more auxiliary control axes on the sliding shoe, it can be advantageously performed to control the variable inclination of the plane of the sliding shoe (11) or the pallet (12) transported by the mover, according to the sliding The movement rules of the boots themselves are synchronized.
關於所述梭車(10)的更細節內容,內置地包括以下器件:For more details about the shuttle (10), the following devices are built-in:
-用於從所述軌道(20)無線地接收功率供給至活動線圈(102)的器件,例如利用電刷(101、202)類型的滑動觸頭,或者不具有觸頭依靠電磁感應傳遞能量;-A device for wirelessly receiving power from the track (20) and supplying it to the movable coil (102), for example using a sliding contact of the brush (101, 202) type, or not having a contact to transfer energy by electromagnetic induction;
-邏輯控制單元(103),用於沿著所述軌道的軸線以及對於整個路徑管理基本移動或者運動控制;-A logic control unit (103) for managing basic movement or motion control along the axis of the track and for the entire path;
-驅動器件(104)或者驅動器單元,用於管理沿著控制軸線與作業處理相關的進一步相關於基本移動的驅動,例如驅動抓握器或者提取器件;-A drive device (104) or a drive unit for managing drives along the control axis that are further related to basic movements, such as driving a gripper or an extraction device;
-用於為了作業處理或者保持的目的製造以及存儲壓力或者真空的器件,例如具有管的真空泵(105),或者具有文丘裏設備的泵;-Devices used to manufacture and store pressure or vacuum for the purpose of job handling or maintenance, such as vacuum pumps (105) with tubes, or pumps with Venturi equipment;
-內置電路板,用於管理通信,具有用於軟件更新和/或用於控制診斷的訪問端口;-Built-in circuit board for management communication, with access port for software update and/or control diagnosis;
-用於無線通信的天線,例如用於更新數據和/或任務和/或位置;-Antennas for wireless communication, for example for updating data and/or tasks and/or positions;
-碰撞傳感器器件,用於防止梭車沿兩方向的碰撞;-Collision sensor device, used to prevent the collision of shuttle car in two directions;
-感應器器件,具有用於所述軌道中的固定、連續以及絕對參考的移動讀取器類型的位置傳感器(110),或者絕對編碼器,用於位置的微測控制;-A sensor device with a position sensor (110) of the mobile reader type for fixed, continuous and absolute reference in the track, or an absolute encoder for micro-measurement control of the position;
-用於近距離通信的器件,諸如光學類型,具有高傳遞速度,例如在精確定位給定位置的情況下,其有利的是不等待常規中央無線傳遞系統的響應;-Devices used for short-range communication, such as optical types, have a high transmission speed, for example, in the case of accurately positioning a given position, it is advantageous not to wait for the response of a conventional central wireless transmission system;
-裝備器件(12),用於產品(諸如托盤)的機加工、保持以及穩定傳輸,其被保持以及以微測精度被定位。所述托盤的釋放能夠當發生給定條件時由梭車命令,或者由外部控制系統或者服務器命令。-Equipping devices (12) for machining, holding and stable transfer of products (such as pallets), which are held and positioned with micro-measurement accuracy. The release of the tray can be commanded by the shuttle when a given condition occurs, or by an external control system or server.
尤其,提供的是,所述器件是用於執行具體操作的裝備類型(12),為了該目的包括例如:In particular, it is provided that the device is a type of equipment (12) for performing specific operations, and for this purpose includes, for example:
-吸杯或者對應於用於真空的導管製造的孔,為了保持半成品產品或者成品產品的目的,-Suction cups or holes corresponding to the ducts used for vacuum, for the purpose of holding semi-finished products or finished products,
-可選的抓握器;-Optional gripper;
-提取器件;-Extract the device;
-用於光學讀取的參考,為了識別的目的,諸如條形碼;-References for optical reading, for identification purposes, such as barcodes;
-用於光學讀取的參考,為了將作業單元定位在梭車所停的站的目的;-A reference for optical reading, for the purpose of positioning the operating unit at the station where the shuttle stops;
-定心元件以及角度參考,用於外部器件的拾取;-Centering element and angle reference for picking up external devices;
-通過推車的托盤的釋放系統,對應於外部器件,諸如工作站或者自動托盤替換站。-The release system of the trays through the cart corresponds to external devices such as workstations or automatic tray replacement stations.
更詳細地,軌道(20)包括:In more detail, the track (20) includes:
-功率供給器件,其具有將電功率傳遞至移動梭車的固定線,以兩個可替換方式:通過觸頭(202)利用電刷(101)類型的器件(圖3-5),或者不具有觸頭,帶電磁感應器件,代替電刷,在梭車上存在一些接收器(圖9h);-Power supply device, which has a fixed wire that transfers electric power to the moving shuttle, in two alternative ways: using a brush (101) type device (Figure 3-5) through the contact (202), or not having Contacts, with electromagnetic induction devices, instead of brushes, there are some receivers on the shuttle (Figure 9h);
-固定永磁體(201),用於連結(concatenate)所述梭車上的所述線圈的線性電動機的磁通量;-A fixed permanent magnet (201) used to concatenate the magnetic flux of the linear motor of the coil on the shuttle;
-編碼器類型的固定磁體線,用於向所述梭車上的位置傳感器提供絕對參考;;-A fixed magnet wire of the encoder type, used to provide an absolute reference to the position sensor on the shuttle;
-信號線,用於移動梭車之間的數據以及通信傳遞。-Signal line, used to transfer data and communication between shuttle cars.
這種集成系統(1)允許多個路徑構造:This integrated system (1) allows multiple path configurations:
-依靠開關的固定路徑或者可變路徑,軌道的簡化性質允許相對於常規方案具有供給線圈,不會允許其或者以任何方式限制其。例如,其適合於頂部/底部類型的線性構造,具有橫向翻轉,簡單聯接或者成對聯接,或者用於呈回路形式的連續環路構造;-Depending on the fixed or variable path of the switch, the simplified nature of the track allows having a supply coil relative to conventional solutions, which will not allow it or limit it in any way. For example, it is suitable for top/bottom type linear construction, with lateral flip, simple coupling or paired coupling, or for continuous loop construction in the form of a loop;
-閉合式或開放式;-Closed or open;
-線性式、曲線式、或者組合式,組合式即包括線性式及彎曲式;-Linear, curvilinear, or combined, combined includes linear and curved;
-僅包括線性部分,通過所述梭車的轉移依靠平移或者翻轉和/或旋轉平臺彼此結合;-Only includes the linear part, the transfer by the shuttle car is combined with each other by translation or turning and/or rotating platform;
-沿著路徑存在操作或者控制站,所述操作或者控制站執行操作,相對於存在或者不存在所述梭車具有同步的可能性,或者當它們轉移時遵循給懂的運動規則。-There are operations or control stations along the path that perform operations, have the possibility of synchronization with respect to the presence or absence of the shuttles, or follow the given rules of movement when they are transferred.
根據本發明的系統(1)以可替換的或者組合的方式提供了所述軌道(20)呈垂直環路形式的線性緊湊構造(圖6-8),具有頂部-底部軌道以及梭車(10)的橫向翻轉,還提供了呈回路形式的簡單的水平環路構造(圖9a-h)。所述翻轉能夠用翻轉器件(205)發生:通過旋轉電動機依靠旨在翻轉整段軌道(206)的設備將空的梭車翻轉180°度(50c-d),整段包括引導件、磁體以及功率供給系統,其具有用於功率供給的控制和連續性的集電環。旋轉控制是用編碼器執行的,編碼器提供了高的定位精度,以便允許當旋轉已經完成時梭車(10)退出,使直線軌道(50b)的新段相對於前一個(50a)放置在較低水平,用於將梭車返回至初始裝載站。所述翻轉器件(205)還能夠進行局部旋轉例如90°度(50e),以使所述梭車(10)退出而進入軌道上旨在用於特定目的(諸如維修或者其他目的)的段(圖6),托盤提升裝置(304),為放置在邊上的外部裝置,與工作站一體,用作垂直滑塊,用於提升、釋放和/或傾斜托盤以進行印刷,同時具有傾斜功能。The system (1) according to the present invention provides the linear compact construction of the track (20) in the form of a vertical loop (Figure 6-8) in an alternative or combination manner, with a top-bottom track and a shuttle (10 )'S horizontal flip, it also provides a simple horizontal loop structure in the form of a loop (Figure 9a-h). The turning can occur with a turning device (205): turning the electric motor to turn the empty shuttle by 180° (50c-d) by means of a device designed to turn the entire track (206), the entire section includes guides, magnets and A power supply system having a slip ring for control and continuity of power supply. The rotation control is performed with an encoder, which provides high positioning accuracy to allow the shuttle (10) to withdraw when the rotation has been completed, so that the new section of the linear track (50b) is placed relative to the previous one (50a) The lower level is used to return the shuttle to the initial loading station. The turning device (205) can also perform local rotation, for example, 90° degrees (50e), so that the shuttle (10) exits and enters a section of the track intended for a specific purpose (such as maintenance or other purposes) ( Figure 6), the tray lifting device (304), is an external device placed on the side, integrated with the workstation, used as a vertical slider, used to lift, release and/or tilt the tray for printing, and has a tilt function.
集成系統(1、10、20)構造為如上述,提供了新的有利操作可能性:The integrated system (1, 10, 20) is constructed as described above, providing new advantageous operating possibilities:
-在定位每個單個梭車方面的精度以及準確度,-Precision and accuracy in positioning each individual shuttle,
-梭車以獨立但協調的方式移動,-The shuttle moves in an independent but coordinated manner,
-從中央水平到每單個梭車進行任務的管理以及通信,-Manage and communicate tasks from the central level to every single shuttle car,
在移動方面以及在控制移動和/或梭車上的作業軸線方面,自主地通過單個梭車管理以及實施任務,In terms of movement and in controlling the operating axis on the movement and/or shuttle, autonomously manage and implement tasks through a single shuttle,
-取決於特定交通情形或者特定任務或者還在具體編碼或者發生檢測的事故的情況下,每個梭車時時地充當主梭車或者從動梭車,-Depending on the specific traffic situation or the specific task or in the case of specific coding or detected accidents, each shuttle always acts as a master shuttle or a slave shuttle,
-每個梭車能夠同時實施不同的任務,例如具體路徑、操作循環、多次停止,-Each shuttle can perform different tasks at the same time, such as specific routes, operation cycles, multiple stops,
-每個梭車能夠根據分配的邏輯獨立於其在工作站的隊列中或者在工作站中的處理時是否在移動或者靜止來實施操作。-Each shuttle can perform operations independently of whether it is moving or stationary in the queue of the workstation or when processing in the workstation according to the logic assigned.
整個集成系統(1)通過集中控制系統協調,集中控制系統包括中央服務器(2),中央服務器(2)設置有旨在監督總體管理的程序,其能夠至少:The entire integrated system (1) is coordinated by a centralized control system, which includes a central server (2). The central server (2) is provided with a program designed to supervise the overall management, which can at least:
-向所述梭車發送信息以及從所述梭車接收信息;-Sending information to and receiving information from the shuttle;
-保持用於所述梭車的可行任務的細節;-Maintain the details of the feasible tasks for the shuttle;
-分派任務至單個梭車,具有例如具體目的地、運動規則、輔助軸線的操作性;-Assign tasks to a single shuttle with operability such as specific destinations, movement rules, auxiliary axes;
-從所述梭車接收進展狀態;-Receive progress status from the shuttle;
-同步化例如梭車以及站之間的事件以及操作;-Synchronize events and operations between shuttles and stations, for example;
-控制以及核查所執行的操作的良好性或者質量;-Control and verify the goodness or quality of the operations performed;
-控制以及存儲作業處理的進展,例如具有數據日志和/或數據倉庫和/或系統統計信息,-Control and store the progress of job processing, for example with data logs and/or data warehouse and/or system statistics,
-總體診斷,以及安全及警報管理。-Overall diagnosis, and security and alarm management.
系統(1)和梭車(10)的這種構造還能夠易於包括專用梭車,也即是說,旨在執行多樣化任務的梭車,相對於其他梭車具有特定的不同目的,但具有相同的移動以及相互作用邏輯。This configuration of the system (1) and shuttle (10) can also easily include a dedicated shuttle, that is, a shuttle designed to perform a variety of tasks, has a specific different purpose compared to other shuttles, but has The same movement and interaction logic.
實踐中,已經確定的是,具有獨立的協調梭車(1)的所述操縱系統(10)實現了定位方面的高水平精度以及實現了極大的使用通用性。In practice, it has been determined that the operating system (10) with an independent coordinated shuttle (1) achieves a high level of accuracy in positioning and achieves great versatility in use.
系統(1)適合於自動化機加工扁平半成品產品或者非扁平半成品產品或者用於填充柱形容器,產品或容器由合適的抓握器或者錨固工具保持,合適的抓握器或者錨固工具受到梭車上本身的驅動的保持或者釋放。具有活動線圈的移動器或者自推式滑動靴(11)裝備有內置智能,內置智能提供了管理自主,甚至當通過中央控制系統協調時,移動該移動器上的附屬控制軸線以及補充在軌道上的前進運動控制。The system (1) is suitable for automated machining of flat semi-finished products or non-flat semi-finished products or for filling cylindrical containers. The products or containers are held by suitable grippers or anchoring tools, which are subjected to shuttles Keep or release the drive on itself. A mover with a movable coil or a self-propelled sliding shoe (11) is equipped with built-in intelligence, which provides management autonomy, even when coordinated by a central control system, moving the auxiliary control axis on the mover and supplementing it on the track Forward movement control.
這種方案允許還以非同步方式管理具有工作站的生產設備中的站間操作,如果需要的話在達到站之前的移動或者等待期間,因為其有時會發生,例如,在提供了抬升或者傾斜作業表面、托盤、容器或者小瓶的情況下,還如果存在梭車上的操作軸線的平移和/或旋轉,可能激活內置的壓力或者真空。已經觀察到的是,這些可能的系統特徵現在在具有移動磁體類型的梭車的系統中是不可以獲得的,或者在已知系統中沒有,或者非常貴的製造。本發明優化以及集成了運動系統和附屬軸線系統,梭車有時呈現為主梭車,有時是從動梭車,這取決於特定要求以及情形。This solution allows to also manage inter-station operations in production equipment with workstations in an asynchronous manner, if necessary before moving or waiting before reaching the station, as it sometimes happens, for example, when lifting or tilting operations are provided In the case of surfaces, trays, containers or vials, if there is translation and/or rotation of the operating axis on the shuttle, the built-in pressure or vacuum may be activated. It has been observed that these possible system features are now not available in systems with shuttle magnet type shuttles, or not in known systems, or are very expensive to manufacture. The present invention optimizes and integrates the motion system and the auxiliary axis system. The shuttle sometimes appears as the master shuttle and sometimes as the driven shuttle, depending on the specific requirements and circumstances.
綜上所述,本發明所揭露之技術手段確能有效解決習知等問題,並達致預期之目的與功效,且申請前未見諸於刊物、未曾公開使用且具長遠進步性,誠屬專利法所稱之發明無誤,爰依法提出申請,懇祈 鈞上惠予詳審並賜准發明專利,至感德馨。In summary, the technical methods disclosed in the present invention can effectively solve the problems of conventional knowledge, etc., and achieve the expected purpose and effect, and have not been published in the publication before the application, have not been publicly used, and have long-term progress. The invention mentioned in the Patent Law is correct, so I filed an application in accordance with the law, and sincerely prayed for the detailed examination and granted the invention patent to Zhi Dexin.
惟以上所述者,僅為本發明之數種較佳實施例,當不能以此限定本發明實施之範圍,即大凡依本發明申請專利範圍及發明說明書內容所作之等效變化與修飾,皆應仍屬本發明專利涵蓋之範圍內。However, the above are only a few preferred embodiments of the present invention, which should not be used to limit the scope of the present invention, that is, any equivalent changes and modifications made according to the scope of the patent application of the present invention and the content of the description of the invention It should still fall within the scope of this invention patent.
〔本發明〕 (1):工業操縱系統,在集成有永磁體的功率供給軌道上具有同步和/或不同步的獨立的協調梭車,其中,所述梭車包括自推式滑動靴,自推式滑動靴集成有線圈的、邏輯單元、用於通信和輔助驅動的器件,它們分別以可移除方式關聯於裝備托盤以根據處理來致動輔助驅動 (10):梭車 (101):用於將功率從軌道傳遞至推車的器件,例如是電刷 (102):內置線圈,用於沿著軌道的基本移動 (103):艙,具有邏輯控制單元,用於線性電動機的前進的基本移動和輔助作業驅動,還旨在管理通信以及傳感器 (104):驅動器單元類型的輔助驅動器件 (105):真空泵 (106):吸杯,用於保持以及釋放 (107):托盤背面光板 (108):穿過式提取器件 (109):托盤的定心銷 (11):自推式滑動靴,稱為滑動器或者移動器,具有內置線圈 (110):絕對編碼器類型的位置傳感器 (111)::接合在引導件中的推車的輥或者球滑動靴 (112):殼體 (113):具有增加尺寸的裝備托盤的變型 (12):裝備對接器件,用於支撐和/或機加工以及用於致動輔助驅動的目的,例如是托盤 (120):銷定心襯套 (121):真空保持孔,在托盤的上表面上 (122):通孔,用於提升和/或提取器件 (123):托盤內部的用於真空的導管 (124):連接真空回路 (2):中央服務器 (20):功率供給軌道,其沿著路徑集成有永磁體,用於梭車的基本移動,是雙向頂部/底部類型,呈垂直環路構造,具有橫向翻轉,或者甚至是簡單的軌道類型,用於水平環路構造 (201):永磁體 (202):電刷的滑動以及接觸的功率供給椅 (203):與軌道一體的引導件 (204):軌道的固定段 (205):依靠旋轉的翻轉器件 (206):軌道的可翻轉段 (3):用於視覺系統的控制照相機,作為非排他性例子:對應於裝載(3a),用於從上方檢測以及控制單個電池或者晶片,在印刷頭(3b)的上游,用於從上方檢測晶片-托盤相對位置,在網板(3c)下方,用於從下方檢測要印刷的圖像的位置,在印刷頭(3d)的下游,用於從上方檢測以及控制印刷圖像-晶片相對位置 (50a-e):垂直環路構造中的操縱方向,具有橫向翻轉,在雙向軌道上,其中,(50a)是向前方向,(50b)是下方的相反的返回方向,(50c-d)是梭車橫向旋轉180°或者翻轉,(50e)是在旋轉90°之後離開,用於特定作業處理或者替換〔this invention〕 (1): Industrial control system, with synchronized and/or asynchronous independent coordinated shuttle on the power supply track integrated with permanent magnets, wherein the shuttle includes self-propelled sliding shoes, self-propelled sliding shoes Coil-integrated, logic unit, devices for communication and auxiliary drive, which are each removably associated with the equipment tray to actuate the auxiliary drive according to the process (10): Shuttle (101): A device used to transfer power from the track to the cart, such as a brush (102): Built-in coil for basic movement along the track (103): Cabin, with a logic control unit, for the basic movement and auxiliary work drive of the linear motor, also designed to manage communications and sensors (104): Auxiliary driving device of driver unit type (105): Vacuum pump (106): Suction cup for holding and releasing (107): Light board on the back of the tray (108): through extraction device (109): Centering pin of pallet (11): Self-propelled sliding shoes, called sliders or movers, with built-in coils (110): Position sensor of absolute encoder type (111):: roller or ball sliding shoe of the cart engaged in the guide (112): Shell (113): Variation of equipment tray with increased size (12): Equipped with docking devices for support and/or machining and for the purpose of actuating auxiliary drives, such as trays (120): Pin centering bush (121): Vacuum holding hole on the upper surface of the tray (122): through hole for lifting and/or extracting devices (123): Vacuum conduit inside the tray (124): Connect the vacuum circuit (2): Central server (20): Power supply track, which integrates permanent magnets along the path for the basic movement of the shuttle, is a two-way top/bottom type, is a vertical loop structure, has a lateral flip, or even a simple track type, For horizontal loop construction (201): Permanent magnet (202): Sliding brush and contact power supply chair (203): Guide piece integrated with the track (204): fixed section of track (205): Flip device that relies on rotation (206): Reversible section of the track (3): Control camera for the vision system, as a non-exclusive example: corresponds to the loading (3a), used to detect and control a single cell or wafer from above, upstream of the print head (3b), used to detect from above The wafer-tray relative position, below the screen (3c), is used to detect the position of the image to be printed from below, and downstream of the printing head (3d), it is used to detect and control the printed image-wafer relative position from above (50a-e): The steering direction in the vertical loop configuration, with lateral flip, on a two-way track, where (50a) is the forward direction, (50b) is the opposite return direction below, (50c-d) The shuttle is rotated 180° or flipped laterally, (50e) is left after rotated 90°, used for specific job processing or replacement
圖1a-b以軸側視圖示出了自推式滑動靴和基於根據本發明的操縱系統的軌道的截選部分,它們分別以組裝方式(圖1a)和分離方式(圖1b)示出,其中,用於傳輸產品的托盤也關聯於自推式滑動靴。 圖2a-b以互相垂直的方式從側面(圖2a)和頂部(圖2b),示出了圖1a中的梭車和軌道的截選部分。 圖3a-d以互相垂直的方式分別從底部(圖3a)、側面(圖3b-c)和頂部(圖3d)示出了滑動靴。 圖4a-b分別從頂部以及底部以軸側視圖示出了自推式滑動靴。 圖5a-b以分解軸側視圖示出了圖4a-b中的自推式滑動靴。 圖6是根據本發明的操縱系統的軸側視圖,其中,梭車包括用於扁平半成品的托盤,並且其中操縱方向、中央服務器以及工作站示意地示出為線性垂直環路構造,具有頂部-底部軌道以及梭車橫向翻轉;附屬部件以非實物方式表示,還包括用於操作該裝置所需的電氣及電子元件。 圖7a-b以互相垂直的方式從側面(圖7a)和頂部(圖7b)示出了圖6的根據本發明的操縱系統;該系統的附屬部件以示意方式示出。 圖7c-d是從側面看本發明的截面A-A中的詳細正投影視圖,示出了自推式滑動靴或者移動器設置有內置線圈,內置線圈對應於集成在軌道中的永磁體。 圖8是根據本發明的操縱系統的示意軸側視圖,呈頂部-底部類型的緊湊線性構造,具有雙個鄰近的垂直環路,具有相反的橫向翻轉。 圖9a-d是根據本發明的操縱系統的示意性正交圖(圖9a-c)和軸側視圖(圖9d),為簡單的水平環路構造,呈回路的形式;圖9e-g是環路構造的可選視圖,還包括中央服務器和顯示器、工作站、視覺系統、站、附屬部件和中央服務器,它們以示意性的非實物的方式示出。 圖9h示出了本發明的變型的細節,滑動靴設置有輥以及感應功率供給系統,輥在引導件上滑動。Figures 1a-b show a sectional view of a self-propelled sliding shoe and a track based on a steering system according to the invention in an axial side view, which are shown in an assembled manner (Figure 1a) and a separated manner (Figure 1b), respectively Among them, the tray used to transfer products is also associated with self-propelled sliding shoes. Figures 2a-b show a cut-out of the shuttle and track in Figure 1a from the side (Figure 2a) and the top (Figure 2b) in a manner perpendicular to each other. Figures 3a-d show the sliding shoe from the bottom (Figure 3a), the sides (Figure 3b-c) and the top (Figure 3d) in a mutually perpendicular manner. Figures 4a-b show the self-propelled sliding shoe in an axial side view from the top and bottom, respectively. Figures 5a-b show the self-propelled sliding shoe of Figures 4a-b in exploded side view. 6 is an axial side view of the steering system according to the present invention, in which the shuttle includes a tray for flat semi-finished products, and wherein the steering direction, central server, and workstation are shown schematically in a linear vertical loop configuration, with a top-bottom The rails and shuttles flip laterally; the accessory parts are shown in a non-physical way, and also include the electrical and electronic components needed to operate the device. 7a-b show the steering system according to the invention of FIG. 6 from the side (FIG. 7a) and the top (FIG. 7b) in a mutually perpendicular manner; the accessory components of the system are shown in a schematic manner. 7c-d are detailed orthographic views in section A-A of the present invention seen from the side, showing that the self-propelled sliding shoe or the mover is provided with a built-in coil corresponding to the permanent magnet integrated in the track. Fig. 8 is a schematic axial side view of a steering system according to the present invention, in a compact linear configuration of top-bottom type, with two adjacent vertical loops, with opposite lateral flips. 9a-d are schematic orthogonal views (FIG. 9a-c) and shaft side view (FIG. 9d) of the steering system according to the present invention, which are simple horizontal loop structures in the form of loops; FIG. 9e-g are The optional view of the loop configuration also includes the central server and display, workstation, vision system, station, accessory components, and central server, which are shown in a schematic non-physical manner. Figure 9h shows details of a variant of the invention, the sliding shoe is provided with a roller and an induction power supply system, the roller sliding on the guide.
(1):工業操縱系統 (1): Industrial control system
(10):梭車 (10): Shuttle
(20):功率供給軌道 (20): Power supply rail
(205):依靠旋轉的翻轉器件 (205): Flip device that relies on rotation
(206):軌道的可翻轉段 (206): Reversible section of the track
(304):托盤提升裝置 (304): Pallet lifting device
(50a):是向前方向 (50a): forward direction
(50b):是下方的相反的返回方向 (50b): is the opposite return direction below
(50c-d):是梭車橫向旋轉180°或者翻轉 (50c-d): the shuttle rotates 180° laterally or flips
(50e):是在旋轉90°之後離開,用於特定作業處理或者替換 (50e): leave after rotating 90°, used for specific job processing or replacement

Claims (8)

  1. 一種用於工業自動化的操縱系統(1),具有獨立的協調梭車(10),為具有電磁驅動線性電動機的集成自動化類型,其中所述梭車接合至相同軌道(20)並且根據連續生產循環在實施它們的作業任務時沿所述軌道運行,諸如操縱和/或定位半成品或者產品;以及其中,每個梭車(10)包含用於沿著所述軌道(20)移動的前進器件,還具有處理以及控制器件,以及根據所述功能進行裝備,也即是說其包括用於執行計劃任務的自身器件;以及其中,在所述系統(1)中存在所述梭車(10)的活動的協調,包括用於確定它們位置的器件,用於發送以及接收信息的器件以及集中處理以及控制器件;所述操縱系統(1)的特徵在於, 為了前進,其使用LSM活動線圈類型的線性同步電動機,其中,永磁體(201)集成在所述軌道(20)中以與每個梭車(10)上的線圈(102)相互作用,使得所述梭車在它們的移動以及要執行的功能方面相對於彼此獨立,還使得根據模塊化類型的邏輯,它們在所述生產循環的任何時間或者在路徑的任何點處、同步和/或不同步地能夠單獨及任意地從所述系統(1)移除和/或能夠添加到所述系統(1);以及其中,每個梭車(10)以無線模式連接以用於信息傳遞,同時為了功率供給,其能夠依靠滑動觸頭或者通過電磁感應以無線模式連接至固定供電杆;以及其中,所述系統(1)包括用於確定每個梭車的位置的自動器件,是稱為編碼器的類型,具有連續沿著所述軌道(20)的整個路徑的固定集成參考,以及安裝在每個梭車(10)上的所述參考的讀取器(110);以及其中,所述系統(1)包括集中控制以及處理器件,所述集中控制以及處理器件包括中央服務器(2),所述中央服務器(2)貢獻於所述系統(1)的總體協調,其設置有控制邏輯,所述控制邏輯具有執行程序,旨在處理從同時的主動梭車(10)和傳感器器件接收的信息;以及其中,所述梭車(10)是智能類型,在相同軌道(20)上以獨立但協調的方式同步和/或不同步地平移,每個梭車(10)包括: -自推式滑動靴(11)或者移動器,其充當以可移除方式約束至所述軌道(20)的滑動件,並且包括用於執行前進移動以及根據輔助作業軸線實現輔助驅動的所有主動器件,還具有相應的控制以及通信器件;其中,每個滑動靴(11)是自主以及獨立的,包括內置線圈(102),為了電磁驅動的目的對所述線圈(102)選擇性地供電以及控制,還具有其邏輯控制單元(103)、傳感器以及用於接收及傳遞信息的器件,為了功率供給以及數據傳遞的目的,每個梭車是無線連接的; -裝備器件(12),用於致動輔助作業驅動,其以可移除方式關聯於支撐其的所述自推式滑動靴(11)。A control system (1) for industrial automation, with an independent coordinated shuttle (10), of the integrated automation type with an electromagnetically driven linear motor, wherein the shuttle is joined to the same track (20) and according to a continuous production cycle Run along the track when performing their work tasks, such as manipulating and/or positioning semi-finished products or products; and wherein each shuttle (10) contains advancing means for moving along the track (20), It has processing and control devices, and is equipped according to the function, that is to say it includes its own device for performing scheduled tasks; and wherein the shuttle (10) is present in the system (1) Coordination, including devices for determining their position, devices for sending and receiving information, and centralized processing and control devices; the steering system (1) is characterized by the use of linear synchronization of the LSM active coil type for advancement Electric motors, in which permanent magnets (201) are integrated in the track (20) to interact with the coils (102) on each shuttle (10) so that the shuttles are in their movement and the function to be performed The aspects are independent with respect to each other, and also make them capable of being independently and arbitrarily removed from the system (1) at any time of the production cycle or at any point of the path, synchronously and/or asynchronously according to the logic of the modular type (1 ) Removed and/or can be added to the system (1); and wherein each shuttle (10) is connected in a wireless mode for information transfer, while for power supply it can rely on sliding contacts or through electromagnetic Induction is connected to a fixed power supply rod in a wireless mode; and wherein the system (1) includes an automatic device for determining the position of each shuttle, which is a type called an encoder, with a continuous along the track (20 ) A fixed integrated reference for the entire path, and the reference reader (110) installed on each shuttle (10); and wherein the system (1) includes centralized control and processing devices, the The centralized control and processing device includes a central server (2) that contributes to the overall coordination of the system (1), which is provided with control logic, the control logic having an execution program, which is designed to process from the same time The information received by the active shuttle car (10) and the sensor device; and wherein, the shuttle car (10) is of an intelligent type, which translates synchronously and/or asynchronously on the same track (20) in an independent but coordinated manner, Each shuttle (10) includes:-a self-propelled sliding shoe (11) or a mover, which acts as a slider that is removably constrained to the track (20), and includes Auxiliary work axis realizes all active devices for auxiliary driving, and also has corresponding control and communication devices; wherein, each sliding shoe (11) is autonomous and independent, including a built-in coil (102), for electromagnetic drive purposes The coil (102) is selectively powered and controlled, and also has its logic control unit (103), sensors and Devices for receiving and transferring information, for the purpose of power supply and data transfer, each shuttle is wirelessly connected; -Equipment device (12) for actuating auxiliary work drive, which is associated with supporting it in a removable manner The self-propelled sliding shoe (11).
  2. 如申請專利範圍第1項所述之操縱系統(1),其中,所述梭車(10)包括自推式滑動靴(11),所述自推式滑動靴(11)包括: -用於從所述軌道(20)無線地接收功率供給的器件,諸如電刷(101、202)類型的滑動觸頭或者不具有觸頭依靠電磁感應傳遞能量; -活動線圈(102); -邏輯控制單元(103),用於沿著所述軌道的軸線對於整個路徑管理基本移動或者運動控制,以及控制所述輔助軸線; -驅動器件(104)或者驅動器單元,用於管理沿著控制軸線與作業處理相關的進一步相關於基本移動的驅動,諸如驅動抓握器和/或提取-抬升器件; -用於為了作業處理的目的製造壓力或者真空的器件,例如具有管的真空泵(105),或者具有文丘裏設備的泵,具有對接器件,諸如接觸吸杯; -內置電路板,用於管理通信,具有用於軟件更新和/或用於控制診斷的訪問端口; -用於無線通信的天線,例如用於更新數據和/或任務和/或位置; -碰撞傳感器器件,用於防止所述梭車的碰撞; -感應器器件,具有用於所述軌道中的固定、連續以及絕對參考的移動讀取器類型的位置傳感器(110),或者絕對編碼器,用於位置的微測控制; -用於近距離通信的器件,諸如光學類型系統,具有高傳遞速度,使得為了給定位置的精確定位,其有利的是不等待常規中央無線傳遞系統的響應。The operating system (1) according to item 1 of the patent application scope, wherein the shuttle (10) includes a self-propelled sliding shoe (11), and the self-propelled sliding shoe (11) includes:- A device that receives power supply wirelessly from the track (20), such as a sliding contact of the brush (101, 202) type or has no contact to transfer energy by electromagnetic induction;-a movable coil (102);-a logic control unit (103), for managing basic movement or motion control for the entire path along the axis of the track, and controlling the auxiliary axis;-drive device (104) or drive unit, for managing along the control axis and job processing Related is further related to basic mobile drives, such as driving grippers and/or extraction-lifting devices;-devices used to create pressure or vacuum for job processing purposes, such as vacuum pumps (105) with tubes, or with venturis The pump of the equipment inside, with docking devices, such as contact suction cups;-Built-in circuit board for management communication, with access ports for software updates and/or for control diagnosis;-Antenna for wireless communication, for example For updating data and/or tasks and/or positions;-collision sensor device to prevent collision of the shuttle;-sensor device with mobile reading for fixed, continuous and absolute reference in the track Type position sensor (110), or absolute encoder, for micro-measurement control of position;-devices used for short-range communication, such as optical type systems, have high transmission speeds, so that for precise positioning of a given position, It is advantageous not to wait for the response of the conventional central wireless transmission system.
  3. 如申請專利範圍第2項所述之操縱系統(1),其中,所述梭車(10)包括裝備器件(12),所述裝備器件(12)關聯於所述自推式滑動靴(11)以使得根據提供的作業處理來支撐、傳輸、定位所述產品,保持所述產品並且以微測精度定位所述產品;當有來自所述滑動靴(11)的命令,當發生所述梭車(10)的檢測的或者期望的條件,或者當有來自協調以及控制用所述中央服務器(2)的外部命令時,所述裝備器件(12)能夠釋放。The operating system (1) according to item 2 of the patent application scope, wherein the shuttle (10) includes an equipment device (12) associated with the self-propelled sliding shoe (11) ) So that the product is supported, transported, and positioned according to the provided job processing, the product is held, and the product is positioned with micrometer accuracy; when there is an order from the sliding shoe (11), when the shuttle occurs The equipment (12) can be released when the vehicle (10) detects or desired conditions, or when there is an external command from the central server (2) for coordination and control.
  4. 如申請專利範圍第3項所述之操縱系統(1),其中,所述軌道(20)包括: -功率供給器件,其具有將電功率傳遞至移動梭車的固定線,以兩個可替換方式:通過觸頭(202)利用電刷(101)類型的器件,或者不具有觸頭而是具有電磁感應器件,代替電刷,在梭車上存在一些接收器; -固定永磁體(201),用於連結所述梭車上的所述線圈的線性電動機的磁通量; -編碼器類型的固定磁體線,用於向所述梭車上的位置傳感器提供絕對參考; -信號線,用於移動梭車之間的數據以及通信傳遞。The operating system (1) as described in item 3 of the patent application scope, wherein the track (20) includes:-a power supply device with a fixed line that transfers electric power to the mobile shuttle, in two alternative ways : Use the brush (101) type device through the contact (202), or have no contact but an electromagnetic induction device, instead of the brush, there are some receivers on the shuttle;-fixed permanent magnet (201), The magnetic flux of the linear motor used to connect the coils on the shuttle car;-an encoder-type fixed magnet wire used to provide an absolute reference to the position sensor on the shuttle car;-a signal wire used to move the shuttle Transfer of data and communication between cars.
  5. 如申請專利範圍第4項所述之操縱系統(1),其中,取決於特定交通情形或者特定任務或者還在具體編碼或者發生檢測的事故的情況下,每個梭車時時地充當主梭車或者從動梭車;以及其中,每個梭車(10)旨在同時實施不同的任務,例如具體路徑、操作循環、多次停止;以及其中,每個梭車(10)根據分配的邏輯能夠獨立於其在工作站的隊列中或者在工作站中的處理時是否在移動或者靜止來實施操作。The operating system (1) as described in item 4 of the patent application scope, where each shuttle car acts as the main shuttle from time to time depending on the specific traffic situation or specific task or in the case of a specific code or detected accident Car or driven shuttle; and where each shuttle (10) is designed to perform different tasks simultaneously, such as specific paths, operating cycles, multiple stops; and where each shuttle (10) is based on assigned logic The operation can be carried out independently of whether it is moving or stationary during processing in the workstation's queue or in the workstation.
  6. 如申請專利範圍第5項所述之操縱系統(1),其中,協調以及控制用的所述中央服務器(2)設置有旨在監督總體管理的程序,其能夠向所述梭車(10)發送信息以及從所述梭車(10)接收信息以及提供至少:保持用於所述梭車的可行任務的細節,分派任務至單個梭車,從所述梭車接收進展狀態,還同步化工作站中的事件以及操作,控制以及存儲作業處理的進展,執行總體診斷以及管理安全設備以及警報。The operation system (1) as described in item 5 of the patent application scope, wherein the central server (2) for coordination and control is provided with a program designed to supervise the overall management, which can send the shuttle (10) Send information and receive information from the shuttle (10) and provide at least: keep details of feasible tasks for the shuttle, dispatch tasks to a single shuttle, receive progress status from the shuttle, and also synchronize workstations Events and operations in the control, control and storage of job processing progress, perform overall diagnostics and manage safety equipment and alarms.
  7. 如申請專利範圍第6項所述之操縱系統(1),其中,其包括以可替換或者組合方式的以下路徑構造: a)依靠開關的固定路徑或者可變路徑,所述軌道(20)允許其具有永磁體,諸如呈垂直環路形式的頂部-底部類型的線性構造且具有橫向翻轉,簡單聯接或成對聯接,或者用於呈回路形式的連續環路構造; b)閉合式或開放式; c)線性式、曲線式、或者組合式,組合式即包括線性式及彎曲式; d)僅包括線性部分,通過所述梭車的轉移依靠平移或者翻轉和/或旋轉平臺彼此結合; e)沿著所述路徑存在操作站,所述操作站執行操作,相對於存在或者不存在所述梭車具有同步的可能性; f)關節式的,具有不同的操縱平面; 並且其中,在頂部-底部類型的線性構造a)的情形下,所述橫向翻轉用翻轉器件(205)發生,所述翻轉器件(205)具有旋轉電動機,所述旋轉電動機旨在翻轉所述軌道(206)的整段,所述整段包括引導件、磁體以及功率供給系統,使得接合在其中的空梭車(10)被翻轉180°度(50c),然後當所述旋轉已經完成時退出,以使新段的直線軌道(50b)放置在前一個(50a)較低的水平,其反向返回初始站,或者諸如以局部旋轉諸如90°度(50e)以離開而位於軌道的旨在特定使用和/或維修使用的段。The operating system (1) as described in item 6 of the patent application scope, which includes the following path configurations in an alternative or combination manner: a) A fixed path or a variable path relying on a switch, the track (20) allows It has permanent magnets, such as a top-bottom type linear configuration in the form of a vertical loop and has a lateral flip, simple coupling or paired coupling, or a continuous loop configuration in the form of a loop; b) closed or open C) Linear, curvilinear, or combined, the combined includes linear and curved; d) includes only the linear part, and the transfer by the shuttle depends on translation or turning and/or rotating platform to be combined with each other; e ) There is an operating station along the path that performs operations and has the possibility of synchronizing with respect to the presence or absence of the shuttle; f) articulated, with different control planes; and wherein, at the top -In the case of a linear configuration of the bottom type a), the lateral flipping flip device (205) occurs, the flip device (205) has a rotating motor, the rotating motor is intended to flip the entire track (206) Segment, the entire segment includes guides, magnets, and a power supply system so that the empty shuttle (10) engaged therein is turned 180 degrees (50c), and then exits when the rotation has been completed to make the new segment The linear track (50b) is placed at the lower level of the previous one (50a), which returns to the initial station in the opposite direction, or is positioned such as with a local rotation such as 90° degrees (50e) to leave and located on the track for specific use and/or The segment used for maintenance.
  8. 如申請專利範圍第1至7項中任一項所述之操縱系統(1),其中,除了所述梭車(10、11、12),其同時設置了這樣的梭車構造:分別旨在執行多樣化任務,相對於實施生產循環的所述系統(1)的其他梭車(10)具有特定的不同目的,而且維持與所述系統(1、2、11、20)相同的操縱以及協調邏輯。The operating system (1) according to any one of the items 1 to 7 of the patent application scope, in addition to the shuttle (10, 11, 12), it is also provided with such a shuttle structure: Perform diversified tasks, have a specific different purpose compared to other shuttles (10) of the system (1) implementing the production cycle, and maintain the same operation and coordination as the system (1, 2, 11, 20) logic.
TW107131168A 2018-09-05 2018-09-05 Handling system with independent and coordinated shuttle, for industrial automation TW202011504A (en)

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