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

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

Operating system with independent coordinated shuttle for industrial automation

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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)

D2: US8616134 (King, etc.)

D3: WO200850760 (Peltier)

D4: US20120145500 (Trenner, etc.)

D5: US5626080 (Trenner, etc.)

D6: US8134258 (Finkbeiner, etc.)

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.

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 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 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.

In short, as is well known, this consideration is reasonable:

-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.

-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;

-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;

-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;

-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.

defect

In summary, we have observed that all known solutions have some drawbacks or some limitations in any case.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

purpose

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

An additional object of the present invention is to create a modular type of compact and lightweight operating system with significantly lower industrial costs.

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.

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.

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:

-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;

-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).

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).

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.

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.

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.

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.

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:

-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;

-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;

-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;

-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;

-Acceleration and centrifugal forces can be advantageously limited, for example when transporting liquids in open containers;

-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.

For more details about the shuttle (10), the following devices are built-in:

-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;

-A logic control unit (103) for managing basic movement or motion control along the axis of the track and for the entire path;

-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;

-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;

-Built-in circuit board for management communication, with access port for software update and/or control diagnosis;

-Antennas for wireless communication, for example for updating data and/or tasks and/or positions;

-Collision sensor device, used to prevent the collision of shuttle car in two directions;

-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;

-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;

-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.

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:

-Suction cups or holes corresponding to the ducts used for vacuum, for the purpose of holding semi-finished products or finished products,

-Optional gripper;

-Extract the device;

-References for optical reading, for identification purposes, such as barcodes;

-A reference for optical reading, for the purpose of positioning the operating unit at the station where the shuttle stops;

-Centering element and angle reference for picking up external devices;

-The release system of the trays through the cart corresponds to external devices such as workstations or automatic tray replacement stations.

In more detail, the track (20) includes:

-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);

-A fixed permanent magnet (201) used to concatenate the magnetic flux of the linear motor of the coil on the shuttle;

-A fixed magnet wire of the encoder type, used to provide an absolute reference to the position sensor on the shuttle;

-Signal line, used to transfer data and communication between shuttle cars.

This integrated system (1) allows multiple path configurations:

-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;

-Closed or open;

-Linear, curvilinear, or combined, combined includes linear and curved;

-Only includes the linear part, the transfer by the shuttle car is combined with each other by translation or turning and/or rotating platform;

-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.

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.

The integrated system (1, 10, 20) is constructed as described above, providing new advantageous operating possibilities:

-Precision and accuracy in positioning each individual shuttle,

-The shuttle moves in an independent but coordinated manner,

-Manage and communicate tasks from the central level to every single shuttle car,

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,

-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,

-Each shuttle can perform different tasks at the same time, such as specific routes, operation cycles, multiple stops,

-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.

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:

-Sending information to and receiving information from the shuttle;

-Maintain the details of the feasible tasks for the shuttle;

-Assign tasks to a single shuttle with operability such as specific destinations, movement rules, auxiliary axes;

-Receive progress status from the shuttle;

-Synchronize events and operations between shuttles and stations, for example;

-Control and verify the goodness or quality of the operations performed;

-Control and store the progress of job processing, for example with data logs and/or data warehouse and/or system statistics,

-Overall diagnosis, and security and alarm management.

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.

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.

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.

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.

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.

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.

〔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

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): Industrial control system

(10): Shuttle

(20): Power supply rail

(205): Flip device that relies on rotation

(206): Reversible section of the track

(304): Pallet lifting device

(50a): forward direction

(50b): is the opposite return direction below

(50c-d): the shuttle rotates 180° laterally or flips

(50e): leave after rotating 90°, used for specific job processing or replacement

Claims (8)

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). 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. 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. 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. 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. 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. 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. 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.

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