Patent Publication Number: US-2023132956-A1

Title: Transport System

Description:
SPECIFICATION 
     The invention relates to a magnetic transport system composed of a horizontal transport installation and of a vertical transport installation, according to the preamble of patent claim  1 . 
     Disclosed in publication DE 10 2016 224 951 A1 is a planar drive, or a transport installation, respectively, the carriers of which are moved by means of magnetic force along a plane formed by a stator. The carriers here can be held and moved so as to float above the plane. Controlled movements in up to six degrees of freedom are possible. The carrier carries a load which in this document is referred to as a payload. The transport installation can be installed and utilized in a tabletop operation, thus horizontally, or alternatively in a wall-mounted operation, thus vertically. 
     Publication DE 10 2016 205 513 A1 discloses a transport system which is configured as a combination of a horizontal transport installation and a vertical transport installation. Both transport installations function magnetically and in a non-contacting manner. Here, a carrier is attached so as to be horizontally movable on the horizontal transport installation, a payload referred to as an item of goods being fastened to said carrier. Separately therefrom, a carrier is attached so as to be vertically movable on the vertical transport installation, a separate payload being fastened to this carrier. 
     In such transport systems it is disadvantageous that a payload may not be transferred from the horizontal transport installation to the vertical transport installation and vice versa, or may be transferred only by way of a special, separate handing system. 
     Accordingly, the invention is based on the object of achieving a transport system in which the payload is movable continuously between a horizontal transport installation and a vertical transport installation. 
     This object is achieved by a transport system having the features of patent claim  1 . 
     Further advantageous design embodiments of the invention are described in the dependent patent claims. 
     The transport system according to the invention has a horizontal transport installation having a horizontal stator by means of which at least one horizontal carrier is movable in a horizontal plane, in particular along an X-axis and along a Y-axis, relative to the horizontal stator. Furthermore, the transport system according to the invention has a vertical transport installation having a vertical stator by means of which at least one vertical carrier is movable in a vertical plane, in particular along the Y-axis and along a Z-axis, relative to the vertical stator. Provided here is at least one mounting for receiving a payload. According to the invention, the mounting has first engagement means and separate second engagement means, wherein the mounting by way of the first engagement means thereof is able to be brought to engage in a form-fitting manner with the horizontal carrier, and wherein the mounting by way of the second engagement means thereof is able to be brought to engage in a form-fitting manner with the vertical carrier. The two form-fitting engagements are designed such that the mounting is supported on the respective carrier in relation to gravity, and is secured in relation to horizontal displacement and rotation. 
     According to the invention, this is a purely passive solution which is simple in terms of devices and thus cost-effective, in which a transfer of the mounting between the two transport installation takes place purely by the above-mentioned motion functions of the two affected carriers. In this way, no further activation (of the mounting or of the two carriers), and in particular no special separate handing system, is required. 
     In a particularly preferred application of the transport system, the payload is a workpiece so that the mounting is a workpiece mounting. 
     In a variant of the above-mentioned design embodiment according to the invention, the mounting can also be replaced by the payload so that the payload per se has the first and the second engagement means. The carrier can thus be dispensed with. 
     The horizontal carrier, by means of the horizontal stator, to a limited extent is preferably also movable relative to the horizontal stator perpendicularly to the horizontal stator, in particular along the Z-axis. In this way, the horizontal carrier can be moved so as to float above the horizontal plane of the horizontal stator and be displaced parallel to the horizontal plane in a non-contacting manner. The same applies in an analogous manner also to the vertical transport installation. The vertical carrier, by means of the vertical stator, to a limited extent is thus preferably also movable relative to the horizontal stator perpendicularly to the vertical stator, in particular along the X-axis. In this way, the vertical carrier can be moved so as to be spaced apart from the vertical plane of the vertical stator and be displaced parallel to the vertical plane in a non-contacting manner. 
     The first engagement means can be magnetic. In this way, the mounting is secured in relation to the horizontal displacement and rotation relative to horizontal carriers. 
     It is particularly preferable for the first engagement means to be at least two downward-directed perpendicular appendages (e.g. studs or pins) which are disposed on a lower side of the mounting, and for the horizontal carrier on the upper side thereof to have a corresponding number of clearances (e.g. bores) that are open toward the top. Conversely, the first engagement means can, of course, also be at least two clearances which are disposed on a lower side of the mounting and are open toward the bottom, when the horizontal carrier on the upper side thereof has a corresponding number of upward-directed perpendicular appendages. In both variants, the mounting is secured in relation to the horizontal displacement and rotation relative to the horizontal carrier by way of a form-fit. 
     In order to enable herein a pattern of half a revolution about a vertical axis of the mounting, correspondingly having two defined bearing positions of the mounting on the horizontal carrier, it is preferable for the at least two pairs of appendages and clearances to be provided or mutually diagonally opposite corner regions of the mounting and of the horizontal carrier. 
     In order to enable herein a pattern of a quarter revolution about the vertical axis of the mounting, correspondingly having four defined bearing positions of the mounting on the horizontal carrier, it is preferable for two further pairs of appendages and clearances to be provided, so that one pair of appendages and clearances are in each case provided in all four corner regions of the mounting and of the horizontal carrier. More than four pairs of appendages and clearances may also be provided. 
     A certain tolerance in terms of the position in the horizontal plane, in particular along the X-axis and the Y-axis, and self-centering of the mounting on the horizontal carrier when transferring the mounting from the vertical carrier to the horizontal carrier are possible when the clearances and the appendages are conical or coniform or frustoconical, or have the shape of a spherical segment. In this way, the mounting is precisely positioned after being transferred from the vertical carrier to the horizontal carrier, and a precise detection of the position of the horizontal carrier by means of a sensor system means a precise detection of the position of the payload, in particular of the workpiece, for example for further machining of the latter. 
     The vertical carrier preferably has two webs, or a fork with two prongs. In this instance, the mounting has two mutually opposite lateral peripheries on which the second engagement means are at least partially disposed or formed. The second engagement means are able to be at least partially supported on the two webs or prongs of the vertical carrier. 
     A spacing of the two lateral peripheries of the mounting, in particular along the Y-axis, corresponds to approximately the spacing of the two webs or prongs (including a variance of at most 10%, for example). 
     The two planes of the stators intersect in an abutting edge which extends in particular along the Y-axis and of which the length corresponds to at least the spacing of the webs or prongs, respectively, and/or at least the spacing of the two lateral peripheries of the mounting. A transfer point of the mounting between the two affected carriers is defined in this way. The abutting edge may also be longer. In this way, various transfer points can be implemented along the abutting edge. 
     In order to enable herein a pattern of half a revolution about the vertical axis of the mounting by way of two correspondingly defined bearing positions of the mounting on the vertical carrier, it is preferable for the two webs or prongs, respectively, to be approximately mutually parallel and approximately level, and wherein the two lateral peripheries are approximately mutually parallel and approximately level. In this way, the two webs or prongs, respectively, and the two lateral peripheries are approximately parallel to the horizontal plane. The two webs or prongs, respectively, extend away from the vertical carrier, in particular along the X-axis. 
     In order to enable herein a pattern of a quarter revolution about the vertical axis of the mounting by way of four correspondingly defined bearing positions of the mounting on the vertical carrier, it is preferable for the mounting to have two further mutually opposite, approximately parallel and approximately level lateral peripheries on which further engagement means from the group of second engagement means are disposed or formed. Said further engagement means, as an alternative to the first-mentioned engagement means from the group of second engagement means, can be supported on the webs or prongs of the vertical carrier when the mounting is to be supported in relation to gravity by the vertical carrier, said mounting being in a position rotated by 90 degrees about the vertical axis. 
     In this instance, the spacing of the two further lateral peripheries of the mounting, in particular along the Y-axis, also corresponds to approximately the spacing of the two webs or prongs, respectively (including a variance of at most 10%, for example). In this way, access to the mounting or to the payload is possible from all sides during the operation of the vertical transport installation, i.e. also from below by reaching between the two webs or prongs, respectively. 
     According to a first exemplary embodiment of the second engagement means, the mounting on the two or four lateral peripheries has in each case two roof-shaped or arcuate receptacle portions. Each web, or each prong, respectively, here correspondingly has two U-shaped or V-shaped receptacle portions or notches in which the roof-shaped or arcuate receptacle portions can be received. In this way, the carrier is secured in relation to the horizontal displacement and rotation relative to vertical carriers by way of a form-fit. 
     The four or eight roof-shaped or arcuate receptacle portions can be formed on hooks protruding laterally from a main body of the mounting. Here, the spacing of the two or four lateral peripheries of the mounting in pairs is somewhat smaller than the spacing of the webs or prongs. 
     More than eight hooks may also be provided on the mounting. 
     According to a second exemplary embodiment of the second engagement means, the latter are formed by level grooves or steps which are in each case disposed below the two or the four lateral peripheries of the mounting. In this instance, one web, or one prong, respectively, is in each case at least in portions receivable in the grooves; or one web, or one prong, respectively, is in each case at least in portions able to be brought to bear on the steps. The spacing of the two or four lateral peripheries of the mounting in pairs here is somewhat larger than the spacing of the webs or prongs. 
     In order to have as many identical parts as possible in the transport system according to the invention, in particular when a plurality of carriers are used, it is preferable for a main body of the at least one horizontal carrier and a main body of the at least one vertical carrier to be of identical construction. In particular, the main body can correspond to the horizontal carrier, and the vertical carrier in this instance is produced merely by fastening the two webs, or the fork, respectively, to a main body of this type. 
     In order to facilitate the pattern of a quarter revolution about the vertical axis of the mounting by way of four correspondingly defined bearing positions of the mounting on the horizontal carrier, on the one hand, and on the vertical carrier, on the other hand, it is preferable for the main body of the horizontal carrier and the main body of the vertical carrier and the main body of the mounting to have in each case a square base area. 
     The horizontal stator is preferably formed in a modular manner from horizontal stator tiles, and the vertical stator is formed in a modular manner from vertical stator tiles. The stator tiles generate a travelling magnetic field which can be effective beyond peripheries of the stator tiles, wherein the carriers each have at least one permanent magnet by means of which the carrier is movable. In order to have as many identical parts as possible in the transport system according to the invention, it is preferable for the horizontal stator tiles and the vertical stator tiles to be identical. 
     In order to be able to approach in a reliable and reproducible manner the at least one transfer point to the horizontal carrier, on the one hand, and to the vertical carrier, on the other hand, it is particularly preferable for the respective sensor system, by way of which the position of the respective carrier relative to the respective stator is able to be determined, to be disposed on the horizontal and the vertical stator. A sensor system of this type is often also required for positioning the carrier, and thus the mounting having the payload thereof, at a machining station of the respective transport installation. 
    
    
     
       A plurality of exemplary embodiments of the transport system according to the invention are illustrated in the figures in which: 
         FIG.  1    shows an exemplary potential construction of the transport system according to the invention in a plan view; 
         FIG.  2    shows a further exemplary potential construction of the transport system according to the invention in a plan view; 
         FIG.  3    shows a further exemplary potential construction of the transport system according to the invention in a lateral view; 
         FIG.  4    shows a sectional illustration of a lateral view of a mounting having a payload, and of a horizontal carrier, said mounting and carrier being able to be utilized in one of the three preceding examples of transport systems; 
         FIG.  5    shows a plan view from above onto the mounting having a payload from  FIG.  4   , and onto a vertical carrier; 
         FIG.  6    shows a first step of a transfer of the mounting from the horizontal carrier to the vertical carrier in a lateral view, wherein the figure also shows a third step of a transfer from the vertical carrier to the horizontal carrier; 
         FIG.  7    shows an intermediate step of the transfer of the mounting between the two carriers in a lateral view; 
         FIG.  8    shows a third step of the transfer of the mounting from the horizontal carrier to the vertical carrier, wherein the figure also shows a first step of the transfer from the vertical carrier to the horizontal carrier; and 
         FIG.  9    shows the mounting and a horizontal carrier in a lateral view, having a second exemplary embodiment of the second engagement means. 
     
    
    
       FIG.  1    by way of example shows a first potential construction of the transport system according to the invention in a plan view. Twelve horizontal stator tiles  1  are disposed in the form of a rectangle. A planar horizontal stator having a horizontal plane  2  is formed in this way. In the exemplary embodiment shown, four horizontal carriers  4  are displaceable or movable, respectively, on this horizontal plane  2 , or in a floating state at a minor specific distance above this plane  2 . A horizontal transport installation  6  is achieved in this way. A workpiece mounting, which in turn supports a load referred to as a payload, is able to be supported by each carrier  4 ; both will be shown for the first time in  FIG.  4   . 
     Furthermore according to  FIG.  1   , respective vertical transport installations  10  are disposed on two mutually opposite abutting edges  8  of the horizontal plane  2 , the respective vertical stator tiles  12  of said transport installations  10  being shown in a schematic lateral view. These vertical stator tiles  12 , in a fundamentally comparable manner, form a respective vertical stator having a respective vertical plane  14 . Carriers  16  are also displaceable on the vertical planes  14 , or in a floating state so as to be spaced apart from these planes  14  by a specific minor distance; said carriers  16  are thus referred to as vertical carrier  16 . 
       FIG.  2    by way of example shows a further potential construction of a transport system according to the invention which, besides the horizontal transport installation  6  has only one vertical transport installation  10 . The width of the latter is only the width of a vertical stator tile  12  and is thus minimal. Moreover, a length L of the abutting edge  8  corresponds to only the width of a vertical carrier  16  and is thus likewise minimal. According to  FIG.  2   , a horizontal stator having tracks that branch off is formed from the horizontal stator tiles  1 . 
       FIG.  3    by way of example shows a further potential construction of a transport system according to the invention in a lateral view. Apart from the horizontal transport installation  6 , again only one vertical transport installation  10  is provided here. Two carriers  4 ,  16  are shown by way of example on each of the two transport installations  6 ,  10 . The horizontal plane  2  and the vertical plane  14  intersect in the abutting edge  8 . 
     A fork having two prongs  18 , which extend in a mutually parallel manner and at the same height level parallel to the horizontal plane  2 , is fastened to each vertical carrier  16 . Only one schematically illustrated prong  18  of each fork can be seen in  FIG.  3   . 
       FIG.  4    shows a section of a mounting  20  having a symbolic payload  22 , and of a horizontal carrier  4 , said mounting  20  and said carrier  4  being able to be utilized in one of the three preceding examples of transport systems. The mounting  20  and a main body  24  of the horizontal carrier  4  are square (this cannot be seen in the lateral section shown in  FIG.  4   ). The main body  24  of the horizontal carrier  4 , on the upper side thereof in all four corner regions has conical clearances  26  which have downward-directed tips. The sectional plane through the main body  24  of the horizontal carrier  4  in  FIG.  4    is placed such that two of the total of four clearances  26  can be seen. 
     The mounting  20  on the lower side thereof in all four corner regions has correspondingly sized conical appendages  28  which have downward-directed tips, of which only two appendages  28  can be seen in  FIG.  4   . The four appendages  28  form the first engagement means according to the first exemplary embodiment. 
     When the mounting  20 , including the payload  22 , is lowered from the vertical carrier  16  (cf.  FIG.  3   ) onto the horizontal carrier  4  and deposited on the latter, according to the double arrow, the four pairs of clearances  26  and appendages  28  assume a precise (post-)positioning function. 
     As a result of a square arrangement of the four pairs of clearances  26  and appendages  28  it is possible for the mounting  20  to be deposited on the horizontal carrier  4  in four rotary positions about a vertical axis (not shown), according to the double arrow, and for the form-fitting engagement according to the invention to be established in all four rotary positions, by way of which form-fitting engagement a safeguard in relation to horizontal displacement and rotation of the mounting  20  in relation to the horizontal carrier  4  is provided. 
     Furthermore, two hooks  30 , which extend outward away from the main body, are fastened to each of the four lateral peripheries of the main body of the mounting  20 . Only two hooks  30  can be seen in  FIG.  4   . One roof-shaped receptacle portion  32  is formed on each hook  30 . The eight roof-shaped receptacle portions  32  form the second engagement means according to the exemplary embodiment. Four roof-shaped receptacle portions  32  are in each case hooked onto the prongs  18  when the mounting  20  is to be supported on the vertical carrier  16  (cf.  FIG.  3   ). 
       FIG.  5    shows a plan view from above onto the mounting  20  having the payload  22  from  FIG.  4   , and onto the vertical carrier  16  from  FIG.  3   . It can be seen that two hooks  30  are fastened to each of the four peripheries of the square main body of the mounting  20  such that the mounting  20 , when in engagement with the vertical carrier  16 , is supported on the two parallel prongs  18  by way of four hooks  30 . 
     As a result of this design embodiment it is possible for the mounting  20  to be deposited on the vertical carrier  16  in four rotary positions about the vertical axis (not shown). 
       FIGS.  6  to  8    show V-shaped receptacle portions  34  of the prongs  18 . More specifically, two V-shaped receptacle portions  34  are formed in each prong  18 , having a spacing which corresponds to the spacing of the two hooks  30  of one lateral periphery of the mounting  20 . In this way it is possible for the form-fitting engagement according to the invention between the second engagement means (roof-shaped receptacle portions  32 ) and the V-shaped receptacle portions  34  of the prongs  18  to be established in four rotary positions of the mounting  20  about the vertical axis, by way of which form-fitting engagement a safeguard in relation to horizontal displacement and rotation of the mounting  20  in relation to the vertical carrier  16  is provided. 
       FIGS.  6  to  8    show three steps of a transfer of the mounting  20  from the horizontal carrier  4  to the vertical carrier  16 , in each case in a lateral view, wherein  FIG.  6    shows the first step,  FIG.  7    shows the second step, and  FIG.  8    shows the third step. 
     According to  FIG.  6   , the vertical carrier  4  in the direction toward the abutting edge  8  is moved (to the left) to the transfer position by means of the horizontal stator tiles  1 . The horizontal carrier  4  here floats above the horizontal plane  2 . In particular, the hooks  30  float above the prongs  18 . 
     According to  FIG.  7   , the horizontal carrier  4  having the mounting  20  has arrived at the transfer position. The vertical carrier  16  is thereafter moved upward. 
     According to  FIG.  8   , the vertical carrier  16 , by means of the prongs  18  thereof, has lifted the mounting  20  from the horizontal carrier  4  and in the process released the form-fit between the first engagement means (appendages  28 ) and the clearances  26 , while said carrier  16  has established the form-fit between the second engagement means (roof-shaped receptacle portions  32 ) and the V-shaped receptacle portions  34  of the prongs  18 . 
       FIGS.  6  to  8    also show three steps of a transfer of the mounting  20  from the vertical carrier  16  to the horizontal carrier  4 , wherein  FIG.  8    shows the first step,  FIG.  7    shows the second step, and  FIG.  6    shows the third step. 
       FIG.  9    shows the mounting  20  and a horizontal carrier  4  having a second exemplary embodiment of the second engagement means in a lateral view. The latter are formed by steps  36 . More specifically, the mounting  20  below the main body thereof on all four lateral peripheries has a respective step  36  which extends along the respective lateral periphery and of which only three steps can be seen in  FIG.  9   . One prong  18  is driven into, or below, respectively, two mutually opposite steps  36 . 
     Disclosed is a transport system composed of two planar transport installations  6 ,  10  which are disposed so as to be mutually perpendicular. Each transport installation  6 ,  10  has a stator along the plane  2 ,  14  of which at least one carrier  4 ,  16  can be displaced. At least one mounting  20  here is provided for receiving a payload  22 . The mounting  20 , by way of the first engagement means thereof, can be brought to engage in a form-fitting manner with the horizontal carrier  4 , and by way of the separate, second engagement means thereof be brought to engage in a form-fitting manner with the vertical carrier  16 . The two form-fitting engagements are designed such that the mounting  20  on the respective carrier  4 ,  16  is supported in relation to gravity, and is secured in relation to horizontal displacement and rotation. A transfer of the mounting  20  between the two transport installations takes place only by way of the mentioned motion functions of the two affected carriers  4 ,  16 . 
     LIST OF REFERENCE SIGNS 
     
         
           1  Horizontal stator tile 
           2  Horizontal plane 
           4  Horizontal carrier 
           6  Horizontal transport installation 
           8  Abutting edge 
           10  Vertical transport installation 
           12  Vertical stator tile 
           14  Vertical plane 
           16  Vertical carrier 
           18  Prong 
           20  Mounting 
           22  Payload 
           24  Main body 
           26  Clearance 
           28  Appendage 
           30  Hook 
           32  Roof-shaped receptacle portion 
           34  V-shaped receptacle portion 
           36  Step 
         L Length of the abutting edge