WO2004103792A1 - Rail assembly, rail switch and a transport device provided with a magnetostrictive sensor - Google Patents

Rail assembly, rail switch and a transport device provided with a magnetostrictive sensor Download PDF

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Publication number
WO2004103792A1
WO2004103792A1 PCT/CH2004/000306 CH2004000306W WO2004103792A1 WO 2004103792 A1 WO2004103792 A1 WO 2004103792A1 CH 2004000306 W CH2004000306 W CH 2004000306W WO 2004103792 A1 WO2004103792 A1 WO 2004103792A1
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WO
WIPO (PCT)
Prior art keywords
measuring
rail
vehicle
magnets
marking
Prior art date
Application number
PCT/CH2004/000306
Other languages
German (de)
French (fr)
Inventor
Hanspeter Vogel
Peter Huber
Original Assignee
Schierholz-Translift Schweiz Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Schierholz-Translift Schweiz Ag filed Critical Schierholz-Translift Schweiz Ag
Priority to JP2006529538A priority Critical patent/JP2007501159A/en
Priority to US10/557,315 priority patent/US20080115372A1/en
Priority to DE112004000787T priority patent/DE112004000787A5/en
Publication of WO2004103792A1 publication Critical patent/WO2004103792A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/48—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using wave or particle radiation means
    • G01D5/485—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using wave or particle radiation means using magnetostrictive devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J20/00—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof
    • B01J20/02—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof comprising inorganic material
    • B01J20/10—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof comprising inorganic material comprising silica or silicate
    • B01J20/103—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof comprising inorganic material comprising silica or silicate comprising silica
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J20/00—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof
    • B01J20/02—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof comprising inorganic material
    • B01J20/10—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof comprising inorganic material comprising silica or silicate
    • B01J20/12—Naturally occurring clays or bleaching earth
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J20/00—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof
    • B01J20/02—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof comprising inorganic material
    • B01J20/10—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof comprising inorganic material comprising silica or silicate
    • B01J20/16—Alumino-silicates
    • B01J20/18—Synthetic zeolitic molecular sieves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J20/00—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof
    • B01J20/02—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof comprising inorganic material
    • B01J20/20—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof comprising inorganic material comprising free carbon; comprising carbon obtained by carbonising processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J20/00—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof
    • B01J20/22—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof comprising organic material
    • B01J20/24—Naturally occurring macromolecular compounds, e.g. humic acids or their derivatives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J20/00—Solid sorbent compositions or filter aid compositions; Sorbents for chromatography; Processes for preparing, regenerating or reactivating thereof
    • B01J20/30—Processes for preparing, regenerating, or reactivating
    • B01J20/34—Regenerating or reactivating
    • B01J20/345—Regenerating or reactivating using a particular desorbing compound or mixture
    • B01J20/3458—Regenerating or reactivating using a particular desorbing compound or mixture in the gas phase
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D47/00—Loading or unloading devices combined with vehicles, e.g. loading platforms, doors convertible into loading and unloading ramps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
    • B61L25/026—Relative localisation, e.g. using odometer

Definitions

  • the invention relates to a rail arrangement, a switch and a transport device with magnetostrictive sensors according to the preamble of the independent claims.
  • a rail system for a packaging machine is known from WO 00/75603, which is equipped with magnetostrictive sensors for measuring the position of the vehicles.
  • Each sensor has a measuring head and a measuring stick and uses a running time delay to determine the position of a marking magnet attached to the vehicle, which is operatively connected to the measuring stick.
  • Several magnetostrictive sensors are provided for measurement along the entire rail arrangement, the measuring rods of which overlap at their ends.
  • the object is to provide a system of the type mentioned at the outset which is reliable and accurate with simple manufacture.
  • This task is solved by the rail arrangement and the transport device according to the independent claims.
  • the measuring rods arranged one behind the other then form at least one measuring path which runs along the rail arrangement, the measuring rods not overlapping. This increases the measuring accuracy or simplifies the set-up and calibration with the same accuracy since a lateral offset of the measuring rods is not necessary. is.
  • At least two are on the vehicles.
  • Marking magnets arranged one behind the other are provided.
  • the marking magnets are arranged such that at least one of the marking magnets is always in operative connection with at least one of the measuring rods even when changing from one measuring rod to the next.
  • the measurement controller can also reliably determine the position of vehicles in the area of the transition.
  • the arrangement of the magnetostrictive sensors according to the invention is particularly advantageous when the rail arrangement has a large number of rail bodies arranged one behind the other, each in one
  • Rail body is arranged at least one dipstick. Since no overlap of the measuring rods is necessary, the
  • the task is to provide a switch with a magnetostrictive measuring system. This task is solved by the switch according to the independent claims.
  • the switch has, as usual, a first, a second and a third end, the rail arrangement branching from the first end into the second and the third end.
  • the switch has magnetostrictive sensors for measuring vehicle positions, each sensor having a measuring rod and a measuring head in order to detect the position of a marking magnet arranged on a vehicle from a running time delay.
  • a measuring rod extends from the first to the second end and from the first to the third end. This allows the position of the vehicles on both switch paths to be measured precisely.
  • the measuring rods are preferably arranged laterally outside the drive device so that they do not cross it, which simplifies the construction.
  • the vehicle should preferably be equipped with at least two marking magnets arranged next to one another transversely to the direction of travel, so that at least one of the marking magnets is in operative connection with one of the measuring rods, regardless of the route traveled on the switch.
  • the term “rail arrangement” is understood to mean a guide for a vehicle which runs straight or curved and / or can comprise at least one corner piece and / or at least one switch. Further preferred embodiments and applications of the inventions result from the dependent ones Claims and from the following description based on the figures.
  • FIG. 1 shows a side view of a transport device according to the invention
  • FIG. 2 is a view of the transport device of FIG. 1 from above
  • FIG. 3 shows a section along line III-III of FIG. 2, F Fiigg .. 4 4 a detail from FIG. 3,
  • Fig. 5 shows a section along line V-V of
  • Fig. 6 is a view of a switch from above and
  • Fig. 7 shows a section through an alternative embodiment of a rail body.
  • the transport device shown in FIGS. 1 to 3 comprises a rail arrangement 1 formed by a plurality of rail bodies 2 arranged one behind the other.
  • Each rail body 2 has a cast body 3, in which two guide rods 4, a magnetostrictive sensor 5 with measuring rod 6 and measuring head 7, and coils 8 with sheet metal cores are arranged as an active part of a linear drive.
  • the vehicle side of the rail body 2 is covered by a stainless steel sheet 9.
  • the vehicles 11 traveling on the rail arrangement consist of a plurality of vehicle parts 11a, 11b which are connected to one another in an articulated manner, each of which has two wheels 12. Furthermore, a total of four marker magnets 13 are arranged on each vehicle, two on each side. Guide magnets 14 are attached to the vehicle 11 in front of and / or behind the marking magnets 13. Furthermore, drive magnets 15 are arranged on the underside in the middle of the vehicle, which cooperate with the coil 8 for driving the vehicle 11 along the rail arrangement.
  • the guide magnets 14 are arranged vertically above the guide rods 4.
  • the latter each consist of a U-profile with legs directed against the carriageway, which extends along the longitudinal axis of the rail arrangement and is made of a magnetizable material.
  • “Agregatable” is to be understood to mean ferro-magnetic or paramagnetic materials with a magnetic susceptibility much greater than 1, which exert a strong attractive force on the guide magnets 14.
  • the guide magnets 14 are polarized in such a way that different ones Poles lie above the two limbs of the respective guide rod 4, so that a magnetic connection is created by the U-profile
  • the guide magnets 14 are dimensioned in such a way that they generate a sufficiently strong interaction with the guide rods 4 in order to keep the vehicle even in curves to keep on the rail assembly 1. If the guide magnets 14 are dimensioned sufficiently strong, the vehicles 11 can also be arranged in a hanging manner.
  • each magnetostrictive sensor 5 comprises a measuring rod 6 which extends along the longitudinal direction of the rail.
  • the measuring rod 6, as shown in FIGS. 3 and 4, is preferably arranged in the U-profile of one of the guide rods 4 and, as shown in FIG. 2, runs along the coils 8 along the outer edge of the rail arrangement 1.
  • the measuring rod 6 consists of a magnetostrictive material. A current pulse flows through it at regular time intervals, which interacts with the field of the marking magnets 13 and generates an ultrasound pulse. The ultrasound pulse runs along the sensor rod and is detected in the respective measuring head 7. The position of the marking magnet 13 can be inferred from the time delay between the current pulse and the detected ultrasound pulse.
  • Magnetostrictive sensors of the type described here are offered, for example, by MTS Sensor Technologie GmbH & Co. KG (Germany) under the brand name Temposonics®.
  • Each measuring rod 6 preferably extends over only one rail body. However, it is also conceivable to use measuring rods 6 that extend over several rail stretch body. A combination of measuring rods of different lengths is also conceivable.
  • the successive measuring rods in the longitudinal direction of the rails are arranged one behind the other without overlapping (i.e. without lateral offset transversely to the longitudinal direction of the rail) and form a measuring track.
  • the overlap-free arrangement of the measuring rods 6 allows them to be fully integrated into the rail body 2.
  • each marking rod 6 has two marking magnets 13 arranged one behind the other on each vehicle 11, namely at a distance from one another which is greater than the length of the zones 20, the measuring controller 17 can still detect a vehicle from at least one measuring rod 6 if it is in the area between two rail bodies 2.
  • the measurement is always carried out, for example, always at the position of the front marking magnet in the direction of travel of the vehicle, namely until the distance of the front marking magnet to a front end of the measuring rod in the direction of travel drops below a predetermined threshold size. If the threshold value is undershot, the measurement is carried out with the rear marking magnet in the direction of travel until the front marking magnet reaches the measuring range of the next measuring rod 6 in the direction of travel. Then the position is measured with the next measuring stick and the front marking magnet.
  • a marking magnet 13 is only used for a measurement if it is in a predetermined measuring range of one of the measuring rods.
  • the second marking magnet arranged on the vehicle in front of or behind the respective marking magnet 13 is used for the measurement. If both are in a row marking magnets lying in the measuring range of one (or two different) measuring rods, both or only one of the marking magnets can be used for the measurement. As already mentioned, marking magnets 13 are arranged on both sides of each vehicle. As a rule, however, only a single measuring rod is integrated in the rail bodies 2, so that only two of the four marking magnets are used. However, the additional two marking magnets have the advantage that the vehicles can be placed on the rail arrangement in both possible orientations. In addition, as described in the following, they allow the vehicles to be reliably identified even with switches.
  • a switch 2a is shown in Fig. 6. It has a first end 22, a second end 23a and a third end 23b, the first end 22 optionally being connectable to the second or third end 23a or 23b.
  • two measuring rods 6 are integrated in the switch, each of which runs parallel to and close to an outer edge 26, 27 of the switch, i.e. they are arranged along the outer edges.
  • the measuring rods are arranged laterally outside the stationary part (coils 8) of the drive device. At least one of the measuring rods 6 is curved. This arrangement makes it possible to continuously track the position of a vehicle in the area of the switch 2a, regardless of which way it takes. In any case, one of the marking magnets is permanently in the area of a measuring rod 6
  • Measuring rods 6 arranged in the interior of the U-shaped profiles of the guide rods 4, which has the advantage that they are better shielded from magnetic fields of the drive.
  • the guide magnets 14 are arranged tangentially to the measuring rods above the leg ends of the U-shaped profiles, which causes their magnetic field lines in the
  • Profiles are bundled and the field is therefore very small in the area of the measuring rods.
  • the marking magnets 13 are arranged radially to the measuring rods 6, so that the field lines enter the measuring rods, which leads to the generation of the above-mentioned ultrasonic pulses. Due to the different arrangement of the marking and guide magnets 13 and 14 it can be achieved that the guide magnets 14 generate significantly smaller signals than the marking magnets 13.
  • the measuring rods 6 can also be arranged next to the guide rods 4 and run along them, in which case the guide rods 4 are advantageously arranged between the coils 8 and the measuring rods 6, so that the measuring rods 6 are shielded from the field of coils 8 as far as possible.
  • An arrangement of the measuring rods 6 at a greater distance from the guide rods 4 is also conceivable.
  • the measuring rods can also be integrated in the area of or in the coils 8. This is shown in FIG. 7, where the measuring rod 6 is arranged in a recess in the sheet metal core 8a of the coils 8.
  • the measuring rod is preferably also arranged in a U-profile 4a, so that disturbing magnetic fields are shielded.

Abstract

In order to detect a vehicle position on a rail assembly, magnetostrictive sensors (5) are integrated into said rail assembly and marking magnets (13) are disposed on the vehicles (11). Measuring bars (6) are successively arranged without overlapping each other, thereby forming a measuring path. In order to detect the vehicle position even in areas where the bars are jointed to each other, each vehicle is provided with at least two marking magnets which are arranged at a certain distance from each other. A rail switch provided with at least two measuring bars is also disclosed.

Description

Schienenanordnung, Weiche und Transportvorrichtung mit magnetostrik iven Sensoren Rail arrangement, switch and transport device with magnetostr ive sensors
Hinweis auf verwandte AnmeldungenReference to related applications
Diese Anmeldung beansprucht die Priorität der Schweizer Patentanmeldung Nr. 908/03, die am 21. Mai 2003 eingereicht wurde und deren ganze Offenbarung hiermit durch Bezug aufgenommen wird.This application claims priority from Swiss Patent Application No. 908/03, filed on May 21, 2003, the entire disclosure of which is hereby incorporated by reference.
Die Erfindung betrifft eine Schienenanord- nung, eine Weiche und eine Transportvorrichtung mit ma- gnetostriktiven Sensoren gemäss Oberbegriff der unabhän- gigen Ansprüche.The invention relates to a rail arrangement, a switch and a transport device with magnetostrictive sensors according to the preamble of the independent claims.
Aus WO 00/75603 ist ein Schienensystem für eine Verpackungsmaschine bekannt, welches für die Messung der Position der Fahrzeuge mit magnetostriktiven Sensoren ausgerüstet ist. Jeder Sensor besitzt einen Messkopf und einen Messstab und bestimmt aus einer LaufZeitverzögerung die Position eines am Fahrzeug angebrachten Markierungs- magneten, der in Wirkverbindung mit dem Messstab steht. Zur Messung entlang der ganzen Schienenanordnung sind mehrere magnetostriktive Sensoren vorgesehen, deren Mess- stäbe sich an ihren Enden überlappen.A rail system for a packaging machine is known from WO 00/75603, which is equipped with magnetostrictive sensors for measuring the position of the vehicles. Each sensor has a measuring head and a measuring stick and uses a running time delay to determine the position of a marking magnet attached to the vehicle, which is operatively connected to the measuring stick. Several magnetostrictive sensors are provided for measurement along the entire rail arrangement, the measuring rods of which overlap at their ends.
In der Praxis zeigt es sich, dass derartige Vorrichtungen aufwändig in der Herstellung sind und nur begrenzte Messgenauigkeit besitzen. Weiter besteht das Problem, dass eine auch für Weichenbereiche geeignete An- Ordnung der Sensoren gewünscht wird.In practice it has been shown that such devices are complex to manufacture and have only limited measuring accuracy. Another problem is that an arrangement of the sensors that is also suitable for switch areas is desired.
In einem ersten Aspekt der Erfindung stellt sich deshalb die Aufgabe, ein System der eingangs genannten Art bereitzustellen, welches bei einfacher Herstellung zuverlässig und genau ist. Diese Aufgabe wird von der Schienenanordnung und der Transportvorrichtung gemäss den unabhängigen Ansprüchen gelöst. Danach bilden die hintereinander angeordneten Messstäbe mindestens eine Messbahn, die der Schienenanordnung entlang verläuft, wobei die Messstäbe sich nicht überlappen. Dies erhöht die Messgenauigkeit bzw. verein- facht bei gleicher Genauigkeit den Aufbau und die Kalibrierung da ein seitlicher Versatz der Messstäbe nicht erforderlich. ist.In a first aspect of the invention, therefore, the object is to provide a system of the type mentioned at the outset which is reliable and accurate with simple manufacture. This task is solved by the rail arrangement and the transport device according to the independent claims. The measuring rods arranged one behind the other then form at least one measuring path which runs along the rail arrangement, the measuring rods not overlapping. This increases the measuring accuracy or simplifies the set-up and calibration with the same accuracy since a lateral offset of the measuring rods is not necessary. is.
Vorzugsweise sind an den Fahrzeugen mindestens zwei in . Fahrtrichtung hintereinander angeordnete Markierungsmagnete vorgesehen. Die Markierungsmagnete sind so angeordnet, dass auch beim Übergang von einem Messstab zum Nächsten immer mindestens einer der Markierungsmagnete mit mindestens einem der Messstäbe in Wirkverbindung seht. Die Messsteuerung kann in diesem Falle auch die Position von Fahrzeugen im Bereich des Übergangs sicher bestimmen.Preferably at least two are on the vehicles. Marking magnets arranged one behind the other are provided. The marking magnets are arranged such that at least one of the marking magnets is always in operative connection with at least one of the measuring rods even when changing from one measuring rod to the next. In this case, the measurement controller can also reliably determine the position of vehicles in the area of the transition.
Die erfindungsgemässe Anordnung der magneto- striktiven Sensoren ist insbesondere dann von Vorteil, wenn die Schienenanordnung eine Vielzahl von hintereinan- der angeordneten Schienenkörpern aufweist, wobei in jedemThe arrangement of the magnetostrictive sensors according to the invention is particularly advantageous when the rail arrangement has a large number of rail bodies arranged one behind the other, each in one
Schienenkörper mindestens ein Messstab angeordnet ist. Da keine Überlappung der Messstäbe notwendig ist, wird dieRail body is arranged at least one dipstick. Since no overlap of the measuring rods is necessary, the
Ausgestaltung und Montage der Schienenkörper vereinfacht.Design and assembly of the rail body simplified.
In einem weiteren Aspekt stellt sich die Auf- gäbe, eine Weiche mit einem magnetostriktiven Messsystem bereitzustellen. Diese Aufgabe wird von der Weiche gemäss den unabhängigen Ansprüchen gelöst .In another aspect, the task is to provide a switch with a magnetostrictive measuring system. This task is solved by the switch according to the independent claims.
Die Weiche besitzt, wie üblich, ein erstes, ein zweites und ein drittens Ende, wobei sich die Schie- nenanordnung vom ersten Ende in das zweite und das dritte Ende verzweigt. Die Weiche besitzt magnetostriktive Sensoren zur Messung von Fahrzeugpositionen, wobei jeder Sensor einen Messstab und einen Messkopf besitzt um aus einer LaufZeitverzögerung die Position eines an einem Fahrzeug angeordneten Markierungsmagneten zu detektieren. Im Bereich der Weiche erstreckt sich je ein Messstab vom ersten zum zweiten Ende und vom ersten zum dritten Ende. Dies erlaubt es, die Position der Fahrzeuge auf beiden Weichenpfaden genau zu messen.The switch has, as usual, a first, a second and a third end, the rail arrangement branching from the first end into the second and the third end. The switch has magnetostrictive sensors for measuring vehicle positions, each sensor having a measuring rod and a measuring head in order to detect the position of a marking magnet arranged on a vehicle from a running time delay. In the area of the switch, a measuring rod extends from the first to the second end and from the first to the third end. This allows the position of the vehicles on both switch paths to be measured precisely.
Ist in der Weiche ein Teil einer Antriebsvorrichtung integriert, wie z.B. der aktive Teil eines Line- arantriebs, so werden die Messstäbe vorzugsweise seitlich ausserhalb der Antriebsvorrichtung angeordnet, so dass sie diese nicht kreuzen, was die Konstruktion vereinfacht .Is part of a drive device integrated in the switch, e.g. the active part of a linear drive, the measuring rods are preferably arranged laterally outside the drive device so that they do not cross it, which simplifies the construction.
Vorzugsweise sollte das Fahrzeug mit minde- stens zwei quer zur Fahrtrichtung nebeneinander angeordneten Markierungsmagneten ausgestattet sein, so dass unabhängig vom auf der Weiche befahrenen Weg jeweils mindestens einer der Markierungsmagnete mit einem der Messstäbe in Wirkverbindung steht . Unter dem Begriff „Schienenanordnung'" wird im vorliegenden Zusammenhang eine Führung für ein Fahrzeug verstanden, die gerade oder gekrümmt verlaufen und/oder mindestens ein Eckstück und/oder mindestens eine Weiche umfassen kann. Weitere bevorzugte Ausführungen und Anwendungen der Erfindungen ergeben sich aus den abhängigen Ansprüchen sowie aus der nun folgenden Beschreibung anhand der Figuren. Dabei zeigen:The vehicle should preferably be equipped with at least two marking magnets arranged next to one another transversely to the direction of travel, so that at least one of the marking magnets is in operative connection with one of the measuring rods, regardless of the route traveled on the switch. In the present context, the term “rail arrangement” is understood to mean a guide for a vehicle which runs straight or curved and / or can comprise at least one corner piece and / or at least one switch. Further preferred embodiments and applications of the inventions result from the dependent ones Claims and from the following description based on the figures.
Fig. 1 eine Seitenansicht einer erfindungsge- mässen Transportvorrichtung,1 shows a side view of a transport device according to the invention,
Fig. 2 eine Ansicht der Transportvorrichtung von Fig. 1 von oben,2 is a view of the transport device of FIG. 1 from above,
Fig. 3 einen Schnitt entlang Linie III-III von Fig . 2 , F Fiigg.. 4 4 ein Detail aus Fig. 3,3 shows a section along line III-III of FIG. 2, F Fiigg .. 4 4 a detail from FIG. 3,
Fig . 5 einen Schnitt entlang Linie V-V vonFig. 5 shows a section along line V-V of
Fig . 2 ,Fig. 2,
Fig . 6 eine Ansicht einer Weiche von oben undFig. 6 is a view of a switch from above and
Fig . 7 einen Schnitt durch eine alternative Ausführung eines Schienenkörpers.Fig. 7 shows a section through an alternative embodiment of a rail body.
Die in Fig. 1 bis 3 dargestellte Transportvorrichtung umfasst eine Schienenanordnung 1 gebildet von einer Vielzahl von hintereinander angeordneten Schienenkörpern 2. Jeder Schienenkörper 2 besitzt einen gusstechnisch gefertigten Grundkörper 3 , in welchem zwei Führungsstäbe 4, ein magnetostriktiver Sensor 5 mit Messstab 6 und Messkopf 7, sowie Spulen 8 mit Blechkernen als aktiver Teil eines Linearantriebs angeordnet sind. Die Fahrzeugseite des Schienenkörpers 2 wird von einem rostfreien Stahlblech 9 abgedeckt.The transport device shown in FIGS. 1 to 3 comprises a rail arrangement 1 formed by a plurality of rail bodies 2 arranged one behind the other. Each rail body 2 has a cast body 3, in which two guide rods 4, a magnetostrictive sensor 5 with measuring rod 6 and measuring head 7, and coils 8 with sheet metal cores are arranged as an active part of a linear drive. The vehicle side of the rail body 2 is covered by a stainless steel sheet 9.
Die auf der Schienenanordnung fahrenden Fahr- zeuge 11 bestehen aus mehreren, gelenkig miteinander verbundenen Fahrzeugteilen 11a, 11b, von denen jeder zwei Räder 12 aufweist. Ferner sind an jedem Fahrzeug insgesamt vier Markierungsmagneten 13 angeordnet, und zwar zwei auf jeder Seite. Vor und/oder hinter den Markie- rungsmagneten 13 sind am Fahrzeug 11 Führungsmagneten 14 befestigt. Ferner sind an der Unterseite in der Mitte des Fahrzeugs Antriebsmagneten 15 angeordnet, die mit den Spule 8 zum Antrieb des Fahrzeugs 11 entlang der Schienenanordnung zusammenwirken. Die Führungsmagnete 14 sind vertikal oberhalb der Führungsstäbe 4 angeordnet. Letztere bestehen je aus einem U-Profil mit gegen die Fahrbahn gerichteten Schenkeln, welches sich der Längsachse der Schienenanordnung entlang erstreckt und aus einem magnetisierbaren Material besteht. Unter „ agnetisierbar" sind dabei ferro- agnetische oder paramagnetische Materialien mit einer magnetischen Suszebtibilität viel grösser als 1 zu verstehen, welche eine starke anziehende Kraft auf die Führungsmagnete 14 ausüben. Wie aus Fig. 5 ersichtlich, sind die Führungsmagnete 14 so polarisiert, dass unterschiedliche Pole über den beiden Schenkeln des jeweiligen Führungsstabs 4 liegen, so dass sich ein Magnetschluss durch das U- Profil ergibt . Die Führungsmagnete 14 sind so bemessen, dass sie eine ausreichend starke Wechselwirkung mit den Führungsstäben 4 erzeugen, um das Fahrzeug auch in Kurven auf der Schienenanordnung 1 zu halten. Wenn die Führungs- magnete 14 ausreichend stark bemessen sind, können die Fahrzeuge 11 auch hängend angeordnet werden.The vehicles 11 traveling on the rail arrangement consist of a plurality of vehicle parts 11a, 11b which are connected to one another in an articulated manner, each of which has two wheels 12. Furthermore, a total of four marker magnets 13 are arranged on each vehicle, two on each side. Guide magnets 14 are attached to the vehicle 11 in front of and / or behind the marking magnets 13. Furthermore, drive magnets 15 are arranged on the underside in the middle of the vehicle, which cooperate with the coil 8 for driving the vehicle 11 along the rail arrangement. The guide magnets 14 are arranged vertically above the guide rods 4. The latter each consist of a U-profile with legs directed against the carriageway, which extends along the longitudinal axis of the rail arrangement and is made of a magnetizable material. “Agregatable” is to be understood to mean ferro-magnetic or paramagnetic materials with a magnetic susceptibility much greater than 1, which exert a strong attractive force on the guide magnets 14. As can be seen from FIG. 5, the guide magnets 14 are polarized in such a way that different ones Poles lie above the two limbs of the respective guide rod 4, so that a magnetic connection is created by the U-profile The guide magnets 14 are dimensioned in such a way that they generate a sufficiently strong interaction with the guide rods 4 in order to keep the vehicle even in curves to keep on the rail assembly 1. If the guide magnets 14 are dimensioned sufficiently strong, the vehicles 11 can also be arranged in a hanging manner.
Der Antrieb erfolgt über elektronische An- Steuerung der Spulen 8 mittels einer Steuerung 17, welche in Fig. 2 schematisch dargestellt ist. Die Steuerung 17 bildet einen Regelkreis, dessen Stellgrösse die Ströme durch die einzelnen Phasen der Spulen 8 und dessen Regel- grösse die gemessene Fahrzeugposition ist. Mit anderen Worten werden die Ströme durch die Spulen von der Steuerung also so gewählt, dass das Fahrzeug eine vorgegebene Position (welche zeitabhängig sein kann) anfährt bzw. einhält, wobei die aktuelle Position mit den magneto- striktiven Sensoren 5 bestimmt wird. Wie bereits erwähnt, umfasst jeder magnetostriktive Sensor 5 einen Messstab 6, der sich der Schienenlängsrichtung entlang erstreckt . Vorzugsweise ist der Messstab 6, wie in Fig. 3 und 4 dargestellt, im U-Profil einer der Führungsstäbe 4 angeordnet und verläuft, wie in Fig. 2 gezeigt, seitlich der Spulen 8 der Aussenkante der Schieneήanordnung 1 entlang.The drive takes place via electronic control of the coils 8 by means of a control 17, which is shown schematically in FIG. 2. The controller 17 forms a control loop, the manipulated variable of which is the current through the individual phases of the coils 8 and the controlled variable is the measured vehicle position. In other words, the currents through the coils are selected by the control so that the vehicle approaches or maintains a predetermined position (which can be time-dependent), the current position being determined with the magnetostrictive sensors 5. As already mentioned, each magnetostrictive sensor 5 comprises a measuring rod 6 which extends along the longitudinal direction of the rail. The measuring rod 6, as shown in FIGS. 3 and 4, is preferably arranged in the U-profile of one of the guide rods 4 and, as shown in FIG. 2, runs along the coils 8 along the outer edge of the rail arrangement 1.
Der Messstab 6 besteht aus einem magneto- striktiven Material. Er wird in regelmässigen zeitlichen Abständen von einem Strompuls durchflössen, welcher mit dem Feld der Markierungsmagneten 13 wechselwirkt und einen Ultraschallpuls erzeugt. Der Ultraschallpuls läuft dem Sensorstab entlang und wird im jeweiligen Messkopf 7 detektiert . Aus der Zeitverzögerung zwischen dem Strompuls und dem detektieren Ultraschallpuls kann auf die Po- sition des Markierungsmagneten 13 geschlossen werden.The measuring rod 6 consists of a magnetostrictive material. A current pulse flows through it at regular time intervals, which interacts with the field of the marking magnets 13 and generates an ultrasound pulse. The ultrasound pulse runs along the sensor rod and is detected in the respective measuring head 7. The position of the marking magnet 13 can be inferred from the time delay between the current pulse and the detected ultrasound pulse.
Magnetostriktive Sensoren der hier beschriebenen Art werden z.B. von der Firma MTS Sensor Technologie GmbH & Co. KG (Deutschland) unter der Markennamen Temposonics® angeboten. Vorzugsweise erstreckt sich jeder Messstab 6 über nur einen Schienenkörper. Es ist jedoch auch denkbar Messstäbe 6 zu verwenden, die sich über mehrere Schienen- körper erstrecken. Auch eine Kombination unterschiedlich langer Messstäbe ist denkbar.Magnetostrictive sensors of the type described here are offered, for example, by MTS Sensor Technologie GmbH & Co. KG (Germany) under the brand name Temposonics®. Each measuring rod 6 preferably extends over only one rail body. However, it is also conceivable to use measuring rods 6 that extend over several rail stretch body. A combination of measuring rods of different lengths is also conceivable.
Die in Schienenlängsrichtung aufeinander folgenden Messstäbe sind, ohne zu überlappen, hintereinander (d.h. ohne seitlichen Versatz quer zur Schienenlängsrich- tung) angeordnet und bilden eine Messbahn. Die überlappungsfreie Anordnung der Messstäbe 6 erlaubt es, diese völlig in die Schienenkörper 2 zu integrieren. Sie führt aber dazu, dass zwischen den Schienenkörpern 2 Zonen 20 vorhanden sind, in denen ein Markierungsmagnet 13 nicht erfasst werden kann. Da jedoch an jedem Fahrzeug 11 pro Messstab 6 zwei hintereinander angeordnete Markierungsmagneten 13 vorgesehen sind, und zwar in einem Abstand voneinander, der grösser als die Länge der Zonen 20 ist, kann von der Messsteuerung 17 ein Fahrzeug auch dann noch von mindestens einem Messstab 6 erfasst werden, wenn es sich im Bereich zwischen zwei Schienenkörpern 2 befindet.The successive measuring rods in the longitudinal direction of the rails are arranged one behind the other without overlapping (i.e. without lateral offset transversely to the longitudinal direction of the rail) and form a measuring track. The overlap-free arrangement of the measuring rods 6 allows them to be fully integrated into the rail body 2. However, it leads to the fact that there are zones 20 between the rail bodies in which a marking magnet 13 cannot be detected. However, since each marking rod 6 has two marking magnets 13 arranged one behind the other on each vehicle 11, namely at a distance from one another which is greater than the length of the zones 20, the measuring controller 17 can still detect a vehicle from at least one measuring rod 6 if it is in the area between two rail bodies 2.
In einer bevorzugten Ausführung erfolgt die Messung beispielsweise immer an der Position des in Fahrtrichtung des Fahrzeugs vorderen Markierungsmagneten, und zwar bis der Abstand des vorderen Markierungsmagneten bis zu einem in Fahrtrichtung vorderen Ende des Messstabs unter eine vorgegebene Schwellgrösse sinkt. Wenn die Schwellgrösse unterschritten wird, erfolgt die Messung mit dem in Fahrtrichtung hinteren Markierungsmagneten, bis der vordere Markierungsmagnet den Messbereich des in Fahrtrichtung nächsten Messstabs 6 erreicht. Sodann erfolgt die Messung der Position mit dem nächsten Messstab und dem vorderen Markierungsmagneten. Verallgemeinert gesagt, wird ein Markierungs- magnet 13 nur dann für eine Messung verwendet, wenn er sich in einem vorgegebenen Messbereich einer der Messstäbe befindet. Falls sich der Markierungsmagnet 13 nicht im vorgegebenen Messbereich einer der Messstäbe befindet, wird der am Fahrzeug vor oder hinter dem jeweiligen Markierungsmagneten 13 angeordnete zweite Markierungsmagnet für die Messung verwendet. Wenn sich beide hintereinander liegenden Markierungsmagneten im Messbereich eines (oder zweier unterschiedlicher) Messstäbe befinden, können beide oder nur einer der Markierungsmagnete für die Messung verwendet werden. Wie bereits erwähnt, sind an beiden Seiten jedes Fahrzeugs Markierungsmagnete 13 angeordnet. In den Schienenkörpern 2 ist in der Regel jedoch nur ein einziger Messstab integriert, so dass nur zwei der vier Markierungsmagnete genutzt werden. Die zusätzlichen zwei Markierungsmagnete haben jedoch den Vorteil, dass die Fahrzeuge in beiden möglichen Orientierungen auf die Schienenanordnung gesetzt werden können. Ausserdem erlauben sie, wie im Folgenden beschrieben, die sichere Positionserfassung der Fahrzeuge auch bei Weichen. Eine Weiche 2a ist in Fig. 6 dargestellt. Sie besitzt ein erstes Ende 22, ein zweites Ende 23a und ein drittes Ende 23b, wobei das erste Ende 22 wahlweise mit dem zweiten oder dem dritten Ende 23a bzw. 23b verbunden werden kann. Seitliche Steuermagnete 24, 25, die mit den Führungsmagneten 14 der Fahrzeuge wechselwirken, dienen dazu, die Fahrzeuge in die eine oder andere Richtung zu lenken.In a preferred embodiment, the measurement is always carried out, for example, always at the position of the front marking magnet in the direction of travel of the vehicle, namely until the distance of the front marking magnet to a front end of the measuring rod in the direction of travel drops below a predetermined threshold size. If the threshold value is undershot, the measurement is carried out with the rear marking magnet in the direction of travel until the front marking magnet reaches the measuring range of the next measuring rod 6 in the direction of travel. Then the position is measured with the next measuring stick and the front marking magnet. Generally speaking, a marking magnet 13 is only used for a measurement if it is in a predetermined measuring range of one of the measuring rods. If the marking magnet 13 is not in the predetermined measuring range of one of the measuring rods, the second marking magnet arranged on the vehicle in front of or behind the respective marking magnet 13 is used for the measurement. If both are in a row marking magnets lying in the measuring range of one (or two different) measuring rods, both or only one of the marking magnets can be used for the measurement. As already mentioned, marking magnets 13 are arranged on both sides of each vehicle. As a rule, however, only a single measuring rod is integrated in the rail bodies 2, so that only two of the four marking magnets are used. However, the additional two marking magnets have the advantage that the vehicles can be placed on the rail arrangement in both possible orientations. In addition, as described in the following, they allow the vehicles to be reliably identified even with switches. A switch 2a is shown in Fig. 6. It has a first end 22, a second end 23a and a third end 23b, the first end 22 optionally being connectable to the second or third end 23a or 23b. Lateral control magnets 24, 25, which interact with the guide magnets 14 of the vehicles, serve to steer the vehicles in one direction or the other.
Wie gestrichelt dargestellt, sind in der Weiche zwei Messstäbe 6 integriert, von denen jeweils jeder parallel zu und nahe an einer Aussenkante 26, 27 der Weiche verläuft, d.h. sie sind entlang der Aussenkanten angeordnet. Die Messstäbe sind seitlich ausserhalb des stationären Teils (Spulen 8) der Antriebsvorrichtung angeordnet. Mindestens einer der Messtäbe 6 verläuft gebogen. Diese Anordnung erlaubt es, die Position eines Fahrzeugs im Bereich der Weiche 2a dauernd zu verfolgen, unabhängig davon, welchen Weg es nimmt. In jedem Falle befindet sich einer der Markierungsmagnete dauernd im Bereich eines Messstabs 6. In den oben erwähnten Ausführungen sind dieAs shown in dashed lines, two measuring rods 6 are integrated in the switch, each of which runs parallel to and close to an outer edge 26, 27 of the switch, i.e. they are arranged along the outer edges. The measuring rods are arranged laterally outside the stationary part (coils 8) of the drive device. At least one of the measuring rods 6 is curved. This arrangement makes it possible to continuously track the position of a vehicle in the area of the switch 2a, regardless of which way it takes. In any case, one of the marking magnets is permanently in the area of a measuring rod 6
Messstäbe 6 im Innern der U-förmigen Profile der Führungsstäbe 4 angeordnet, was den Vorteil hat, dass sie von magnetischen Feldern des Antriebs besser abgeschirmt sind. Wie bereits erwähnt und aus Fig. 5 ersichtlich, sind die Führungsmagnete 14 tangential zu den Messstäben über den Schenkelenden der U-förmigen Profile angeordnet, was bewirkt, dass ihre magnetischen Feldlinien in denMeasuring rods 6 arranged in the interior of the U-shaped profiles of the guide rods 4, which has the advantage that they are better shielded from magnetic fields of the drive. As already mentioned and can be seen from FIG. 5, the guide magnets 14 are arranged tangentially to the measuring rods above the leg ends of the U-shaped profiles, which causes their magnetic field lines in the
Profilen gebündelt werden und das Feld deshalb im Bereich der Messstäbe sehr klein ist. Im Gegensatz hierzu sind, wie aus Fig. 4 ersichtlich, die Markierungsmagnete 13 radial zu den Messstäben 6 angeordnet, so dass die Feldli- nien in die Messstäbe eintreten, was zur Erzeugung der oben erwähnten Ultraschallpulse führt. Durch die unterschiedliche Anordnung der Markierungs- und Führungsmagnete 13 bzw. 14 kann also erreicht werden, dass die Führungsmagnete 14 wesentlich kleinere Signale erzeugen als die Markierungsmagnete 13.Profiles are bundled and the field is therefore very small in the area of the measuring rods. In contrast to this, as can be seen from FIG. 4, the marking magnets 13 are arranged radially to the measuring rods 6, so that the field lines enter the measuring rods, which leads to the generation of the above-mentioned ultrasonic pulses. Due to the different arrangement of the marking and guide magnets 13 and 14 it can be achieved that the guide magnets 14 generate significantly smaller signals than the marking magnets 13.
Die Messstäbe 6 können auch neben den Führungsstäben 4 angeordnet sein und diesen entlang laufen, wobei in diesem Falle die Führungsstäbe 4 mit Vorteil zwischen den Spulen 8 und dem Messstäben 6 angeordnet werden, so dass die Messstäbe 6 vom Feld der Spulen 8 möglichst abgeschirmt sind. Denkbar ist auch eine Anordnung der Messstäbe 6 in grösserem Abstand von den Führungsstäben 4. Insbesondere können die Messstäbe auch im Bereich der oder in die Spulen 8 integriert sein. Dies ist in Fig. 7 dargestellt, wo der Messstab 6 in einer Aussparung im Blechkerns 8a der Spulen 8 angeordnet ist. vorzugsweise wird in dieser Ausführung der Messstab auch in einem U-Profil 4a angeordnet, so dass störende Magnetfelder abgeschirmt werden.The measuring rods 6 can also be arranged next to the guide rods 4 and run along them, in which case the guide rods 4 are advantageously arranged between the coils 8 and the measuring rods 6, so that the measuring rods 6 are shielded from the field of coils 8 as far as possible. An arrangement of the measuring rods 6 at a greater distance from the guide rods 4 is also conceivable. In particular, the measuring rods can also be integrated in the area of or in the coils 8. This is shown in FIG. 7, where the measuring rod 6 is arranged in a recess in the sheet metal core 8a of the coils 8. In this embodiment, the measuring rod is preferably also arranged in a U-profile 4a, so that disturbing magnetic fields are shielded.
Während in der vorliegenden Anmeldung bevorzugte Ausführungen der Erfindung beschrieben sind, ist klar darauf hinzuweisen, dass die Erfindung nicht auf diese beschränkt ist und in auch anderer Weise innerhalb des Umfangs der folgenden Ansprüche ausgeführt werden kann. While preferred embodiments of the invention are described in the present application, it should be clearly pointed out that the invention is not limited to these and can also be carried out in other ways within the scope of the following claims.

Claims

Patentansprüche claims
1. Schienenanordnung mit mehreren, hinterein- ander angeordneten magnetostriktiven Sensoren (5) zur Messung von Fahrzeugpositionen, wobei jeder Sensor (5) einen Messstab (6) entlang der Schienenanordnung und einen Messkopf (7) aufweist um aus einer Laufzeitverzöge- rung die Position eines an einem Fahrzeug angeordneten Markierungsmagneten (13) zu detektieren, wobei die Messstäbe (6) mindestens eine der Schienenanordnung entlang verlaufende Messbahn bilden, dadurch gekennzeichnet, dass die Messbahn aus nicht überlappend hintereinander angeordneten Messstäben (6) besteht. 1. Rail arrangement with a plurality of magnetostrictive sensors (5) arranged one behind the other for measuring vehicle positions, each sensor (5) having a measuring rod (6) along the rail arrangement and a measuring head (7) to determine the position of a delay from a running time to detect marking magnets (13) arranged on a vehicle, the measuring rods (6) forming at least one measuring path running along the rail arrangement, characterized in that the measuring path consists of measuring rods (6) which are not overlapping one behind the other.
2. Schienenanordnung nach Anspruch 1, wobei sie eine Messteuerung (17) aufweist, welche ausgestaltet ist, um die Position von Fahrzeugen mit mindestens zwei hintereinander angeordnete Markierungsmagneten (13) zu ermitteln, unter Ausnutzung des Umstands, dass bei einem Übergang von einem Messstab (6) zum nächsten Messstab (6) immer mindestens einer der Markierungsmagnete (13) mit mindestens einem der Messstäbe (6) in Wirkverbindung steht.2. The rail arrangement according to claim 1, wherein it has a measuring control (17) which is designed to determine the position of vehicles with at least two marking magnets (13) arranged one behind the other, taking advantage of the fact that during a transition from a measuring rod ( 6) the next measuring rod (6) is always at least one of the marking magnets (13) with at least one of the measuring rods (6) in operative connection.
3. Schienenanordnung nach einem der voran- gehenden Ansprüche mit einer Vielzahl von hintereinander angeordneten Schienenkörpern (2) , wobei in jedem Schienenkörper mindestens ein Messstab (6) angeordnet ist.3. Rail arrangement according to one of the preceding claims with a plurality of rail bodies (2) arranged one behind the other, at least one measuring rod (6) being arranged in each rail body.
4. Schienenanordnung nach Anspruch 3, wobei mindestens ein Teil der Messstäbe (6) sich nur über genau einen Schienenkörper (2) erstreckt oder wobei mindestens ein Teil der Messstäbe (6) sich je über mehrere Schienenkörper (2) erstreckt.4. Rail arrangement according to claim 3, wherein at least some of the measuring rods (6) only extend over exactly one rail body (2) or at least some of the measuring rods (6) each extend over several rail bodies (2).
5. Schienenanordnung nach einem der vorangehenden Ansprüche, wobei sie mindestens einen magneti- sierbaren Führungsstab (4) zur magnetischen Führung der Fahrzeuge aufweist, wobei die Messstäbe (6) dem Führungsstab (4) entlang angeordnet sind. 5. Rail arrangement according to one of the preceding claims, wherein it has at least one magnetizable guide rod (4) for magnetic guidance of the vehicles, the measuring rods (6) being arranged along the guide rod (4).
6. Schienenanordnung nach Anspruch 5, wobei der Führungsstab (4) ein U-Profil aufweist, und wobei der Messstab (6) im U-Profil angeordnet ist.6. Rail arrangement according to claim 5, wherein the guide rod (4) has a U-profile, and wherein the measuring rod (6) is arranged in the U-profile.
7. Schienenanordnung nach einem der voran- gehenden Ansprüche, wobei in der Schienenanordnung Spulen (8) als aktiver Teil eines Linearantriebs angeordnet sind, wobei die Messstäbe (6) bei oder im aktiven Teil des Linearantriebs angeordnet sind.7. Rail arrangement according to one of the preceding claims, wherein coils (8) are arranged in the rail arrangement as an active part of a linear drive, the measuring rods (6) being arranged in or in the active part of the linear drive.
8. Schienenanordnung nach einem der voran- gehenden Ansprüche, wobei die Messstäbe (6) in einem ma- gnetisierbaren U-Profil (4, 4a) angeordnet sind.8. Rail arrangement according to one of the preceding claims, wherein the measuring rods (6) are arranged in a magnetisable U-profile (4, 4a).
9. Weiche für eine Schienenanordnung, insbesondere für eine Schienenanordnung nach einem der vorangehenden Ansprüche, wobei die Weiche ein erstes, ein zweites und ein drittes Ende (22, 23a, 23b) aufweist, wobei sich die Schienenanordnung vom ersten Ende (22) in das zweite und das dritte Ende (23a, 23b) verzweigt, dadurch gekennzeichnet, dass die Weiche magnetostriktive Sensoren (5) zur Messung von Fahrzeugpositionen aufweist, wobei jeder Sensor (5) einen Messstab (6) und einen Messkopf (7) besitzt um aus einer LaufZeitverzögerung die Position eines an einem Fahrzeug angeordneten Markierungsmagneten (13) zu detektieren, wobei sich je ein Messstab (6) vom ersten zum zweiten Ende (22, 23a) und vom ersten zum dritten Ende (22, 23b) erstreckt.9. Switch for a rail arrangement, in particular for a rail arrangement according to one of the preceding claims, wherein the switch has a first, a second and a third end (22, 23a, 23b), the rail arrangement extending from the first end (22) into the second and third ends (23a, 23b) branched, characterized in that the switch has magnetostrictive sensors (5) for measuring vehicle positions, each sensor (5) having a measuring rod (6) and a measuring head (7) in order to consist of a Running time delay to detect the position of a marking magnet (13) arranged on a vehicle, a measuring rod (6) extending from the first to the second end (22, 23a) and from the first to the third end (22, 23b).
10. Weiche nach Anspruch 9, wobei in der Weiche mindestens ein Teil (8) einer Antriebsvorrichtung angeordnet ist und die Messstäbe (6) seitlich ausserhalb des Teils (8) der Antriebsvorrichtung angeordnet sind. 10. Switch according to claim 9, wherein at least one part (8) of a drive device is arranged in the switch and the measuring rods (6) are arranged laterally outside the part (8) of the drive device.
11. Weiche nach einem der Ansprüche 9 oder11. Switch according to one of claims 9 or
10, wobei die Messstäbe (6) entlang den Aussenkanten (26, 27) der Weiche angeordnet sind.10, the measuring rods (6) being arranged along the outer edges (26, 27) of the switch.
12. Transportvorrichtung umf ssend eine Schienenanordnung (1) nach einem der Ansprüche 1 bis 8 und mindestens ein Schienenfahrzeug (11) , dadurch gekennzeichnet, dass das Schienenfahrzeug (11) mindestens zwei mit den Sensoren (5) in Wirkverbindung stehende Markierungsmagnete (13) aufweist.12. Transport device comprising a rail arrangement (1) according to one of claims 1 to 8 and at least one rail vehicle (11), characterized in that the rail vehicle (11) has at least two has marking magnets (13) that are operatively connected to the sensors (5).
13. Transportvorrichtung nach Anspruch 12 , wobei die Markierungsmagnete (13 ) in Fahrtrichtung des Fahrzeugs gesehen hintereinander angeordnet sind, derart, dass bei einem Übergang von einem Messstab (6) zum nächsten Messstab (6) immer mindestens einer der Markierungsmagnete (13) mit mindestens einem der Messstäbe (6) in Wirkverbindung steht . 13. Transport device according to claim 12, wherein the marking magnets (13) are arranged one behind the other as seen in the direction of travel of the vehicle, in such a way that at least one of the marking magnets (13) with at least one of the marking magnets (13) always transitions from one measuring rod (6) to the next one of the measuring rods (6) is in operative connection.
14. Transportvorrichtung nach einem der Ansprüche 12 oder 13 mit einer Weiche (2a) nach einem der Ansprüche 9 bis 11, wobei das Fahrzeug (11) mindestens zwei nebeneinander angeordnete Markierungsmagnete (13) aufweist, derart dass beim Durchlaufen der Weiche (2a) jeweils mindestens einer der Markierungsmagnete (13) mit einem der Messstäbe (6) in Wirkverbindung steht.14. Transport device according to one of claims 12 or 13 with a switch (2a) according to one of claims 9 to 11, wherein the vehicle (11) has at least two juxtaposed marking magnets (13), such that when passing through the switch (2a) in each case at least one of the marking magnets (13) is operatively connected to one of the measuring rods (6).
15. Transportvorrichtung nach einem der Ansprüche 12 bis 14, wobei die Schienenanordnung (1) mindestens einen magnetisierbaren Führungsstab (4) , vorzugs- weise zwei parallele magnetische FührungsStäbe, aufweist, wobei die Messstäbe (6) dem Führungsstab (4) bzw. den FührungsStäben entlang angeordnet sind, und wobei an den Fahrzeugen (11) Führungsmagnete (14) angeordnet sind, die magnetisch mit den FührungsStäben (4) zum Führen der Fahrzeuge (11) entlang der Schienenanordnung (1) zusammenwirken.15. Transport device according to one of claims 12 to 14, wherein the rail arrangement (1) has at least one magnetizable guide rod (4), preferably two parallel magnetic guide rods, the measuring rods (6) the guide rod (4) or the guide rods are arranged along, and wherein on the vehicles (11) guide magnets (14) are arranged, which interact magnetically with the guide rods (4) for guiding the vehicles (11) along the rail arrangement (1).
16. Transportvorrichtung nach Anspruch 15, wobei die Führungsmagnete (14) eine andere Polarisierungsrichtung als die Markierungsmagnete (13) besitzen, und insbesondere wobei die Führungsmagnete (14) im wesentlichen tangential zu den Messstäben (6) polarisiert sind und die Markierungsmagnete (13) insbesondere im wesentlichen radial .16. Transport device according to claim 15, wherein the guide magnets (14) have a different polarization direction than the marking magnets (13), and in particular wherein the guide magnets (14) are polarized substantially tangentially to the measuring rods (6) and the marking magnets (13) in particular essentially radial.
17. Transportvorrichtung nach einem der An- sprüche 15 oder 16, wobei die Führungsmagnete (14) und die Markierungsmagnete (13 ) in einer oder zwei Reihen hintereinander angeordnet sind. 17. Transport device according to one of claims 15 or 16, wherein the guide magnets (14) and the marking magnets (13) are arranged one behind the other in one or two rows.
18. Transportvorrichtung nach einem der Ansprüche 12 bis 17, wobei in der Schienenanordnung (1) Spulen (8) für einen Antrieb des Fahrzeugs angeordnet sind, die mit mindestens einem am Fahrzeug (11) angeord- neten Antriebsmagneten (15) wechselwirken, wobei eine18. Transport device according to one of claims 12 to 17, wherein in the rail arrangement (1) coils (8) for driving the vehicle are arranged, which interact with at least one drive magnet (15) arranged on the vehicle (11), one
Steuerung (17) vorgesehen ist, welche in einem Regelkreis über die magnetostriktiven Sensoren (5) die Position des Fahrzeugs als Regelgrösse ermittelt und den Strom durch die Spulen (8) als Stellgrösse steuert. Control (17) is provided, which determines the position of the vehicle as a control variable in a control circuit via the magnetostrictive sensors (5) and controls the current through the coils (8) as a control variable.
19. Verfahren zum Messen der Position eines19. Method of measuring the position of a
Schienenfahrzeugs auf einer Transportvorrichtung, insbesondere auf einer Transportvorrichtung nach einem der Ansprüche 12 bis 18, wobei die Transportvorrichtung eine Schienenanordnung (1) und mindestens einem Schienenfahr- zeug (11) umfasst, wobei die Schienenanordnung (1) mehrere, hintereinander angeordnete magnetostriktiven Sensoren (5) zur Messung von Fahrzeugpositionen aufweist, wobei jeder Sensor (5) einen Messstab (6) entlang der Schienenanordnung aufweist um aus einer LaufZeitverzögerung die Position eines an einem Fahrzeug angeordneten Markierungsmagneten (13) zu detektieren, dadurch gekennzeichnet, dass das Schienenfahrzeug (11) mindestens zwei mit den Sensoren (5) in Wirkverbindung stehende, in Fahrtrichtung hintereinander angeordnete Markierungsmagnete (13) aufweist, deren Position mit den Sensoren gemessen werden kann, wobei wenn sich nur ein erster der Markierungsmagnete (13) in einem vorgegebenen Messbereich der Sensoren (5) befindet, der erste Markierungsmagnet zur Bestimmung der Position des Schienenfahrzeugs verwendet wird, und wenn sich beide Markierungsmagnete (13) im vorgegebenen Messbereich der Sensoren (5) befinden, einer der oder beide Markierungsmagnete zur Bestimmung der Position des Schienenfahrzeugs verwendet werden. Rail vehicle on a transport device, in particular on a transport device according to one of claims 12 to 18, wherein the transport device comprises a rail arrangement (1) and at least one rail vehicle (11), the rail arrangement (1) having a plurality of magnetostrictive sensors (5) arranged one behind the other ) for measuring vehicle positions, each sensor (5) having a measuring rod (6) along the rail arrangement in order to detect the position of a marking magnet (13) arranged on a vehicle from a running time delay, characterized in that the rail vehicle (11) at least has two marking magnets (13) which are operatively connected to the sensors (5) and are arranged one behind the other in the direction of travel, the position of which can be measured with the sensors, with only a first one of the marking magnets (13) being in a predetermined measuring range of the sensors (5) is the first marker magnet for the Bes Approval of the position of the rail vehicle is used, and if both marker magnets (13) are in the predetermined measuring range of the sensors (5), one or both of the marker magnets are used to determine the position of the rail vehicle.
20. Verfahren nach Anspruch 19, wobei ein in Fahrtrichtung des Schienenfahrzeugs vorderer Markierungsmagnet (13) zur Bestimmung der Position des Schienenfahrzeugs verwendet wird, solange sein Abstand von einem in Fahrtrichtung vorderen Ende des Sensors eine vorgegebene Schwellgrösse übersteigt, und anderenfalls der in Fahrtrichtung des Schienenfahrzeugs hintere Markierungsmagnet (13) zur Bestimmung der Position des Schienenfahrzeugs verwendet wird, bis der vordere Markierungsmagnet (13) in den Messbereich des in Fahrtrichtung nächsten Sensors eintritt. 20. The method according to claim 19, wherein a front marking magnet (13) in the direction of travel of the rail vehicle for determining the Position of the rail vehicle is used as long as its distance from a front end of the sensor in the direction of travel exceeds a predetermined threshold size, and otherwise the marker magnet (13) in the direction of travel of the rail vehicle is used to determine the position of the rail vehicle until the front marker magnet (13) enters the measuring range of the next sensor in the direction of travel.
PCT/CH2004/000306 2003-05-20 2004-05-19 Rail assembly, rail switch and a transport device provided with a magnetostrictive sensor WO2004103792A1 (en)

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JP2006529538A JP2007501159A (en) 2003-05-21 2004-05-19 Transportation equipment with track, switch and magnetostrictive sensor
US10/557,315 US20080115372A1 (en) 2003-05-20 2004-05-19 Rail Assembly, Rail Switch And A Transport Device Provided With A Magnetostrictive Sensor
DE112004000787T DE112004000787A5 (en) 2003-05-21 2004-05-19 Rail arrangement, switch and transport device with magnetostrictive sensors

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CH908/03 2003-05-21

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