EP2141019B1 - Method of separating at least two bridges in a segmented transport system for print materials - Google Patents

Abstract

The method involves locating two bridges (11a, 11b) in segments (3a, 5a) of a transport system (1), where the transport system includes a segmented, electrical linear drive (2). The linear drive is provided with two primary parts (3, 5) i.e. long stator, and secondary parts. The secondary parts are designed as carriages. The bridge (11a) ends up in segments (3b, 5b) by a common controlled movement. The bridge is moved in an individually controlled manner and separated from the bridge (11b), so that the bridges are located in different segments (3a, 5a, 3b, 5b) during a movement. An independent claim is also included for a device for separating two bridges of a segmented transport system for a printing substrate, comprising a separating device.

Description

The present invention relates to a method for separating at least two bridges of a segmented transport system for substrates with the features of the preamble of claim 1. Furthermore, the present invention relates to an apparatus for performing the method having the features of the preamble of claim 6.

In machines of the so-called graphic industry (pre-press, print production and post-press), printing stocks, e.g. Paper, cardboard or foil sheets, conveyed and processed, e.g. printed, painted or stamped. The registration of the substrates in such machines, e.g. in sheet-fed or sheet-punching, mostly by means of rotating transport cylinder or linear drive systems. As linear drive systems, e.g. Chain conveyors but also electric linear drives, so systems in which a runner or carriage along a stator according to the dynamoelectric interaction between the rotor and a magnetic field that travels along the stator, in question.

Electric linear drives for sheet transport on the one hand on each side of the machine on a so-called primary part (stator) and on the other each one of the two primary parts associated with so-called secondary parts (runners) on. Two runners are coupled to each other via a traverse, wherein the traverse is designed as a gripper bar for the substrate. The DE 197 48 870 C2 describes a printing machine with such a linear electric drive system.

Linear drive systems are usually segmented, ie, the transport path is composed of several consecutive segments. When switching off the machine, there may be the problem that two or more gripper bars come to rest in one and the same segment of the linear drive system and then can not be easily controlled individually when restarting the machine. The same can happen if an emergency stop occurs as a result of a malfunction or if gripper bars are moved manually during maintenance work. Such collided gripper bridges must again separated from each other or separated. However, a manual disconnection requires a lot of time and does not readily provide the necessary security of separation, ie additional visual checks are required.

The not attributable to the field of the graphic industry DE 31 45 263 A1 describes the separation of workpieces (rods), which are moved forward by two segmented linear drives and detected by switches. The singling process is done by a single piece removed from the collar of workpieces by briefly switching the traveling field direction and taken over by an empty segment and transported away.

The also not attributable to the field of the graphic industry DE OS 22 58 492 describes a pneumatic control system in which the speed and distance of vehicles to each other is maintained, with a guide divided into control sections (stop, slow, and loop blocks) and provided with detectors. The JP 63-99702 A describes a similar system to avoid collisions of carriages of a linear drive. JP 01-264503 A describes a system for avoiding collisions in vertical transport paths during power interruption.

Against this background, it is the object of the present invention to provide a method which is improved over the prior art and which enables the secure separation of at least two bridges of a segmented transport system for substrates. It is yet another or alternative object of the present invention to provide a device over the prior art which enables the secure separation of at least two bridges of a segmented transport system for substrates.

These objects are achieved by a method for separating at least two bridges of a segmented transport system for substrates with the features of claim 1 and by an apparatus for performing the method with the features of claim 6. Advantageous developments of the invention will become apparent from the appended subclaims and from the description and the accompanying drawings.

• das Transportsystem einen segmentierten, elektrischen Linearantrieb umfasst,
• der elektrische Linearantrieb ein erstes und ein zweites Primärteil umfasst, wobei jedes Primärteil als segmentierter Langstator ausgebildet ist,
• der elektrische Linearantrieb mehrere als Wagen ausgebildete Sekundärteile aufweist, wobei je ein dem ersten Primärteil zugeordnetes Sekundärteil und ein dem zweiten Primärteil zugeordnetes Sekundärteil mittels einer Traverse gekoppelt sind und gemeinsam mit der Traverse eine bewegbare Brücke des Transportsystems bilden,
  zeichnet sich dadurch aus
• dass zwei Brücken, welche sich in einem selben Segment des Transportsystems befinden, gemeinsam gesteuert bewegt werden,
• dass eine erste der beiden Brücken, welche durch die gemeinsam gesteuerte Bewegung in ein weiteres Segment gelangt, einzeln geregelt bewegt und dadurch von der anderen zweiten Brücke separiert wird, so dass sich die beiden Brücken bei der weiteren Bewegung in verschiedenen Segmenten befinden.

An inventive method for separating at least two bridges of a segmented transport system for substrates, wherein

• the transport system comprises a segmented, electric linear drive,
• the electric linear drive comprises a first and a second primary part, each primary part being designed as a segmented long stator,
• the electric linear drive has a plurality of secondaries designed as carriages, one secondary part assigned to the first primary part and one secondary part assigned to the second primary part being coupled by means of a crossbeam and forming together with the crossbeam a movable bridge of the transport system,
  characterized by it
• that two bridges, which are located in the same segment of the transport system, are moved jointly controlled,
• that a first of the two bridges, which passes through the jointly controlled movement in another segment, moves individually regulated and thereby separated from the other second bridge, so that the two bridges are in the further movement in different segments.

The method of the invention advantageously allows collided bridges, i. Bridges, which are located in one and the same segment when the machine is started, can be safely separated or separated and then moved in normal operation.

A refinement of the method according to the invention which is advantageous and therefore preferred in terms of a shortened separation time can be distinguished by the fact that the first bridge is accelerated during the separation and thus separated from the second bridge more quickly.

An advantageous and therefore preferred embodiment of the method according to the invention, which is advantageous for reliable separation, can be characterized in that the first bridge is moved during separation into a segment in which there is no further bridge located.

A development of the method according to the invention that is also advantageous and therefore preferred for safe separation can be characterized in that the two bridges are aligned before separation, ie. that a relative distance in the direction of movement between the two cars of a bridge is reduced or eliminated.

Another advantageous and therefore preferred embodiment of the method according to the invention for safe separation can be characterized in that the two bridges are locked prior to separation, i. the two carriages of a bridge are arranged according to the grid of the pole pair arrangement.

• mit einem segmentierten Transportsystems für Bedruckstoffe, wobei
• das Transportsystem einen segmentierten, elektrischen Linearantrieb umfasst,
• der elektrische Linearantrieb ein erstes und ein zweites Primärteil umfasst, wobei jedes Primärteil als segmentierter Langstator ausgebildet ist,
• der elektrische Linearantrieb mehrere als Wagen ausgebildete Sekundärteile aufweist, wobei je ein dem ersten Primärteil zugeordnetes Sekundärteil und ein dem zweiten Primärteil zugeordnetes Sekundärteil mittels einer Traverse koppelt sind und gemeinsam mit der Traverse eine bewegbare Brücke des Transportsystem bilden,

zeichnet sich dadurch aus,
dass eine als Steuer- und Regeleinrichtung zum Steuern und/oder Regeln der Bewegung der einzelnen Brücken ausgebildete Separiereinrichtung zum Separieren kollidierter Brücken vorgesehen ist.A device according to the invention for carrying out the method according to the invention,

• with a segmented transport system for substrates, where
• the transport system comprises a segmented, electric linear drive,
• the electric linear drive comprises a first and a second primary part, each primary part being designed as a segmented long stator,
• the electric linear drive comprises a plurality of secondaries designed as carriages, one secondary part assigned to the first primary part and one secondary part assigned to the second primary part being coupled by means of a crossbeam and forming together with the crossbeam a movable bridge of the transport system,

characterized by
in that a separating device designed as a control and regulating device for controlling and / or regulating the movement of the individual bridges is provided for separating collided bridges.

The device according to the invention advantageously allows collided bridges, i. Bridges, which are located in one and the same segment when the machine is started, can be safely separated or separated and then moved in normal operation.

In the context of the invention is also a printing material processing machine - eg a printing press, in particular sheet-processing rotary printing machine for the lithographic offset printing, or, for example, to see a print finishing machine, which is characterized by at least one as described above with reference to the invention device.

The described invention and the described, advantageous developments of the invention also show in combination advantageous developments of the invention. An advantageous combination is e.g. a method in which the bridges are first aligned, then snapped, then separated and then moved in normal operation.

The invention as such as well as structurally and / or functionally advantageous developments of the invention will be described below with reference to the accompanying drawings with reference to at least one preferred embodiment. In the drawings, corresponding elements are provided with the same reference numerals.

Fig. 1

Eine schematische Perspektivansicht eines bevorzugten Ausführungsbeispiels eines erfindungsgemäßen Transportsystems; und

Fig. 2

einen Ablaufplan eines bevorzugten Ausführungsbeispiels eines erfindungsgemäßen Verfahrens.

The drawings show:

Fig. 1

A schematic perspective view of a preferred embodiment of a transport system according to the invention; and

Fig. 2

a flowchart of a preferred embodiment of a method according to the invention.

CONTRAPTION

FIG. 1 shows a schematic perspective view of a preferred embodiment of a transport system 1 according to the invention for substrates, eg paper, cardboard or foil sheets, with a segmented electric linear drive 2. The electric linear drive 2 comprises a first primary part 3 (long stator), for example on the so-called drive side AS the printing material-processing machine 4, and a second primary part 5 (long stator), for example on the so-called operating side BS of the machine 4. Each primary part 3, 5 is composed of several, a closed path forming (long stator) segments 3a, 3b, etc. or 5a, 5b, etc. built. The closed path has both at least one straight line section 6 and a curved section 7.

Furthermore, the electric linear drive 2 comprises movable secondary parts 8 (translators), which are designed as carriages 8a, 8b, etc. or 9a, 9b, etc. Two carriages 8a / 9a, 8b / 9b, etc., one of which is assigned to the first primary part 3 and the other to the second primary part 5, are coupled via a traverse 10a, 10b, etc., in particular a gripper bridge for the printing material, and form together with the traverse 10 a so-called bridge assembly 11 a, 11 b, etc. (in short: bridge). FIG. 1 also shows the primary direction of movement 12 of the bridges 11 and the carriage 8, 9th

A transport system 1 according to the invention may preferably be located inside a printing press 4, e.g. a sheet-processing lithographic rotary printing machine, or a printing finishing machine 4, e.g. a bow punch, be arranged.

The stator, i. Each primary part 3, 5 is formed by successive poles 13 (winding cores with windings), with two successive poles 13 forming a pole pair. The pole length is the (total) length in the direction of movement of two poles 13 and two pole spacings. The rotor angle θ is defined as follows: 360 ° corresponds to the length of a pole pair or the pole pair length.

In order to regulate the bridges 11 individually according to predetermined desired positions, the position of each carriage 8, 9 is detected individually and the motor current or the feed force to each secondary part 8, 9 individually specified. In order to be able to individually specify the feed force on each secondary part 8, 9, the stator is electrically segmented with stator segments 3, 5, which can be controlled individually by a control and regulation device 15 are designed so that in normal operation at any time of the control all secondary parts 8, 9 are in different stator segments 3, 5.

In normal operation is located in each segment 3, 5 at most one bridge 11. When switching off the machine 4, the false stop or manual shifting of bridges 11, eg during maintenance, it may happen that two or more Bridges 11 wholly or partially in a segment 3, 5 of the linear actuator 2 are located. Are two or more secondary parts 8, 9 wholly or partially in the same segment 3, 5, the motor current of the segment 3.5 causes a force on all these secondary parts 8, 9, so that the secondary parts 8, 9 and thus also the do not allow independent control of the relevant bridges 11. This exceptional case is called an electrical collision. The electrically colliding bridges 11 can not be approached independently controlled. The invention relates to the separation of electrically collided (possibly even mechanically collided) bridges 11, ie with the start of such bridges 11 to normal operation.

METHOD

FIG. 2 shows a flowchart of a preferred embodiment of a method according to the invention. The individual process steps are listed and explained below.

OUTPUT STATE (step 100) A) Principle

The method starts with method step 100 (initial state) in which all the bridges 11 are at a standstill, e.g. when switching on or restarting the machine 4 after a mishandling or maintenance. The individual bridges 11 may be inclined in the initial state and / or may collide electrically (or even mechanically). Furthermore, their positions may be unknown, especially if they have been moved manually.

B) Details

The nominal positions of the bridges 11 in normal operation or normal operation after completion of a transition phase (see below: Aligning, locking, separating) can be calculated as static functions from a virtual master axis. These from the static Functions calculated set positions are referred to as reference positions xRef (B, S) to distinguish them from the current set positions xW (B, S). The variable B in this notation designates the number of the bridge 11, the variable S the side AS or BS of the bridge 11. The matrices xRef and xW thus contain individual values for each carriage 8, 9.

In the initial state, the actual positions x (B, S) of the bridges 11 can typically deviate greatly from the reference positions xRef (B, S) thus calculated. At the start of the control with the reference positions xRef (B, S), this would result in shock-shaped excitations of the bridges 11 with corresponding load on the mechanism. In the preferred embodiment of the invention, the target positions xW (B, S) are therefore converted from the actual positions x (B, S) through smoother transitions into the reference positions xRef (B, S) given by the static function.

The virtual master axis can in principle start at any desired pole wheel start angle. In order to select the transitional processes as short as possible, in the preferred embodiment the pole wheel starting angle is calculated from the static inverse function or the static inverse functions from the actual positions x (B, S) of the carriages 8, 9 of one or more bridges 11.

GRINDING (method step 110) A) Principle

In a method step 110, the so-called locking takes place. In this case, it is first checked by means of position sensors 14 for the bridges 11, whether and where, ie in which stator segments 3a, 3b, etc. or 5a, 5b, etc., electrical (or even mechanical) collisions are present. Then, at least the carriages 8, 9 of those bridges 11, which collide electrically, at a given rotor angle θ by increasing the motor current of the respective stator segments 3a, 3b, etc. or 5a, 5b, etc. on a through the pole pair arrangement 13 and - the stator defined positions along the transport path 15 moves. With In other words, the cars 8, 9 are then no longer "anywhere" along the transport path 15, but exactly on the "grid" of the transport path 15th

B) Details

The motor current in this case corresponds to the power-generating current of a field-oriented control, which leads to a motor current approximately proportional force to the secondary parts 8.9. When using a three-phase synchronous motor this is implemented by field-oriented control and frequency converter in suitable phase currents in the stator 3a, 3b, etc. or 5a, 5b, etc.

In the simplest case, the pole wheel angle θ is chosen to be the same for the detent on all segments affected by the detent and as a fixed value. The predetermined Polradwinkel determines the detent position only within a Polpaars 13. Therefore, it may happen under unfavorable circumstances that the secondary parts of a bridge 11 when snapping to different positions at a distance from a pair of poles 13, or possibly drawn depending on the mechanical structure of several pole pairs 13 become. Therefore, in the preferred embodiment, the relative position of the secondary parts of a bridge 11 in the direction of movement, which belong to the same, affected by the rest bridges 11 is monitored in the latching.

If the maximum allowable relative position is reached during the ratcheting when the current is increased, or if the distance of the carriages 8, 9 of a bridge 11 greatly increases upon latching instead of decreasing, the latching is canceled.

As a result of the detent attempt, the secondary parts moved a bit, so did the starting conditions change. The likelihood that the secondary parts of a bridge 11 move repeatedly apart instead of towards one another in the case of several latching tests is therefore still significantly lower than it already is in a single attempt. In the simplest case can therefore be started after an unsuccessful detent attempt with a new detent attempt.

In order to increase the likelihood of successful latching, in a alternative embodiment, the rotor angle θ can optionally also be calculated individually for each stator segment such that the latching position is close to the current positions or that no secondary part has the current position in the Near the middle between two locking positions lies. If the same rotor angle θ is not selected for all stator segments during the latching process, care should be taken that it is the same for at least successive segments if a secondary part is partly located in both segments.

The detents initially mechanically separate the carriages 8, 9 of the bridges 11 (i.e., eliminate mechanical collisions). You are then controlled (controlled by a control and regulating device 15). However, there may still be electrical collisions in which the carriages 8, 9 are not individually controllable.

Aligning (step 120) A) Principle

In a method step 120, the alignment of the bridges 11 takes place. In this case, a possible relative distance (in the direction of movement) of the two carriages 8, 9 of each bridge 11 is reduced relative to one another, preferably eliminated. In other words, the bridges 11 are no longer inclined to the primary parts 3, 5, but perpendicular.

B) Details

Since one boundary condition is the relative position | x (B, AS) - x (B, BS) | to limit the carriage 8, 9 of a bridge 11, during the transition first the set positions xW (B, AS) and xW (B, BS) (possibly down to a small predetermined setpoint relative position Δ = xRef (B, BS) - xRef (B, AS)) are aligned. Thereafter, the adjusted target positions xW (B, BS) = xW (B, AS) + Δ are transferred to the reference positions given by the static functions xRef (B, AS) = xRef (B, AS) + Δ.

If the mechanical structure of the system 1 permits, the transitions of the desired positions of the carriages 8, 9 of a bridge 11 can also take place without prior adjustment directly from the actual positions x (B, S) to the reference positions xRef (B, S).

SEPARATE (step 130) A) Principle

In a method step 130, the separation of electrically colliding bridges 11 or the associated carriages 8, 9 takes place. For this purpose, two bridges 11 (a first and a second bridge) which are located in a same segment of the transport system 1 are jointly controlled forwards (alternatively : backwards).

Both bridges 11 are thus set in motion and the front (in the direction of movement) first bridge 11 reaches a further segment of the transport system 1 due to this jointly controlled movement, in which there is no further bridge 11 at this time.

Then, the first bridge 11 is no longer controlled together with the second bridge 11, but individually controlled moves, in particular accelerated, and thereby separated from the other second bridge 11, so that the two bridges 11 are always in different segments in the further movement ,

The second bridge 11 is - if there are no other bridges 11 in the same segment - now also individually controlled moves, or - if there are still one or more bridges 11 in the same segment - with these jointly controlled moves until they (as before the first bridge 11) reaches a further segment in which there are no further bridges 11 and then only individually controlled moves and thus also separated.

Consequently, a series of electrically colliding bridges 11 can be separated successively by connecting the foremost (alternatively: rearmost) bridge 11 by "separating" the sequence, ie by individually controlled moving instead of jointly controlled Move, switch to normal operation. As soon as all bridges 11 of all sequences have been separated by electrically colliding bridges 11, the transport system 1 can be converted into operation or normal operation in a regulated manner.

B) Details

During the transitional phase, in the preferred embodiment only non-negative speeds dxW (B, S) / dt ≥ 0 are allowed at the actual setpoints xW (B, S) and the traveling field of the synchronous operations, so that the bridges 11 do not move backwards and the rear Car 8 or 9 of a bridge 11 (possibly up to a predetermined desired relative position .DELTA.) First to the front carriage 9 and 8 catches up. If the reference position xRef (B, S) calculated by the static functions lies behind the actual position x (B, S), the actual target position xW (B, S) remains at the actual position x (B, S) in the preferred embodiment this car had 8, 9 at the beginning of the scheme.

Just as well could be allowed in the separation but only negative speeds, so that all bridges 11 only go backwards. Also, one could limit the restriction of the direction of travel only on the segments in which electrical collisions occur or would arise by moving out of secondary parts to the rear of a stator segment.

In the stator segments in which an electrical collision occurs and possibly also in the corresponding stator segments of the other side, a sufficiently high motor current is set after the latching and the rotor angle θ is increased such that the secondary parts move forward. This corresponds to a synchronous operation in these segments, through which the secondary parts move forward controlled. As already mentioned above, a reverse drive to separate with reduction of the Polradwinkels θ would also be possible.

If the Polradwinkel θ both sides were set differently during the detent, because this results in the alternative embodiment to detent positions that are closer to the initial actual positions are now suppressed in the reverse drive to rearward positions associated Polradwinkel θ in the other side. Since the positions of both sides can differ only slightly due to the bridge structure, the angle transition can be slow without taking a long time.

If the resulting acceleration of the secondary parts becomes too great when the rotor angle θ is increased in synchronous operation, the tilting force of the linear synchronous drive can be exceeded and the motor becomes out of step. In order to avoid this, in the preferred embodiment, changes in the rotor angle θ are limited in acceleration (the amount of maximum acceleration of the secondary parts is limited) and possibly jerk-limited (the amount of change over time in the acceleration of the secondary parts is limited).

The higher the motor current is selected in synchronous mode, the higher the tilting force and thus the maximum permissible acceleration. Once the secondaries of a bridge 11 are retracted in synchronous operation from a stator with electrical collision in a subsequent free stator segment, they can be controlled individually. You can then follow a calculated setpoint xW (B, S), which describes a transition between the actual position x (B, S) and the reference value xRef (B, S) calculated according to the static function from the master axis. As soon as the penultimate secondary part is extended out of a stator segment with an electrical collision, this segment is free of electrical collisions and the last secondary part can also be controlled individually and follow a setpoint value xW (B, S).

The described locking with subsequent synchronous operation electrical collisions are resolved. However, there is still the danger that new electrical collisions may occur as secondary parts enter stator segments in which other secondary parts are already located. In the preferred embodiment of the method, the emergence of new electrical collisions is reliably avoided by a secondary part stops at the end of a stator segment, ie before the incipient entry into the subsequent segment, if there is already at least one secondary part in the subsequent segment. In the preferred embodiment, a carriage 8, 9 also stops when a minimum distance to the vehicle in front is undershot.

If at least one carriage 8, 9 is located in the next but one segment, the entry into a very short stator segment, which is shorter than the stopping distance, can be avoided if the minimum distance is sufficiently large. In segments with synchronous operation, stopping takes place by means of acceleration and, if necessary, jerk-limited reduction of the synchronizing frequency until standstill. In segments without electrical collision, by appropriately setting the desired position xW (B, S) of the secondary part, which thereby interrupts the transition to the reference value xRef (B, S) calculated as a static function.

The stopping must be initiated in such a timely manner that the stopping distance reliably ends before entering the subsequent segment. Taking into account the maximum allowable acceleration amount and the maximum allowable jerk, this results in the maximum permitted speed for the setpoint transition in controlled operation during the transition phase, taking into account the motor current in synchronous operation and the resulting tilting force and the maximum permitted synchronous frequency in the segments with electrical collision ,

Since the secondary parts can follow one another very closely in stator segments with synchronous operation, if a secondary part is completely extended out of the segment, the following secondary part can already be very close to the following stator segment, so that only a very short stopping distance would be available. In order to comply with the stopping distance, the speed during synchronous operation should be chosen to be very low, so that the separation could be very slow.

In order to increase the available stopping distance, the preferred method provides that the secondary parts extending out of the stator segment with synchronous operation are already regulated by the motor current of the following segment, if they are only partly located therein, eg at least 50%. The already controlled secondaries then learn about their share, which is still in the range of the segment with synchronous operation, a force that can be interpreted as a disturbance, which counteracts the regulation. The course of this disturbance variable can also be determined from the motor constant (proportionality factor between Force and current), rotor angle θ, carriage position and motor current are calculated and precontrolled in the sense of a feedforward control via the motor current of the segment without electrical collision.

In order to avoid mutual blockage and inconsistent magnetic fields when driving a carriage 8, 9 from a synchronous-mode stator segment to the following synchronous-mode stator segment, in the preferred embodiment stopping in an electric-collision segment is avoided, as well Collisions occurs.

As soon as all setpoint positions xW (B, S) have been transferred to the reference positions xRef (B, S) given by the static functions of the virtual master axis, the transitional phase is completed and the normal mode 140 can begin. After a standstill of the machine 4 or similar. For example, the method according to the invention may again start at method step 100 (cycle 150).

COLLISION PROTECTION

During the transition to normal operation with xW (B, S) = xRef (B, S), the setpoint values xW (B, S) deviate from the reference values xRef (B, S) calculated from the virtual master axis via static functions. In areas of processing stations or in general areas in which machine parts protrude into the driving path at specific angles of the virtual master axis, the risk of collisions between the bridges 11 and 11 can then exist because of the lack of coupling between the virtual master axis and the setpoint value xW (B, S) in the guideway reaching machine parts. In the preferred embodiment of the method, machining tools in the stations or other machine parts are therefore moved to a position in which a collision with the linearly driven parts of the machine 4 is precluded before starting and during the transition phase until normal operation is achieved.

PARK

In the de-energized state, due to gravity, the bridges 11 can slide down on areas with a vertical directional component (eg in the curve area 7) and thus assume an uncontrolled state. When shutting down the machine 4 down sliding bridges 11 could on the one hand collide with other bridges 11 located there (which could damage the mechanism as a result of impacts) and on the other hand lead to electrical collisions when the machine 4 restarts. In order to avoid this, the method provides, before switching off the control of bridges 11, which are located in areas with vertical direction component, the bridges 11 to go to a parking position in which no electrical collision occurs and no vertical directional component. In addition, in the preferred embodiment of the method, the entry of bridges 11 into the respectively first stator segments 3a, 3b, etc., 5a, 5b, etc. in areas with a vertical direction component is suppressed or, alternatively, stator segments located in front of it. Also possible, but more complex is the individual specification of explicit stop positions. If it is, as in FIG. 1 shown, more cars 8, 9 as segments 3a, 3b, etc., 5a, 5b, etc. are without vertical direction component, the method provides that the carriage 8, 9 regulated in the distance of a whole number of pole pairs 13 in a synchronously controlled horizontal segment 3a, 3b, etc., 5a, 5b, etc., or also several segments 3a, 3b, etc., 5a, 5b, etc. retract before the segments 3a, 3b, etc., 5a, 5b, etc. are switched off.

ALTERNATIVES

An alternative method would be, for example, to let the bridges 11 retract into a non-energized segment 3a, 3b, etc., 5a, 5b, etc., in synchronous operation, until all the bridges 11 are in succession with mechanical contact. Thereafter, then, in very slow synchronous operation, the successive bridges 11 at the end of these segments 3a, 3b, etc., 5a, 5b, etc. could be moved out again and controlled individually from the following segment and greatly accelerated. This method would be simpler than the preferred embodiment, but not working in parallel, and therefore slower. In addition, it would be uncontrolled by the mechanical contact of successive carriages 8, 9.

Alternatively, it would also be conceivable to use a mechanical separating device which mechanically separates the carriages 8, 9, in which e.g. in synchronous operation, only the first car in a segment 3a, 3b, etc., 5a, 5b, etc. can continue to drive, but the further drive blocked further by a mechanical barrier until the first car is extended from the segment. However, this would be more complicated than the preferred version, since in addition a mechanical separating device would be required. In addition, this method would be slower because the car 8, 9st would have to go to the mechanical separator.

The inventive method could also be applied in a simplified form in long stator linear synchronous motor applications without bridge arrangement. The detents are then uncritical and the alignment of the carriages 8, 9 of both sides is omitted, but the process steps initial state, detents, control / regulating the transition from Istauf reference value, synchronous operation and finally avoid new electrical collisions remained in their basic function.

CONTRAPTION

Another aspect of the invention relates to the device. In the preferred embodiment, the length of the carriages 8, 9 carrying the secondary parts is chosen to be between an odd and an even following multiple of the pole length of the stator 3, 5. This condition is met both in the straight line region 6 and in the possibly existing curve region 7, which further restricts the permissible length range. As a length here the mechanically effective length is meant, which specifies the minimum distance between the same points successive carriages 8, 9, eg the centers of gravity of the secondary parts 8, 9. The length is therefore in the curves 7 usually greater than in the straight area 6th Bei In this preferred embodiment, directly successive carriages 8, 9 are separated during the latching, instead of being pushed together, which is a prerequisite for the reliable achievement of the desired latching positions. If the condition is not met, directly successive carriages 8, 9 can be pushed together after the latching, so that it can be used during the subsequent synchronous operation, in particular during the transition from the straight line 6 into the Curve area 7 can come to uncontrollable jumps. On the other hand, if the condition is fulfilled, consecutive carriages 8, 9 are also separated directly (ie without intermediate spaces) by the interspaces.

Furthermore, in the preferred embodiment, the secondary parts 8, 9 and stators 3, 5 of both sides mirror-symmetrically constructed and the rotor angle θ of the stator segments 3a, 3b, etc., 5a, 5b, etc. of both sides are given the same at rest and synchronous operation. This reduces the risk that the carriages 8, 9 of a bridge 11 will be pulled to different locking positions on both sides due to different conditions and therefore the locking will fail. In principle, successful locking is also possible with non-mirror-symmetrical construction of both sides. In an alternative embodiment, the pole wheel angles θ predetermined for the locking are then selected such that they correspond to the same locking positions. If, for example, the stator segments 3a, 3b, etc., 5a, 5b etc. of both sides are mirror-symmetrical, but the arrangement of the poles 13 of the secondary part 8, 9 is reversed on both sides, then a 180 ° different rotor angle θ then leads to same locking position on both sides.

LIST OF REFERENCE NUMBERS

1

Transport system for substrates

2

Linear drive (system)

3

First primary part of the linear drive (or its segments 3a, 3b, etc.)

4

Machine, e.g. press

5

Second primary part of the linear drive (or its segments 5a, 5b, etc.)

6

Straight section of the linear drive

7

Curve section of the linear drive

8th

Cart / secondary part of the linear drive (8a, 8b, etc.)

9

Cart / secondary part of the linear drive (9a, 9b, etc.)

10

Traverse, e.g. Gripper bridge (10a, 10b, etc.)

11

Bridge of the linear drive (11a, 11b, etc.)

12

movement direction

13

Positions / pairs of poles / Polpaaranordnung

14

position sensors

15

transport path

16

Control and regulating device

100

initial state

110

rest

120

Align

130

separating

140

Normal or regular operation

150

cycle

Claims (7)

1. Method of separating at least two bridges of a segmented transport system for printing material,

   - the transport system (1) comprising a segmented electric linear drive (2),

   - the electric linear drive (2) comprising a first and second primary part (3, 5), each primary part (3, 5) being designed as a segmented long stator with individually controllable stator segments,

   - the electric linear drive (2) including several secondary parts (8, 9) designed as carriages, a respective secondary part (8) associated with the first primary part (3) and a respective secondary part (9) associated with the second primary part (5) being coupled by means of a crossbar (10) and, together with the crossbar (10), forming a movable bridge (11) of the transport system (1),

   - the position of each carriage (8, 9) being individually detected,
   characterized by

   - the fact that two bridges (11a, 11b), which are located in a same segment (3a, 5a) of the transport system (1) are moved in a jointly controlled way,

   - the fact that a first one of the two bridges (11a), which reaches a further segment (3b, 5b) due to the jointly controlled movement, is moved in an individually controlled way and is thus separated (130) from the other, second bridge (11b) so that in a further movement (140), the two bridges (11a, 11b) are located in different segments (3a, 5a; 3b, 5b).
2. Method according to Claim 1,
   characterized by
   the fact that the first bridge (11a) is accelerated while being separated (130).
3. Method according to Claim 1,
   characterized by
   the fact that while being separated (130), the first bridge (11a) is moved into a segment (3b, 5b) in which there is no other bridge (11).
4. Method according to Claim 1,
   characterized by
   the fact that the two bridges (11a, 11b) are aligned (120) before being separated (130), i.e. that a relative distance in the direction of movement (14) between the two carriages (8a, 9a; 8b, 9b) of a bridge (11a, 11b) is reduced or eliminated.
5. Method according to Claim 1,
   characterized by
   the fact that before being separated (130), the two bridges (11a, 11b) are patterned (110), i.e. that the two carriages (8a, 9a; 8b, 9b) of a bridge (11a, 11b) are arranged in accordance with the pattern of the pole pair arrangement (13).
6. Device for carrying out the method according to Claim 1,

   - comprising a segmented transport system (1) for printing material,

   - the transport system (1) comprising a segmented electric linear drive (2),

   - the electric linear drive (2) comprising a first and a second primary part (3, 5), each primary part (3, 5) being designed as a segmented long stator with individually controllable stator segments,

   - the electric linear drive (2) including several secondary parts (8, 9) designed as carriages, a respective secondary part (8) associated with the first primary part (3) and a respective secondary part (9) associated with the second primary part (5) being coupled by a crossbar (10) and, together with the crossbar (10), forming a movable bridge (11) of the transport system (1),

   - the position of each carriage (8, 9) being detected individually,
   characterized by
   the fact that a separating device for separating collided bridges (11) is provided, which is designed as an open-loop and closed-loop control device (15) for the open-loop and/or closed-loop control of the movement of the individual bridges (11), which

   - moves two bridges (11a, 11b) that are located in a same segment (3a, 5a) of the transport system (1) in a jointly controlled way,

   - moves a first one of the two bridges (11a), which reaches a further segment (3b, 5b) due to the jointly controlled movement, in an individually controlled way, thus separating (130) it from the other, second bridge (11b) so that in a further movement (140) , the two bridges (11a, 11b) are located in different segments (3a,5a; 3b, 5b).
7. Machine processing printing material, for example printing press, in particular sheet-fed rotary printing press for lithographic offset printing, or machine for the further processing of printed products,
   characterized by
   a device (1, 15) according to Claim 6.

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