Method and service station for adjusting transport unit

Abstract

The invention relates to a method and a service station for adjusting a transport unit. In this case, the transport unit comprises a base body, an encoder track connected to the base body for position determination, and a carrier unit for transporting the object, the carrier unit being releasably connected to the base body of the transport unit. During use in the transport system, the transport unit is moved along the stator of the transport system in order to move the objects arranged on the carrier unit between the work stations of the production process for processing. For adjustment, the transport unit is moved into an adjustment region formed by an adjustment section of the service station. The transport unit is positioned at an adjustment position in the adjustment region. The carrier unit and the encoder track are oriented relative to each other on the base body of the transport unit by means of a positioning device of the service station arranged in the adjustment region, such that the carrier unit and the encoder track are aligned relative to each other when the transport unit is used in the transport system. The objects arranged on the carrier unit are held in the transport system in a predetermined position for the respective process in the respective work station. After orientation, the transport unit is moved out of the adjustment area of the service station.

Description

Technical Field

[0001] The invention generally relates to the field of plant construction, in particular to the field of automation technology. In particular, the invention relates to a method for adjusting a transport unit of an electromagnetic transport system, wherein the transport unit comprises a base body, an encoder track connected to the base body for position determination, and a carrier unit for transporting objects, the carrier unit being releasably connected to the base body of the transport unit, and wherein the transport unit, during use in the transport system, is moved along a stator of the transport system in order to move objects arranged on the carrier unit between workstations of a production process for processing. Furthermore, the invention relates to an associated service station for adjusting the transport unit. Background Art

[0002] In most modern production plants today, it is necessary to move components, parts, workpieces, products, etc. between individual handling stations or production stations (sometimes also over longer transport routes) using transport devices. Various transport and conveying devices, such as continuous conveyors or conveyor belts in various embodiments, can be used for this transport, wherein the rotary movement of the electric drive is converted into a linear movement. However, with such continuous conveyors, the flexibility is very limited, and individual transport of individual transport units is in particular not possible. In order to meet the requirements of modern and flexible transport devices, electromagnetic transport systems in the form of long-stator linear motors (LLM for short) and / or planar motors (PM for short) are increasingly being used, the function and application of which are sufficiently known from the prior art.

[0003] Long stator linear motors are known, for example, from WO 2013 / 143783 A1, US 6876107 B2, US 2013 / 0074724 A1 or WO 2015 / 042409 A1. Long stator linear motors are usually composed of a stator, which is also called a "long stator linear motor stator" or "LLM stator", and at least one transport unit, which is also called a "shuttle" or "mover". The stator usually consists of a plurality of stator segments, wherein a plurality of drive coils are arranged side by side in a fixed position on the stator or stator segment. The stator segments can have different geometric shapes (e.g. straight lines, curves, forks, etc.) and are formed into the desired stator by corresponding arrangement, along which at least one transport unit, in most cases a plurality of transport units, moves. For this purpose, a plurality of drive magnets are arranged on the transport unit, and an excitation magnetic field is generated by the drive magnets. The excitation magnetic field interacts with the electromagnetic field of the drive coil of the stator or stator segment. By correspondingly controlling the individual drive coils, the magnetic flux is adjusted in the area of ​​the transport unit and a propulsion force acting on the transport unit is generated or the magnitude of the propulsion force is influenced, whereby the transport unit moves along the stator in the direction of movement. Here, the stator forms a transport route. A plurality of transport units can be arranged along the transport route. The movement of these transport units can be controlled individually and independently of one another in that the drive coils that interact with the transport units are usually powered by supplying a voltage. Here, the transport unit is held and guided on the transport route. For this purpose, a guide element is provided on the transport unit, which interacts with a route guide element provided on the transport route. Here, any guide elements and route guide elements, such as rollers, wheels, sliding elements, guide surfaces, etc., can be used.

[0004] In addition, electromagnetic transport systems in the form of planar motors are in most cases also used for very flexible transport processes with complex motion trajectories during production, for example. Like long-stator linear motors, planar motors also have stators. However, in planar motors, the stator forms a transport plane in which one or more transport units can move at least two-dimensionally. The drive coils are usually arranged in the transport plane in planar motors, and in some embodiments, they are also arranged in multiple planes. For the movement of the transport unit in the transport plane, a driving force acting on the transport unit is generated, as in long-stator linear motors. For this purpose, the excitation magnetic field generated by the drive magnet of the transport unit, for example, interacts with the magnetic field of the stator. In order to cause the movement of the transport unit in a specific direction of movement, at least one magnetic field, usually the magnetic field of the stator, must be time-varying. Another magnetic field, usually the excitation magnetic field of the transport unit, is usually not time-varying and is, for example, formed by permanent magnets, so-called drive magnets, arranged on the transport unit. The time-varying magnetic field of the stator is generated by corresponding control or corresponding power supply of the drive coil.

[0005] In order to be able to realize the two-dimensional movement of the transport unit that characterizes the planar motor, a two-dimensional interaction of the magnetic fields of the stator and the corresponding transport unit is required, wherein one of the two magnetic fields must be time-varying in at least two dimensions, or both magnetic fields must be time-varying in at least one dimension. In this case, the drive coils and the drive magnets are advantageously arranged so that in addition to the one-dimensional movement along the axis spanned by the transport plane, more complex two-dimensional movements of the transport unit in the transport plane are also possible. The basic structure and function of a planar motor are known, for example, from US 9,202,719 B2 or DE 10 2017 131 324 A1. In addition, the use of a planar motor as a transport system is shown in EP 3 172 156 B1 or EP 3 172 134 B1.

[0006] With the help of electromagnetic transport systems, objects, such as loads, components, parts, products, workpieces, packaging units (such as bottles, containers, etc.), etc. can be efficiently moved between various workstations during the production process. For this purpose, the object to be transported is, for example, arranged on a transport unit of the transport system and moves along a transport route formed by the stator of a long stator linear motor and / or along a motion trajectory or transport path in the transport plane of a planar motor. Here, the workstation is arranged along the transport route or transport path. In the workstation, objects transported by the transport unit of the transport system can be arbitrarily processed, such as certain manufacturing or installation steps of the object, changes in the orientation of the object on the transport unit, filling processes, measurement of the object, inspection of the object, etc. Here, the processing devices required respectively are provided in the corresponding workstations. In order to process the object, the transport unit can, for example, stop in the workstation. For example, the processing of the object in the workstation can also be carried out during the movement of the transport unit. For example, the object can also be removed from the transport unit for processing and then placed on the same or different transport unit of the transport system. The workstation can also be used to import or export objects, wherein the object is placed on the transport unit in the import and taken out from the transport unit in the export.

[0007] In order to be able to move objects between workstations using an electromagnetic transport system during a production, manufacturing or installation process, the transport unit usually has a carrying unit, which is placed on a base of the transport unit or is releasably connected to the base. On the carrying unit of the transport unit, the object to be transported is usually placed or placed in a preset position. In most cases, the carrying unit has a holding device for this purpose, whereby the position of the object on the carrying unit and therefore on the transport unit is preset. In the simplest case, the holder for the object to be transported can be designed, for example, as a recess in the carrying unit, into which the object to be transported is positioned. In addition, the holding device can also be designed as a clamp, a clip, etc., so as to fix the object to be transported on the carrying unit for transportation. Usually, the object to be transported is rigidly connected to the carrying unit and therefore to the transport unit via the holding device of the carrying unit.

[0008] In general, the corresponding position of the transport unit in the electromagnetic transport system can be determined. For this purpose, the transport unit can have an encoder track, which is connected to the base body of the transport unit and interacts with, for example, an encoding sensor system of the transport system. The encoder track can be designed, for example, as an optically scannable unit (for example, a dimension standard placed on the transport unit, a strip provided with a scannable code, etc.) or a magnet unit, which includes a plurality of magnets, so-called positioning magnets, for position determination. According to the embodiment of the encoder track, a position sensor (for example, an optical sensor, a camera unit, an AMR sensor, a Hall element, etc.) can be arranged in the transport system, for example, along the stator, for position detection, the position sensor for example detecting the encoder track designed as an optically scannable unit, or measuring the characteristics of the magnetic field of a magnet arranged in the encoder track designed as a magnet unit, in order to determine the corresponding position of the transport unit in the transport system. The drive magnet of the transport unit can, for example, be used as an encoder track designed as a magnet unit for position determination. Alternatively, for example, the drive magnet and the positioning magnet can be arranged separately from each other in the magnet unit. Furthermore, the positioning magnets can also be arranged on the transport unit separately from the drive magnets, for example as a separate encoder track.

[0009] In addition, there is also the possibility that the position of the transport unit in the transport system may also be known, for example, due to the control of the drive coil (which is associated with the movement of the transport unit in the transport system) and by the position regulation or position regulator in the superior control unit. The corresponding method for determining the position of the fixed stator of the transport unit relative to the transport system is known from the prior art, such as WO 2021 / 105387 A1 or EP 3 376 166 A1. Through the known position of the transport unit and the carrier unit arranged on the base of the transport unit in the electromagnetic transport system, the position of the object transported by the transport unit in the transport system or in the reference coordinate system of the transport system is also indirectly known. The object is usually positioned in the holding device of the carrier unit, and the holding device fixedly presets the position of the object on the transport unit, because the object to be transported is usually rigidly connected to the carrier unit or the transport unit by the holding device. This can realize or simplify the automatic processing of the object in the corresponding workstation by the processing device (such as the robot's actuator, robot arm, filling device, measuring sensor, etc.) respectively arranged.

[0010] However, due to manufacturing tolerances of the transport unit, in particular in the carrier unit, and / or due to inaccurate mounting of the carrier unit on the base of the transport unit, deviations may occur, by which the carrier unit mounted on the base deviates more or less from the desired ideal position, for example in at least one direction of the Cartesian reference coordinate system of the transport system, i.e. in the x, y and / or z direction. In addition, after repeated use, signs of wear may also appear on the transport unit (e.g. wear on the guide elements, etc.), which leads to deviations of the carrier unit from the desired ideal position. Since the position of the object transported on the carrier unit is fixedly preset by the holding device of the carrier unit, the position of the object also deviates from the expected or preset position in the reference coordinate system of the transport system due to the deviation of the carrier unit. Deviations may lead to problems in the processing of the object in one or more workstations, since the object transported with the transport unit is no longer in the position preset and required for the corresponding processing. Thus, for example, errors may occur in the processing in the corresponding workstation, since, for example, actuators of the automation unit or robot may enter "idleness" depending on the processing, manufacturing or mounting steps of the object may be carried out incorrectly or not at all, the object may be filled only incorrectly, etc. Furthermore, due to imprecise mounting of the carrier unit on the base body or due to deviations of the carrier unit from the desired ideal position caused by manufacturing tolerances, the risk of collision in the transport system, for example between the transport units and / or with handling devices in the workstations, is increased.

[0011] In order to reduce tolerances and thus the risk of collisions between individual transport units of a transport system, the transport units, i.e. in particular the base of the transport units, can be optimized, for example mechanically and / or magnetically. However, such an optimization of the transport units has technical and in particular economic limitations, for example. Furthermore, neither deviations of the load-bearing units from the ideal position due to manufacturing tolerances and / or inaccurate mounting on the base body nor deviations of the load-bearing units from the ideal position due to use-related changes of the transport units (for example due to wear of guide elements, etc.) are taken into account.

[0012] Another possibility is, for example, to provide each transport unit or each base body with an identification, measure deviations due to manufacturing or tolerances, and store the deviations together with the identification so that these deviations and identifications can be taken into account when using the corresponding transport unit, for example in processing in a workstation. Such a method is known, for example, from document US 2023 / 0002167 A1, in which, for example, position offsets are stored for different transport units in order to correct the position of the corresponding transport unit in the workstation.

[0013] Deviations of the carrying unit from the ideal position, in particular due to inaccurate mounting on the base body, and deviations due to use-related changes of the transport unit (e.g. due to wear etc.) remain unaccounted for. Although these disadvantages can be eliminated, for example, by measuring the transport unit and updating the stored deviations of the transport unit accordingly during continuous operation. However, for this purpose, the existing transport system must be expanded, supplemented and adapted, for example with corresponding measuring devices, storage devices and evaluation devices, which is associated with great effort and additional costs and may possibly lead to operational restrictions. Summary of the invention

[0014] The object of the present invention is therefore to provide a method and a service station for adjusting a transport unit, with which a carrying unit can be positioned precisely in a simple manner and without great additional measurement and / or automation expenditure and without great operational restrictions.

[0015] These and further objects are achieved by the method according to the independent claim. Advantageous embodiments of the invention are described in the dependent claims.

[0016] According to the invention, this object is achieved by a method of the type mentioned at the outset, wherein a transport unit is moved into an adjustment area formed by an adjustment section, wherein the transport unit is positioned at an adjustment position in the adjustment area, wherein by means of a positioning device arranged in the adjustment area, the carrier unit and the encoder track are oriented relative to each other on a base body of the transport unit so that when the transport unit is used in a transport system, an object arranged on the carrier unit remains in a position in the transport system which is preset for a corresponding processing in a corresponding workstation, and wherein the transport unit is moved out of the adjustment area after the orientation.

[0017] The main aspect of the proposed solution is that by adjusting the transport unit, the carrier unit and the encoder track are precisely oriented relative to each other on the base body of the transport unit at a preset or known adjustment position. Thus, without additional measurement and automation costs, deviations of the position of the object arranged on the carrier unit during the production process from the preset (ideal) position in the transport system are compensated. Such deviations may occur, for example, due to manufacturing tolerances and / or in particular inaccurate mounting of the carrier unit on the transport unit. By adjusting the transport unit, the carrier unit and the encoder track are oriented relative to each other on the base body of the transport unit so that the object transported during the production process is located in the transport system or in the corresponding workstation at the position where the object is to be manipulated in the corresponding workstation until the preset tolerance is reached. That is, if during the production process the transport unit is positioned in the corresponding workstation by means of the encoder track and the encoding sensor system of the transport system, the carrier unit or the object transported by the carrier unit of the transport unit is located at the corresponding manipulation position of the workstation until the preset tolerance is reached and can be handled by the corresponding automation component (e.g. robot, etc.), placed on the carrier unit, or removed from the carrier unit without error. This results in fewer errors in the handling of the transported object, or a lower risk of collision, for example, between the object and an automation component (such as a robot) in a workstation. In addition, incorrectly assembled or installed transport units can be identified very quickly by the method according to the invention.

[0018] It is also advantageous if, after the transport unit has been moved into the adjustment region, the connection between the base body of the transport unit and the carrier unit and / or the connection between the base body of the transport unit and the encoder rail is released so that the carrier unit can be moved relative to the base body of the transport unit in at least one degree of freedom. In this case, the carrier unit and / or the encoder rail are only slightly separated from the base body so that the carrier unit and / or the encoder rail can be moved relative to the base body in at least one degree of freedom. That is, the carrier unit and / or the encoder rail remain fixed to the base body of the transport unit in their respective basic position, but can be aligned in the respective basic position by means of a positioning device.

[0019] Ideally, the connection between the carrier unit and the base body of the transport unit and / or the connection between the encoder rail of the transport unit and the base body is fixed again, whereby the carrier unit and / or the encoder rail are fixed in a newly oriented position for use of the transport unit in a transport system.

[0020] Advantageously, the transport unit is moved into the adjustment region before the first use in the transport system. In this way, the transport unit can be adjusted before the first use. In this way, for example, inaccurate mounting of the carrier unit on the base body or manufacturing tolerances of the transport unit can be compensated, so that the transported objects remain in the predefined position when the transport unit is used. In addition, incorrectly mounted transport units can be detected and excluded before use.

[0021] It is also advantageous if the transport unit is moved into the adjustment area after a predeterminable number of uses in the transport system in order, for example, to compensate for wear resulting from the use of the transport unit (e.g. wear of guide elements of the transport unit in long-stator linear motors, etc.), which wear may influence the accuracy of the position of the object to be transported.

[0022] Furthermore, it may be advantageous if the transport unit (3) is moved into the adjustment region after maintenance and before being used again in the transport system in order, for example, to detect installation errors of wearing parts (eg guide rollers etc.) that occurred during maintenance.

[0023] The object is also achieved by a service station for adjusting a transport unit of an electromagnetic transport system, wherein the transport unit can be arranged movably along a stator of the electromagnetic transport system, and wherein the transport unit has a base body, an encoder rail connected to the base body for positioning, and a carrier unit for transporting objects, the carrier units being respectively detachably connected to the base body. The service station has at least one adjustment section and a positioning device, the at least one adjustment section forming an adjustment region, and the transport unit can be movably arranged on the at least one adjustment section. The positioning device is arranged in the adjustment region and is designed to orient the carrier unit and the encoder rail relative to each other on the base body of the transport unit positioned in the adjustment position, so that when the transport unit is used in the transport system, the objects arranged on the carrier unit remain in the transport system in a position that is predefined for a corresponding treatment in a corresponding workstation.

[0024] Furthermore, at least one mounting device is advantageously provided, which is designed to release the connection between the base body and the carrier unit and / or between the base body and the encoder rail, so that the carrier unit and / or the encoder rail can be moved relative to the base body of the transport unit in at least one degree of freedom. Ideally, the at least one mounting device is also designed to fix the connection between the base body and the carrier unit and / or between the base body and the encoder rail again after alignment. Ideally, the at least one mounting device can be used to automatically perform the release and fixation of the connection between the base body and the carrier unit and / or between the base body and the encoder rail.

[0025] Advantageously, the positioning device is implemented as a mechanical stop. Alternatively, the positioning device can also be implemented as an automation unit, in particular a robot unit, wherein the automation unit ideally includes at least one mounting device. That is, the automation unit can automatically perform all steps of adjusting the transport unit, from loosening the connection, via orientation, to fixing.

[0026] An advantageous embodiment of the service station provides that the service station is designed as a "stand-alone" service station, which is used very simply, for example, to adjust the transport unit before commissioning of the transport system, before using the transport unit for the first time in the transport system or after maintenance of the transport unit. Alternatively, the service station can be ideally integrated into the electromagnetic transport system, so that, for example, the transport unit can be moved very simply to the service station during use in the transport system in order to adjust or check the orientation, in particular the orientation of the support unit on the base body of the transport unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Then, referring to FIG. 1 to FIG. Figure 4 The present invention is explained in detail, FIGS. 1 to Figure 4 The advantageous embodiments of the present invention are shown by way of example, schematically and non-limitingly.

[0028] Figure 1a A view showing at least one section of an electromagnetic transport system designed as a long-stator linear motor,

[0029] Figure 1b shows a cross-section along the cutting line AA through a section of an electromagnetic transport system designed as a long-stator linear motor,

[0030] Figure 2 A diagram showing a possible embodiment of an electromagnetic transport system designed as a planar electric machine,

[0031] Figure 3a An embodiment of a service station for adjusting a transport unit of an electromagnetic transport system designed as a long-stator linear motor is shown.

[0032] Figure 3bA further embodiment of a service station for adjusting a transport unit of an electromagnetic transport system designed as a long-stator linear motor is shown.

[0033] Figure 3c An embodiment of a service station for adjusting a transport unit of an electromagnetic transport system designed as a planar motor is shown.

[0034] Figure 3d A further embodiment of a service station for adjusting a transport unit of an electromagnetic transport system designed as a planar motor is shown.

[0035] Figure 4 The sequence of a method for regulating a transport unit of an electromagnetic transport system is shown. DETAILED DESCRIPTION

[0036] Figure 1a A side view of an electromagnetic transport system 1 designed as a long-stator linear motor is shown by way of example, wherein for the sake of clarity only a section of the long-stator linear motor 1 is shown. The long-stator linear motor 1 has a stator 2, which comprises at least one stator segment, usually a plurality of stator segments. The stator segments can have different geometries or designs, for example straight lines, curves, forks, etc., and can be combined into the stator 2 in any shape and / or length. The stator 2 thus forms a transport path for the long-stator linear motor 1. Along this transport path, during operation, at least one transport unit 3 of the transport system 1, but usually a plurality of transport units 3, moves in a direction of movement B, for example in the direction of the x-axis of the reference coordinate system of the transport system 1.

[0037] Workstations can be arranged along the transport route formed by the stator 2, in which objects 8 (e.g. parts, workpieces, products, components, packaging units, such as bottles, containers, etc. or the like) transported by the transport unit 3 can be processed as desired. That is, the object 8 is transported by the transport unit 3, for example, along the direction of movement B from one workstation to the next, and in the corresponding workstations, for example, undergoes certain manufacturing or assembly steps, is changed in its orientation on the transport unit 3, is measured, is checked, is filled, is placed on the transport unit 3, is removed from the transport unit, etc. In this case, the transport unit 3 can, for example, stop at a workstation in order to process the object 8 by a corresponding processing device (e.g. an actuator of a robot, a robot arm, a filling device, a measuring sensor, etc.). However, the processing of the object 8 in the workstation can also take place during the movement of the transport unit 3.

[0038] The transport unit 3 comprises a base body 4 having guide elements 5 for movement along the stator 2 or along a transport path in a movement direction B. These guide elements 5 interact with path guide elements 6 in order to guide the transport unit 3 along the transport path or the stator 2 .

[0039] In addition, the transport unit 3 has a carrying unit 7, which is placed on the base body 4 or is connected to the base body 4 in a releasable manner, for example, by means of a screw connection. The carrying unit 7 is therefore used for the actual transportation of the object 8 to be transported. Therefore, the carrying unit 7 can be designed differently according to the object 8 to be transported (for example, in size and shape), so that, for example, different objects 8 or objects 8 in different manufacturing stages can be transported along the transport route using the transport unit 3. In addition, the carrying unit 7 has a holding device 9 for the safe transportation of the object 8, wherein the holding device 9 is designed differently according to the object 8 to be transported. In the simplest case, the holding device 9 can be implemented, for example, as a recess 9 in the carrying unit 7 or a simple object receiving portion 9, in which the object 8 to be transported is positioned for transportation and / or processing. In addition, the holding device 9 can also be designed as a clamp, a clip, etc., so that the object 8 to be transported is fixed to the carrying unit 7 on the transport unit 3 during transportation and / or processing. In principle, the position of the object to be transported in the electromagnetic transport system 1 is predetermined by the holding device 9 of the carrying unit 7 , which position depends on the respective position of the transport unit 3 or the carrying unit 7 within the transport system 1 .

[0040] Furthermore, the transport unit 3 has an encoder track 10 for position determination, which is also arranged on the base body 4. The encoder track 10 can be implemented, for example, as an optically scannable unit or an optically scannable strip, which is arranged, for example, on the upper surface or side surface of the transport unit 3. Alternatively, the encoder track 10 can also be designed as a magnet unit. Here, a magnet unit including a drive magnet can be used as the encoder track 10, for example. The encoder track 10 or magnet unit designed in this way can be arranged, for example, on the side of the base body 4 of the transport unit 3 facing the stator 2, and thus on the Figure 1a Therefore, Figure 1b The following diagram shows by way of example and schematically the process of passing through an electromagnetic transport system 1 designed as a long-stator linear motor along a cutting line AA. Figure 1a A cross-sectional view of a segment shown by way of example.

[0041] Here, Figure 1b The transport unit 3 is shown with a base body 4 and a magnet unit arranged on the base body 4, which serves as an encoder track 10. The magnet unit comprises a plurality of magnets 11, which serve as drive magnets 11 and, for example, are simultaneously used for position determination. However, it is also possible that in addition to the drive magnets 11, separate positioning magnets for position determination are provided in the magnet unit, or that the drive magnets 11 and the positioning magnets are arranged separately from one another, for example, in separate magnet units on the transport unit 3, wherein the magnet unit including the positioning magnets forms the encoder track 10.

[0042] In addition, a position sensor (such as an optical sensor, a camera sensor, an AMR sensor, a Hall element, etc.) is usually provided on the stator 2. For the sake of clarity, Figure 1a and 1b These position sensors are not shown. They interact with an encoder track 10 arranged on the transport unit 3 in order to determine therefrom the current position of the transport unit 3 in the transport system 1 or along the transport route. For this purpose, the encoder track 10 can be optically scanned by the position sensor, for example, or the properties of the magnetic field of a magnet 11 arranged in the encoder track 10 can be measured, for example. The position information of the position sensor can be used, for example, in the production process and for the movement of the transport unit 3 along the stator 2.

[0043] In order to enable the transport unit 3 to move along the stator 2, the stator 2 (or a corresponding stator segment of the stator 2) has a plurality of drive coils 12, such as Figure 1b As can be seen in . The drive coils 12 are arranged side by side along the direction of movement B, for example on a fixed holder. The drive coils 12 are energized accordingly when the control of the superior control unit of the transport system 1 is performed in order to adjust the movement of the transport unit 3 along the transport route or along the stator 2. The adjustment of the movement of the transport unit 3 along the transport route or along the stator 2 and the associated control of the drive coils 12 are sufficiently known, for example, from EP 3 385 110 A1 or EP 3376 166 A1 and are not explained in detail here, because the specific adjustment or control of the drive coils 12 is not important for the present invention. In principle, in the region of at least one transport unit 3, the drive coils 12 of the stator 2 are energized by the corresponding control of the superior control unit in order to generate a moving drive magnetic field. This drive magnetic field interacts with the drive magnet 11 and thus causes the movement of the transport unit 3 along the direction of movement B. As a result, the transport unit 3 and thus the object 8 transported by the transport unit 3 can be moved to a preset position along the transport route in the transport system 1.

[0044] Alternatively, the electromagnetic transport system 1 can also be designed as a planar motor. Figure 2 In the diagram, an exemplary embodiment of a transport system 1 designed as a planar motor is shown in a simplified, partially cut-away side view. The planar motor 1 has a stator 2, which comprises at least one transport section or stator segment. The stator 2 forms a transport plane 13, wherein the transport plane 13 is determined by the size and shape of the stator 2 or by the at least one stator segment forming the stator 2 and can be arbitrarily oriented in space. For the sake of simplicity, Figure 2 Only one stator segment or section of the stator 2 is shown. However, a plurality of (also different) stator segments can also be arranged in order to form the stator 2 and a larger transport plane 13 .

[0045] At least one transport unit 3 of the transport system 1 can move at least two-dimensionally on a transport plane 13, along a transport path, in two directions of movement, for example in the direction of the x-axis and in the direction of the y-axis of a reference coordinate system of the transport system 1. For this purpose, a plurality of drive coils are arranged on the stator 2 or stator segments in the form of drive coil groups 14, 15, wherein, for example, a first drive coil group 4 defines a first direction of movement (for example in the direction of the x-axis of the reference coordinate system of the transport system 1) and, for example, a second drive coil group 15 defines a second direction of movement (for example in the direction of the y-axis of the reference coordinate system of the transport system 1). Figure 2 As shown, the drive coils of the first and second drive coil groups 14, 15 can be arranged relative to each other, for example, so that the two directions of movement are orthogonal to each other. Thus, the transport unit 3 can be moved, for example, on the transport plane 13, in a plane spanned by the x-axis and y-axis of the reference coordinate system of the transport system 1, along any transport path. In a corresponding design embodiment of the stator 2 or at least one stator segment and the corresponding transport unit 3, for example, a movement can also be implemented that additionally uses the other four degrees of freedom of movement at least to a limited extent, namely a translational movement in the direction of the z-axis of the reference coordinate system and a rotation about the x, y and z axes.

[0046] The regulation of the movement of at least one transport unit 3 along the transport path on the transport plane 13 and the associated control of the relevant drive coils of the corresponding drive coil groups 14, 15 are sufficiently known, for example, from WO2021 / 105165A1 or WO2021 / 175885A1. In principle, the drive coils of at least one of the drive coil groups 14, 15 are powered in the area of ​​the transport unit 3 in order to generate a movable drive magnetic field. The movable drive magnetic field interacts electromagnetically with the drive magnets arranged on the transport unit 3, whereby the transport unit 3 can be moved along a preset transport path or to a preset position of the transport plane 13, in order to transport objects 8, for example between workstations, for corresponding processing.

[0047] The transport unit 3 of the planar motor 1 also has a base 4. On the base 4, a magnet unit is arranged on the side or on the bottom facing the transport plane 13, and the magnet unit is connected to the base 4. The magnet unit includes at least a drive magnet 11 of the transport unit 3 and can be used as an encoder track 10 for determining the position of the transport unit 3 on the transport plane or in the transport system 1. That is, the drive magnet 11 is also used as a positioning magnet. In addition, in the magnet unit used as an encoder track 10, for example, in addition to the drive magnet, a magnet 11 for position determination, i.e., a positioning magnet, can be provided, or the transport unit 3, for example, has an encoder track 10 or a magnet unit that only includes a positioning magnet 11. That is, the drive magnet and the positioning magnet 11 are, for example, arranged separately from each other on the transport unit 3. By means of the encoder track 10 or the magnets 11 therein for position determination, the respective current position of the transport unit 3 on the transport plane 13 or in the transport system 1 can be determined via corresponding position sensors (e.g. AMR sensors, Hall elements, etc.) and used in the production process or in corresponding workstations for the handling of the object 8. Alternatively, the transport unit 3 can have an encoder track 10 which is designed as an optically scannable unit. Such an encoder track 10 can be arranged, for example, on the upper side or side surface of the transport unit 3 and detected or scanned by means of an optical sensor (e.g. camera sensor, etc.) for positioning the transport unit 3.

[0048] Furthermore, the transport unit 3 has a carrier unit 7 which is detachably connected to the base body 4 and is arranged on the upper side of the base body 4 (facing away from the transport plane 13). The carrier unit 7 can be designed differently (for example in size and shape) depending on the object 8 to be transported, so that, for example, different objects 8 or objects 8 in different manufacturing stages can be transported with the transport unit 3. On the carrier unit 7, the object 8 to be transported can be arranged in a holding device 9 for transportation. The holding device 9 of the carrier unit 7 can also be designed in the simplest case, for example, as a recess 9 or an object receiving portion 9, in which the object 8 to be transported is positioned for transportation and / or processing in a workstation. However, the holding device 9 can also be designed as a clamp, a clip, etc., in order to fix the object 8 to be transported on the carrier unit 7 during transportation and / or processing on the transport unit 3. In the planar motor 1, the position of the transported object 9 on the transport plane 13 or on the transport path is also determined in principle by the holding device 9 of the carrier unit 7, and therefore by the position of the transport unit 3 in the transport system 1.

[0049] Figure 3a , 3b , 3c and 3d show by way of example and schematically different embodiments of a service station for adjusting a transport unit 3 of an electromagnetic transport system 1. Figure 3a and 3bThe present invention relates to a possible embodiment of a service station for adjusting a transport unit 3 of a transport system 1 designed as a long-stator linear motor. Figure 3c and 3d A possible embodiment of a service station for adjusting a transport unit 3 of a transport system 1 designed as a planar motor is shown.

[0050] Here, Figure 3a and 3b A service station 16 for adjusting a transport unit 3 of an electromagnetic transport system 1 or for a long-stator linear motor 1 is shown. The service station 16 has at least one adjustment section 17 along which the transport unit 3 to be adjusted can be moved in a movement direction B. The adjustment section 17 forms an adjustment region in which an adjustment position P is provided. For example, a stator section of a stator 2 of the transport system 1 can be used as the adjustment section 17, along which the transport unit 3 is moved to the adjustment position P by corresponding actuation of the drive coils 12. However, the adjustment section 17 can also be designed as a "reduced" section of the transport path, which, for example, does not have a drive coil and along which the transport unit 3 can be moved, for example, manually or by means of an automation unit (for example a robot) to the adjustment position P. For this purpose, the adjustment section 17 comprises, for example, at least a corresponding path guidance element 6 interacting with a guide element 5 of the transport unit 3 and a sensor system for position detection, so that the position of the transport unit 3 at the adjustment section 17 or in the adjustment region can be determined.

[0051] Here, the adjustment position P is a known position in the reference coordinate system of the transport system 1 or at least the service station 16. That is, the x, y and z coordinates of the adjustment position P in the reference coordinate system are known. The transport unit 3 to be adjusted can be precisely moved to the adjustment position P or precisely positioned at the adjustment position P by means of an encoding sensor system (e.g., position sensor, position regulator, etc.) of the transport system 1, whereby the position of the transport unit 3 during adjustment is known.

[0052] Furthermore, the service station 16 has positioning devices 18 , 19 which are arranged in the adjustment region, ideally in the adjustment position P. The positioning devices 18 , 19 are designed to orient the carrier unit 7 and the encoder rail 10 of the transport unit 3 positioned in the adjustment position P relative to one another on the base body 4 . As a result, when the transport unit 3 is used in the transport system 1 , i.e. when the transport unit 3 transports objects 8 between workstations, the transported objects 8 arranged on the carrier unit 7 remain in exactly the preset position necessary for the corresponding processing in the corresponding workstation.

[0053] In a very simple embodiment of the service station 16, Figure 3aAs shown, the positioning device 18 can be designed as a mechanical stop 18, relative to which the transport unit 3 is positioned. The mechanical stop 18 can be designed, for example, so that by means of the mechanical stop 18, for example, either the carrier unit 7 can be oriented relative to the encoder rail 10 or the encoder rail 10 can be oriented relative to the carrier unit 7 on the base 4. However, it is also conceivable that the carrier unit 7 and the encoder rail 10 are oriented relative to each other on the base 4 of the transport unit 3 by the mechanical stop 18. In the simplest case, for example, the carrier unit 7 and / or the encoder rail 10 are oriented on the base 4 in at least one degree of freedom. Figure 3a In the service station 16 shown by way of example in FIG. 1 , the carrier unit 7 can be moved on the base body 4 relative to the encoder track 10 (in FIG. 1 ) by, for example, a movement in the direction of the x-axis and / or by a rotation about the z-axis. Figure 3a The mechanical stop 16 can be moved and thus oriented in accordance with the embodiment of the present invention. In the case of a corresponding design of the mechanical stop 18, the carrier unit 7 can be additionally oriented, for example, in the direction of the y-axis and / or in the direction of the z-axis, so that the transported object 8 remains in a preset position when the transport unit 3 is used. However, the mechanical stop 16 can also be designed so that, instead of the carrier unit 7, the encoder track 10 (for example when a magnet unit is used as encoder track 10) is moved relative to the carrier unit 7, for example in the direction of the x-axis, or so that the carrier unit 7 and the encoder track 10 are moved in at least one degree of freedom in order to orient them relative to each other on the base body 4. For the orientation, the carrier unit 7 can be moved on the base body 4, for example, in the direction of the x-axis and / or by rotation about the z-axis, and the encoder track 10 can additionally be moved, for example, in the direction of the x-axis.

[0054] In a special embodiment of the service station 16, the already adjusted transport unit 3 can, for example, serve as a mechanical stop 18. At this transport unit 3 serving as a mechanical stop 18, the carrying unit 7 can be aligned, for example, by all other transport units 3 of the transport system 1.

[0055] Alternatively, Figure 3b As shown by way of example, the positioning device 19 can also be designed as an automation unit 19. The automation unit 19 can be arranged in the adjustment area of ​​the service station 16, for example, on the side of the adjustment section 17 that moves the transport unit 3. Alternatively, the automation unit 19 (in Figure 3bThe automation unit 19 (shown as a dashed box in FIG. 1 ) can also be arranged, for example, on the side of the adjustment section 17 that is opposite to the side that moves the transport unit 3. The automation unit 19 can be implemented, for example, as a robot unit 19, by which the carrying unit 7 and / or the encoder rail 10 are correspondingly oriented on the base body 4 of the transport unit 3. The robot unit 19 can be programmed, for example, to orient the carrying unit 7 and the encoder rail 10 relative to each other so that the holding device 9 of the carrying unit 7 and thus the object 8 to be transported have a preset position (for example, a preset x, y and z coordinates) at the adjustment position P, wherein, for example, preset tolerances can be taken into account during the orientation. Alternatively, the automation unit 19 for orienting the carrying unit 7 and / or the encoder rail 10 can also be designed as a combination of at least one actuator and, for example, an optical sensor, which is used to measure the position of the carrying unit 7 or the encoder rail 10 on the base body 4 of the transport unit 3.

[0056] In order to be able to orient the carrier unit 7 and the encoder rail 10 relative to one another in the service station 16 on the base 4 of the transport unit 3, it is necessary, for example, after the transport unit 3 has been moved into the adjustment region, to at least release the connection between the carrier unit 7 and the base 4, so that the carrier unit 7 can be moved relative to the base 4 in at least one degree of freedom for positioning. If necessary, the connection between the encoder rail 10 (if it is designed, for example, as a magnet unit) and the base 4 can also be released, so that the encoder rail 10 can be moved relative to the base 4 in at least one degree of freedom for positioning. That is, for example, in the case of a threaded connection between the carrier unit 7 or the encoder rail 10 and the base 4, the threaded connection is, for example, slightly loosened, so that the carrier unit 7 and / or the encoder rail 10 or the magnet unit 10 can be moved relative to the base 4 and also at least in the x, y or z direction relative to each other, or can be rotated about the x, y or z axis. For this purpose, the connection between the carrier unit 7 and the base 4 and / or the connection between the encoder rail 10 and the base 4 can, for example, be manually released or loosened after the transport unit 3 has been moved into the service station 16 or the adjustment region. After the carrier unit 7 and the encoder rail 10 have been oriented relative to one another on the base body 4, the connection between the carrier unit 7 and the base body 4 can be manually secured again, for example, in order to secure the carrier unit 7 in the correct, adjusted position on the base body 4. If the connection of the encoder rail 10 to the base body 4 (for example in a magnet unit as encoder rail 10) is also slightly loose, this connection can be secured again after the orientation, so that the encoder rail 10 is also secured in the correct, adjusted position on the base body 4.

[0057] For automatic operation, the service station can have at least one installation device (for the sake of clarity, in Figure 3a3b), the at least one mounting device is designed to loosen or release the connection between the carrier unit 7 and the base body 4 and / or the connection between the encoder rail 10 and the base body 4, so that the carrier unit 7 and the encoder rail 10 can move relative to each other on the base body 4 in at least one degree of freedom for correct positioning. In addition, the mounting device can also be designed to fix the connection between the base body 4 and the carrier unit 7 and / or the connection between the encoder rail 10 and the carrier unit 7 again after orientation. Alternatively, according to the design of the service station 16, another mounting device can be provided, which takes over the fixation of the carrier unit 7 or the encoder rail 10 on the base body 4 after orientation. At least one mounting device and the other mounting device can be designed, for example, as a robot unit or an actuator. In a service station 16 with a positioning device 19 designed as an automation unit 19 (for example a robot unit), the loosening or slight loosening of the mounting device and thus the connection between the carrier unit 7 and the base body 4 before orientation and / or the re-fixing of the connection after orientation can be integrated into the positioning device 19.

[0058] For example, the service station 16 for adjustment can be implemented as an "independent" service station. That is, the service station 16 is basically composed of only the adjustment section 17, such as Figure 3a and 3bAs shown, for example, before the first use in the transport system 1 or before the commissioning of the transport system 1, or after maintenance or after the replacement of worn parts (such as guide elements 5, etc.), or after a predeterminable number of uses in the transport system 1, the transport unit 3 is placed on the adjustment section in order to re-orient the support unit 7 and the encoder track 10 relative to each other on the base body 4 of the transport unit 3 for the first time or after maintenance. For example, if the adjustment section 17 is designed as a stator section, the service station 16 can, for example, itself represent a small electromagnetic transport system 1, such as a small long-stator linear motor. Alternatively, the service station 16 can also be integrated into the electromagnetic transport system 1. That is, the adjustment section 17 of the service station 16 forms a partial route of the electromagnetic transport system 1. The service station 16 for adjusting the transport unit 3 of the long-stator linear motor 1 can, for example, be arranged in a parallel route relative to the transport route of the transport system 1, so that the transport system 1 or the associated production plant can continue to work unhindered. For example, the transport unit 3 to be adjusted can be moved into the parallel route through the fork in the import / export area and thus move towards the service station 16. After the adjustment, the transport unit 3 can be moved out of or introduced into a parallel path relative to the transport path of the transport system 1 through a further introduction / export area. Thus, the transport unit 3 can also be adjusted during continuous operation of the long-stator linear motor, for example after a preset number of uses, a preset number of kilometres travelled or a preset number of fork triggering, in order to adapt the position of the carrying unit 7 or the object 8 to be transported, for example, to the wear of the guide element 5.

[0059] Figure 3c and 3d By way of example and schematically, a service station 16 for adjusting a transport unit 3 of an electromagnetic transport system 1 is shown, wherein the electromagnetic transport system 1 is designed as a planar electric machine 1 having a stator 2 composed of a plurality of stator segments. Figure 3c and 3d The service station 16 shown by way of example is integrated into the planar motor 1, i.e. the surface of the service station 16 or at least one adjustment section 17 of the service station 16 forms part of the transport plane 13, on which at least one transport unit 3 to be adjusted can move. Alternatively, however, the service station 16 can also be implemented as an "independent" service station, wherein the service station 16 with at least one adjustment section 17 can be designed as a small planar motor 1, for example. Alternatively. The adjustment section 17 of the service station 16 can also be designed as a "reduced" section, i.e. it is designed with at least one sensor system for position detection. The transport unit 3 to be adjusted is moved into the service station 16 or in the service station, for example manually or with the aid of an automation unit (e.g. a robot).

[0060] The adjustment section 17 of the service station 16 also forms an adjustment area with an adjustment position P (with known x, y and z coordinates in the reference coordinate system of the transport system 1) in the planar motor 1, and the transport unit 3 to be adjusted can be precisely positioned at this adjustment position, for example, with the help of position sensors, position regulators, etc. of the transport system 1.

[0061] In addition, the service station 16 also has positioning devices 18, 19, which are arranged in the adjustment area, ideally at the adjustment position P, and by means of which the carrier unit 7 and the encoder track 10 of the transport unit 3 positioned at the adjustment position P can be oriented relative to each other on the base body 4, so that when the transport unit 3 is used in the transport system 1, that is, when the transport unit 3 transports the object 8 between the workstations, the transported object 8 arranged on the carrier unit 7 maintains a preset position, which is preset and required for the corresponding processing in the corresponding workstation. In the simplest case, the positioning devices 18, 19 can be designed, for example, as mechanical stops 18, such as Figure 3c shown. Figure 3c For example, a corner-shaped mechanical stop 18 is shown, with which, in the simplest case, the carrier unit 7 of the transport unit 3 can be oriented, for example, by displacement in the x and y directions or, if necessary, by rotation about the z axis, relative to the base body 4 and relative to the encoder track 10, so that the transported object 8 remains in a preset position when the transport unit 3 is in use. However, the mechanical stop 18 can also be designed, for example, in such a way that the encoder track 10 (if designed, for example, as a magnet unit) is oriented relative to the base body 4 and relative to the carrier unit 7, for example, by displacement in the direction of the z axis or, if necessary, by rotation about the z axis, so that the transported object 8 remains in a preset position when the transport unit 3 is in use. It is also conceivable that the mechanical stop 18 is designed in such a way that the carrier unit 7 (for example, by displacement in the x and y directions and / or by rotation about the z axis) and the encoder track 10 (for example, by displacement in the z direction and / or by rotation about the z axis) are oriented relative to the base body 4 and relative to each other, so that the object 8 to be transported remains in a preset position during use of the transport unit 3.

[0062] Alternatively, Figure 3d As shown by way of example, the positioning device 19 can also be designed as an automation unit 19 (eg a robot unit, a combination of actuators and sensors). The automation unit 19 is arranged, for example, in the adjustment region, ideally in the region of the adjustment position P.

[0063] Furthermore, in the service station 16, it is possible to provide for reasons of overview. Figure 3c and 3dAt least one mounting device (not shown) can be provided in the embodiment of the present invention. The mounting device can automatically loosen or release the connection between the carrier unit 7 and the base body 4 or the connection between the encoder rail 10 and the base body 4 after the transport unit 3 has been moved into the adjustment area, so that the carrier unit 7 and / or the encoder rail 10 can be moved relative to the base body 4 in at least one degree of freedom for orientation, i.e. at least in the x, y or z direction relative to the base body 4 or rotated relative to the base body 4 about the x, y or z axis. In addition, after the carrier unit 7 and / or the encoder rail 10 have been oriented relative to the base body 4 of the transport unit 3 or the carrier unit 7 and the encoder rail 10 have been oriented relative to each other, the connection between the carrier unit 7 and the base body 4 and / or the connection between the encoder rail 10 and the base body 4 can be fixed again, for example, by at least one mounting device or a further mounting device, so that the carrier unit 7 and / or the encoder rail 10 are fixed in the correct, adjusted position on the base body 4. Alternatively, the loosening and / or fixing of the connection between the carrier unit 7 and the base body 4 and / or the connection between the encoder rail 10 and the base body 4 can be performed manually. When the positioning device 19 is designed as an automation unit 19 ( Figure 3d ), at least one mounting device can be integrated into the automation unit 19, so that the loosening and / or fixing of the connection between the supporting unit 7 and the base 4 and / or the connection between the encoder rail 10 and the base 4 can be additionally undertaken by the positioning device 19.

[0064] Figure 4 The schematic diagram shows an exemplary sequence of a method for adjusting a transport unit 3 of an electromagnetic transport system 1, which can be designed, for example, as a long-stator linear motor or a planar motor. In this case, the transport unit 3 is moved in an entry step S1 into an adjustment region, which is formed by an adjustment section 17 of a service station 16. For this purpose, in a service station 16 integrated into the transport system 1, in which a stator section is used, for example, as the adjustment section 17, the transport unit 3 can be guided, for example, from the transport path of the linear motor 1 and moved toward the service station 16, or on the transport plane 13 of the planar motor 1 via a corresponding transport path toward the service station 16. In a service station 16 designed as an "independent" service station, the transport unit 3 to be adjusted is placed, for example, on the adjustment section 17 of the service station 16 in the entry step S1, and can be moved on the adjustment section, for example manually, depending on the embodiment of the adjustment section 17, by an automation unit (for example, a robot) or by corresponding power supply to the drive coil 12, if a stator section is used as the adjustment section 17.

[0065] In the release step S2, at least the connection of the carrier unit 7 to the base body 4 of the transport unit 3 is released, so that the carrier unit 7 can move in at least one degree of freedom relative to the base body 4 of the transport unit 3. Alternatively or additionally, for example in the case of a magnet unit as encoder track 10, the connection of the encoder track 10 to the base body 4 can be released, so that the encoder track 10 can move in at least one degree of freedom relative to the base body 4. The release step S2 can be performed manually, for example in the adjustment area or service station 16. Alternatively, the release step S2 can also be performed automatically, for example by a corresponding mounting device of the service station 16 or by a mounting device integrated into the positioning device 19 (if the positioning device 19 is embodied as an automation unit 19, for example). In the release step S2, for example in the screw connection between the base body 4 of the transport unit 3 and the carrier unit 7, the screw can be loosened, so that the carrier unit 7 can be moved relative to the base body 4, for example, at least in the direction of one of the x, y and z axes, or can be rotated relative to the base body 4 about at least one of the x, y and z axes.

[0066] In the positioning step S3, the transport unit 3 with the carrying unit 7 slightly separated from the base body 4 is positioned in the adjustment area at the adjustment position P. If necessary, the encoder track 10 (for example, in the case of a magnet unit as the encoder track 10) can also be slightly separated from the base body 4 in addition or as an alternative to the carrying unit 7. In order to accurately position the transport unit 3 at the adjustment position P, for example, an encoding sensor system of the transport system 1 (for example, a position sensor, a position controller in a higher-level control unit in the transport system 1, etc.) can be used.

[0067] In an orientation step S4, the carrier unit 7 and the encoder rail 10 are oriented relative to each other on the base body 4 of the transport unit 3 at a known adjustment position P by means of positioning devices 18, 19 arranged in the adjustment region. Since the x, y and z coordinates of the adjustment position P in the transport system 1 are known, the position of the transport unit 3 is also known during the adjustment. As a result, the carrier unit 7 and the encoder rail 10 can be oriented precisely relative to each other on the base body 4, so that the carrier unit 7 or the transported object 8 remains in a preset position when the transport unit 3 is in use. Mechanical stops 18, already adjusted transport units 3 or automation devices 19 (e.g. robot units, actuator-sensor combinations, etc.) can be used as positioning devices 18, 19, for example.

[0068] By means of the positioning devices 18, 19, in an orientation step S4, the carrier unit 7 and the encoder track 10 are oriented relative to each other on the base 4 so that when the transport unit 3 is used in the transport system 1, the object 8 arranged on the carrier unit 7 maintains a position preset for a corresponding treatment in a corresponding workstation. That is, for example, by means of the positioning devices 18, 19, the carrier unit 7 is moved and positioned relative to the encoder track 10 on the base 4 so that the object 8 arranged on the carrier unit 7 maintains a position preset for a corresponding treatment in a corresponding workstation. If necessary, alternatively, the encoder track 10 can be moved and positioned relative to the carrier unit 7 on the base 4 so that when the transport unit 3 is used, the transported object 8 maintains a position preset for a corresponding treatment. However, it is also possible that the carrier unit 7 and the encoder track 10 are moved and positioned relative to each other on the base so that after the orientation, when the transport unit 3 is used in the transport system 1, the object 8 arranged on the carrier unit 7 maintains a position preset for a corresponding treatment in a corresponding workstation. When the adjusted transport unit 3 is used in the transport system 1 or in a production process, the carrying unit 7 and thus the transported object 8 are located in the transport system 1 at the position intended for the respective processing of the object 8 in the respective workstation (e.g. at the preset or expected coordinates x, y and z in the reference coordinate system of the transport system 1). As a result, the respective processing of the object 8 can be carried out without error in the respective workstation. In the orientation step S4, when the carrying unit 7 and / or the encoder track 10 are oriented on the base body 4, predeterminable tolerances can also be taken into account, so that the position of the object 8 fixedly predetermined by the holding device 9 of the carrying unit 7 is located within a tolerance range within which error-free processing in the respective workstation is possible.

[0069] After the orientation step S4, in a fixing step S5, the connection between the carrier unit 7 and the base body 4 of the transport unit 3 and / or the connection between the encoder rail 10 and the base body 4 of the transport unit 3 is fixed again. The carrier unit 7 and / or the encoder rail 10 are thus fixed in a newly adjusted position on the base body 4. The fixing step S5 can, for example, be carried out manually in the service station 13 after the orientation step S4, for example by manually tightening a screw in the case of a threaded connection between the carrier unit 7 and the base body 4. Alternatively, the fixing step S5 can also be carried out automatically by at least one mounting device of the service station 16, by a further mounting device in the service station 16 for fixing the connection between the carrier unit 7 and the base body 4 and / or the connection between the encoder rail 10 and the base body 4, or by a positioning device 19 designed as an automation unit, into which the mounting device is integrated.

[0070] After the carrier unit 7 and / or the encoder rail 10 have been fixed to the base body 4 (in the oriented position), in an exit step S6, the transport unit 3 is moved out of the adjustment area of ​​the service station 16. For this purpose, in a "stand-alone" service station 16, for example, the adjusted transport unit 3 can be removed from the adjustment section 17 of the service station 16 in order to make room, for example, for another transport unit 3 to be adjusted. Depending on the embodiment of the adjustment section 17, the transport unit 3 can be removed, for example, manually, by means of an automation unit (for example a robot) or by means of a drive coil 12 in the case of a stator section serving as an adjustment section 17. In a service station 16 integrated into the transport system 1 with a stator section serving as an adjustment section 17, the adjusted transport unit 3 can be moved out of the service station, for example, through an import / export area and introduced again into the transport path of the linear motor 1, or can be moved out of the service station 16, for example, on the transport plane 13 of the planar motor 1 via a corresponding transport path and can again be used for transport of the object on the transport plane 13.

[0071] The method according to the invention can be carried out, for example, before the first use of the transport unit 3 in the transport system 1 or before the commissioning of the transport system 1 in order to eliminate a possibly inaccurate mounting of the support unit 7 on the base body 4 of the transport unit 3 and / or to compensate for manufacturing tolerances of the transport unit 3 and / or the support unit 7. Furthermore, the method can be carried out, for example, after a predeterminable number of uses of the transport unit 3 in the transport system 1, after a predeterminable number of kilometres of travel of the transport unit 3 in the transport system 1, etc., in order to compensate for wear that occurs due to the use of the transport unit 3 (e.g. wear on the guide element 5 of the transport unit 3 in a long-stator linear motor, etc.). Furthermore, the method can also be carried out after maintenance of the transport unit 3, in particular after replacement of components and / or worn parts (e.g. the guide element 5), before the transport unit 3 is put back into use in the transport system 1.

[0072] Reference numerals list

[0073] 1Electromagnetic transport system

[0074] 2 Stator

[0075] 3 transport units

[0076] 4. Transport unit base

[0077] 5 Guiding elements

[0078] 6 Route guidance elements

[0079] 7 load-bearing units

[0080] 8 Objects to be transported

[0081] 9 Holding device

[0082] 10 encoder tracks or magnet units

[0083] 11 (Drive) Magnet

[0084] 12 driving coil

[0085] 13 Transportation Plane

[0086] 14 First drive coil group

[0087] 15 Second drive coil group

[0088] 16 Service Stations

[0089] 17 Adjustment section

[0090] 18 Positioning device or mechanical stopper

[0091] 19 Positioning device or automation unit or robot unit

[0092] A Cutting Line

[0093] BMotion direction

[0094] P adjustment position

[0095] The directions of the x, y, z reference coordinate systems

[0096] S1 entry step

[0097] S2 Release Steps

[0098] S3 positioning steps

[0099] S4 Orientation Step

[0100] S5 Fixation Steps

[0101] S6 Exit Step

Claims

1. A method for adjusting a transport unit (3) of an electromagnetic transport system (1), wherein the transport unit (3) comprises a base body (4), an encoder track (10) connected to the base body (4) for position determination and a carrier unit (7) for transporting an object (8) which is detachably connected to the base body (4), and wherein the carrier unit (3) is moved along a stator (2) of the transport system (1) during use in the transport system (1) in order to move an object (8) arranged on the carrier unit (7) between workstations for processing, characterized in that The transport unit (3) is moved (S1) into an adjustment region formed by an adjustment section (17), positioning (S3) the transport unit (3) at an adjustment position (P) in the adjustment area, By means of positioning devices (18, 19) arranged in the adjustment region, the carrier unit (7) and the encoder track (10) are oriented relative to each other (S4) at the base (4) of the transport unit (3) so that when the transport unit (3) is used in the transport system (1), the object (8) arranged on the carrier unit (7) remains in the transport system (1) in a position predetermined for a corresponding processing in a corresponding workstation, and After alignment, the transport unit (3) is moved out of the adjustment area (S6).

2. The method according to claim 1, characterized in that After the transport unit (3) is moved into the adjustment area, the connection between the base (4) of the transport unit (3) and the carrying unit (7) and / or the connection between the base (4) of the transport unit (3) and the encoder track (10) is released (S2) so that the carrying unit (7) can move relative to the base (4) of the transport unit (3) in at least one degree of freedom.

3. The method according to claim 1 or 2, characterized in that: After orientation, the connection between the carrier unit (7) and the base body (4) of the transport unit (3) and / or the connection between the encoder rail (10) and the base body (4) of the transport unit (3) is fixed again (S5).

4. The method according to any one of the preceding claims, characterized in that The transport unit (3) is moved (S1) into the adjustment area before being used for the first time in the transport system (1).

5. The method according to any one of the preceding claims, characterized in that The transport unit (3) is moved (S1) into an adjustment area after a predeterminable number of uses in the transport system (1).

6. The method according to any one of the preceding claims, characterized in that The transport unit (3) is moved (S1) into the adjustment area after maintenance and before being reused in the transport system (1).

7. A service station (16) for adjusting a transport unit (3) of an electromagnetic transport system (1), wherein the transport unit (3) can be arranged movably along a stator (2) of the electromagnetic transport system (1), and wherein the transport unit (3) has a base body (4), an encoder track (10) connected to the base body (4) for positioning, and a carrier unit (7) for transporting an object (8), the carrier unit being detachably connected to the base body (4), characterized in that: At least one adjustment section (17) forming an adjustment region and positioning devices (18, 19) arranged in the adjustment region are provided, wherein the transport unit (3) can be movably arranged on the adjustment section (17) in order to be positioned at an adjustment position (P) in the adjustment region, and The positioning devices (18, 19) are designed to orient the carrier unit (7) and the encoder track (10) relative to each other at the base (4) of the transport unit (3) positioned at the adjustment position (P), so that when the transport unit (3) is used in the transport system (1), the object (8) arranged on the carrier unit (7) remains in the transport system (1) in a position preset for a corresponding processing in a corresponding workstation.

8. The service station (16) according to claim 7, characterized in that At least one mounting device is also provided, and the at least one mounting device is designed to loosen the connection between the base (4) and the carrying unit (7) and / or the connection between the base (4) and the encoder track (10), so that the carrying unit (7) and / or the encoder track (10) can move in at least one degree of freedom relative to the base (4) of the transport unit (3).

9. The service station (16) according to claim 8, characterized in that The at least one mounting device is also designed to re-fix the connection between the base body (4) and the carrier unit (7) and / or the connection between the base body (4) and the encoder track (10) after the orientation of the carrier unit (7).

10. A service station (16) according to any one of claims 7 to 9, characterised in that The positioning device (18) is embodied as a mechanical stop.

11. A service station (16) according to any one of claims 7 to 9, characterized in that The positioning device (19) is embodied as an automation unit, in particular as a robot unit.

12. The service station (16) according to claim 11, characterized in that The automation unit (19) further comprises at least one mounting device.

13. A service station (16) according to any one of claims 7 to 12, characterised in that The service station (16) is implemented as a "stand-alone" service station.

14. A service station (16) according to any one of claims 7 to 12, characterised in that The service station (16) is integrated into the electromagnetic transport system (1).

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