Mover for a long stator system

Abstract

Mover (101) for a long stator system (100), comprising a primary part (112) with elements (111) for movable arrangement of the mover (101) on a long stator (153) and a receiving area (113) in which a sensor for position-dependent measurement of at least one system parameter is arranged, characterized in that the sensor is detachably connected to the receiving area (113).

Description

[0001] The present invention relates to a mover for a long stator system according to claim 1 and a method for determining a system parameter of a long stator system according to claim 10. State of the art

[0002] Long stator systems are known from the prior art. These consist of an elongated stator (for example, designed as a guide rail) and one or more carriages, so-called movers, which can move along the long stator under the influence of magnetic force. In these systems, the movement of the mover along the long stator, and especially in the area of ​​turnouts, is controlled by adjusting the magnetic forces acting on the mover.

[0003] Although the magnetic fields that determine the magnetic force are usually reliably generated by the coils in the long stator, the magnetic forces acting on the mover also depend on other system parameters that can hardly be controlled or only with difficulty.

[0004] Document JP 2010 - 57 280 A relates to the technical fields of linear motor systems, linear motor actuators and control devices which detect the position of a rotor of a linear motor driven by a magnetic field of a magnet and a current flowing through a coil, and control the linear motor based on the detected position.

[0005] Document DE 10 2011 084 627 A1 discloses an electric motor with a rotary encoder, wherein the rotary encoder has an encoder element associated with a shaft of the motor. In order to facilitate easy disassembly of the electric motor, it is proposed that the shaft has a contact element designed to limit movement of the encoder element in the longitudinal direction of the shaft, and that the rotary encoder includes fastening means with which the encoder element can be detachably fastened to the shaft such that the encoder element rests against the contact element in the longitudinal direction alongside it.

[0006] Document DE 10 2016 222 806 B3 discloses that a transport carrier for moving goods along at least one guide rail comprises a coil arrangement designed to form a linear drive together with magnets arranged in or on the at least one guide rail, in order to accelerate or decelerate the transport carrier relative to the guide rail, and a drive control designed to actuate the coil arrangement. The drive control is designed to determine a path based on knowledge of a track network along which the transport carrier can move, and to determine motion dynamics. A transport system comprises a track network and multiple transport carriers.

[0007] Document WO 2003 / 008225A1 relates to an arrangement and a method for the contactless transport of a vehicle on a rail arrangement. In order to enable a propulsive force on a rail with low effort and high efficiency without unduly impairing the load-bearing and lateral force generation, the arrangement comprises: a rail unit segmented by a rail pole pitch; a longitudinal force-generating device provided on the vehicle, which has coils enclosing magnetic units with a coil pole pitch such that a coil extends over one or more rail pole pitches, wherein the segmented rail unit and the longitudinal force-generating motor unit form a single-strand transverse flux motor, and propulsive force generation via an alternating current in the coil of the longitudinal force-generating device is adjustable. Task

[0008] The present invention is therefore based on the objective of enabling an accurate determination of system parameters of a long stator system in order to improve the accuracy of the control of the movement of the movers. Solution

[0009] This problem is solved by the mover for a long stator system according to claim 1 and the method for determining a system parameter of a long stator system according to claim 10. Advantageous embodiments of the invention are described in the dependent claims.

[0010] The mover according to the invention for a long stator system comprises a primary part with elements for movable arrangement of the mover on a long stator and a receiving area in which a sensor for position-dependent measurement of at least one system parameter is arranged, wherein the sensor can be detachably connected to the receiving area.

[0011] The primary part is essentially any structure that is part of the mover and includes the moving elements. For example, frame structures can be considered primary parts, and secondary parts, described later, can also be incorporated into these frames.

[0012] The position-dependent measurement of the system parameter refers to measuring the system parameter in such a way that the position of the mover relative to the long stator can be inferred, for example, by storing measurement pairs in the form "position-value of the system parameter". The system parameter could be, for example, a magnetic force acting on the sensor or the distance of the sensor to the long stator along which the mover travels. Other parameters that characterize the system consisting of the long stator and the mover, and which are particularly relevant to the magnetic force acting on the mover, can also be determined with suitable sensors.

[0013] In one embodiment, the sensor comprises a load cell that is fixedly connected to the mover and a secondary element that corresponds to a secondary part of the mover in geometry and / or its magnetic force which is interchangeable with the long stator during operation, wherein the load cell can measure a force acting on the secondary element when the mover moves along the long stator under the influence of magnetic force.

[0014] The secondary part of the mover refers to the element that is standardly installed in the mover. This is usually a magnet or a magnetizable material upon which the magnetic force exerted by the long stator acts, ultimately driving the mover along the long stator. It is also possible for the secondary part to be identical to the secondary element, with only the usual suspension / connection of the secondary part to the primary part being replaced by the load cell. In any case, the secondary element is designed to be connected to the load cell.This embodiment allows the measurement of the magnetic forces acting on the mover under conditions that would otherwise occur in normal operation, since the mover itself, in particular the primary part, is designed like a mover typically used with the long stator and only minor changes are made to the system compared to such a conventional mover by installing the load cell with the secondary element.

[0015] In a further development of this embodiment, the position of the load cell relative to the primary part is adjustable by means of adjustment elements. Such adjustment elements can be used to compensate for possible tolerance deviations of all the components involved, so that the most ideal geometric position, and one that is optimal with respect to the acting forces, can be achieved. These adjustment elements can be, for example, washers, screws, spacers, and similar items. In this way, minor deviations during the installation of the load cell can be compensated for.

[0016] In a further development of these embodiments, the distance between the mover and the long stator, where the mover is arranged perpendicular to the plane of movement of the mover, corresponds to the usual distance of the mover with integrated secondary element to the long stator. Thus, the distance of the mover, and in particular of the secondary element and the load cell, to the long stator is also identical to that of the movers typically used in conjunction with the long stator, so that the magnetic force, which is fundamentally dependent on the distance to the long stator, can be measured very accurately for actual operation.

[0017] In a further development, the load cell is designed to measure a force acting on the secondary element in both directions perpendicular to the plane of movement of the mover along the long stator. This embodiment is particularly advantageous when measuring the system parameters in the area of ​​a switch in the long stator system, since the magnetic force acting on the mover can thus be measured precisely by the long stator on which the mover initially moves and by the long stator onto which the mover is transferred in the area of ​​the switch.

[0018] In an alternative embodiment, the sensor includes a distance sensor for measuring the distance between the mover and the long stator perpendicular to the plane in which the mover can travel along the long stator during operation. This allows for very precise measurement of the air gap between the mover and the long stator and the detection of any manufacturing or adjustment errors. In areas where, for example, a mover travels along the long stator at a greater distance, the long stator coils can be controlled so that the greater distance is compensated for by a stronger magnetic field, thus preventing speed losses of the mover.

[0019] In a further development of this embodiment, the distance sensor comprises one or more sensing rollers and / or one or more sensing pins. Sensing rollers allow for precise distance measurement even while the mover is moving along the long stator. Sensing pins, on the other hand, ensure even more precise distance measurement, but are used when the mover is stationary, as otherwise the long stator could be damaged if it comes into contact with the sensing pin while the mover is moving along the long stator.

[0020] Furthermore, the mover may be equipped with a position determination system designed to determine its position along the long stator. This allows the precise position of the mover to be correlated with the sensor-measured values ​​for one or more system parameters. This enables the creation of a "map" of the system parameters based on the mover's position on the long stator for later use. An initial position can be defined once or multiple times for this purpose.

[0021] In a further embodiment, the mover includes evaluation electronics for processing at least the measured values ​​acquired by the sensor. This allows for real-time evaluation of the system parameters measured by the sensor and / or the corresponding position, so that such a mover can also be used routinely during operation of the long stator system to verify compliance with the system parameter tolerances. Furthermore, this eliminates the need for data transmission devices, such as wireless connections, which could potentially have a negative impact on the long stator system.

[0022] The inventive method for determining a system parameter of a long stator system comprises the use of a mover with a primary part having elements for movably arranging the mover on a long stator and with a receiving area in which a sensor for position-dependent measurement of the system parameter is arranged, wherein the sensor is detachably connected to the receiving area and the mover is arranged on the long stator and the sensor measures at least one system parameter while the mover is arranged on the long stator.

[0023] Furthermore, the sensor can be configured to measure the system parameter during movement of the mover along the long stator. This allows for the use of this "measuring mover" in the normal operation of the long stator system without major interruptions.

[0024] In a further embodiment, the sensor comprises a load cell that is fixedly connected to the mover, and the sensor further comprises a secondary element that corresponds to a secondary part of the mover in terms of geometry and / or magnetic force interchangeable with the long stator during operation. The load cell measures a force acting on the secondary element when the mover moves along the long stator under the influence of a magnetic force. This ensures a precise determination of the changes in the magnetic force acting on the mover along the long stator.

[0025] Alternatively, the sensor can be designed to measure the distance between the mover and the long stator using a distance meter that measures the distance between the mover and long stator perpendicular to the plane in which the mover moves along the long stator. This allows for a reliable determination of the air gap between the mover and long stator, which can have a significant influence on the magnetic force acting on the mover.

[0026] Furthermore, it can be provided that the values ​​measured by the sensor for the system parameter are processed by evaluation electronics in the mover. This enables real-time evaluation and thus monitoring of the actual operation of the long stator system.

[0027] Furthermore, it can be provided that the position of the mover during movement along the long stator is determined by means of a position determination system. This allows the system parameter to be assigned to the position of the mover relative to a reference point on the long stator. Brief description of the characters Fig. Figure 1 shows a schematic representation of a long stator system according to one embodiment; Fig. Figure 2 shows a more detailed schematic view of a mover made of Fig. 1 according to one embodiment; Fig. 3 is an expression drawing of the in Fig. 2 movers shown; Fig. 4 shows a mover according to the invention in a further embodiment; Fig. Figure 5 shows a section along the AA plane through the mover of the Fig. 4; Fig. 6a+b show a mover on a guide rail ( Fig. 6a) and a mover in the area of ​​a turnout ( Fig. 6b). Detailed description

[0028] Fig. Figure 1 shows a schematic representation of a long stator system 100, as it can be used in conveying equipment in the beverage processing industry, for example, for transporting containers such as bottles. The long stator system comprises a long stator 153, which can be elongated or have a closed geometry. The long stator can be bounded above and below by two guide rails 151 and 152. In the embodiment shown here, a space can be provided between the long stator 153 and each of the guide rails 151 and 152 for the movable mounting of a mover.

[0029] In the embodiment shown here, the mover 101 comprises a primary part 112 on which elements 111 for movably mounting the mover on the long stator and / or the guides 151 and 152 are arranged. These elements 111 may preferably be rotatable rollers that can be fitted into the gap between the long stator 153 and the respective guide 151 or 152.

[0030] In addition to the primary part 112, the Mover 101 also features a receiving area 113 into which a sensor and a secondary part of the mover can be interchangeably inserted. The receiving area 113 can also be a recess in the primary part 112 of the mover. Alternatively, it can be an additional component for receiving the sensor or the secondary part, which can be connected to the primary part via suitable fasteners such as screws.

[0031] The secondary part is typically a body made of or comprising a magnetizable material or a magnet. When the mover 101 is used in the operation of the long stator system, it is used to propel the mover along the long stator 153 due to the magnetic field generated by the long stator. The secondary part may include one or more magnets. These may be screwed to the primary part or connected to it in some other way.

[0032] Fig. Figure 2 shows a schematic view of a mover 101 according to the invention in one embodiment. This mover also comprises the primary part already described, in which the receiving area 113 is arranged. The primary part also includes the elements for movably mounting the mover on the longitudinal stator, represented here by rollers.

[0033] In the illustrated embodiment, a sensor comprising a load cell 213 and a secondary element 212 is arranged in the receiving area 113. The secondary element can be essentially the same as the secondary part, as shown in the embodiment according to Fig. The secondary element 212 is designed as described in section 1. This applies in particular to its geometry, weight, and magnetic properties, especially magnetic permeability and susceptibility. According to the invention, the secondary element 212 is connected to the load cell 213 in such a way that a magnetic force acting on the secondary element 212, in particular caused by the long stator of the long stator system, is transmitted to the load cell 213. Fig. The magnetic force acting on the secondary element can be measured by the load cell 213 by applying a force to it. This allows the magnetic force acting on the secondary element to be determined as a function of the mover's position on the long stator. To determine the magnetic force acting on the mover 101 as a position-dependent parameter, a position detection system (not shown here) can be additionally assigned to the mover. The measured values ​​determined by the load cell and the positions determined by the position detection system can be evaluated using evaluation electronics (e.g., integrated into the mover or externally) and used to display the magnetic force as a function of the position on the long stator. Other applications of the measured values ​​for position and magnetic force (or, more generally, a system parameter) are also conceivable.These values ​​can then be used to control the movers during normal operation (for example, for transporting containers).

[0034] Preferably, the sensor, or the load cell, can be used in the case of the Fig. 2, comprising a Wheatstone bridge in which one of the resistors in the voltage divider is force-dependent. Its resistance then changes from a zero position (which can correspond to a magnitude of zero of the acting forces) depending on the force transmitted to the resistor by the secondary element 212, which, in the case of a sensor design with a load cell as in Fig. 2 represents a measure of the magnetic force acting on the secondary element.

[0035] Fig. Figure 3 shows an exploded view of the mover. Fig. 2. Here, the structure of the secondary element and its connection to the load cell 313 outside the receiving area 113 are shown in particular. As illustrated here, the secondary element can comprise several components. For example, magnetizable elements 314 and 315 can be provided on two sides opposite the load cell 313, the function of which is identical to that of the secondary part (see above). These are, for example, magnetic or magnetizable materials that interact with the magnetic field generated by the long stator and can thus propel the entire mover. These can, in themselves, be identical in geometry and magnetic properties to those of a secondary part for the mover.

[0036] Additionally, one or more adapters 317 and 319 can be provided, via which the elements 314 and 315 can be connected to the load cell 313. To ensure that the external dimensions of the entire sensor, which is embedded in the receiving area 113, are as similar as possible to those of a secondary part for the mover, one or more spacer plates 319 can be provided, so that the volume of the entire sensor can also be adapted to a secondary part used for the mover. This also ensures that, even with different secondary parts used that differ, for example, in their width, the sensor used can always have a similar or identical geometry.

[0037] The load cell can be designed as a force sensor or a spring force sensor. However, embodiments using a Wheatstone bridge, as already used in conjunction with Fig. 2, but also quite generally without specific reference to a load cell. The load cell itself must be connected to the primary part 112 in the receiving area 113. One or more elements, such as screws, spacers, or click connections, can be used for this purpose, which also allow for precise adjustment of the position of the load cell and thus also of the secondary element. The load cell as such is preferably fixedly connected to the primary part 112 so that it does not move even when a magnetic force is exerted by the long stator, which could otherwise lead to a distortion of the measured system parameters, in particular the magnetic force acting on the secondary element.

[0038] In the embodiment shown here, elements 314 and 315 are located on both sides of the load cell. This allows for reliable measurement of the magnetic force acting on the entire mover not only in one direction, thus enabling the mover to be used for measuring system parameters, in particular the magnetic force acting on it, even in the area of ​​turnouts where long stators generate a magnetic field on two opposite sides of the mover. However, this configuration of the sensor, especially its secondary element, is not mandatory. For example, only one magnetizable element 314 can be arranged on one side of the load cell if measurement of the system parameters is only desired on that side.

[0039] Fig. Figure 4 shows a further embodiment of the mover 101. The external structure, in particular the primary part 112 and the elements for movably mounting the mover to a long stator 111, can be identical to the previous embodiments. Since a significant advantage of the invention lies in only having to exchange the workpieces in the receiving area 113 in order to use the mover not only for its usual use in the long stator but also for measuring system parameters of the long stator system, the receiving area 113 is also preferably identical to the previous embodiments.

[0040] In contrast to the one in the Fig. 2 and Fig. The embodiment described in 3 is in the Fig. 4 The sensor is designed as a distance sensor for measuring the distance between the mover and the long stator at least perpendicular to the plane in which the mover can move along the long stator during operation. For this purpose, the distance sensor can, for example, comprise one or more sensing rollers 431. These are arranged in the receiving area 113 and, when the mover is positioned against the long stator, touch at least a part of the long stator housing. This is described in more detail in the Fig. 6a and Fig. 6b described.

[0041] In addition to the distance sensor 431, one or more magnets 440 can be arranged in the receiving area 113, either as part of the sensor or separately, so that the mover can be moved along the long stator by applying a magnetic field to it. Preferably, the sensor with the distance sensor can measure the distance to the long stator during movement. For this purpose, embodiments that incorporate rollable elements as part of the distance sensor, such as sensing rollers, are particularly suitable. Alternatively, the distance sensor can also be designed so that it can determine the distance to the long stator only when the mover is stationary. In this case, sensing pins can be used in particular.

[0042] If the distance between the mover and the long stator is to be determined while the mover is in motion, the embodiment in which magnets 440 are additionally arranged in the receiving area 113 is preferred, as this allows for controlled movement of the mover. If the distance is only to be determined when the mover is stationary, such magnets 440 are not necessarily required, as manual positioning of the mover is also possible. However, magnets 440 can also be provided in this embodiment, since then, regardless of the design of the distance sensor, movement of the mover to specific positions is possible with the aid of a traveling magnetic wave along the long stator, and the magnetic force directed perpendicular to the direction of movement ensures that the mover remains in contact with the long stator.

[0043] Schematically, in the Fig. Figure 4 also shows an evaluation electronics unit 420 as part of the mover. This unit can include a storage medium, in particular non-volatile memory, and an additional processor unit, which is connected to the sensor and any positioning system for data exchange. The measured system parameters can thus be evaluated directly in the mover. This evaluation can then be read out and / or analyzed, for example, after the entire measurement process has ended, by connecting the evaluation electronics to a computer for data exchange (wirelessly via WLAN or USB, for example) and transferring the measured data to the computer, where further data analysis can then be performed.

[0044] If, in addition to or as an alternative, a connection for data exchange with a central control unit is provided during the measurement process of the system parameters with the mover, real-time monitoring of the system parameters measured by the mover or the sensor can take place depending on the position of the mover relative to the long stator. This allows the mover, for example, to be used with the sensor even during operation and, in addition to movers equipped with a conventional secondary part, to be moved along the long stator so that the system parameters can be continuously recorded.

[0045] The Fig. Figure 5 shows a section across the AA plane of the in Fig. The sensor is located along the center line of the mover shown in the four illustrations. As can be seen, the sensor comprises four distance sensors 550 to 580. In one embodiment, each of these distance sensors includes a contact surface, for example, a sensing roller 431 shown here, which can touch the surface of the long stator. This sensing roller 431 is biased against the surface of the long stator housing by a spring element 533, so that the sensing element is always in contact with the long stator. Furthermore, an adjusting element 532 can be provided for adjusting the bias of the spring element. This could, for example, be a screw around which the spring is partially wound, and the bias of the spring can be increased or decreased depending on the rotational position of the screw.

[0046] In the Fig. In the embodiment shown in Figure 5, the mover 101 comprises two distance sensors 550 and 560, which point towards the left side in the figure and can measure the distance to the long stator in that direction. The remaining distance sensors 570 and 580 can measure the distance to a guide located on the opposite side or to a stator or long stator located on the opposite side. The distance can be determined directly, for example, via a Wheatstone bridge as described above, and transmitted to a suitable control unit. For this purpose, in this embodiment, one of the resistors in the voltage divider of the Wheatstone bridge is configured such that its resistance value changes depending on the distance of the mover to the long stator, starting from a defined zero position.

[0047] However, other embodiments are also conceivable, particularly using an electronic measuring tape. In principle, distance measurement, with a suitable zero point defined directly on the surface bounding the mover, allows the determination of the air gap between the long stator and the mover. This measurement is particularly relevant for drawing conclusions about the magnetic forces acting at this distance, which ultimately determine the mover's movement.

[0048] While the embodiment described here uses stylus rollers 431, stylus pins can also be used instead. The spring elements 533 can be designed as mechanical springs. However, other embodiments with flexible elements are also conceivable.

[0049] Fig. Figure 6a shows a cross-section through a long stator and a mover moving on it along a plane perpendicular to the direction of movement of the mover. The mover 101 is analogous to the one in Fig. 4 and Fig. The mover described in section 5 is designed as follows. In this embodiment, sensing rollers and the [unclear text] are used as distance sensors. Fig. The other elements described in section 5, such as spring elements, are used. As can be seen, the guide rollers run along the long stator at two points, which allows for the precise determination of the distance to the outer plane defined by the long stator, pointing in the direction of the mover. Furthermore, any angle potentially enclosed between the long stator and the mover can be determined in this way, allowing conclusions to be drawn about any possible misalignments of the long stator relative to the described guides along which the mover runs.

[0050] The mover runs along the guides 151 and 152, which extend above and below the long stator respectively, with the rollers 111 bearing against them. In addition to determining the size of the air gap between the long stator and the mover, particularly the secondary part on which the magnetic fields generated by the long stator ultimately act to propel the mover, this also allows for verification of the relative alignment of the components of the long stator system to one another.

[0051] The in Fig. The embodiment shown in 6a can be implemented not only with the distance meter as a sensor, but also with the ones shown in Fig. 2 and Fig. 3 described embodiments of the mover with a load cell and a suitable secondary element for determining the magnetic forces acting on the secondary element, which makes it possible to draw conclusions about the forces acting on a mover with a conventional secondary part.

[0052] Fig. Figure 6b shows a further embodiment in which the mover runs between two long stators 153 and 663. This situation typically arises in the area of ​​switches, which allow the direction of movement of the mover to be changed or a splitting of a first transport path into different transport paths to be realized. Each of the long stators 153 and 663 is assigned corresponding guides 151 and 661 or 152 and 662 above and below, respectively, in which the rollers 111 of the mover can engage. In the Fig. In the embodiment shown in 6b, for example, the mover can be used according to the Fig. A mover with four distance sensors in the detection area is used. In the area of ​​the crossover, such a mover can simultaneously measure the distance to both long stators 153 and 663 to determine the size of the air gap. Additionally, deviations in the alignment of the long stators or guides relative to each other can be determined.

[0053] For the preceding embodiments using distance sensors, it is advantageous if a defined zero position of the distance sensors can be determined. This can be achieved, for example, by placing the mover on a horizontally lying, as flat as possible, plate so that this plate touches the area of ​​the mover, which should also be as flat as possible, in which the distance sensors, in particular the sensing rollers, are arranged. The sensing rollers are then held in place by the spring elements (see Fig. 5) is pre-tensioned against this surface. They will inevitably touch it, and the distance sensor setting in this position can then be set as the zero position. To prevent the mover from being pushed away from the plate by the pre-tension of the spring elements (against gravity), a small contact force can be applied to the mover as a whole from the opposite side, in the direction of the flat surface. This contact force can be chosen to be precisely large enough to counteract, as completely as possible, the pre-tension of the spring elements, which tends to push the mover away from the flat plate on which it rests and which is already partially compensated by the weight of the mover resting on the flat plate, whose weight acts in the direction of the flat plate.

[0054] In embodiments according to the Fig. 2 and Fig. In three cases, where the sensor essentially measures the magnetic force between the long stator and the mover or its secondary part, it is also necessary to determine a zero position. This is particularly important because slight displacements of the secondary element can occur when the load cell is used, due to the application of magnetic force. This changes the size of the air gap between the long stator and the mover, which ultimately affects the magnetic force acting on the secondary element and thus being measured. Calibration or compensation can be performed here to obtain a realistic result for the measured magnetic force.

[0055] First, a standard mover can be used, in whose mounting area the commonly used secondary part is installed, which is fixed relative to the mover. This can be achieved, for example, by firmly bolting the secondary part to the primary part in the mounting area. The standard mover constructed in this way can then be placed on a power tractor so that the secondary parts point upwards or downwards. A ferromagnetic steel plate is fixed to the movable end of the tractor, and the force of the tractor is reduced to zero at a considerable distance between this plate and the secondary parts or the standard shuttle. The movable part of the tractor, with the ferromagnetic steel plate, can then be moved towards the standard mover.At realistic distances of a few millimeters for measuring magnetic force, the geometric distance between the steel plate and the secondary part can now be measured stepwise. This can be done, for example, with probes, such as those additionally available in a mover according to the embodiments of the [reference to be added]. Fig. 4 and Fig. 5. Since the secondary parts are made of magnetic material, a force acts when the ferromagnetic steel plate is approached, which can now be recorded and stored along with the distance, for example, in an electronic evaluation device.

[0056] The standard mover is then replaced with a mover containing a load cell and a corresponding secondary element. Alternatively, the same primary component can be used, but the secondary components are replaced by the load cell and the secondary element, or more generally, by the sensor. The steel plate is then moved towards the mover according to the force profile previously determined for the standard shuttle, and the force values ​​obtained at the corresponding intervals are recorded. By subsequently subtracting the values ​​determined for the standard shuttle from those determined for the mover with the sensor, a compensation function can be derived. This function compensates for the inherently unavoidable movement of the secondary element relative to the mover when magnetic force is applied.

[0057] When operating the mover with the sensor for determining the magnetic force, the compensation function can then be subtracted from the measured values ​​to obtain realistic values ​​for the magnetic force actually acting on the mover, which improves the accuracy of the determined magnetic force.

Claims

[1] Mover (101) for a long stator system (100), comprising a primary part (112) with elements (111) for movable arrangement of the mover (101) on a long stator (153) and a receiving area (113) in which a sensor for position-dependent measurement of at least one system parameter is arranged, characterized by , that the sensor is detachably connected to the recording area (113). [2] Mover (101) according to claim 1, wherein the sensor comprises a load cell (213) which is fixedly connected to the mover (101) and a secondary element (212) which corresponds in geometry and / or to the magnetic force interchangeable with the long stator (153) in operation to a secondary part of the mover (101), wherein the load cell (213) can measure a force acting on the secondary element (212) when the mover (101) moves along the long stator (153) under the influence of magnetic force. [3] Mover (101) according to claim 2, wherein the position of the load cell (213) relative to the primary part (112) is adjustable by means of adjustment elements. [4] Mover (101) according to claim 2 or 3, wherein in the state of the mover (101) arranged on the long stator (153) the distance perpendicular to the plane of movement of the mover (101) along the long stator (153) between mover (101) and long stator (153) corresponds to a nominal distance of the mover (101) with built-in secondary part to the long stator (153). [5] Mover (101) according to one of claims 2 to 4, wherein the load cell (213) is designed to measure a force acting on the secondary element (212) in both directions perpendicular to the plane of motion of the mover (101) along the longitudinal stator (153). [6] Mover (101) according to claim 1, wherein the sensor comprises a distance sensor for measuring the distance between mover (101) and long stator (153) perpendicular to the plane in which the mover (101) can move along the long stator (153) during operation. [7] Mover (101) according to claim 6, wherein the distance sensor - one or more tactile rollers (431) and / or - includes one or more styluses. [8] Mover (101) according to any one of claims 1 to 7, wherein the mover (101) comprises a position determination system configured to determine a position of the mover (101) along the longitudinal stator (153). [9] Mover according to one of claims 1 to 8, further comprising evaluation electronics (420) for processing at least the measured values ​​recorded by the sensor. [10] Method for determining a system parameter of a long stator system (100), wherein a mover (101) comprising a primary part (112) with elements (111) for movablely arranging the mover (101) on a long stator (153) and a receiving area (113) in which a sensor for position-dependent measurement of the system parameter is arranged, is arranged on the long stator (153) and the sensor measures at least one system parameter while the mover (101) is arranged on the long stator (153), characterized by , that the sensor is detachably connected to the recording area (113). [11] Method according to claim 10, wherein the sensor measures the system parameter during a movement of the mover (101) along the long stator (153). [12] Method according to claim 10 or 11, wherein the sensor comprises a load cell (213) which is fixedly connected to the mover (101) and a secondary element (212) which corresponds in geometry and / or magnetic force interchangeable with the long stator (153) in operation to a secondary part of the mover (101), wherein the load cell (213) measures a force acting on the secondary element (212) when the mover (101) moves along the long stator (153) under magnetic force. [13] Method according to claim 10 or 11, wherein the sensor measures the distance between mover (101) and long stator (153) by means of a distance meter for measuring the distance between mover (101) and long stator (153) perpendicular to the plane in which the mover (101) moves along the long stator (153). [14] Method according to one of claims 10 to 13, wherein the values ​​measured by the sensor for the system parameter are processed by means of an evaluation electronics (420) of the mover (101). [15] Method according to any one of claims 10 to 14, wherein the position of the mover (101) during a movement along the long stator (153) is determined by means of a position determination system.

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