Transport system

Abstract

A transport system for transporting objects with at least one transport rail having at least a first running surface and a second running surface arranged opposite one another, and with at least one transport carriage, comprising a base body with a coupling surface that is coupled or can be coupled to an object carrier for receiving at least one object to be transported, at least one first roller mounted so as to be rotatable about a first axis of rotation, and at least one second roller mounted so as to be rotatable about a second axis of rotation, wherein the first and second rollers are arranged on the base body such that the first and second axes of rotation are fixed relative to the base body and that they interact with the first running surface, wherein the first and second axes of rotation define an axial direction that is perpendicular to a transport direction of the transport carriage,and at least one third roller rotatably mounted about a third axis of rotation, which is arranged on a boom having a base section connected to the main body, an elastically acting solid-state joint adjoining the base section, and an end section adjoining the solid-state joint, wherein the third roller is arranged on the end section and wherein the solid-state joint has a lower flexural rigidity than the base section and / or the end section, at least in the transport direction, and wherein the boom, in particular the solid-state joint, is designed and arranged such that the third roller is pressed against the second running surface with a preload.

Description

[0001] The invention relates to a transport system for transporting objects.

[0002] Transport trolleys and corresponding transport systems are used, for example, in automation technology to transport objects from one location to another, for example, from one production step to the next. For this purpose, the objects are positioned on transport trolleys, which are then moved along a rail. The rail can have straight and / or curved sections.

[0003] In practice, particular emphasis is placed on the system's ability to navigate curves, as non-curved systems operate discontinuously and their cycle rates are limited. Furthermore, the rail systems should simultaneously exhibit high load-bearing capacity and good profile accuracy in order to be able to transport heavy loads, ensure high accuracy in the positioning of the transport carriages, and ensure low noise during transport.

[0004] It is also essential that the transport trolleys or transport systems operate reliably and are still cost-effective to manufacture and assemble.

[0005] It is therefore an object of the invention to provide a transport system that meets all of the above requirements.

[0006] This object is achieved by a transport system according to claim 1.

[0007] A transport system according to the invention comprises at least one transport rail, which has at least a first running surface and a second running surface arranged opposite one another, and at least one transport carriage. The transport carriage comprises a base body with a coupling surface that is or can be coupled to a specimen slide for receiving at least one object to be transported. The specimen slide can also be formed integrally with the base body.

[0008] As a rule, several transport carriages are provided, which can preferably be controlled individually so that they can be moved independently of one another along the transport rail.

[0009] The transport carriage comprises at least one first roller mounted for rotation about a first axis of rotation and at least one second roller mounted for rotation about a second axis of rotation. The first and second rollers are arranged on the base body such that the first and second axes of rotation are stationary relative to the base body and that they interact with the first running surface. The first and second axes of rotation define an axial direction that is perpendicular to a transport direction of the transport carriage. It is conceivable that additional stationary rollers are provided.

[0010] The transport carriage further comprises at least one third roller mounted for rotation about a third axis of rotation, which is arranged on a boom having a base section connected to the main body, an elastically acting solid-state joint adjoining the base section, and an end section adjoining the solid-state joint. The third roller is arranged on the end section.

[0011] The flexural joint has a lower flexural rigidity than the base section and / or the end section, at least in the transport direction. This lower flexural rigidity means that the flexural joint can be elastically deformed more easily in the transport direction than the base section and / or the end section. In other words, the flexural joint is more easily bent than the base section and / or the end section, allowing the end section to pivot outward when subjected to an external force. The force typically acts on the third roller, causing it to move away from other rollers.

[0012] The boom, in particular the solid-body joint, is designed and arranged in such a way that the third roller is pressed against the second running surface with a preload.

[0013] Additional rollers may be provided, arranged on a boom of the type described above. In principle, multiple booms can also be provided. Two or more rollers may be assigned to one boom, but preferably only one.

[0014] In principle, the number of stationary rollers (at least 2) and the number of rollers arranged on a boom can be selected as required, for example in order to be able to reliably absorb the loads occurring during operation of the system.

[0015] In many systems, the width of the transport rail varies along its path. In particular, a change in the width of the rail can occur during the transition from a straight transport section to a curved section with a constant radius. During this transition, the transport rail follows a path described by one or more functions (e.g., polynomials) calculated using complex optimization processes. The two sides of the rail can be described by different functions, meaning their paths are not necessarily parallel.

[0016] Because the third roller is mounted on the boom, the distance between the third roller on the one hand and the first and second rollers on the other hand can be changed, while the distance between the first and second rollers remains constant. The non-stationary mounting of the third roller allows variations in rail width and / or tolerances to be reliably accommodated. The preload force ensures that the third roller is always pressed against the rail with sufficient force. Ultimately, this results in the first and second rollers also having reliable contact with the transport rail. The aim is to ensure that no slippage occurs between the rollers and the transport rail.

[0017] In other words, the cantilever acts like a kind of preloaded spring that is elastically deformable in the area of ​​the flexure joint, specifically only in the area of ​​the flexure joint. The customer interface in the form of the specimen slide is decoupled from the movement / deformation of the cantilever.

[0018] The movable mounting of the third roller on the boom with a flexure joint has the advantage, compared to a mounting on a pivot arm, that no additional moving parts such as hinges, spring elements, or the like are required. The boom according to the invention is therefore characterized by reduced complexity, making it comparatively easy to manufacture and economical. In particular, virtually no wear occurs in the flexure joint, and the risk of malfunctions is significantly reduced, making the boom particularly robust and easy to maintain.

[0019] The term "tread" is to be understood broadly in the context of the present invention. In addition to flat surfaces, it also includes surfaces with more complex geometries.

[0020] Such treads may comprise partial surfaces that are arranged at an angle to one another, such as treads with a wedge-shaped cross-section.

[0021] Further embodiments of the invention are set forth in the claims, the description and the accompanying drawings.

[0022] According to one embodiment, the flexural joint has a first flexural rigidity in the transport direction and a second flexural rigidity in the axial direction, wherein the first flexural rigidity is smaller than the second flexural rigidity. This means that the flexural joint can be bent more easily when a force is applied to it in the transport direction than when a force is applied to the joint in the axial direction, wherein a transverse direction perpendicular to the transport direction and perpendicular to the axial direction represents the bending axis in each case.

[0023] According to one embodiment, the flexure joint has a first spring rate in the axial direction and a second spring rate in the transport direction, wherein the first spring rate is greater than the second spring rate. The first and second spring rates can be measured at an applied force of 100 N at the end of the flexure joint near the end section. The first spring rate can be more than 150%, in particular more than 250%, in particular more than 500% of the second spring rate.

[0024] According to one embodiment, a force applied or introduced to the third roller in a transverse direction perpendicular to the transport direction and perpendicular to the axial direction results in a first deflection of the third roller in the transverse direction and a second deflection of the third roller in the axial direction, wherein the first deflection is greater than the second deflection. The first deflection can be more than 250%, in particular more than 500%, in particular more than 750%, in particular more than 1000%, in particular more than 1500% of the second deflection.

[0025] An example: Assume the first spring rate is approximately 10,500 N / mm and the second spring rate is approximately 6,900 N / mm. When a force of 100 N is applied to the third roller in the transverse direction, the first deflection is 34 µm and the second deflection is 7 µm. In other words, when a force is applied to the third roller in the transverse direction, which results, for example, from an irregular rail width, the cantilever can be deflected more than 4 times less in the axial direction than in the transverse direction. This means that the cantilever can be designed to allow deflection of the third roller with respect to the base body in a direction perpendicular to the axial direction and to essentially prevent tilting of the third roller relative to the axial direction, even though the force (in particular the preload force of the third roller) acts below the cantilever. The tilting can be less than 0.01°.

[0026] The numerical values ​​given in the example have tolerances of + / - 10%. It is understood that the flexural stiffnesses and spring rates can be adjusted as needed to suit the specific conditions.

[0027] One embodiment provides that the end section extends substantially parallel to the transport direction.

[0028] According to one embodiment, the flexure joint extends substantially in a direction perpendicular to the transport direction and perpendicular to the axial direction. In other words, the longitudinal axes of the flexure joint and the end section can form substantially a right angle.

[0029] According to one embodiment, the base portion is arranged laterally offset with respect to the third roller in a direction perpendicular to the transport direction and perpendicular to the axial direction.

[0030] According to one embodiment, the base section has a width in the transport direction and a thickness in the axial direction, the flexural joint has a width in the transport direction and a thickness in the axial direction, and the end section has a width in a direction perpendicular to the axial direction and the transport direction and a thickness in the axial direction, wherein the flexural joint has, at least in sections, a smaller width and / or thickness than the base section and / or the end section. In other words, the flexural joint is, at least in sections, narrower and / or thinner than the base section and / or the end section. The width of the flexural joint can, for example, be less than 90%, in particular less than 80%, in particular less than 70%, in particular less than 50% of the width of the base section and / or the end section.The thickness of the flexure joint can, for example, be less than 90%, in particular less than 80%, in particular less than 70% of the thickness of the base section and / or the end section. However, the flexure joint can also have the same thickness as the base section and / or the end section.

[0031] According to one embodiment, the solid-state joint comprises two side surfaces, wherein at least one, preferably both, of the side surfaces is inclined with respect to the axial direction. In particular, the solid-state joint can have the shape of an inclined parallelogram, at least in sections, in a cross-section in a plane spanned by the transport direction and the axial direction. An angle of inclination of the side surface with respect to the axial direction can be, for example, between 45° and 5°, in particular between 40° and 20°, in particular between 35° and 15°, in particular between 30° and 20°. As a result, all three axes of rotation are kept essentially parallel when the third roller is deflected in the transverse direction.

[0032] According to one embodiment, at least the solid-state joint has at least one recess. This is preferably formed on a side surface of the solid-state joint, wherein the recess extends at least partially, preferably completely, along the side surface. In particular, each side surface can have two parallel, spaced-apart recesses, each extending completely along the respective side surface. For example, opposing recesses can be formed on both side surfaces, so that at least one constriction is formed. Preferably, two constrictions are formed.

[0033] According to one embodiment, the boom has a joint surface facing the object. Preferably, the sections of the boom have a common joint surface facing the object. The joint surface and the coupling surface are parallel planes or lie in the same plane. In particular, when the transport carriage is in the use position, viewed in a direction perpendicular to the axial direction, the joint surface lies below the coupling surface, i.e., the boom is offset from the base body. In other words, the surface of the boom, viewed from the side, lies lower than the coupling surface of the base body, thereby preventing interaction between a mounted object and the boom, particularly when the third roller is deflected.

[0034] One embodiment provides for the third rotation axis to be arranged laterally offset from a center axis of the end section. This makes the trolley more compact and has a positive effect on the tipping rigidity of the third roller.

[0035] According to one embodiment, the boom is formed as a single piece. This eliminates the need for additional mechanical parts to support the third roller, reducing the complexity and thus the cost of the system. It is also possible for the flexure joint to be formed as a single piece with the base section or as a single piece with the end section.

[0036] Alternatively or additionally, a two- or multi-piece design of the solid-state joint is conceivable.

[0037] According to one embodiment, the boom and the base body are formed as a single piece, making the transport trolley particularly economical and robust. The boom and the base body can be manufactured, for example, by milling. Alternatively, the boom and the base body can also be formed as multiple pieces. For example, an intermediate element can be provided adjoining the base body, connecting the base body and the boom.

[0038] According to one embodiment, the rotation axes of the rollers form an isosceles triangle when viewed axially when the transport carriage is not on the transport rail. This achieves symmetrical yaw stiffness when the transport carriage moves along the transport rail.

[0039] According to one embodiment, at least one support section extends from the base body in the axial direction, carrying at least one fourth roller mounted for rotation about a fourth axis of rotation. The fourth roller can be arranged at a free end of the support section. The fourth roller can have a smaller diameter than the first, second, and / or third roller.

[0040] According to one embodiment, the fourth axis of rotation is arranged parallel to that of the first, second and / or third axis of rotation.

[0041] According to one embodiment, the transport system further comprises a third running surface formed on a support rail spaced apart from the transport rail, wherein the fourth roller is mounted on the support section such that it interacts with the third running surface. This creates a defined distance between a runner unit of the transport carriage and a stator unit of the transport rail.

[0042] According to one embodiment, a plurality of stator units arranged one behind the other in the transport direction are assigned to the transport rail, which stator units, together with a rotor unit arranged on the at least one transport carriage, form a linear motor by means of which the at least one transport carriage can be moved along the transport rail, in particular wherein the rotor unit is arranged on the support section, in particular wherein the rotor unit is arranged between the base body and the fourth roller.

[0043] According to one embodiment, two outriggers extend from the base body, each having an end section with a third roller. This allows the transport trolley to be designed for larger loads. The two solid-state joints of the two outriggers can be arranged parallel to each other and / or the two end sections of the two outriggers can be aligned. The two outriggers can each be designed according to at least one of the embodiments described above.

[0044] The present invention will now be explained by way of example using advantageous embodiments with reference to the accompanying drawings. They show: Fig. 1 a simplified perspective view of a section of a transport system, Fig. 2 a top view of the transport system (simplified view), Fig. 3 a perspective view of a section of a transport system, Fig. 4 a side view of a transport trolley, Fig. 5 a perspective view of the trolley of Fig. 4, Fig. 6A a plan view of the transport trolley of Fig. 4, Fig. 6B a schematic representation of the arrangement of the rotation axes, Fig. 6C a detailed view of the boom, Fig. 7A is a sectional view of the trolley along the Fig. 6A marked section line BB, Fig. 7B a schematic representation of the cross-sectional shape of the flexure joint, Fig. 8 is a perspective view of a section of a trolley, and Fig. 9 a side view of the transport trolley of Fig. 8.

[0045] The Fig. 1 and Fig. The transport system 10 shown in Figure 2 comprises a transport rail 12 with lateral running surfaces 23a, 23b, along which one or more transport carriages 14 can be moved in a transport direction X. For the sake of simplicity, the system 10 is only partially shown. Components not required for understanding the present invention have been omitted.

[0046] In the present embodiment, the transport system 10 comprises sections G with a straight transport path, which transition via transition sections U into curved sections R with a constant radius of curvature. It is understood that, deviating from the example shown, transport rails with any desired route can be implemented.

[0047] Along the transport path defined by the transport rail 12, for example, processing stations can be provided at which workpieces arranged on the transport carriages 14 can be processed. It is understood that the structure can be modular, so that individual modules with specific lengths and / or specific curvature radii can be easily combined to obtain a transport system with the desired configuration.

[0048] Fig. 3 shows a perspective view of a section of the curve section R with a transport carriage 14. The drive of the transport carriage 14 is effected by a linear motor which has stator units 16 arranged one behind the other in the longitudinal direction of the transport rail 12, which are connected to a runner unit 30 arranged on the transport carriage 14 (not visible, see Fig. 4 and Fig. 5). The stator units 16 are located between the rails 12 and a support rail 28. The rotor unit 30 can comprise a permanent magnet arrangement. By appropriately controlling the units 16, magnetic fields are generated that vary in the transport direction and over time, driving the carriage 14 to move along the transport rail 12. Such linear motors are generally known.

[0049] The transport carriage 14 comprises a base body 18 on which a first roller 20a and a second roller 20b are mounted. They are spatially fixed relative to the base body 18. The rollers 20a, 20b interact with the running surface 23a arranged on one side of the transport rail 12. As shown in the side view of Fig. As can be seen in Figure 4, the running surface 23a has a wedge shape in cross-section, which engages in corresponding keyways of the rollers 20a, 20b. The running surface 23b also has a wedge shape. This engages in a keyway of another roller 20c, which is assigned to the opposite side of the transport rail 12 and which interacts with the running surface 23b. The arrangement of the roller 20c is explained in more detail below with reference to the Fig. 4 to 7.

[0050] The above-described runner unit 30 of the transport carriage 14 is arranged on a support section 24 that extends vertically downward from the base body 18. Due to the forces occurring between the runner unit 30 and the stator units 16 during operation of the linear motor, tilting moments arise that act on the base body 18 and its guide on the transport rail 12. To absorb these tilting moments, an additional roller 22 is provided at the free end of the support section 24, which interacts with a running surface 26 of the support rail 28.

[0051] The rotational axes D20a, D20b, D20c, and D22 of the rollers 20a, 20b, 20c, and 22 are arranged parallel. In particular, the rotational axes D20a, D20b, D20c, and D22 run parallel to the axial direction Z. In addition, the rotational axes D20a, D20b, and D20c of the rollers 20a, 20b, and 20c form an isosceles triangle, i.e., a distance a1 between the rotational axes D20a and D20b is equal to a distance a2 between the rotational axes D20a and D20c, which in turn is equal to a distance a3 between the rotational axes D20b and D20c (see Fig. 6B, a1 = a2 = a3). This relationship applies in a state in which the transport carriage 14 is not mounted on the rail 12, i.e., the boom 32 is clamped to the rail 12 during the installation of the transport carriage 14. The preload is, for example, approximately 0.1 mm + / - 10%.

[0052] The arrangement and design of the roller 22 can be selected as required. For example, it is additionally or alternatively possible to provide a roller 22 whose axis of rotation D22 is oriented perpendicular to those of the rollers 20a, 20b, 20c, for example, to absorb vertically acting forces. It is also conceivable to provide multiple rollers 22 with parallel or differently oriented axes of rotation.

[0053] Fig. Figure 5 shows a perspective view of the transport carriage 14. In the present embodiment, the roller 22, unlike the rollers 20a, 20b, 20c, does not have a keyway. Accordingly, the running surface 26 of the support rail 28 is flat and not wedge-shaped (see Fig. 4).

[0054] In addition to the rollers 20a and 20b, which are rotatable but spatially fixed to the base body 18, the base body 18 carries a further roller 20c, which interacts with the running surface 23b of the transport rail 12, opposite the running surface 23a. Unlike the rollers 20a, 20b, however, the roller 20c is movable relative to the base body 18, as it is arranged on an extension arm 32 with an elastic solid-state joint 38. The roller 20c is arranged on the extension arm 32 in such a way that it is pressed against the running surface 20c under prestress, i.e., the transport rail 12 is clamped between the roller 20c on one side and the rollers 20a and 20b on the other side.

[0055] As in the Fig. 6A, the boom 32 has a base section 36 which is connected to the base body 18 (see also Fig. 6C). In the illustrated embodiment, the base section 36 is arranged in the region of the second roller 20b, i.e., the base section 36 adjoins a section of the base body 18 on which the second roller 20b is arranged. Furthermore, the base section 26 is arranged laterally offset in the transverse direction Y with respect to the third roller 20c. The transverse direction Y is understood to be a direction that runs perpendicular to the transport direction X and perpendicular to the axial direction Z.

[0056] A solid joint 38 of the boom 32 extends in the transverse direction Y from the base section 36 to just above the base body 18 (see also Fig. 6C). The flexural joint 38 has a first bending stiffness in the transport direction X and a second bending stiffness in the axial direction Z that is greater than the first bending stiffness. In particular, the flexural joint 38 is much less likely to bend in the axial direction Z than in the transport direction X.

[0057] An end section 40 of the boom 32 extends in the transport direction X from the solid-body joint 38 to just above a center axis 62 of the base body 18, which runs parallel to the transverse direction Y. The roller 20c is arranged at a free end of the end section 40 (see also Fig. 6C). The rotational axis D20c of the roller 20c is arranged laterally offset with respect to a central axis 52 of the end section 40, which runs parallel to the transport direction X. The rotational axis D20c of the roller 20c also lies on the central axis 62 of the base body 18, i.e., the roller 20c and the base body 18 are at the same height as seen in the transport direction X. It is understood that the rotational axis D20c does not have to lie on the central axis 62 of the base body 18 and does not have to be arranged laterally offset with respect to the central axis 52 of the end section 40 if this serves to optimize the transport trolley to the respective requirements profile.

[0058] According to a further embodiment not shown, the base section 36 adjoins a section of the base body 18 on which the roller 20a is arranged. In this embodiment, the end section 40 extends from the solid-state joint 38 opposite the transport direction X.

[0059] The flexure joint 38 is thinner than the base portion 36 and the end portion 40. In particular, a width 48 of the flexure joint 38 in the transport direction X is smaller than a width 44 of the base portion 36 in the transport direction X and smaller than a width 58 of the end portion 40 in the transverse direction Y.

[0060] As in the Fig. 4, Fig. 5 or Fig. 7A, the flexure joint 38 is as thick as the base section 36 and the end section 40. In particular, a thickness 56 of the flexure joint 38 is equal to a thickness 46 of the base section 36 and equal to a thickness 60 of the end section 40. The respective thicknesses 56, 46, 60 refer to thicknesses in the axial direction Z. It is understood that the flexure joint 38, the base section 36 and / or the end section 40 can also have different thicknesses. For example, it is conceivable that the flexure joint 38 is thinner than the base section 36 and / or the end section 40. However, a ratio between the width 48 of the flexure joint 38 and the thickness 56 of the flexure joint 38 is at least 1.5:1, preferably more than 2:1, particularly preferably more than 2.5:1, for example 2.65:1.

[0061] In the illustrated embodiment, the boom 32 and the base body 18 are formed as a single piece. The base body 18 and the boom 32 are, for example, milled from the same workpiece, which is particularly cost-effective. However, the base body 18 and the boom 32 can also be manufactured using a casting process. The base body 18 and the boom 32, for example, represent a cast aluminum part that can be reworked. This manufacturing method is also characterized by particularly low costs, without compromising the technical properties of the transport carriage 14.

[0062] However, it is also possible that the boom 32 is a separate component which is mounted to the base body 18, for example by means of a screw and / or welded connection.

[0063] Unlike in the illustrated embodiment, the boom 32 can also consist of several interconnected components. For example, the solid-state joint 38 can be made of a more flexible material than the base section 36 and the end section 40.

[0064] As particularly in the Fig. 6A, the base body 18 comprises a coupling surface 48, which can be coupled to a specimen slide for receiving at least one object to be transported. In the illustrated embodiment, mounting holes 64 are provided in the coupling surface 48, which are designed to receive screws and / or grooves of the specimen slide (see Fig. 6). However, other common fastening options are also conceivable, such as a tongue and groove connection or similar.

[0065] The boom 32 has an object-side joint surface 50 which, when viewed from the side, i.e., in the transport direction X or the transverse direction Y, is offset parallel to the coupling surface 48 to ensure sufficient play between the boom 32 and the object carrier, in particular between the roller 20c deflectable in the transverse direction Y and the object carrier. However, it is also conceivable for the coupling surface 48 and the joint surface 50 to be substantially at the same axial height.

[0066] The Fig. Figure 7A shows a sectional view of a transport carriage 14 according to the invention along the Fig. 6A. As shown in the Fig. 7A, the flexure joint 38 comprises a side surface 42a opposite the base body 18, inclined with respect to the axial direction Z, and a side surface 42b facing away from the base body 18, likewise inclined with respect to the axial direction Z. The flexure joint 38 further comprises an upper side surface 43a, which represents a portion of the joint surface 50, and a lower side surface 43b. The upper side surface 43a and the lower side surface 43b lie in parallel planes, each of which runs perpendicular to the axial direction Z. The lower side surface 43b is flush with an underside 66 of the base body 18, while the upper side surface 43a, viewed from the side, lies lower than the coupling surface 48 of the base body 18. The underside 66 of the base body 18 is formed parallel to the coupling surface 48.It is understood that only one of the side surfaces 42a, 42b can be inclined, and that the underside surface 43b does not have to be aligned with an underside 66 of the base body 18.

[0067] As particularly in the Fig. As can be seen in Figure 7B, which schematically depicts the cross-section of the flexure joint 38, the flexure joint 38 has the shape of an inclined parallelogram in a cross-section in a plane spanned by the transport direction X and the axial direction Z. In particular, two parallel sides of the parallelogram, which are respectively assigned to the surfaces 42a and 42b and the surfaces 43a and 43b, are of equal length.

[0068] The parallelogram is inclined in the direction of the base body 18. An angle of inclination 70 of the side surfaces 42a and 42b with respect to the axial direction Z can, for example, be between 45° and 5°, in particular between 40° and 10°, in particular between 35° and 15°, in particular between 30° and 20°. The base body 18 has a side surface 72 opposite the solid-state joint 38, which has the same angle of inclination 70 as the side surface 42a opposite the base body 18 and / or the side surface 42b facing away from the base body 18 (see Fig. 7A).

[0069] Coming back to Fig. 6A, each side surface 42a, 42b of the solid-state joint 38 has two parallel, spaced-apart recesses or grooves 54, with two opposing recesses 54 forming a constriction 68. Each recess 54 extends completely along the respective side surface 42a, 42b. It is understood that only one of the side surfaces 42a, 42b can have one or two recesses 54. Alternatively, more than two, for example three, recesses 54 can be provided in one or both side surfaces 42a, 42b. Furthermore, a recess 54 can also extend only partially along a side surface 42a, 42b. Furthermore, it is conceivable that the top surface 43a and / or the bottom surface 43b also have one or more recesses, for example, at the location of the constrictions 68.

[0070] According to another study published in Fig. 8 and Fig.In the embodiment shown in Figure 9, two outriggers 32 extend from the base body 18, each having an end section 40 with a roller 20c that interacts with the running surface 23b. In this embodiment, the two end sections 40 of the two outriggers 32 are aligned and point in opposite directions (in particular along and opposite to the transport direction X), so that the two rollers 20c are arranged spaced apart from one another in the transport direction X. The two outriggers 32 can be designed as described with reference to the embodiment in which only one outrigger 32 is provided.

[0071] The inventive boom 32 with elastically deformable flexural joint 38 has an optimized shape which, in conjunction with the shape of the base body 18, enables highly precise positioning of the transport carriage 14 on the rail 12. In particular, due to the shape of the flexural joint 38 (high rigidity in the axial direction Z), tilting of the third roller 20c with respect to the base body 18 is virtually completely prevented when the transport carriage 14 moves along the rail 12, while deflection of the third roller 20c, in particular essentially only in the transverse direction Y, enables efficient compensation of manufacturing tolerances. Such manufacturing tolerances can, for example, represent unevenness on the rail surface or non-constant distances between the running surfaces of the rail 12.

[0072] In addition, the precisely defined deflectability of the third roller 20c due to the design of the solid-state joint 38 ensures excellent cornering capability of the transport carriage 14.

[0073] At the same time, the pre-tensioning force provided by the boom 32 ensures that the transport carriage 14 is securely mounted on the rail 12 and operates without slippage, even when higher loads are to be transported.

[0074] Furthermore, the boom 32 according to the invention is comparatively simple and therefore particularly economical and robust. The properties of the flexure joint remain essentially constant throughout the life cycle of the transport carriage. Furthermore, the comparatively small number of separate, moving parts also increases the positioning accuracy of the transport carriage 14.

[0075] Above, an embodiment of the transport system with a linear motor (stator unit 16, rotor units 30) was described. However, it is understood that alternative drive concepts (e.g., belt drive, cam drive) can be provided. A combination of different drive concepts is also conceivable. List of reference symbols: 10 Transport system 12 Transport rail 14 transport trolleys 16 Stator unit 18 basic bodies 20a-20c, 22 rollers 23a, 23b, 26 running surfaces 24 support section 28 support rail 30 runner units 32 booms 36 Base section 38 Solid joint 40 final section 42a, 42b Side surfaces of the flexure joint 43a, 43b Top and bottom surface of the flexure joint 44 Width of the base section 46 Thickness of the base section 48 coupling surface 50 articular surface 52 Center axis of the end section 54 recess 56 Thickness of the solid joint 58 Width of the end section 60 Thickness of the end section 62 Center axis of the base body 64 mounting holes 66 Underside of the base body 68 Constriction 70 tilt angle 72 inclined side surface of the base body D20a-D20c, D22 rotary axes X Transport direction Y transverse direction Z axial direction

Claims

[1] Transport system (10) for transporting objects with at least one transport rail (12) having at least a first running surface (23a) and a second running surface (23b) arranged opposite one another, and with at least one transport carriage (14) comprising: a base body (18) with a coupling surface (48) which is coupled or can be coupled to a specimen carrier for receiving at least one object to be transported; at least one first roller (20a) rotatably mounted about a first axis of rotation (D20a) and at least one second roller (20b) rotatably mounted about a second axis of rotation (D20b), wherein the first and second rollers (20a) are arranged on the base body (18) such that the first and second axes of rotation (D20a, D20b) are stationary relative to the base body (18) and that they interact with the first running surface (23a), wherein the first and second axes of rotation (D20a, D20b) define an axial direction (Z) that is perpendicular to a transport direction (X) of the transport carriage (14); and at least one third roller (20c) which is rotatably mounted about a third axis of rotation (D20c) and which is arranged on a boom (32) which has a base section (36) connected to the base body (18), an elastically acting solid-state joint (38) adjoining the base section (36) and an end section (40) adjoining the solid-state joint (38), wherein the third roller (20c) is arranged on the end section (40), wherein the solid-body joint (38) has a lower flexural rigidity than the base section (36) and / or the end section (40), at least in the transport direction (X), and wherein the boom (32), in particular the solid-state joint (38) is designed and arranged such that the third roller (20c) is pressed with a preload against the second running surface (23b). [2] Transport system (10) according to claim 1, wherein the solid-state joint (38) has a first bending stiffness in the transport direction (X) and a second bending stiffness in the axial direction (Z), wherein the first bending stiffness is smaller than the second bending stiffness. [3] Transport system (10) according to claim 2, wherein the second bending stiffness is more than 300%, preferably more than 400%, in particular more than 500%, greater than the first bending stiffness. [4] Transport system (10) according to at least one of the preceding claims, wherein the end portion (40) extends substantially parallel to the transport direction (X). [5] Transport system (10) according to at least one of the preceding claims, wherein the solid-state joint (38) extends substantially parallel to a transverse direction (Y) which is perpendicular to the transport direction (X) and perpendicular to the axial direction (Z). [6] Transport system (10) according to at least one of the preceding claims, wherein the base portion (36) is arranged laterally offset with respect to the third roller (20c) in a transverse direction (Y) perpendicular to the transport direction (X) and perpendicular to the axial direction (Z). [7] Transport system (10) according to at least one of the preceding claims, wherein the base section (36) has a width (44) in the transport direction (X) and a thickness (46) in the axial direction (Z), wherein the solid-state joint (38) has a width (48) in the transport direction (X) and a thickness (56) in the axial direction (Z), wherein the end section (40) has a width (58) in a transverse direction (Y) perpendicular to the axial direction (Z) and the transport direction (X) and a thickness (60) in the axial direction (Z), wherein the solid-state joint (38) has, at least in sections, a smaller width (48) and / or thickness (56) than the base section (36) and / or the end section (40). [8] Transport system (10) according to at least one of the preceding claims, wherein the solid-state joint (38) comprises two side surfaces (42), wherein at least one, preferably both, of the side surfaces (42) is inclined with respect to the axial direction (Z), in particular wherein the solid-state joint (38) in a cross-section in a plane which is spanned by the transport direction (X) and the axial direction (Z) has at least in sections the shape of an inclined parallelogram. [9] Transport system (10) according to at least one of the preceding claims, wherein the solid-state joint (38), preferably at least one side surface (42) of the solid-state joint (38), has at least one recess (54), wherein the recess (54) extends at least partially, preferably completely, along the side surface (42), in particular wherein each side surface (42) has two parallel, spaced-apart recesses (54), which each extend completely along the respective side surface (42). [10] Transport system (10) according to at least one of the preceding claims, wherein the boom (32) has a joint surface (50) facing the object, in particular wherein the sections (36, 38, 40) of the boom (32) have a common joint surface (50) facing the object, wherein the joint surface (50) and the coupling surface (48) are parallel planes or lie in the same plane, in particular wherein in a position of use of the transport carriage (14) viewed in a direction (X, Y) perpendicular to the axial direction, the joint surface (50) lies below the coupling surface (48). [11] Transport system (10) according to at least one of the preceding claims, wherein the third axis of rotation (D20c) is arranged laterally offset with respect to a center axis (52) of the end section (40) on the end section (40). [12] Transport system (10) according to at least one of the preceding claims, wherein the boom (32) is formed in one piece. [13] Transport system (10) according to at least one of the preceding claims, wherein the boom (32) and the base body (18) are formed in one piece. [14] Transport system (10) according to at least one of the preceding claims, wherein, viewed in the axial direction, the axes of rotation (D20a, D20b, D20c) of the rollers (20a, 20b, 20c) form an isosceles triangle. [15] Transport system (10) according to at least one of the preceding claims, wherein at least one support section (24) extends from the base body (18) in the axial direction (Z), which supports at least one fourth roller (22) rotatably mounted about a fourth axis of rotation (D22), in particular wherein the fourth roller (22) is arranged at a free end of the support section (24). [16] Transport system (10) according to claim 15, wherein the fourth axis of rotation (D22) is arranged parallel to that of the first, the second and / or the third axis of rotation (D20a, D20b, D20c). [17] Transport system (10) according to at least one of the preceding claims, further comprising a third running surface (26) formed on a support rail (28) spaced from the transport rail (12), wherein the fourth roller (22) is mounted on the support section (24) in such a way that it cooperates with the third running surface (26). [18] Transport system (10) according to at least one of the preceding claims, wherein the transport rail (12) is assigned a plurality of stator units (16) arranged one behind the other in the transport direction (X), which stator units (16) together with a runner unit (30) arranged on the at least one transport carriage (14) form a linear motor by means of which the at least one transport carriage (14) can be moved along the transport rail (12), in particular wherein the runner unit (30) is arranged on the support section (24), in particular wherein the runner unit (30) is arranged between the base body (18) and the fourth roller (22).

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