Method for operating a product handling device, handling system and format part

Abstract

The invention relates to a method for operating a product handling device (10) with at least one electrodynamically movable mover (12), in particular a planar mover, and with at least one receiving unit (14) arranged on the at least one mover (12), wherein in operation a format part (16) is picked up by the receiving unit (14) by force and / or form locking and transported by the mover (12) at least in one transport plane (18), in particular an XY plane. It is proposed that in at least one method step (54) a position of the format part (16) relative to a position of the at least one mover (12) is determined.

Description

State of the art A method for operating a product handling device with at least one electrodynamically movable mover, in particular a planar mover, and with at least one receiving unit which is arranged on the at least one mover, has already been proposed, wherein in operation a format part is picked up by the receiving unit by force and / or form locking and transported by the mover at least in a transport plane, in particular an XY plane. For example, a product handling device with a format part and at least one mover is already known from DE 10 2022 134 165 B4. The previously known product handling device has the disadvantage that the position of the format part relative to the mover is unknown. The position can only be measured manually, which is time-consuming, and not automatically. Furthermore, a sterile environment cannot be maintained through manual measurement of the position. Furthermore, methods for operating product handling devices, comprising at least one electrodynamically movable mover, in particular a planar mover, and at least one receiving unit arranged on the at least one mover, are already known from DE 10 2020 127 012 A1 and DE 10 2020 212 641 A1, wherein in the known methods a format part is picked up by the receiving unit by force and / or form locking and transported by the mover at least in one transport plane, in particular an XY plane. The object of the invention is, in particular, to provide a generic handling system, a generic format part, and a generic method with improved properties with regard to precision, process reliability, and automation. This object is achieved according to the invention by the features of claims 1, 10, and 11, respectively, while advantageous embodiments and further developments of the invention can be found in the dependent claims. Disclosure of the invention The invention relates to a method for operating a product handling device with at least one electrodynamically movable mover, in particular a planar mover, and with at least one receiving unit which is arranged on the at least one mover, wherein in operation a format part is picked up by the receiving unit by force and / or form locking and transported by the mover at least in a transport plane, in particular an XY plane. It is proposed that in at least one procedural step, the position of the format part relative to the position of at least one mover be determined. The inventive design of the method advantageously provides high precision and / or operational reliability, since, in particular, the position of the format part relative to the position of the at least one mover can be determined, thereby enabling the detection of deviations between the actual position and the target position of the format part. Advantageously, low maintenance requirements can be achieved, since, in particular, the position of the format part relative to the position of the at least one mover can be determined, thus preventing errors in production, for example, during the filling of containers or the like.A high standard of hygiene can be achieved to the advantage of this, as errors in production can be counteracted, particularly by determining the position of the format part, thereby reducing manual intervention by an operator to a minimum and thus keeping unwanted contamination of products to a minimum. The product handling device has, in particular, at least one, preferably at least two, electrodynamically movable movers. Preferably, the at least one electrodynamically movable mover is designed as a planar mover. Preferably, the at least two electrodynamically movable movers can be represented by a virtual mover. Preferably, the movement of the two movers is described by the movement of the virtual mover. Preferably, the at least two electrodynamically movable movers are mechanically coupled to each other via the receiving unit. Preferably, the format part is received by the receiving unit. Preferably, the format part is mounted in the receiving unit. Preferably, the format part is connected to the receiving unit by force-fit and / or form-fit. In particular, the format part is removable from the receiving unit and interchangeable with another format part. Preferably, the format part can be moved at least substantially perpendicular to the transport plane, in particular in the vertical direction, by the at least two electrodynamically movable movers moving apart or towards each other. Preferably, the format part can be transported by moving the two electrodynamically movable movers at a constant distance from each other in the transport plane, in particular the XY plane.Preferably, the transport plane is arranged at least substantially parallel to a horizontal direction. "Force-fit and / or form-fit connection" is understood to mean, in particular, a detachable connection, whereby a holding force between two components is preferably transmitted by a geometric engagement of the components with one another and / or a frictional force between the components. The format part is designed as a holding unit. Preferably, the format part is configured for receiving, and in particular fixing, at least one product of the plurality of products to the at least one receiving unit, and / or for moving, and in particular lifting, at least one product of the plurality of products. Preferably, the format part has a plurality of product recesses, in particular a hole pattern. The product recesses are preferably configured to receive products. However, it is conceivable that the product recesses for receiving the products have any desired arrangement. Preferably, the position of the format part is determined to enable precise product handling. For example, during operation, the format part is positioned under a handling device, such as a robot arm, which picks up the products from the format part, fills the format part, and / or handles them in a comparable manner that would be considered sensible by a person skilled in the art. Preferably, the format part is positioned relative to the handling device by at least one mover. Preferably, the position of the format part is measured to enable precise positioning. "Position" is understood to mean, in particular, the spatial position of an object, especially the format part, within a predefined coordinate system, especially in an XYZ space.Preferably, the position is defined as a relative position to other objects, components, or functional units, in particular to the at least one mover and / or the virtual mover. Alternatively or additionally, the position could describe an absolute position of the format part in XYZ space. In particular, the position includes the coordinates in one or more spatial directions, especially along an X, Y, and / or Z axis, whereby an orientation, for example, a rotational position, can also be taken into account. Preferably, the position is determined automatically. Preferably, the position is determined regularly. Preferably, the position of the format part is determined relative to the position of the at least one mover. Alternatively, the position of the format part could also be determined relative to the handling device, for example, the robot arm. Alternatively, the position could also be determined absolutely, for example, as XYZ coordinates.Preferably, the position and orientation of the format part is aligned with the position of the at least one mover. Furthermore, it is proposed that the position of the format part be determined by means of a sensor unit, in particular a laser distance sensor. Advantageously, a high degree of automation can be achieved, since the position of the format part can be determined by means of the sensor unit. Preferably, the distance is detected optically by the sensor unit, in particular the laser distance sensor. Preferably, the distance is detected contactlessly by the sensor unit, in particular the laser distance sensor. Preferably, the sensor unit is arranged in a fixed position relative to the transport plane. Preferably, the at least one mover can be moved and / or rotated relative to the sensor unit, for example in the X, Y, and Z directions. Preferably, the sensor unit has at least one measuring direction. Preferably, the distance is detected in the measuring direction.The term "stationary" is to be understood in particular as meaning that an object, especially the sensor unit, is arranged immutably relative to a reference structure, especially the transport plane. Furthermore, it is proposed that the position of the format part within the transport plane be determined from at least one marking distance between a first measuring mark of the format part and at least one further measuring mark of the format part. Advantageously, this approach can be simplified, as the position of the format part can be determined from the marking distance between two measuring marks. Preferably, the position describes an orientation of the format part in a plane that is arranged at least substantially parallel to the transport plane. Preferably, the position includes at least a translational and / or a rotational position of the format part relative to the receiving unit and / or relative to the two movers. Preferably, the marking distance is calculated from at least two distances. Preferably, the first distance is defined as the shortest distance between the first measuring mark and the sensor unit.Preferably, the at least one further distance is defined as the shortest distance between the at least one further measuring mark and the sensor unit. The position is preferably calculated from the difference between the at least two distances. Preferably, the position is uniquely defined by the position of the first measuring mark and the at least one further measuring mark. Furthermore, it is proposed that a positional deviation of the format part relative to the position of the at least one mover be determined from at least one marking distance between a first measuring mark on the format part and at least one further measuring mark on the format part. Advantageously, a high level of operational reliability can be provided, since, in particular, the positional deviation of the format part relative to the position of the at least one mover can be determined, thereby allowing, for example, verification of whether a positional tolerance is being maintained. Preferably, the format part has at least one target position. Preferably, the format part has at least one actual position. Preferably, the positional deviation is expressed as a difference between the actual position and the target position. Preferably, the positional deviation is expressed as the deviation between the target position and the actual position in the plane parallel to the transport plane.For example, it is conceivable that at least one mover and / or the virtual mover is operated with an offset that compensates for the positional deviation. Furthermore, it is proposed that at least one positional deviation of the format part relative to the position of the at least one mover is compensated for by moving the at least one mover, in particular to align the format part with a handling device. Advantageously, high precision and / or operational reliability can be provided, since the position of the format part relative to the handling device can be aligned. Preferably, the format part is moved from its actual position to its target position by moving the at least one mover. Preferably, the format part is aligned with the handling device, in particular a robot gripper of the handling device, by moving the actual position of the format part to its target position.Furthermore, it is proposed that the format part has at least one measuring element, in particular at least one measuring surface, which is arranged at least substantially parallel to a measuring direction of a sensor unit, wherein the position of the measuring element is iteratively approximated by scanning a distance at least substantially perpendicular to the measuring direction. Advantageously, particularly high precision can be provided, since in particular a position perpendicular to the measuring direction can be determined. Advantageously, particularly high flexibility can be provided, since in particular the position can also be determined parallel to the measuring surface with the sensor unit. Operation at low cost and / or under high hygiene standards can be provided, since in particular the measurement can also be carried out in the measuring direction and thus with only one sensor unit.Preferably, the format part is moved back and forth by the at least one mover at least substantially perpendicular to the measuring surface and / or parallel to the transport plane, with the measuring element being moved past the sensor unit to determine its position. Preferably, the measuring element is detected by the sensor unit by evaluating a measurement step, in particular a distance step, within the measured distance. Preferably, the position of the measuring element is determined by evaluating the data acquired by the sensor unit. Preferably, the measurement step is located at the position of the measuring element. Preferably, the position of the measuring element is determined iteratively by measuring the measuring element multiple times, whereby the travel distance of the reciprocating movement is iteratively reduced, for example, by halving it. In this context, "at least substantially" means, in particular, that the deviation from a predetermined value is less than 25%, preferably less than 10%, and most preferably less than 5% of the predetermined value. Additionally, it is proposed that a positional deviation of the format part, perpendicular to the transport plane, particularly in the Z-direction, is detected by recording the height profile of the format part during its movement in the transport plane, particularly the XY plane. Advantageously, this provides a high level of operational reliability, as format parts that are incorrectly positioned, especially mounted, on the receiving unit can be identified. Preferably, the height profile, particularly in the Z-direction, of at least one surface of the format part is recorded. Specifically, the height profile of the surface of the format part is determined while the format part is being moved in the transport plane during the measurement. In particular, the format part is moved at least substantially perpendicular to the measurement direction to measure the height profile.In particular, the deviation from the plan is detected on a surface of the format part that, in its intended position, is at least substantially parallel to the transport plane. For example, detecting the deviation from the plan could identify a format part that has been incorrectly inserted into the receiving unit. A "deviation from the plan" is understood to mean, in particular, a deviation of a surface parallel to the transport plane caused by assembly, operation, or manufacturing. It is further proposed that a coding unit of the format part has at least one profile measurement, which is scanned for identification, particularly during the determination of the format part's position. Advantageously, this provides low complexity and / or error susceptibility, as the format part can be uniquely identified. Advantageously, a high identification speed can be provided, as the coding unit can be read during the position measurement and / or the sensor unit does not need to be moved separately for identification of the format part. Preferably, the coding unit is designed as a mechanical coding unit. Preferably, the coding unit has at least one three-dimensional profile. Preferably, the coding unit represents a binary code through the profile measurement.For example, the profile data could represent a 1, and no profile data a 0. Preferably, the binary code is at least two digits long, advantageously at least four digits long. Alternatively, it is conceivable that the profile data has a progression, particularly a continuous progression, which could represent any encoding. Preferably, the format part is moved past the sensor unit by at least one mover, thereby reading the encoding unit, in particular scanning the profile data. Furthermore, it is proposed that a measurement used to determine the position of the format part be calibrated in at least one calibration step, for example by means of a master mover, by recording at least one calibration point, preferably at least seven calibration points, and setting at least one distance, preferably several distances, between the calibration points as a reference value. Advantageously, high precision and / or operational reliability can be provided, since in particular the measurement, In particular, the sensor unit can be calibrated. The measurement is preferably calibrated using a calibration mover. The calibration mover could have at least one, preferably at least seven, and advantageously a plurality of calibration points. Preferably, the calibration points and / or the spacing between the calibration points have very high accuracy. Alternatively or additionally, the measurement could also be calibrated using a product handling device that has a plurality of precise calibration points. Preferably, the measurement is calibrated using the measured reference values. Preferably, the reference value is a calibration value that is used within the framework of a calibration procedure, in particular for detecting deviations and / or for adjusting a system. Furthermore, a handling system is proposed comprising at least one format part, on which, and in which, at least one object to be processed, particularly a container, can be arranged, with at least one product handling device, which includes at least one electrodynamically movable mover, in particular a planar mover, and at least one receiving unit arranged on the mover for a positive-locking and / or force-locking reception of the format part, and with at least one control unit for carrying out the method according to the invention. Advantageously, high precision and / or operational reliability can be provided, since, in particular, the position of the format part relative to the position of the at least one mover can be determined and / or the format part can be aligned with the handling device. Preferably, the handling system is designed as an electrodynamic transport system, more preferably as an electrodynamic planar transport system.The handling system preferably has a design already known to a person skilled in the art, such as that known to a person skilled in the art from products of Planar Motor (PMI). Preferably, the electrodynamic transport system comprises a plurality of stators, particularly horizontally oriented, preferably so-called planar tiles, which are equipped with electromagnetic drive elements, in particular coil units, such as electromagnets, and are connected to one another, in particular to form a planar plane of motion for the electrodynamically movable mover(s). The electrodynamic transport system preferably comprises a plurality of electrodynamically movable movers that are movable relative to the stators, in particular without contact, especially as a result of an interaction between permanent magnet units of the electrodynamically movable movers and the electromagnetic drive elements of the stators.Preferably, at least two electrodynamic movers are assigned to a single receiving unit, in order to move the receiving unit preferably along a direction that is at least substantially parallel to the plane of motion relative to the stators. The stators preferably form a drive surface along or on which the electrodynamic movers can be moved, in particular in a floating manner. In particular, the electrodynamic transport system can detect and evaluate the position of the individual electrodynamic movers relative to the stators in a manner already known to a person skilled in the art, in order to control or regulate the movement of the electrodynamic movers. The electrodynamically movable movers preferably have more than two degrees of freedom, in particular at least six degrees of freedom. Preferably, each electrodynamically movable mover has at least one axis of motion, in particular three axes of motion, along and / or around which the electrodynamically movable movers are movable relative to the stators, particularly as a result of an interaction between the permanent magnet units of the electrodynamically movable movers and the coil units of the stators. The axis(s) of motion preferably run at least substantially parallel or at least substantially perpendicular to the horizontal plane.The term "essentially parallel" is to be understood in particular as an alignment of a direction relative to a reference direction, especially in a plane, wherein the direction has a deviation from the reference direction of, in particular, less than 8°, advantageously less than 5°, and most advantageously less than 2°. The term "essentially perpendicular" is to be understood in particular as an alignment of a direction relative to a reference direction, wherein the direction and the reference direction, especially when viewed in a projection plane, enclose an angle of 90°, and the angle has a maximum deviation of, in particular, less than 8°, advantageously less than 5°, and most advantageously less than 2°. The term "control and / or regulation unit" is to be understood in particular as a unit with at least one control electronics unit.The term "control electronics" refers in particular to a unit comprising a processor unit, a memory unit, and an operating program stored in the memory unit. Specifically, the control unit is configured to determine the position of the format part relative to the position of at least one mover and / or to process the measurement data from the sensor unit. "Configured" refers in particular to being specifically programmed, designed, and / or equipped. The fact that an object is configured for a specific function refers in particular to the fact that the object fulfills and / or performs this specific function in at least one application and / or operating state. Furthermore, the invention relates to a format part, in particular the one already mentioned, for a handling system according to the invention. It is proposed that the format part comprises a first measuring mark and at least one further measuring mark. Advantageous design features can be provided, since, in particular, the position of the format part can be determined from the distance between two measuring marks, thus eliminating the need for further sensors and / or measuring marks. Preferably, the first and / or the at least one further measuring mark is designed as a measuring surface, which is arranged at least substantially perpendicular to the measuring direction and / or at least substantially perpendicular to the transport plane. Preferably, the first measuring mark and the at least one further measuring mark have a fixed distance from each other.In particular, the first measuring mark and / or at least one further measuring mark is integrally connected to the format part. "Integrated" is understood to mean, in particular, a material-bonded connection, such as through a welding process and / or an adhesive bonding process, etc., and especially advantageously, an integrally formed connection, such as by manufacturing in one piece and / or by manufacturing in a single- or multi-component injection molding process. It is further proposed that the format part includes a coding unit arranged on an outer surface of the format part, preferably between the two measuring marks. Advantageous design features can be achieved, particularly because the coding unit is arranged on the outer surface of the format part. Preferably, the outer surface is arranged to be optically accessible to the sensor unit. Preferably, the outer surface is arranged at least substantially perpendicular to the measuring direction and / or at least substantially perpendicular to the transport plane. It is conceivable that a coding unit with at least one profile elevation is arranged on at least two and / or at least four outer surfaces of the format part, thereby enabling identification of the format part and / or the product on multiple sides. The inventive method for operating the product handling device, the inventive handling system, and / or the inventive format part are not / should not be limited to the application and embodiment described above. In particular, the inventive method for operating the product handling device, the inventive handling system, and / or the inventive format part may, to achieve a functionality described herein, comprise a different number of individual elements, components, units, and process steps than the number specified herein. Furthermore, values ​​within the specified limits of the value ranges stated in this disclosure shall also be considered disclosed and freely usable. drawing Further advantages will become apparent from the following description of the drawing. The drawing illustrates an embodiment of the invention. The drawing, the description, and the claims contain numerous features in combination. A person skilled in the art will expediently consider the features individually and combine them into meaningful further combinations. Figure 1 shows a schematic representation of a handling system with a product handling device, Figure 2 shows a schematic representation of the product handling device with a format part, Figure 3 shows a schematic top view of a coding unit of the format part, Figure 4 shows a schematic top view of a position of the format part, Figure 5 shows a schematic top view of the format part with a measuring element, Figure 6 shows a schematic representation of a flat position of the format part, and Figure 7 shows a schematic flowchart of a method for operating the product handling device. Description of the exemplary embodiment Fig. 1 shows a schematic representation of a handling system 42. The handling system 42 is designed as an electrodynamic transport system. The handling system 42 has an XY plane 46. The handling system 42 has a transport plane 18. The transport plane 18 is arranged parallel to the XY plane 46. The handling system 42 has a Z-direction 48, see Fig. 6. The Z-direction 48 is arranged perpendicular to the transport plane 18. The handling system 42 has a product handling device 10. The handling system 42 can have several product handling devices 10. The handling system 42 has a format part 16. The format part 16 is connected to the product handling device 10 by force and / or form locking. The format part 16 is configured to receive a product 44, see Fig. 2. Product 44 is designed as a container. Product 44 can be arranged in format part 16.Product 44 could also be arranged on the format part 16. Handling system 42 includes a handling device 28. The handling device 28 includes a robot arm. The robot arm is configured to grasp product 44 and / or remove it from the format part 16. Handling system 42 includes a denest station 68. The denest station 68 is configured to handle the products 44, for example, by grasping them. The handling system 42 has a sensor unit 20. The sensor unit 20 is fixedly arranged relative to the transport level 18. The sensor unit 20 is fixedly arranged relative to the Denest station 68. The sensor unit 20 is arranged next to the Denest station 68. Alternatively, the sensor unit 20 could be arranged in a comparable position that would appear sensible to a person skilled in the art. The sensor unit 20 has a laser distance sensor. The sensor unit 20 is configured to detect a distance. The sensor unit 20 has a measuring direction 32. The handling system 42 has a control and / or regulating unit 38. The control and / or regulating unit 38 is configured to process measurement signals from the sensor unit 20. The control and / or regulating unit 38 is configured to process the detected distances. The handling system 42 has nests 34. It is conceivable that the nests 34 can also be measured by the sensor unit 20. Figure 2 shows a schematic representation of the product handling device 10. The product handling device 10 has two movers 12. The two movers 12 are designed as electrodynamically movable movers 12. The two movers 12 are designed as planar movers. It is conceivable that the product handling device 10 has more than two movers 12. The two movers 12 can be represented by a virtual mover 12', see Figure 4. The two movers 12 can be moved in the transport plane 18 to convey the products 44. The movement of the two movers 12 could be described by the virtual mover 12'. The product handling device 10 has a receiving unit 14. The receiving unit 14 is arranged on the two movers 12. The two movers 12 are mechanically coupled to each other via the receiving unit 14. The two movers 12 can be moved relative to each other. The format part 16 can be moved in the Z-direction by moving the two movers 12 relative to each other. The receiving unit 14 is configured for a positive and / or force-fit reception of the format part 16. Different format parts 16 can be received by the receiving unit 14. The format part 16 has a first measuring mark 24. The format part 16 has a further measuring mark 26. It is conceivable that the format part 16 has several further measuring marks 26. The format part 16 has a mark spacing 22. The marking distance 22 is formed as a distance between the first measuring mark 24 and the next measuring mark 26.The sensor unit 20 can be used to determine the distance to the measuring marks 24, 26. Fig. 3 shows a schematic top view of the format part 16. The format part 16 has an outer surface 40, cf. Fig. 2. The format part 16 has a coding unit 36. The coding unit 36 ​​is arranged on the outer surface 40 of the format part 16. The coding unit 36 ​​is located between the first measuring mark 24 and the next measuring mark 26. Alternatively or additionally, the coding unit 36 ​​could be arranged on two or more sides of the format part 16. The coding unit 36 ​​has four coding elements 50. The coding unit 36 ​​could have more or fewer than four coding elements 50. The coding unit 36 ​​has a profiled elevation. The profiled elevation is formed by individual profiled elevations of the coding elements 50. A coding element 50 with a single profile entry represents a 1. A coding element 50 without a single profile entry represents a 0. In this example, the coding unit 36 ​​represents a code 1011.It is conceivable that any elevation profile with varying elevation increments can be used for coding. The profile is recorded by the sensor unit 20 in the measuring direction 32. The coding unit 36 ​​scans along the outer surface 40 from the first measuring mark 24 to the next measuring mark 26. The profile data is translated into the code by the control unit 38. The format part 16 can be uniquely identified by the code. Figure 4 (top) shows a schematic top view of the product handling device 10. The format part 16 exhibits a positional deviation. This deviation is determined by the marking distance 22. The positional deviation can be uniquely defined via the marking distance 22. The positional deviation includes a deviation in the Y-direction. The positional deviation includes an angle about an axis of rotation. The axis of rotation is arranged parallel to the Z-direction 48. Figure 4 (bottom) shows the position of the format part 16 after movement of the two movers 12. The two movers 12 can be moved to compensate for the positional deviation. The two movers 12 can be operated with an offset that compensates for the positional deviation. Figure 5 shows a schematic top view of the format part 16. The format part 16 has a measuring element 30. The measuring element 30 is designed as a measuring surface. The measuring element 30 is arranged parallel to the measuring direction 32. The format part 16 is moved back and forth perpendicular to the measuring direction 32 to approximate a position of the measuring element 30. The position in the X-direction can be determined by the measuring element 30. The format part 16 has a further measuring element 66. It is conceivable that the coding unit 36 ​​is arranged alternatively or additionally between the measuring element 30 and the further measuring element 66. Figure 6 shows a schematic representation of the product handling device 10. The product handling device 10 exhibits a positional deviation. This deviation is defined as a planar deviation. The planar deviation is defined as the maximum difference of a surface of the format part 16 along the Z-direction 48. The planar deviation is defined as a difference perpendicular to the transport plane 18. The planar deviation is defined as a height difference of the surface of the format part 16. The height difference is defined perpendicular to the measuring direction 32. Incorrectly inserted format parts 16 can be identified via the planar deviation. Fig. 7 shows a schematic flowchart of a method for operating the product handling device 10. In process step 52, the format part 16 is picked up by the receiving unit 14 by force and / or form locking. The receiving unit 14 is moved by the two movers 12 in the transport plane 18. The receiving unit 14 is transported by the two movers 12 in the transport plane 18. The format part 16 can be moved along the Z-direction 48 by moving the two movers 12 apart or towards each other. In process step 54, the position of the format part 16 relative to the position of the two movers 12 is determined. The position of the format part 12 is determined using the sensor unit 20. Alternatively or additionally, the position of the format part 16 relative to the position of the virtual mover 12' is determined. The position of the format part 16 within the transport plane 18 is determined from the marking distance 22. For this purpose, the marking distance 22 is determined. The marking distance 22 is calculated from the difference in the X-direction between the first measuring mark 24 and the next measuring mark 26. The distance in the Y-direction between the first measuring mark 24 and the sensor 20 is measured. The distance in the Y-direction between the next measuring mark 26 and the sensor 20 is measured. An actual position of the format part 16 is determined. The positional deviation of the format part 16 from the position of the two movers 12 is determined from the marking distance 22, see Fig. 4 (above).The positional deviation is determined by calculating the difference between the actual position and a target position of the format part 16. The positional deviation in the Y-direction is determined from the marking distance 22. The positional deviation around the axis of rotation is also determined from the marking distance 22. In process step 56, the coding unit 36 ​​is read. The profile of the coding unit 36 ​​is scanned. The individual profiles of the coding elements 50 are scanned. The profile of the coding unit 36 ​​is recorded. The profile is scanned to identify the format part 12. For this purpose, the coding elements 50 are moved past the sensor unit 20 perpendicular to the measuring direction 32. Process step 56 could be performed during process step 54. Alternatively or additionally, process step 56 can be performed during process step 52. In process step 58, the positional deviation is compensated. The positional deviation is compensated by moving the two movers 12 by the amount of the deviation, see Fig. 4 (below). The format part 16 is aligned with the handling device 28 by the two movers 12. The two movers 12 are operated with an offset that compensates for the positional deviation. A positional deviation in the Y-direction is compensated. A positional deviation around the axis of rotation is also compensated. In process step 60, the sensor unit 20 detects the position of the measuring element 30. For this purpose, the format part 16 is moved back and forth perpendicular to the measuring direction 32. During this back-and-forth movement, the position of the measuring element 30 is traversed. The position of the measuring element 30 is iteratively approximated by scanning a distance perpendicular to the measuring direction 32. A distance jump is detected at the position of the measuring element 30. After the distance jump has been detected, the travel length of the back-and-forth movement is halved. The position of the format part 16 is compensated in the X-direction by moving the movers 12 in the X-direction. In process step 62, the deviation from the plan of the format part 16 is recorded. The deviation is determined by recording the height profile of the surface of the format part 16. The height profile is recorded by moving the format part 16 parallel to the transport plane 18. During this movement parallel to the transport plane 18, the height profile of the surface of the format part 16 is recorded. For this purpose, a height in the Z-direction of the format part 16 is measured. Calibration step 64 involves calibrating the measurement. This calibration is performed using a master mover. Seven calibration points on the master mover are recorded, and several distances between them are determined. These distances are then used as a reference value for the measurement. Calibration step 64 is performed at regular intervals. It is conceivable that calibration step 64 could be carried out after maintenance, cleaning, repairs, or similar work deemed appropriate by a qualified professional.

Claims

Method for operating a product handling device (10) with at least one electrodynamically movable mover (12), in particular a planar mover, and with at least one receiving unit (14) which is arranged on the at least one mover (12), wherein in operation a format part (16) is received by the receiving unit (14) by force and / or form locking and is transported by the mover (12) at least in a transport plane (18), in particular an XY plane, characterized in that in at least one process step (54) a position of the format part (16) relative to a position of the at least one mover (12) is determined. Method according to claim 1, characterized in that the position of the format part (16) is determined by means of a sensor unit (20), in particular a laser distance sensor. Method according to one of the preceding claims, characterized in that the position of the format part (16) within the transport plane (18) is determined from at least one marking distance (22) between a first measuring mark (24) of the format part (16) and at least one further measuring mark (26) of the format part (16). Method according to one of the preceding claims, characterized in that a positional deviation of the format part (16) to the position of the at least one mover (12) is determined from at least one marking distance (22) between a first measuring mark (24) of the format part (16) and at least one further measuring mark (26) of the format part (16). Method according to one of the preceding claims, characterized in that at least one positional deviation of the format part (16) to the position of the at least one mover (12) is compensated by moving the at least one mover (12), in particular to align the format part (16) to a handling device (28). Method according to one of the preceding claims, characterized in that the format part (16) has at least one measuring element (30), in particular at least one measuring surface, which is arranged at least substantially parallel to a measuring direction (32) of a sensor unit (20), wherein a position of the measuring element (30) is iteratively approximated by scanning a distance at least substantially perpendicular to the measuring direction (32). Method according to one of the preceding claims, characterized in that a positional deviation of the format part (16) designed as a plan deviation perpendicular to the transport plane (18), in particular in the Z direction, is detected by detecting a height profile of the format part (16) during a movement of the format part (16) in the transport plane (18), in particular the XY plane. Method according to one of the preceding claims, characterized in that a coding unit (36) has at least one profile acquisition which is scanned for identification, in particular during the determination of the position of the format part (12). Method according to one of the preceding claims, characterized in that a measurement with which the position of the format part (16) is determined is calibrated in at least one calibration step (64), for example by means of a master mover, by recording at least one calibration point, preferably at least seven calibration points, and by setting at least one distance, preferably several distances, between the calibration points as a reference value. Handling system (42) with at least one format part (16) on which, in particular in which, at least one product to be processed (44), in particular a container, can be arranged, with at least one product handling device (10) which comprises at least one electrodynamically movable mover (12), in particular a planar mover, and at least one receiving unit (14) arranged on the mover (12) for a form-fit and / or force-fit receiving of the format part (16), and with at least one control and / or regulation unit (38) for carrying out the method according to one of the preceding claims. Format part (16) for a handling system (42) according to claim 10 , characterized by a first measuring mark (24) and at least one further measuring mark (26). Format part (16) according to claim 11, characterized by a coding unit (36) which is arranged on an outer surface (40) of the format part (16), preferably between the two measuring marks (24, 26).

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