AT518732B1 - Surfaces stepper motor - Google Patents

Abstract

The invention relates to a device comprising two opposing plates (1, 2, 3), in particular abutting one another or spaced at a constant distance from each other, and freely displaceable relative to one another, characterized in that the plates (1, 2, 3) each have a plurality of In particular, electrical and / or magnetic, actuator elements (4-7), of which at least a subset can be controlled and activated, wherein the actuator elements are formed in cooperation with one on the opposite plate (1, 2, 3) arranged actuator element ( 4-7) to perform a relative movement of the two plates (1, 2, 3) with a movement component along one or both plate directions, possibly also normal to the plate directions.

Description

description

FLJ \ CH ΕΝ-SCH RIDING MOTOR

The invention relates to a device according to the preamble of patent claim 1.

A variety of different linear motors is known from the prior art, with which it is possible to perform a linear or taking place in a plane relative movement of two motor parts to each other, in particular to position individual components relative to each other.

In particular, such a relative movement between a vehicle and a roadway can be made. The invention is particularly suitable for solving the following problems: [0004] In the area of pavement-bound mobility, which today typically takes place on paved roads, the movement is achieved primarily by traction between the roadway and wheel-based vehicles and is essentially dependent on the environmental influences like water, snow, ice, dirt and air resistance.

A disadvantage of traction-based mobility is also that it is no longer usable for higher speeds> 300km / h by the greatly increased tire wear and the reaction times that are too short for humans, and therefore safe, robust self-steering, centrally controlled mobility alternatives as in Flight operation also necessary for vehicles.

In the field of transportation, in production lines, in agriculture and forestry, in the construction industry, in space are flexible, freely scalable universal, programmable, unified building blocks, a highly desirable technical measure that it is in today Form does not exist.

An unsolved cost problem is near-Earth space in terms of payload and passenger transport into orbit. It is necessary to use as many tasks as possible in vacuum with electrical energy and highly reusable spatially freely arranged components to associations that currently do not exist.

An essential requirement in space launches is the controllable, human-friendly acceleration to high vacuum speeds up to the first escape velocity, which severely restricts the use of railguns or propellant projectiles with their uncontrollable accelerations and their energy inefficiency.

Launch runways on particular aircraft carriers which have a fluctuating road should allow a stable high-dynamic traction at takeoffs and landings under all weather conditions, which is not so today.

Furthermore, the invention can also be made useful in the field of robotics, with the following fundamental problems to be solved: Due to the ever more efficient use of resources on our planet is the desire for a universally usable, freely scalable Tool kit system has long been a topic in the industry. Just as in programming a microprocessor has become an arbitrarily freely interpretable tool for simulation and control, so there should be a mechanical counterpart to be able to arrange oneself spatially according to the needs and to restructure again and again, without that every time the necessary tools have to be developed and manufactured. In addition, it is also a global factor important to our climate to avoid CO2 emissions from resource wastage and to rely on robust technology that can easily be reused again and again to make new applications virtually nondestructive.

In robotics is a sustainable requirement to have a hardware with uniform, wireless controllable, robust, overload-proof, easily replaceable and freely scalable robotic modules a universal tool available that can be spatially programmable controlled order, reusable, inexpensive, low maintenance and covers both static and dynamic applications.

The invention solves this problem with the characterizing features of claim 1. In a device comprising two opposing, in particular contiguous or spaced apart at a constant distance, and against each other freely movable plates, it is provided that the plates each have a plurality of, In particular, electrical and / or magnetic, actuator elements, of which at least a subset can be controlled and activated, wherein the actuator elements are formed in cooperation with at least one arranged on the opposite plate actuator element relative movement of the two plates with a movement component along one or both Plate directions, possibly also a movement component normal to the plate directions, execute, wherein on at least one of the plates controllable actuator elements are present. It is provided that the individual controllable actuator elements are connected to a control unit, wherein the control unit for carrying out a movement of the first plate according to a predetermined direction each activates the activatable actuator, the spatially close actuator elements of the respective opposite second plate an upper threshold below and have a lower threshold exceeding distance and have to the respective adjacent actuator a relative position pointing in the direction of movement, wherein the control unit controls the respective controllable actuator element such that the first plate moves in the predetermined direction.

This allows a simple control of the actuator, as well as a control, with a variety of different relative movements is possible. In addition, small increments can be achieved in this way.

To determine a simple control of actuator elements, which achieves a large force in the direction of movement, it can be provided that the control unit in the event that the distance between two opposing actuator elements of the first and second plate below a lower threshold, one or both the actuator elements such that the actuator elements attract each other.

Advantageously, a certain direction of movement can be predetermined for each individual one of the actuator elements. This allows the implementation of complex movements resulting in a combination of translational and rotational movements. Alternatively, the direction of movement can be set the same for all actuator elements.

According to the invention is also a device which comprises two opposing, in particular abutting or spaced at a constant distance, and against each other freely displaceable plates, wherein the plates each having a plurality of, in particular electrical and / or magnetic, actuator elements, of which at least a subset is controllable and activatable. In this case, the actuator elements are designed in cooperation with in each case at least one arranged on the opposite plate actuator element relative movement of the two plates with a movement component along one or both plate directions, optionally also a movement component normal to the plate directions to perform, being controllable on at least one of the plates Actuator elements are present. It is provided that the individual controllable actuator elements are connected to a control unit, and that the control unit for performing a rotational movement about a predetermined rotation center according to a predetermined rotation direction activates each activatable actuator, the spatially close actuator elements of the respective opposite plate one Threshold below the distance and have to the respective adjacent actuator a relative position corresponding to the rotational movement in the relevant actuator, the control unit which controls the respective controllable actuator such that the first plate relative to the second plate about the center of rotation according to the predetermined direction of rotation rotates.

This allows the implementation of rotational movements.

A particularly large and efficient power transmission and a simple way of controlling the movement is made possible when the actuator elements as magnetic forces-emitting components, in particular as electromagnets or permanent magnets, are formed.

A transfer of energy to individual actuator elements can be avoided if only permanent magnets are arranged as actuator elements of one of the plates and that only electromagnets are arranged as actuator elements on the respective other plate.

Furthermore, it is also possible to transmit information about the individual actuator elements between the plates.

A particularly efficient power transmission in very small structures and a simple way of controlling the movement is made possible when the actuator elements as electrostatic forces-emitting components, in particular electrets or, in particular superficially insulated, capacitor plates are formed.

A simple structured control of the individual actuator elements is made possible if the actuator elements are arranged on at least one of the plates, in particular on both plates, in the form of a grid with rows and columns, with two actuator elements adjacent to each other in the column direction each having the same distance and / or distance have the same relative position, and / or each two adjacent actuator elements in the row direction each have the same distance and / or the same relative position, and / or wherein each adjacent in the row direction and / or column direction actuator elements oriented in the same direction or in opposite directions train electric or magnetic field.

A particularly simple embodiment of the invention, which allows a movement in a row or column direction, provides that the ratio of the distance between two actuator elements in the row and / or column direction of the first plate to the distance between two actuator elements in rows - And / or column direction of the second plate is specified, in particular 1: 1, 2: 3 or 3: 4.

A simple structure of a grid of actuator elements provides that all rows of the grid of a plate are mutually parallel, and / or that all columns of the grid of the plate are mutually parallel.

A preferred structure, which allows a large number of individual relative positions of the two plates in the movement, provides that the mutually parallel rows of the grid of the first plate are aligned parallel to the mutually parallel rows of the grid of the second plate and that the mutually parallel columns of the grid of the first plate are at a predetermined angle to the mutually parallel columns of the grid of the second plate, in particular, the columns of the grid of the first plate to the rows of the grid of the first plate are at right angles, or the columns of the grid of the second plate to the rows of the grid of the second plate are at right angles.

Alternatively, instead of an angle of the column directions of the two plates and the offset of the accumulator elements of the second plate opposite between the individual lines can be specified. This offset advantageously corresponds to an integer divisor of the spacing of the columns of the second plate.

In the control of plates with grid-shaped actuator elements results in the substantial advantage of a simple periodic control of the individual NEN actuator by the control unit, when the control unit for carrying out a relative movement of the plates controls the grid-shaped actuator elements with a periodic control signal, and the control unit controls individual actuator elements in accordance with their spatial position with different periodic signals, wherein in particular the control unit acts on those actuator elements whose row and / or column indices differ by a predetermined value, in each case with the same periodic signal.

It is particularly advantageous if the two actuator elements selected for carrying out a movement step can be actuated by the or a control unit. In this case, it is advantageous to control both actuator elements in order to increase the force effect achieved.

In order to have sufficient energy available at any one time for the relative movement of the two plates, provision can be made for the actuator elements to be arranged spatially one above the other, one above the other or nested on one or both plates in a plurality of layers.

In order to be able to easily perform evasive maneuvers with a vehicle traveling on a roadway in one direction, it can be provided that a first plate arranged in the region of a roadway, in particular a road, and a seated on the roadway, in particular normal to the roadway direction drive unit driven chain drive, the chain links of which comprise actuator elements, the track facing chain links acting as a second plate, a control unit being provided which relatively moves the actuator elements of the two plates relative to each other in a travel direction, the travel direction normal or angular to the direction of travel the chain drive is, and where appropriate, the control unit is designed to move the track drive normal to the direction of movement, the actuator elements, which are arranged on the road facing chain links, for movement in Fortbewegungsr to drive.

In order to achieve an advantageous adjustment of the individual actuator elements of one of the plates to one another, in particular in order to easily produce an offset of the individual actuator between the rows, it can be provided that the individual actuator elements of one or both plates in each case one row on a displaceable Carrier, in particular on separately guided chains of a chain drive, are arranged, wherein the individual displaceable carrier, in particular chains, against each other in the row direction, in particular in the running direction of the track drive, are slidably disposed and a controlled by the control unit line positioning unit is provided, the respective carrier in Row direction shifts.

In order to achieve a simple adaptation of the positions of the actuator elements to the actuator of the opposite plate and the desired movement to be performed, it can be provided that the individual actuator elements are slidably disposed in the plane of the plates, in particular in lines and / or column direction and for the displaceably arranged actuator elements in each case an actuating unit, in particular a linear motor or piezoelectric element is provided, which is adapted to move the respective actuator element in the plane of the plate.

This can be provided in particular to achieve an advantageous step size, that for each actuator, which is controlled by an actuator, a direction of movement is predetermined and that the control unit controls the actuation units such that the relative position between the actuator provided by the actuator and corresponds to an actuator element of this actuator on the respective opposite plate adjacent actuator element of the direction of movement.

To be able to move with one of the plates greater loads compared to the other plate and to minimize the frictional forces between the plates, it can be provided that the first plate has a recess and a positioned over the recess lifting plate, - that in the area the recess is provided one or more guide elements for guiding the lifting plate normal to the extension direction of the first plate, - that the lifting plate has further actuator elements and - that the control unit controls the further actuator elements of the lifting plate such that the actuator elements of the lifting plate and the actuator elements of the second Repel each other.

To prevent slippage of the two plates against each other, in particular when moving larger loads, it can be provided that in the same plane or parallel to the plane of the first plate, a guide plate is provided with actuator elements having a recess in which the first Plate is slidably arranged according to a predetermined direction of movement, and - that the control unit controls the guide plate and the first plate such that alternately - one of the plates adheres to the second plate and - the other plate moves in the direction of movement relative to the second plate in which - in particular - the guide plate is surrounded by one or more further guide plates, which have the same structure as the guide plate.

A particular aspect of this invention is the morphing of three-dimensional bodies in static and high dynamic applications.

As already mentioned, a particular object of the invention is to provide robotic devices that are mutually freely arrangeable and movable.

Simple such systems include at least two such ebenflächig limited blocks, each one of the plates is disposed on a surface of each one of the blocks and the two blocks abut each other via the sides carrying the plates to each other or facing each other.

An advantageous composition of several such blocks can be achieved if the blocks have the shape of a polyhedron, in particular a cube, a cuboid or a tetrahedron.

In order to obtain the most flexible possible system for assembling a plurality of components, it can be provided that the components are delimited at a plurality of surface areas or at all surface areas by further panels.

Advantageously, each of these blocks each have a separate control unit, optionally also a separate power supply.

An advantageous arrangement, with which a driving of a vehicle is made possible on a roadway, provides that the first plate in the area, in particular immediately below, a roadway is arranged, and that the second plate is arranged in the lower region of a vehicle.

An advantageous arrangement, with which a driving of a vehicle is made possible inside a tunnel tube, provides that the first plate on the wall of a tube, in particular a tunnel, is arranged and / or rests, and that the second plate to the outer shell of a vehicle movable in the tube is arranged, wherein the shape of the outer shell of the vehicle is adapted to the shape of the tube.

The invention makes it possible to control flat, curved or three-dimensional plate systems magnetically or electrically displaced against each other without the need for other moving parts are needed.

The invention is scalable, and thus allows a wide range of applications, ranging from robotics, high-speed electromobility, space technology, medical technology, nano-technology, to military applications and the possible morphing of three-dimensional objects.

As a closed 3D area stepper motor blocks, the invention enables freely scalable spatially programmable higher-level arrangements that can be controlled both statically and dynamically and thus establish a completely new form of robotics and cybernetics.

A preferred embodiment of the invention relates to a device comprising at least two freely displaceable plane or curved, optionally flexible opposing support plates, hereinafter also referred to as stator and rotor plate, arranged on the magnetically and / or electrically active and / or passive actuator elements are, which are installed to array arranged arrays, and are controlled programmable via at least one control and power electronics.

In principle, electrical actuations of actuator elements in the carrier plates according to the prior art can be carried out. Fundamentally, electric motors are known to be controlled in their power delivery by parameters such as current, voltage, or phase. This can also be carried out for the actuation of actuator elements according to the invention. In addition, the actuator elements according to the invention can also be controlled finer in pulse width and frequency duty cycles within a single step and thus calibrated. By this finer form of control, the reduction of the sliding friction of opposing support plates and actuator elements arranged thereon can be executed up to a non-contact held floating operation.

According to a preferred embodiment of the invention, the wireless energy transfer between support plates on the basis of induction of opposing proximate electromagnets but also electret positional dynamic by charge displacement is possible. In principle, electrical energy can be transmitted by means of transformers whose coils are magnetically coupled to one another. Of course, this is also possible in the illustrated embodiment of opposing actuator elements, in particular electromagnets, since here also many electromagnets abut each other or lie opposite each other and therefore electrical energy is transmitted via magnetic fields by induction. In particular, in static operation, when the stator does not move or only slightly against the motor plate, this form of wireless electrical energy transmission is.

According to a preferred embodiment of the invention, a wireless energy transfer between opposing support plates based on electromagnetic radiators and electromagnetic absorbers and downstream rectifiers can be arranged.

From solar technology is known, the light incident on a solar module, is convertible into electricity. This is achievable according to an advantageous embodiment of the invention also by the use of monochomatic point light sources, which are positionally dynamic to the solar module mounted on the opposite support plate (Figure 12, Figure 16a, .., 16g). Due to the extremely fast control of the punctual light sources, a continuous non-contact energy transfer can be maintained even at very high speeds. The light radiation between the opposing support plates can also be achieved in addition with a radiation shield in the form of covers, air cushion against the outside environment.

In addition, in a preferred embodiment of the invention for wireless shielded contactless energy transmission and high-frequency radiation in particular microwaves can be used (Fig. 15a, .., 15d). As a radiation source position-dynamically entrained fast switchable point radiant magnetron arrays from the stator in the opposing rotor plate with a dedicated screen chamber and absorber antennas and downstream rectifier elements, in particular Zyclotron Wave converter, as shown later executed. This type of control is particularly preferable when high amounts of energy occur in very dynamic movements, especially in the high-speed electromobility.

According to a preferred embodiment of the invention, the wired energy transfer between mutually opposite support plates and the downstream actuator elements is a further possible embodiment. Especially when the movements of the opposing support plates are limited and a particularly high efficiency is sought. In addition, the combinability of the energy transfer with an RF modulability for information exchange between the control unit and the carrier plates with the control circuits arranged there is feasible. In particular, the shielded DC voltage is preferred.

According to a preferred embodiment of the invention, the electrical energy storage in the carrier plates in several variants executable. In principle, the energy storage can be done in arranged on the carrier plates rechargeable batteries. Furthermore, these rechargeable batteries can be arranged in the interior as in spatial associations (FIGS. 13, 14a, 14b, FIGS. 15a, 15b, 16h). In order to minimize load peaks and chemical aging, large-sized capacitors, in particular super-caps, can be arranged in the power supply of the control and power electronics. These self-sufficient energy stores can be combined with the wired and wireless energy transmitters mentioned here in order to achieve maximum operating possibilities.

According to a preferred embodiment of the invention, bidirectional information transmission is possible in a number of ways.

First, the information transfer between a central control unit (Fig. 3) and the individual control and power units on the carrier plates can be wired. In this case, one type of arrangement is that, in the case of a wired energy supply by high-frequency modulation with the power supply and the information transmission takes place. The other type of arrangement is the connection of the central control unit with wired control lines to the carrier plates with the control and power units arranged thereon.

Second, the information transmission by modulation of the carrier plates additionally arranged non-contact energy transfer on the basis of position dynamically entrained light or microwave radiators between the opposing support plates can be done.

Third, the transmission of information by irradiation of modulated radio frequency between the central control unit and the individual support plates 3 and downstream control and power units 10 may be arranged.

The necessary for the control power electronics is available in the prior art. The actuator elements and position sensors arranged for the control of the support plates are also available in the prior art. Preferably, microcontroller, in particular master and / or slave microcontroller and programmable control units can be used.

According to a preferred embodiment of the invention, the determination of the position of opposing actuator elements can be carried out with position sensors according to the prior art. In particular, Hall sensors can be used for position determination.

The spatial position is determined in master and / or slave microcontrollers from the position data and used to control the relative movement of the stator plate to the motor plate. The use of position sensors also makes it possible to detect and repeat erroneously executed steps under dynamically changing control and performance parameters.

According to a preferred embodiment of the invention, at least a part of the actuator elements may be formed by superconducting magnets. On the one hand energy-efficiently a floating held drive is achieved, on the other hand can thus very constant conditions for the control, longitudinal and lateral acceleration of opposing support plates can be achieved with the actuator elements arranged thereon.

According to a preferred embodiment of the invention, at least a part of the actuator elements with a Eigenspin, self-rotation executable. The self-rotation causes a difficult penetration of the magnetic field from the outside and allows at higher application temperatures, comparable properties as in superconductors with respect to the magnetic field behavior to more cost-effective conditions, especially at room temperature, or technical conditions.

According to a preferred embodiment of the invention, non-destructive predetermined breaking points can be realized by the electrical and magnetic force effects between opposing support plates arranged thereon with actuator elements, which can be calibrated via electrical parameters.

According to a preferred embodiment of the invention, a new type of electromobility is created by incorporating stator plates with actuator elements in a roadway and engine plates with actuator elements in vehicles self-steering vehicles. The lanes can be made flat, curved or acted as closed tubes with or without negative pressure. Particularly in the area of high-speed electromobility on the ground but also for controlled acceleration into near-space, the aforementioned self-steering properties are available (FIGS. 13, 14a, 14b, FIGS. 15a, 15d).

According to a preferred embodiment of the invention in the field of high-speed electromobility can be performed by the arrangement of specially arranged transversely to the main direction of crawler with arranged thereon motor plate elements flexible evasive maneuvers transverse to the direction without the loss of kinetic energy in the direction of movement (Fig. 13).

In accordance with a preferred embodiment of the invention, stator plates can also be arranged on surfaces vertically, over the top or even over the underlying surface. Motor plate elements (Figures 14a, 14b) adapt their actuator elements to the stator plate surface, thus enabling them to travel on all surfaces, angles and turns. In this case, both a movement is carried out by the relative displacement of stator plate elements against motor plate elements, as well as the magnetic and electrical adhesion of actuator elements on opposite plate elements achieved. The circulating tracks then take over the movement along the stator plates by forward-backward movement of the track. The individual actuator elements of the motor plates on the crawler chain adhere tightly to each other during the approach to the actuator elements of the stator plate on the underside of the crawler, form a magnetic and / or electrical frictional connection and the vehicle disposed thereon performs a translational movement relative to the stator plate (FIG. 14a) , 14b).

According to a preferred embodiment of the invention in the motor plate in rails guided lifting plates are embedded, which are executable as non-contact load-carrying elements along a running as a stator plate roadway.

According to a preferred embodiment of the invention, the motor plates and stator plates can also be arranged in planar three-dimensional spatial elements, in particular as a 3D surface stepper motor module. The 3D surface stepper motor modules are then controlled to superordinate spatial associations both static and highly dynamic, and allow in particular the modeling of structures such as tools, Greifar me, wheels, but also humane facial features, hands.

According to a preferred embodiment of the invention, stator plates can be arranged in closed orbits subjected to negative pressure and accelerated motor plates as projectiles to a defined launch speed. Particularly at high firing frequency, the engine-plate projectiles are accelerated in parallel in circular paths and arranged on output stator plates on an adjustable launching ramp, in particular on ship's projectiles. The engine plate bullets are also executable without high-explosive propellant charges, and thus preferably executable especially for large-volume bullets.

According to a preferred embodiment of the invention, the carrier plates on take-off and landing of particular aircraft carriers or platforms can be arranged in space and thus allow controlled accelerations, delays and stable ground adhesion of aircraft or spacecraft under different weather and / or environmental conditions and fluctuating surfaces , LEGEND TO THE FIGURES: (1) motor plate (2) stator plate (3) support plate rigid or flexible (4) electromagnet (5) permanent magnet (6) electret (7) actuator element in particular electromagnet, permanent magnet, electret (8) electrical and / or magnetic Field lines (9) Position sensor (10) Electrical control unit with microcontroller and power outputs (11) Electrical power supply, wired and / or charge storage (12) Wireless or wired data transmission between surface stepping motor and control unit (13) Bidirectional control unit for operating the surface stepping motor ( 14) Movement direction arrows of the motor plate relative to the stator plate (15) Vibration damping (16) Linkage (17) Linear motor element, in particular piezo control element (18) Slidable actuator element (19) controlled in the carrier plate plane in the X and Y directions Motor plate for suspended load transport (20) Guide rail for the lifting plate (21) position-dynamic Switchable light source that shines selectively onto the motor plate (22) Solar module for light into electricity Reverse conversion (23) Guide rollers for motor plates guided transversely to the direction of travel Elements (24) Control motor for the cross-machine direction (25) Vehicle body for load and passenger Transport (26) Pulleys in the direction of travel (27) Caterpillar or chain of individual motor plates connected to each other (28) Control motors for each longitudinal crawler (29) Height adjustable crawler rolls (30) Rocket with transport container (31) Enclosed blanking tube (32) enveloping embedding (33) RF / DC Converter Zyclotron Wave Converter Element (34) RF Absorber Element Antenna Array (35) Horn Antenna (36) Circulator / Isolator (37) Position-Dynamically Supplied RF Radiation Generator Magnetron Element (38) Vehicle-Coupled Control Electronics (39 ) Radiation-proof shielding chamber (40) Roadway substructure, supporting structure, radiation-tight version (41) Radiation shielding Environment (42) 3D Motor Unit cell in the surface of the cube (43) 3D stator Unit cell in the surface of the cube (44) Motor side surface of a 3D surface stepping motor cube (45) Stator side surface of a 3D Area Stepper Motor Cube (46) 3D Cube 2: 3 Stator Motor Cube Element (47) 3D Area Stepper Motor Building Block DESCRIPTION OF THE FIGURES: FIGS. 1a and 1b show two opposing support plates 3 in the oblique view, on each of which arrays of actuator elements 7 are arranged. The support plates 3 are either rigid Fig. 1a or flexible Fig. 1b executed, and are relatively mutually displaceable. In the present case, there is a small gap between the two plates. The plates may have a predetermined distance from each other or abut each other.

The carrier plates 3 are displaced due to magnetic and electrical forces to each other. These forces have motion components or force components in the disk directions, i. the force vector is not exactly normal to the plates achtungen but has a component of motion or force component according to at least one of the plate directions. Of course, it is also possible that holding forces act between the carrier plates, which also have a component normal to the plate directions.

The electrical or magnetic forces are generated by the actuator 7, which are controlled by an electrical control unit 10. The actuator elements are designed, in cooperation with in each case one arranged on the opposite plate 3 actuator 7, a relative movement of the two plates 3, wherein the relative movement of a movement component along one or both disc directions. Of course, it is also possible and regularly the case that the relative movement of the two plates 3 generated due to the electrical or magnetic forces to each other also has a component of movement which is normal to the two disc directions.

2a to 2c show various combinations of opposing actuator elements 4, 5, 6 in oblique view. The opposing actuator elements 4, 5, 6 exert either attractive or repulsive field forces 8 depending on their relative distance from each other.

In Fig. 2a, the actuator elements are designed as electromagnets 4, which exert by means of control units behind it 10 controllable magnetic fields 8 to each other. These magnetic fields 8 can be used for power information and energy transfer.

In FIG. 2b, an actuator element 4 is designed as a controllable electromagnet 4 controlled by a control unit 10 and the other actuator element 5 as a permanent magnet.

In Fig. 2c, the actuator elements are designed as capacitor plates 6, which are each controlled by a control unit 10. Alternatively, there is also the possibility that when using capacitor plates 6 as actuator elements some of the actuator elements are designed as electrets. These electric fields 8 can be used for power information and energy transfer.

Fig. 3 shows the cross section through the illustrated in Fig. 1a embodiment of the invention of two opposing support plates 3 arranged therein actuator elements 4a, 4b position sensors 9 and associated electrical control units 10 and overlying electrical power supply 11. The control units 10 controlled via a wireless data transmission 12 from the outside via a bidirectional central control unit 13 and provide even position and state data of the actuator elements 4, 7 and the electrical control units 10th

Fig. 4a-g show a further embodiment of the invention of on the opposite support plates 1,2- hereinafter referred to as motor plate 1 and stator 2 - with arranged in raster-shaped rows 210 ... 270 and columns actuator elements 4a, 4b. Behind the actuator elements 4a, 4b, a control unit is arranged.

Fig. 4a shows the lower support plate, hereinafter referred to as stator 2, in oblique. On the stator plate 2 are grid-shaped, arranged in the form of a rectangular grid in rows and columns actuator elements 4 in the form of electromagnets. For clear identification of the actuator elements 4, reference numerals 211-278 are used in FIGS. 4a to 4g. The rows 210 ... 270 and columns 201 .. 208 are at an angle of 90 ° to each other. Each two adjoining in the column direction actuator elements each have the same distance or the same relative position. Each two adjacent in the row direction actuator elements each have the same distance and / or the same relative position. Each two actuator elements adjacent in the row direction and / or column direction emit an electric or magnetic field oriented in the same direction or in opposite directions. All lines 210 ... 270 of the grid are parallel to each other. All columns 201 .. 208 of the grid are parallel to each other.

The orientation of the main direction of the magnetic field emitted by the actuator elements is at right angles to the plane of the stator 2. Depending on the underlying drive, the respective actuator element can either emit an electromagnetic field with alignment in one direction or in the opposite direction or donate no magnetic field ,

Each actuator element 4 has a control unit 10 arranged behind it, which actuates the respective actuator element 4 either according to an N-S orientation or controls S-N orientation, or does not actuate, so that only a negligible electromagnetic field originates from this actuator element 4.

Fig. 4b shows the upper support plate, hereinafter referred to as motor plate 1, in oblique. On the motor plate 1 are grid-shaped, arranged in the form of an oblique-angled grid in rows 110 ... 170 and columns 101 .. 108 permanent magnets 5. For the clear identification of the actuator elements 5, reference numerals 111-177 are used in FIGS. 4a to 4g.

Each two adjoining in the column direction actuator elements 5 of the motor plate each have the same distance or the same relative position to each other. .Je two adjacent in the row direction actuator elements 5 of the motor plate have each have the same distance and / or the same relative position to each other. Each two actuator elements adjacent in the row direction and / or column direction emit an electric or magnetic field oriented in the same direction or in opposite directions. All lines 110 ... 170 of the grid are parallel to each other. All columns 101 .. 108 of the grid are parallel to each other.

The rows and columns are at an angle of 81 ° to each other. This causes actuator elements that are in the same column and in adjacent rows to have a column offset from one another as compared to a rectangular grid of 0.25d. In addition, it is also possible that an offset is selected which corresponds to an integer divisor of the distance d.

The orientation of the magnetic field of the permanent magnets 5 is at right angles to the motor plate 1. Depending on the orientation of the magnetic field of the permanent magnets 5 of the relevant permanent magnet 5 is denoted by N or S. Respectively in the grid of a row 110 ... 170 as well as in the grid of a column 101 .. 108 adjacent arranged permanent magnets each have a different field orientation.

The distance of the adjacent actuator elements 4 in a column of the stator plate 2 is the distance of the actuator 5 of the opposite motor plate 1 in a predetermined fixed ratio of 2: 3, in Fig. 4a with 1.5d and in Fig. 4b with d designated.

Fig. 4c shows the arrangement of the motor plate 1 to the stator plate 1 in the oblique view cut in the plane A-A of Fig. 4a and 4b. The plates 1, 2 are arranged one above the other and in parallel. The two lines D, D 'lie in the same section plane. Overall, each line of the motor plate 1 are opposed to individual rows of the stator 2. Due to the different column spacings of the actuator elements 5 of the motor plate 1 relative to the actuator elements 4 of the stator 2, the columns are not brought to coincide, so that only the actuator element 243 with NS alignment the actuator element 143 NS is opposite and is controlled and the actuator element 245 with SN alignment the Actuator element 146 SN is opposite and is controlled. The other actuator elements 241, 242, 244, 246, 247, 248 remain inactive in this position. The magnetic fields induced in the electromagnets 243, 245 have the same orientation as the permanent magnets 143, 146. This activation produces a magnetic force which approximates the two actuator elements 143, 243 and the actuator elements 146, 245 and the two carrier plates 1, 2 shifted against each other in the row direction x.

Fig. 4d shows the arrangement as in Fig. 4c in section A-A in the plane of the lines D, D '. Adjacent permanent magnets 141,..., 147 of the motor plate 1 each have the distance d, while the electromagnets 241,..., 248 of the stator plate 2 each have the spacing 1.5d from each other.

Fig. 4e shows the arrangement of the motor plate 1 to the stator plate 2 cut obliquely in the plane B-B. The line C and C 'lie in the same section plane. Due to the different column spacings of the permanent magnets 131, ..., 137 with respect to the Elektromag Neten 231, ..., 237, the columns are only partially made to coincide. The electromagnets 232, 236 are located centrally opposite the permanent magnets 132, 138 and are controlled in such a way that the magnetic field emitted by them is oriented in the same direction as the magnetic field of the permanent magnets. The electromagnet 234 is located centrally opposite the permanent magnet 135 and is controlled in such a way that the field emanating from it is oriented in the same direction as the magnetic field of the permanent magnet 135. The other electromagnets 231, 233, 235, 237, 238 remain inactive. The magnetic fields induced in the electromagnets 232, 234, 236 have the same orientation as the permanent magnets 132, 135, 138. This activation produces a magnetic force which holds the motor plate 1 in relation to the stator plate 2.

Fig. 4f shows the arrangement as in Fig. 4e in section BB in the row level 130 and 230. Adjacent permanent magnets 131, ..., 137 of the motor plate 1 each have the distance d, while the adjacent electromagnets 231 ,. .., 238 of the stator 2 to each other in each case have the distance 1.5d. The permanent magnets 131, ..., 137 are offset in the column plane with respect to the permanent magnets 141, ..., 147 of the respective subsequent line with respect to the alignment in a rectangular grid by 0.25d, this distance is also referred to as a column offset.

4g shows, viewed from above, the position of the motor plate 1 relative to the stator plate 2. The field alignment proceeding from the permanent magnets is normal to the plane of the plate and is represented by the symbols S and N. S stands for an S-N orientation of the permanent magnet, N stands for an N-S orientation of the permanent magnet. The same symbol representation is also used for the controlled electromagnets. In the present case, the motor plate 1 is to be moved relative to the stator 2 to the right. The opposing pairs of lines C, C 'and D, D' fulfill different functions in the illustrated movement step. In the first row pair D, D '(section A-A), the control causes a movement in the row direction x to the right. The second line pair C, C '(section B-B) causes by the control of a magnetic holding force between the motor and stator. By the time-shifted inactive switching of the line pairs C, C 'and D, D', the actual controlled movement process is triggered. A movement step in the row direction x to the right is carried out.

In the specific embodiment of the invention shown here, the control of the electromagnet repeats with every other line and can be continued periodically, so that only two rows and six columns are shown to represent the control of all actuator elements. The activation of the remaining electromagnets can be continued spatially and temporally periodically.

In all, even the embodiments of the invention shown below, the concrete control of the individual actuator elements 4-7 may be predetermined by the control unit 10 in advance. In this case, it is possible for each of the individual grid-shaped actuator elements 7 to be each driven with a periodic sequence of control pulses, as shown in the above tables, in order to achieve a relative movement of the motor plate to the stator plate. The control unit 10 can control individual actuator elements 4-7 according to their spatial position with different periodic signals, wherein the control unit 10 in particular actuator elements 4-7 whose row and / or column indices differ by a predetermined value, each with the same periodic signal applied. This also reduces the effort required for the storage of the individual control sequences.

Alternatively, it is also possible to determine or calculate the individual control signals required for carrying out a relative movement on the basis of the current position determined by means of a position sensor 9. It is particularly advantageous if the control unit 10 selects actuator elements 47 according to the following criteria for driving in order to carry out a movement of the motor plate 1 in a predetermined direction: A first criterion consists of spatially proximate actuator elements 4-7 for the drive

To select control that have the respective actuator 4-7 of the respective opposite plate below an upper threshold and a lower threshold exceeding distance. This has the effect that only actuator elements are selected with which a sufficiently high force effect can be achieved. In addition, the specification of a lower threshold value ensures that those actuator elements are not actuated with which only or predominantly a force action normal to the two plate directions x, y can be created.

A specific direction of movement can either be specified for the entire motor plate or for each individual actuator element.

If the distance between the opposing actuator elements 4-7 of the plates 1, 2 exceeds a lower threshold value, one or both of the actuator elements 4-7 can be controlled such that the actuator elements 4-7 attract each other and thus exert holding forces, in particular act as holding magnets.

Although not expressly shown, it is of course also possible that both the motor plate and the stator plate have controllable actuator elements. In this case, both the actuator of the rotor plate and the actuator of the stator can be activated. In this case, it is advantageous if both the motor plate and the stator plate have a separate control unit and possibly a separate energy source. Optionally, the energy source may also merely be a temporary store, which is fed by one of the measures for energy transmission already mentioned above and supplies the individual actuator elements with energy.

A second criterion for the selection of actuator elements for the control for carrying out a relative movement lies in actuating only actuator elements which have a relative position to each other which points in the direction of movement, ie the connection vector of the two actuator elements is parallel to the predetermined or desired direction of movement.

5a-u show an embodiment according to the invention. The movement execution is controlled so that act at any time between the stator 2 and the motor plate 1 attractive magnetic forces.

5a shows in oblique view a stator plate 1 with grid-shaped electromagnets 4a arranged thereon and freely movable thereon a motor plate 2 with grid-shaped permanent magnets 4b arranged thereon. The rows of permanent magnets 4b are at the same distance 1.5d as the rows of electromagnets 4a. The columns of the permanent magnets 4b are at a distance d. The pitch of the electromagnets 4a is 1.5d. Between the first row and the second row of the permanent magnets of the motor plate 1 is a column offset of 0.25d.

In the following, the symbols shown in Fig. 5b are used for the representation of the orientation of the magnetic fields emitted by the actuator elements. A large circle with vertical lines symbolizes a controlled electromagnet 4, which is controlled to N-S orientation in the stator plate 2. A large circle with horizontal lines symbolizes a controlled electromagnet 4, which is controlled to S-N orientation in the stator plate 2. A large circle without lines symbolizes an inactive, not controlled electromagnet 4, in the stator 2.

A small circle with vertical lines symbolizes a permanent magnet 5, which is aligned to N-S normal to the motor plate 1. A small circle with horizontal lines symbolizes a permanent magnet 5, which is aligned to S-N normal to the motor plate 1.

Fig. 5c shows a first movement step seen from above. The stator plate 2 is described at the edge with a raster designation marked in rows and columns. The horizontal columns range from Α ,,., Ι and the vertical lines range from 1, .., 9 and become

Designation of the controlled by the control unit 10 electromagnet with A1, .., 19 denotes.

The driven electromagnets 4 are symbolized by vertical and horizontal lines in the large circles of the stator 2 and show the magnetic field alignment to the adjacent permanent magnet 5 of the motor plate.

In the first step shown in Fig. 5c, a movement is shown to the right in the direction of the arrow. The electromagnets at positions 3B, 3D, 3F generate a magnetic field approximating the motor plate in the direction of arrow x. The electromagnets 4 at the positions 4B, 4D, 4F generate a magnetic field holding the motor plate. The other driven electromagnets are inactive. In this control, the motor plate 1 moves in the direction of arrow x by the distance 0.25d to the right.

FIG. 5 d shows a second movement step in the direction of arrow x to the right. In this case, the electromagnets 4 exert the holding magnetic force at the positions 3B, 3D, 3F, while the electromagnets 4 generate a magnetic field at the positions 4C, 4E which causes a movement of the motor plate 1 in the direction of the arrow x.

FIG. 5e shows a third movement step in the direction of arrow x to the right. In this case, the electromagnets 4 exert a holding magnetic force at the positions 4C, 4E, while the electromagnets 4 generate a magnetic field at the positions 3C, 3E, which causes a movement of the motor plate 1 in the direction of the arrow x.

FIG. 5f shows a fourth movement step in the direction of arrow x to the right. At this time, the electromagnets 4 at the positions 3C, 3E exert a holding magnetic force, while the electromagnets 4 at the positions 4D, 4F generate a magnetic field which causes the motor plate 1 to move in the direction of the arrow x.

5g shows a fifth movement step in the direction of arrow x to the right. In this case, the electromagnets 4 at the positions 4D, 4F exert a holding magnetic force, while the electromagnets 4 generate a magnetic field at the positions 3D, 3F, which causes a movement of the motor plate 1 in the direction of arrow x.

FIG. 5h shows a sixth movement step in the direction of arrow x to the right. In this case, the electromagnets 4 exert a holding magnetic force at the positions 3D, 3F, while the electromagnets 4 generate at the positions 4C, 4E, 4G a magnetic field which causes a movement of the motor plate 1 in the direction of the arrow x.

5i shows a seventh movement step in the direction of arrow x to the right. At this time, the electromagnets 4 at the positions 4C, 4E, 4G exert a holding magnetic force, while the electromagnets 4 generate a magnetic field at the positions 3C, 3E, 3G, causing the motor plate 1 to move in the direction of the arrow x.

FIG. 5i is identical to FIG. 5c, only the motor plate 1 has been moved relative to the stator plate 2 by the distance between two adjacent electromagnets 4.

The same process can also be carried out in the opposite direction for steps 5i in FIG. 5c and then causes a movement of the motor plate 1 to the left in the x-direction.

FIGS. 5j to 5t show the control of the electromagnets 4 of the stator plate 2 in the same grid as FIGS. 5c, .. FIG. 5i. In this case, a movement of the motor plate is shown by a line spacing in the y-direction in eleven steps, wherein the control of the individual electromagnets 4 of the stator 2 takes place.

The movement in the y-direction can also be carried out in the opposite direction, so that the motor plate 1 thus performs a position change along the y-direction. The control of the individual actuator elements takes place in reverse order of time.

Fig. 5j shows a first step for moving the motor plate 1 down in the y-direction relative to the underlying stator 2. The electromagnets 4 at the positions B4, D4, F4 are controlled as holding magnets: The electromagnets 4 are in position B3, D3, F3 driven to generate a magnetic force in the y direction.

Fig. 5k shows the second step for moving the motor plate 1 down in the y-direction relative to the underlying stator 2. The electromagnets 4 at the positions B3, B4, D3, D4 are controlled as holding magnets. The electromagnets 4 at the positions F3, F4 are driven to produce a magnetically repelling motive force.

Fig. 5I shows the third step for moving the motor plate 1 down in the y-direction relative to the underlying stator 2. The electromagnets 4 at the positions D3, D4 are controlled as holding magnets. The electromagnets 4 B2, B3, B4, F3, F4, F5 are driven to generate a magnetic repulsive motive force. The electromagnets at the positions B3, F4 are driven to generate a magnetically attractive motive force.

Fig. 5m shows the fourth step for moving the motor plate 1 down in the y-direction relative to the underlying stator 2. The electromagnets 4 at the positions D3, D4 are controlled as holding magnets. The electromagnets 4 at the positions B3, F4 are driven to produce a magnetic repulsive motive force. The electromagnets at the positions B2, B3, F4, F5 are driven to produce a magnetic attractive motive force.

Fig. 5n shows the fifth step for moving the motor plate 1 down in the y-direction relative to the underlying stator 2. The electromagnets 4 at the positions D4, F4, F5 are controlled as holding magnets. The electromagnet 4 at the position B3 is driven to generate a magnetic repulsive motive force.

Fig. 5o shows the sixth step for moving the motor plate 1 down in the y-direction relative to the underlying stator 2. The electromagnets 4 at the positions D4, F4, F5 are controlled as holding magnets. The electromagnets 4 at the positions B2, B3 are driven to generate a magnetic repulsive motive force.

Fig. 5p shows the seventh step for moving the motor plate 1 down in the y-direction relative to the underlying stator 2. The electromagnets 4 at the positions F4, F5 are controlled as holding magnets. The electromagnets 4 at the positions B3, C4 are driven to produce a magnetic repulsive motive force. The electromagnets 4 at the positions B4, C4 are driven to produce a magnetic attractive motive force.

Fig. 5q shows the eighth step for moving the motor plate 1 down in the y-direction relative to the underlying stator 2. The electromagnets 4 at the positions F4, F5, B3, B4 are controlled as holding magnets. The electromagnet 4 at the position B4 is driven to generate a magnetically attractive motive force.

Fig. 5r shows the ninth step for moving the motor plate 1 down in the y-direction relative to the underlying stator 2. The electromagnets 4 at positions F4, F5, B4 are controlled as holding magnets. The electromagnet 4 at the position B3 is driven to generate a magnetic repulsive motive force. The electromagnets at the positions D4, D5 are driven to produce a magnetic attractive motive force.

Fig. 5s shows the tenth step for moving the motor plate 1 down in the y-direction relative to the underlying stator 2. The electromagnets 4 at positions F4, F5 are controlled as holding magnets. The electromagnets 4 at the positions D4, B4 are driven to produce a magnetic repulsive motive force. The electromagnets at positions D4, D5, B4, B5 are driven to produce a magnetic attractive motive force.

Fig. 5t shows the eleventh step for moving the motor plate 1 down in the y direction relative to the underlying stator plate 2. The eleventh step corresponds to the first

Step, just one line down. The electromagnets 4 at the positions B5, D5, F5 are controlled as holding magnets. The electromagnets 4 at the positions B4, D4, F4 are driven to produce a magnetic attractive motive force.

Two tables are shown below, in which the control of the individual actuator elements 4 is shown in detail, wherein each row contains the activation of the actuator elements 4 during a step and each column indicates the activation of an actuator element 4 over the entire process, to represent a movement of the motor plate 1 in the x-direction and in the y-direction. The actuator elements 4 at the positions not shown in the tables are inactive during the process. The N-S and S-N entries listed in the tables show the actuation of the actuator elements 4.

The upper table shows a movement of the motor plate 1 to the right in the x-direction in seven steps. In this case, the motor plate 1 is moved by a column electromagnet 4 offset by the control to the right. The lower table shows a movement of the motor plate 1 in y-direction in eleven steps. In this case, the motor plate 1 is moved by a row of electromagnets 4 offset by the drive down. The step sequence of the motor plate 1 relative to the stator plate 2 cited in both tables is reversible and can also be used to carry out the movement in the opposite direction.

Fig. 6a-p show an embodiment of the invention, with which a movement of the motor plates 1 in both the x-direction and in the y-direction is possible. The movement execution is controlled so that acts at any time between the stator 2 and the motor plate 1 an attractive magnetic force.

Fig. 6a shows in oblique view a stator 2 with grid-like arranged thereon electromagnet 4 and freely movable on a motor plate 2 with grid-shaped thereon arranged permanent magnet 5. The row and column spacings of the electromagnets 4 of the stator 2 have a distance of 1.5d.

The rows of the permanent magnets 5 are at the same distance 1.5d as the rows of the electromagnets 4. The columns of the permanent magnets 5 are at a distance d to each other. Between the first row and the second row of the permanent magnets of the motor plate 1 is a column offset of 0.25d.

The motor plate 1 used in this embodiment is square and contains four times the arrangement of the executed in Fig. 5a engine plate wherein in each of these two arrangements, the row direction is parallel to the row direction of the stator 2 and the other two arrangements, the row direction normal to Row direction of the stator 2 is.

With a motor plate 1 formed in this way, a movement sequence of the motor plate 1 relative to the stator plate 2 arranged underneath is possible both in the x-direction and in the y-direction.

Fig. 6b shows the following for the symbols used in analogy to Fig. 5b.

Fig. 6c shows the first step of the motor plate 1 relative to the underlying stator plate 2 seen from above. The stator plate 2 is described at the edge with a raster designation marked in rows and columns. The horizontal columns range from Α, Ι, and the vertical lines range from 1, .., 9 and are denoted by A1, .., 19 for designation of the electromagnet controlled by the control unit 10.

The movement takes place to the right in the x direction. The stator plate 2 is described at the edge with a raster designation marked in rows and columns. The horizontal columns range from A, .., G and the vertical lines range from 1, .., 7 and are denoted by A1, .., G7 to designate the electromagnet or actuator elements controlled by the control unit 10.

In the first step following are the electromagnets at the positions B2, D3, A5, D5 driven as holding magnets. The electromagnets at the positions A3, C3, E6 are driven to generate a magnetic attractive force. Together, this control causes a relative displacement of the motor plate 1 in a partial step to the right in the x direction.

Fig. 6d shows the second step of the motor plate 1 to the right in the x-direction relative to the underlying stator 2. The electromagnets at positions A3, C3, E6 are controlled as holding magnets. The electromagnets at the positions A2, C2, E5 are driven to generate a magnetic attractive force.

Fig. 6e shows the third step of the motor plate 1 to the right in the x-direction relative to the underlying stator 2. The electromagnets at positions A2, C2, E5 are controlled as a holding magnet. The electromagnets at positions B3, D6, F6 are driven to produce a magnetic attractive motive force.

Fig. 6f shows the fourth step of the motor plate 1 to the right in the x-direction relative to the underlying stator 2. The electromagnets at positions B3, D6, F6 are controlled as a holding magnet. The electromagnets at positions B2, D5, F5 are driven to produce a magnetic attractive motive force.

Fig. 6g shows the fifth step of the motor plate 1 to the right in the x-direction relative to the underlying stator 2. The electromagnets at the positions B2, D5, F5 are controlled as a holding magnet. The electromagnets at positions C3, E6 are driven to produce a magnetic attractive motive force.

Fig. 6h shows the sixth step of the motor plate 1 to the right in the x-direction relative to the underlying stator 2. The electromagnets at positions C3, E6 are controlled as holding magnets. The electromagnets at positions C2, E3, B5, E5 are driven to produce a magnetic attractive motive force.

Fig. 6i shows the first step of the motor plate 1 to the right in the x-direction relative to the underlying stator plate 2 by an entire column shifted to the right. From here, the steps are repeated Fig. 6c, .., Fig. 6h periodically, if a further movement in x-direction is to be carried out. The electromagnets at positions C2, E3, B5, E5 are activated as holding magnets. The electromagnets at positions B3, F6 are driven to produce a magnetic attractive motive force.

Fig. 6j shows the first step of the motor plate 1 down in the y-direction relative to the underlying stator 2. As in the horizontal movement, the electromagnets 4 are driven so that in the individual steps each part of the electromagnets 4 as holding magnets while another part is working to produce a magnetic attractive and / or repulsive motive force. FIGS. 6j,..., 6p show that by the hatched area as driving direction of the magnets as shown in Fig. 6b.

In Fig. 6k-p the concrete control of the individual actuator elements for moving the motor plate is shown in the y-direction. The individual actuator elements are driven by an underlying control unit 10 with a predetermined sequence of steps to move the motor plate 1 in the y-direction by a position of electromagnet to solenoid.

The following table shows the individual actuator elements used in the course of locomotion or their position, as well as the actual activation in the individual steps. All electromagnets of the stator plate 2, the control of which is not indicated in the tables rows and columns, are inactive during the sequence of motions. The N-S and S-N entries listed in the tables show the activation of the electromagnets.

[00150] The upper table shows a movement of the motor plate 1 to the right in the x-direction in seven steps. In this case, the motor plate 1 is moved by a column electromagnet 4 offset by the control to the right. The lower table shows a movement of the motor plate 1 in the y-direction in seven steps. In this case, the motor plate 1 is moved by a row of electromagnets 4 offset by the drive down.

The cited in both tables step sequence of the motor plate 1 relative to the stator plate 2 is reversible and then causes a reversal of the direction of movement of the motor plate.

Figures 7a-g show an embodiment of the invention for a rotational movement of the motor plate. The motion execution is controlled so that acts at any time between the stator 2 and the motor plate 1 an attractive magnetic holding force.

Fig. 7a shows an oblique view of a circularly arranged motor plate 1 with circularly arranged thereon permanent magnet 5 and underneath an arranged stator 2 with grid-like arranged thereon electromagnets 4. The row and column spacings of the electromagnets 4 of the stator plate have a spacing of 1.5d. With this arrangement, a rotational movement sequence of the motor plate 1 relative to the underlying stator plate 2 is executable.

In Figs. 7c-7g the same symbolism as in Fig. 5b is shown. FIG. 7b shows the symbols used below for the symbols used in analogy to FIG. 5b.

Fig. 7c shows the first step of the rotation of the motor plate 1 relative to the underlying stator plate 2 seen from above. The stator plate 2 is described at the edge with a raster designation marked in rows and columns. The horizontal columns range from Α, Ι, and the vertical lines range from 1, .., 9 and are denoted by A1, .., 19 for designation of the electromagnet controlled by the control unit 10.

The rotational movement of the motor plate 1 takes place in a clockwise direction.

In the first step, the electromagnets are activated at the positions C2, H3, G8, B7, E5 as holding magnets. The electromagnets at the positions E2, H5, E8, B5 are driven to produce a magnetic attractive motive force. Together, the individual movement forces cause a relative rotation of the motor plate 1 in a partial step in a clockwise direction.

Fig. 7d shows the second step of the rotation of the motor plate 1 in a clockwise direction relative to the underlying stator 2. The electromagnets at the positions E2, H5, E8, B5, E5 are controlled as holding magnets. The electromagnets at positions D2, H4, F8, B6 are driven to produce a magnetic attractive motive force.

Fig. 7e shows the third step of the rotation of the motor plate 1 in a clockwise direction relative to the underlying stator 2. The electromagnets at the positions D2, H4, F8, B6, E5 are controlled as holding magnets. The electromagnets at positions B3, G2, H7, C8 are driven to produce a magnetic attractive motive force.

Fig. 7f shows the fourth step of the rotation of the motor plate 1 in a clockwise direction relative to the underlying stator 2. The electromagnets at the positions B3, G2, H7, C8, E5 are controlled as holding magnets. The electromagnets at positions C2, H3, G8, B7 are driven to produce a magnetic attractive motive force.

Fig. 7g shows the fifth step of the rotation of the motor plate 1 in a clockwise direction relative to the underlying stator 2. The control of the actuator corresponds to the control used in the first step.

For further rotation of the motor plate, the drive shown in Fig. 7c to 7g can be continued periodically.

FIGS. 7c-7g show the actuation of the actuator elements during the individual steps of the clockwise rotational movement.

The N-S and S-N entries listed in the table below show the activation of the electromagnets in the associated steps.

The step sequence of the motor plate 1 relative to the stator plate 2 given in the table can be reversed in time and, in the case of the time reversal, also causes a reversal of the rotational movement of the motor plate in the counterclockwise direction.

Fig. 8a-i shows an embodiment according to the invention for a movement of the motor plate 1 in the x-direction to the right with a lifting plate 19 contained therein for supporting suspended loads. The movement execution is controlled so that at any time between the stator 2 and the motor plate 1 an attractive magnetic holding force acts and the lifting plate 19 is held in a floating state on the stator 1.

Fig. 8a shows an oblique view of a motor plate 1 with a recess in the inner region comprising arranged in the edge region of the motor plate permanent magnets 5. Opposite the motor plate 1 is a stator 2 with grid-like arranged thereon electromagnets 4. The row and column spacings of the electromagnets 4th the stator 2 have a distance of 1.5d. Adjacent permanent magnets 5 of the motor plate 1 have a distance of 1.0d to each other. The ratio of the distances of adjacent electromagnets 4 of the stator plate 1 to the distances between adjacent permanent magnets 5 of the motor plate 1 is thus 3: 2 in the present case.

The lifting plate 19 is provided with grid-shaped permanent magnets 5 whose magnetic field is aligned perpendicular to the plane of the plate. The ratio of the distances of adjacent permanent magnets 5 of the lifting plate 19 to the distance between adjacent electromagnets of the stator plate 2 is 3: 4, or the equivalent of 2.2d: 1.5d corresponds.

With this arrangement, a movement in the x-direction to the right of the motor plate 1 is shown relative to the stator plate 2 arranged underneath. In order to keep the lifting plate 19 in a spatial arrangement to the motor plate 1, sliding guide rails 20 are arranged on the motor plate 1 and the lifting plate 19 perpendicular to the plane of the plate.

Fig. 8b shows the following for the symbols used in analogy to Fig. 5b.

Fig. 8c shows the first step of the motor plate 1 and the lifting plate 19 relative to the underlying stator plate 2 seen from above. The stator plate 2 is described at the edge with a raster designation marked in rows and columns. The horizontal columns range from Α, Ι, and the vertical lines range from 1, .., 9 and are denoted by A1, .., 19 for designation of the electromagnet controlled by the control unit 10.

The movement takes place to the right in the x direction.

The stator 2 is described at the edge with a marked in rows and columns grid designation. The horizontal columns range from Α, Ι, and the vertical lines range from 1, .., 8 and are denoted by A1, .., 18 for designating the electromagnet controlled by the control unit 10.

In the first step, the electromagnets are activated at the positions B3, D3, F3 as holding magnets. The electromagnets at positions C6, E6, G6 are driven to produce a magnetic attractive motive force. The electromagnets at the positions B5, C4, D4, D5, E5, F4, G4, G5 are driven repulsively with respect to the permanent magnets of the lifting plate 19.

Together, these magnetic forces cause a relative displacement of the motor plate 1 and the lifting plate 19 in a partial step to the right in the x direction and repulsion of the lifting plate 19 of the stator 2.

Fig. 8d shows the second step of the lifting and sliding movement of the motor plate 1 with the lifting plate 19 relative to the x-direction to the right relative to the underlying stator 2. The electromagnets at the positions C6, E6, G6 are controlled as holding magnets , The electromagnets at positions C3, E3, G3 are driven to produce a magnetic attractive motive force. The electromagnets at the positions C4, D4, D5, F4, G4, G5 are driven repulsively with respect to the permanent magnets of the lifting plate.

Fig. 8e shows the third step of the lifting and sliding movement of the motor plate 1 with the lifting plate 19 relative to the x-direction to the right relative to the underlying stator 2. The electromagnets at the positions C3, E3, G3 are controlled as holding magnets. The electromagnets at positions D6, F6, H6 are driven to produce a magnetic attractive motive force. The electromagnets at the positions C4, C5, D5, F4, F5, G5 are driven repulsively with respect to the permanent magnets of the lifting plate.

Fig. 8f shows the fourth step of the lifting and sliding movement of the motor plate 1 with the lifting plate 19 relative to the x-direction to the right relative to the underlying stator 2. The electromagnets at the positions D6, F6, H6 are controlled as holding magnets. The electromagnets at the positions D4, F4, H4 are driven to produce a magnetic attractive motive force. The electromagnets at positions C4, C5, D5, E4, F4, F5, G5, H4 are repulsively driven relative to the permanent magnets of the lifting plate.

Fig. 8g shows the fifth step of the lifting and sliding movement of the motor plate 1 with the lifting plate 19 relative to the x-direction to the right relative to the underlying stator 2. The electromagnets at positions D4, F4, H4 are controlled as holding magnets. The electromagnets at positions C6, E6, G6 are driven to produce a magnetic attractive motive force. The electromagnets at the positions C4, C5, E4, F4, F5, H4 are driven repulsively with respect to the permanent magnets of the lifting plate.

Fig. 8h shows the sixth step of the lifting and sliding movement of the motor plate 1 with the lifting plate 19 relative to the x-direction to the right relative to the underlying stator 2. The electromagnets at positions C6, E6, G6 are controlled as holding magnets , The electromagnets at positions C3, E3, G3 are driven to produce a magnetic attractive motive force. The electromagnets at the positions C5, E4, E5, F5, H4, H5 are driven repulsively with respect to the permanent magnets of the lifting plate.

Fig. 8i shows the seventh step of the lifting and sliding movement of the motor plate 1 with the lifting plate 19 relative to the x-direction to the right relative to the underlying stator 2 of the same time the first step is shifted by one column in the grid to the right. The electromagnets at positions C3, E3, G3 are activated as holding magnets. The electromagnets at positions D6, F6, H6 are driven to produce a magnetic attractive motive force. The electromagnets at the positions C5, E4, E5, F5, H4, H5 are driven repulsively with respect to the permanent magnets of the lifting plate.

The steps described above can be periodically starting at Fig. 8c, .. Fig. Continue 8i. By reversing the sequence of control, the direction of movement can be changed.

The following is a table showing the control of the actuator elements by a control unit 10 in detail. In this table, a movement in the x direction to the right of the motor plate 1 with associated lifting plate 19 is shown. All electromagnets of the stator plate 2 which are not indicated in the tables are inactive during the sequence of movements. Due to the table width, the table is split into two mutually associated parts. The N-S and S-N entries listed in the table parts show the activation of the electromagnets in the associated steps. The sequence of steps given in the table is reversible, the reversal of the sequence of steps causes the movement direction in the x-direction to the left of the motor plate to be reversed.

Fig. 9a-o shows a comparison with Figs. 8a-8i extended embodiment of the invention. The motion execution is controlled so that acts at any time between the stator 2 and the motor plate 1 an attractive magnetic holding force. The motor plate 1 has a recess in which a lifting plate 19 is provided as in the embodiment shown in Fig. 8a-8i.

In addition, the outer guide plate is provided in the plane parallel to the plane of the second plate. This has a recess in which the second plate is displaceable according to the predetermined direction of movement. This principle of interleaving guide plates can have any desired depth, so that the guide plate 1a can be surrounded by one or more other guide plates.

Fig. 9a shows in oblique view a motor plate 1, which carries a lifting plate 19 and which is arranged in the recess of a guide plate. Both the motor plate 1 and the guide plate 1a have permanent magnets as actuator elements. Opposite the motor plate and guide plate, the stator 2 is arranged with grid-shaped permanent magnets arranged as actuator 4. The motor plate 1 is located in the recess of the guide plate, so that the motor plate and guide plate 1a can move freely against each other within a column width in the longitudinal direction. The interaction of the guide plate 1 a with the motor plate 1 creates a running in the longitudinal direction in steps geschienter drivetrain, the longitudinal and transverse to the direction of movement provides high stability against breaking out. The arranged inside the motor plate 1 lifting plate 19 is connected to perpendicular thereto arranged guide rails 20 to the motor plate 1, and has consistently the same, here S-N poled areally arranged permanent magnets on.

The distances of located in the same row or column adjacent electromagnet 4 are in the stator each 1.5d. The distances of located in the same column adjacent electromagnets 5 are in the motor plate 1 are each 1.0 d, so that there is a ratio of 3: 2 between the pitches of the electromagnets 4 of the stator 2 to the column spacings of the permanent magnets 5 of the motor plate 1.

Between the two lines of the motor plate 1 there is an offset of 0.25d. There is an offset of 0.25d between the two lines of the guide plate 1a.

To illustrate the locomotion, a complete sequence of steps of the motor plate 1 is shown, followed by a sequence of steps of the guide plate 1a to move from one row of electromagnets 4 of the stator plate 2 down to the next row of the stator 2. Likewise, the steps of the guide plate 1a and the motor plate 1 can also be alternately performed to achieve a smoother movement. Fig. 9b shows the following for the symbols used in analogy to Fig. 5b.

Fig. 9c shows the first step of the motor plate 1 and the lifting plate 19 relative to the underlying stator plate 2 seen from above. The stator plate 2 is described at the edge with a raster designation marked in rows and columns. The horizontal columns range from Α, Ι, and the vertical lines range from 1, .., 9 and are denoted by A1, .., I9 to denote the electromagnet controlled by the control unit 10.

The movement takes place to the right in the x direction.

[00193] For the following FIGS. 9c, .., FIG. 9i, the control of the guide plate is the same, the control is described only in Fig. 9c.

To actuate the guide plate 1a, the following electromagnets are actuated as holding magnets, which are in the position 7B, 7D, 7F, 7H. The electromagnets at positions 2B, 2D, 2F, 2H are driven to produce a magnetic attractive motive force.

For the motor plate 1 and lifting plate 19 those electromagnets 4 are controlled as holding magnets, which have the position 6C, 6E, 6G. The electromagnets 4 at the position 3C, 3E, 3G are driven to generate a magnetic attracting motive force. The electromagnets 4 at the position 5C, 4C, 5D, 4D, 5E, 4E, 5F, 4F, 5G, 4G are driven to repel the permanent magnets 5 of the lifting plate 19.

Fig. 9d shows the second step of the lifting and sliding movement of the motor plate 1 with the lifting plate 19 relative to the x-direction to the right relative to the underlying stator 2. The outer motor plate 1 remains as described in Fig. 9c, immobile.

To control the motor plate 1 and the lifting plate 19 those electromagnets 4 are controlled as holding magnets, which are located at the position 3C, 3E, 3G. The electromagnets 4 at the position 6D, 6F are driven to generate a magnetic attractive motive force. The electromagnets 4 at the position 5C, 4C, 5D, 4D, 5E, 4E, 5F, 4F, 5G, 4G are driven to repel the permanent magnets 5 of the lifting plate 19.

Fig. 9e shows the third step of the lifting and sliding movement of the motor plate 1 with the lifting plate 19 relative to the x-direction to the right relative to the underlying stator 2. The outer motor plate 1 remains as described in Fig. 9c immobile.

To control the motor plate 1 and the lifting plate 19 those electromagnets 4 are controlled as holding magnets, which are located at the position 6D, 6F. The electromagnets 4 at the position 3D, 3F, 3H are driven to generate a magnetic attractive motive force. The electromagnets 4 at the position 5C, 4C, 5D, 4D, 5E, 4E, 5F, 4F, 5G, 4G are driven for repulsion as permanent magnets 5 of the lifting plate 19.

Fig. 9f shows the fourth step of the lifting and sliding movement of the motor plate 1 with the lifting plate 19 relative to the x-direction to the right relative to the underlying stator 2. The outer motor plate 1 remains as described in Fig. 9c immobile.

To control the motor plate 1 and the lifting plate 19 those electromagnets 4 are controlled as holding magnets, which are located at the position 3D, 3F, 3H. The electromagnets 4 at the position 6C, 6E, 6G are driven as proximity magnets for generating a magnetic attracting motive force. The electromagnets 4 at the position 5C, 5D, 4D, 5E, 4E, 5F, 4F, 5G, 4G are driven to repel the permanent magnets 5 of the lifting plate 19.

Fig. 9g shows the fifth step of the lifting and sliding movement of the motor plate 1 with the lifting plate 19 relative to the x-direction to the right relative to the underlying stator 2. The outer motor plate 1 remains unmoved as described in Fig. 9c.

For controlling the motor plate 1 and the lifting plate 19, those electromagnets 4 are controlled as holding magnets, which are located at the position 6C, 6E, 6G. The electromagnets 4 at position 3E, 3G are driven to produce a magnetic attractive motive force. The electromagnets 4 at the position 5C, 5D, 4D, 5E, 4E, 5F, 4F, 5G, 4G, 4H are driven to repel the permanent magnets 5 of the lifting plate 19.

Fig. 9h shows the sixth step of the lifting and sliding movement of the motor plate 1 with the lifting plate 19 relative to the x-direction to the right relative to the underlying stator 2. The outer motor plate 1 remains as described in Fig. 9c immobile.

To control the motor plate 1 and the lifting plate 19 those electromagnets 4 are controlled as holding magnets, which are located at the position 3E, 3G. The electromagnets 4 at the position 6D, 6F, 6H are driven to produce a magnetic attracting motive force. The electromagnets 4 at the position 5D, 4D, 5E, 4E, 5F, 4F, 5G, 4G, 5H, 4H are driven to repel the permanent magnets 5 of the lifting plate 19.

Fig. 9i shows the seventh step of the lifting and sliding movement of the motor plate 1 with the lifting plate 19 relative to the x-direction to the right relative to the underlying stator 2. The seventh step is also the first step as shown in Fig. 9c shifted downwards by a series of electromagnets 4. The guide plate remains stationary as described in Fig. 9c.

To control the motor plate 1 and the lifting plate 19 those electromagnets are controlled as holding magnets, which are located at the 6D, 6F, 6H. The electromagnets at position 3D, 3F, 3H are driven to produce a magnetic attractive motive force. The electromagnets 4 at the position 5D, 4D, 5E, 4E, 5F, 4F, 5G, 4G, 5H, 4H are driven to repel the permanent magnets 5 of the lifting plate 19.

Fig. 9j shows the second step of the guide plate relative to the underlying stator plate 2 seen from above. The movement takes place to the right in the x-direction. The

Control of the motor plate 1 in the recess of the guide plate remains for the Fig. 9j, .., Fig. 9o unchanged as described in Fig. 9i. The motor plate does not change its position.

To actuate the guide plate 1a, the electromagnets 4 are actuated at the position 2B, 2D, 2F, 2H as holding magnets. The electromagnets 4 at the position 7C, 7E, 7G, 7I are driven to generate a magnetic attracting motive force.

Fig. 9k shows the third step of the guide plate relative to the underlying stator plate 2 seen from above. The movement takes place to the right in the x-direction.

To actuate the guide plate, the electromagnets 4 are actuated as holding magnets at the position 7C, 7E, 7G, 7I. The electromagnets 4 at the position 2C, 2E, 2G, 2I are driven to produce a magnetic attractive motive force.

Fig. 9I shows the fourth step of the guide plate relative to the underlying stator plate 2 seen from above. The movement takes place to the right in the x-direction.

To actuate the guide plate 1a, the electromagnets 4 are actuated as holding magnets at the positions 2C, 2E, 2G, 2I. The electromagnets 4 at the position 7D, 7F, 7H are driven to produce a magnetic attractive motive force.

Fig. 9m shows the fifth step of the guide plate 1a relative to the underlying stator plate 2 seen from above. The movement takes place to the right in the x-direction.

To actuate the guide plate 1a, the electromagnets are actuated as holding magnets at the position 7D, 7F, 7H. The electromagnets 4 at the position 2D, 2F, 2H are driven to generate a magnetic attractive motive force.

Fig. 9n shows the sixth step of the guide plate 1a relative to the underlying stator plate 2 seen from above. The movement takes place to the right in the x-direction.

To actuate the guide plate, the electromagnets 4 are actuated as a holding magnet at the position 2D, 2F, 2H. The electromagnets 4 at the position 7C, 7E, 7G, 7I are driven to generate a magnetic attracting motive force.

Fig. 9o shows the seventh step of the guide plate 1a relative to the underlying stator plate 2 seen from above. The movement takes place to the right in the x-direction.

To actuate the guide plate 1a, the electromagnets 4 are actuated as holding magnets at the position 7C, 7E, 7G, 7I. The electromagnets 4 at the position 2C, 2E, 2G, 2I are driven to produce a magnetic attractive motive force.

The following table shows the actuation of the actuator elements 7 by an underlying control unit 10 as a step sequence, wherein the motor plate 1 and the guide plate 1a perform a movement in the x direction to the right. All electromagnets of the stator plate 2 not shown in the tables are inactive during the sequence of movements.

[00219] The table below is divided into two mutually associated parts on the basis of the table width. The N-S and S-N entries listed in the table parts show the activation of the electromagnets 4 in the associated steps. The step sequence of the motor plate 1 relative to the stator plate 2 given in the table can be continued periodically and is reversible and, in the case of reversal of the drive, also reverses the movement of the motor plate 1 or the guide plate 1a in the x direction to the left.

Fig. 10a shows in an oblique plane in the plane of the stator or motor plate 1, 2 freely controllable actuator 7 that moves about actuators comprising three linear motors 17 and linkage 16 in the plane in both plate directions x, y relative to the plate plane 18 is. The underlying control unit 10 controls both the actuator 7 and the actuator 17th

FIG. 10b shows a plan view of a grid of actuator elements 7 that can be adjusted by means of adjusting units 16, 17, as shown in FIG. 10a, viewed from above on a common plate 3. The plate 3 may be both a stator plate 2 and a motor plate 1. The individual actuator elements 7 can be pushed towards each other within the range of the actuators 16, 17 or pushed away from each other in relation to each other. Thus, for each of the actuator 4 within predetermined limits, the position can be fixed and thus a flexible ratio to the adjacent actuator elements 7 of the respective opposite plate 1, 2, 3 adjustable. By means of the adjusting units 16, 17, grid spacings in both plate directions x, y can be set.

The activation of the actuating units can be carried out particularly advantageously if a direction of movement is predetermined for each actuator element 4-7, which is controlled by an actuating unit 16, 17. In this case, the control unit 10 can actuate the actuating units 16, 17 in such a way that the relative position between the actuator element 4-7 provided by the actuating unit 16, 17 and an actuator element 4 close to this actuator element 4-7 on the respective opposite plate 1, 2 -7 corresponds to the direction of movement.

FIG. 11 shows, in an oblique view, a panel cutout with actuator elements 7 embedded therein, which is surrounded by a damping border 15. The damping helps to reduce vibrations and thus material fatigue of the plate 3 and the actuator 7. Likewise, the sound transmission is thereby attenuated to the plate 3 and increases spatial inaccuracies in the arrangement of the actuators on the plate 3 by movement. Likewise, the actuator element 7 is thereby better aligned with the opposite actuator element 7 of the opposite plate 3, which contributes to an increase in the frictional connection and thus the efficiency.

FIG. 12 shows a top view of a stator plate 2, which is designed as an electromagnet 4 between the actuator elements in this case, and is equipped with light sources 21 emitting light at certain points. These punctual light sources 21 are activated depending on the position of the motor plate 1 lying thereon, their radiation is aligned with a solar panel 22 of the motor plate, so that during the movement of the motor plate 1 relative to the stator plate, a contactless energy transfer to the motor plate is made possible with control unit and energy storage behind , This embodiment shows according to the invention, the combination of motion and contactless energy transfer during the also designed for a long-term operation.

13 shows an oblique view of an embodiment according to the invention, with a stator plate 2 functioning as a roadway with electromagnets 4 arranged grid-like thereon, which have a grid spacing of 1.5 d to one another.

On the road, in particular normal to the direction of the road, sits a driven by a drive unit chain drive, on the chain links permanent magnets 5 are arranged. Each of the roadway facing chain links and the permanent magnets 5 thereon act as a motor plate 1. The permanent magnets 5 on the same chain link of the track drive have a distance of 1d to each other.

The permanent magnets 5 applied to the motor plate strip have an offset of 0.25d with respect to the preceding and subsequent motor plate strips. The chain drive is controlled by an electric motor 24.

With the embodiment shown here, it is possible to perform during a rapid longitudinal movement in the x direction a continuous normal to the direction of travel movement and thus liquid line changes of the electromagnets without having to reduce the speed in the longitudinal direction.

This embodiment of the invention makes it possible for a vehicle to glide over the roadway very quickly, which easily and without high lateral accelerations makes a lane change with respect to other vehicles and thus represents an application for high-speed electromobility for individual traffic.

Figs. 14a-14b show in elevation and in plan an embodiment of the invention, in the form of a vehicle 25 on a designed as a roadway stator 2 with freely against each other slidable carriers in the form of chains 27 which are arranged on a rotating track drive , The individual chains 27 can be controlled separately and moved relative to each other.

This embodiment makes it possible for the individual actuator elements 5 arranged on the chains 27 or carriers, in the present exemplary embodiment, permanent magnets, to have an arbitrary offset to the actuator elements of the adjacent chains 27. The individual chains 27 form the rows of the motor plate. The offset of the individual lines to each other can be controlled or varied by the arrangement of the chains 27 to one another.

By a shift of the offset of the rows of the motor plate 1, a flexible rotation of the vehicle is possible as well as a non-positive movement of the vehicle on the road. The roadway can be oriented differently, the roadway can also be arranged on a vertical wall or on the ceiling of a room or tunnel. Accordingly, the vehicle 25 can also move on a vertical wall or overhead on the roadway.

Fig. 14a shows in elevation a section AA through the vehicle 25. Below a carrier in the form of circulating in the direction of travel engine crawler chain is shown, each displaced by a control motor 28 relative to an adjacent carrier or the adjacent chain 27 can be. On the individual chain links a permanent magnet 5 is ever applied. Height-adjustable track rollers 29 allow the vehicle to slide on an uneven, flexible stator plate 2 with grid-shaped electromagnets 4 embedded therein.

Fig. 14b shows in plan a horizontal section B-B above the circulating chains 27. The applied to the motor plate elements 1 permanent magnets 5 are arranged at a distance 1d. The electromagnets 4 are arranged on the stator plate 2, the roadway, both longitudinally and transversely at a distance 1.5d. The chains 27 are displaceable relative to adjacent chains 27 via an electric motor 28. This electric motor 28 shifts the chains 27 and thus also the arranged on the chains 27 permanent magnets 5 in the row direction. The vehicle 25 thus slides flexibly to the substrate of the stator 2 adapted in all directions.

FIGS. 15a-15d show, in section, embodiments according to the invention as a roadway and vehicle designed in different variants.

Fig. 15a shows in section an embodiment of the invention wherein the stator plate 2 is designed as a flat roadway with base 40 and active actuator elements 7 and the motor plate is arranged in a vehicle 25. In addition, between the actuator elements 7 both in the region of the stator plate - the road surface - as well as in the engine plate - the vehicle chassis - position dynamically switchable modules consisting of magnetron elements 37, circulators 36, horn antennas 35 to the stator plate surface - the road surface - introduced. On the upper side, the motor plate embodied as part of the vehicle substructure, an arrangement of horn antenna 35, circulator 36, horn antenna 35, radiation-proof shielding chamber 39 is provided between the actuator elements 7. This additional arrangement makes it possible to feed high-energy microwave radiation from the stator plate, the roadway, in the motor plate, the vehicle chassis, without emitting radiation to the environment. In the radiation-tight shielding chamber there are antenna arrays 34 and in particular downstream Zyclotron wave converter 33 for rectifying the microwave radiation in DC voltage. This provided DC voltage is fed into the electrical power supply 11 of the vehicle and used for the power supply of the actuator elements and the vehicle electrical system. There is a wireless bidirectional connection between the vehicle control unit 10 and the roadway control unit 38, which controls the RF energy supply to the vehicle and the actuator elements of the roadway in a positionally dynamic manner.

Fig. 15b shows in section an embodiment of the invention as described in Fig. 15a, in detail by a Statorplattenfläche as inwardly hollow large oppressured tube 31 is executed. This type of execution makes it possible to design motor plates as a vehicle substructure so that the entire inner wall of the hollow tube 31 can be driven by a vehicle in all positions. The detailed view shows the structure by a curved stator plate, designed as a roadway, and a counter-curved curved engine plate, designed as a vehicle substructure.

Fig. 15c shows in section an embodiment of the invention as in Fig. 15b as a total pressurized inside hollow tube 31, in which vehicles can move freely controlled in all positions along the inside of the tube. The passenger compartment 25 is freely rotatably controlled according to the coupling as shown, so that the impression of an ordinary vehicle arises. In order to minimize the patient's claustrophobic feelings, such a high-speed vehicle is equipped with high-resolution, high-resolution round-screen monitors inside the passenger compartment, giving the impression of looking into the surroundings through a vehicle window.

Fig. 15d shows in longitudinal section an embodiment according to the invention as shown in Fig. 15b and Fig. 15c as a rocket for accelerating from the earth out into the near orbit. According to FIGS. 1 to 9, the power transmission between the tube can be taken as a stator plate, and the outside of the rocket mounted curved motor plate as a drive.

Figures 16a-16i show an embodiment of the invention which develops the principle of the plane stepping motor from the plane of the plate into a three-dimensional building block 46. The design principles used according to the invention are used and, in the special case, integrated into the surfaces of a cube. The modules 46 are controlled in a last step by central control from the outside to universally programmable robotic modules freely programmable.

FIG. 16a shows a top view of a motor unit cell 42, one or more of which are located on the surfaces of the modules 46. The operation of the unitary surfaces 42 is described in detail in FIGS. 6a to 6q, the motor unit area being illustrated in FIG. 16a and a stator unit area in FIG. 16b. Inside the motor unit cell 42, a solar module for converting radiated light into electrical energy is provided. In the unit cell are arranged outside at an angle of 90 ° permanent magnet arrays 5 which have a 1.5d line spacing and have 1d column spacing and against the adjacent line an offset of 0.25d. Several motor unit cells 42 are shown on some surfaces of the module 46, as shown in FIGS. 16e and 16g. Stator unit cells 43 are arranged on the remaining surfaces of the module 46.

Fig. 16b shows in plan view a stator unit cell 43, whose function corresponds to the stator plate in Fig. 6a to Fig. 6q. In addition, dynamically controlled spot-emitting light sources are arranged in the interspaces between the electromagnetic magenta arrays 4 in the interspaces, which emit light when overlapped with unitary motor cells 42 and thus provide energy for further feeding. The grid-like embedded in the stator unit cell 43 electromagnet 4 have both a column as well as line spacing of 1.5d and are particularly rigidly arranged in this case shown.

Fig. 16c shows in plan view a motor side surface 44 which is composed of a plurality of, here 3x3, grid-shaped motor unit cells 42. Motor side surfaces 44 subsequently form three of six side walls of a cube-shaped module 46.

Fig. 16d shows in plan view a stator side surface 45 which is composed of a plurality of stator unit cells 43. The stator side surface 45 subsequently forms the remaining three of the six side walls of a cube-shaped module 46.

FIG. 16e and FIG. 16f show in oblique view the side surfaces of a cube-shaped surface stepper motor module 46. Opposite respective cube sides lie in each case a motor side surface 44 and a stator side surface 45 this block 46 shown to be arranged with other blocks such that each one engine side surface is located opposite a stator side surface.

FIG. 16g shows, in an oblique view, a plurality of freely arrangeable building blocks 46, which can be controlled centrally from the outside, as a structure executed arbitrarily by software. The individual blocks 46 can move relative to each other in all three spatial dimensions relative to each other.

FIGS. 16a to 16g show the case specifically explained that the ratio of the spacings of adjacent actuator elements in the stator to the distances between adjacent actuator elements in the rotor is 2: 3.

FIG. 16h shows, in an oblique view, an inwardly cut 3D area stepper motor

Block 46, which consists of actuator elements 7, an inner cube control unit 10 and a power supply 11. The control unit 10 is controlled from the outside wirelessly bidirectionally with control information.

FIG. 16i shows a freely programmable association of many surface stepper motor components 46 which can be arranged in spatial structures in ever new ways. This makes it possible to arrange universal robotics modular systems. During operation, individual damaged surface stepper motor components 46 can also be released by replacement from the structure structure and replaced by other surface stepper motor components 46, as also occurs in biological cell structures.

Claims (28)

claims 1. Device comprising two mutually opposite, in particular contiguous or spaced apart at a constant distance, and against each other freely movable plates (1, 2, 3), characterized in that the plates (1, 2, 3) each having a plurality of, in particular electrical and / or magnetic, actuator elements (4-7), of which at least a subset can be controlled and activated, wherein the actuator elements are configured in cooperation with at least one on the opposite plate (1, 2, 3) arranged actuator element (4 7) a relative movement of the two plates (1, 2, 3) with a movement component along one or both plate directions, optionally also a movement component normal to the plate directions to perform, on at least one of the plates (1, 2, 3) controllable actuator elements (4-7) are present and that the individual controllable actuator elements (4-7) to a control unit (10) ange are closed, characterized in that the control unit (10) for carrying out a movement of the first plate (1, 2, 3) according to a predetermined direction in each case activates those activatable actuator elements (4-7), - the spatially close actuator elements ( 4-7) of the respectively opposite second plate (1, 2, 3) have a top threshold below and below a lower threshold distance and - have to the respective adjacent actuator element (4-7) has a relative position pointing in the direction of movement, wherein the control unit (10) controls the respective controllable actuator element (4-7) such that the first plate (1, 2, 3) moves in the predetermined direction. 2. Apparatus according to claim 1, characterized in that the control unit (10) in the event that the distance between two opposing actuator elements (4-7) of the first and second plates (1, 2) falls below a lower threshold, one or both the actuator elements (4-7) drives such that the actuator elements (4-7) attract each other. 3. Device according to claim 1 or 2, characterized in that for individual actuator elements (4-7) of the first and / or the second plate (1, 2), in particular for all actuator elements (4-7) of the first or the second plate (1, 2), in each case a local relative movement direction is predetermined, or that for all actuator elements (4-7) of the first plate (1) or the second plate (2) a uniform relative direction of movement is predetermined. 4. Device comprising two mutually opposite, in particular contiguous or spaced apart at a constant distance, and against each other freely movable plates (1, 2, 3), characterized in that the plates (1, 2, 3) each having a plurality of, in particular electrical and / or magnetic, actuator elements (4-7), of which at least a subset can be controlled and activated, wherein the actuator elements are configured in cooperation with at least one on the opposite plate (1, 2, 3) arranged actuator element (4 7) a relative movement of the two plates (1, 2, 3) with a movement component along one or both plate directions, optionally also a movement component normal to the plate directions to perform, on at least one of the plates (1, 2, 3) controllable actuator elements (4-7) are present and that the individual controllable actuator elements (4-7) to a control unit (10) ange are closed, characterized in that the control unit (10) for performing a rotational movement about a predetermined center of rotation according to a predetermined direction of rotation in each case activates those activatable actuator elements (4-7), - the spatially close actuator elements (4-7) of each opposite plate have a threshold below the distance and - to the respective adjacent actuator element (4-7) have a relative position corresponding to the rotational movement in the relevant actuator element (4-7), wherein the control unit (10) the respective controllable actuator element such that the first plate (1) relative to the second plate (2) rotates about the center of rotation according to the predetermined direction of rotation. 5. Device according to one of claims 1 to 4, characterized in that the control unit (10) in the event that both actuator elements (4-7) are controllable, both actuator elements (4-7) controls, in particular such that the first plate (1) according to the predetermined direction (2) moves. 6. Device according to one of the preceding claims, characterized in that the actuator elements (4-7) as magnetic forces-emitting components, in particular as electromagnets or permanent magnets, are formed. 7. Device according to one of the preceding claims, characterized in that as the actuator (5) one of the plates (1) exclusively permanent magnets and that are arranged as actuator elements (4) on the other plate (2) exclusively electromagnets. 8. Device according to one of the preceding claims, characterized in that the actuator elements (6) as electrostatic forces-emitting components, in particular electrets or, in particular superficially insulated, capacitor plates are formed. 9. Device according to one of the preceding claims, characterized in that the actuator elements (4-7) on at least one of the plates (1, 2, 3), in particular on both plates (1, 2), in the form of a grid with lines and Columns are arranged, wherein each two adjacent in the column direction actuator elements (4-7) each have the same distance and / or the same relative position, and / or -wobei each two adjacent in the row direction actuator elements (4-7) to each other the same distance and or have the same relative position, and / or -wherein each two in the row direction and / or column direction adjacent actuator elements (4-7) form an aligned in the same direction or in opposite directions electric or magnetic field. 10. The device according to claim 9, characterized in that the ratio of the distance between two actuator elements (4-7) in the row and / or column direction of the first plate (1) to the distance between two actuator elements (4-7) in row and / or column direction of the second plate (2) is predetermined, in particular 1: 1, 2: 3 or 3: 4. 11. The device according to claim 9 or 10, characterized in that all rows of the grid of a plate (1, 2, 3) are mutually parallel, and / or that all columns of the grid of the plate (1, 2, 3) are mutually parallel , 12. Device according to one of the preceding claims 11, characterized in that the mutually parallel rows of the grid of the first plate (1) are aligned parallel to the mutually parallel rows of the grid of the second plate (2) and that the mutually parallel columns of the grid the first plate (1) are at a predetermined angle (a) to the mutually parallel columns of the grid of the second plate (2), in particular - the columns of the grid of the first plate (1) to the rows of the grid of the first plate in the stand right angle, or - the columns of the grid of the second plate (2) to the rows of the grid of the second plate are at right angles. 13. Device according to one of the preceding claims, characterized in that the control unit (10) for carrying out a relative movement of the plates (1, 2, 3) controls the grid-shaped actuator elements (4-7) with a periodic control signal, and that the control unit (10) controls individual actuator elements (4-7) according to their spatial position in each case with different periodic signals. 14. The apparatus of claim 13, wherein the control unit (10) those actuator elements (4-7) whose row and / or column indices differ by a predetermined value, each subjected to the same periodic signal. 15. Device according to one of the preceding claims, characterized in that the control unit (10) and / or a power supply for the actuator elements (4-7) in one of the plates (1, 2) or in both plates (1, 2) is. 16. Device according to one of the preceding claims, characterized in that the actuator elements (4-7) in a plurality of layers spatially with each other, one above the other or interleaved on one or both plates (1, 2, 3) are arranged. 17. Device according to one of the preceding claims, comprising a in the region of a road, in particular road, arranged first plate and a on the road, in particular normal to the roadway, seated driven by a drive unit chain drive whose chain links have actuator elements (4-7), wherein the track facing the chain links act as a second plate, wherein a control unit is provided which relatively moves the actuator elements of the two plates in a direction of travel relative to each other, wherein the direction of travel is normal or at an angle to the direction of travel of the track drive, and optionally where the control unit is formed is, upon displacement of the track drive normal to the direction of movement, the actuator elements, which are arranged on the road facing chain links to drive for movement in the direction of travel. 18. Device according to one of the preceding claims, characterized in that the individual actuator elements (4-7) one or both plates (1, 2) each arranged on a row on a displaceable carrier, in particular on separately guided chains (27) of a chain drive are, wherein the individual displaceable support, in particular chains, against each other in the row direction, in particular in the running direction of the track drive, are arranged displaceably and by the control unit (10) controlled line positioning unit is provided which shifts the respective carrier in the row direction. 19. Device according to one of the preceding claims, characterized in that the individual actuator elements (4-7) are arranged displaceably in the plane of the plates (1, 2, 3), in particular in rows and / or column direction and for the displaceably arranged actuator elements (4-7) is provided in each case an actuating unit (16, 17), in particular a linear motor or piezoelectric element, which is adapted to move the respective actuator element (4-7) in the plane of the plate. 20. Device according to one of the preceding claims, characterized in that for each actuator (4-7), which is controlled by an actuating unit (16, 17), a direction of movement is predetermined and that the control unit (10), the actuating units (16, 17) in such a way that the relative position between the actuating element (4-7) provided by the setting unit (16, 17) and an actuator element (4-7) located close to the respective opposing plate (1, 2) lies between the actuator element (4-7). 7) corresponds to the direction of movement. 21. Device according to one of the preceding claims, characterized in that the first plate (1) has a recess and a recess positioned over the lifting plate (19), -dass in the region of the recess one or more guide elements (20) for guiding the Lifting plate (19) is provided normal to the extension direction of the first plate (1), - that the lifting plate (19) further actuator elements (4-7) and -dass that the control unit (10) the other actuator elements (4-7) of the lifting plate ( 19) such that the actuator elements (4-7) of the lifting plate (19) and the actuator elements (4-7) of the second plate (2) repel each other. 22. Device according to one of the preceding claims, characterized in that - in the same plane or parallel to the plane of the first plate (1) a guide plate (1a) is provided with actuator elements (4-7) having a recess in which the the first plate (1) is displaceably arranged according to a predetermined direction of movement, and -that the control unit (10) the guide plate (1a) and the first plate (1) such that alternately - each one of the plates (1, 1a) on the second plate (2) adheres and - the other plate (1, 1a) in the direction of movement relative to the second plate (2) moves, in particular -the guide plate (1a) is surrounded by one or more other guide plates, the same structure have like the guide plate. 23. Device according to one of the preceding claims, comprising two geradflächig limited blocks (46), wherein each one of the plates (1, 2) on a surface of each one of the blocks (46) is arranged and the two blocks (46) via the Plates (1, 2) bearing sides abut each other or facing each other. 24. The device according to claim 23, characterized in that the building blocks (46) have the shape of a polyhedron, in particular a cube, a cuboid or a tetrahedron. 25. Device according to claim 23 or 24, characterized in that the building blocks (46) are delimited at a plurality of surface areas or at all surface areas of further plates (1). 26. Device according to one of claims 23 to 25, characterized in that each module (46) each having a separate control unit (10) and optionally an energy store. 27. Device according to one of the preceding claims, characterized in that the first plate (1) in the region, in particular immediately below, a roadway is arranged, and that the second plate (2) is arranged in the lower region of a vehicle. 28. Device according to one of the preceding claims, characterized in that the first plate (1) on the wall of a tube, in particular a tunnel, is arranged and / or rests, and that the second plate (2) on the outer shell of a in the Tube is arranged movable vehicle, wherein the shape of the outer shell of the vehicle is adapted to the shape of the tube. For this 27 sheets drawings