DE102017003120A1 - Planar transport system and method for the simultaneous, independent handling of objects - Google Patents

Abstract

Planar transport system (1) and method for the simultaneous, independent handling of objects with
at least one rotor module (2) which can move freely in the x and y directions in a planar xy base surface (3),
at least one stator module (4) with a planar xy base surface (3) which consists of coils (5) arranged in matrix form in rows and columns, the axes of symmetry of which are arranged perpendicular to the xy base surface (3),
at least one guide of the rotor module (2) on the stator module (4) in the xy base surface (3),
- At least one power supply for the coils (5) and
- At least one controller for the coil currents, characterized in that
a) a rotor module (2) consists of at least one flat magnet (7) of high magnetic field strength with a square xy main surface which has a magnetization perpendicular to the xy main surface,
b) the coils (5) are arranged side by side in rows and columns at a uniform spacing of the coil axes,
c) each rotor module (2) is always in magnetic interaction with at least two coil sections during the movement, whereby forces arise tangentially in the x and y direction and orthogonally in the z direction,
d) the coil wires of each coil (5) are connected to at least one electronic circuit (8) for individual switching of the current and for individual selection of the current direction,
e) the circuit (8) is supplied with operating voltage and pulse-shaped coil current in different current direction in the coil (5) impresses,
f) after each pulse the current flows a short time Δt,
g) the circuits (8) are arranged on a circuit board (9),
h) the circuits (8) are individually supplied with information by a controller (6) and
i) the rotor module (2) has at least one fastening element (10) for object reception and the stator module (4) has fasteners (18) for positioning on a frame.

Description

The invention relates to a planar transport system and a method for the simultaneous, independent handling of objects. The technical area primarily concerns the transport and storage of goods as well as the use in flexible production systems for parts supply.

In the patent DD 293 540 A5 von Dreifke of 27.10.83 "Industrial robots for temporally parallel, independent handling and / or changing the shape of objects" an industrial robot is described, which consists of at least one microtechnical assembly in the program-controlled elements areally, arranged in a matrix and programmatically Finely structured elements, preferably monolithically integrated, micromechanical actuators and effectors and micromechanical or optoelectronic sensors, at least one actuator or control element and at least one microcomputer are arranged.

In DE 10 2007 025 822 A1 Bergmann of 18.12.08 a "combinable surface element with a variety of controllable transducer elements" is given. The actuators are limited to the interaction of permanent magnets in the rotor and electromagnets in the stator. Due to the high magnetic attraction bearing rolling elements are required, which causes additional costs and noise and requires additional space.

In EP 2 165 406 B1 Bergmann, 24.3.10 "Storage or transport system", a surface electromagnetic motor is provided which drives a transport device, wherein the surface engine has a plurality of active transducers that can generate suitable magnetic fields for applying force to the transport device, the transport device on wheels or rollers is stored and the transport device is designed passive with respect to the drive by the surface engine, characterized in that at least one device for metal detection is integrated in the surface engine and that at least one device for metal detection is designed as an inductive proximity switch.

In WO 2013/098202 A1 by Siemens of 4.7.13 a "transport system and method of operation" for samples and reagents is given. A drive surface is divided into electromagnets or permanent magnets in rows and columns. The vehicle has an arrangement of permanent magnets, magnetic elements of ferromagnetic material or electromagnets. The movement of the rotor is due to forces between one or more magnets in the vehicle floor and a plurality of switchable electromagnets in the drive surface. Essentially, attractions are exploited. An ironless coil is not specified. In the literature E. Kallenbach et al .: "Electromagnets" Vieweg Teubner 2008 p. 7 states: "Iron circle, excitation coil and working air gap are the functionally relevant elements of each electromagnet."

In the method, a two-dimensional movement and positioning of the vehicle is indicated substantially parallel to the drive surface. Orientation signals are transmitted via power supply lines. "This identifies the location on the running surface of an observed vehicle. Likewise via the supply line, the vehicle can exchange information with the central control computer, in particular its position. "The data connection takes place via information channels in the drive surface. Likewise can be controlled or regulated via wireless communication. Other options are optical or wireless connections.

In the literature F. Mochel et al. "New design approach for aerostatically guided single- and multi-coordinate drives" 8th ETG / GMM Symposium Innovative Small and Micro Drive Technology 23.9.10 becomes an electrodynamic planar drive with a rotor consisting of an array of 4 permanent magnets and a stator of dense iron-free rows and columns Coils described. The coils are interconnected in 6-strands to achieve movement in the x or y direction.

In EP 1842101 B1 from Philips, 20.1.2006, an "adjustment device" is patented. The passive part consists of permanent magnets using the Hallbach arrangement. The active part consists of multiphase ironless x-coils and y-coils, which interact with many magnets simultaneously in magnetic interaction. The coils, in cooperation with the magnets, generate forces in the x, y and z directions. The coils are oblong oval and in x- and y-groups of 3 coils combined and formed like a checkerboard alternately for the force generation in the x and y direction. To perform a movement, the permanent magnet part must interact with at least 2 pieces of x and 2 pieces of y groups. The coils provided for movement in the y direction can not be used for force generation in the x direction.

EP 1842101 B1 build up US Pat. No. 6,441,541 B1 from 28.4.97 to achieve higher power density and precision.

In DE 10 2007 024 602 A1 gives Etel a technological improvement EP 1842101 B1 at.

In WO 00/10242 by Nikon "Compact planar motor having multiple degrees of freedom" is an active part with matrix-shaped coils and a passive part with matrix-shaped magnets for wafer fabrication specified. Magnets are used which are polarized in the direction of movement and perpendicular thereto. Again, x-motion coils and other y-motion coils are provided to perform traditional multi-phase control.

In EP 2 733 833 Etel "primary part of an ironless linear motor" describes a cooling plate, with which the phase-energized coils are thermally conductively connected.

US 2009/0027506 A1 by Fujinon vom 29.01.2009 "XY Stage and image-taking apparatus" shows a position measuring device using Hall sensors. If a permanent magnet is displaced tangentially over a Hall sensor at a constant height, then, for example, when approaching a south pole, the detection signal increases and as the north pole approaches it sinks. If north and south poles are close together, the signal has a sinusoidal course.

In DE 10 2004 048 183 A1 "Planar Motor", a capacitive displacement measuring system for a planar motors with ironless coils and magnets is proposed.

In DE 44 368 65A1 PASIM specifies on 17.10.94 a "Modular Planar Runner and Process for its Production". The planar rotor movement is carried out by 3-phase x-module modules and y module modules, which are air-stored on a stator with tooth structure.

In DE 101 61 669 A1 Bosch proposes a method and a device for activating or deactivating distributed control units, in which corresponding activation or deactivation commands are issued via an interface module in a point-to-point connection to the decentralized control units of the microcomputers of a central control unit.

1. 1. Planarmotoren haben im Gegensatz zu Kreuztischen den x-Motor und den y-Motor parallelkinematisch in einer xy-Ebene. Diese Direktantriebe arbeiten beispielsweise nach dem Prinzip des hybriderregten Synchronmotors wie in DE 44 268 65 A1 angegeben, nach dem elektrodynamischen Prinzip, dem Induktionsprinzip oder mit Piezoantrieben. Der Nachteil besteht darin, dass der x-Motor und der y-Motor getrennt arbeiten und Bauraum benötigen, der nur zeitweise genutzt wird. Bei einer Bewegung in x-Richtung kann der y-Motor zwar eine Führungsaufgabe ausführen aber keinen Beitrag zur Beschleunigung leisten. Die Masse des zeitweise nicht benutzten Motors ist für die Dynamik nachteilig. Dieser prinzipielle Nachteil soll erfindungsgemäß beseitigt werden, indem keine Trennung in x-Motor und y-Motor erfolgt. Die verfügbaren Kraftwirkungen zwischen den Magneten eines Läufers und den Spulen eines Statormoduls in x-Richtung, y-Richtung und z-Richtung sollen zur Lösung der Bewegungsaufgabe effektiver ausgenutzt werden. Möglichst alle Spulen, die mit dem Läufer in Wirkverbindung sind, sollen parallel und optimal für die Aktorik und Führung genutzt werden.
2. 2. Planarmotoren nach dem Stand der Technik besitzen x-Motoren und y-Motoren, die mehrphasig aufgebaut sind. Das ist notwendig, um in jedem Bewegungszustand die Bewegungsrichtung eindeutig festzulegen und einen gleichmäßigeren Bewegungsablauf herzustellen. Das erfordert Bauraum und verursacht besonders bei Planarmotoren Mehrkosten sowohl bei der Fertigung von Läufern und Statoren. Erfindungsgemäß soll das Problem gelöst werden, indem selbständig agierende Läufermodule geschaffen werden, die auch einphasig als Hüpfer arbeiten können oder die Spulen des Statormoduls so zeitversetzt angesteuert werden, dass räumlich versetzt angeordnete Läufermodule optimale Kraft erzeugen.
3. 3. Planarmotoren nach dem Stand der Technik werden mit x- und y-Motoren betrieben, die in der Regel 2- oder 3phasig aufgebaut sind. Zum Betrieb wird eine 2- oder 3-phasige Steuerung oder Regelung benötigt. Durch Wahl einer größeren Phasenanzahl lassen sich im Schrittmotorbetrieb ein besserer Gleichlauf und eine höhere Positioniergenauigkeit erreichen, jedoch wird das aus Gründen höherer Kosten für die Steuerung selten angewendet. Die erfinderische Aufgabenstellung besteht darin, Motoren mit einer Vielzahl von Phasen zu schaffen ohne den Steuerungsaufwand wesentlich zu erhöhen.
4. 4. Direktantriebe nach dem Stand der Technik werden in der Regel mit Sinuskommutierung betrieben. Für jede Motorphase muss ein sinusähnliches Signal erzeugt werden, wobei die Amplitude und die Frequenz variabel sind. Der Steuerungsaufwand soll erfindungsgemäß wesentlich gesenkt werden, indem digital gearbeitet wird, also lediglich die Stromrichtung umgeschaltet oder der Spulenstrom ausgeschaltet wird und der Betrieb mit einer Chopper-Steuerung erfolgt.
5. 5. Bei bisherigen Planarmotoren sind in der Regel die Läufer mit einer Energie- und Informationsversorgung verbunden. Bei einem Transportsystem müssen Zuleitungen vermieden werden, und es ist wichtig, dass Läufer dicht nebeneinander agieren und dicht einparken können. Läufer aus einer Permanentmagnetanordnung dürfen sich nicht wesentlich untereinander beeinflussen.
6. 6. Bisher werden in Transporteinrichtungen die Objekte einzeln von einer Annahme- zu einer Abnahmeposition gebracht. Bei größeren Distanzen wäre es dagegen günstiger, wenn Läufermodule zu einem Pulk zusammengestellt und gemeinsam transportiert werden. Ziel der Erfindung ist es, den Pulk in der Nähe der Abnahmeposition zu parken und Läufermodule mit den Objekten von dort aus schnell in die Abnahmeposition zu transportieren.
7. 7. Bisher gestatten Planarläufer nur eine Bewegung in x-Richtung und/oder in y-Richtung. Sie können an beliebiger Position in der xy-Fläche nicht oder nur um einen kleinen Winkel α gedreht werden. Im Stand der Technik wird das Drehen von Objekten um kleine Winkel um die z-Achse dadurch gelöst, dass beispielsweise 2 x-Motoren und ein y-Motor verwendet werden. Eine komplette Drehung von Objekten um die z-Achse wird durch Verwendung von 2 Planarläufern gelöst, indem ein Objektträger gelenkig mit den Läufern verbunden ist. Damit sind hohe Kosten für die Steuerungstechnik, für die Läufer und die größere Statormodulfläche verbunden. Erfindungsgemäß soll sowohl die Drehung von kleinen Objekten mit 2 Läufermodulen als auch größerer Objekte auf einem Läufer ermöglicht werden.
8. 8. Im Stand der Technik ist die Steuerung oder Regelung jedes einzelnen Läufers vorgesehen. Dazu muss jeder Läufer in definierter Lage referenziert werden oder die Startposition muss gemessen werden. In einem planaren Transportsystem sind meistens nur die Start- und die Zielposition von Bedeutung, und die Behandlung der Läufer ist mit einer Priorität zu versehen. Bisher ist kein Planarmotor bekannt, der Läufer in der Gruppe betreiben kann. Läufer sollen selbständig auf Fahrwegen an Hindernissen vorbei fahren und sich überholen können. Die Bewegung einer Gruppe von Läufern kann nicht mehr durch Programmierung einzelner Bahnkurven gesteuert werden. Bisher ist nicht bekannt, wie sich Läufer in der Gruppe bewegen und individuelle Zielpositionen auf kürzestem Wege ohne Kollision finden. Dabei soll eine Vielzahl von Läufern gleichzeitig effektiv agieren.
9. 9. Transportsysteme nach dem Stand der Technik sind mit externen Messsystemen zur Positionsbestimmung von Läufern ausgestattet bzw. die Integration des Positionsmesssystems mit dem Planarmotor ist gering. Damit sind die Kosten zu hoch, die Messsysteme sind im Bewegungsraum störend oder zu unsicher, um bei einer Vielzahl von Läufern Fehlpositionierungen oder Kollisionen auszuschließen.
10. 10. Bei Verwendung einer Vielzahl von Läufern besteht das Erfordernis, dass Läufer auf einfache Weise und sicher an beliebiger Position in der xy-Fläche hinzugefügt oder entfernt werden können. Ein aufwendiges Referenzieren soll vermieden werden.
11. 11. Bisher ist keine kostengünstige Steuerung bekannt, mit der die Positionskontrolle und die Bewegung einer großen Anzahl von Läufern in der xy-Ebene beherrscht werden.
12. 12. Im Mittelpunkt steht bei der gleichzeitigen und unabhängigen Handhabung insbesondere von vielen Objekten über große Fahrwege stets die Kostensenkung. Das Transportsystem soll in hohem Maße modular aufgebaut sein. Die Stator- und Läufermodule müssen sich ohne hohe Anforderungen an die Toleranzen leicht zu größeren Einheiten zusammensetzen lassen und eine hohe Kraftdichte gestatten. Das Gestellsystem, auf dem die Statormodule zu befestigen sind, muss kostengünstig gefertigt und montiert werden können.

The invention aims to solve the following problems and satisfy long-standing needs:

1. 1. In contrast to cross tables, planar motors have the x-motor and the y-motor parallel kinematic in an xy-plane. These direct drives work, for example, on the principle of the hybrid-excited synchronous motor as in DE 44 268 65 A1 specified, according to the electrodynamic principle, the induction principle or with piezo drives. The disadvantage is that the x-motor and the y-motor work separately and require space, which is used only temporarily. When moving in the x-direction, the y-motor can perform a leadership task but not contribute to the acceleration. The mass of the temporarily unused motor is detrimental to the dynamics. This principal disadvantage is to be eliminated according to the invention by no separation in the x-motor and y-motor. The available force effects between the magnets of a rotor and the coils of a stator module in the x-direction, y-direction and z-direction should be used more effectively to solve the motion task. As far as possible, all coils that are in operative connection with the rotor should be used in parallel and optimally for the actuators and guidance.
2. 2. Planar motors according to the prior art have x-motors and y-motors, which are constructed multi-phase. This is necessary in order to clearly define the direction of movement in each movement state and to produce a more uniform movement sequence. This requires installation space and, especially for planar motors, causes additional costs both in the production of rotors and stators. According to the invention, the problem is to be solved by independently operating rotor modules are created, which can also work as a single-phase hops or the coils of the stator module are controlled in time so that spatially staggered rotor modules generate optimal force.
3. 3. Planar motors according to the prior art are operated with x and y motors, which are usually constructed in 2 or 3 phases. For operation, a 2- or 3-phase control or regulation is required. By choosing a larger number of phases, better tracking and positioning accuracy can be achieved in stepper motor operation, but this is rarely used for reasons of increased control cost. The inventive task is to create motors with a variety of phases without significantly increasing the control effort.
4. 4. Direct drives according to the prior art are usually operated with sinusoidal commutation. For each motor phase, a sinusoidal signal must be generated, the amplitude and the frequency being variable. The control effort according to the invention is to be substantially reduced by working digitally, so switched only the current direction or turned off the coil current and the operation is done with a chopper control.
5. 5. In previous planar motors, the runners are usually connected to an energy and information supply. In a transport system, supply lines must be avoided, and it is important that runners can operate close together and park tightly. Runners from a permanent magnet arrangement must not influence each other significantly.
6. 6. So far, the objects are brought individually in transport facilities from an acceptance to a decrease position. For larger distances, however, it would be cheaper if runner modules are assembled into a pulp and transported together. The aim of the invention is to park the pulp in the vicinity of the removal position and to transport runner modules with the objects from there quickly to the removal position.
7. 7. So far Planarläufer allow only one movement in the x-direction and / or in the y-direction. They can not be rotated at any position in the xy surface or only rotated by a small angle α. In the prior art, rotating objects by small angles about the z-axis is accomplished using, for example, 2 x motors and a y motor. A complete rotation of objects about the z-axis is accomplished by using 2 planar rotors by hinging a slide to the rotors. This involves high costs for the control technology, for the rotor and the larger stator module surface. According to the invention, both the rotation of small objects with 2 rotor modules as well as larger objects on a rotor should be made possible.
8. 8. In the prior art, the control or regulation of each individual runner is provided. For this purpose, each runner must be referenced in a defined position or the start position must be measured. In a planar transport system, usually only the start and the destination position are important, and the treatment of the runners has to be given a priority. So far, no planar motor is known that can run runners in the group. Runners should be able to independently drive past obstacles on driveways and overtake themselves. The movement of a group of runners can no longer be controlled by programming individual trajectories. So far it is not known how runners in the group move and find individual target positions on the shortest path without collision. A large number of runners should act effectively at the same time.
9. 9. Transport systems according to the prior art are equipped with external measuring systems for determining the position of runners or the integration of the position measuring system with the planar motor is low. Thus, the costs are too high, the measuring systems are disturbing or too uncertain in the movement space to exclude misalignments or collisions in a large number of runners.
10. 10. When using a plurality of runners, there is a requirement that runners can be added or removed easily and safely at any position on the xy surface. A complex homing should be avoided.
11. 11. So far, no cost control is known, with the position control and the movement of a large number of runners are dominated in the xy plane.
12. 12. The focus is always on the simultaneous and independent handling, especially of many objects on long driveways, the cost reduction. The transport system should be highly modular. The stator and rotor modules must be easy to assemble into larger units without high tolerances requirements and allow a high power density. The rack system on which the stator modules are to be mounted must be inexpensive to manufacture and install.

For the invention protection is sought with the specified claims.

The inventive idea is that individual permanent magnets or magnet arrangements can be moved simultaneously and independently on a surface of coils arranged in rows and columns. For this purpose, the coils are switched individually programmatically. Hall sensors for detecting the position of the rotor and / or a light-emitting diode for detecting the state of the current supply to the coils can be arranged on the upper side of the coil.

In the main claim 1 is shown how a rotor module can be moved from a single permanent magnet or a simple arrangement of magnets on a stator module from an array of coils. The permanent magnet must have a high magnetic flux density and therefore a high magnetic field strength. During movement, the rotor module must have at least 2 coils in magnetic operative connection. In a dependent claim will be shown later that for positioning and parking and the operative connection to a coil can be sufficient. The stator module has a parallel basic structure such that each Coil having at least one circuit in the form of a power electronic circuit, each circuit is connected to a voltage and information supply and each coil can be operated independently of the other by a controller.

The coil wire of each coil is connected to an electronic circuit. The circuit is supplied with an operating voltage and if possible a current injection, which allows current in the positive direction and in the negative direction and with which the power can be turned off. For example, the current should flow for a short time using a capacitor and be turned off automatically to avoid overloading. If the current is to flow for a long time, this is done by pulsing (chopping). The amplitude of the current is set by the pulse amplitude, the pulse duration and the pulse frequency.

A printed circuit board is specified. From the top of the possibly previously reinforced wires of the coils are inserted through the circuit board. The circuits are located near the coil on the underside of the circuit board. On the circuit board address bus, data bus, control lines and the supply lines for the operating voltage and other electronic components can be arranged. A calculator is provided which provides individual information to the circuits. In the method claim, the sequence of the stepwise energization of the coils for carrying out the movement is described in detail.

This is a distinction from the prior art, which has been called Philips, where a permanent magnet for generating power is connected only to a coil, the coils are not arranged in a matrix and are supplied in phases with power.

In dependent claim 2, the process and nature of the power generation is described in more detail. In an experimental device, coil currents were switched digitally in the form of an energization pattern to show the movement in the x-direction and y-direction. The use of all coils is new for both the x and the y direction. In the coil base magnetic field lines run parallel to the xy surface and generate attraction and repulsion forces. The design of levitation forces is of fundamental importance for the planar motor with sliding guide. Therefore, in contrast to the symmetrically constructed electrodynamic motor, the coil height is higher compared to the coil diameter.

The spatial distribution of the magnetic flux density of a solenoid in air is presented in the literature "Magnetic Materials" on page 19, and the typical course of the magnetic field lines is shown. The diagram shows the course of the magnetic field strength H as a function of the z-coordinate and the current intensity. The field strength at the poles is only about half as large as in the coil center. The magnetic flux density B = μo * H is relatively low for ironless coils. The magnetic field strength is approximately H = I * w / root (d ² + h ² ), ie proportional to the current I and the number of turns w. D is the coil diameter and h is the coil height. The permissible current strength results from the permissible current density, which depends on the duty cycle and the heating. The number of turns should be as high as possible. But a high inductance L = w ² / magnetic resistance requires a high voltage for current injection. The max. Voltage should be limited to 70 V for cost reasons. The copper fill factor should be high, because a large coil diameter d and a large coil height h reduce the magnetic field strength.

In "Magnetic Material" on page 24, the typical course of the magnetic field strength of a parallelepiped-shaped permanent magnet in the z-direction (perpendicular to the xy-base) as a function of the distance z of the measuring point from the magnetic base is indicated in a graph. The magnetic field strength is about half as large at the edge of the magnet as in the middle region. The magnetic flux density B of the magnet is many times greater in the region of interaction of the magnetic fields than the magnetic flux density generated in the vicinity of the coil wire. According to Lorentz, the force effect in the space of the intersection of the magnetic fields results from the vector product force F = current intensity Ix magnetic flux density B * wire length 1. This results in the scalar force components Fx = Iy * Bz * 1, Fy = Ix * Bz * 1, Fz = Iy * Bx * 1, Fz = Ix * By * 1, Fx = Iz * By * 1 and Fy = Iz * Bx * l.

In the xz plane, according to the "three-finger rule" in the wire region of the coil, a force results in the x direction when the vector of the technical current direction in the y direction and the vector of the magnetic flux density in the z direction. In the xz plane, there is also a force in the z direction when the current vector acts in the y direction and the vector of the magnetic flux density in the x direction. According to the "three-finger rule", the force Fz is directed against the z-coordinate. It represents a repulsive force between magnet and coil, called hovering force and contributes to the reduction of friction in the sliding guide. The generation of a force Fx is also interesting if at least one component of the current vector in the z-direction and one component of the vector show the magnetic flux density in the y-direction. A corresponding consideration can be carried out in the yz-plane.

The differential force vector dF at the vectorial conductor element dl, which is located at a location of the vector of the magnetic flux density B and is traversed by the current I, can also be calculated according to the following vector product: dF = I * (dl x B). This indicates the force acting on a current-carrying conductor in the magnetic field. In a section through the cylindrical coil in the xz plane, the vectorial conductor element dl is directed on one side in y and on the other side in -y. If on both sides the vector shows the flux density in direction -z then the force vectors on both sides are of the same magnitude and opposite. When the magnet and coil have different poles in the region of interaction, the force vectors are in the coil center direction and the magnet assumes a stable position in the xz plane.

The vector of the magnetic flux density B has a component Bx at a greater distance from the xy base surface on one side and a component -Bx on the other side. As a result, in both coil sides, a force component Fz with the same amount and the same direction, which corresponds to an attractive force.

If the magnet and the coil have a different polarity, then both force components Fx run in the direction of the coil edge, and the symmetrical position of the magnet above the coil center is unstable. In this case, both force components Fz in the opposite direction, which corresponds to a repulsive force (levitation force).

In the general case, differential force vectors dF arise as a function of the magnitude and the direction of the vector B at the location of the considered conductor element d1. The current is a proportionality factor.

Since the conductor elements have a distance from the center of gravity of the rotor module, act on the rotor in addition to the force components Fx, Fy and Fz and the components Mx, My and Mz of the torque vector M.

In the xy base, the frictional force Fr = μ * Fz, wherein at the beginning and end of the movement, a change between the coefficient of static friction μo and the sliding friction coefficient μ occurs A friction force occurs only when the normal force of the sum of engine power and external forces a Represents compressive force in the xy base area. The superimposition of the magnetic field of the rotor module with the magnetic field of the coil also creates forces between magnetic poles. When calculating the forces and moments in space, the position of the center of gravity of the runner and the object to be transported must also be taken into account.

• - Die magnetischen Feldlinien des Magneten sollen fokussiert und in das Innere der Spule gelenkt werden.
• - Die Spule soll so hoch ausgeführt werden, dass der überwiegende Teil der vom Magneten erzeugten Magnetfeldlinien durch den Wickelraum gehen.
• - Der Wickelraum im Bereich der Oberfläche des Statormoduls ist für die Erzeugung der Schubkräfte Fx und Fy am wichtigsten. Die Gleitschichten des Läufermoduls und des Statormoduls sollen dünn sein. Durch einen Rechteckquerschnitt der Spule besonders im oberen Spulenbereich wird der Raum mit der größten Magnetflussdichte besser ausgenutzt.
• - Durch eine Schrägwicklung können zusätzliche Schubkräfte Fx und Fy erzeugt werden.
• - Mit einer Magnetanordnung erzeugte Vektorkomponenten der Magnetflussdichte in x- und y-Richtung führen zu Schwebe- oder Anzugskräften. Schwebekräfte führen zur Verringerung der Reibung und damit zu höherer Dynamik. Anzugskräfte können zur verbesserten Führung des Läufermoduls beitragen und sind für den Betrieb von Läufermodulen über Kopf notwendig.
• - Liegt beispielsweise ein Magnet zentrisch auf einer Spule, dann heben sich die Schubkräfte auf, die unterhalb der xy-Grundfläche wirken. In Abhängigkeit von der Stromrichtung wird das Läufermodul angezogen oder es schwebt in einem instabilen Zustand. Mit der Korkenzieher-Regel (auch als Rechte-Faust-Regel bezeichnet) lässt sich in Abhängigkeit von der technischen Stromrichtung der Nordpol ermitteln.
• - Der Magnet wird am besten positioniert, wenn er in der Mitte von 4 Spulen, die mit Strom in gleicher Richtung versorgt werden, angeordnet ist und sich die Pole vom Magnet und den Spulen anziehen. Wenn die 4 Spulen mindestens einen kurzen Impuls in entgegengesetzter Stromrichtung erhalten, kann ein kurzzeitiges Schweben und eine genauere Ausrichtung in dieser Position erreicht werden. Durch Pulsen lässt sich fühlen, ob das Läufermodul auf einer bestromten Spule in Wirkverbindung steht. Damit kann eine zusätzliche Sensorik eingespart werden.
• - Da die Motorkräfte im Inneren der Spule auftreten und an Hebelarmen wirken, muss auch die Wirkung der Drehmomente berücksichtigt werden.
• - Von jeder in Wirkverbindung mit dem Läufer stehenden Spule gehen während der Bewegung Motorkräfte und Motormomente aus, die von der Position des Läufers und vom Betrag und der Richtung des Stromes abhängig sind. Zu jeder Position muss zur Realisierung der Bewegungsaufgabe ein Bestromungsmuster berechnet und realisiert werden.
• - Ein Läufermodul kann von einem Bestromungsmuster von Nachbarspulen begleitet werden, das das Bewegungsverhalten unterstützt. Es können Bestromungsmuster programmiert werden, um die Verdrehung eines Läufers zu vermeiden oder zu beeinflussen. Geeignete Bestromungsmuster können gestaltet werden, um in Bewegungsrichtung des Läufers eine zusätzliche Kraft aufzubringen, die im Falle eines instabilen Zustandes die weiterführende Bewegungsrichtung bestimmt.

In order to be granted the procedural claim, substantial conclusions are drawn from it for further claims:

• - The magnetic field lines of the magnet should be focused and directed into the interior of the coil.
• - The coil should be made so high that the majority of the magnetic field lines generated by the magnet go through the winding space.
• - The winding space in the area of the surface of the stator module is the most important for generating the thrust forces Fx and Fy. The sliding layers of the rotor module and the stator module should be thin. A rectangular cross-section of the coil, especially in the upper coil area, makes better use of the space with the greatest magnetic flux density.
• - By an oblique winding additional thrust forces Fx and Fy can be generated.
• - Vector components of the magnetic flux density in x- and y-direction generated with a magnet arrangement lead to levitation or attraction forces. Floating forces lead to a reduction in friction and thus to greater dynamics. Tightening forces can contribute to the improved guidance of the rotor module and are necessary for the operation of overhead runner modules.
• - If, for example, a magnet is centered on a coil, then the thrust forces that act below the xy base surface cancel each other out. Depending on the current direction, the rotor module is attracted or floats in an unstable state. With the corkscrew rule (also known as rights-fist rule) can be determined depending on the technical direction of the current north pole.
• - The magnet is best positioned if it is placed in the middle of 4 coils supplied with current in the same direction and the poles of the magnet and the coils attract each other. If the 4 coils receive at least one short pulse in opposite current direction, a brief hovering and a more accurate alignment can be achieved in this position. Pulses can be used to determine whether the rotor module is in operative connection with an energized coil. Thus, an additional sensor can be saved.
• - Since the motor forces occur inside the coil and act on lever arms, the effect of the torques must be considered.
• - Of each standing in operative connection with the rotor coil go out during the movement of engine forces and engine torque from the Position of the runner and the amount and direction of the current are dependent. For each position an energization pattern has to be calculated and realized to realize the motion task.
• - A rotor module can be accompanied by an energizing pattern of neighboring coils, which supports the movement behavior. It can be programmed Bestromungsmuster to avoid the rotation of a runner or affect. Suitable Bestromungsmuster can be designed to apply an additional force in the direction of movement of the rotor, which determines the further direction of movement in the case of an unstable state.

The motion sequence of a rotor module and a rotor will be shown later in the method and by way of example in the figures.

By integrating the force vectors in the finite elements of a coil, one obtains a force vector and a torque vector, which is dependent on the position of the rotor relative to the coil. The force and torque vectors from each coil in operative connection can be added after the matrix calculation. The static and dynamic stresses in the form of forces and torques acting on the rotor module during movement change according to laws that can be determined by FEM calculations or experimentally. The stresses on runners, which consist of several rotor modules, can be determined at least approximately from the sum of the stresses on the rotor module.

If matrices have been found and stored for each rotor type and for each rotor position, then the current amplitude and current direction can be read from the memory in the form of software routines in order to fulfill the motion task according to the calculation program. The influence of the speed on the optimal control can be recorded in the calculation program.

In claim 2, the influence of adjacent coils is given, which are not preferred but are penetrated only by a smaller part of the magnetic field lines of the rotor module. If no further rotor module is to be moved independently in the vicinity of a rotor module, the forces generated by adjacent coils can be used, for example, to compensate for undesired rotational movement of the rotor module.

In dependent claim 3 protection is sought for a single-pole rotor module, which in 2 is shown. The P magnets are used to amplify the magnetic flux at the magnet bottom. The magnetic shielding is necessary so that rotor modules are only slightly influenced by each other magnetically and can approach each other close. The shield consists of sheet of sufficient permeability and thickness. It should be twice as high as the magnet. Single-pole rotor modules represent the smallest rotor unit and the basis for the transport system. They can be arranged close to each other to form a pulp, drive in a continuous manner without being mechanically connected to each other. In a manufacturing cell small parts can be supplied with rotor modules from the pulp or brought into the crowd.

In claim 4, the use of potting compound with sliding property is proposed, with which a functional integration takes place. The magnet, the P magnets, the object fixture and the shield are connected. On the underside of the rotor module as thin as possible sliding layer is created. The thickness of the sliding layer is determined by the adhesive strength of the casting compound. Using a potting device and release agent, a high flatness is achieved, so that no post-processing is required. Alternatively, it is possible to dispense with a sliding layer or gluing a sliding material. As with a Halbach magnet assembly, the magnetic flux density on the magnet bottom is amplified and weakened on the magnet top. By tilting the P magnet in the area of the upper side of the magnet to the outside of the magnet, the magnetic flux density on the underside of the magnet is further increased. When the P magnet is arranged parallel to the xy base, the increase in the magnetic flux density on the outer side takes place in the lower half of the P magnet. Due to the tilting of the P magnet, the magnetic flux running next to the rotor module is brought closer to the xy base surface and guided into the coil region, which results in 3 is pictured. The obliquely arranged P-magnet is advantageously composed of at least 2 pieces of tilted P-magnets, which are layered and arranged offset from each other.

In claim 5, a Wechselpol rotor module is described which in 4 is shown. The attachment serves as a return plate and for holding the object. By Wechselpolanordnung a higher power density is achieved. The reversible pole rotor module is the smallest unit with high power density. With the Wechselpol runner module can also be a slight floating perpendicular to the xy base, a rotation at an angle α about the x-axis and a rotation at an angle β around the y-axis with appropriate energization of the coils are performed.

In claim 6 patent protection is sought for a method for program-controlled design of runners, which are mounted from unipolar rotor modules or Wechselpol runner modules, using the transport system itself is used. In claim 2 has already been shown that rotor modules can act independently on the stator module.

Rotor modules can be manufactured inexpensively in large quantities and mounted with a mounting to each other to a runner. In the transport system it is possible that several runner modules in the group solve a transport task. For this purpose, rotor modules are ordered, put together to run synchronously during transport. A long object can also be moved in a linear and rotating manner by 2 rotor modules. It is particularly advantageous if rotor modules can be made temporary to runners. In principle, single-pole rotor modules with different magnetization direction and Wechselpol rotor modules can be mounted. For this purpose, the current patterns stored for the rotor modules must be merged. In the vicinity of the transport system, devices for mounting and dismounting objects, moving devices, robots and processing machines can be arranged. For example, fasteners can be mounted and removed in this way between rotor modules.

In claim 7, the protection for the construction of a stator module is requested. The technology is based on the cost-effective pouring of the interstices of the coils, the printed circuit board, the circuits, the fasteners with a potting compound that cures to a monolithic body that conducts heat well, has a low coefficient of expansion and good sliding properties. Such potting compound is for the production of planar motors DE 44 368 65A1 used.

The stator modules must be interchangeable from above and have snap fasteners and at least one opening for removal. In parking positions, the rotor module should be fixed without power. Therefore, a magnetically conductive sheet is to be placed under the coils at least in such a range.

The use of support elements between a base plate, which is arranged under the circuit board and a cover plate made of material with low coefficient of adhesion and sliding friction is given as an alternative. Cooling can also be done by an air flow along the coils and circuits. A transparent cover plate is required when a light emitting diode is located near at least one coil to indicate the current flow in the coil.

A stator for the transport system consists of stator modules, which are arranged closely in rows or parallel, so that the coil spacing between the stator modules is the same size as the distance between the coils within the stator module, the coils are arranged in rows and columns on straight lines, and have the same distance from each other. Each stator module has an interface for providing the intermediate circuit voltage and the computer. The stator modules are interconnected or with a planar rack system, e.g. connected with holding elements in the floor so that the entire stator has a smooth surface. In the case of an aerostatic or hydrostatic guide, the seams between the stator modules are sealed, for example potted and ground.

Advantageously, the frame system is made of material with a low coefficient of expansion in order to keep thermal stresses between the stator modules and the influence of the temperature on the positioning accuracy low.

The range of motion of the runners is limited by fixed to the stator edge rails that protrude beyond the stator.

In method claim 8, the sequence of movement of a single square permanent magnet is described, which is placed on an array of ironless coils. The magnet length is as large as the distance between the coil axes. By suitably switching the current direction in 6 coils surrounding the magnet, the magnet is moved by the amount of its magnet length. In a test facility, the control device has been implemented by an array of switches, with which each coil is supplied with current in the desired direction. The magnet moves in the x and y directions. A technical prejudice is overcome and shown that a magnet in the surface can be moved easily controlled by switching the current in ironless coils. If a magnet is surrounded by 4 adjacent coils, have the same polarity with each other and the same polarity as the magnet on the bottom, then the rotor module is driven. The magnet hops on by a magnet length. It proves to be advantageous that coils are not energized in one position. With the magnet after 1 Drive and levitation forces are generated by the laterally exiting field lines. The advantage is that the movement of a rotor module is also possible when the coils are energized only in one direction. In the simplest way can thus perform whole and half steps, wherein claimed in claim 8g) protection. The course of movement can be combined with the in 1 tracked rotor module are tracked.

In sub claim 9, a method for moving a plurality of rotor modules is indicated in close succession.

Rotor modules can be placed between 4 coils, positioned and fixed to move them from there over the surface. Runner modules can also be parked on the edge of the stator, side by side and parallel. If a rotor module gets into an indifferent position, adjacent coils must be included. The arrangement of a magnetically conductive sheet below the coil leads to increase the attractive forces for fixing rotor modules without energization, for driving on a slate plane or for moving overhead.

With claim 10 patent protection for a runner from single-pole rotor modules or Wechselpol-rotor modules is requested. With only minor structural changes in the rotor modules larger rotor can be mounted from rotor modules. In 8th For example, a rotor is shown, which is made of Wechselpolläufer modules. When lining up, of course, a twice as wide P magnet is used instead of the 2 laterally arranged P magnets in the rotor module. These can be the 2 and 4 be used for comparison.

For example, a runner can be operated from 6 single-phase rotor modules in the x-direction 3-phase or 6-phase. The distance of the coil axes is in 6 a + a / 6. He could also be a + a / 3. The coils are controlled with a time delay.

In the runners, the P-magnets can also be made narrower than the magnets if the optimization results in a higher magnetic flux density in the coil area. The magnet and assembly costs can be reduced if distances for potting compound between the magnets and P-magnets are provided.

The main direction of movement of the rotor can also be carried out at an angle of 45 ° to the row and column coils arranged, when the rotor is placed rotated relative to the stator module.

The coils may also be arranged in the tightest circular package to accommodate significantly more wire length per volume of the stator module to increase the power density and improve heat dissipation. Primarily, arrangements and methods that reduce the cost of the planar transport system are important because many rotor modules, rotors, stator modules, and control modules are required. In contrast, the one-time software costs are low because the user uses existing software modules. The appropriate energizing patterns for coil groups can be calculated for cost-effective hardware components or determined experimentally.

In claim 11 runners are described, which consist of rotor modules and are connected to the rotor upper side by a flexurally elastic attachment. Runners can thereby move on stators, in which the stator modules are arranged offset by an angle α about the x-axis or an angle β about the y-axis. Such stator modules arranged at an angle to one another are suitable for bringing runners from the horizontal position onto an inclined plane and for overcoming differences in height. Mounting stator modules on a rack can be more cost effective if larger angle tolerances are allowed. Bend-elastic runners can also move on if there are angular errors. Bend-elastic objects can be deformed or straightened on flexurally elastic runners. Rotor modules come into closer connection to the stator, which increases the power density. With this inventive idea is achieved that objects can be moved in space with the planar transport system.

Claim 12 specifies a sensor with which the position of the unipolar rotor modules and the position and direction of the Wechselpol-rotor modules and the rotor can be determined. When covered with a rotor module, a switching signal is triggered by the magnet. The magnetic field generated by the coil can be neglected, because it does not bother. The sensors should be designed cost-effective and robust and be connected to each coil. The sensors are necessary for controlling or tracking the movement into the setpoint position. At least one digital Hall sensor is arranged in the upper region in the axis of symmetry of the coil or in a space between the coils at a suitable distance from the xy base surface. With an arrangement of 2 Hall sensors, the polarization direction of passing magnets in North and South can be distinguished. The power supply and the signal lines are preferably passed through the hollow core portion of the coil to the circuit board. The information from the Hall sensor is transmitted via the bus system to a computer.

There are various other possibilities for determining the position. Inductive methods are also known in the prior art. By superposition of the coil currents with high-frequency signals, the inductance change in the coils can be determined in order to obtain a signal for the rotor overlap.

A runner can also be equipped with at least 3 transponders, which are mounted at a distance from each other on the runner. With a reading device, the time difference in the sequence of transponder data can be determined and from this the position and orientation of the recognized runner can be calculated.

At least one runner or an object to be transported can also be equipped with at least one programmable transponder in order to influence the movement sequence in the transport system or to carry out an exchange of information with external devices or stations. This means that measures for handling the rotor modules can be planned, carried out and evaluated.

Furthermore, a method for placing runner modules and runners in the transport system is described. Runner modules or runners are usually brought into or removed from the transport system by means of devices and machines at selected positions. However, they should also be able to be set manually to a predetermined position and direction, for example when an operator enters the system. The placement of a rotor module or rotor in the transport system takes place on the illuminated by at least one signal lamp or LED surface and start the programmed movement. For this purpose, a signal lamp is arranged in at least one coil on the upper side of the coil in the region of the coil axis, which lights up when the coil is energized. The movement of signal points or signal areas can be used to simulate a rotor movement. By pulsing the current can be seen from the vibration, which coils are turned on.

In claim 13, a carriage is specified with preferably four ball rollers, which is necessary for moving heavier objects. With friction and friction friction increases approximately proportionally with the weight The ball rollers are used to relieve the rotor. The xy base must be hard enough to accommodate the heart's compression of the balls. The frame of the car is designed so that the outer edges are slipped over the runner at a small lateral distance and taken from the side surfaces of the runner, so that the runner continues to slide The entrainment can also be done by at least 2 pins between the frame and runner. The innovation is that the distance between rotor and stator is kept small in order to achieve high power density.

Claim 14 specifies a method for moving and rotating an object on 2 rotor modules in the xy base area. From this, the method for positioning and orienting runners is derived.

In claim 15, the hardware components and the system topology or communication of the transport system are written. The higher-level control, which can be an industrial PC with soft PLC, calculates the routes of the individual runs and sends the data to the control units in hard real-time via a fieldbus such as ProfiNet, SercosIII or EtherCAT. Each stator module is assigned a control unit. The control unit can be arranged on the printed circuit board in the stator module. It calculates the addresses of the coils and the type of current supply from the data of the higher-level controller and sends this data to the corresponding circuits (coil drivers) in hard real-time via an internal device bus such as SPI or I ² C. The energization of the coils is thus individually in the form of a pattern of energization of a group of coils on the stator module, which is referred to as Bestromungsmuster. The affected coils and the type of current change in rapid change. The circuits are arranged in the vicinity of the coils and Hall sensors and convert the information into an energization of the coil. The circuits consist of a power electronic circuit, such as a full or half bridge as IC. Here, the 5V logic voltage is galvanically isolated from the power voltage. The information from the Hall sensors is fed back to the control unit in the stator module in hard real time. The signal generation, the communication interface for SPI or I ² C and the feedback of the signals from the Hall sensors can be constructed with individual ICs or as a microcontroller. The stator modules are connected to a central DC link voltage.

The inventive idea finds its main application in the simultaneous, independent movement of a large number of runners. Traditional control using coils that are dedicated to a motor phase is not efficient or inappropriate. The effort in the wiring of the individual coils would be too large, especially if each coil to be supplied at different times with electricity, with electricity in different directions and pulsed with variable RMS. Signals 0 or 1 should be read out of a large number of Hall sensors at short intervals.

According to the invention, the provision of information about the amount and direction of the coil current and the reading out of the information from the Hall sensors with the control unit in the time division multiplex method or with a Serial Peripheral Interface (SPI). Here is the knowledge about providing information to generate moving To apply images on a screen or on a light pixel screen and the knowledge to output information on a keyboard.

The control unit briefly establishes a connection to the circuit via an address bus, which is located in the vicinity of the coil and the Hall sensor. The cycle time is T = 1 / f. If the time interval is chosen smaller with Δt <= T / k, a full step can be divided into k microsteps.

The desired renewal of the data takes place in the example at k = 6 microsteps, a rotor speed of v = 0.1 m / s with a step size of 30 mm in the time interval Δt = T / k = 0.05 seconds, because T = s / v = 30 mm / 100 mm / s = 0.3 s.

The frequency f is at least so high that all rows and columns are passed through to trigger a pulse and thus a current in the coil. At a rotor speed of 0.12 m / s, a split period of 30mm requires at least 4 pulses per second on the single circuit. The circuits are connected to a device internal bus and a DC link voltage. They have a current direction changer. For the typical movements of a runner module, a sequence of energization patterns is programmed and stored. The energization pattern for the movement of runners results essentially from the superimposition of the energization patterns of rotor modules.

To control the movement, the information from the Hall sensors are read out similar to keyboards. From the signals, position matrices are stored in the computer in hard real-time, with which the current positions and orientations of the runners are specified.

The movement of a large number of runners is controlled in hard real-time by retrieving position and actuator matrices. Setpoints for the current speed and acceleration must be taken into account.

The calculation of movement strategies can be carried out, for example, according to the group principle. The representation of the current position of the runner is not necessary or not useful. The target matrices may be provided with a priority feature representing the time of arrival of at least the most important runner at the target. This can also be understood as a target time matrix. From the computer program can be calculated from a priority for the movement. From this it is determined which runner has right of way and acts with the highest speed or acceleration. The respective coils are then operated with maximum RMS current. The main and byways should be specified and can be created clearly with a graphics program. This also marks overtaking, stopping and parking areas as well as obstacles.

Stops to be kept between the runners can be specified. Up to a speed limit, a collaboration, a push or push between the runners and persons is allowed.

In the computer, a thermal overload protection can be programmed, with which the behavior of a thermal motor protection switch is modeled. According to the Stromwärmegesetz, each coil has a current heat loss of Q = I ² * R * t as a function of the time t. The temperature increase results from ΔT = Q / heat capacity. With continued energy supply, an equilibrium state arises at an elevated temperature, in which the heat released per time period equals the recorded electrical power. In the computer is deposited for each coil with the ohmic resistance R, how much current I flowed which time t. The heat capacity, the heat transfer coefficient and the surface involved in the heat transport can be stored in a mathematical model.

The control of the coils can be done by choppers to improve the synchronization of the transport system.

The chopper control, also called pulse control, is a low-loss control method for electric motors. To achieve the desired current values, either the clock frequency or the duty cycle is changed.

The signal generation in the circuit can be digital (+, - and 0) or with digital or analog pulse width modulation.

The control unit may be a microcontroller or a processor with discrete ROM, RAM and flash memory or a one-chip system with the corresponding communication interfaces fieldbus and device-internal bus. The control unit can also be designed as a separate device that communicates with the circuits via the device-internal bus. It is also possible to connect a plurality of stator modules to the control unit.

• - Gestaltung großflächiger, intelligenter Transport- und/oder Lagersysteme in der Logistik, z.B. bei der Sortierung von Post oder im Versand beim Online-Handel,
• - parallelen und unabhängigen Bewegung von Objekten auf engem Raum in flexiblen Fertigungssystemen,
• - individuellen Teilebereitstellung in der Montage.

The invention is commercially available for

• - Design of large-scale, intelligent transport and / or storage systems in logistics, for example, in the sorting of mail or in shipping in online retail,
• - parallel and independent movement of objects in confined spaces in flexible manufacturing systems,
• - Individual parts provision in the assembly.

1. 1. Im Gegensatz zum Förderband können die Läufer mit den Objekten an Stationen warten oder aneinander vorbei zu anderen Stationen fahren, z.B. in Fertigungsstraßen.
2. 2. Das Transportsystem verfügt über Lagerbereiche. Läufermodule mit Objekten können im Pulk zum Lager gebracht und von dort abgerufen werden.
3. 3. Flexible Fertigungszellen können individuell mit Werkstücken und Werkzeugen versorgt werden, z.B. in der Autoindustrie. Die bisher starre Taktung des Fertigungsprozesses kann damit überwunden werden.
4. 4. Der Teilefluss zwischen Arbeitsstationen erfolgt individuell und programmgesteuert, was für die Vernetzung von Maschinen in der modernen Fertigung nötig ist.
5. 5. Läufermodule und Läufer lassen sich in der Gruppe entsprechend der Zielvorgabe und der Priorität bewegen.
6. 6. Das planare Transportsystem kann im Baukastensystem ausgeführt und im Vergleich zu Planarmotoren nach dem Stand der Technik kostengünstiger gefertigt werden.
7. 7. Ein großflächiger Stator ist aus Statormodulen zusammengesetzt, die auf einem modularen Gestellsystem befestigt sind und eine Randbegrenzung aufweisen.
8. 8. Ein Statormodul besteht aus vorgefertigten Spulen, die mit einer Leiterkarte verbunden sind und durch Vergussmasse gehalten werden. Die Leiterkarte trägt die Schaltkreise, Leitungsführungen und Leitungsverbinder. Im Oberteil der Spulen können jeweils ein Hallsensor und/oder eine Leuchtdiode integriert angeordnet sein. Statormodule können unter einem geringen Winkel zueinander angeordnet werden, eine schiefe Ebene bilden und eine Bewegung im Raum ermöglichen.
9. 9. Einpol-Läufermodule und Wechselpol-Läufermodule als kleinste Einheiten können selbständig und im Pulk agieren, dicht auf dem Stator geparkt werden. Mehrere Läufermodule können fest miteinander zu einem Läufer verbunden werden.
10. 10. Läufermodule bestehen aus vorgefertigten Magnetanordnungen, die mit Hilfe einer Montagevorrichtung zu Läufern mit verschiedener Funktionsfläche montiert werden. Mit der Montagevorrichtung wird durch Versatz von Läufermodulen die Anzahl der Motorphasen bestimmt.
11. 11. Mit einheitlich aufgebauten Signalleitungen erfolgt die Übertragung von Sensor- und Aktorsignalen parallel zwischen Statormodul, Steuereinheit und Rechner.
12. 12. Die Bewegung der Läufer erfolgt mit Hilfe von Softwarebausteinen in Form von Bewegungsroutinen, in denen Unterprogramme aufgerufen werden. Die Steuerungshardware ist modular aufgebaut.

The advantages over the prior art are summarized:

1. 1. In contrast to the conveyor belt, the runners can wait with the objects at stations or drive past each other to other stations, eg in production lines.
2. 2. The transport system has storage areas. Runner modules with objects can be brought to the warehouse in bulk and retrieved from there.
3. 3. Flexible manufacturing cells can be individually supplied with workpieces and tools, eg in the automotive industry. The hitherto rigid timing of the manufacturing process can thus be overcome.
4. 4. The flow of parts between workstations takes place individually and programmatically, which is necessary for the networking of machines in modern production.
5. 5. Runner modules and runners can be moved in the group according to the target and the priority.
6. 6. The planar transport system can be executed in a modular system and manufactured more cost-effectively compared to planar motors according to the prior art.
7. 7. A large-area stator is composed of stator modules which are mounted on a modular rack system and have a deckle.
8. 8. A stator module consists of prefabricated coils, which are connected to a printed circuit board and held by potting compound. The circuit board carries the circuits, wiring, and wiring. In the upper part of the coils, a Hall sensor and / or a light-emitting diode can be arranged integrated in each case. Statormodule can be arranged at a slight angle to each other, form an inclined plane and allow movement in space.
9. 9. Single-pole rotor modules and alternating pole rotor modules as the smallest units can act independently and in a cluster, being parked close to the stator. Several rotor modules can be firmly connected to a rotor.
10. 10. Rotor modules consist of prefabricated magnet arrangements, which are mounted by means of a mounting device to runners with different functional surface. With the mounting device, the number of motor phases is determined by displacement of rotor modules.
11. 11. The transmission of sensor and actuator signals takes place in parallel between the stator module, control unit and computer with uniformly structured signal lines.
12. 12. The movement of the runners takes place with the aid of software components in the form of motion routines in which subroutines are called. The control hardware is modular.

• 1: Kräfte zwischen Magnet und eisenlosen Spulen
• 2: Einpoliges Läufermodul mit magnetischer Abschirmung
• 3: Magnet mit schräg angeordneten P-Magneten
• 4: Wechselpol-Läufermodul
• 5: Kräfte zwischen einpoligem Läufermodul und Statormodul in Abhängigkeit von der Läuferposition
• 6: Kraftwirkung zwischen Wechselpol-Läufermodul und Statormodul
• 7: Kräfte zwischen Wechselpol-Läufermodul und Statormodul in Abhängigkeit von der Läuferposition
• 8: Läufer aus Wechselpol-Läufermodulen mit Phasenversatz

The invention will be explained in more detail by way of example with reference to the following drawings:

• 1 : Forces between magnet and ironless coils
• 2 : Single-pole rotor module with magnetic shielding
• 3 : Magnet with slanted P magnets
• 4 : Change pole rotor module
• 5 : Forces between single-pole rotor module and stator module as a function of the rotor position
• 6 : Force effect between reversing pole rotor module and stator module
• 7 : Forces between the alternating pole rotor module and stator module as a function of the rotor position
• 8th : Rotor made up of alternating pole rotor modules with phase offset

1 shows a planar transport system ( 1 ) with 2 rotor modules ( 2 ), in the simplest form of a NdFeB magnet ( 7 ) and, for example, have a format of 30 mm × 30 mm × 8 mm, and a stator module ( 4 ) from 15 pieces of coils ( 5 ), a flat xy surface ( 3 ), a printed circuit board ( 9 ), Circuits ( 8th ), Fasteners ( 10 ) and potting compound ( 19 ). The power and information lines leave the stator module ( 4 ) down to the control unit ( 6 ), which is not shown here. The width a of the rotor module (2) is equal to the distance between 2 adjacent coil axes. The magnetization directions of the rotor module ( 2 ) and the coils ( 5 ) are indicated with north or south. The forces in the flux-traversed current-carrying conductors are due to the Lorentz force. Shown are the magnetic field lines and the current direction in the two halves of the mid-cut coils ( 5 ) with dot (current comes from the paper plane) and cross (current flows in the physical flow direction in the paper plane). The force vectors in the x and z directions determined by the three-finger rule are indicated by arrows in the directions x and z.

In the plan view, the coils ( 5 ) numbered by row and column index. With the help of potting compound ( 19 ), all interstices are filled to form a monolithic body which becomes a stator ( 21 ) is assembled so that all coil axes are the same distance from each other. The fastening elements ( 10 ) advantageously have a snap closure, which is not shown, so that the stator module ( 4 ) can be placed from above on a rack and replaced.

The Indian 1 left magnet ( 7 ) is in a holding position between 4 coils ( 5 ). Will the magnet ( 7 ) with the north pole down on coils ( 5 ), which have a south pole above, then takes place in the center of the magnet ( 7 ) an attractive force and on the edge a repulsive force that reduces the friction. Will this magnet ( 7 ) deflected to the right, decreases in the coils ( 5 ) with the matrix numbers 11 and 12 the rightward force, and it increases in the coils 21 and 22 the left-hand force, creating a stable position. For example, if the current in the coils 21 and 22 is turned off, then the magnet moves ( 7 ) to the right.

The right in 1 arranged magnet ( 7 ) is only in a stable holding position when in the x-direction 2 neighboring coils 33 and 53 and in the y-direction 2 neighboring coils 42 and 44 have a north pole. The sink ( 5 ) with the matrix number 44 is not shown here and is not necessary if the rotor bears against a boundary which is not shown. In this stable position, the neighboring coils cause repulsive forces on the magnet ( 7 ).

The one in the middle of the magnet ( 7 ) arranged coils ( 5 ) could also be turned off. If a magnet ( 7 ) is to be driven only with coil currents in one direction, the cost of the control ( 6 ) but also the shear forces.

In addition, with the help of 1 the method can be explained, how the force vectors F (x, y, z) can be determined at least qualitatively by graphical representation of the field lines. The force vectors F also generate torque vectors M (x, y, z) on the rotor element because they occur at different distances from the xy base surface.

The example shows that a rotor module ( 2 ) from a simple magnet ( 7 ) has the disadvantage that the field lines on all sides around the magnet ( 7 ). For power generation, only field lines in the area of the current-carrying conductors can be used. The field lines to the side of the rotor module ( 2 ) are disturbing, because in the example adjacent rotor modules ( 2 ) are repelled.

The left in 1 shown magnet ( 7 ) is directed with the north pole to the xy base and in one position 1 in half above the coil ( 5 ) with the matrix number 11 and the other half over the spool 21 arranged. If the current direction is chosen so that the coils 11 and 21 near the magnet ( 7 ) have a south pole, then the magnet ( 7 ) to this attraction position in the first state in a stable operating point.

In a 2nd state of the position 1 the current direction is in coil 11 turned around. The magnet ( 7 ) is by coil 11 repelled and from coil 21 still attracted. The friction is reduced. The rotor module moves to the right until the north pole of the magnet ( 7 ) above the south pole of the coil 21 lies.

In this position 2 or already before in a second state, the current direction in coil 21 turned around. This will cause the magnet ( 7 ) from the north pole of the coil 21 repelled. In position 2 is by coil 21 no force generated in the x-direction. From the coil 11 is a repulsive force and coil 31 an attractive force on the magnet ( 7 ) out. Both forces cause a movement of the magnet ( 7 ) to the right.

In position 3 is the magnet ( 7 ) to one half over the spool 21 and the other half over the spool 31. Moving to this position 3 is supported by a current direction in coil 31, with which a south pole is generated. The magnet ( 7 ) will be in the position 3 moved because both the overlapping part of the coil 21 as well as the overlapping part of the coil 31 exert an attractive force. This is the magnet ( 7 ) jumped to the right by one graduation period.

To continue the movement, is in a 2nd state of the position 3 the current direction in coil 21 is reversed. The magnet ( 7 ) is by coil 21 repelled and attracted by coil 31 continues. A graduation period in the example has the length of one side of the magnet ( 7 ).

Advantageously, before reaching the position 2 the sink 21 switched off to avoid a temporarily backward force. The course of movement can be optimized by optimizing the Improve switching and off point of the coil currents.

For example, in one experimental setup, the coil length and coil width are 20mm and the coil height is 15mm. The wire with a wire diameter of 0.1 mm was wound on a magnetic non-conductive rectangular core of 6mm × 6mm with 7300 turns and baked. The core was removed and by pressing the square shape was additionally pronounced to achieve a dense packing. The magnet (7) made of NdFeB had a format of 30mm × 30mm × 3mm. With a spring balance, a holding force of 0.5 N was measured statically in the tensile test.

In 2 is a single-pole rotor module ( 13 ), in which the magnet ( 7 ) around 4 P magnets ( 12 ) whose magnetization directions are parallel to the xy base surface ( 3 ). The P magnets ( 12 ) lead based on the Halbach magnet arrangement due to superimposition of the magnetic fields on the rotor underside ( 17 ) to an increase of the magnetic flux density and on the rotor upper side ( 16 ) to a weakening.

The shielding ( 20 ) causes the field lines at the edge of the rotor module ( 13 ) in the iron.

With potting compound ( 19 ) are the magnet ( 7 ), the P magnets ( 12 ), the shielding ( 20 ) and at least one fastener ( 10 ) for holding at least one slide via adhesive gaps. To reduce the coefficient of static friction and sliding friction and to reduce noise, the potting compound ( 19 ) also on the runner underside ( 17 ) can be arranged. By casting in a mold with a smooth surface and using release agent, a sufficiently flat sliding surface without finishing can be achieved. The under 1 has been modified so that 4 P magnets 12) in the format 30mm × 10mm × 5mm with the magnet ( 7 ). The holding force has thereby increased to 1.0 N, so doubled.

In 3 will be on the right side of the magnet ( 7 ) showed that the P magnets ( 12 ) can be tilted outwards to lower the magnetic flux into the coils ( 5 ) and to reduce the magnetic effect directed to the side. On the left side of the magnet ( 7 ) are obliquely stacked arranged P magnets ( 12 ).

In 4 is a Wechselpol runner module ( 14 ), the 4 magnets ( 7 ), P magnets (12), the magnetic shield ( 20 ) and a sliding plate are connected by gluing.

The magnetization direction of adjacent magnets ( 7 ) is directed against. The attachment ( 18 ) consists of magnetically conductive material and reduces the magnetic resistance in the circle of magnets ( 7 ).

The 5 shows a single-pole rotor module ( 13 ) to 2 in different positions with respect to the coils ( 5 ) on the stator module ( 4 ). The distance of the coil axes is as large as the side length a of the single-pole rotor module ( 13 ). The forces are qualitatively determined from the course of the magnetic field lines and the current direction and in the 5 indicated in the form of arrows in the x and z directions. In the bobbin halves, shear forces and repulsive or levitation forces act as a function of the current direction. First, it is assumed that each current pulse has the same amount.

The rotor module ( 13 ) is located as in 1 with the magnet arranged on the left ( 7 ), between 4 coils, of which again only 2 coils are shown. For understanding, the single-pole rotor module ( 13 ) forces in positions which are offset by ¼ of a graduation period a.

• - Position x = a zeigt die schon erläuterte Halteposition, wenn dem Nordpol des einpoligen Läufermoduls (13) 2 Südpole von den Spulen (5) gegenüber stehen. Das Läufermodul (13) steht im stabilen Gleichgewicht und wird angezogen. Wird an der gleichen Position die Stromrichtung in der linken Spule (5) gewechselt, dann tritt an beiden Seiten der Spule (5) eine Kraft in x-Richtung auf. Das Läufermodul (13) wird an der linken Seite angehoben.
• - In Position x = a + a/4 wurde die Stromrichtung in der Spule mit der Matrixnummer 21 gewechselt. In 3 Spulenhälften wird eine Antriebskraft in x-Richtung erzeugt. In 2 Spulenhälften tritt eine Abstoßungskraft auf.
• - In Position x = a + a/2 liegt ein instabiler Zustand vor wie in 1 mit dem rechts angeordneten Magneten (7) gezeigt Vor Erreichen dieser Position ist die Stromrichtung zu wechseln, um zusätzliche Kraft in x-Richtung zu erzeugen. Durch die dargestellte Bestromung der benachbarten Spulen (5) werden zusätzliche Kräfte in x-Richtung erzeugt. Auf das Läufermodul (13) wird durch Abstoßungs- und Anziehungskräfte am Hebelarm ein Drehmoment um die y-Achse erzeugt.
• - In Position x = a + 3/2a tritt wiederum in 3 Spulenhälften die gewünschte Antriebskraft auf und in 2 Spulenhälften eine Abstoßungskraft.
• - Position x = 2a zeigt die Kraftverhältnisse wie in Position x = a. Wenn die Stromrichtung in der Spule 31 nicht gewechselt wird, dann wird keine Kraft in x-Richtung erzeugt und das Läufermodul (13) verharrt in einer stabilen Position. Wird die Stromrichtung in Spule 31 gewechselt, dann entstehen in 2 Spulenhälften Kräfte in x-Richtung und in einer der beiden Spulenhälften eine Abstoßungskraft.

The force curves in the single-pole rotor module ( 13 ) differ from those of the magnet 1 ,

• Position x = a shows the already explained holding position when the north pole of the single-pole rotor module ( 13 ) 2 south poles of the coils ( 5 ) are opposite. The rotor module ( 13 ) is in stable equilibrium and is attracted. If at the same position the current direction in the left coil ( 5 ), then occurs on both sides of the coil ( 5 ) a force in the x-direction. The rotor module ( 13 ) is raised on the left side.
• - In position x = a + a / 4, the current direction in the coil with the matrix number became 21 changed. In 3 Coil halves, a driving force is generated in the x direction. In 2 Coil halves occurs a repulsive force.
• - In position x = a + a / 2 there is an unstable state as in 1 with the magnet on the right ( 7 ) Before reaching this position, the current direction must be changed in order to generate additional force in the x-direction. Due to the illustrated energization of the adjacent coils ( 5 ) additional forces are generated in the x-direction. On the runner module ( 13 ) is generated by repulsion and attraction forces on the lever arm, a torque about the y-axis.
• In position x = a + 3 / 2a, the desired driving force occurs again in 3 coil halves and in 2 coil halves a repulsive force.
• - Position x = 2a shows the force relationships as in position x = a. If the current direction in the coil 31 is not changed, then no force is generated in the x-direction and the rotor module ( 13 ) remains in a stable position. If the current direction in coil 31 is changed, forces in x-direction arise in two coil halves and in one of the two coil halves a repulsive force.

In summary, it can be stated that during the movement over a period x = a
the sink 11 is switched only at the transition from the stop position to the start position,
the sink 21 only temporarily switched over at x = a + a / 4,
the coil 31 is switched at x = 2a + a / 4.

The process of switching the coils ( 5 ) takes place periodically and is from the field line course of the rotor module ( 13 ) and the ratio of the distance of the coil axes to the rotor length a dependent.

The synchronization can be optimized by selecting the switching time for the coil currents or temporarily switching off the coil current.

During the movement process, all coils ( 5 ) in which magnetic fields from the rotor module ( 13 ) Act.

In the position x = a is a close-fitting another single-pole rotor module ( 13 ). In the position x = a, in the adjacent rotor module ( 13 ) no x-drive power is generated but in the remaining positions. The adjacent rotor module ( 13 ) can dock when the coil 31 has a north pole on the coil top.

In 6 and 7 be in for the 4 illustrated alternating pole rotor module ( 14 ) the force effects as a function of the position relative to the stator module ( 4 ) in steps of x = a / 4. Advantageous is the deeper penetration of the field lines in the coil area due to the P magnets, especially in the middle of the rotor and the strong expression of field lines parallel to the xy base ( 3 ). The determination of the current direction in the coils ( 5 ) for performing a movement in the x-direction takes place with the three-finger rule. For help, the picture below shows in simplified form how to choose the current direction for a given graphically determined main direction of the magnetic field. Thus, for any desired magnet and coil arrangements, it is possible to determine the switch-on or switch-off time of the current or the required current intensity. By shopping the current, the current amplitude can be changed, thus improving the synchronization.

The coils with the matrix numbers 11 . 21 , 31 and 41 are to be energized in a movement in the x-direction according to the illustrated pattern. When moving in the direction of the negative x-axis, all current directions are reversed. As a result, the forces in the z-direction change the sign. In order to optimize the movement behavior, for example in order to further reduce the frictional forces, it is possible to calculate different energization patterns for forward and reverse travel.

As in FIG. 4 for the single-pole rotor module ( 13 shown here, that a tight juxtaposition and parallel arrangement of Wechselpol-rotor modules ( 14 ) and a movement in the crowd is possible.

8th gives a runner ( 15 ), which consists of 3 alternating pole rotor modules ( 14 ) is composed. These are by casting compound ( 19 ) with each other, with the shield ( 20 ) on the circumference and with a rigid, magnetically conductive attachment ( 18 ) connected. The fastening elements ( 10 ) and the object to be transported are not shown. The spools ( 5 ) are like in 1 in the stator module ( 4 ) shed. A Wechselpol runner module (14) has as in 3 indicated a width of 2a. At the runner's edge is a narrower P-magnet ( 12 ) arranged. The P magnets ( 12 ) between the magnets ( 7 ) can also be made narrower and between the P magnets ( 12 ) and the magnet ( 7 ) may be a gap, for example, with potting ( 19 ) is filled out. The shield is omitted inside the runner.

The individual coils ( 5 ) with the matrix numbers 11 . 21 , 31, 41, 51 and 61 are arranged spatially offset and are commutated time-dependent. In the example, the distance between the coil axes is a + a / 6. This corresponds to a 6-phase motor. The phase offset can also be n-phase, if n corresponds to the number of single-pole rotor modules (13). This increases the requirements for programming the controller. For the movement of each alternating pole rotor module ( 14 ) is to provide a Bestromungsmuster that is output in the correct position at the right time. To control a runner ( 15 ) with phase offset, the energization patterns of the Wechselpol-rotor modules ( 14 ) and calculates the time offset in the current supply.

Runner ( 15 ) can also be made of single-phase rotor modules ( 13 ), in the 2 are shown, are manufactured with phase offset. In that case, between 2 single-phase rotor modules (13) are 2 pieces P magnets ( 12 ), which adjoin one another with opposite polarization.

LIST OF REFERENCE NUMBERS

1

transport system

2

runner module

3

xy Area

4

stator module

5

Kitchen sink

6

Control, control unit

7

magnet

8th

circuit

9

PCB

10

fastener

11

computer

12

P-magnet

13

single-pole rotor module

14

Alternating-pole rotor module

15

runner

16

Runners top

17

Runners bottom

18

attachment

19

potting compound

20

shielding

21

stator

22

Hall sensor

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DD 293540 A5 [0002]
• DE 102007025822 A1 [0003]
• EP 2165406 B1 [0004]
• WO 2013/098202 A1 [0005]
• EP 1842101 B1 [0008, 0009, 0010]
• US Pat. No. 6441541 B1 [0009]
• DE 102007024602 A1 [0010]
• WO 0010242 [0011]
• EP 2733833 [0012]
• US 2009/0027506 Al [0013]
• DE 102004048183 A1 [0014]
• DE 4436865 A1 [0015, 0044]
• DE 10161669 A1 [0016]
• DE 4426865 A1 [0017]

Claims (15)

Planar transport system (1) and method for the simultaneous, independent handling of objects with - at least one rotor module (2), which can move freely in x and y direction in a flat xy base surface (3), - at least one stator module (4) with a flat xy base (3), which consists of matrix-like arranged in rows and columns coils (5) whose axis of symmetry are perpendicular to the xy base surface (3), - at least one guide of the rotor module (2) on the Stator module (4) in the xy base area (3), - at least one power supply for the coils (5) and - at least one controller for the coil currents, characterized in that a) a rotor module (2) at least one planar magnet (7) high magnetic field strength with square xy main surface having a magnetization perpendicular to the xy main surface, b) the coils (5) in rows and columns in a uniform distance of the coil axes next to each other c) each rotor module (2) is always in magnetic interaction with at least two coil sections during the movement, whereby forces arise tangentially in the x and y directions and orthogonal in the z direction, d) the coil wires of each coil (5) e) the circuit (8) is supplied with operating voltage and impresses pulse-shaped coil current in different current direction in the coil (5), f) according to at least one electronic circuit (8) for individual switching of the current and for individual choice of the current direction g) the circuits (8) are arranged on a printed circuit board (9), h) the circuits (8) are individually supplied with information by a controller (6) and i) the rotor module ( 2) at least one fastening element (10) for object reception and the stator module (4) has fasteners (18) for positioning on a frame. Planar transport system and method for the simultaneous, independent handling of objects according to Claim 1 characterized in that a) the spatially distributed magnetic flux density emanating from the rotor module (2) interacts with the spatially distributed magnetic field of the coil (5) according to the Lorentz law in vector form in each finite volume element of the coil (5) generates a spatial force effect, b ) the coils (5), which are in operative connection with the rotor module (2), generate forces and torques on the rotor module (2) which are suitable both for the movement in the x-direction and in the y-direction and for oblique movements in the xy-base ( 3) can be used both for generating a force component in the x-direction and at the same time a force component in the y-direction, c) the force of the position of the rotor module (2) relative to the stator module (4), of the current and the current direction of the speed and acceleration depends on the type of magnet and magnet arrangement in the rotor module (2) and the coil type and coil arrangement in the stator module (4), d) of each in Wirkve b) a force vector and a torque vector in the space and the sum of the vectors of a coil group determine the movement of the rotor module (2), e) in each position of the rotor module (2) an energization pattern for the in Active connection with the rotor module (2) standing coils (5) and calculated from the memory of the controller (6) is called, f) with the aid of software modules, an order of Bestromungsmustern is formed to control the movement, g) all coils (5 ) interacting with the rotor module (2), including adjacent coils (5) that do not primarily determine the motion behavior in which force generation is involved. Planar transport system and method for the simultaneous, independent handling of objects according to the Claims 1 and 2 characterized in that a) a unipolar rotor module (13) consists of a plurality of permanent magnets (7) and forms a magnet arrangement, b) in the center of the rotor module (2) a square magnet (7) with high magnetic field strength in the xy main surface is arranged , c) on the side surfaces of the magnet (7) 2 to 4 P-magnets (12) are arranged, the magnetization direction parallel to the xy-main surface and perpendicular to the side surface of the magnet (7), d) the P-magnets (12 ) are arranged at least on two opposite side surfaces of the magnet (7) and close together, e) the magnetization vector of the P magnets (12) is selected so that the same pole of the magnet (7) and the P-magnet (12) in Contiguous to the xy major surface area, f) the P magnets (12) are higher than the magnet (7) perpendicular to the xy major surface when the P magnet (12) is flatter in the direction of magnetization than the magnet (7), g) the P magnets (12) not län ger than the side length of the magnet (7), h) or at least one P-magnet (12) is tilted obliquely outwards relative to the side surface of the magnet (7) on the upper side of the magnet (7), i) or the P-magnets (12) at least on one side surface of the magnet (7) tilted at the top obliquely outwards and the P-magnets (12) are layered and arranged laterally offset, j) the rotor modules on at least one outer side wear a magnetic shield. Planar transport system and method for the simultaneous, independent handling of objects according to Claim 3 characterized in that a) between the magnet (7) and the adjacent P-magnets (12) there is an adhesive gap which is filled with a non-magnetically conductive potting compound (19), b) the magnets (7), the P-magnets (12) and the shield (20) are rigidly interconnected, c) the potting compound (19) has sliding properties and is arranged in the form of a thin layer on the rotor underside (17), d) or on the rotor upper side (16) the potting compound ( 19) is additionally arranged between the magnet (7) and the P magnets (12) in order to create an additional connection, e) or additionally at least one fastening element (10) for holding the object carrier is cast into the potting compound (19), f) or on the runner underside (17) a sliding coating is glued. Planar transport system and method for the simultaneous, independent handling of objects after at least one of Claims 1 to 4 characterized in that a) a Wechselpol-rotor module (14) consists of 4 mutually alternating rotor modules (13), b) between the magnets (7) each have a P-magnet (12) is arranged, wherein at the xy-main surface facing Side of the magnet (7) the same poles of magnet (7) and P-magnet (12) are arranged side by side, c) the magnets (7) on the rotor upper side (16) by a fastening (18) made of magnetically conductive material are firmly connected d) at least at one part of the circumference a magnetic shield (20) is arranged, e) the magnets (7) and P-magnets (12), the attachment (18) and the magnetic shield (20) with potting compound (19) are fixed and f) on the rotor underside (17) a sliding layer of potting compound or a sliding coating is applied. Planar transport system and method for the simultaneous, independent handling of objects according to one or more of Claims 1 to 5 according to a method for the program-controlled design of rotors (15) from unipolar rotor modules (13) or alternating pole rotor modules (14) using means of the transport system (1), characterized in that a) at least 2 single-pole rotor modules (13) or 2 Wechselpol- Runner modules (14) by at least one magnetically non-conductive attachment (18) are detachably connected, b) the program is program-controlled and unipolar rotor modules (13) or Wechselpol runner modules (14) docked, locked, unlocked or separated, c) or at least 2 Wechselpol-rotor modules (14) with at least one magnetically conductive attachment (18) on the rotor upper side (16) releasably connected to the magnets (7) are programmatically connected, d) to the transport system (1) a lifting device is arranged with an electromagnet, e) the elements for fastening (18) by rotor modules (2) of the lifting device are supplied. Planar transport system and method for the simultaneous, independent handling of objects after at least one of Claims 1 to 2 characterized in that a) at least one stator module (4) consists of lines and columns arranged coils (5) with high number of turns, which are embedded in potting compound (19), b) the xy base surface (3) by the maximum dimensions of a C) the fastening elements (10) between stator module (4) and frame or between stator modules (4) in the potting compound (19) are held d) the fastening elements (10) are designed so that the stator module (4) can be inserted from above, fixed and released, e) or in the potting compound (19) heat conducting elements in the vicinity of the coil (5) are included, f) or at least one coil (5) at least in the upper region of the xy base surface (3) facing, has a square interior and outside a square cross section with rounded corners, g) or at least in parts of the coil (5), preferably in the lower region and in the region of the shell of the coil (5) the coil wires s häg are arranged and the angle between the xy base and the helically wound wires at the periphery is 45 °, h) or at least under a part of the coils (5) is arranged a magnetically conductive sheet, i) or between the base plate and the cover plate supporting elements of magnetically nonconductive material are arranged, j) or between the support elements, a cooling plate is arranged, which is thermally conductively connected to the coils (5) of the stator module (4), k) or the stator cover plate is made of transparent sliding material. Planar transport system and method for the simultaneous, independent handling of objects according to the Claims 1 to 2 - For the description of the method of principle motion generation in open timing chain, - For moving a rotor module (2) in the x-direction or in the y-direction on the xy-base, - line-wise in the x-direction coils (5) with integer numbering m = 1 ... i, - coils (5) arranged in columns in the y-direction with integer numbering n = 1 ... j, - with circuits (8), with which the coils (5) with the matrix numbers mn with current different direction are supplied or the power is turned off and - a controller (6) for actuating the circuits (8) characterized in that a) in a first step at least one rotor module (2) or a magnet (7) relative to the stator module ( 4) is fixed centrally in a holding position between two adjacent coils 11 and 12, the coils (5) are covered with the matrix numbers 11 and 12 in the y-direction in each case half and in the x-direction over the entire length, the coils 11 and 12 with st om the same direction are supplied and the different poles of magnet (7) and coil (5) tighten, b) moves in a second step, the rotor module (2) in the x direction in a start position when the two coils 11 and 12 are reversed, the rotor module (2) is repelled from these coils (5), the adjacent coils 21 and 22 are energized so that the rotor module (2) is tightened, c) in a third step, the two coils 21st and 22 are reversed to repel the rotor module (2) perpendicular to the xy plane, the next adjacent coils 31 and 32 are energized so that the rotor is attracted in the direction of movement and jumps in the x direction in a new stable intermediate position, d ) the intermediate position from the starting position has the spacing of a pitch period T which corresponds to the distance between two coil axes, e) from a starting position or an intermediate position in a corresponding manner another jump in the x-direction or y- Direction takes place or the rotor occupies a holding position f) or the coils 21 and 22 are turned off before reaching the intermediate position to achieve a more uniform motion path g) the magnet (7) performs a movement by half a division period, when the adjacent coils 31 and 32 are not switched are ejected, the magnet (7) from both the adjacent coils 11 and 12 and from the neighboring coils 31 and 32 and the coils 21 and 22 are turned off. Planar transport system and method for the simultaneous, independent handling of objects according to the Claims 2 and 8th characterized in that a) a plurality of rotor modules (2) are arranged in the direction of movement dense or spaced from an integer multiple of the pitch period and moved, b) arranged perpendicular to the direction of movement at a distance of at least one pitch period or an integral multiple of the pitch period between 2 rows of coils c) the movement of the rotor modules (2) takes place by synchronously switching the current in the coils (5), d) a plurality of rotor modules (2) are arranged on a stator module (4) in a tight sequence one after the other or parallel next to one another and in the E) or the fixing of the rotor modules (2) takes place in a region where magnetically conductive material is arranged on the underside of the coils (5) and the coil current is switched off. Planar transport system and method for the simultaneous, independent handling of objects according to the Claims 3 and 4 characterized in that a) at least 2 pieces of single-pole rotor modules (13) with the same direction of magnetization on a magnetically non-conductive attachment (18) to a rotor (15) are fixed, b) the length a of the unipolar rotor module (13) equal to the distance the coil axes is c) or the distance of the coil axes is a +/- a / n, wherein the number of phases n corresponds to the number of rotor modules (13) or an integral fraction of the number of rotor modules (13) in the rotor (15) and the coils (5) are phased out in phase, d) or at least 2 pieces Wechselpol runner modules (14) are firmly connected to the magnet top with a magnetically conductive attachment (18), e) the length of the Wechselpol-rotor module (14) 2a equal f) or the distance of the coil axes is a +/- a / n, wherein the number of phases n of the number of rotor modules (14) or an integer fraction of the number ahl of rotor modules (14) in the rotor (15) corresponds and the coils (5) are phased in time supplied with power, g) or in the runners (15), the P-magnets (12) are made narrower than the magnets (7) h) or the main direction of movement of the rotor at an angle of 45 ° to the row-wise and column-wise arranged coils (5) takes place, i) or the cylindrical coils (5) are arranged in close-packed circular packing. Planar transport system and method for the simultaneous, independent handling of objects according to Claim 3 or 5 characterized in that a) the connection between rotor modules (2) to a rotor (15) by a flexurally elastic attachment (18), b) in the case of the connection of Wechselpol-rotor modules (14), the flexurally elastic attachment (18) of magnetically conductive Material is, c) flexurally elastic objects to be transported firmly connected to the flexurally elastic attachment (18) to deform or align the objects, d) rigid objects on the flexurally elastic attachment (18) are articulated so that the xy main surface of the Runner (15) can bend and adjust. Planar transport system and method for the simultaneous, independent handling of objects according to the Claims 1 and 2 characterized in that a) in at least one coil (5) in the vicinity of the xy base surface (3) in the region of the coil axis, a digital Hall sensor (22) is arranged, which provides a switching information when overlapping with the rotor (15) and b ) the information is multiplexed via the bus system to a computer (11), c) or at least one runner (15) or an object to be transported is equipped with at least one programmable transponder, d) or a runner (15) with at least 3 transponders equipped e) or in at least one coil (5) in the vicinity of the xy base surface (3) in the region of the coil axis, a signal lamp is arranged, which when energized the associated Coil (5) lights up and at least one rotor module (2) or rotor (15) is placed on the illuminated area of the stator module (4). Planar transport system and method for the simultaneous, independent handling of objects according to the Claims 1 and 2 characterized in that a) a carriage consists of a frame which is arranged above the rotor module (2) or the rotor (15), b) at least 3 ball rollers are mounted on the frame, which move in the xy base surface (3) c) the carriage is hingedly or positively connected to the slidably guided runner module (2) or runner (15) in the x and y directions d) and the sliding surface of the stator (21) is made hard enough to withstand the Hertzian pressure of To pick up balls. Planar transport system and method for the simultaneous, independent handling of objects according to the Claims 1 and 2 characterized in that a) a rotor module (2) is guided by simultaneous movement in the x and y directions on a circular path with the radius r according to the formula y = root (r ² - x ² ) and a rotation about an axis perpendicular b) a second runner module (2) is moved on the same circular path offset by 180 °, c) a joint is arranged on each runner module (2), d) a slide is articulated between the pivot points the rotor module (2) is arranged and e) the center of the circular path is displaced in the x and y direction, f) or a rotor (15) with its magnetic field is in operative connection with a group of coils (5), the coil grouping g) the Bestromungsmuster based on set values from the superposition of a rotational movement φ about a fixed axis and a movement of the axial center on a trajectory y (x) is calculated, h) the Bestromungsmuster stepwise output and the movement is carried out as a stepping motor or regulated using a position measuring system. Planar transport system and method for the simultaneous, independent handling of objects according to the Claims 1 . 2 and 8th characterized in that a) a computer (11) in the form of a higher-level control, is connected to at least one control unit (6) by a field bus, b) at least one stator module (4) is connected to a control unit (6) which consists of Data of the computer (11) generates the coil address and the type of energization and thus a Bestromungsmuster in hard real time and works as a controller, c) the control of the circuits (8) from the control unit (6) takes place digitally or with analog or digital pulse width modulation, d) the information from the Hall sensors (22) via the circuits (8) are transmitted to the control unit (6) via a device-internal bus in hard real time in the form of a position matrix.

Images