Guiding device, planar motor and method for transporting a shuttle

Abstract

The invention relates to a guiding device, to a planar motor and to a method for transporting a shuttle, the guiding device having a first end portion and a second end portion, between which a posture course of the shuttle is defined, the first end portion defining an inducted posture of the shuttle, the first end portion being settable at a first stator of the planar motor such that the inducted posture corresponds to a posturally operable posture based on operation, the second end portion defining an induced posture of the shuttle, the second end portion being settable at a first stator or a second stator of the planar motor such that the induced posture corresponds to a posturally operable posture based on operation, the posture course comprising at least one posture, the at least one posture being a posturally inoperable posture with respect to the respective stator of the planar motor, the guiding device supporting and stabilizing the shuttle in the at least one posturally inoperable posture.

Claims

1. A planar motor (3) comprising at least one first stator (8') and at least one shuttle (2), wherein a guide device (1) is provided for the at least one shuttle (2) of the planar motor (3), the guide device (1) having a first end (4) and a second end (5), and defining an orientation (6) of the shuttle (2) between the first end (4) and the second end (5), wherein, The first end (4) defines the infeed posture (7) of the shuttle (2), and the first end (4) is configured at the first stator (8') of the planar motor (3) such that the infeed posture (7) corresponds to an operable posture (12) relative to the first stator (8'). The second end (5) defines the outfeed posture (9) of the shuttle (2), and the second end (5) is configured at the first stator (8') or the second stator (8'') of the planar motor (3) such that the outfeed posture (9) corresponds to an operable posture (12) relative to the first stator (8') or the second stator (8''). The attitude of the ground control is characterized in that the attitude direction (6) includes at least one attitude, which is an attitude that cannot be controlled based on the ground operation relative to the first stator (8') and the second stator (8'') of the planar motor (3), and the guide device (1) supports and stabilizes the shuttle (2) in the at least one attitude that cannot be controlled based on the ground operation, and the attitude direction (6) includes a passive, i.e., motion segment that cannot be actuated by the first stator (8') and the second stator (8'') of the planar motor (3), the motion segment being traversed by the shuttle (2) with the aid of kinetic and / or potential energy.

2. The planar motor (3) as described in claim 1, characterized in that, The mobility of the shuttle (2) along the attitude direction (6) from the first end (4) to the second end (5) is ensured by the first stator (8') and the second stator (8'') of the planar motor (3).

3. The planar motor (3) as described in claim 1 or 2, characterized in that, The at least one attitude that cannot be controlled based on the operating location has a deviation of the yaw angle (ψ) and / or pitch angle (θ) and / or roll angle (φ) and / or lift height (z) from the attitude (12) that can be controlled based on the operating location.

4. The planar motor (3) as described in claim 1 or 2, characterized in that, The orientation (6) of the guiding device (1) extends substantially parallel to the transport plane (10) of the planar motor.

5. The planar motor (3) as described in claim 1 or 2, characterized in that, The guiding device (1) defines the attitude direction (6) of the shuttle (2) from the first transport plane (10) of the planar motor (3) to the second transport plane (10') in one or two directions.

6. The planar motor (3) as described in claim 5, characterized in that, The first transport plane (10) is set parallel to the second transport plane (10').

7. The planar motor (3) as described in claim 5, characterized in that, The first transport plane (10) and the second transport plane (10') form an angle.

8. The planar motor (3) as described in claim 1 or 2, characterized in that, The guiding device (1) forms a bridge and / or a lower guide for the shuttle (2) between the first end (4) and the second end (5).

9. The planar motor (3) as described in claim 1 or 2, characterized in that, The guiding device (1) has mechanical and / or magnetic and / or electromagnetic and / or pneumatic guides.

10. The planar motor (3) as described in claim 1 or 2, characterized in that, The at least one posture that cannot be controlled based on the operation violates the requirements for safe and / or efficient operation of the planar motor (3), and / or the at least one posture that cannot be controlled based on the operation does not meet the requirements for stability of the shuttle (2), and / or the at least one posture that cannot be controlled based on the operation itself cannot be set using the first stator (8') and the second stator (8'') of the planar motor (3).

11. The planar motor (3) as described in claim 1 or 2, characterized in that, The position of the shuttle (2) in at least one degree of freedom in the entire attitude direction (6) can be estimated by the sensing mechanism of the planar motor (3).

12. The planar motor (3) as described in claim 1 or 2, characterized in that, At least one processing station (11) is provided on the guiding device (1).

13. The planar motor (3) as described in claim 1 or 2, characterized in that, The planar motor (3) has at least one first stator (8') disposed in the first transport plane (10) and at least one second stator (8'') disposed in the second transport plane (10'), wherein at least one guide device (1) defines the attitude orientation (6) of the shuttle (2) from the first transport plane (10) to the second transport plane (10') in one or two directions.

14. The planar motor (3) as described in claim 7, characterized in that, The first transport plane (10) and the second transport plane (10') form a right angle.

15. The planar motor (3) as described in claim 11, characterized in that, The position of the shuttle (2) in at least one degree of freedom in the entire attitude direction (6) can be measured by the sensing mechanism of the planar motor (3).

16. A method for transporting a shuttle (2) using a planar motor (3) as described in any one of claims 1 to 15, wherein, The method comprises the following steps: -The shuttle (2) is floated in the guide posture (7) of the guide device (1) using the first stator (8'). -Using at least the first stator (8') to move the shuttle (2) in the direction of the orientation (6) of the guide device (1), - The shuttle (2) continues to move through at least one shuttle position until the shuttle reaches the outgoing posture (9), the at least one shuttle position being an inoperable posture relative to the first stator (8') and the second stator (8'') of the planar motor (3), wherein the guiding device (1) supports and stabilizes the shuttle (2) in the at least one shuttle position that is inoperable.

17. The method as described in claim 16, characterized in that, The continued motion is achieved using a magnetic field established by at least the first stator (8') of the planar motor (3).

18. The method as described in claim 16 or 17, characterized in that, The continued motion is achieved by utilizing the kinetic energy of the shuttle (2).

19. The method as described in claim 16 or 17, characterized in that, The continued motion is achieved by utilizing the potential energy of the shuttle (2).

20. The method as described in claim 16 or 17, characterized in that, The continued movement is achieved by pushing and / or pulling using at least one additional shuttle.

21. The method as described in claim 16, characterized in that, The shuttle (2) is accelerated in the direction of the attitude direction (6) of the guide device (1) by at least the first stator (8').

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