Planar transport device and method for operating a planar transport device

Abstract

A planar transport device (10) is provided, comprising a drive surface (12) and at least one first platform (16) that is electromagnetically coupled to the drive surface and movable parallel to the drive surface, wherein the planar transport device comprises a payload space (24) for arranging a payload (26), the planar transport device comprising an inertial element (30) that is movable relative to the first platform, the movable inertial element and the payload space being oriented relative to each other such that when the first platform is decelerated, at least a portion of the kinetic energy of the inertial element can be transferred to the payload space due to the movement of the inertial element relative to the first platform in an effective direction. Furthermore, the present invention relates to a method for operating a planar transport device.

Description

Technical Field

[0001] The invention relates to a planar transport device having a drive surface and having at least one first platform which can be electromagnetically coupled to the drive surface and can be moved parallel to the drive surface, wherein the planar transport device comprises a payload space for arranging a payload. Background Art

[0002] WO 2020 / 243 814 A1 and DE 10 2020 127 012 A1 disclose planar transport devices with electromagnetically coupled platforms. Such platforms can be used, for example, as simple and flexible transport bodies for transporting various payloads and / or they can have working devices with working tools.

[0003] To transport a payload, the payload is placed in the payload space of the platform and can then be moved with the platform over the driving surface. Once the platform has reached its destination within the driving surface, the payload should be able to be removed from the platform.

[0004] To this end, WO 2020 / 243 814A1 proposes a device as shown in Figure 21 thereof. The device includes a first platform with a payload to be removed. The device also includes a second platform with a suction element. After the two platforms are relatively oriented, the suction element comes into contact with the payload and applies a partial vacuum to the payload. In this way, the payload is retained on the suction element and can be removed from the first platform. Since the payload and the suction element are respectively arranged on movable platforms, the device is capable of removing the payload regardless of its position.

[0005] A disadvantage of the above-described device is that an energy supply is required to generate the partial vacuum for operating the suction device, and a conduit system is required to deliver the partial vacuum, thereby increasing the complexity of the device. In particular, when the energy supply is located outside the driving surface, it is necessary to provide a costly guide structure for the conduit system in order to be able to apply the partial vacuum by means of the suction element anywhere within the driving surface.

[0006] FIG22 of WO 2020 / 243 814A1 illustrates another method for removing a payload from a platform. In this arrangement, the suction device is not located on the second platform but is fixed. This reduces the need for a duct system, as the power supply for the suction device can be located directly nearby. However, to remove the payload, the platform carrying the payload must be driven into the active area of ​​the suction device. Therefore, it is impossible to remove the payload regardless of its location.

[0007] A further disadvantage of both devices of WO 2020 / 243 814 A1 is that the suction element must be adapted to the shape and / or size of the payload. If payloads of different sizes or geometrical characteristics are being transported, the suction element must be replaced in an additional working step, or multiple suction devices with different suction elements are required. Summary of the Invention

[0008] Starting from this, the problem underlying the present invention is to provide a device and a method which enable a plurality of different payloads to be removed from a platform in a simple manner, regardless of the location.

[0009] In a planar transport device of the type described above, this problem is solved in that the planar transport device comprises an inertial element that is movable relative to a first platform, wherein the movable inertial element and the payload space are oriented relative to each other in such a way that, when the first platform is decelerated, at least a portion of the kinetic energy of the inertial element can be transferred to the payload space due to the movement of the inertial element in the effective direction relative to the first platform.

[0010] Due to the placement of the inertial element on the first platform, any location on the drive surface can be reached without restriction, and at that location, the kinetic energy of the inertial element can be at least partially transferred to the payload space. Furthermore, since the deflection of the inertial element is controlled by the movement of the platform, the inherent functionality of the device, namely its mobility, can be utilized, thereby providing a planar transport device with a simple structure. In particular, this eliminates the need for additional actuators (such as suction devices).

[0011] Considering that the payload is placed in the payload space, when the first platform decelerates, the kinetic energy of the inertial element is partially transferred to the payload, and the payload is removed from the payload space, in particular, along the effective direction of the inertial element. Payloads of different shapes and / or sizes and / or different materials can be removed from the payload space.

[0012] In a preferred embodiment, the planar transport device includes a return device that moves the inertial element in a direction opposite to the effective direction. In this way, after the deflection, the inertial element returns to its original, undeflected position and can be used for another transfer of kinetic energy. The return device can be configured, for example, as a spring element that is supported on the first platform and connected to the inertial element, and that acts in a direction opposite to the effective direction of the inertial element. Of course, such a return device needs to provide only a relatively small restoring force; therefore, the return device only slightly reduces the kinetic energy of the inertial element that can be used for the ejection process.

[0013] The first platform particularly preferably includes a first linear guide structure for guiding the inertial element or an intermediate element for positioning the inertial element. The linear guide structure makes it particularly easy to specify the effective direction of the inertial element. In particular, a maximum portion of the kinetic energy of the inertial element can be transferred to the payload space when the platform's direction of movement is oriented parallel to the extent of the linear guide structure.

[0014] Furthermore, it is preferred that the intermediate element include a second linear guide structure for guiding the inertial element. Due to this second linear guide structure, the effective direction of the inertial element can be more flexibly controlled. Thus, for example, an effective direction of the inertial element can be set that is partially composed of the movement direction of the intermediate element along the first linear guide structure and the movement direction of the inertial element along the second linear guide structure.

[0015] A preferred embodiment provides that the first linear guide structure extends along a first guide axis, the second linear guide structure extends along a second guide axis, and the first and second guide axes are oriented perpendicularly to one another. This provides a simple way of transferring the maximum amount of kinetic energy of the inertial element to the payload space, optionally in one of two mutually perpendicular directions.

[0016] Furthermore, the intermediate element is preferably rotatably mounted on the first platform by means of an axis of rotation. Due to this axis of rotation, the effective orientation of the inertial element in the payload space can be controlled regardless of the orientation, in particular rotation, of the platform. Even if the axis of rotation deviates from the center of gravity of the first platform, the rotational position of the intermediate element can be influenced by moving the first platform.

[0017] In particular, it is preferred that the payload space is associated with the at least one first platform. In this way, the inertial element and the payload space can move freely together within the drive surface via the first platform and, in particular, at least a portion of the kinetic energy of the inertial element can be transferred to the payload space regardless of the position.

[0018] It is particularly preferred that the inertial element at least partially delimits the payload space, at least in the initial state. This ensures the correct orientation of the inertial element, the payload space, and the payload arranged therein. Due to the spatial proximity, a particularly large portion of the kinetic energy of the inertial element can be transferred to the payload space and the payload. The payload arranged in the payload space is supported by the inertial element during movement of the platform and, in particular, is prevented from undesirably sliding out of the payload space.

[0019] A preferred embodiment provides for the payload space to be associated with a second platform that can be electromagnetically coupled to the drive surface and can move parallel to the drive surface. By associating the payload space with the second platform, the transport and removal of the payload can be performed separately. Thus, it is conceivable that different payloads can be transported by the second platform, which does not have any inertial elements, while the payloads can be removed by the first platform, which has the inertial elements.

[0020] Furthermore, it is preferred that the inertial element comprises an extension section extending in the effective direction, wherein the extension section extends beyond the first platform at least in the deflected state of the inertial element. In this way, a portion of the kinetic energy of the inertial element can be transferred to a payload area outside the first platform, in particular to a payload area associated with the second platform.

[0021] The present invention also relates to a method for operating a planar transport device as described above. It is proposed that a payload be arranged in a payload space, wherein a movable inertial element and the payload space are oriented relative to one another such that, when the platform is decelerated, at least a portion of the kinetic energy of the inertial element is transferred to the payload space and the payload due to the movement of the inertial element relative to the platform.

[0022] The method enables the transport and removal of a payload from the payload space at a selectively selected location on the drive surface. Due to the transfer of kinetic energy to the payload, the payload is accelerated and removed from the payload space by ejection. The transfer of kinetic energy to the payload can be controlled by the movement of the platform itself. Further benefits and features of the method according to the present invention are explained above with reference to the benefits and features of the device according to the present invention, which are incorporated herein by reference.

[0023] Furthermore, the present invention relates to a method for operating a planar transport device, wherein the inertial element moves relative to the intermediate element when the platform moves in the x-direction of the drive surface and then the platform decelerates, and wherein the inertial element moves together with the intermediate element relative to the platform when the platform moves in the y-direction of the drive surface perpendicular to the x-direction of the drive surface and then the platform decelerates.

[0024] Due to the mutually perpendicular deflection of the inertial element or of the inertial element together with the intermediate element, a maximum portion of the kinetic energy of the inertial element can be transferred to the payload space in two mutually perpendicular directions in a simple manner.

[0025] Other features and advantages result from the subject matter of the following description and the graphical representation of an embodiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In the attached figure:

[0027] Figure 1 shows a perspective view of one embodiment of a planar transport device having a first platform and a payload;

[0028] Figure 2 Shown Figure 1 A perspective view of the first platform in an initial state;

[0029] Figure 3 Shown Figure 1 A perspective view of the first platform during the ejection (Abwurf) of the payload;

[0030] Figure 4 shows a perspective view of another embodiment of a first platform having an intermediate element and a payload;

[0031] Figure 5 Shown Figure 4 A perspective view of the platform ejecting a payload along the x-direction;

[0032] Figure 6 Shown Figure 4 A perspective view of the platform with the intermediate element and the payload deflected in the y-direction;

[0033] Figure 7 Shown Figure 4 The platform is Figure 6 A perspective view of the payload being ejected after the state shown;

[0034] Figure 8 shows a perspective view of another embodiment of a platform having a rotatably mounted intermediate element and a payload;

[0035] Figure 9Shown Figure 8 A perspective view of the platform when the middle element rotates;

[0036] Figure 10 Shown Figure 8 The platform is Figure 9 a perspective view of the payload being ejected after the indicated state; and

[0037] Figure 11 A perspective view of another embodiment of a planar transport device having a first platform and a second platform is shown. DETAILED DESCRIPTION

[0038] In the drawings, the planar transport device is generally indicated by reference numeral 10. The planar transport device 10 comprises a driving surface 12 defining an xy plane 14, on which a first platform 16 is arranged, see Figure 1 .

[0039] The drive surface 12 is in particular oriented perpendicularly to the direction of gravity 17 .

[0040] The first platform 16 is electromagnetically coupled to the drive surface 12 and can be driven to move on the drive surface 12. Optionally, a spacer 18 can also be provided between the first platform 16 and the drive surface 12 so that the first platform 16 can be freely positioned in a space defined not only by the xy plane 14 but also by a z-axis 20 perpendicular to the xy plane 14.

[0041] The first platform 16 comprises a platform side 22 facing away from the driving surface 12, said platform side 22 being associated with a payload space 24. In the payload space 24 a payload 26 to be transported can be arranged.

[0042] Furthermore, the first platform 16 further comprises a first linear guide structure 28 extending along the platform side 22 , and the inertial element 30 is movably mounted in the first linear guide structure 28 .

[0043] The payload 26 and the inertial element 30 can be moved together with the first platform 16. Thus, the payload 26 can be transported to a freely selectable position of the drive surface 12.

[0044] The inertial element 30 is in particular cuboidal in shape and is initially situated physically close to a first outer edge 32 of the platform side 22, see Figure 2 Preferably, one longitudinal side 33 of the inertial element 30 is oriented parallel to the first outer edge 32 of the platform side 22 . In this way, the inertial element 30 forms a boundary of the payload space 24 .

[0045] The inertial element 30 includes a slide 34 or is connected to a slide 34. The slide 34 is guided in the first linear guide structure 28 of the first platform 16 and can (together with the inertial element 30) move along a first guide axis 36 of the first linear guide structure 28. Preferably, friction is minimized on the contact surface between the slide 34 and the wall of the first linear guide structure 28. This can be achieved, for example, by selecting a material with a low coefficient of friction and / or by surface treatment such as a low-friction coating of the surface.

[0046] Furthermore, a return device 38 is located in the free space of the first linear guide structure 28 and is designed, for example, as a spring which is supported on the first platform 16 at a first end 40 of the first linear guide structure 28 and is connected to the inertial element 30 at a second end 42 of the first linear guide structure 28 .

[0047] If the first platform 16 moves at a constant speed, the inertial element 30 will remain in the initial state in the region of the first outer edge 32 .

[0048] If the first platform 16 is decelerated or braked from a moving state, the inertial element 30 will retain a portion of its kinetic energy due to its inertial mass and deflect along the first linear guide structure 28. The inertial element 30 will move relative to the platform side 22, and in particular relative to the payload space 24. The direction of movement of the inertial element 30 will define the effective direction 44 of the inertial element 30.

[0049] If the first platform 16 moves in the direction of the first guide axis 36 of the first linear guide structure 28 during braking, the movement direction of the inertial element 30 and the effective direction 44 will coincide. However, it is also conceivable that the movement direction of the first platform 16 and the guide axis 36 of the first linear guide structure 28 form an angle of less than 90°. The effective direction 44 of the inertial element 30 will then deviate from the movement direction of the first platform 16 by this angle.

[0050] Due to the deflection of the inertial element 30 relative to the payload space 24, a portion of the kinetic energy of the inertial element 30 is transferred to the payload space 24. If a payload 26 is located in the payload space 24, the payload 26 will be accelerated in the effective direction 44 by the portion of the kinetic energy of the inertial element 30 being transferred to the payload 26 and will be removed from the first platform 16 by being ejected from the payload space 24, see Figure 3 .

[0051] The deflection of the inertial element 30 is accompanied by the tensioning of the return device 38. During this process, a further portion of the kinetic energy of the inertial element 30 is absorbed by the return device 38 and temporarily stored as tensioning energy. The tensioned return device 38 exerts a restoring force on the inertial element 30 that acts opposite to the effective direction 44 of the inertial element 30. Due to the restoring force of the return device 38, the inertial element 30 returns to its original, non-deflected state. A new payload can then be placed in the payload space 24.

[0052] Figure 4 Another embodiment of the planar transport device 10 is shown. The first platform 16 comprises a flat intermediate element 46 arranged between the platform side 22 and the inertial element 30. The intermediate element 46 extends parallel to the platform side 22.

[0053] The intermediate element 46 comprises an intermediate element side portion 48 facing away from the drive surface 12 and associated with the payload space 24. In the payload space 24 a payload 26 to be transported can be arranged.

[0054] The intermediate element 46 is mounted in the first linear guide structure 28 of the first platform 16 and is movable relative to the platform side 22 .

[0055] The intermediate element 46 comprises a second linear guide structure 50 having a second guide axis 52. The inertial element 30 is movably mounted in the second linear guide structure 50 of the intermediate element 46. The first guide axis 36 of the first linear guide structure 28 and the second guide axis 52 of the second linear guide structure 50 are oriented perpendicularly to each other.

[0056] The first linear guide structure 28 and the second linear guide structure 50 each comprise a return device 38 and 51 , for example, each comprising a spring.

[0057] The inertial element 30 is L-shaped and extends along a first outer edge 54 and an adjacent second outer edge 56 of the intermediate element side 48. The second outer edge 56 is Figure 4 The L-shaped inertial element 30 delimits the payload space 24 on two sides that are perpendicular to each other.

[0058] When the first platform 16 moves in the direction of the second guide axis 52 and the platform 16 is subsequently decelerated, the inertial element 30 will deflect along the second linear guide structure 50 and move relative to the intermediate element side 48 and the payload space 24. The intermediate element 46 remains in its initial position during this process, see Figure 5 .

[0059] If a payload 26 is arranged in the payload space 24, a portion of the kinetic energy of the inertial element 30 will be transferred to the payload 26. The payload 26 will thereby be accelerated in the effective direction 44 and removed from the first platform 16, see Figure 5 .

[0060] When the first platform 16 moves in the direction of the first guide axis 36 and subsequently the first platform 16 is decelerated, the inertial element 30 and the intermediate element 46 will deflect together, see Figure 6 .

[0061] Inertial element 30 and intermediate element 46 will move in effective direction 44 relative to platform side 22 along first linear guide structure 28. Payload 26 remains in contact with intermediate element side 48 until inertial element 30 and intermediate element 46 reach maximum deflection.

[0062] Once maximum deflection is achieved, the payload 26 moves further relative to the inertial element 30 and the intermediate element 46 and is removed from the intermediate element side 48 and the payload space 24 by ejection, see Figure 7 .

[0063] Figures 8 to 10 A further embodiment of the planar transport device 10 is shown, in which a pivot 54 is arranged on the first platform 16, by means of which the intermediate element 46 is rotatably mounted on the platform 16 about an axis of rotation 56. The axis of rotation 56 is particularly oriented perpendicularly to the intermediate element side 48. Furthermore, the axis of rotation 56 is preferably offset laterally from the center of gravity of the first platform 16.

[0064] The intermediate element 46 comprises a second linear guide structure 50, as already mentioned above Figures 4 to 7 As explained, the inertial element 30 is movably mounted in the second linear guide structure 50 .

[0065] The pivot 54 enables the intermediate element 46 to be oriented about the axis of rotation 56 regardless of the orientation of the first platform 16 about the z-axis 20. In particular, the orientation of the second linear guide structure 50 can be adjusted. In this way, the orientation of the effective direction 44 of the inertial element 30 can be specified regardless of the orientation of the first platform 16, see Figure 9 .

[0066] If the first platform 16 moves on the drive surface 12 and then decelerates, the inertial element 30 will move relative to the intermediate element 46 and the payload space 24. A portion of the kinetic energy of the inertial element 30 will be transferred to the payload 26 in the manner already described above, and the payload will be removed from the payload space 24, see Figure 10 .

[0067] Figure 11 Another embodiment of the planar transport device 10 is shown. The planar transport device 10 includes a first platform 16 and a second platform 58. Both platforms 16 and 58 are electromagnetically coupled to the drive surface 12 and can move in the xy plane 14 independently of each other.

[0068] Unlike the above-described embodiment, the payload space 24 is not associated with the first platform 16 but is associated with the second platform 58. The payload 26 can be arranged in the payload space 24, and the payload 26 can be transported by the second platform 58.

[0069] The first platform 16 comprises an inertial element 30 which is movably mounted in the first linear guide structure 28. The inertial element 30 has an extension section 60 and the extension section 60 extends in particular along and / or parallel to the first guide axis 36 of the first linear guide structure 28.

[0070] When the inertial element 30 undergoes inertial induced deflection, the extended section 60 of the inertial element 30 extends out of the first platform 16 and transfers at least a portion of the kinetic energy of the inertial element 30 to the payload space 24 of the second platform 58 so that the payload 26 located therein can be ejected from the payload space.

Claims

1. A planar transport device (10) having a drive surface (12) and having at least one first platform (16) that is electromagnetically coupled to the drive surface (12) and movable parallel to the drive surface (12), wherein: The planar transport device (10) comprises a payload space (24) for arranging a payload (26), characterized in that the planar transport device (10) comprises an inertial element (30) that can be moved relative to the first platform (16), the movable inertial element (30) and the payload space (24) being oriented relative to each other such that when the first platform (16) is decelerated, at least a portion of the kinetic energy of the inertial element (30) can be transferred to the payload space (24) due to the movement of the inertial element (30) in an effective direction (44) relative to the first platform (16).

2. The planar transport device (10) according to claim 1, characterized in that The planar transport device (10) comprises a return device (38) which moves the inertial element (30) in a direction opposite to the effective direction (44).

3. A planar transport device (10) according to any one of the preceding claims, characterized in that The first platform (16) comprises a first linear guide structure (28) for guiding the inertial element (30) or an intermediate element (46) for placing the inertial element (30).

4. The planar transport device (10) according to claim 3, characterized in that The intermediate element (46) comprises a second linear guide structure (50) for guiding the inertial element (30).

5. The planar transport device (10) according to claim 4, characterized in that The first linear guide structure (28) extends along a first guide axis (36), the second linear guide structure (50) extends along a second guide axis (52), and the first guide axis (36) and the second guide axis (52) are oriented perpendicular to each other.

6. The planar transport device (10) according to claim 3, characterized in that The intermediate element (46) is rotatably mounted on the first platform (16) by means of a rotation axis (56).

7. The planar transport device (10) according to any one of claims 1, 2, 4-6, characterized in that: The payload space (24) is associated with the at least one first platform (16).

8. The planar transport device (10) according to claim 7, characterized in that The inertial element (30) forms at least a partial boundary of the payload space (24), at least in an initial state.

9. The planar transport device (10) according to any one of claims 1, 2, 4-6, and 8, characterized in that: The payload space (24) is associated with a second platform (58) that is electromagnetically coupled to the drive surface (12) and movable parallel to the drive surface (12).

10. The planar transport device (10) according to claim 9, characterized in that The inertial element (30) comprises an extension section (60) extending in the effective direction (44), the extension section (60) extending beyond the first platform (16) at least in a deflected state of the inertial element (30).

11. A method for operating a planar transport device (10) according to any one of the preceding claims, wherein: A payload (26) is disposed in a payload space (24), a movable inertial element (30) and the payload space (24) being oriented relative to each other such that when the first platform (16) decelerates, at least a portion of the kinetic energy of the inertial element (30) can be transferred to the payload space (24) and the payload (26) due to movement of the inertial element (30) relative to the first platform (16).

12. The method according to claim 11, wherein The method utilizes the planar transport device (10) according to claim 5, wherein the inertial element (30) moves relative to the intermediate element (46) when the first platform (16) moves in the x-direction of the drive surface (12) and then the first platform (16) decelerates, and the inertial element (30) moves together with the intermediate element (46) relative to the first platform (16) when the first platform (16) moves in the y-direction of the drive surface (12) perpendicular to the x-direction of the drive surface (12) and then the first platform (16) decelerates.

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