Method for machining a flat object using a flat drive system

Abstract

The present invention relates to a method for processing a planar object 30 by means of a planar drive system 1, wherein the planar drive system 1 comprises at least one stator unit 3, each of which has a plurality of coil groups 4 for generating a stator magnetic field; a stator surface 5 above the stator unit 3; and a mover 100. The mover 100 has a plurality of magnet units 105 for generating a mover magnetic field, wherein the mover 100 can move in a first direction 21 and / or a second direction 22 parallel to the stator surface 5 and / or can move in a third direction 23 perpendicular to the stator surface 5 above the stator surface 5 through the interaction between the stator magnetic field and the mover magnetic field, wherein a tool 120 is arranged on the mover 100, wherein the planar object 30 is arranged between the stator surface 5 and the mover 100, and the method comprises the following steps: - energizing the coil group 4 so that the mover 100 has a predetermined height above the stator surface 5 in the third direction 23; - energizing the coil group 4 so that the mover 100 moves on a predetermined trajectory, wherein the tool 120 is in mechanical contact with the planar object 30 and thereby processes the planar object 30.

Description

Technical Field

[0001] The invention relates to a method for machining a planar object by means of a planar drive system and to a planar drive system.

[0002] This patent application claims priority to German patent application DE 102021 134 510.3 filed on December 23, 2021. Background Art

[0003] Planar drive systems are particularly useful in automation technology, in particular in production technology, handling technology and process technology. A movable element of a facility or machine can be moved or positioned in at least two linearly independent directions by means of a planar drive system. The planar drive system can include a permanent magnet electromagnetic planar motor having a planar stator and a mover that can move on the stator in at least two directions.

[0004] In a permanent magnet electromagnetic planar motor, a driving force is applied to the mover by magnetic interaction between the energized coil group of the stator unit and the driving magnets of the multiple magnet assemblies of the mover. Planar drive systems having rectangular and elongated coil groups and rectangular and elongated magnet assemblies of the mover are known in the prior art. Such a planar drive system is described, for example, in the publication DE 10 2017 131 304 A1. Using such a planar drive system, in particular linear and translational movement of the mover becomes possible. This means that, with the aid of such a planar drive system, the mover above the stator surface under which the rectangular and elongated coil groups are arranged can move freely parallel to the stator surface and perpendicular to the stator surface at least at different distances from the stator surface.

[0005] Publication DE 10 2019 117 431 A1 discloses a planar drive system, in which a gap is arranged between two stator modules of a stator surface and in which a functional element is arranged in the region of the gap if necessary, by means of which a function beyond the movement of the mover can be provided. If necessary, the functional element can act on the mover of the planar drive system.

[0006] Publication DE 10 2018 129 731 A1 discloses a planar drive system in which a two-dimensional virtual potential energy distribution can be used to find a path for a mover.

[0007] US Patent No. 6,445,093 B1 discloses a planar drive system in which a mover can move in six dimensions, including three spatial directions, and can rotate about three rotation axes. For example, semiconductors can be processed using a planar drive system. Summary of the invention

[0008] One object of the present invention is to provide a planar drive system capable of processing a planar object. Another object of the present invention is to provide a corresponding operating method for processing a planar object using such a planar drive system.

[0009] These objects are achieved by a method for machining a planar object by means of a planar drive system and a planar drive system according to the independent patent claims. Advantageous developments are specified in the dependent patent claims.

[0010] The planar drive system according to the present invention includes at least one stator unit, each of which has a plurality of coil groups for generating a stator magnetic field. The stator unit with the coil group can be arranged in a stator module with a stator module housing, wherein a plurality of stator units can be arranged in one stator module. The planar drive system also has a stator surface and a mover above the stator unit, wherein the mover has a plurality of magnet units for generating a mover magnetic field, and can move in a first direction and / or a second direction and / or a third direction above the stator surface through the interaction between the stator magnetic field and the mover magnetic field. The first direction and the second direction are parallel to the stator surface here. The mover can also move in a third direction perpendicular to the stator surface. In addition, a tool is arranged on the mover. The planar drive system also has a control unit, and the control unit is configured to output a first signal and a second signal. Based on the first signal, the coil group is energized so that the mover has a predetermined height above the stator surface in the third direction, and based on the second signal, the coil group is energized so that the mover moves on a predetermined trajectory, and the tool is in mechanical contact with the planar object, thereby processing the planar object.

[0011] In a method for processing a planar object with the aid of a planar drive system, the planar drive system comprises: at least one stator unit, each of which comprises a plurality of coil groups for generating a stator magnetic field; a stator surface above the stator unit; and a mover. The mover comprises a plurality of magnet units for generating a mover magnetic field, wherein the mover can move in a first direction and / or a second direction and / or a third direction above the stator surface by means of the interaction between the stator magnetic field and the mover magnetic field, wherein the first direction and the second direction are parallel to the stator surface. The mover can also move in a third direction perpendicular to the stator surface. The tool is arranged on the mover, wherein the planar object is arranged between the stator surface and the mover. The arrangement of the planar object between the stator surface and the mover may include: the mover at least partially covers the planar object. During the processing process, the following steps are performed:

[0012] - energizing the coil assembly so that the mover has a predetermined height above the stator surface in the third direction;

[0013] The coil assembly is energized so that the mover moves on a predetermined path, wherein the tool comes into mechanical contact with the planar object and the planar object is processed.

[0014] The planar object may include in particular an object having a much smaller dimension in the third direction than in the first and / or second direction. The planar object may be, for example, paper, cardboard, a plastic layer, glass or a metal sheet. In the latter case, it may be provided in particular that the metal sheet is not ferromagnetic so as not to excessively interfere with the interaction between the stator magnetic field and the mover magnetic field. By arranging the planar object between the mover and the stator surface, the force of the tool on the planar object can be well controlled, because the force can be well set and / or controlled and / or adjusted by energizing the coil assembly and the resulting attraction between the coil assembly and the magnet unit. Thus, a simple method for processing planar objects is provided. The thickness of the planar object may, for example, reach 5 mm, preferably a maximum of 2 mm.

[0015] In one embodiment of the method, when the coil assembly is energized so that the mover has a predetermined height above the stator surface in the third direction, the magnetic permeability of the planar object is taken into account. The magnetic permeability can be predetermined based on knowledge of the material, thickness and / or other characteristics of the planar object, or can be determined using a sensor.

[0016] In one embodiment of the method, the current intensity of the coil assembly is adapted, in particular increased, based on the magnetic permeability of the planar object. Influences on the interaction of the stator magnetic field with the mover magnetic field caused by the magnetic permeability can be at least partially, preferably completely, compensated by increasing the current intensity.

[0017] In one embodiment of the method, the coil assembly is first energized in such a way that the mover moves away from the stator surface in the third direction. The coil assembly is then energized in such a way that the mover is located above the planar object. The coil assembly is then energized in such a way that the mover moves in the third direction towards the stator surface until the tool and the planar object are in mechanical contact. This can be used to determine the thickness of the planar object in the third direction, wherein a predefined height can be set during processing as a function of this thickness. The initially provided lifting of the mover and the subsequent lowering provide a simple possibility of being able to move the mover to a specified height during processing.

[0018] In one embodiment of the method, when the coil assembly is energized so that the mover moves on a predetermined trajectory, the predetermined force is compared with the determined force for at least one point of the trajectory, and the coil assembly is energized in such a way that the determined force corresponds to the predetermined force. As a result, the force transmitted by the tool can be adjusted in the first direction and / or the second direction and / or the third direction.

[0019] In one embodiment of the method, the thickness of the planar object in the third direction is determined and the predetermined height is calculated using the thickness. For this purpose, for example, a magnetic field sensor arranged in the planar drive system can be used, which can be used to determine the position of the mover.

[0020] In one embodiment of the method, the thickness of the planar object in the third direction is determined by a sensor arranged on the mover.

[0021] In one embodiment of the method, at least one fixed mover moves toward the stator surface through the coil assembly, so that the movement of the planar object on the stator surface is restricted in the first direction and / or the second direction and / or the third direction by means of the fixed mover. This can improve the processing of the planar object.

[0022] In one embodiment of the method, the force-amplifying mover acts on the mover via at least one force transmission unit to increase the force of the tool acting on the planar object in the third direction, which can also improve the processing of the planar object.

[0023] In one embodiment of the method, the tool comprises a cutting tool. The processing of the planar object includes cutting.

[0024] In one embodiment of the method, the cutting tool has a first cutting edge and at least one second cutting edge, wherein the first cutting edge is arranged on a first side of the mover and the second cutting edge is arranged on a second side of the mover, wherein the first side and the second side of the mover (100) are opposite to each other. In order to process a planar object, the mover can be arranged at an angle so that the first cutting edge or the second cutting edge is in mechanical contact with the planar object. As a result, different cutting edges can be used on one mover, making the entire process more efficient, since only one mover is required for two independent cutting processes.

[0025] In one embodiment of the method, the tool comprises a punching tool. The processing of the planar object comprises punching.

[0026] In one embodiment of the method, the tool has a stamp. The stamp bed is arranged on the stator surface. The processing of the planar object includes stamping. The stamp bed can also be called a stamp table.

[0027] In one embodiment of the method, the tool has a print head. The processing of the planar object includes printing. The transfer of printing material such as ink, pigment, toner, etc. occurs here by mechanical contact between the tool and the planar object, wherein the printing material is brought into mechanical contact.

[0028] In one embodiment of the method, the tool has an adhesive nozzle. The processing of the planar object includes applying an adhesive. The adhesive is transferred by mechanical contact between the tool and the planar object, wherein the adhesive creates the mechanical contact.

[0029] In one embodiment of the method, the tool comprises a roller. The processing of the planar object comprises rolling.

[0030] In one embodiment of the method, the tool comprises a press. The processing of the planar object comprises pressing.

[0031] In one embodiment of the method, the tool comprises a pen. The processing of the planar object comprises writing or drawing.

[0032] In one embodiment of the method, the tool comprises a driven tool. The processing of the planar object comprises drilling and / or milling and / or engraving and / or sawing and / or grinding and / or perforating. The driven tool may be an electronic tool and have an electric drive. Alternatively or additionally, the driven tool may have a pneumatic and / or hydraulic drive.

[0033] In one embodiment of the method, the processing of the planar object comprises folding. In one embodiment of the method, the processing of the planar object comprises ironing. In one embodiment of the method, the processing of the planar object comprises scoring of glass. In one embodiment of the method, the processing of the planar object comprises cutting of material. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention will be explained in more detail with reference to the accompanying drawings, in which:

[0035] Figure 1 A planar drive system is shown;

[0036] Figure 2 shows a side view of a planar drive system;

[0037] Figure 3 shows a side view of a planar drive system;

[0038] Figure 4 shows a top view of a planar drive system;

[0039] Figure 5 shows a top view of a planar drive system;

[0040] Figure 6 shows a top view of a planar drive system;

[0041] Figure 7 shows a side view of a planar drive system;

[0042] Figure 8 A view of the mover is shown;

[0043] Fig. 9 shows a top view of a planar drive system;

[0044] Fig.10 shows a side view of a planar drive system;

[0045] Fig.11 shows a side view of a planar drive system;

[0046] Fig.12 shows a top view of a planar drive system;

[0047] Fig.13 shows a side view of a planar drive system;

[0048] Fig.14 shows a side view of a planar drive system;

[0049] Fig.15 shows a side view of a planar drive system;

[0050] Fig.16 shows a side view of a planar drive system;

[0051] Fig.17 shows a side view of a planar drive system;

[0052] Fig.18 shows a side view of a planar drive system; and

[0053] Fig.19 A side view of a planar drive system is shown.

[0054] The same features may use the same reference numerals below. In addition, for the sake of clarity, it may be specified that not all elements are shown in each figure. In addition, for the sake of clarity, it may be specified that not every element is provided with its own reference numeral in each figure. DETAILED DESCRIPTION

[0055] Figure 1A planar drive system 1 with six stator modules 2 is shown, wherein the stator modules 2 are arranged in such a way that a rectangle is formed by two by three stator modules 2. Other arrangements of the stator modules 2 are also conceivable; more or less than six stator modules 2 can also be arranged. The internal working principle of the stator module 2 is shown in the stator module 2 shown in the upper right figure, wherein the stator module 2 includes four stator units 3, wherein the four stator units 3 are arranged in a square two by two manner within the stator module 2. In addition, for two stator units 3, it is shown that the stator unit 3 includes a coil assembly 4, wherein the coil assembly 4 is shown to have different orientations. The coil assembly 4 is used to generate a stator magnetic field. In the embodiment shown, the coil assembly 4 is in the form of a rectangular and elongated coil assembly 4. In each stator unit 3 of the stator module 2, three individual rectangular elongated coils of the coil assembly 4 are shown. Similarly, in an embodiment not shown, different numbers of individual rectangular and elongated coils can form the coil assembly 4. Here, its longitudinal extension is oriented parallel to one of the edges of the corresponding stator unit 3. Below each coil assembly 4 shown there are further coils, which have an orientation rotated 90° relative to their longitudinal extension. The grid of elongated and rectangular coils of the coil assembly 4 can be formed multiple times one above the other. The stator unit 3 and the coil assembly 4 are actually not visible because they are surrounded by the housing 7 of the stator module 2. The six stator modules 2 form a continuous stator surface 5 above the stator unit 3. Further, a mover 100 is provided, wherein the mover has a plurality of magnet units 105 for generating a mover magnetic field. The coil assembly 4 can interact with the magnet unit 105 when appropriately energized, and can thereby move the mover 100 above the stator surface 5 in the planar drive system 1. Therefore, the plane of movement of the mover 100 is defined by the stator surface 5. Figure 1 The illustration is simplified because a plurality of coil assemblies 4 are arranged in each stator unit 3, each of which is at a 90° angle to each other, but only one layer of coil assemblies 4 is shown. The magnet unit 105 is arranged circumferentially in the rotor 100 and can interact with the coil assembly 4 to move the rotor 100. Figure 1 A further mover 101 is also shown, in which the integrated magnet unit 105 is not shown. The movement of the mover 100 can take place in particular in a plane spanned by the first direction 21 and the second direction 22. In addition, these movements can be superimposed, so that the mover 100 can move parallel to the stator surface 5 in all directions. In addition, the mover 100 can move perpendicular to the stator surface 5 in the third direction 23. The arrangement of the four stator units 3 within the stator module 2 corresponds to the stator module 2 for the planar drive system 1 sold by the applicant under the name XPlanar. Alternatively, it can also be provided that more or fewer stator units 3 are arranged in the stator module 2. For example, each stator module 2 can include only one stator unit 3 or more than four stator units 3.

[0056] The planar object 30 arranged on the stator surface 5 is also Figure 1 In Figure 1 In the embodiment, the mover 100 is arranged next to the planar object 30. The tool arranged on the mover 100 can be used to process the planar object, but in Figure 1 Since the mover 100 can be freely moved with the tool on the stator surface 5, the flat object 30 can be processed flexibly, wherein, for example, a plurality of movers 100 with different tools can be used. The movers 100 can be individually controlled and can be moved independently of each other, so that a flexible processing sequence is possible.

[0057] In addition, additional Figure 1 A cover made of non-magnetic material, not shown in the figure, covers the stator module 2. The cover can be used, for example, to protect the stator module 2 or the stator surface 5 from damage during machining. For example, the thickness of the cover can reach one millimeter.

[0058] Figure 1 , which is connected to one of the stator modules 2. It can be provided that the stator modules 2 are able to forward communication signals to each other. Alternatively, each stator module 2 can also be connected to the control unit 25 ( Figure 1 ). The control unit 25 is configured to output a signal to the stator module 2, wherein the stator module 2 is configured to energize the coil assembly 4 based on the signal and thereby control the movement of the mover 100 parallel to the stator surface 5. The coil assembly 3 can also be energized based on the signal in a manner that the mover 100 moves perpendicular to the stator surface 5. In addition, the coil assembly 3 can be energized based on the signal so that the mover 100 rotates around an axis perpendicular to the stator surface 5 or at least rotates by a few degrees or rotates around an axis parallel to the stator surface 5 by a few degrees.

[0059] To process the planar object 30, the following steps are provided:

[0060] - energizing the coil assembly 4 so that the mover 100 has a predetermined height above the stator surface 5 in the third direction 23;

[0061] The coil assembly 4 is energized so that the mover 100 moves on a predetermined path, wherein the tool comes into mechanical contact with the planar object 30 and the planar object is processed thereby.

[0062] The control unit 25 is configured to issue a first signal, wherein the coil assembly 4 is energized based on the first signal so that the mover 100 has a predetermined height above the stator surface 5 in the third direction 23, and also issue a second signal, wherein the coil assembly 4 is energized based on the second signal so that the mover 100 moves on a predetermined trajectory, where the tool and the planar object 30 are in mechanical contact, thereby processing the planar object 30. In this case, the planar object 30 can be arranged between the mover 100 and the stator surface 5. This can include, for example, that the mover 100 at least partially covers the planar object 30.

[0063] The planar object 30 here can in particular include an object having a much smaller dimension in the third direction 23 than in the first direction 21 and / or the second direction 22. For example, the planar object 30 can be, for example, paper, cardboard, a plastic layer or a metal sheet. In the latter case, it can be provided in particular that the metal sheet is not ferromagnetic so as not to excessively interfere with the interaction between the stator magnetic field and the mover magnetic field. By arranging the planar object 30 between the mover 100 and the stator surface 5, the force of the tool on the planar object can be well controlled, because the force can be well set and / or controlled and / or adjusted by energizing the coil assembly 4 and the resulting attraction between the coil assembly 4 and the magnet unit 105. Thereby a simple method for processing the planar object 30 is provided.

[0064] Figure 1 , a magnetic field sensor 6 in one of the stator modules 2 is also shown, wherein each stator module 2 may include a magnetic field sensor 6. In an exemplary embodiment of the method, the thickness of the planar object 30 is determined. The thickness may include the dimension of the planar object 30 in the third direction 23. The predetermined height is calculated using the thickness. For this purpose, for example, a magnetic field sensor 6 arranged in the planar drive system 1 may be used, which may also be used additionally to determine the position of the mover 100.

[0065] In an exemplary embodiment of the method, when the coil assembly 4 is energized so that the mover 100 has a predetermined height above the stator surface 5 in the third direction 23, the magnetic permeability of the planar object 30 is taken into account. The magnetic permeability can be predetermined based on knowledge of the material, thickness and / or other properties of the planar object 30, or can be determined using a sensor, such as a magnetic field sensor 6.

[0066] In an exemplary embodiment of the method, the current intensity of coil set 4 is adapted, in particular increased, based on the magnetic permeability of planar object 30. Influences on the interaction of the stator magnetic field with the mover magnetic field caused by the magnetic permeability can be at least partially, preferably completely, compensated by increasing the current intensity.

[0067] In one embodiment, more than one mover 100 is provided, wherein each such mover 100 comprises a tool. This allows for easy replacement of the tools.

[0068] Figure 2 1 shows a side view of a planar drive system 1, with which a planar object 30 can be processed. Figure 1 Different, only one stator module 2 is shown, but it can also be similar to Figure 1 A further stator module 2 is provided. In addition, if combined Figure 1 As explained, the stator module 2 can have a stator unit 3, a coil assembly 4 and a magnetic field sensor 6. The planar object 30 is arranged between the stator surface 5 and the mover 100. The mover 100 has a tool 120, which is designed as a cutting tool 121 and is arranged in the center of the mover 100. The cutting tool 121 is used to cut the planar object 30. For this purpose, the cutting tool 121 is in mechanical contact with the planar object 30. The cutting tool 121 can also be arranged at other positions of the mover 100.

[0069] Here, the working space of the cutting tool 121 can include the entire stator surface 5 and is therefore limited only by the size and arrangement of the stator module. In addition, the power consumption of the coil group 4 can be measured and it can be identified that the cutting tool 121 is blunt or blunted based on the change in power consumption. In this case, the mover 100 with the cutting tool 121 can be moved away from the planar object 30 in the third direction 23 and replaced by another mover with a sharp cutting tool. In addition, it can be set that a plurality of movers 100 with a plurality of cutting tools 121 are used, which process the planar object 30 at different positions respectively. Because the movers 100 can be controlled individually, this leads to flexible processing possibilities.

[0070] In an exemplary embodiment, the coil set 4 is initially energized in such a way that the mover 100 moves away from the stator surface 5 in the third direction 23. The coil set 4 is then energized in such a way that the mover 100 is located above the planar object 30. The coil set 4 is then energized in such a way that the mover 100 moves toward the stator surface 5 along the third direction 23 until the tool 120, i.e., the cutting tool 121, and the planar object 30 are in mechanical contact. Figure 2 The method is explained in more detail, but it can also be used for other exemplary embodiments with alternative tools. In particular, the magnetic field sensor 6 can be evaluated to determine the mechanical contact of the tool 120 with the planar object 30, for example when the mover 100 can no longer move further towards the stator surface 5 because the tool 120 has established contact with the planar object 30. If necessary, the machining depth can also be used when setting the predetermined height, for example Figure 2The desired cutting depth in the exemplary embodiment of . It can also be provided that the mover 100 can be rotated 360 degrees with the cutting tool 121. This can be used for drilling. In particular, it can be provided that the mover 100 with the cutting tool 121 is used both for straight-line cutting and for drilling. This allows for more flexible processing.

[0071] Figure 3 A side view of a planar drive system 1 is shown, which corresponds to Figure 2 The planar drive system 1 of the present invention. The cutting tool 121 has a first cutting edge 122 and a second cutting edge 123, the first cutting edge 122 is arranged on the first side 111 of the mover 100 and the second cutting edge 123 is arranged on the second side 112 of the mover 100. The first side 111 of the mover 100 is opposite to the second side 112. In order to process the planar object 30, the mover 100 is tilted so that the first cutting edge 122 or the second cutting edge 123 is in mechanical contact with the planar object 30. Figure 3 The situation is shown in which the second cutting edge 123 is in mechanical contact with the planar object 30 while the first cutting edge 122 is not in mechanical contact. The mover 100 is arranged at an angle, that is, not parallel to the stator surface 5. Therefore, it is possible to choose between the first cutting edge 122 and the second cutting edge 123 and thus more flexible processing can be performed, especially when the first cutting edge 122 and the second cutting edge 123 are different. It can also be provided that the first cutting edge 122 and the second cutting edge 123 are suitable for processing different materials, that is, in particular, the first cutting edge 122 is suitable for the first material and the second cutting edge 123 is suitable for the second material. In an alternative embodiment not shown, the first cutting edge 122 and the second cutting edge 123 can also be in mechanical contact with the planar object 30 at the same time and process the planar object 30 together. Similarly, more than two cutting tools 121 can be arranged on the mover 100. It is also possible to cut a circle by moving the mover 100 with the cutting tool 121 on a circular track.

[0072] Figure 4 A top view of a planar drive system 1 is shown, which may have a combination Figures 1 to 3 The planar drive system 1 also has four fixed movers 115, wherein the number of the fixed movers 115 is at least one. The fixed mover 115 moves toward the stator surface 5 through the coil assembly 4, so that the planar object 30 on the stator surface 5 is restricted to move in the first direction 21 and / or the second direction 22 and / or the third direction 23 by the fixed mover 115. Therefore, the mover 100 with the tool 120 can be more easily used to process the planar object 30, because the planar object 30 is better attached to the stator surface 5 and is less likely to move due to the force of the tool 120.

[0073] Figure 5 and Figure 6A top view of a planar drive system 1 is shown, which is similar in structure to Figure 4 Planar drive system. During operation, i.e. during processing of a planar object 30 by means of a mover 100 with a tool 120, a single fixed mover 115 can be moved so that the planar object 30 is always fixed in the vicinity of the mover 100 with the tool 120 and the planar object 30 is therefore less likely to move due to the force of the tool 120. The fixed mover 115 can optionally have a tool, such as one or more rollers. As indicated by the arrow, the fixed mover 115 that is no longer required to fix the planar object 30 can be controlled at the other fixed movers 115 that are currently required to fix the planar object 30, so that the planar object 30 is fixed again before the mover 100 with the tool 120 reaches the next processing area. Continuous processing of the planar object 30 is therefore possible, wherein only a small number of fixed movers 115 are required. In addition, the planar object 30 can occupy the entire stator surface 5, so that the size of the planar object 30 is only limited by the stator surface 5, which can be expanded at will by the number of stator modules 2.

[0074] Figure 7 A side view of a planar drive system 1 is shown, which corresponds to Figure 2 Planar drive system 1. Instead of a cutting tool 121, the tool 120 comprises a punching tool 128 arranged on the mover 100. The processing of the planar object 30 comprises punching. The planar object 30 may include food such as a slice of cheese or a sausage. However, other materials, in particular the materials already mentioned, may also be punched. It may be provided that the punching tool 128 comprises a device for discharging the punched material. Alternatively, it may be provided that the punched material is removed from the punching tool 128 in the following manner, the coil assembly 4 is energized so that the mover 100 moves back and forth, wherein the punched material is shaken out by the movement. In this case, for example, the back and forth movement may be performed at a frequency between one tenth of a hertz and ten hertz. Discharge may occur, for example, at a predetermined position of the stator surface 5, where the punched material may be further removed from the stator surface 5 if necessary. A magnetic field sensor 6 may also be used to check the quality of the punching. This is done in particular by checking whether the mover 100 is parallel to the stator surface 5 after it has moved towards the flat object 30 and the punching tool 128 has acted on the flat object 30. If this is the case, complete punching can be assumed. If this is not the case, the flat object 30 was not completely pierced by the punching tool 30.

[0075] Different movers 100 can have different punching tools 128, i.e. punching tools 128 with different shapes. The position at which the punching process is carried out can be selected dynamically, for example in order to obtain as many punched parts (punched material) as possible from the material sheet of the flat object 30. It can be provided that the ideal punching arrangement of the punching tools 128 is precalculated by the control unit 10.

[0076] Figure 8 Shows that there is Figure 7 FIG. 1 is a top view of a mover 100 with a punching tool 128 shown below. The punching tool 128 may include any shape. In addition, a plurality of movers 100 may be coupled and the punching tool 128 may be arranged on the plurality of movers 100.

[0077] Fig. 9 A top view of a planar drive system 1 is shown, with which a planar object 30 can be processed, and in which four force-amplifying movers 116 act on the mover 100 via a power transmission unit 117 to increase the force of the tool 120 acting on the planar object 30 in the third direction 23. In particular, a different number of force-amplifying movers 116 can also be selected, for example one force-amplifying mover 116. The force-amplifying mover 116 can be used flexibly here and can act on different movers 100 with the tool 120. This may be particularly advantageous if different movers 100 are to be used with different tools 120. In particular, the tool 120 can include the already described cutting tool 121 or the already described punching tool 128. The maximum force with which the tool 120 can act on the planar object 30 is limited by the magnetic attraction between the coil assembly 4 of the stator module 2 and the magnet unit 105 of the mover 100. Due to the force booster 116 , an additional force generated by the magnetic attraction between the coil assembly 4 of the stator module 2 and the magnet unit 105 of the force booster 116 can act on the mover 100 with the tool 120 .

[0078] Fig.10 1 shows a side view of a planar drive system 1 having a mover 100 with a tool 120, which is a cutting tool 121 in this case, and a force-increasing mover 116 with a force transmission unit 117. The force of the tool 120 acting on the planar object 30 can thus be increased in the third direction 23. It can also be provided that when using the force-increasing mover 116, for example in combination with Fig. 9 and Fig.10 As mentioned above, the number of the force booster movers 116 is selected according to the thickness of the planar object 30 to be processed, and in particular, more force booster movers 116 are used for thicker planar objects 30 .

[0079] Fig.11A side view of a planar drive system 1 is shown, with which a planar object 30 can be processed. The mover 100 has a pen 131 as a tool 120. Processing of the planar object 30 includes writing or drawing. In particular, if the pen 131 is a pencil, the wear of the pencil lead can be detected, for example by the force acting on the mover 100 determined by the magnetic field sensor 6. The flying height of the mover 100 in the third direction 23 can then be adapted so that, for example, even if the pen 131 is worn, the pressing force of the pen 131 on the planar object remains unchanged or the pen 131 continues to contact the planar object 30. Alternatively, it can also be provided that the pen 131 is replaced and the mover 100 is removed from the planar object 30 for this purpose.

[0080] Fig.12 The planar drive system 1 is shown in a top view, wherein the mover 100 has a stamp and can be used to process a planar object 30. A stamp bed 133 is arranged on the stator surface 5, wherein the stamp of the mover 100 receives new stamp ink from the stamp bed 133 at regular intervals.

[0081] Fig.13 Shows Fig.12 1 shows a side view of a planar drive system 1 . The tool 120 , here a stamp 134 , is again arranged between the mover 100 and the planar object 30 . Fig.12 and 13 The planar object 30 in the printing press can here include a continuous material, for example paper or foil. It can be particularly advantageous here if the continuous material of the planar object and the mover 100 and the stamp 134 move synchronously, that is to say at a speed coordinated with one another. As a result, the stamp 134 can transfer the pigment from the stamp bed 133 to the planar object 30 without having to stop the planar object 30. This enables a more efficient method, since the coil set 4 can be energized in such a way that the mover 100 moves synchronously with the planar object.

[0082] If the pigment in the impression bed 133 is partially consumed, it can be provided that the mover 100 presses the stamp 134 onto the impression bed 133 with a greater force and thus transfers as much pigment to the stamp 134 as if there were more pigment in the impression bed 133 and less force was applied. The force with which the stamp 134 is pressed onto the impression bed 133 can thus be adapted to the amount of pigment present in the impression bed 133. Furthermore, it can alternatively be provided that the stamp 134 is pressed onto the flat object 30 with a greater force if there is less pigment on the stamp 134, for example because there is less pigment in the impression bed 133 or because the stamp impression has already been transferred.

[0083] Similar to Figure 3 , a plurality of stamps 134 may also be provided on the mover 100. The stamp to be used may then be selected by tilting the mover 100 accordingly, such as in combination with Figure 3Explained.

[0084] Fig.14 A side view of a planar drive system 1 is shown, with which a planar object 30 can be processed. The tool 120 comprises an adhesive nozzle 136. The processing of the planar object 30 comprises the application of an adhesive 138. Furthermore, the adhesive nozzle 136 is connected to an adhesive supply 137, by means of which the adhesive 138 can be provided. By tilting or tilting the mover 100, hard-to-reach areas of the planar object 30 can also be wetted with the adhesive 138. The adhesive 138 is transferred here by mechanical contact between the tool 120 and the planar object 30, wherein the adhesive 138 produces the mechanical contact.

[0085] Fig.15 A side view of a planar drive system 1 is shown, with which a planar object 30 can be processed. The tool 120 comprises a print head 141. The processing of the planar object 30 comprises printing. In addition, the print head 141 is connected to a printing material supply 142, via which a printing material can be provided. The printing material can be a pigment, a coating or also a 3D printing material. The printing material is transferred here by mechanical contact between the tool 120 and the planar object 30, wherein the printing material is brought into mechanical contact.

[0086] Fig.16 A side view of a planar drive system 1 is shown, with which a planar object 30 can be processed. The tool 120 comprises a driven tool 145 and the processing of the planar object 30 comprises drilling and / or milling and / or engraving and / or sawing and / or grinding and / or perforating. In particular, the driven tool 145 can have a pneumatic drive and / or a hydraulic drive and / or an electric drive. In the case of an electric drive, the driven tool 145 can be referred to as an electronic tool. The driven tool 145 can include a rapidly rotating multifunctional tool. Here, rapidly rotating can mean that the multifunctional tool can have a rotational speed of more than five hundred revolutions per minute. Such a multifunctional tool can include a tool head with a cutting blade, with which the planar object 30 can be processed. In addition, a cable for supplying power to the driven tool 145 and a suction device 147 for sucking up debris or dust are provided. With Fig.16 In contrast to the illustration in , it can be provided that the suction device 147 is arranged on the other mover 100 .

[0087] Fig.17 A side view of a planar drive system 1 is shown, which corresponds to Fig.16Planar drive system 1. No suction device is provided. For this purpose, the mover 100 has a battery 148, which is connected to the driven tool 145 by means of a cable 146. In this way, the driven tool 145 can be powered.

[0088] exist Fig.16 and 17 In the embodiment, the driven tool 145 is located at the center of the mover. Of course, the driven tool 145 can also be arranged at different positions, such as the edge.

[0089] exist Figures 11 to 17 In an exemplary embodiment of Figures 4 to 6 Explanation of the fixed mover 115 and / or the combination Fig. 9 and 10 The force amplifying mover 116 is explained.

[0090] Fig.18 A side view of a planar drive system 1 is shown. A camera 150 with a data and energy transmission device 151 is arranged on the mover 100, wherein the data and energy transmission device 151 is shown as a wired, i.e. cable, but it can also be a wireless connection. Furthermore, the energy transmission can be wired and the data transmission can be wireless. The camera 150 can be used for quality inspection. Furthermore, a 2S code, such as a QR code, applied to a planar object 30 can be read by the camera 150, wherein the QR code can include information about the thickness and / or magnetic permeability of the planar material 30. The camera 150 can also be used to capture large area images or to capture optical features of the planar object 30, such as boundary points. With a camera 150 placed in the center of the mover 100 Fig.18 Contrary to the illustration in FIG. , the camera 150 may also be arranged at a different position, for example at an edge.

[0091] Fig.19 A side view of a planar drive system 1 is shown. A sensor 153 with a data and energy transmission device 151 is arranged on the mover 100. The mover 100 and therefore also the sensor 153 can be moved to any point on the stator surface 5. The sensor 153 can be used to determine the temperature of the planar object 30, the roughness or flatness of the planar object 30, the elasticity of the planar object 30, the thickness of the planar object 30 and / or the magnetic permeability of the planar object 30. The sensor 153 can also be a capacitive sensor. Alternatively or additionally, the thickness of the planar object 30 and / or the magnetic permeability of the planar object 30 can be determined with the aid of a magnetic field sensor 6. The data and energy transmission 151 is wired, i.e., shown as a cable, but can also be a wireless connection. In addition, the energy transmission can be wired and the data transmission can be wireless.

[0092] All parameters relevant for the processing of the planar object 30 (e.g. thickness, tool height, material) can be predetermined by the operator of the planar drive system via parameters. It can thus be determined to what height the mover 100 with the tool 120 must be moved in order to position the mover 100 without processing, how far the mover 100 must be lowered to process the planar object 30, and with what force the mover 100 must process the planar object 30. This can be specified for the control unit 25, for example.

[0093] The thickness of the planar object 30 can be determined automatically. For this purpose, a process for determining the thickness is started, in which the mover 100 is brought to its maximum height to ensure that it does not touch the planar object 30 and is then slowly lowered. The mover 100 is moved here by a position adjustment device. This means that when the mover 100 or the tool 120 begins to contact the planar object 30, a mechanical resistance is generated, as a result of which the position error becomes larger and therefore a larger force must be set. This can then be evaluated as the tool 120 or the mover 100 and the planar object 30 are now in contact. So when the force increases, it is assumed that contact has occurred. Since the position of the mover 100 is also known by the magnetic field sensor 6 at this time, the material thickness of the planar object 30 can be determined in this way. For this purpose, it can be provided that the mover 100 includes a needle, wherein the mechanical contact between the planar object 30 and the mover 100 is produced by the needle.

[0094] If the planar object 30 has different thicknesses at different locations, that is to say has a height and a depth, it is not necessarily advantageous to determine the thickness at one time. In this case, for example, a combination of Fig.19 The mover 100 is explained with a sensor 153, wherein the sensor 153 can be configured as a distance sensor (capacitive, inductive). Alternatively, the sensor 153 can be designed for laser distance measurement. In this case, the sensor 153 can transmit data to the control unit 25. The data from the sensor 153 can then be used directly to specify the height of the mover 100.

[0095] Alternatively, the surface of the planar object 30 can also be measured in its entirety using a completely external system, such as a camera system which records the entire material surface at once and can thus create a height profile.

[0096] In almost all machining processes, the tool 120 is mounted below the mover 100 or to the side of the mover 100. Information about the tool 120, in particular how it is geometrically arranged on the mover 100 and how much it protrudes from the mover 100, can be taken into account by setting parameters when calculating the predetermined height.

[0097] Since the thickness of the planar object 30 and the projection of the tool 120 beyond the mover are known, the predetermined height can be selected such that the planar object 30 is machined without the stator module 2 coming into contact with the tool 120. Furthermore, a mechanical protection layer can be arranged on the stator module 2, for example a stainless steel sheet.

[0098] Reference numerals list

[0099] 1 Planar drive system

[0100] 2 Stator module

[0101] 3 Stator unit

[0102] 4 Coil Group

[0103] 5 Stator surface

[0104] 6 Magnetic Field Sensor

[0105] 7 Housing

[0106] 10 Control unit

[0107] 11 Data cable

[0108] 21 First Direction

[0109] 22 Second Direction

[0110] 23 Third Direction

[0111] 25 Control Unit

[0112] 30 Planar Objects

[0113] 100 movers

[0114] 101 Another mover

[0115] 105 Magnet Unit

[0116] 111 First side

[0117] 112 Second side

[0118] 115 Fixed mover

[0119] 116 Force Amplifier

[0120] 117 Force transmission unit

[0121] 120 Tools

[0122] 121 Cutting tools

[0123] 122 First cutting edge

[0124] 123 Second cutting edge

[0125] 128 Punching tools

[0126] 131 records

[0127] 133 Impression Bed

[0128] 134 Impression

[0129] 136 Adhesive Nozzle

[0130] 137 Adhesive supply device

[0131] 138 Adhesive

[0132] 141 Print head

[0133] 142 Printing material supply device

[0134] 145 Driven Tools

[0135] 146 Cable

[0136] 147 Suction device

[0137] 148 Battery

[0138] 150 Camera

[0139] 151 Data and Energy Transmission

[0140] 153 Sensors

Claims

1. A method for processing a planar object (30) by means of a planar drive system (1), wherein: The planar drive system (1) comprises: at least one stator unit (3), each of the stator units (3) having a plurality of coil groups (4) for generating a stator magnetic field; a stator surface (5) above the stator unit (3); and a mover (100), wherein the mover (100) has a plurality of magnet units (105) for generating a mover magnetic field, wherein the mover (100) is movable in a first direction (21) and / or a second direction (22) and / or a third direction (23) above the stator surface (5) by means of interaction between the stator magnetic field and the mover magnetic field, wherein the first direction (21) and the second direction (22) are parallel to the stator surface (5), wherein the mover (100) is movable in a third direction (23) perpendicular to the stator surface (5), wherein a tool (120) is arranged on the mover (100), wherein the planar object (30) is arranged between the stator surface (5) and the mover (100), and the method comprises the following steps: - energizing the coil assembly (4) so ​​that the mover (100) has a predetermined height above the stator surface (5) in the third direction (23); - the coil assembly (4) is energized so that the mover (100) moves on a predetermined trajectory, wherein the tool (120) comes into mechanical contact with the planar object (30) and thereby processes the planar object (30).

2. The method according to claim 1, wherein: When the coil assembly (4) is energized so that the mover (100) has a predetermined height above the stator surface (5) in the third direction (23), the magnetic permeability of the planar object (30) is taken into account.

3. The method according to claim 2, wherein: The current intensity of the coil assembly (4) is adapted based on the magnetic permeability of the planar object (30).

4. The method according to any one of claims 1 to 3, wherein: First, the coil assembly (4) is energized so that the mover (100) moves away from the stator surface (5) in a third direction (23), then the coil assembly (4) is energized so that the mover (100) is located above the planar object (30), and then the coil assembly (4) is energized so that the mover (100) moves in the third direction (23) toward the stator surface (5) until the tool (120) and the planar object (30) are in mechanical contact.

5. The method according to any one of claims 1 to 4, wherein: The coil assembly (4) is energized so that the mover (100) moves on a predetermined trajectory by comparing a predetermined force with a determined force for at least one point of the trajectory and energizing the coil assembly (4) in such a way that the determined force corresponds to the predetermined force.

6. The method according to any one of claims 1 to 5, wherein: The thickness of the flat object (30) in a third direction (23) is determined and the predetermined height is calculated based on the thickness.

7. The method according to claim 6, wherein: The thickness of the planar object (30) in the third direction (23) is determined by a sensor (153) arranged on the mover (100).

8. The method according to any one of claims 1 to 7, wherein: The fixed mover (115) moves toward the stator surface (5) through the coil group (4), so that the planar object (30) on the stator surface (5) is restricted from moving in a first direction (21) and / or a second direction (22) and / or a third direction (23) by means of the fixed mover (115).

9. A method according to any one of claims 1 to 8, wherein the force-amplifying mover (116) acts on the mover (100) via at least one force transfer unit (117) so as to increase the force of the tool (120) acting on the planar object (30) in a third direction (23).

10. The method according to any one of claims 1 to 9, wherein: The tool (120) has a cutting tool (121) and processing of the planar object (30) includes cutting.

11. The method according to claim 10, wherein: The cutting tool (121) has a first cutting edge (122) and at least one second cutting edge (123), wherein the first cutting edge (122) is arranged on a first side (111) of the mover (100), and the second cutting edge (123) is arranged on a second side (112) of the mover (100), wherein the first side (111) and the second side (112) of the mover (100) are opposite to each other, wherein the mover (100) can be tilted to process the planar object (30), so that the first cutting edge (122) and / or the second cutting edge (123) are in mechanical contact with the planar object (30).

12. The method according to any one of claims 1 to 11, wherein: The tool (120) has a punching tool (128) and processing of the planar object (30) includes punching.

13. The method according to any one of claims 1 to 12, wherein: The tool (120) has a stamp (134), wherein the stamp bed (133) is arranged on the stator surface (5), and the processing of the flat object (30) includes embossing.

14. The method according to any one of claims 1 to 13, wherein: The tool comprises a print head (141) and processing of the planar object (30) comprises printing.

15. The method according to any one of claims 1 to 14, wherein: The tool (120) includes an adhesive nozzle (136), and processing the planar object (30) includes applying an adhesive (138).

16. The method according to any one of claims 1 to 15, wherein: The tool comprises a roller and the processing of the planar object (30) comprises rolling.

17. The method according to any one of claims 1 to 16, wherein: The tool comprises a press and the processing of the planar object (30) comprises pressing.

18. The method according to any one of claims 1 to 17, wherein: The tool (120) includes a pen (131) and the processing of the planar object (30) includes writing or drawing.

19. The method according to any one of claims 1 to 18, wherein: The tool comprises a driven tool (145) and the processing of the planar object (30) comprises drilling and / or milling and / or engraving and / or sawing and / or grinding and / or perforating.

20. A planar drive system (1), the planar drive system comprising: at least one stator unit (3), each stator unit having a plurality of coil groups (4) for generating a stator magnetic field; a stator surface (5) above the stator unit (3); and a mover (100), wherein the mover (100) has a plurality of magnet units (105) for generating a mover magnetic field, wherein the mover (100) is capable of moving in a first direction (21) and / or a second direction (22) and / or a third direction (23) above the stator surface (5) by means of interaction between the stator magnetic field and the mover magnetic field, wherein the first direction (21) and the second direction (22) are parallel to the stator surface. (5), wherein the mover (100) is capable of moving in a third direction (23) perpendicular to the stator surface (5), wherein a tool is arranged on the mover, and the planar drive system also has a control unit, wherein the control unit is configured to output a first signal, wherein the coil group (4) is energized based on the first signal so that the mover (100) has a predetermined height above the stator surface (5) in the third direction (23), and further output a second signal, wherein the coil group (4) is energized based on the second signal so that the mover (100) moves on a predetermined trajectory, wherein the tool is in mechanical contact with the planar object (30) and thereby processes the planar object (30).

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