Automation system in form of planar motor

Abstract

The invention relates to an automated system in the form of a planar motor for vertical and / or overhead operation, comprising a stator having at least one stator segment and at least one shuttle. The at least one shuttle includes a magnet unit and is arranged to carry an object or a load. The stator or the at least one stator segment comprises a plurality of magnetic elements which interact electromagnetically with the magnet units of the at least one shuttle such that the at least one shuttle is raised from the stator surface to an operating height, the stator can be moved in two dimensions in at least two directions of movement in a plane of movement formed by the stator or the at least one stator segment. The stator or stator segment has additional ferromagnetic material. The ferromagnetic material interacts with the magnet unit of the at least one shuttle and is configured and arranged such that a magnetic attractive force is applied on the at least one shuttle. The magnetic attraction force at least partially compensates for the gravity of the at least one shuttle at the running height of the at least one shuttle.

Description

Technical Field

[0001] The invention relates to an automation system in the form of a planar motor for vertical and / or overhead operation, the automation comprising a stator with at least one stator segment and at least one shuttle with a magnet unit, wherein the at least one shuttle is arranged to carry an object. The stator or at least one stator segment comprises a plurality of magnetic elements and forms a motion plane for the at least one shuttle, wherein the plurality of magnetic elements electromagnetically interact with the magnet unit of the at least one shuttle so that the at least one shuttle is lifted from the stator surface to a running height and can move two-dimensionally in at least two motion directions in the motion plane formed by the stator or at least one stator segment. Background Art

[0002] Planar motors are well known in the prior art. For example, US Pat. No. 9,202,719 B2 discloses the basic structure and operation mode of a planar motor.

[0003] A planar motor essentially has a stator that forms a plane of motion. One or more stator segments typically construct the stator of a planar motor, wherein the stator segments can be connected in almost any pattern - from squares, rectangles to complex paths to bypass other devices or link different workstations of a production process. One or more movable devices, the so-called shuttles, move primarily in two directions in the plane of motion formed by the stator. For this purpose, magnetic elements are typically arranged on the stator, in particular on the stator segments of the planar motor. The magnetic element can be a drive coil. The drive coil is controlled by a control unit to generate a time-varying and moving magnetic field in the desired direction of motion by energizing the corresponding stator drive coil. Alternatively, the magnetic element can be a permanent magnet that is movable to generate a time-varying and moving magnetic field. In addition, it is also conceivable that only fixed permanent magnets are mounted on the stator as magnetic elements and a moving magnetic field is generated on the shuttle. With respect to the present disclosure, the fixed unit of a planar motor is generally referred to as a stator, which includes at least one stator segment, and the movable device in the plane of motion defined by the stator is referred to as a shuttle regardless of the operating mode.

[0004] The shuttle comprises a magnet unit, which comprises a driving magnet (permanent magnet or electromagnet). The driving magnet is arranged in a two-dimensional distribution. The magnet unit of the shuttle, or more precisely the driving magnet of the magnet unit, interacts electromagnetically with the moving magnetic field of the stator so that a driving force and a suspension force can be applied to the shuttle. The driving force can be used to move the shuttle in the desired direction of motion. The suspension force can be used to lift the shuttle from the stator surface to an operating height (e.g., a few millimeters to a few centimeters) and keep the shuttle at this constant operating height during operation (e.g., as long as the drive coil is energized or the permanent magnet of the stator is moving). Thus, for example, an air gap is generated and / or configured by the suspension force. During the operation of the planar motor, the air gap between the shuttle and the stator surface can be maintained and the shuttle can be magnetically floated at an operating height above the stator surface in the desired direction of motion. In addition, tilting forces and moments can be generated for more complex movements. The two-dimensional interaction of the stator magnetic field and the shuttle magnetic field requires a two-dimensional motion of the shuttle, which is a characteristic of the planar motor. Therefore, one of the two magnetic fields must vary with time in at least two dimensions, or both magnetic fields must vary with time in at least one dimension (complementary to the other dimension). Therefore, the magnetic elements of the stator and the drive magnet are arranged in such an advantageous manner that in addition to a one-dimensional motion along the axes spanned by the motion plane (e.g., the x-axis and the y-axis based on a coordinate system defined by the motion plane), a more complex two-dimensional motion of the shuttle in the transport plane is also possible.

[0005] Modern planar motors also make it possible to perform high-precision movements of a shuttle floating above the stator surface at operating height in all six rigid body degrees of freedom. Due to the modular design of the stator - comprising one or more stator segments (segment arrangements), translational movements of the shuttle in two main directions of movement (e.g., x- and y-directions based on a coordinate system fixedly defined by the plane of movement) are possible with almost no restrictions. In addition, translation of the shuttle in a third spatial direction (“raising” or “lowering” the shuttle in the z-direction based on a coordinate system fixedly defined by the plane of movement) and rotation of the shuttle (up to a certain deflection) can be performed at least to a limited extent. Translational and rotational movements along the third spatial direction (longitudinal or z-axis) are called secondary directions of movement. The motor forces and torques required for these shuttle movements are generated by (electro)magnetic forces.

[0006] Planar motors can be used as transport devices in production processes, for example, where very flexible transport processes with complex motion profiles can be implemented. Such applications of planar motors as transport devices are shown, for example, in US 9,828,192 B2, WO 2018 / 176137 A1, WO 2020 / 239930 A1 or WO 2020 / 239933 A1.

[0007] The vertical arrangement of the planar motor, for example as shown in US 9,828,192 B2, WO 2020 / 239930 A1 or WO 2020 / 239933A1, or even the configuration of the planar motor for overhead operation, is necessary to realize such applications of planar motors with flexible motion profiles. However, the current application of planar motors is mainly limited to the horizontal arrangement of planar motors. In the context of the present disclosure, the arrangement of the planar motor is considered to be a horizontal arrangement when the stator is largely oriented horizontally and the shuttle is at the top of the stator or the upper surface of the stator forms the plane of motion of the shuttle. The vertical arrangement of the planar motor means that the stator forms a vertical plane, which is the plane of motion of the shuttle. That is, the shuttle moves on or above the vertically oriented stator. The arrangement of the planar motor, in which the lower surface of the stator forms the plane of motion for the shuttle, is regarded as a configuration of the planar motor for overhead operation in the context of the present disclosure. That is, the shuttle is on or below the lower surface of the stator (eg, to accomplish pick and place tasks, inspection tasks from the top, etc.), where the stator may be oriented horizontally or tilted.

[0008] One reason for limiting the application of planar motors to horizontal arrangements can be seen in the higher power consumption of vertical arrangements or overhead operation arrangements. When planar motors are used for vertical and / or overhead operation, the gravitational force acting on the shuttle and any object attached to the shuttle (e.g., products to be transported or transferred, containers, cameras, etc.) must be compensated purely by the electromagnetic interaction of the magnetic elements of the stator or stator segments with the magnet units of the shuttle to hold the shuttle fixedly at the operating height or maintain an air gap between the vertically oriented stator surface or the underside surface of the stator. For example, if the magnetic elements of the stator are drive coils, the drive coils must be actively energized not only to levitate and move the shuttle, but also to compensate for the gravitational force acting on the shuttle and any object attached to the shuttle. This results in relatively high power consumption and may degrade the dynamics of other degrees of freedom, especially secondary directions of motion, such as rotational motion.

[0009] Another more important reason for the limited use of vertically oriented planar motors or planar motors in overhead operation is that the final resting position of the shuttle is mainly or almost completely determined by gravity and its inertia. This means that, for example, in the event of a disturbance in the power supply to the stator segment or the stator or an interruption in the power supply to the stator segment or the stator (for example, caused by an emergency stop) or a malfunction of the automation system or the planar motor, the shuttle moves based on its inertia and gravity. In the case of a horizontal arrangement of the planar motor, the movement of the shuttle will be limited by the surface of the stator. In the case of a vertical arrangement or an overhead arrangement, the shuttle can fall off the stator segment or the stator due to the fact that the gravity of the shuttle and any object attached to the shuttle is not adequately or no longer compensated. For example, if the drive coil is used as a magnetic element of the stator, insufficient or missing energization of the drive coil may result in the gravity of the shuttle and any object attached to the shuttle no longer being compensated. The shuttle can fall off the stator. For example, if a movable permanent magnet is used in the stator to generate the moving magnetic field, a disturbance or interruption in the power supply may result in insufficient or missing movement of the magnet, which may also cause the shuttle to fall off the stator, for example. If the shuttle falls off the stator, it may cause damage to the shuttle, the object it is transporting, and any other components of the automation system or the production site, or even cause personal injury.

[0010] Mechanical safety devices, such as nets or ropes, can be used to secure the shuttle to prevent it from falling off the stator or stator segments in the event of a power failure or an emergency stop. However, the use of nets or ropes can significantly limit the possible applications of the planar motor, in particular limiting the possible movement paths of the shuttle. Another option for a mechanical safety device is, for example, a pliers-like tool or something similar, attached to the shuttle. These pliers-like tools can be activated, for example, in the event of a power failure to the stator or stator segments, to extend from the bottom of the shuttle to prevent the shuttle from falling off. For example, it is known from US 9,701,488 B2 to provide a shuttle with a suction element for a vertically operating planar motor. When the current in the drive coil is below a pre-set threshold, the suction element can be extended from the bottom of the shuttle to secure the shuttle to the stator surface. Therefore, it is necessary to adjust the shuttle accordingly. Summary of the invention

[0011] An object of the present disclosure is to provide an automated system in the form of a planar motor that enables vertical and / or overhead operation of the shuttle in an energy-efficient and safe manner without requiring any additional force or adjustment.

[0012] These and other objects are solved by an automation system according to the independent claims.The dependent claims describe advantageous embodiments of the invention.

[0013] According to the invention, these and other objects are achieved by an automation system in the form of a planar motor for vertical and / or overhead operation, wherein the stator has additional ferromagnetic material, interacts with the magnet units of at least one shuttle and is configured and arranged so that a magnetic attraction force is exerted on the at least one shuttle, so that the magnetic attraction force at least partially compensates the weight of the at least one shuttle at the operating height of the at least one shuttle. The interaction of the additional magnetic material of the stator with the magnetic units of the at least one shuttle leads to a temporary induced magnetization of the additional ferromagnetic material. When floating in the plane of motion formed by the stator or stator segments, the magnetization generates a magnetic attraction force acting on the shuttle and helps to keep the shuttle at its operating height. Therefore, the power consumption required for the generation of a moving magnetic field and the interaction of the magnetic elements of the stator or stator segments with the magnetic units of the at least one shuttle (for example, for exciting a drive coil used as a magnetic element, etc.) can be reduced for vertical and / or overhead operation of the planar motor. In addition, no adjustment of the shuttle is required.

[0014] In an advantageous embodiment, the ferromagnetic material is configured and arranged to interact with the magnet unit of the at least one shuttle so that, when the electromagnetic interaction between the magnetic elements of the stator and the magnet unit of the at least one shuttle is missing, the magnetic attraction force exerted on the at least one shuttle at least compensates for the weight of the at least one shuttle. Even in the absence of any electromagnetic interaction between the magnetic elements of the stator and the magnetic unit of the at least one shuttle, the at least one shuttle ideally adheres to the stator surface due to the magnetic attraction force and does not fall off. Thus, before starting operation, the shuttle can be placed on the stator very easily for vertical and / or overhead operation. Furthermore, after a power failure or an emergency stop, the shuttle remains on the stator, for example, the shuttle adheres to the stator (lower) surface.

[0015] In a particularly advantageous embodiment, the ferromagnetic material is configured and arranged to interact with the magnet unit of at least one shuttle so that when the electromagnetic interaction between the magnetic element of the stator and the magnet unit of at least one shuttle is weakened or fails, the magnetic attraction force exerted on the at least one shuttle at least compensates for the weight of the at least one shuttle at the operating height of the at least one shuttle, so as to keep the at least one shuttle at the operating height when there is an electromagnetic interaction between the magnetic element of the stator and the magnet unit of at least one shuttle, and to pull the shuttle towards the stator surface. Thus, the at least one shuttle is kept at the operating height during operation. If the interaction between the magnetic element of the stator and the magnet unit of at least one shuttle is insufficient or fails due to power disturbance, power failure, emergency stop, etc. of the stator or at least one stator segment, the at least one shuttle is safely pulled towards the stator. That is, the shuttle reaches a stable position instead of falling off the stator. Damage to the shuttle or other automated equipment or personal injury is prevented.

[0016] It is also advantageous if additional ferromagnetic material is configured and arranged to further compensate for the weight of an object carried by the at least one shuttle. Thus, vertically and / or overhead operating automation systems can also be operated with reduced power consumption and in a safe manner when the shuttle carries items or loads.

[0017] In a further embodiment, the additional ferromagnetic material is realized as at least one layer, which is arranged in or on the stator or the stator segment. In view of this, it is also advantageous if the distance between the at least one layer and the stator surface or the stator segment surface is adjustable. Thus, the distance between the at least one layer of ferromagnetic material and the stator surface can be easily adjusted to the respective application of the automation system and / or the weight of the shuttle and / or the load of the shuttle, since the magnetic attraction force varies with the distance between the shuttle and the ferromagnetic material or the at least one layer of ferromagnetic material.

[0018] Furthermore, it is also advantageous if at least one layer consists of a plurality of thin ferromagnetic layers separated by insulating material. The lamination of ferromagnetic material designed as layers has the advantage of reducing eddy currents which may be caused by changes in the magnetic flux in the ferromagnetic material caused by the movement of the shuttle. Preferably, the thin ferromagnetic layers and the insulating material are oriented orthogonal to the stator surface and therefore orthogonal to the direction of movement of the shuttle.

[0019] In another alternative embodiment, additional ferromagnetic material is incorporated into the magnetic element of the stator. In particular, if the magnetic element is a drive coil, additional ferromagnetic material can be easily incorporated, for example by using a larger core or changing the penetration depth of the drive coil.

[0020] In a preferred embodiment of the automated system, the magnet unit of the shuttle comprises a permanent magnet.Preferably, a drive coil is used as the magnetic element of the stator, which drive coil is energized for electromagnetically interacting with the magnet unit of the shuttle and generating a time-varying and moving magnetic field.

[0021] In another embodiment of the automation system, the lower surface of the stator forms a movement plane, wherein the at least one shuttle floats below the lower surface of the stator during operation and adheres to the lower surface of the stator before and after operation. The automation system can be used for any possible overhead operation, in particular if the stator of the automation system is tilted at any angle between vertical and / or horizontal. That is, the stator can be oriented at any angle from an almost vertical direction to an almost horizontal direction, and during operation the shuttle floats below the lower surface of the stator or stator segment.

[0022] In a specific embodiment of the automated system, the stator is horizontally oriented and a lower surface of the stator forms a motion plane, wherein the at least one shuttle floats below the lower surface of the stator during operation and adheres to the lower surface of the stator before and after operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In the following, reference will be made to Figures 1 to 4 Describing the present invention in more detail, Figures 1 to 4 Exemplary, schematic and non-limiting advantageous embodiments of the present invention are shown. In the drawings:

[0024] Figure 1 is a schematic representation of a planar motor arranged horizontally in side view;

[0025] Figure 2 is a schematic representation of a planar electric machine in an arrangement for overhead operation during operation in side view;

[0026] Figure 3 is a schematic representation of a planar electric machine in an arrangement for overhead operation without electromagnetic interaction in side view;

[0027] Figure 4 is another schematic representation of a planar electric machine in an arrangement for overhead operation in side view. DETAILED DESCRIPTION

[0028] Figure 1 The schematic diagram shows a representation of an electromagnetic automation system 1 in the form of a horizontally arranged planar electric machine. The planar electric machine 1 comprises at least one stator segment 2, which forms Figure 1 Stator 2 of a planar motor in the illustrated embodiment. In general, the stator 2 of a planar motor 1 comprises a modular structure consisting of two or more stator segments 2, which can be connected in almost any pattern required for the respective application of the planar motor 1. The stator 2 of the planar motor 1 forms a motion plane. For the planar motor 1, a coordinate system x, y, z connected to the stator 2 can be defined, wherein the motion plane can be placed on the main planes x, y, for example.

[0029] In the horizontal arrangement of the planar motor 1, the shuttles 51, 52 are arranged in a floating manner above the plane of motion or the stator surface 4 of the stator segment 2 or the surface 4 of the stator segment 2 during operation. With the help of the planar motor 1, high-precision movements of the floating shuttles 51, 52 in all 6 rigid body degrees of freedom can be performed. Due to the modular structure of the stator 2, the translational movement in the two main directions of motion is almost unrestricted. The two main directions of motion (for example, the x-direction and the y-direction of the coordinate system) are basically arranged parallel to the plane of motion 4 of the planar motor 1. In addition, restricted movements in the four remaining secondary directions of motion are also possible. The four secondary directions of motion include translations in the secondary directions of motion in the z-direction of the coordinate system (ascending and descending) and all three rotations around the x, y, z axes of the coordinate system. Movements in the secondary directions of motion are usually restricted physically or due to construction. For example, the secondary direction of motion along the z-axis is limited due to the magnetic flux density, which decreases exponentially with the levitation height, and the rotation about the x-axis and y-axis is limited due to the space required for rotation, which is again limited due to the necessary stroke movement and loss of controllability (due to maximum force / torque limitations) and observability. In the case of some planar motors, almost unlimited rotation about the z-axis is possible, but rotation about the z-axis is usually limited due to the interaction between the stator 2 and the magnet units 6 on the shuttles 51, 52.

[0030] The force required for the movement of the floating shuttle is generated by (electro)magnetic forces. For this purpose, several magnetic elements 3 (such as drive coils, movable permanent magnets) are arranged in groups on the stator 2, which usually define the direction of movement of the shuttles 51, 52 in the movement plane 4. The drive coils 3 of the drive coil group can be arranged relative to each other, for example so that two main movement directions (for example, the x-direction and the y-direction of the coordinate system) are orthogonal to each other, but depending on the structural design of the stator 2 and the shuttles 51, 52, movement in four secondary movement directions is also possible to a limited extent. For the sake of clarity, the magnetic elements 3 are arranged in groups. Figure 1 (as well as Figures 2 to 4 ) are not shown separately.

[0031] The control of the movement of the shuttles 51, 52 follows a movement path in a movement plane 4 formed or defined by the stator 2 or stator segments 2. In the case where a drive coil 3 is used as a magnetic element 3, the control of the movement of the shuttles 51, 52 is associated with the control of the energization of the drive coil 3, as is well known, for example, from WO 2021 / 105165 A1 and WO 2021 / 175885 A1. In principle, the drive coil 3 in the area of ​​the shuttles 51, 52 is energized to generate a moving magnetic field. Alternatively, the stator 2 can include a movable permanent magnet 3 as a magnetic element 3 that generates a moving magnetic field. Then, for example, the movement of the shuttles 51, 52 is controlled by the movement of the movable permanent magnet 3.

[0032] The shuttles 51, 52 comprise a magnet unit 6 which is usually arranged on the lower side of the shuttles 51, 52 facing the surface 4 of the stator 2 or the respective stator segment 2. The magnet unit 6 comprises a driving magnet, usually a permanent magnet, but also an electromagnet may be used.

[0033] The moving magnetic field generated by the magnetic element 3 of the stator, for example by energizing the magnetic element 3 (or the driving coil) or by moving the magnetic element 3 (or a movable permanent magnet), interacts (electro)magnetically with the magnet unit 6 or more precisely with the driving magnet of the magnet unit 6 of the respective shuttle 51, 52. Driving force and suspension force F L may be applied to the respective shuttles 51, 52. The driving force may be used to move the shuttles 51, 52 in the desired direction of movement in the plane of movement.

[0034] The suspension force F generated by the magnetic element 3 L can be used to lift the shuttle from the stator surface 4 to a running height h (e.g., a few millimeters). In addition, for example, the suspension force F L The shuttles 51, 52 can be kept at the operating height h during operation, for example, and can also be used to move the shuttles 51, 52 in the direction of the z axis. L It is proportional to the magnetic flux (density) between the magnetic element 3 and the magnetic field of the magnetic element 6 of the shuttle 51, 52, and thus proportional to the running height h or the air gap. Therefore, there can be a suspension force F between the shuttle 51, 52 and the stator surface 4. L The air gap is generated and / or configured. During operation of the planar motor 1, the shuttles 51, 52 can float in the desired direction of motion at a running height h above the stator surface 4. Therefore, the levitation force F generated by energizing the drive coil L At least the weight F of the shuttles 51 and 52 needs to be balanced G For the lifting of the shuttles 51 and 52. For example, Figure 1Two exemplary shuttles 51, 52 are shown. The first shuttle 51 does not carry any object 7 or load 7, so the suspension force F L It is only necessary to balance the gravity F of the first shuttle 51 G The buoyancy F is used to lift the first shuttle 51 to the operating height h and to keep the first shuttle 51 there. The second shuttle 52 carries the object 7 or load 7 (such as the product to be transferred, container, etc.), so the buoyancy F L The gravity F must be balanced G (ie, the sum of the weight of the second shuttle 52 and the weight of the object 7) to lift the second shuttle 52 from the stator surface 4 and maintain the second shuttle 52 at the operating height h.

[0035] If the electromagnetic interaction of the magnetic elements 3 of the stator 2 with the magnetic units of the shuttles 51 , 52 weakens or fails - for example due to a permanent or short-term disturbance or interruption of the power supply to the stator 2 , the suspension force F L This may decrease or even become zero. This may happen if the drive coil 3 used as magnetic element 3 is not (sufficiently) energized during operation, or if the permanent magnet used as magnetic element is not moving (fast enough). The shuttle 51, 52 can no longer maintain the operating height h. If the suspension force F L The shuttles 51, 52 may move at a reduced height h above the stator surface 4. If the suspension force F L is zero, for example, due to a power failure, the shuttles 51, 52 are G That is, the shuttles 51, 52 fall on the stator surface 4, and due to the horizontal arrangement of the planar motor 1, the gravity F of the shuttles 51, 52 G It is mainly directed in the direction of the stator surface 4, thereby limiting the movement of the shuttles 51, 52. Any movement of the shuttles 51, 52 on the stator surface 4 can be at least reduced by friction.

[0036] Figure 2 An exemplary embodiment of an electromagnetic automation system 1 in the form of a planar motor is schematically shown, which is configured and arranged for overhead operation. The planar motor 1 comprises a stator 2 having at least one stator segment, which forms a plane of motion. For the sake of clarity, Figure 2A stator 2 including only one stator segment 2 is shown, but the configuration of the planar motor 1 for overhead operation may include two or more stator segments 2 to construct a complex motion plane. In overhead operation, the lower surface 4 of the stator 2 forms a motion plane for the shuttles 51, 52. The shuttles 51, 52 are arranged on the lower surface 4 of the stator, and the magnet units 6 of the corresponding shuttles 51, 52 face the surface 4 on the lower side of the stator 2 and move above the motion plane formed by the lower surface 4 of the stator 2. The magnetic element 3 that generates a magnetic field to lift and move the shuttles 51, 52 is arranged close to the lower surface 4 of the stator 2, wherein a unit that controls the stator 2 (such as energizing the drive coil or moving the permanent magnet) can be arranged above the stator 2. The stator 2 of the planar motor 1 can be oriented horizontally or tilted relative to the horizontal orientation.

[0037] For example, in an embodiment, Figure 2 As shown, Figure 1 The horizontal arrangement is rotated 180 degrees, the stator 2 is arranged horizontally and the shuttles 51, 52 are arranged on the lower stator surface 4. However, the overhead operation of the planar motor 1 as defined in the present disclosure includes any embodiment of the planar motor 1, wherein when the stator 2 deviates from the horizontal orientation (for example, the stator 2 is tilted), the shuttles 51, 51 move under or on the lower side of the stator 2.

[0038] During the overhead operation of the planar motor 1, a moving magnetic field is generated with the aid of a magnetic element 3 (e.g., a drive coil or a movable permanent magnet), or the magnetic element 3 of the stator 2 electromagnetically interacts with the magnetic unit 6 of the shuttles 51, 52, so that the shuttles 51, 52 float below the stator surface at a moving plane or operating height h. Figure 2 Two exemplary shuttles 51, 52 are also shown, wherein the first shuttle 51 does not carry any object 7 or load 7, and the second shuttle 52 carries an object 7 or load 7 (such as a product, a container, a camera, etc.). The weight F of the two shuttles 51, 52 G must be compensated to a certain extent in order to keep the shuttles 51, 52 in the corresponding operating position, i.e. the operating height h, during operation. That is, the weight F of the first shuttle 51 G The weight F of the second shuttle 52 and the object 7 carried by the second shuttle 52 must be compensated by the stator 2. G must be compensated by the stator 2. For example, if a drive coil 3 is used as magnetic element 3, compensation can be achieved by appropriately energizing the drive coil 3 of the stator 2 or stator segment 2 during operation. Energizing the drive coil 3 generates a levitation force F L , the suspension force F L Each shuttle 51, 52 should be maintained at a running height h during operation.

[0039] Furthermore, the stator 2 or stator segments 2 of the planar electric machine 1 have additional ferromagnetic material 8 (eg iron, cobalt, nickel, etc.). The ferromagnetic material 8 interacts with the magnet units 6 of the shuttles 51, 52, wherein a passive magnetic attraction force F is generated. A Furthermore, the ferromagnetic material is configured and arranged so that the generated magnetic attraction force F exerted on the respective shuttles 51, 52 is A At least partially compensates for the weight F of the respective shuttle 51, 52 and the object 7 (if applicable) carried by the respective shuttle 52 at the running height h of the respective shuttle 51, 52 G For example, for the first shuttle 51, the passive attraction force F A The weight F of the first shuttle 51 at the operating height h must be at least partially compensated G For example, for the second shuttle 52, the passive attraction force F A The weight F of the second shuttle 52 and the object 7 carried by the second shuttle 52 at the operating height h must be at least partially offset. G .

[0040] Passive magnetic attraction F A The magnetic attraction force F is caused by the temporary induced magnetization of the additional ferromagnetic material 8 by the magnets of the magnet unit 6 of the shuttles 51, 52. Preferably, the magnets of the magnet unit 6 are permanent magnets. A The range of is proportional to the magnetic flux density B between the shuttles 51, 52 and the additional ferromagnetic material 8, and therefore proportional to the distance a between the shuttles 51, 52 and the ferromagnetic material 8. The maximum magnetic flux density B can be described by the following formula (1).

[0041] (1) B0 is the magnetic flux density on the magnet surface (middle homogeneous area), τ is the pole width, h is the running height of the shuttles 51 and 52, δ A is the distance between the ferromagnetic material 8 and the stator surface 4. e represents the Euler number e, and π represents π.

[0042] During operation of the planar motor 1, the distance a between the shuttles 51, 52 and the ferromagnetic material 8 is the distance δ between the ferromagnetic material 8 and the stator surface 4. A and the running height h of the corresponding shuttles 51, 52. If the magnetic attraction F caused by the (temporary) interaction of the ferromagnetic material 8 and the magnet unit 6 of the shuttles 51, 52 A At least partially compensates for the weight F of the shuttle 51 or shuttle 52 and the object 7 carried by the shuttle 52 G , then at the operating point of the operating height h of the shuttles 51, 52, the power consumption of the magnetic element 3 (for example, for exciting the drive coil or for moving the movable permanent magnet) and thus the suspension force F Lcan be reduced. In the static case, if the attractive force F at distance a A Less than gravity F G of the power consumption is reduced.

[0043] Furthermore, if the magnetic attraction force F exerted on the shuttles 51, 52 at the operating point at the operating height h of the shuttles 51, 52 A At least compensate for the gravity F of the shuttle 51 or shuttle 52 and the object 7 carried G , or even higher than the gravity F of the shuttle 51 or shuttle 52 and the object 7 carried. G , the shuttles 51, 52 are kept at the operating height h during operation and are pulled toward the stator 2 or the stator surface 4 when the electromagnetic interaction between the magnetic element 3 of the stator 2 and the magnetic unit (6) of the shuttles 51, 52 is reduced or ineffective. That is, for example, the energization of the drive coil 3 used as the magnetic element 3 is reduced or zero, or for example, the movement of the permanent magnet used as the magnetic element 3 is reduced or does not move.

[0044] As a result, the shuttles 51, 52 reach a stable position on the stator surface 4 instead of falling off. Because this principle is not only applicable to the overhead operation of the planar motor 1 (such as Figure 2 and 3 As shown), and also applicable to any orientation of the stator (e.g., overhead operation of the tilted stator 2, vertical arrangement of the stator 2, etc.), the stator 2 or stator segment 2 of the planar motor 1 can be mounted on a robot or a rack, for example, to complete the tasks of picking up and placing objects 7, transferring objects 7, etc. as an actuator. Whenever the electromagnetic interaction between the magnetic element 3 of the stator 2 and the magnetic unit 6 of the corresponding shuttle 51, 52 is reduced or fails, the additional ferromagnetic material 8 of the stator 2 or the stator segment 2 ensures that the shuttle 51, 52 will not fall off.

[0045] For example, Figure 3 An automation system 1 or a planar motor 1 for overhead operation is shown, in the absence of electromagnetic interaction between the magnetic elements 3 of the stator 2 and the magnetic units 6 of the shuttles 51, 52, for example, in the case where the drive coil 3 is de-energized or the permanent magnets 3 are not moving. This situation may occur, for example, before the planar motor 1 starts running or after a power failure (e.g., power failure of the stator 2 or a single stator segment 2, emergency stop, etc.). The magnetic attraction F of the shuttles 51, 52 due to the (temporary) interaction between the ferromagnetic material 8 and the magnetic units 6 of the shuttles 51, 52 A If the shuttle is not carrying any object 7, the magnetic attraction F A At least the weight F of the shuttle 51 must be compensated G If the shuttle 52 carries an object, the magnetic attraction F A At least the weight F of the shuttle 52 and the object 7 carried must be compensated.G .

[0046] Preferably, the magnetic attraction F A Adjustment must be made, for example, to the specific application of the planar motor (e.g., the weight of the shuttles 51, 52 used; the load condition or the weight of the object carried) to ensure safe operation in overhead operation. That is, in particular, when the energization of the drive coil is reduced or becomes zero, the shuttles 51, 52 stick to the stator surface 4 with zero coil current and / or are firmly pulled toward the stator surface 4. For example, such adjustment can be achieved by adjusting the running height h of the corresponding shuttles 51, 52 to the specific load condition of the shuttles 51, 52, the specific weight of the shuttles 51, 52 used, etc. That is, for example, the first shuttle 51 without any object 7 can float at a larger running height h (from the stator surface 4) than the second shuttle 52 carrying the object 7. Therefore, the controlled air gap between the shuttles 51, 52 and the stator surface 4 is reduced based on the specific object weight of the carried object 7.

[0047] This adjustment can also be made during the design phase of the planar electric machine 1, for example by adjusting the reluctance or magnetic resistance of the ferromagnetic material 8. The magnetic resistance of the ferromagnetic material 8 is based on, for example, the magnetic permeability and / or the geometry or shape of the additional ferromagnetic material 8 used.

[0048] For example, this additional ferromagnetic material 8 may be incorporated in the magnetic elements 3 of the stator 2 or stator segments 2. That is, in case of drive coils 3 as magnetic elements 3, these may be designed to include additional ferromagnetic material 8 (e.g. larger core, penetration depth of the drive coils, etc.).

[0049] Optionally, the additional ferromagnetic material 8 may be implemented as at least one layer 8, such as Figure 2 and 3 The example shown. At least one ferromagnetic layer 8 can be arranged in the stator 2 or the stator segment 2, or can be arranged on the stator 2 or the stator segment 2. For example, during the design of the planar electric machine 1-stator 2 or the corresponding stator segment 2, a distance δ between the ferromagnetic layer 8 and the stator surface 4 can be defined. A In addition to the geometry of the ferromagnetic layer 8, the permeability of the ferromagnetic material 8 can also be used as a design parameter.

[0050] In a particular embodiment of the planar electric machine 1 , the distance δ between the ferromagnetic layer 8 and the stator surface 4 is A The distance δ between the at least one ferromagnetic layer 8 and the stator surface 4 can be adjusted manually or automatically depending on the respective application of the planar motor 1 and / or the load conditions of the shuttles 51, 52 before or during operation of the planar motor 1. A is designed to be variable. For example, the layer 8 can be placed at a desired distance δ by using AAlternatively, 4 different distances δ from the stator surface can be used A Depending on the load conditions, for example, the ferromagnetic layer 8 is then fixed at a suitable mechanical latch at a fixed distance from the stator surface 4. The distance δ between the ferromagnetic layer 8 and the stator surface 4 is automatically adjusted using a servomotor. A .

[0051] Optionally, more than one ferromagnetic layer 8 may be arranged in the stator 2 or stator segment 2. Figure 4 According to the load conditions of the shuttles 51 and 52, the corresponding ferromagnetic layers 81 and 82 can be located at different distances δ. A1 ,δ A2 .like Figure 4 As shown, the first ferromagnetic layer 81 interacting with the first shuttle 51 in the absence of any load 7 is, for example, located at a first distance δ from the stator surface 4. A1 The second ferromagnetic layer 82 interacting with the second shuttle 52 carrying the load 7 is, for example, located at a second distance δ from the stator surface 4. A2 The magnetic attraction FA caused by the (temporary) interaction of the second ferromagnetic layer 82 and the magnet unit 6 of the second shuttle 52 at least partially compensates for the gravity F of the second shuttle 52 and the load 7. G , for example, the second distance δ A2 Less than the first distance δ A1 , or the second magnetic layer 82 is closer to the stator surface 4 than the first magnetic layer 81. In addition, the stator 2 or the stator segment can be designed so that the distance δ between the ferromagnetic layers 81, 82 and the stator surface 4 is A1 ,δ A2 For example, it can be adjusted manually or automatically for the respective application of the planar motor 1 and / or for the load situation of the respective shuttle 51 , 52 before or during the operation of the planar motor 1 .

[0052] Furthermore, preferably, the ferromagnetic material 8 consists of a plurality of thin ferromagnetic layers (laminates) separated by insulating materials. Ideally, the ferromagnetic material layers and insulating material layers are oriented perpendicular to the stator surface 4 and thus perpendicular to the direction of movement of the shuttles 51, 52. The lamination of the ferromagnetic material 8 has the advantage of reducing eddy currents that may be induced by changes in the magnetic flux in the ferromagnetic material 8 caused by the movement of the shuttles 51, 52.

[0053] Although reference Figures 2 to 4 The present invention is described, Figures 2 to 4An embodiment of an automation system 1 for overhead operation with a horizontally oriented stator is shown, but the present invention can also be applied to an automation system 1 in the form of a planar motor for vertical operation with a vertical arrangement, a planar motor 1 for overhead operation with a stator 2 or stator segments 2 arranged inclined relative to the vertical and / or horizontal orientation, and a planar motor 1 for overhead and vertical operation in any combination.

[0054] Ideally, the automation system 1 in the form of a planar motor, as described above and in Figures 2 to 4 , can be used for product inspection and / or "pick and place" tasks and / or for manipulating products. During product inspection from the top, for example, the shuttles 51, 52 can carry a camera 7, or a camera can be integrated into the shuttles 51, 52. The shuttles 51, 52 with the cameras 7 can then be moved in a plane of motion at a running height h below the stator surface 4 to inspect the product from the top. It is also possible that the shuttles 51, 52 are configured to grasp objects and transfer objects or manipulate products from the top. The shuttles 51, 52 can then carry corresponding actuators 7, for example, to grasp, hold and transfer objects or manipulate objects or products.

[0055] In addition, two or more shuttles 51, 52 (for example, three shuttles) can be combined by connecting the shuttles 51, 52 with links and joints to form a motion link similar to a so-called triangular robot with two or more axes. If only three shuttles 51, 52 are combined, a motion for, for example, overhead operation can be formed, which can translate, rotate, and change orientation based on the state of the automation system or product requirements. In addition, using multiple robots based on the combined shuttles 51, 52 of the planar motor 1 for overhead and / or vertical operation can be expanded to provide configuration of the automation system and provide dynamic cooperation of robots.

[0056] Reference numerals

[0057] 1 Electromagnetic Automation System

[0058] 2 Stator or stator segment

[0059] 3 Magnetic components

[0060] 51, 52 shuttle

[0061] 6 Magnet unit

[0062] 7 Object or load

[0063] 8 Ferromagnetic materials

[0064] 81, 82 ferromagnetic layer

[0065] F LSuspension force

[0066] F G gravity

[0067] h Operating height

[0068] F A Magnetic attraction

[0069] δ A Distance between stator surface and ferromagnetic material

[0070] δ A1 ,δ A2 The distance between the stator surface and the ferromagnetic layer

[0071] a The distance between the shuttle and the ferromagnetic layer

[0072] The axes of the x, y, and z coordinate systems

Claims

1. An automation system (1) in the form of a planar motor for vertical and / or overhead operation, the automation system (1) comprising: A stator (2) comprising at least one stator segment, wherein the stator (2) comprises a plurality of magnetic elements (3) and forms a plane of motion; at least one shuttle (51, 52) having a magnet unit (6), wherein the at least one shuttle (51, 52) is configured to carry an object (7); wherein the plurality of magnetic elements (3) electromagnetically interact with the magnet unit (6) of the at least one shuttle (51, 52) so that the at least one shuttle (51, 52) is lifted from the stator surface (4) to a running height (h), and the at least one shuttle (51, 52) is able to move two-dimensionally in at least two directions of movement in the movement plane formed by the stator (2), characterized in that the stator (6) has an additional ferromagnetic material (8) which interacts with the magnet unit (6) of the at least one shuttle (51, 52) and is configured and arranged so that the magnetic attraction force (F A ) is applied to the at least one shuttle (51, 52), and the magnetic attraction force (F A ) at least partially compensates for the gravity (F) of the at least one shuttle (51, 52) at the running height (h) of the at least one shuttle (51, 52) G ).

2. The automation system (1) according to claim 1, characterized in that The ferromagnetic material (8) is configured and arranged to interact with the magnet unit (6) of the at least one shuttle (51, 52) so that when the electromagnetic interaction between the magnetic element (3) of the stator (2) and the magnet unit (6) of the at least one shuttle (51, 52) is lost, the magnetic attraction force (F) applied to the at least one shuttle (51, 52) is A ) at least compensates for the weight (F) of the at least one shuttle (51, 52) G ).

3. The automation system (1) according to any one of the preceding claims, characterized in that The ferromagnetic material (8) is configured and arranged to interact with the magnet unit (6) of the at least one shuttle (51, 52) so that when the electromagnetic interaction between the magnetic element (3) of the stator (2) and the magnet unit (6) of the at least one shuttle (51, 52) is weakened or ineffective, the magnetic attraction force (F) applied to the at least one shuttle (51, 52) is reduced. A ) at least compensates for the gravity (F) of the at least one shuttle (51, 52) at the running height (h) of the at least one shuttle (51, 52) G ) to maintain the at least one shuttle (51, 52) at the operating height (h) and to pull the shuttle towards the stator surface (4) as the electromagnetic interaction exists between the magnetic element (3) of the stator (2) and the magnet unit (6) of the at least one shuttle (51, 52).

4. The automation system (1) according to any one of the preceding claims, characterized in that The additional ferromagnetic material (8) is configured and arranged to further compensate for the weight (F) of the object (7) carried by the at least one shuttle (52). G ).

5. The automation system (1) according to any one of the preceding claims, characterized in that The additional ferromagnetic material (8) is realized as at least one layer (8, 81, 82), which is arranged in or on the stator (2) or the stator segment (2).

6. The automation system (1) according to claim 5, characterized in that The distance (δ) between the at least one layer (8, 81, 82) and the stator surface (4) or the surface (4) of the stator segment (2) is A , δ A1 , δ A2 ) is adjustable.

7. The automation system (1) according to claim 5 or 6, characterized in that The at least one layer (8, 81, 82) consists of a plurality of thin ferromagnetic layers separated by insulating material.

8. The automation system (1) according to any one of claims 1 to 4, characterized in that The additional ferromagnetic material (8) is incorporated into the magnetic element (3).

9. Automation system (1) according to any one of the preceding claims, characterized in that The magnet unit (6) of the shuttle (51, 52) comprises a permanent magnet.

10. The automation system (1) according to any one of the preceding claims, characterized in that The magnetic element (3) of the stator is a drive coil (3).

11. Automation system (1) according to any one of the preceding claims, characterized in that The lower surface (4) of the stator (2) forms the movement plane, wherein the at least one shuttle (51, 52) floats below the lower surface (4) of the stator during operation.

12. The automation system (1) according to claim 11, characterized in that The stator (2) is tilted at any angle between vertical and / or horizontal orientation.

13. The automation system (1) according to any one of claims 1 to 9, characterized in that The stator (2) is oriented horizontally and a lower surface (4) of the stator (2) forms the movement plane, wherein the at least one shuttle (51, 52) floats below the lower surface (4) of the stator during operation.

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