Planar driving system, rotor for planar driving system and energy transmission method

Abstract

The invention relates to a planar drive system (200), the planar drive system (200) comprising a stator unit (300) having a plurality of coil assemblies (321) for generating a stator magnetic field and at least one rotor (400) having a plurality of magnet units (410) for generating a rotor magnetic field, the stator magnetic field and the rotor magnetic field being magnetically coupled to each other via a magnetic coupling between the stator magnetic field and the rotor magnetic field. The rotor (400) can be driven on the stator unit (300), the rotor (400) having an energy storage device (419), an energy transmission structure (313) having a transmission unit (317) being formed on the stator unit (300), the rotor (400) comprising a mating transmission unit (429) which can be coupled to the transmission unit (317), and the rotor (400) being driven by the energy storage device (419) when the transmission element is coupled to the mating transmission element. Energy can be transmitted from the energy transmission structure (313) to the mover (400). The invention also relates to a method (100) for transmitting energy to a rotor (400, 423) in a planar drive system (200).

Description

Technical Field

[0001] This invention relates to a planar drive system. It also relates to a mover for a planar drive system. Furthermore, it relates to a method for transferring energy to the mover of a planar drive system. Background Technology

[0002] Planar drive systems are primarily used in automation technologies, particularly manufacturing, material handling, and process technologies. With a planar drive system, movable components of a facility or machine can be moved or positioned along at least two linearly independent directions. A planar drive system may include a permanent magnet planar motor having a planar stator and a mover capable of moving along the stator in at least two directions.

[0003] In a permanent magnet electromagnetic planar motor, the energized coil group of the stator unit interacts magnetically with the driving magnets of multiple magnet components of the mover, thereby applying a driving force to the mover.

[0004] In such a drive system, the mover includes at least a first magnet unit for driving the mover along a first direction and a second magnet unit for driving the mover along a second direction that is linearly independent of the first direction (e.g., a second direction orthogonal to the first direction). The planar stator unit includes a first energized coil group (which magnetically interacts with the magnet of the first magnet unit to drive the mover along the first direction) and a second energized coil group (which magnetically interacts with the magnet of the second magnet unit to drive the mover along the second direction). The first and second coil groups are generally energized independently of each other so that the mover can move independently of each other along the first and second directions. If the conductors of the first and second groups are at least partially energized independently of each other, multiple movers can move independently of each other simultaneously on the stator. A corresponding planar drive system can be found, for example, in patent document DE 10 2017 131 304 A1.

[0005] The mover in this planar drive system is primarily designed for transporting objects in automated processes. In addition to performing transport tasks, the mover can also be designed to perform automated sub-processes beyond simple object transport. For this purpose, such movers can be equipped with corresponding process devices configured to perform these sub-processes. These sub-processes can be, for example, manufacturing processes, processing processes, sorting processes, or similar processes that perform corresponding handling on the transported objects. Running these process devices on the mover requires a sufficient energy supply. Therefore, the following technical problem arises: can energy be guaranteed to be supplied to the process devices arranged on the mover during the operation of the planar drive system and possibly during the mover's forward movement? Summary of the Invention

[0006] In view of the above, the object of the present invention is to provide an improved planar drive system, an improved mover for a planar drive system, and an improved method for transferring energy to the mover of a planar drive system.

[0007] To achieve the above objectives, the present invention provides a planar drive system, mover, and method as described in the independent claims. Preferred embodiments are described in the dependent claims.

[0008] According to one aspect of the present invention, a planar drive system is provided, wherein the planar drive system includes a stator unit having a plurality of coil groups for generating a stator magnetic field and at least one mover having a plurality of magnet units for generating a mover magnetic field, wherein the mover can be driven on the stator unit via magnetic coupling between the stator magnetic field and the mover magnetic field, wherein the mover has an energy storage device, wherein an energy transmission structure having a transmission unit is constructed at the stator unit, wherein the mover includes a mating transmission unit that can be coupled to the transmission unit, and wherein when the transmission unit is coupled to the mating transmission unit, energy can be transferred from the energy transmission structure to the mover.

[0009] The resulting technical advantage lies in providing an improved planar drive system. For this purpose, the planar drive system includes at least one mover with an energy storage device. Furthermore, the planar drive system also includes an energy transfer structure constructed at the stator unit. Energy can be transferred from the energy transfer structure via a transmission unit coupled to a matching transmission unit of the mover, thereby charging or replenishing the energy storage device. This allows the mover equipped with the energy storage device to be charged or replenished at any time, providing the energy required for internal or external applications.

[0010] According to one embodiment, the energy transmission structure has a contact arm, wherein a transmission unit is constructed at the contact arm, and wherein the contact arm is at least partially arranged above the stator surface of the stator unit.

[0011] The resulting technical advantage lies in its ability to facilitate energy transfer from the energy transfer structure to the mover equipped with the energy storage device. By arranging the contact arm of the energy transfer structure at least partially above the stator surface of the stator unit, the mover can move unimpeded to the corresponding energy transfer position to transfer energy. Thus, coupling between the corresponding transfer unit or mating transfer unit of the energy transfer structure or the mover can be achieved simply by driving the mover to the corresponding energy transfer position.

[0012] During charging, the mover remains positioned on the stator unit, allowing it to be driven and moved to other positions on the stator unit at any time. The energy storage device can be charged without replacing the energy storage device or the entire mover. By keeping the mover always positioned on the stator unit, the charging process can be interrupted at any time, for example, when an emergency transfer of energy to another mover is needed at a predetermined time. This further optimizes the transportation process of the object to be transported.

[0013] According to one implementation, the matching transmission unit is constructed on the side and / or on the bottom side facing the stator surface and / or on the top side opposite the bottom side.

[0014] The resulting technical advantage lies in the fact that by constructing a matching transmission unit on the mover, the energy storage device at the energy transmission structure can be charged as easily as possible. Since the matching transmission unit is constructed to the side or below the mover, simple coupling with the transmission unit of the energy transmission structure can be achieved by positioning the mover at a corresponding preset energy transmission position. Thus, coupling between the mover and the energy transmission structure via the corresponding transmission unit can be achieved solely by driving the mover. This eliminates the need for a separate movable mechanism for coupling the mover to the energy transmission structure.

[0015] According to one implementation scheme, the transmission unit and the mating transmission unit are constructed as induction coils.

[0016] The resulting technical advantage lies in the fact that non-contact energy transfer can be achieved by constructing the energy transfer structure, the transfer unit of the mover, or the mating transfer unit as an induction coil. This further simplifies the coupling between the mover and the energy transfer structure, because the mover only needs to move to a predefined energy transfer position, where energy transfer can be achieved between the induction coils.

[0017] Because energy transfer is non-contact, it simplifies the control or positioning of the mover at the energy transfer location, as the non-contact coupling between the induction coils allows for a higher error tolerance in the mutual positioning of the transfer unit or mating transfer unit.

[0018] According to one implementation scheme, both the transmission unit and the mating transmission unit are constructed as induction layers, wherein the transmission unit is arranged on the stator surface of the stator unit, and the mating transmission unit is constructed on the bottom side of the mover facing the stator surface.

[0019] The resulting technical advantage lies in further simplifying the coupling between the mover and the energy transfer structure for energy transfer. Here, by constructing the transfer unit or paired transfer unit as an induction layer, the energy transfer position is defined by the entire surface of the transfer unit constructed as the induction layer, i.e., the position where coupling is achieved between the transfer unit or paired transfer unit.

[0020] Here, the induction layer of the transmission unit is arranged on the stator surface of the stator unit. To transmit energy, it is only necessary to manipulate the mover onto the surface of the transmission unit, which is constructed as the induction layer. By constructing the induction layer of the transmission unit on the bottom side of the mover, energy transmission can be directly achieved by positioning the mover on the surface of the transmission unit. When the transmission unit is planarized as the induction layer, for example, constructed on the entire stator surface of the stator unit, energy can be transmitted from the energy transmission structure to the mover even when the mover is running.

[0021] When the mover is running on the stator unit (e.g., when moving to another mover), the required amount of energy can be obtained through the energy transfer structure. This reduces or avoids additional delays, thereby further optimizing the transport process.

[0022] According to one implementation scheme, the transmission unit includes a conductive rail, wherein the mating transmission unit includes a sliding contact.

[0023] The resulting technological advantage lies in simplifying the energy transfer from the energy transfer structure to the mover. Therefore, the energy transfer structure's transmission unit is constructed as a conductive rail, while the mover's mating transmission unit is constructed as a sliding contact.

[0024] The mover can move along the conductive rail to transmit energy, so that the sliding contact can contact the conductive rail, and thus obtain the required amount of energy through the sliding contact during operation.

[0025] Here, sliding contacts or conductive rails provide an additional robust and reliable power transfer solution.

[0026] According to one embodiment, the conductive rail is constructed in the stator surface of the stator unit, wherein the sliding contact is constructed on the bottom side of the mover facing the stator surface.

[0027] The technological advantage of this approach lies in the fact that by constructing conductive rails on the surface of the stator and sliding contacts on the bottom side of the mover, the mover only needs to run on the conductive rails to automatically (e.g., by lowering the mover's levitation height) bring the sliding contacts into contact with the conductive rails, thereby achieving the accompanying energy transfer. This eliminates the need for the mover to be specifically moved to a designated energy transfer location, such as the edge of the stator unit, thus further saving time during transportation.

[0028] According to one embodiment, the conductive rail includes a plurality of contact elements, wherein the contact elements are arranged at a predetermined distance from each other at the stator unit, wherein a plurality of mutually spaced sliding contacts are constructed at the mover, and wherein the predetermined distance is defined as such that at least one contact element and a sliding contact can make contact at a plurality of positions of the mover on the stator unit.

[0029] The technical advantage obtained in this way is that multiple contact elements of the conductive rail are distributed in a planar area on the stator surface of the stator unit and are spaced apart from each other, so that the mover can establish contact with at least one contact element through at least one sliding contact at multiple positions, thereby enabling the mover to obtain the corresponding amount of energy supply from the energy transmission structure at multiple positions on the stator unit.

[0030] By enabling the mover to be charged at several locations on the stator unit, it is possible to avoid first moving the mover to a designated energy transfer location, which further saves time during transportation. Here, the contact elements and sliding contacts can each include a positive (+) and a negative (-) electrode, respectively. Alternatively, the contact elements can each include either a positive or a negative electrode. If the contact elements each include only positive or negative electrodes, the contact elements can be arranged at intervals, such that at any position on the stator unit, the mover can contact at least one positive contact element via a sliding contact and at least one negative contact element via another sliding contact.

[0031] According to one implementation scheme, by changing the suspension height of the mover above the surface of the stator, the coupling between the transmission unit of the energy transmission structure and the matching transmission unit of the mover can be achieved.

[0032] The technological advantage gained in this way is that contact with the energy transfer structure can be achieved by changing the levitation height of the mover. This avoids the complex process of docking the mover to the energy transfer structure. By increasing the levitation height, the mover can terminate energy transfer at any time. This enables a smooth and time-saving energy transfer process.

[0033] According to one implementation scheme, the energy storage device is arranged on the surface of the mover, or integrated into the base structure of the mover, or integrated into the frame structure of the mover, or planarized on the base structure of the mover and forming the surface of the mover.

[0034] The technological advantage gained in this way is that the energy storage device can be advantageously arranged on the mover depending on the application. For example, a uniform distribution can improve the levitation characteristics of the mover.

[0035] In contrast, by integrating the energy storage device into the mover matrix, the energy storage device can avoid occupying the available load-bearing area of ​​the mover. This expands the range of applications, allowing movers equipped with energy storage devices to perform additional functions beyond supplying energy to other movers.

[0036] According to one implementation scheme, the energy storage device is fixed to the moving part in a detachable manner by a fixing mechanism, wherein the fixing mechanism includes a locking connection and / or a plug-in connection.

[0037] The technological advantage gained in this way is that the energy storage device is securely mounted on the mover via a fixing mechanism. The energy storage device can be replaced as needed due to the detachable nature of the fixing mechanism.

[0038] According to one embodiment, the planar drive system further includes a trigger structure arranged at the stator unit, wherein the trigger structure includes an activation protrusion and a receiving area, wherein the fixing mechanism includes a trigger element, and wherein the planar drive system is configured to cause the trigger element to press against and thereby trigger the activation protrusion by driving the mover to a pop-out position on the stator unit, wherein the energy storage device is popped out from the fixing mechanism into the receiving area of ​​the trigger structure by the trigger element.

[0039] The resulting technical advantage lies in the simplified replacement of the mover energy storage device through the triggering structure constructed on the stator unit. Here, the mover only needs to be positioned relative to the triggering structure to the corresponding trigger position. In the trigger position, the triggering element of the fixing mechanism is activated by the activation protrusion of the triggering structure, and the energy storage device automatically ejects from the fixing mechanism into the designated receiving area of ​​the triggering structure. Thus, the triggering structure eliminates the need for additional moving or controllable elements to remove the energy storage device from the mover. The energy storage device can be removed simply by driving the mover to the designated trigger position.

[0040] According to one embodiment, the mover and / or other movers include process equipment, wherein the process equipment can be driven by energy from an energy storage device.

[0041] The technological advantage gained in this way is that, by operating the process equipment, the moving part can perform the corresponding process during the transportation of the object to be transported. This further optimizes the transportation process of the object to be transported.

[0042] According to one implementation scheme, the energy storage device includes battery cells and / or compressed air tanks and / or vacuum tanks and / or gas storage tanks and / or fuel tanks.

[0043] The technological advantage gained in this way is that the energy storage device of the mover can provide different types of energy to operate the process equipment. This allows various process equipment to be executed and different processes to be performed on the mover.

[0044] According to one embodiment, the mover includes an energy transmission element connected to an energy storage device, wherein the energy transmission element can be coupled to a matching energy transmission element of another mover, and wherein when the energy transmission element is coupled to the matching energy transmission element, energy can be transferred from the mover to the other mover.

[0045] The technological advantage gained in this way is that the energy stored in the energy storage device can be supplied to other movers in the planar drive system via the mover. This enables energy transfer between the movers in the planar drive system. For this purpose, at least one mover must be equipped with a corresponding energy storage device.

[0046] For example, a mover may have a process device that can be installed and executed on the mover. For example, the execution of the process device can be realized during the movement of the mover or during the transport of an object by the mover. The process device is capable of performing a corresponding process on the mover, such as manufacturing, processing or handling the object to be transported.

[0047] It can also transfer energy from the mover to process equipment that is not positioned on the mover.

[0048] For example, the processes performed by the process equipment may include temperature control of the objects to be transported, mixing or separating the objects, or sorting or gripping the objects, and these processes may be performed during the transport of the various objects by the motor.

[0049] By constructing a mover with an energy storage device, when the corresponding mover needs the corresponding energy to operate the process equipment, the corresponding energy can be provided to the mover with the process equipment at any position on the stator unit to execute the process equipment.

[0050] For example, energy can be transferred from the energy storage device of one mover to the corresponding other mover during the movement of two movers. The mover equipped with the energy storage device can be used as a so-called power-supplying mover, controlled to the level required for the corresponding mover to perform the corresponding process. With this power-supplying mover, energy transfer can be performed without controlling the corresponding mover to a designated power supply or energy transfer position, thus avoiding unnecessary delays in the transport of the object to be transported.

[0051] In other words, during the transport of an object by a mover, the power-supplying mover can couple with another mover and transfer the required amount of energy to that other mover. This process can be easily completed during the movement of both movers, thus avoiding delays in the transport process.

[0052] According to one implementation scheme, the energy transmission element of the mover and the matching energy transmission element of another mover are respectively constructed as plug-in connections using plug elements and / or socket elements or as induction coils.

[0053] The resulting technical advantage lies in the fact that a robust coupling and reliable energy transfer between two movers can be achieved through a plug-in connection, where the mover or another mover is configured as a plug or socket element. Robust coupling between the two movers is achieved through this plug-in connection.

[0054] This facilitates, for example, energy transfer during the movement of two movers on a stator unit. Here, a plug-in connection is achieved by moving one of the two movers onto the corresponding other mover, allowing a plug element to be inserted into a corresponding socket element of the other mover. This avoids the complex coupling process between the two movers.

[0055] The robustness of plug-in connections helps control two movers, for example, when the two movers are performing an energy transfer process during operation. Plug-in connections couple two movers to each other or to one another. This facilitates the relative positioning of the two movers, especially when the two movers need to maintain coupling during operation.

[0056] By constructing the energy transfer element or the matched energy transfer element as an induction coil, energy transfer can be simplified by coupling the two movers. Non-contact energy transfer simplifies the mutual coupling and positioning between the two movers because it allows for a higher tolerance in the positioning of the energy transfer elements or the matched energy transfer elements of the two movers.

[0057] Alternatively, the planar drive system may have multiple movers equipped with energy transfer elements and / or mating energy transfer elements. The multiple movers can be coupled to each other or to each other via energy transfer elements and / or mating energy transfer elements, thereby enabling energy transfer via a series of two or more coupled movers. Among the multiple movers, more than one mover or all of the movers may be equipped with energy storage devices. During energy transfer, the multiple movers can collaboratively contribute the amount of energy to be transferred. This allows energy exceeding the storage capacity of a single mover's energy storage device to be transferred to one or more movers.

[0058] According to one aspect, a mover for a planar drive system according to any of the foregoing embodiments is provided, wherein the mover includes at least one energy storage device and an energy transmission element.

[0059] The resulting technical advantage is that it can provide an improved mover, which can be applied to a planar drive system according to the above implementation scheme and the corresponding technical advantages.

[0060] According to one aspect, a method is provided for transferring energy to a mover in a planar drive system according to any of the foregoing embodiments, wherein the planar drive system includes a control unit, a stator unit, and a mover, wherein the stator unit is configured with an energy transfer structure having a transmission unit, wherein the mover includes a mating transmission unit capable of coupling with the transmission unit, and wherein the method includes: In the first output step, the control unit outputs a control signal to at least one coil group of the stator unit to position the mover in a charging position relative to the energy transfer structure. In the charging position, coupling is achieved between the transfer unit of the energy transfer structure and the mating transfer unit of the mover, and energy is transferred from the energy transfer structure to the mover along with this coupling. In the second output step, the control unit outputs a control signal to the energy transfer structure to execute the transfer of energy from the energy transfer structure to the mover.

[0061] The resulting technical advantage lies in providing an improved method for transferring energy to a mover. To this end, a mover equipped with an energy storage device is controlled to a charging position relative to the energy transfer structure. In the charging position, the transmission unit of the energy transfer structure and the mating transmission unit of the mover can be coupled, and energy can be transferred from the energy transfer structure to the mover. The charging position can vary depending on the design of the energy transfer structure, particularly the construction of the transmission unit and the mating transmission unit.

[0062] According to one implementation plan, the first output step includes: In the third output step, the control unit outputs a control signal to at least one coil group to change the levitation height of the mover at the charging position and to couple the transmission unit of the energy transmission structure with the matching transmission unit of the mover.

[0063] The technological advantage gained in this way lies in the fact that by changing the levitation height of the mover relative to the stator unit, the coupling between the transmission unit of the optimized energy transmission structure and the matching transmission unit of the mover can be achieved. This, in turn, promotes the optimization of energy transmission from the energy transmission structure to the mover.

[0064] According to one implementation scheme, the method further includes: In the fourth output step, the control unit outputs a control signal to at least one coil group to control the mover to enter the pop-out position, wherein in the pop-out position, the energy storage device is fixed at the mover by a fixing mechanism, and the triggering element of the fixing mechanism is adjacent to and thereby triggers the activation protrusion of the triggering structure arranged at the stator unit, wherein the energy storage device is popped out of the fixing mechanism and received by the receiving area of ​​the triggering structure by the triggering element.

[0065] The resulting technical advantage lies in the fact that by driving the mover to a designated ejection position relative to the triggering structure, the removal of the energy storage device from the mover can be simplified. This eliminates the need for additional controllable components to remove the energy storage device from the mover.

[0066] According to one implementation scheme, the method further includes: In the fifth output step, the control unit outputs a control signal to at least one coil group of the stator unit to position the mover in a transmission position relative to another mover of the planar drive system. In this transmission position, coupling is achieved between the energy transmission element of the mover and the mating energy transmission element of the other mover, enabling energy transfer from the mover to the other mover and / or from the other mover to the mover. In the transfer step, energy is transferred from one mover to another and / or from another mover to another mover.

[0067] The resulting technical advantage lies in the ability of the movers in the planar drive system to transfer energy via coupling between movers. If one mover in the planar drive system requires a certain amount of energy, for example, to perform a process, the corresponding amount of energy can be provided by another mover. The mover requiring energy does not need to move to the corresponding energy transfer structure to perform the energy transfer; instead, it can directly obtain energy from other movers. Therefore, the mover requiring energy can move to a mover capable of providing the corresponding energy. Alternatively, the mover providing energy can move to the mover requiring energy to perform the energy transfer.

[0068] The mover can be controlled by a control unit, specifically to identify whether the mover requires energy to perform the process and to determine whether the mover can provide the required amount of energy. To this end, the control unit can obtain corresponding information about the quantity and type of energy available to the mover. Alternatively or additionally, the mover can indicate its energy status to the control unit by sending corresponding messages.

[0069] In this way, the required energy can be provided to the mover without moving it to a predetermined charging position, thus achieving an efficient transportation process.

[0070] According to one implementation scheme, the transfer of energy from one mover to another mover or from another mover to another mover is controlled by a mover or a control unit.

[0071] The technological advantage of this approach lies in its ability to precisely control energy transfer between moving parts. To this end, the control unit can control energy transfer by sending corresponding control signals to the moving parts. Alternatively, the moving parts can independently control energy transfer. Therefore, each moving part can include both an internal communication unit and a control unit, thereby enabling both data communication between moving parts and energy transfer.

[0072] According to one implementation scheme, the control unit identifies that the mover and / or another mover requires a certain amount of energy and needs to perform energy transfer, and / or the mover and / or another mover is able to provide the corresponding amount of energy, and / or wherein the mover and / or another mover notifies the control unit by signaling that it requires a certain amount of energy and needs to perform energy transfer by sending a corresponding message to the control unit.

[0073] The resulting technological advantage lies in the ability to achieve precise energy transfer between movers. To this end, the control unit can access information about the energy supply status of each mover, thereby identifying when a mover needs energy, for example, to perform a process operation, and which mover can provide the corresponding amount of energy. Subsequently, the control unit can output the corresponding control signal to achieve the energy transfer.

[0074] However, information regarding the energy supply status can also be sent directly from the mover to the control unit. The mover can directly request energy transfer from the control unit, which can then initiate the energy transfer. This enables reliable energy transfer and provides energy to the mover immediately when needed.

[0075] Furthermore, for example, upon request from the control unit, the mover can indicate to the control unit the amount of energy that each mover can provide during energy transfer.

[0076] According to one implementation scheme, during the operation of a mover and another mover, coupling between the mover and another mover and the transfer of energy from one mover to another mover occur.

[0077] The technological advantage gained in this way is that by transferring energy from one mover to the other during the operation of the two movers, it can be ensured that the transportation of the object to be transported is not interrupted by the energy transfer of the other mover. This further optimizes the transportation process. Attached Figure Description

[0078] The invention will now be described in detail with reference to the accompanying drawings. In the drawings: Figure 1 A schematic diagram of a planar drive system having a stator unit and two movers according to one embodiment is shown; Figure 2 It shows Figure 1 A schematic diagram of the stator module of the stator unit shown; Figure 3 A schematic diagram of the bottom side of the moving part according to one embodiment is shown; Figure 4 shows another schematic diagram of a planar drive system with a stator unit and two movers in two different coupling states according to another embodiment; Figure 5 shows various schematic diagrams of a mover with an energy storage device according to a certain implementation scheme; Figure 6 A schematic diagram of a planar drive system having a stator unit, a mover, and an energy transfer structure according to another embodiment is shown; Figure 7 shows two additional schematic diagrams of a planar drive system having a stator unit, a mover, and an energy transfer structure according to another embodiment; Figure 8 Another schematic diagram of a planar drive system having a stator unit, a mover, and an energy transfer structure according to another embodiment is shown; Figure 9 Another schematic diagram of a planar drive system having a stator unit, a mover, and an energy transfer structure according to another embodiment is shown; Figure 10 Another schematic diagram of a planar drive system having a stator unit, a mover, and an energy transfer structure according to another embodiment is shown; Figure 11 Another schematic diagram of a planar drive system having a stator unit, a mover, and an energy transfer structure according to another embodiment is shown; Figure 12 Another schematic diagram of a planar drive system having two stator units, a mover, and an energy transfer structure according to another embodiment is shown; Figure 13 Another schematic diagram of a planar drive system having two stator units, a mover, and an energy transfer structure according to another embodiment is shown; Figure 14 Another schematic diagram of a planar drive system having a stator unit, a mover, and an energy transfer structure according to another embodiment is shown; Figure 15 shows a top view and two cross-sectional views of a planar drive system having a stator unit, a mover and an energy transfer structure according to another embodiment. Figure 16 shows two other schematic diagrams of a mover with an energy storage device according to two other embodiments; Figure 17 A schematic diagram of a planar drive system having a stator unit, a mover, and a trigger structure according to one embodiment is shown. Figure 18 A flowchart illustrating a method for transferring energy to a mover in a planar drive system according to one embodiment is shown; and Figure 19 A flowchart is shown for a method for transferring energy to the mover of a planar drive system according to one embodiment. Detailed Implementation

[0079] Figure 1 A schematic diagram of a planar drive system 200 having a stator unit 300 and a mover 400 is shown.

[0080] according to Figure 1 In one implementation scheme, the planar drive system includes a control unit 201, a stator unit 300, a mover 400, and an additional mover 423. The control unit 201 is connected to the control unit 300 via a data link 203. The control unit 201 is configured to drive and move the movers 401 and 421 on the stator unit 300.

[0081] In the illustrated embodiment, the stator unit 300 includes a plurality of stator modules 301, which are arranged adjacent to each other along the X and Y directions of the stator unit 300 and form a coherent, flat stator surface 303 of the stator unit 300. In the illustrated embodiment, the stator unit 300 includes six stator modules 301. However, the number of interconnecting stator modules 301 of the stator unit 300 is not limited to this and can be arbitrarily varied.

[0082] Therefore, the stator unit 300 according to the present invention can consist of only one stator module 301, but it can also consist of multiple stator modules 301 arranged in any order to form a continuous stator surface 303. In the illustrated embodiment, the control unit 201 is connected to each stator module 301, thereby enabling individual control of each stator module 301. Due to the limitations of perspective views, Figure 1 The system failed to display all connections of all stator modules 301.

[0083] In the illustrated embodiment, each stator module 301 has four stator segments 308. Each stator segment includes an X coil group and a Y coil group, which are oriented along the X direction or the Y direction, respectively. Alternatively, the stator module 301 may also include a different number of stator segments 308.

[0084] In the illustrated embodiment, the stator section 308 is square in shape and arranged flush with each other along the X and Y directions. Each stator section 308 includes a plurality of energized stator conductors 309, which are incorporated into a coil assembly and oriented along either the X or Y direction. Figure 1 (Not shown). A stator magnetic field can be generated by energizing the stator conductor 309 in the coil assembly.

[0085] By means of the magnetic coupling between the stator magnetic field and the mover magnetic field of the mover 400, the mover 400 can move at least along the X, Y, or a combination of XY directions, suspending itself above the stator surface 303. The mover 400 can also move along the Z direction, which is perpendicular to both the X and Y directions. In this way, the distance between the mover 400 and the stator surface 303 can be changed, allowing the mover 400 to rise or fall above the stator surface 303.

[0086] Each stator module 301 has a stator module housing 305, in which an electronic controller (not shown) is arranged for driving and controlling the stator module 301, particularly for controlling the energization of each coil group. Furthermore, a magnetic field sensor (not shown) is arranged in the stator module housing 305 for detecting the magnetic field of the mover 400. Each stator module 301 has corresponding wiring 307 to supply power and data to the electronic controller.

[0087] According to the present invention, the mover 400 further includes an energy storage device 419 and a matching transmission unit 429 connected to the energy storage device 419. In the illustrated embodiment, the matching transmission unit 429 is connected to the energy storage device 419 via an energy transmission connection 431.

[0088] The planar drive system 200 also includes an energy transfer structure 313 with a transfer unit 317. The transfer unit 317 of the energy transfer structure 313 can be coupled to the mating transfer unit 429 of the mover 400. Energy can be transferred from the energy transfer structure 313 to the mover 400 via the coupling of the transfer unit 317 and the mating transfer unit 429. The transferred energy can then be stored in the energy storage device 419 of the mover 400.

[0089] In the illustrated embodiment, the energy transfer structure 313 is arranged beside the stator unit 300, and the mover 400 can be brought into contact with the energy transfer structure by moving the mover 400 to a suitable position for energy transfer.

[0090] Figure 1 The energy transfer structure 313 shown in the illustrated embodiment is merely illustrative. In another embodiment, the energy transfer structure 313 may also employ other designs.

[0091] The planar drive system 200 may also include multiple energy transfer structures 313 constructed at various locations of the stator unit 300. The mover 400 can then contact the energy transfer structures 313 at various locations and supply energy.

[0092] In addition, the energy transfer structure 313 can be extended above the extended area of ​​the stator unit 300. When the mover 400 passes over the energy transfer structure 313, it can supply energy to the rotor.

[0093] According to one embodiment, the mover 400 may have multiple mating transmission units 429, which may be constructed, for example, at different locations on the mover 400. The mover 400 can then contact the corresponding energy transmission structure 313 with different orientations relative to the stator unit 300.

[0094] Alternatively, the mover 400 can simultaneously contact multiple energy transfer structures 313.

[0095] The energy provided by the energy transfer structure 313 and stored in the energy storage device 419 can be of different types. The energy provided by the energy transfer structure 313 can be, for example, electrical energy, chemical energy, thermal energy, potential energy, or kinetic energy.

[0096] The energy storage device 419 can be configured to receive and store energy of the type provided by the energy transmission structure 313. The energy storage device 419 can be configured as a battery cell for storing electrical energy. Alternatively, the energy storage device 419 can be configured as a medium storage cell for storing the energy transmission medium.

[0097] The energy transfer medium can be, for example, a fuel in the form of a combustible fluid (such as combustible gas like hydrogen or combustible liquid like fuel oil or gasoline). Alternatively, the energy transfer medium can be a fluid that serves as a heat carrier. Alternatively, the energy transfer medium can be a pressurized gas, such as compressed air. Alternatively, the energy storage device 419 for storing mechanical energy can also include a corresponding storage device. This storage device can be, for example, constructed as a flywheel.

[0098] The energy storage device 419 can also be designed to store various types of energy. For this purpose, the energy storage device 419 can have different sections capable of storing different types of energy.

[0099] The energy transmission connection 431 between the energy storage device 419 and the matching transmission unit 429 and the energy transmission element 421 is configured to continuously conduct the supplied energy to and from the energy storage device 419. Depending on the type of energy, the energy transmission connection 431 may be configured as a cable for transmitting electrical energy or a pipe or hose for transmitting the energy transmission medium.

[0100] Here, the energy transfer structure 313 is configured to transfer energy to the mover 400. Therefore, the transfer unit 317 can be configured as an electrical plug element for transmitting electrical energy or a nozzle element for transmitting an energy transfer medium.

[0101] The energy transfer structure 313 can also be configured to transfer various forms of energy to the mover 400. Therefore, the energy transfer structure 313 may include a plurality of transfer units 317 for transferring electrical energy and / or chemical energy and / or thermal energy and / or potential energy and / or kinetic energy.

[0102] Accordingly, the mover 400 may include a plurality of mating transmission units 429, which are responsible for transmitting electrical energy and / or chemical energy and / or thermal energy and / or potential energy and / or kinetic energy. Accordingly, the energy storage device 419 may include a plurality of units capable of simultaneously storing electrical energy and / or chemical energy and / or thermal energy and / or potential energy and / or kinetic energy.

[0103] In the illustrated embodiment, the mover 400 further includes an energy transmission element 421 connected to the energy storage device 419. In the illustrated embodiment, the energy transmission element 421 is connected to the energy storage device 419 via an energy transmission connection 431.

[0104] In the illustrated embodiment, the additional mover 423 has a mating energy transmission element 425 that can be coupled to the energy transmission element 421 of the mover 400. The additional mover 423 also has a process device 427 that is connected to the mating energy transmission element 425 via an additional energy transmission connection 431.

[0105] Energy storage device 419 is used to store energy on mover 400. By coupling the two movers 400 and 423 via energy transfer element 421 and corresponding mating energy transfer element 425, energy from energy storage device 419 can be transferred from mover 400 to another mover 423 and used on the other mover 423 to operate process equipment 427.

[0106] According to the invention, this process equipment 427 is used to perform technical processes on another mover 423. These technical processes may, for example, involve manufacturing and / or processing an object to be transported on the other mover 423. The process equipment 427 may, for example, include a heater or cooler for heating or cooling the object to be transported.

[0107] Alternatively or additionally, process equipment 427 may include a mixer or separator for mixing or separating objects or substances. Furthermore, process equipment 427 may include sorting equipment or loading / unloading equipment. Process equipment 427 may, for example, include a gripping arm used to unload or load objects from or onto another mover 423, or to hold, orient, or align objects on mover 400. The above examples are not limiting. Various devices can be implemented on the other mover 423.

[0108] As an alternative to the illustrated embodiment, the mover 400 can also be equipped with a corresponding process device 427 that can operate using energy from the energy storage device 421. Furthermore, a corresponding energy storage device can be constructed on another mover 423. For example, when the energy stored in the energy storage device on the other mover 423 is insufficient to execute the process device 427, energy can be transferred from the mover 400 to the other mover 423.

[0109] Therefore, the following statements about mover 400 or other mover 423 always apply to mover 400 and other mover 423, and can be combined with each other arbitrarily.

[0110] In addition, mover 400 and other movers 423 may have additional energy transfer elements 421 and / or paired energy transfer elements 425. In this way, each mover 400, 423 can be coupled to multiple movers 400, 423 at the same time, thereby enabling energy transfer through multiple mutually coupled movers 400, 423.

[0111] Various types of energy can also be transmitted simultaneously via multiple energy transmission elements 421 or paired energy transmission elements 425. Therefore, for example, electrical energy and chemical energy or thermal energy can be transmitted simultaneously from mover 400 to another mover 423.

[0112] Here, the energy transfer element 421 or the paired energy transfer element 425 is configured to transfer different types of energy.

[0113] For a detailed description of the energy storage device 419 and its arrangement or use on the mover 400, please refer to Figures 4 to 5. Figure 19 The description.

[0114] Figure 2 It shows Figure 1 A schematic diagram of the stator module 301 of the stator unit 300 shown.

[0115] In the illustrated embodiment, the stator module 301 includes four stator segments 308 and stator conductors 309 oriented along the X direction. The stator conductors 309 may be arranged to be electrically insulated from each other. The four stator segments 308 are square in configuration and form a square stator surface 303. The stator segments 308 are separated by contact structures 311, allowing the stator conductors 309 to be connected to an electronic controller, thus achieving a compact configuration of the stator unit 300.

[0116] Figure 3 An implementation scheme is shown. Figure 1 A schematic diagram of the bottom side of the mover 400 is shown.

[0117] In operation of the planar drive system 200, the bottom side of the mover 400 is arranged to face the stator surface 303 of the stator unit 300. The mover 400 has a magnet assembly 401 on its bottom side, which has four magnet units 407: a first X magnet unit 411, a second X magnet unit 413, a first Y magnet unit 415, and a second Y magnet unit 417. Each magnet unit 407 further has multiple magnet elements 409. In the illustrated embodiment, each magnet unit 407 has five magnet elements 409 configured as rectangular elongated elements.

[0118] For example, magnet unit 407 can be configured as a Halbach array magnet unit. Magnet assembly 401 is configured to generate a mover magnetic field for mover 400, thereby enabling magnetic coupling with the stator magnetic field of stator unit 300. This magnetic coupling allows for the control or movement of mover 400 relative to stator unit 300.

[0119] In the illustrated embodiment, the first X magnet unit 411 and the second X magnet unit 413 are both oriented parallel to the X direction of the mover 400, while the first Y magnet unit 415 and the second Y magnet unit 417 are oriented along the Y direction. The first X magnet unit 411 and the second X magnet unit 413 drive the mover 400 to move along the Y direction during operation, while the first Y magnet unit 415 and the second Y magnet unit 417 drive the mover 400 to move along the X direction. Additionally, the magnet unit 407 drives the mover 400 to move along the Z direction, which is perpendicular to both the X and Y directions, or performs rotational and tilting movements of the mover 400.

[0120] At the center of the magnet assembly 401, the mover 400 may have a free surface 403 not covered by the magnet of the magnet assembly 401. Within the region of the free surface 403, the mover 400 may have a fastening structure 405.

[0121] Figure 4 shows another schematic diagram of a planar drive system 200 having a stator unit 300 and two movers 400, 423 in two coupling states according to another embodiment.

[0122] Figure 4 shows Figure 1 The diagram shows a side view of the planar drive system 200.

[0123] The mover 400 includes an energy storage device 419. An energy transmission element 421 and a mating energy transmission element 425 are arranged at the energy storage device 419. These two elements are respectively arranged at two opposite side regions 463 of the mover 400.

[0124] The additional mover 423 includes the process equipment 427. In the illustrated embodiment, the additional mover 423 also includes an additional energy storage device 465. The additional energy storage device 465 is connected to the process equipment 427 via an additional energy transmission connection 467. An additional matching energy transmission element 425 is also arranged at the additional energy storage device 465.

[0125] In Figure 4a), the two movers 400 and 423 are not arranged in opposite transmission positions, and the energy transmission elements 421 or mating energy transmission elements 425 of the two movers 400 and 423 are not coupled to each other.

[0126] In the illustrated embodiment, the stator unit 300 includes two stator modules 301. Each stator module 301 has a stator base 319. The stator conductors 309 or coil groups (which can be used to generate the stator magnetic field driving the actuators 400, 423) and the control unit 201 are not shown in the figure.

[0127] The movers 400 and 423 each include the aforementioned magnetic units used to generate the corresponding mover magnetic fields. These magnetic units are not shown in the figure. Through magnetic coupling between the mover magnetic fields of the two movers 400 and 423 and the stator magnetic field of the stator unit 300, the movers 400 and 423 can move above the stator unit 300 at a levitation height H.

[0128] In Figure 4b), two movers 400 and 423 are arranged opposite each other in a transmission position. Here, the transmission position of the movers 400 and 423 relative to each other does not limit the absolute position of the two movers 400 and 423 relative to the stator unit 300, but is characterized in that at least one energy transmission element 421 of the mover 400 may be coupled or coupled with at least one mating energy transmission element 425 of the other mover 423.

[0129] Energy transfer can be performed even during the operation of the two movers 400 and 423. To achieve this, the two movers 400 and 423 can be driven and controlled so that they press against each other with a certain force, thereby achieving coupling between the energy transfer element 421 and the mating energy transfer element 425.

[0130] The energy transmission element 421 or the mating energy transmission element 425 can be configured, for example, as a plug / socket element. Here, the coupling of the energy transmission element 421 or the mating energy transmission element 425 can be achieved via a plug-in connection.

[0131] The energy transmission element 421 or the matching energy transmission element 425 may also be configured as a nozzle element or a corresponding receiving element, thereby enabling the transmission of high-pressure air, gasoline or other energy transmission media.

[0132] Alternatively or additionally, the energy transfer element 421 or the paired energy transfer element 425 may include an induction coil. Here, energy can be transferred from the energy storage device 419 of the mover 400 to the mover 423 via non-contact energy transfer using the induction coil. Here, the transmission positions of the two movers 400, 423 relative to each other can be defined such that non-contact energy transfer can be achieved between the corresponding induction coils of the two movers 400, 423 in their respective relative positions.

[0133] Energy storage device 419 or another energy storage device 465 may be configured, for example, as a battery cell for storing electrical energy. Alternatively or additionally, energy storage devices 419, 465 may include gasoline or fuel oil storage devices, compressed air storage devices, or other energy transfer medium storage devices. Process equipment 427 may be correspondingly configured to operate using the type of energy provided by energy storage devices 419, 465.

[0134] Process equipment 427 may include, for example, a heater / cooler for heating or cooling the object to be transported. Alternatively or additionally, process equipment 427 may include gripping arms, loading / unloading equipment, sorting equipment, mixing / separating equipment, or similar equipment for performing automated processes.

[0135] To transfer energy from the energy storage device 419 of mover 400 to another mover 423, control unit 201 can issue corresponding commands to mover 400 or the other mover 423. For this purpose, alternatively or additionally, data communication can be implemented between movers 400 and 423, thereby enabling energy transfer from mover 400 to another mover 423 independently of control unit 201. Therefore, movers 400 and 423 may include corresponding control units 201 and communication elements (not shown in FIG. 4), thereby enabling communication and energy transfer or data communication between movers 400 and 423.

[0136] Figure 5 shows four different schematic diagrams of a mover 400 having an energy storage device 419 according to one embodiment.

[0137] Figure 5 illustrates four different embodiments of the energy storage device 419 on the mover 400. In Figure 5a, the energy storage device 419 is arranged at the top side 435 of the mover 400. Here, depending on the application of the mover 400, the energy storage device 419 can be arranged at different positions on the top side 435 of the mover 400.

[0138] In Figure 5b), the energy storage device 419 is planarized on the entire top side 435 of the mover 400.

[0139] In Figure 5c), the energy storage device 419 is centrally integrated into the mover base 477 of the mover 400 at the center 453 of the mover 400. Here, the mover base 477 of the mover 400 includes components arranged within the housing of the mover 400. The energy storage device 419 can then be installed within the housing of the mover 400.

[0140] In Figure 5d), the energy storage device 419 is integrated into the frame structure 455 of the mover 400.

[0141] As an alternative to these illustrated examples, the energy storage device 419 may be arranged at the mover 400 or at other locations within the mover, depending on the appropriate construction of the energy storage device 419 and / or on the appropriate application of the mover 400.

[0142] Figure 6 A schematic diagram of a planar drive system 200 having a stator unit 300, a mover 400 and an energy transfer structure 313 according to one embodiment is shown.

[0143] In the illustrated embodiment, the energy storage device 419 is arranged in a fixing mechanism 433 at the mover 400. The energy storage device 419 is fixed to the mover 400 in the fixing mechanism 433. In the illustrated embodiment, the fixing mechanism 433 is constructed as a housing 441.

[0144] In the illustrated embodiment, the energy storage device 419 is also configured as a battery unit 443. An energy transmission connection 431 is also provided at the energy storage device 419, thereby enabling the energy storage device 419 to be electrically connected to other components.

[0145] In the illustrated embodiment, the energy storage device 419 is connected to the matching transmission unit 429 via the energy transmission connection 431.

[0146] The energy storage device 419 of the mover 400 can be connected to the transmission unit 317 of the energy transmission structure 313 via the matching transmission unit 429. In the illustrated embodiment, the energy transmission structure 313 is constructed at the side region 325 of the stator unit 300. The energy storage device 419 of the mover 400 can be charged via the energy transmission structure 313.

[0147] In the illustrated embodiment, the energy transfer structure 313 includes a contact arm 353 and a transfer unit 317 constructed at the contact arm 353.

[0148] In the illustrated embodiment, the transmission unit 317 is configured as a conductive rail 323. The mating transmission unit 429 of the mover 400 is also configured as a sliding contact 439.

[0149] In the illustrated embodiment, the sliding contact 439 is arranged at the side region 445 of the mover 400.

[0150] By causing the mover 400 to run along the conductive rail 323 of the energy transmission structure 313, wherein the sliding contact 439 makes sliding contact with the conductive rail 323, energy can be transferred from the energy transmission structure 313 to the energy storage device 419 of the mover 400, thereby charging the battery cell 443 of the energy storage device 419.

[0151] Furthermore, as long as the sliding contact 439 makes contact with the conductive rail 323, energy can be transferred even if the mover 400 is stationary.

[0152] As an alternative to the illustrated embodiment, the slider 439 may have two contact elements spaced apart from each other along the z-direction of the illustrated coordinate system. The conductive rail 323 may also include two track elements spaced apart from each other along the z-direction. Here, the two contact elements are configured such that each track element contacts exactly one of the contact elements.

[0153] In the illustrated embodiment, the contact arm 353 is linearly configured and extends perpendicular to the stator surface 303 of the stator unit 300.

[0154] Figure 7 shows another schematic diagram of a planar drive system 200 having a stator unit 300, a mover 400 and an energy transfer structure 313 according to another embodiment.

[0155] In the illustrated embodiment, the transmission unit 317 of the energy transmission structure 313 and the mating transmission unit 429 of the mover 400 are respectively constructed as induction coils 331 and 447.

[0156] In Figure 7a), the contact arm 353 is constructed in a straight line and oriented perpendicular to the stator surface 303 of the stator unit 300. The energy transfer structure 313 is arranged to the side of the stator module 301 shown.

[0157] The mating transmission unit 429 of the mover 400 is arranged in the side region 445 of the mover 400.

[0158] Alternatively, in another embodiment, the mating transmission unit 429 may also be arranged on the mover 400. In contrast, the induction coil 447 may continue to be arranged in the side region 445. The electronics for the mating transmission unit 429 can then be arranged on the mover 400, and these electronics are connected to the induction coil 447 in the side region 445.

[0159] The induction coil 447 of the mover 400 faces away from the side region 445 of the mover 400. The induction coil 331 of the energy transfer structure 313 faces the side region 325 of the stator unit 300. Here, the two induction coils 331 and 447 face each other, determining the energy transfer position of the mover 400 relative to the energy transfer structure 313. To this end, the mover 400 moves to the edge region 325 of the stator unit 300 or stator module 301 and aligns the induction coil 447 with the direction of the induction coil 331 of the energy transfer structure 313. The mover 400 can also change its suspension height H to align the induction coils 331 and 447 with each other.

[0160] In the embodiment shown in Figure 7b), the contact arm 353 of the energy transfer structure 313 is arranged parallel to the stator surface 303 of the stator module 301. The contact arm 353 can be arranged at right angles to the base structure 315 of the energy transfer structure 313.

[0161] The induction coil 331 arranged on the contact arm 353 can be arranged parallel to the stator surface 303 and facing away from the stator surface.

[0162] In the illustrated embodiment, the induction coil 447 of the mover 400 is constructed at the bottom side 437 of the mover 400. In the illustrated embodiment, the induction coil 447 is also arranged at the side region 445 of the mover 400. For energy transfer, the induction coil 331 of the energy transfer structure 313 is arranged between the stator unit 300 and the mover 400.

[0163] Alternatively, multiple induction coils 447 may be constructed at the mover 400 (e.g., at different side regions 445).

[0164] To position the mover 400 at the energy transmission location, it will move above the induction coil 331 of the energy transmission structure 313, allowing the two induction coils 331 and 447 to be stacked vertically. To optimize the non-contact energy transmission between the induction coils 331 and 447, the levitation height H of the mover 400 can also be changed.

[0165] In the embodiments shown in Figures 7a and 7b, the battery cell 443 of the energy storage device 419 is connected to the induction coil 447 of the mover 400 via an energy transmission connection 431. In the illustrated embodiment, the electrical connection is made within the mover base 477.

[0166] The energy transfer structure 313 can be arranged at a predetermined energy transfer position next to the stator unit 300. For energy transfer to occur, the mover 400 is positioned at the corresponding energy transfer position. Thus, when the mover 400 is stationary, energy is transferred from the energy transfer structure 313 to the mover 400.

[0167] Alternatively, the energy transfer structure 313 can be arranged along the stator unit 300 along a predetermined path. During the operation of the mover 400 along the energy transfer structure 313, energy can be transferred from the energy transfer structure 313 to the mover 400. However, in this embodiment, energy transfer may also occur when the mover 400 is stationary.

[0168] The energy transfer structure 313, arranged along a predetermined path, may include multiple juxtaposed induction coils 331. For energy transfer, the position information of the mover 400 (which defines the precise position data of the mover 400 relative to the stator unit 300) can be considered. The energy transfer coils 331 can be energized when the mover 400 is stationary or during operation, at which point the mover 400 is within a predetermined transmission distance. The transmission distance can be defined based on the power of the corresponding induction coils 331 and 447.

[0169] The position of the mover 400 is determined by measuring the mover magnetic field of the magnet unit 407 of the mover 400 using a magnetic field sensor constructed in the stator unit.

[0170] Figure 8 Another schematic diagram of a planar drive system 200 having a stator unit 300, a mover 400 and an energy transfer structure 313 according to another embodiment is shown.

[0171] In the illustrated embodiment, the energy storage device 419 is further disposed within a fixing mechanism 433 at the mover 400. The fixing mechanism 433 is configured as a housing 441. The housing 441 includes an output port 469. The output port 469 is disposed at the edge region 445 of the mover 400. At the side region 463 of the energy storage device 419, the energy storage device 419 has a mating transmission unit 429.

[0172] In the illustrated embodiment, the energy transfer structure 313 is arranged on the side of the side region 325 of the stator unit 300. The energy transfer structure 313 has a base structure 315 and a contact arm 353. The base structure 315 is constructed perpendicular to the stator surface 303. The transfer arm 353 is constructed perpendicular to the base structure 315 and parallel to the stator surface 303. A transfer unit 317 is arranged at the end of the contact arm 353.

[0173] In the illustrated embodiment, transmission unit 317 is configured as a plug / socket element. Similarly, mating transmission unit 429 is configured as a plug / socket element 451. By introducing the plug element into the corresponding socket element, plug / socket elements 335 and 451 can be coupled to each other.

[0174] To bring the energy storage device 419 into contact or couple with the energy transmission structure 313, the mover 400 will move to the transmission position, where the plug / socket elements 335 and 451 are coupled by introducing the plug element into the corresponding socket element. The levitation height H of the mover 400 can be changed for this purpose.

[0175] Figure 9 Another schematic diagram of a planar drive system 200 having a stator unit 300, a mover 400 and an energy transfer structure 313 according to another embodiment is shown.

[0176] In the illustrated embodiment, the energy storage device 419 is configured as a medium tank 457. The medium tank is used to contain an energy transfer medium, such as fuel, compressed air, or a similar energy transfer medium. A guide element 459 is also configured at the medium tank 457. The guide element 459 is configured at the side region 463 of the medium tank 457.

[0177] and Figure 8 The energy transfer structure in the embodiment is similar, with energy transfer structure 313 arranged on the side of the stator module 301 in the side region 325. A transfer unit 317 in the form of a nozzle element 339 is constructed at a contact arm 353 extending parallel to the stator surface 303. The nozzle element 339 can be coupled to the guide element 459 and can transfer the energy transfer medium from the energy transfer structure 313 to the medium tank 457. The nozzle element is also connected to a supply line 341, through which the energy transfer medium can be transferred.

[0178] and Figure 8 In a similar implementation scheme, in order to transfer energy, the mover 400 is manipulated to the transfer position, where the nozzle element 339 is introduced into the guide element 459.

[0179] Figure 10 Another schematic diagram of a planar drive system 200 having a stator unit 300, a mover 400 and an energy transfer structure 313 according to another embodiment is shown.

[0180] The implementation scheme shown in this figure is based on Figure 9 The embodiment shown differs from the one described above, except that the guide element 459 is constructed at the top side 461 of the medium tank 457. In the illustrated embodiment, the nozzle element 339 is directed toward the stator surface 303 of the stator unit 300. For energy transfer, the mover is manipulated to the transfer position, where the nozzle element 339 is opposed to the guide element 459. The nozzle element 339 is introduced into the guide element 459 by changing the suspension height H, particularly by increasing the suspension height H.

[0181] Figure 11 Another schematic diagram of a planar drive system 200 having a stator unit 300, a mover 400 and an energy transfer structure 313 according to another embodiment is shown.

[0182] The embodiment shown in this figure is based on the embodiment in Figure 7b, but differs from that embodiment in that the induction coil 331 is arranged at the contact arm 353, which is oriented parallel to the stator surface 303, such that the induction coil 331 faces the stator surface 303. In the embodiment shown, the induction coil 447 of the mover 400 is arranged at the top side 435 of the mover 400.

[0183] For energy transfer, the mover 400 is positioned between the stator unit 300 and the induction coil 331 of the energy transfer structure 313. Similar to the embodiment in Figure 7b, the mover is aligned to achieve the stacking of the two induction coils 331 and 447 for energy transfer. To optimize energy transfer, the levitation height H can be changed, especially by increasing the levitation height H.

[0184] Alternatively, the planar drive system 200 may also have multiple energy transfer structures 313 arranged at different locations along the stator unit 300. For example, the multiple energy transfer structures 313 may be constructed on opposite sides of the stator unit 300.

[0185] In this way, different energy transfer structures 313 at different locations on the stator unit 300 can supply energy to the mover 400. Alternatively or additionally, the mover 400 can simultaneously contact multiple energy transfer structures 313 and obtain energy from them.

[0186] For this purpose, for example, different energy transfer structures 313 can provide different types of energy, such as electrical energy, thermal energy, chemical energy, and mechanical energy. Therefore, as described above, the mover 400 can include corresponding different paired transfer units 429, each suitable for transferring a specific type of energy.

[0187] Figure 12 Another schematic diagram of a planar drive system 200 having a stator unit 300, a mover 400 and an energy transfer structure 313 according to another embodiment is shown.

[0188] Figure 12 The implementation plan in the document is based on Figure 11 The implementation scheme in the figure is different from the one in the original figure. Figure 11 The difference in the implementation scheme is that the induction coil 331 of the energy transfer structure 313, which is parallel to the stator surface 303, is planarized at the contact arm 353. Here, the contact arm 353 can also be constructed as a planar contact arm. The mover 400 is also arranged between the stator surface 303 and the induction coil 331 of the energy transfer structure 313 to transfer energy.

[0189] However, in the illustrated embodiment, the induction coil 331, due to its planar construction, is larger than the mover 400, thus eliminating the need to control the mover 400 to a predetermined transmission position 400 for energy transfer. Instead, as Figure 12As shown, the mover 400 can pass beneath the induction coil 331 of the energy transfer structure 313. During operation of the mover 400, energy is transferred from the energy transfer structure 313 to the mover 400 via non-contact energy transfer between the opposing induction coils 331 and 447. In the illustrated embodiment, an energy storage device 419 in the form of a battery cell 443 is arranged inside the mover base 477.

[0190] In the illustrated embodiment, the energy transfer structure 313 can be arranged, for example, at a top cover structure or suspension structure above the stator unit 300. The energy transfer structure 313 thus configured can at least partially cover the stator surface 303 of the stator unit 300. Alternatively, the energy transfer structure 313 can cover the entire stator surface 303.

[0191] Figure 13 Another schematic diagram of a planar drive system 200 having a stator unit 300, a mover 400 and an energy transfer structure 313 according to another embodiment is shown.

[0192] The implementation scheme shown in this figure is based on Figure 6 The implementation scheme is different from the one shown, except that in the illustrated implementation, the energy transfer structure 313 is not arranged laterally beside the stator unit 300, but is centrally arranged between two adjacent stator modules 301 within the stator unit 300. For this purpose, a gap 321 is constructed between the adjacent stator modules 301. A contact arm 353 and a conductive rail 323 arranged on it are arranged in this gap 321. Here, the conductive rail 323 is positioned at the height of the stator surface 303 of the stator module 301.

[0193] In the illustrated embodiment, the sliding contact 439 of the mating transmission unit 429 is constructed at the bottom side 437 of the mover 400. The sliding contact 439 thus faces the conductive rail 323 arranged on the stator surface 303. Here, the conductive rail extends along the Y direction of the illustrated coordinate system.

[0194] By moving the actuator 400 through the conductive rail 323, contact can be made between the conductive rail 323 and the sliding contact 439, thereby transferring energy from the energy transmission structure 313 to the energy storage device 419.

[0195] Here, the mover 400 can run along the conductive rail 323 until enough energy has been transferred.

[0196] To ensure that the sliding contact 439 contacts the conductive rail 323, the levitation height H of the mover 400 can be lowered when it travels over the conductive rail 323. This allows the mover 400 to contact the conductive rail 323 simply by lowering its levitation height H, thus enabling energy transfer only when preset conditions are met. When traveling over the conductive rail 323 at a higher levitation height H, no energy transfer occurs.

[0197] In the figure, the suspension height H is defined as the height between the stator surface 303 and the bottom side 437 of the mover. Alternatively, the suspension height H can be defined as the height between the stator surface 303 and the top side 435 of the mover. Alternatively, the suspension height H can be defined as the height between the center of the stator surface 303 and the top side 435 and bottom side 437 of the mover 400, or relative to any other spatial point of the mover 400.

[0198] Figure 14 Another schematic diagram of a planar drive system 200 having a stator unit 300, a mover 400 and an energy transfer structure 313 according to another embodiment is shown.

[0199] In the illustrated embodiment, the induction coils of the above-described embodiments are respectively constructed as induction layers 449 and 333. In the illustrated embodiment, the induction layer 333 of the energy transmission structure 313 is disposed on the stator surface 303 of the stator unit 300. In the illustrated embodiment, the entire stator surface 303 of the illustrated stator module 301 is covered by the induction layer 333. In contrast, the induction layer 449 of the mover 400 is constructed on the bottom side 437 of the mover 400. In the illustrated embodiment, the entire bottom side 437 of the mover 400 is covered by the induction layer 449.

[0200] In order to transfer energy from the energy transfer structure 313, in the illustrated embodiment, the energy transfer structure is formed only by the sensing layer 333, and thus the mover 400 must only travel above the sensing layer 333. In the illustrated embodiment, no predetermined energy transfer position is required. To optimize energy transfer, the levitation height H of the mover 400 can be changed.

[0201] Figure 15 shows another schematic diagram of a planar drive system 200 having a stator unit 300, a mover 400 and an energy transfer structure 313 according to another embodiment.

[0202] The implementation scheme in Figure 15 is based on Figure 13 In the embodiment shown, the conductive rail 323 is arranged at the height of the stator surface 303 of the stator unit. However, in the embodiment shown, the construction of the conductive rail 323 is different from... Figure 13 The difference in construction lies in that the conductive rail 323 is constructed as a planar conductive rail foil 355 and consists of a plurality of mutually isolated contact elements 337. In the illustrated embodiment, according to Figure 15a The contact elements 337 are rectangular in shape and are evenly distributed at intervals on the entire surface of the stator module 301 shown.

[0203] Here, the contact element 337 may include either an electrical positive electrode or an electrical negative electrode.

[0204] In the illustrated embodiment, the contact element 337 is configured as either a positive contact element 357 or a negative contact element 359, wherein the positive contact element 357 forms an electrical positive electrode, and the negative contact element 359 forms an electrical negative electrode. In the illustrated embodiment, the positive contact element 357 and the negative contact element 359 are arranged at intervals from each other, so that at any position of the mover 400 on the stator unit 300, the mover 400 contacts at least one positive contact element 357 and at least one negative contact element 359.

[0205] Figure 15a The positive contact element 357 is marked with a short dashed shading, while the negative contact element 359 is marked with a dotted shading.

[0206] As an alternative to the illustrated embodiment, the positive contact element 357 and the negative contact element 359 may also be combined to form contact element 337.

[0207] In the illustrated embodiment, the mover 400 further includes five sliding contacts 439. As shown in Figures 15b) and 15c), the sliding contacts 439 at the mover 400 are configured to protrude from the bottom side 437 so that they face the stator surface 303. The sliding contacts 439 also have positive and negative terminals respectively.

[0208] from Figure 15a As can be seen from the diagram, since the mover 400 is transparent, four of the five sliding contacts 439 are arranged in pairs facing side regions 445 of the rectangular mover 400. The fifth sliding contact 439 is arranged at the center 453 of the mover. In the positions shown, the sliding contact 439 arranged at the center 453 of the mover 400 contacts the positive contact element 357. The sliding contacts 439 arranged in the side regions 445 contact the negative contact elements 359.

[0209] By simultaneously contacting at least one positive contact element 357 and at least one negative contact element 359 via the sliding contact 439, optimal energy transfer to the mover 400 can be achieved.

[0210] Figure 15a The diagram also shows the contact elements 337 of the conductive rail 323 arranged opposite each other with a spacing D. Here, the spacing D is defined as the distance between the centers C of two directly spaced contact elements 337.

[0211] Here, the spacing D between the contact elements 337 can be defined as follows: in multiple charging positions of the mover relative to the stator unit 300, at least one sliding contact 439 contacts at least one contact element 337 of the conductive rail 323. The spacing D can be adapted to the size ratio of the mover 400 or the arrangement of the sliding contact 439 at the mover 400. In the charging position, it is ensured that at least one positive contact element 357 and at least one negative contact element 359 are in contact with the sliding contact 439 of the mover 400.

[0212] like Figure 13 According to the implementation scheme, by changing the suspension height H, especially by reducing the suspension height H, sliding contact can be achieved between the sliding contact 439 of the mover 400 and the contact element 337 of the conductive rail 323 of the stator unit 300.

[0213] Therefore, Figure 15b) shows the mover 400 at a suspension height H, which is sized such that no sliding contact occurs, while Figure 15c) shows the mover 400 at a lower suspension height H, where sliding contact occurs between the contact element 337 and the sliding contact 439. This sliding contact can be achieved, in particular, during the movement (i.e., motion) of the mover 400 relative to the stator unit 300.

[0214] Energy transfer occurs whenever the sliding contact 439 of the mover 400 contacts at least one positive contact element 357 and at least one negative contact element 359. However, energy transfer does not occur when the sliding contact 439 of the mover 400 does not simultaneously contact at least one positive contact element 357 and at least one negative contact element 359.

[0215] Figure 16 shows another schematic diagram of a mover 400 having an energy storage device 419 according to another embodiment.

[0216] In the illustrated embodiment, the energy storage device is detachably disposed at the mover 400 via a fixing mechanism 433. The fixing mechanism 433 in the embodiments shown in Figures 16a) and 16b) is configured as a housing 441. A locking element 475 is provided in the side region 479 of the housing 441, via which the energy storage device 419 is locked within the housing 441. A triggering element 471 is also provided in the top cover region 481. The triggering element 471 can release the locking of the energy storage device 419 within the housing 441 via the locking element 475, thereby enabling the removal of the energy storage device 419 from the housing 441.

[0217] In Figure 16b), the housing 441 has a housing opening 469. A locking element 475 is located in the side region 479 opposite the housing opening 469. By releasing the lock, the energy storage device 419 can be removed from the housing 441 through the housing opening 469 located in the side region 445 of the mover 400, and thus removed from the mover 400.

[0218] Energy storage device 419 or another energy storage device with the same structural design can be arranged and fixed at the mover 400 via fixing mechanism 433. Specifically, energy storage device 419 is introduced into fixing mechanism 433 and fixed thereto.

[0219] Figure 17 A schematic diagram of a planar drive system 200 having a stator unit 300, a mover 400 and a trigger structure 343 according to one embodiment is shown.

[0220] The embodiment shown in this figure is based on the embodiment in FIG16b). In the embodiment shown, the fixing mechanism 433 has the aforementioned triggering element 471 at the side region 479 of the opening 469. Similar to the embodiment in FIG16b), the housing 441 has the aforementioned ejection element 473 at the side region 479 opposite to the opening 469. The ejection element 473 may be, for example, composed of a spring element. By activating the triggering element 471, the ejection element 473 is activated, and the energy storage device 419 is ejected from the housing 441.

[0221] In the illustrated embodiment, the planar drive system 200 further includes a trigger structure 343. The trigger structure 343 is disposed to the side of the side region 325 of the illustrated stator module 301. The trigger structure 343 includes a trigger base structure 349 disposed perpendicular to the stator surface 303. The trigger structure 343 also has an activation protrusion 345 perpendicular to the trigger base structure 349. The activation protrusion 345 is arranged perpendicular to the trigger base structure 349 and thus parallel to the stator surface 303. The trigger structure 343 has a bottom region 351 spaced apart from the activation protrusion 345. A receiving region 347 is defined between the activation protrusion 345 and the bottom region 351.

[0222] To trigger or eject the energy storage device 419, the mover 400 is manipulated to the ejection position relative to the triggering structure 343. In the ejection position, the trigger protrusion 345 contacts the triggering element 471 of the fixing mechanism 433. The triggering of the triggering element 471 activates the ejection element 473, causing the energy storage device 419 to be ejected through the housing opening 469 into the receiving area 347 of the triggering structure 343.

[0223] In this way, the energy storage device 419 can be removed from the fixing mechanism 433 simply by manipulating the mover to a designated position, thereby causing the trigger protrusion 345 to abut against the trigger element 471, and then transferred to the trigger structure 343 by the mover 400. The design of the trigger structure 343 shown is for illustrative purposes only.

[0224] The core concept of the illustrated embodiment is that the energy storage device 419 can be removed from the mover 400 simply by manipulating the mover 400 to a designated position. This eliminates the need to actively remove the energy storage device 419 from the mover 400 by driving the corresponding movable part.

[0225] The energy storage device 419 or another energy storage device with the same structure can be arranged and fixed at the mover 400 via the fixing mechanism 433. Specifically, the energy storage device 419 is introduced into the fixing mechanism 433 and fixed there.

[0226] Figure 18 A flowchart is shown of a method 100 for transferring energy to the movers 400, 423 of a planar drive system 200 according to one embodiment.

[0227] In the illustrated embodiment, in order to transfer energy to the mover 400, in the first output step 101, the control unit 201 outputs a control signal to at least one coil group of the stator unit 300 to position the mover 400 in a charging position relative to the energy transfer structure 313. Here, the charging position is characterized in that the transmission unit 317 of the energy transfer structure 313 can be coupled to the mating transmission 429 of the mover 400, thereby enabling energy to be transferred from the energy transfer structure 313 to the mover 400.

[0228] In the second output step 103, the control unit 201 outputs a control signal to the energy transfer structure 313. The control signal drives the energy transfer structure 313 to transfer energy to the mover 400.

[0229] Here, the control unit 201 can adjust the amount and / or type of energy to be transmitted.

[0230] Therefore, the control unit 201 can be configured as a central control unit, which controls the operation of the movers 400 and 423 and additionally controls or at least monitors the processes performed by the process equipment 427. The control unit 201 can then know the energy required to perform each process and the energy supplied to the movers 400 and 423.

[0231] Alternatively or additionally, the movers 400 and 423 may be configured to actively communicate with the control unit 201 and notify the control unit 201 that a certain amount of energy is required to perform a certain step and / or that the available energy is insufficient to perform a certain step.

[0232] The mover 400 can indicate the amount of energy to be transferred to the control unit 201 and / or the energy transfer structure 313.

[0233] Figure 19 A flowchart of a method 100 for transferring energy to movers 400, 423 of a planar drive system 200 according to another embodiment is shown.

[0234] The implementation scheme shown is based on Figure 18 The implementation scheme includes all the method steps described herein.

[0235] In the illustrated implementation, the first output step 101 includes the third output step 105.

[0236] In the third output step 105, the control unit 201 outputs a control signal to at least one coil group to change the suspension height H of the mover 400 at the energy transmission position and to make the mating transmission unit 429 of the mover 400 contact the transmission unit 317 of the energy transmission structure 313.

[0237] According to the above implementation scheme, the levitation height H can be increased or decreased depending on the configuration of the energy transfer structure 313 used for the contact transmission unit 319 or the mating transmission unit 429. The levitation height H can be changed by correspondingly controlling the stator magnetic field.

[0238] In the illustrated embodiment, to remove the energy storage device 419 from the mover 400, in the fifth output step 109, the control unit may also output a corresponding control signal to at least one coil group to control the mover 400 to enter the pop-out position. In the pop-out position, the mover 400 is positioned relative to the trigger structure 343 such that the activation protrusion 345 of the trigger structure 343 abuts against the trigger element 471 of the fixing mechanism 433 of the mover 400, thereby activating the ejection element 473 of the fixing mechanism 433. By activating the ejection element 473, the energy storage device 419 is automatically ejected from the fixing mechanism 433 and received by the receiving area 347 of the trigger structure 343.

[0239] The fifth output step 109 and the energy storage device 419 can be ejected before the first output step 101. The replacement of the energy storage device 419 is described here. For this purpose, a new energy storage device 419 is first installed on the mover 400 before performing energy transfer.

[0240] Alternatively, the newly installed energy storage device 419 may be pre-charged, for example, as a charged battery cell. Then, as an alternative to transferring energy from the energy transfer structure 313 to the mover 400, the energy storage device can be replaced.

[0241] Alternatively or additionally, energy transfer can also occur between the two movers 400 and 423.

[0242] Therefore, in the fourth output step 107, the control unit 201 first outputs a control signal to at least one coil group of the stator unit 300 so that the mover 400 is positioned in a transmission position relative to another mover 423 of the planar drive system 200, so that the energy transmission element 421 contacts the mating energy transmission element 425 of the other mover 423, and transmits the energy required by the execution process device 427 to the other mover 423.

[0243] As described above, the transmission position is not defined by the explicit position of the movers 400, 423 relative to the stator unit 300. The transmission position is defined by the relative position of the two movers 400, 423 to each other, and is characterized by the coupling of the transmission elements or mating transmission elements 421, 425 of the two movers 400, 423.

[0244] Subsequently, in transmission step 111, energy is transferred from mover 400 to another mover 423 or from another mover 423 to mover 400. For this purpose, the other mover 423 may also be equipped with an energy storage device 419.

[0245] Energy transfer can be controlled by the control unit 201, which outputs corresponding control signals to the movers 400 and 423 to achieve energy transfer.

[0246] Alternatively, energy transmission can be independently controlled by the movers 400 and 423. For this purpose, the movers 400 and 423 can each include a communication unit and a control unit, thereby enabling data communication between the movers 400 and 423, for example, transmitting the quantity and / or type of energy to be transmitted, and the energy transmission can be independently controlled by the movers 400 and 423.

[0247] List of reference numerals

[0248]

Claims

1. A planar drive system (200), wherein, The planar drive system (200) includes a stator unit (300) having a plurality of coil groups (321) for generating a stator magnetic field and at least one mover (400) having a plurality of magnet units (410) for generating a mover magnetic field. The mover (400) can be driven on the stator unit (300) via magnetic coupling between the stator magnetic field and the mover magnetic field. The mover (400) has an energy storage device (419). An energy transmission structure (313) with a transmission unit (317) is constructed at the stator unit (300). The mover (400) includes a mating transmission unit (429) that can be coupled to the transmission unit (317). When the transmission unit (317) is coupled to the mating transmission unit (429), energy can be transferred from the energy transmission structure (313) to the mover (400).

2. The planar drive system (200) according to claim 1, wherein, The energy transmission structure (313) has a contact arm (353), wherein the transmission unit (317) is constructed at the contact arm (353), and wherein the contact arm (353) is at least partially arranged above the stator surface (303) of the stator unit (300).

3. The planar drive system (200) according to claim 1 or 2, wherein, The mating transmission unit (429) is constructed on the side of the mover (400) and / or on the bottom side (437) facing the stator surface (303) and / or on the top side (435) opposite to the bottom side (437).

4. The planar drive system (200) according to any one of the preceding claims, wherein, The transmission unit (317) and the mating transmission unit (429) include induction coils (331, 447).

5. The planar drive system (200) according to any one of the preceding claims, wherein, The transmission unit (317) and the mating transmission unit (429) each include a sensing layer (333, 449), wherein the transmission unit (317) is arranged on the stator surface (303) of the stator unit (300), and wherein the mating transmission unit (429) is constructed on the bottom side (437) of the mover (400) facing the stator surface (303).

6. The planar drive system (200) according to any one of the preceding claims, wherein, The transmission unit (317) includes a conductive rail (323), wherein the mating transmission unit (429) includes a sliding contact (439).

7. The planar drive system (200) according to claim 6, wherein, The conductive rail (323) is constructed in the stator surface (303) of the stator unit (300), and wherein the sliding contact (439) is constructed on the bottom side of the mover (400) facing the stator surface (303).

8. The planar drive system (200) according to claim 6 or 7, wherein, The conductive rail (323) includes a plurality of contact elements (337), wherein the contact elements (337) are arranged at the stator unit (300) at a predetermined distance (D), wherein the mover (400) is provided with a plurality of mutually spaced sliding contacts (439), and wherein the predetermined distance (D) is defined as such that at least one contact element (337) of the stator unit (300) and the sliding contact (439) of the mover (400) can make contact.

9. The planar drive system (200) according to any one of the preceding claims, wherein, By changing the suspension height (H) of the mover (400) above the stator surface (303), coupling between the transmission unit (317) of the energy transmission structure (313) and the mating transmission unit (429) of the mover (400) can be achieved.

10. The planar drive system (200) according to any one of the preceding claims, wherein, The energy storage device (419) is arranged on the top side (435) of the mover (400), or integrated into the mover base (477) of the mover (400), or integrated into the frame structure (455) of the mover (400), or planarized on the mover base (477) of the mover (400) and forming the top side (435) of the mover (400).

11. The planar drive system (200) according to any one of the preceding claims, wherein, The energy storage device (419) is fixed to the mover (400) in a detachable manner by a fixing mechanism (433), wherein the fixing mechanism (433) includes a locking connection and / or a plug-in connection.

12. The planar drive system (200) according to any one of the preceding claims, wherein, The planar drive system (200) further includes a trigger structure (343) disposed on the stator unit (300), wherein the trigger structure (343) includes an activation protrusion (345) and a receiving area (347), wherein the fixing mechanism (433) includes a trigger element (471), and wherein the planar drive system (100) is configured to cause the trigger element (471) to press against and thereby trigger the activation protrusion (345) by driving the mover (400) to a pop-out position on the stator unit (300), wherein the triggering of the trigger element (471) causes the energy storage device (419) to pop out from the fixing mechanism (433) into the receiving area (347) of the trigger structure (343).

13. The planar drive system (200) according to any one of the preceding claims, wherein, The mover (400) and / or another mover (423) includes a process device (427), wherein the process device (427) can be driven by the energy of the energy storage device (419).

14. The planar drive system (200) according to any one of the preceding claims, wherein, The energy storage device (419) includes a battery unit (443) and / or a compressed air tank and / or a gas storage tank and / or a fuel tank.

15. The planar drive system (200) according to any one of the preceding claims, wherein, The mover (400) has an energy transmission element (421) connected to the energy storage device (419), wherein the energy transmission element (421) can be coupled to a matching energy transmission element (425) of another mover (423), and wherein when the energy transmission element (421) is coupled to the matching energy transmission element (425), energy can be transferred from the mover (400) to the other mover (423).

16. The planar drive system (200) according to claim 15, wherein, The energy transmission element (421) of the mover (400) and the matching energy transmission element (425) of the other mover (423) are respectively configured as plug-in connections with plug elements and / or socket elements or as induction coils.

17. A mover (400) for a planar drive system (200) according to any one of claims 1 to 16, wherein, The mover (400) includes at least one energy storage device (419), a matching transmission unit (429), and / or an energy transmission element (421).

18. A method (100) for transferring energy to a mover (400) in a planar drive system (200) according to any one of claims 1 to 16, wherein, The planar drive system (200) includes a control unit (201), a stator unit (300), and a mover (400), wherein the stator unit (300) is configured with an energy transmission structure (313) having a transmission unit (317), wherein the mover (400) includes a mating transmission unit (429) that can be coupled to the transmission unit (317), and wherein the method (100) includes: In the first output step (101), the control unit (201) outputs a control signal to at least one coil group of the stator unit (300) to position the mover (400) relative to the energy transfer structure (313) in a charging position, wherein, in the charging position, coupling can be realized between the transfer unit (317) of the energy transfer structure (313) and the mating transfer unit (429) of the mover (400), and energy can be transferred from the energy transfer structure (313) to the mover (400) in association with the coupling; and In the second output step (103), the control unit (201) outputs a control signal to the energy transfer structure (313) to perform energy transfer from the energy transfer structure (313) to the mover (400).

19. The method (100) according to claim 18, wherein, The first output step (101) includes: In the third output step (105), the control unit (201) outputs a control signal to the at least one coil group to change the levitation height (H) of the mover (400) at the charging position and to couple the transmission unit (317) of the energy transmission structure (313) with the mating transmission unit (429) of the mover (400).

20. The method (100) according to claim 18 or 19, further comprising: In the fourth output step (107), the control unit (201) outputs a control signal to the at least one coil group to control the mover (400) to enter the pop-out position, wherein in the pop-out position, the energy storage device (419) is fixed at the mover (400) by means of a fixing mechanism (433), the triggering element (471) of the fixing mechanism is adjacent to and thereby triggers the activation protrusion (345) of the triggering structure (343) arranged at the stator unit (300), wherein the energy storage device (419) is popped out of the fixing mechanism (433) and received by the receiving area (347) of the triggering structure (343) by the triggering of the triggering element (471).

21. The method (100) according to any one of claims 18 to 20, wherein, The method (100) further includes: In the fifth output step (109), the control unit (201) outputs a control signal to at least one coil group of the stator unit (300) to position the mover (400) relative to another mover (423) of the planar drive system (200) in a transmission position, wherein, in the transmission position, coupling can be realized between the energy transmission element (421) of the mover (400) and the mating energy transmission element (425) of the other mover (423), and energy can be transferred from the mover (400) to the other mover (423) and / or from the other mover (423) to the mover (400); and In the transmission step (111), energy is transferred from the mover (400) to the other mover (423) and / or from the other mover (423) to the mover (400).

22. The method (100) according to claim 21, wherein, The transfer of energy from the mover (400) to the other mover (423) or from the other mover (423) to the mover (400) is controlled by the mover (400) or the control unit (201).

23. The method (100) according to any one of claims 18 to 22, wherein, The control unit (201) identifies that the mover (400) and / or the other mover (423) requires a certain amount of energy and needs to perform energy transfer and / or the mover (400) and / or the other mover (423) are able to provide the corresponding amount of energy, and / or wherein the mover (400) and / or the other mover (423) notify the control unit (201) by signaling that it requires a certain amount of energy and needs to perform energy transfer by sending a corresponding message to the control unit (201).

24. The method (100) according to any one of claims 21 to 23, wherein, During the operation of the mover (400) and the other mover (400), the mover (400) couples with the other mover (400) and transfers energy from the mover (400) to the other mover (400).

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