OBJECT PROCESSING WITH A PLANE DRIVE SYSTEM

Description

[0001] The invention relates to a method for processing an object using a planar drive system. The invention further relates to a planar drive system with a control unit for a planar drive system for implementing the method.

[0002] This patent application claims priority from German patent application DE 10 2021 108 987.5 filed on April 12, 2021.

[0003] Planar drive systems can be used in automation technology, particularly in manufacturing technology, handling technology, and process engineering. Using planar drive systems, a moving element, such as a rotor, of a system or machine can be moved or positioned in at least two linearly independent directions. Planar drive systems can comprise a permanently excited electromagnetic planar motor with a planar stator and a rotor that can move on the stator in at least two directions.

[0004] In a permanently excited electromagnetic planar motor, a driving force is exerted on the rotor by energized coil groups of the stator unit magnetically interacting with drive magnets of several magnet arrangements of the rotor.

[0005] Planar drive systems with rectangular and elongated coil groups and rectangular and elongated magnet units of the rotor are known from the prior art. Such a planar drive system is described, for example, in DE 10 2017 131 304 A1. With such a planar drive system, in particular, a linear and translational movement of the rotor is possible. This means that, using such a planar drive system, the rotor can be moved freely parallel to the stator surface above a stator surface, beneath which the rectangular and elongated coil groups are arranged, and perpendicular to the stator surface at least at different distances from the stator surface. Furthermore, such a planar drive system is capable of tilting the rotor by several degrees and rotating it by several degrees. The latter movements can be performed above any point on the stator surface.In particular, the rotor can be rotated by up to 20° from a normal position. A complete rotation of the rotor is not possible above any point on the stator surface.

[0006] Planar drive systems with round coil groups are known from the state of the art (Proceedings of DSCC2008, 2008 ASME Dynamic Systems and Control Conference, October 20-22, 2008, Ann Arbor, Michigan, USA). Round coil groups are advantageous for the rotation of the rotor, but have significant disadvantages in linear translational movement of the rotor and can lead to erratic and jerky travel movements.

[0007] US 2008 / 067415 A1 discloses a planar drive system with a rotating rotor, wherein processing of the object is carried out through the interaction between an object on the rotor and a processing element during the rotor rotation. WO 2015 / 179962 A1 and US 2017 / 294827 A1 describe further planar drive systems with rotating rotors. EP 0 571 980 A2 discloses a system for screwing a cap onto a bottle.

[0008] It is an object of the invention to provide a method for machining an object using a planar drive system that utilizes a rotor rotation. A further object of the invention is to provide a control unit for the planar drive system that can be used to control the method. A further object of the invention is to provide a planar drive system with such a control unit.

[0009] These objects are achieved by the method for processing an object and the planar drive system of the independent patent claims. Advantageous embodiments are specified in the dependent patent claims.

[0010] A planar drive system comprises at least one stator unit, each with a plurality of coil groups for generating a stator magnetic field, a stator surface above the stator unit, and at least one rotor with a plurality of magnet units for generating a rotor magnetic field. The coil groups can be configured as rectangular and elongated coil groups. The at least one stator unit can be configured such that the plurality of coil groups have two different, mutually perpendicular main directions of extension, and the magnet units of the rotor are also arranged perpendicular to each other. By energizing the coil groups, the rotor can then be moved above the stator surface in the two main directions of extension. Furthermore, a vectorial superposition of the two movements and thus free positioning of the rotor above the stator surface is also possible.In this case, as implemented in the planar drive system marketed by the applicant under the name XPlanar, it can be provided that the stator surface is composed of the upper sides of several stator modules, with four stator units being provided in each stator module. The planar drive system further comprises a machining element arranged above the stator surface. Furthermore, the planar drive system has at least one rotational position, wherein the rotor can be rotated in the rotational position about an axis of rotation perpendicular to the stator surface. A spatial arrangement of the machining element is predetermined by the rotational position. A method for machining an object using this planar drive system comprises the following steps: . Energizing the coil groups such that the rotor, with the object arranged on the rotor, moves into the rotational position; energizing the coil groups such that the rotor rotates; machining the object by means of the rotor rotation, wherein the machining element acts on the object.

[0011] The spatial arrangement of the processing element, which is predetermined by the rotational position, can ensure that interaction between the object and the processing element during the rotor rotation leads to the processing of the object. In other words, this means that a spatial arrangement of the processing element is selected with regard to the rotational position. In particular, it can be provided that several rotational positions are provided above the stator surface, with the spatial arrangement of the processing element being predetermined by one of the rotational positions. It can be provided that further movements are carried out by the processing element. In particular, the processing element can be moved parallel to the stator surface or perpendicular to the stator surface.If the processing element and the object are to be rotated against each other during processing, it can be provided that this rotation is achieved exclusively by rotating the rotor.

[0012] This method makes it possible to position an object to be processed on the runner and to process the object using the processing element triggered by the runner rotation. This method enables flexible processing of the object, since the processing step may not be performed by each runner with an object, but rather only by individual runners. Overall, the method in which an object is processed using a runner rotation and a processing element represents another option for a flexible automation system in which a planar drive system with runners movable above the stator surface is used to transport the objects.The runners can be used for both transport and processing by means of rotation, so that a flexible automation system is possible in which objects have to be moved onto or off runners as little as possible, since as many processing steps as possible can be carried out with the object arranged on the runner.

[0013] According to the method, the rotational position is determined based on a point of contact between four stator units. This is particularly the case when the rotor also comprises four magnet units and the four stator units and the four magnet units of the rotor can interact in such a way that a center of symmetry of the rotor, located at the center of the rotor, is arranged above the point of contact between the four stator units. The stator units can be arranged within one or more stator modules, which together can form the stator surfaces. If, for example, four stator units are arranged within a stator module, the rotational position can be specified by the point of contact between the four stator units within the stator module, but also by points of contact between the stator units of adjacent stator modules, for example in the center of an outer edge of the stator module or at a corner of the stator module.

[0014] The position of the processing element is therefore not freely selectable, but in this case depends on the position and design of the stator units. However, the fact that the rotor can be rotated at all rotational positions where four stator units touch each other still allows for a flexible arrangement of the planar drive system with a sufficient number of rotational positions for processing the object.

[0015] According to the invention, the processing element and the rotor are moved relative to each other parallel to the rotation axis during rotor rotation. This can be achieved by moving the rotor toward or away from the processing element during rotation. Alternatively or additionally, the processing element can also be moved parallel to the rotation axis during rotor rotation, for example, toward or away from the stator surface. This enables special processing, such as unscrewing a cover, screwing in a screw, or processing the object on the rotor using a laser at different heights.

[0016] According to the invention, the rotor is rotated and the movement of the processing element and the rotor parallel to the axis of rotation relative to one another is carried out in such a way that a first movement and a second movement relative to one another superimpose for the object arranged on the rotor and the processing element. The first movement is the rotation of the rotor and the second movement is the movement of the rotor and / or the processing element parallel to the axis of rotation relative to one another. Such a superimposed movement can also be understood as helical relative to one another. This embodiment is particularly suitable for all screw connections since the helical movement during one complete rotation of the rotor can overcome a pitch difference of a thread and thus a corresponding screwing takes place.

[0017] In one embodiment of the method, the processing element holds a lid for the object. The relative helical movement screws the lid onto the object. For this purpose, the processing element can comprise a lid holder, and the object can be a bottle or a can, for example. In an automation system, for example, it can be provided that the bottle or can, or generally a container, is first filled with a product and then screwed on with a lid. The lid is held by the lid holder above the rotation position, and the rotor then rotates with the container below the lid and is simultaneously moved towards the lid. During one rotation of the rotor, a pitch difference corresponding to one screw thread of the lid is overcome.Alternatively, for example, the lid can be held above the rotation position by the lid holder and then the rotor with the container can be rotated below the lid. The lid holder can now be moved towards the rotor so that during one rotation of the rotor a pitch difference corresponding to one screw thread of the lid is overcome. Both variants allow the lid to be screwed to the container. This can be advantageously used, for example, in a filling system in which the containers are to be filled individually, i.e. with a batch size of 1. The filled containers can then be assigned to different processing elements, for example, and a lid color can signal which product is in each container. This enables an extremely flexible filling system.

[0018] The processing element can be arranged such that a center point of the lid is located above the rotation position. A center point of the container can also be located in the center of the rotor and thus also concentrically directly below the lid, so that the screw connection can be carried out smoothly.

[0019] In one embodiment, the rotor has a screw holder. The object on the rotor is a screw. The screw holder holds the screw and, using the helical movement, screws the screw into another object held by the processing element. The rotor can therefore also be used as a screw holder for screwing screws into objects. The screw holder can be arranged in the center of the rotor for this purpose. Furthermore, it can be provided that the processing element can be moved parallel to the stator surface, thus enabling several screwing positions of the other object to be equipped with a screw each held by a rotor.For example, after screwing in the screw, the runner can be moved to a screw transfer unit, where it picks up another screw. Meanwhile, the processing element moves the additional object to a different position. The runner is then moved back to the rotation position and, accordingly, also screws the additional screw into the object. Of course, the additional screw can also be screwed into the additional object by another runner at this position.

[0020] In one embodiment of the method, the rotor is moved away from the stator surface during the rotational movement along the rotational axis. The change in the distance of the rotor per revolution depends on the pitch of the screw. This allows for an advantageous screw connection system. Alternatively, the machining element can be moved toward the rotor such that the change in the distance of the machining element from the rotor per revolution depends on the pitch of the screw.

[0021] According to the method, control commands for energizing the coil groups during the rotary movement are issued using a closed-loop control. The closed-loop control also takes torques and / or angular momentum during the helical movement into account. Furthermore, a maximum torque or maximum angular momentum is specified. This makes it possible to screw the screw to the other object or the cover to the object with a specified angular momentum or a specified torque. The torque or angular momentum is determined based on the control commands specified for energizing the coil groups and the actual currents within the coil groups. This makes it possible to avoid damage to the object when screwing it to a cover or to the other object when screwing in a screw.

[0022] In one embodiment of the method, rotation of the rotor is stopped when the maximum torque is reached. As already described, the maximum torque is determined by the control system and can thus also be used to stop the rotational movement. This is particularly advantageous when screwing a lid onto a container or when tightening a screw.

[0023] In one embodiment, the processing element comprises a labeling element. The labeling element can, for example, be configured to transfer a label to a round object while the round object is rotated past the labeling element by means of the carriage. In this case, the height of the labeling element can be adjusted based on a label position on the object. Non-round objects, such as oval or rectangular ones, can also be labeled in this way.

[0024] In one embodiment of the method, the labeling element comprises a label roll holder and a roll-off device. The roll-off device transfers a label from the label roll to the object arranged on the rotating carriage during the rotating movement of the carriage.

[0025] In one embodiment, the processing element comprises a laser. The laser irradiates a surface of the object, thereby changing the surface. In particular, the laser can be configured to engrave a surface of the object using the laser, for example, for a glass bottle or a metal object. It can be provided that a vertical position of the laser's point of impact on the object is achieved by moving the laser perpendicular to the stator surface or by moving the laser parallel to the axis of rotation. A horizontal positioning of the laser's point of impact on the object can be achieved by rotating the rotor.

[0026] In one embodiment, a laser controller is configured to activate and deactivate the laser, with an activation sequence being determined based on the rotation of the runner and a movement of the laser along the rotation axis, as well as image information. The laser is activated and deactivated based on the activation sequence. This allows, for example, an image or graphic to be transferred to the object using the laser.

[0027] In one embodiment, the laser and the slider are moved relative to each other parallel to the rotation axis. This can be achieved either by moving the laser and / or by moving the slider.

[0028] In one embodiment, the processing element has a stirring spatula that is immobile perpendicular to the rotation axis. The stirring spatula is positioned directly above the rotation position. The object comprises a vessel containing a liquid. Before the rotor rotates, the stirring spatula is moved parallel to the rotation axis toward the rotor and thus immersed in the liquid. The stirring spatula is fixed with respect to a rotation position, and the rotation of the rotor achieves mixing or stirring of the liquid in the vessel.

[0029] The invention further comprises a planar drive system with at least one stator unit, each with a plurality of coil groups for generating a stator magnetic field and a stator surface, and further comprising at least one rotor with a plurality of magnet units for generating a rotor magnetic field. The coil groups can be designed as rectangular and elongated coil groups. The rotor can be driven above the stator surface via a magnetic coupling between the stator magnetic field and the rotor magnetic field. The planar drive system further comprises a

[0030] A control unit and a processing element, wherein the control unit outputs the control commands to the stator units of the planar drive system. This can in particular also include the control commands being output to a stator module of the planar drive system, and the stator module containing one or more stator units. The stator module can additionally comprise a module controller in which the control commands regarding the energization of the coil groups of the stator unit or stator units are implemented according to the method according to the invention.

[0031] The invention is explained in more detail with reference to the accompanying figures. Herein: Fig. 1 a planar drive system with a rotor and rotation positions; Fig. 2 a planar drive system during a rotation; Fig. 3 the planar drive system of the Figure 2in a side view with a processing element; Fig. 4 a processing of an object by means of the planar drive system of the Figures 2 and 3 ; Fig. 5the planar drive system of the Figures 2 to 4 after processing the object; Fig. 6 a side view of another planar drive system before object processing; Fig. 7 a side view of another planar drive system before object processing; Fig. 8 a top view of the planar drive system of the Figure 7 during object processing; Fig. 9 a top view of another planar drive system during object processing; Fig. 10 a side view of the planar drive system of the Figure 9 ; Fig. 11 a side view of a planar drive system before object processing; Fig. 12 a side view of the planar drive system of the Figure 11during object processing; Fig. 13 shows a side view of another planar drive system during object processing; and Fig. 14 shows a side view of another planar drive system during object processing.

[0032] Figure 1 shows a planar drive system 1 with which the method according to the invention for processing an object can be carried out. Figure 1The planar drive system 1 shown has six stator modules 2, wherein the stator modules 2 are arranged such that a rectangle of two by three stator modules 2 is formed. Other arrangements of the stator modules 2 are also conceivable; more or fewer than six stator modules 2 can also be arranged. In the stator module 2 shown at the top right, an interior of the stator module 2 is sketched, wherein the stator module 2 comprises four stator units 3, wherein the four stator units 3 are arranged within a stator module 2 in a square two-by-two arrangement. Furthermore, for two stator units 3, it is shown that the stator units 3 comprise coil groups 4, wherein the coil groups 4 are shown with different orientations. The coil groups 4 serve to generate a stator magnetic field. In the illustrated embodiment, the coil groups 4 are designed as rectangular and elongated coil groups 4.In each stator unit 3 of the stator modules 2, three individual, rectangular, and elongated coils of a coil group 4 are shown. Likewise, in an embodiment not shown, a different number of individual rectangular and elongated coils could form a coil group 4. Their longitudinal extension is oriented parallel to one of the edges of the respective stator unit 3. Below each of the coil groups 4 shown, there are further coils which have an orientation rotated by 90° with respect to their longitudinal extension. This grid of elongated and rectangular coils of a coil group 4 can be formed multiple times one above the other. In reality, neither stator units 3 nor coil groups 4 are visible, as they are enclosed by a housing of the stator module 2. The six stator modules 2 form a continuous stator surface 5 above the stator units 3.Furthermore, a rotor 10 is arranged, wherein the rotor has a plurality of magnet units 11 for generating a rotor magnetic field. The coil groups 4 can interact with the magnet units 11 when appropriately energized and thereby move the rotor 10 within the planar drive system 1 above the stator surface 5. The stator surface 5 therefore defines a plane of movement for the rotor 10. The coil groups 4 are arranged parallel to the outer edges 6. Since the stator modules 2 each have outer edges 6 that are at a 90° angle to one another, two different orientations of the coil groups 4 are necessary for the movement of the rotor 10. The illustration in . Figure 1simplified, since in each stator unit 3 several coil groups 4 are arranged, each at a 90° angle to one another, although only one coil group 4 is shown at a time. The magnet units 11 are also arranged parallel to the outer edges 12 of the rotor 10. Furthermore, the magnet units 11 are arranged circumferentially within the rotor 10 at the outer edges 12 of the rotor and can each interact with the coil groups 4 in order to move the rotor parallel to the outer edges 6 of the stator modules 2. Furthermore, a superposition of two movements parallel to the outer edges 6 is possible, so that the rotor 10 can be moved in all directions parallel to the stator surface 5. The arrangement of four stator units 3 within a stator module 2 corresponds to the stator modules 2 for a planar drive system 1 sold by the applicant under the name XPlanar.Alternatively, more or fewer stator units 3 may be arranged within a stator module 2. For example, each stator module 2 may comprise only one stator unit 3 or more than four stator units 3.

[0033] The planar drive system 1 has a plurality of rotation positions 7. The rotation positions 7 are always arranged such that four stator units 3 touch each other in the rotation position 7. This means, in particular, that corner points of the stator units 3 each define the rotation positions 7, wherein the rotation positions 7 are always arranged at the points where four corners of the stator units 3 meet. This can be, in particular, in the center of the stator modules 2, in a center of the outer edges 6 of the stator modules 2, or in corner regions of the stator modules 2. Outside of the rotation positions 7, rotation of the rotor 10 is restricted. Outside of the rotation positions 7, rotors 10 can therefore only be rotated from a rest position up to a predetermined angle, for example 15° or 20°, wherein the rotor outer edges 12 lie parallel to the outer edges 6 in the rest position.In the rotation positions 7 a free rotation of the rotor 10 is possible, and in . Figure 1 This is illustrated by the fact that the runner has performed a 45° turn. Figure 1 The alignment of the rotor 10 shown can therefore only be achieved in a rotation position 7. The rotor 10 is in Figure 1 in the middle of a stator module 2 and thus also in a rotation position 7.

[0034] Also in Figure 1 Shown is a control unit 8 and a communication line 9, wherein the control unit 9 is connected to one of the stator modules 2 via the communication line 9. It can be provided that the stator modules 2 can transmit communication signals to each other. Alternatively, several communication lines 9 could be provided, wherein each stator module 2 can then be connected to the control unit 8 (not shown). Figure 1shown). The control unit 8 is configured to output control commands to the stator modules 2 via the communication line 9, wherein the stator modules 2 are configured to energize the coil groups 4 based on the control signals and thereby control a movement of the rotor 10 parallel to the stator surface 5 into a rotational position 7 and, when the rotor 10 is arranged in the rotational position 7, to energize the coil groups 4 such that the rotor 10 rotates. The coil groups 4 can also be energized such that the rotor 10 is moved perpendicular to the stator surface 5.

[0035] The Figure 1The planar drive system 1 shown can be used in automation technology, in particular manufacturing technology, handling technology and process engineering, to process objects. The objects can be arranged, for example, on the rotor 10 or held above the stator surface 5 by a holder and processed accordingly by the rotor 10. The fact that the rotor 10 can execute a rotary movement in the rotation position 7 results in advantageous new designs for possible object processing, which are explained in more detail below. For this purpose, it can be provided that a processing element is arranged above the stator surface 5 and a spatial arrangement of the processing element is predetermined by the rotation position 7 in which the rotor 10 is to be rotated. An object can be processed by means of the rotor rotation, wherein the processing element also acts on the object.Furthermore, it can be provided that the processing element and the rotor 10 are moved relative to each other parallel to a rotation axis during the rotor rotation.

[0036] The other figures may contain the information related to Figure 1 In the further description, these reference symbols may not be discussed further, since the parts of the planar drive system 1 described with these reference symbols are explained in connection with Figure 1 were explained.

[0037] Figure 2 shows a plan view of a planar drive system 1, which is essentially constructed like the planar drive system 1 of Figure 1 An object 20, in this case a can 21, is arranged on the rotor 10. A rotation axis 13 is perpendicular to the stator surface 5 and is guided through a rotation position 7, in this case in the center of a stator module 2. The rotor 10 can be rotated about the rotation axis 13.

[0038] Figure 3 shows the planar drive system 1 of the Figure 2 in a side view. The can 21, i.e. the object 20, is arranged on the rotor 10. Above the object 20, a processing element 100 is shown, which holds a lid 22. The can 21 has a thread 23, by means of which the lid 22 can be screwed to the can 21. In order to process the object 20, the rotor 10 is first moved by energizing the coil groups 4 such that the rotor 10, with the object 20 arranged thereon, moves into the rotation position 7. Subsequently, the coil groups 4 are energized such that the rotor 10 rotates. Now, the object 20 is processed by means of the rotor rotation, wherein the processing element 100 acts on the object 20. In the exemplary embodiment, this can Figure 3This can be done by moving either the rotor 10 and / or the processing element 100 along the direction of movement 14 parallel to the axis of rotation 13 in such a way that the can 21 and the lid 22 move towards each other. The processing by the processing element 100 can, as in the embodiment of the Figures 2 and 3 As indicated, this may include closing the can 21 by means of the lid 22, in which the lid 22 is screwed onto the thread 23 of the can 21.

[0039] Figure 4 shows a side view of the planar drive system 1 of the Figures 2 and 3 after the machining element 100 has been moved slightly toward the rotor 10. The cover 22 is now located in the immediate vicinity of the thread 23 and can now be screwed to the can 21.

[0040] Figure 5 shows the planar drive system of the Figures 1 to 4after the cover 22 was screwed to the can 21. During the rotation of the rotor 10, the latter was additionally moved away from the stator surface 5, and the can 21 was rotated into the cover 21 by the rotational movement and the movement away from the stator surface 5.

[0041] In the embodiment of the Figures 2 to 5It is shown that the processing element 100 and the rotor 10 can be moved relative to one another parallel to the axis of rotation 13 during the rotor rotation. In particular, the processing element 100 can first be moved towards the stator surface 5 while the rotor 10 is not yet rotating. This movement can in principle also be omitted. Subsequently, the rotor 10 is rotated and simultaneously moved away from the stator surface 5 in order to screw the can 21 into the lid 22. Alternatively, instead of moving the rotor 10 away from the stator surface 5, a further movement of the processing element 100 towards the stator surface 5 can be provided. In addition, it can be provided that the rotor 10 rotates and simultaneously moves away from the stator surface 5, while the processing element 100 additionally moves towards the stator surface 5.

[0042] In one embodiment, the rotor 10 and the processing element 100 are moved relative to one another parallel to the rotational axis 13 such that a first movement and a second movement relative to one another superimpose for the object 20 arranged on the rotor 10 and the processing element 100. The first movement is the rotation of the rotor 10, while the second movement comprises a movement of the rotor 10 and / or the processing element 100 relative to one another parallel to the rotational axis 13. Such a movement can be referred to as helical relative to one another. This enables simple screwing of the object 20, here the can 21, to the lid 22 held by the processing element 100. A relative change in the distance between the rotor 10 and the processing element 100 during one complete revolution of the rotor 10 depends on a pitch of the thread 23.

[0043] In one embodiment, the processing element 100 holds a lid 22 for the object 20, as shown in the Figures 3 to 5 shown. By superimposing the first movement and the second movement, the lid 22 is screwed to the can 21, i.e., to the object 20. It can be provided that the processing element 100 is arranged such that a center point of the lid 22 is located above the rotation position 7.

[0044] In the example of Figures 2 to 5 Instead of the can 21 and the lid 22, it can also be provided that the object 20 comprises a bottle, and during the rotational movement of the rotor a lid 22 is screwed to the object 20, i.e. the bottle.

[0045] Figure 6shows a side view of a further embodiment of a planar drive system 1, in which an object 20 can be processed by means of a rotation of a rotor 10. The rotor 10 comprises a screw holder 30 and the object 20 is a screw 31. Another object 32 is held by the processing element 100. Analogous to the screwing of the lid 22 and the can 21 of the embodiment of the Figures 2 to 5 can be used in the embodiment of Figure 6The screw 31 can be rotated by the rotation of the rotor 10 and a simultaneous movement of the rotor 10 away from the stator surface 5 or of the machining element 100 toward the stator surface 5 in such a way that the screw 31 is screwed into the further object 32. The further object 32 can have a corresponding thread for this purpose. It can be provided that a relative change in the distance between the rotor 10 and the machining element 100 during a complete revolution of the rotor 10 depends on a pitch of the screw 31.

[0046] In the embodiment of the Figure 6it can be provided that the screw holder 30 with the screw 31 is arranged centrally on the rotor 10. It can further be provided that the processing element 100 can also be moved parallel to the stator surface 5 in order to arrange a thread of the further object 32 above the rotation position 7. In particular, in this embodiment of the method it can be provided that several rotors 10 are equipped with screw holders 30 and are accordingly fitted with screws 31. After a screw 31 has been screwed into the further object 32, the corresponding rotor 10 can be moved out from under the further object 32 and a further rotor with a further screw can be positioned at the rotation position 7, the processing element 100 with the further object 32 can be moved parallel to the stator surface 5 and then the further screw can also be screwed into the further object 32.It can also be provided that the slider 10 and / or the additional slider can accommodate additional screws on a screw transfer unit. In this case, the slider 10 can also be used to screw in the additional screw if necessary.

[0047] Alternatively (not shown), it can be provided that a screw holder 30 with screw 31 is held by the processing element 100 and the object 20 is arranged on the rotor 10, wherein the screw 31 is screwed into the object 20 by means of the rotation of the rotor 10 and a movement of the rotor 10 and the processing element 100 relative to one another.

[0048] In the examples of the Figures 2 to 6 It can be provided that the movement of the runner 10 and the processing element 100 relative to each other also depends on the Figure 1The control unit 8 shown is controlled and corresponding control commands are output to the stator unit 2 or the processing element 100. In one exemplary embodiment, these control commands for energizing the coil groups 4 during the rotary movement can be output using a closed-loop control system. The closed-loop control system can also take into account torques and / or angular momentum during the helical movement, with a maximum torque or a maximum angular momentum being predetermined. Optionally, it can be provided that rotation of the rotor 10 is stopped when the maximum torque is reached. This makes it possible, in particular, to screw the lid 22 onto the can 21 with a predetermined torque or to screw the screw 31 into the further object 32 with a predetermined torque.

[0049] Figure 7shows a side view of another planar drive system 1, in which the processing element 100 comprises a labeling element 101. The object 20 comprises a bottle 24 with a lid 22. The lid 22 can be analogous to the one shown in the Figures 2 to 5 The labeling element 101 serves to apply a label to the bottle 24 or the object 20. It can be provided that a label is transferred from the labeling element 101 to the bottle 24, and that the bottle 24 is rotated completely once together with the rotor 10. During the rotation of the rotor 10, the object 20 is processed by the labeling element 101, i.e., by the processing element 100, in that a label is transferred to the bottle 24.

[0050] Alternatively to Figure 7In the method shown, it can also be provided that a label is transferred to a can 21 by means of the labeling element 101, wherein the can is analogous to the Figures 2 to 5 Furthermore, the can 21 may not have a screw cap, but rather an alternative can closure, and may still be labeled using the labeling element 21. The same applies in principle to the bottle 24, which, for example, may not be designed with a screw-on lid 22, but may also have a lid 22 in the form of a crown cap or another closure.

[0051] Figure 8 shows a top view of the planar drive system 1 of the Figure 7The processing element 100, i.e., the labeling element 101, comprises a label roll holder 102 and a roll-off device 103. A label is transferred from the label roll 102 to the object arranged on the rotating carriage 10, i.e., the bottle 24. This can be done, for example, by the roll-off device 103 pressing the label onto the bottle 24, thereby transferring it from the label roll holder 102 to the bottle 24.

[0052] Figure 9shows a top view of another planar drive system 1. In this exemplary embodiment, the processing element 100 comprises a laser 110. The laser 110 can irradiate and thereby modify a surface of the object 20. A laser beam 111 thus emanates from the laser 110 and strikes the object 20. The laser beam 111 can be configured, for example, for laser engraving or laser marking the object 20. The processing element 100 further comprises an optional laser controller 112, with which the laser 110 can be activated and deactivated.

[0053] Figure 10 shows a side view of the planar drive system 1 of the Figure 9. It is shown that the processing element 100 and / or the rotor 10 can be moved along a direction of movement 14 parallel to the axis of rotation 13. Furthermore, it can be provided that the rotor 10 is tilted so that the axis of rotation 13 is no longer perpendicular to the stator surface 5. By means of the laser radiation 111, a barcode 25 is generated on the object 20. In this case, the object 20 is not shown as round, as in the previous exemplary embodiments. The corresponding creation of the barcode can therefore also be carried out for non-round objects 20. For each line of the barcode 25, the rotor 10 and / or the processing element 100 is moved parallel to the axis of rotation 13 and after completion of each line of the barcode 25, the object 20 is rotated further.Alternatively, it can also be provided that the object is rotated completely once, and the laser 110 is switched on and off by means of the laser controller 112, thereby creating one line of the barcode in each case. This corresponds to an embodiment in which the laser controller 112 of the laser 110 is configured to activate and deactivate the laser 110, wherein an activation sequence is determined based on the rotation of the rotor 10 and a movement of the laser along the rotation axis 13 and image information, and the laser 110 is activated and deactivated based on the activation sequence. This enables an efficient method for laser marking or laser engraving the object 20.

[0054] Figure 11shows a side view of another planar drive system 1 for processing an object 20. In this embodiment, the object 20 comprises a vessel 26 containing a liquid 27. The processing element 100 comprises a stirring spatula 120 that is immobile perpendicular to the rotation axis 13 and arranged directly above the rotation position 7. Parallel to the rotation axis 13, the stirring spatula 120 can be moved along the direction of movement 14 and immersed in the liquid 27. Figure 11 shows the stirring spatula 120 above the vessel 26. The rotor 10 has already been moved into the rotation position 7, but has not yet been rotated.

[0055] Figure 12 shows a side view of the planar drive system 1 of the Figure 11after the stirring spatula 120 has been immersed in the liquid 27 and rotation of the rotor 10 has been started. Due to the position of the stirring spatula 120 in the liquid 27, the rotor rotation allows the liquid 27 to be processed by stirring the liquid 27 using the stirring spatula 120.

[0056] Fig. 13shows a side view of another planar drive system 1 for machining an object 20. A milling head 40 is arranged on the rotor 10. The machining element 100 holds the object 20 by means of an object holder 130. The rotor 10 can, as already described, be rotated in a rotational position 7 about the rotation axis 13. This also causes the milling head 40 to rotate, whereby milling of the object 20 is possible by means of the milling head 40. The rotation speed of the rotor 10 can be controlled. The machining element 100 can be moved parallel and perpendicular to the stator surface 5, whereby various milling patterns can be generated.

[0057] Furthermore, the rotor 10 can also be tilted from the vertical position so that the rotation axis 13 is no longer perpendicular to the stator surface 5. This enables milling patterns with angled milling edges.

[0058] Fig. 14shows a side view of another planar drive system 1 for machining an object 20. The object 20 is arranged on the rotor 10. A machining element 100 is designed as a cutting tool 140, for example, a turning tool. The cutting tool 140 can be moved parallel and perpendicular to the stator surface 5. By rotating the rotor 10, the object 20 can be machined like on a lathe when the cutting tool 140 is brought into contact with the object 20.

Claims

1. A method for processing an object (20) with the aid of a planar drive system (1), the planar drive system (1) four stator assemblies (3) having in each case a plurality of coil groups (4) for generating a stator magnetic field, a stator surface (5) above the four stator assemblies (3), and at least one rotor (10) having four magnet units (11) for generating a rotor magnetic field, wherein a point of contact of the four stator assemblies (3) is provided, wherein the coil groups (4) of the stator assembly (3) comprise rectangular and longitudinally extended coils extending in parallel to an edge of the stator assembly (3), wherein the four magnet units (11) of the rotor (10) are arranged in parallel to the outer edges (12) of the rotor at the outer edges (12) of the rotor in a circumferential manner, wherein a processing element (100) is arranged above the stator surface (5), wherein the planar drive system (1) comprises at least one rotational position (7), wherein in the rotational position (7), a symmetric center of the rotor arranged at the center point of the rotor (10) is arranged above the point of contact of the four stator assemblies in order to allow for a free rotation of the rotor (10), wherein the rotor (10) may be rotated in the rotational position (7) about an axis of rotation (13) perpendicular to the stator surface (5), wherein a spatial arrangement of the processing element (100) is predetermined by the rotational position (7), comprising the following steps: - energizing the coil groups (4) in such a way that the rotor (10) with the object (20) arranged on the rotor (10) moves into the rotational position (7); - energizing the coil groups (4) in such a way that the rotor (20) rotates; - processing the object (20) with the aid of the rotor rotation, wherein the processing element (100) acts upon the object (20), wherein during rotor rotation the processing element (100) and the rotor (10) are moved relative to each other in parallel to the axis of rotation (13), wherein the rotor (10) is rotated and the movement of the processing element (100) and the rotor (10) in parallel to the axis of rotation (13) relative to each other is carried out in such a way that a first movement and a second movement relative to each other are superimposed for the object (20) disposed on the rotor (10) and the processing element (100), characterized in that control commands for energizing the coil groups (4) during the rotational movement are output on the basis of a closed-loop control, and wherein, on the basis of the closed-loop control, torques and / or angular momentums are furthermore taken into account during the superimposed first motion and second motion, wherein a maximum torque or a maximum angular momentum are predetermined, and wherein the torque and / or the angular momentum are determined on the basis of the control commands provided for energizing the coil groups and on the basis of actual currents within the coil groups.

2. The method according to claim 1, wherein the processing element (100) holds a cover (22) for the object (20), and wherein the superimposed first movement and second movement cause the cover (22) to be screwed to the object (20).

3. The method according to claim 1 or 2, wherein the processing element (100) is arranged in such a way that a center of the cover (22) is arranged above the rotational position (7).

4. The method according to any one of the preceding claims, wherein the rotor (10) rotates and the processing element (100) moves towards the rotor (10).

5. The method according to any one of the preceding claims, wherein the rotor (10) comprises a screw holder (30), the object (20) being a screw (31), the screw holder (30) holding the screw (31) and screwing it into a further object (32) held by the processing element (100) with the aid of the superimposed first movement and second movement.

6. The method according to claim 5, wherein the rotor (10) is moved away from the stator surface (5) during the rotational movement along the rotational axis (13), wherein a change in distance of the rotor (10) per rotation depends on a pitch of the screw (31).

7. The method according to any one of the preceding claims, wherein a rotation of the rotor (10) is stopped upon reaching the maximum torque.

8. The method according to claim 1, wherein the processing element (100) comprises a labeling element (101), wherein the labeling element (101) comprises a label roll holder (102), wherein the labeling element (101) comprises an unwinding device (102) at which a label is transferred from the label roll holder (101) to the object (20) arranged on the rotating rotor (10).

9. The method according to claim 1, wherein the processing element (100) comprises a laser (110), wherein the laser (110) irradiates and thereby alters a surface of the object (20).

10. The method according to claim 9, wherein a laser controller (112) of the laser is arranged to activate and deactivate the laser (110), wherein an activation sequence is determined based on information provided by the rotation of the rotor (10) and a movement of the laser (110) along the rotational axis (13) and image information, and the laser (110) is activated and deactivated based on the activation sequence.

11. The method according to claim 9 or 10, wherein the laser (110) and the rotor (10) are moved relative to each other in parallel to the axis of rotation (13).

12. The method according to claim 1, wherein the processing element (100) comprises a stirring spatula (120) immovable perpendicular to the rotational axis (13), the stirring spatula (120) being arranged directly above the rotational position (7), wherein the object (20) comprises a vessel (26) with a liquid (27), wherein prior to the rotor rotation the stirring spatula (120) is moved in parallel to the rotational axis (13) and immersed in the liquid (27).

13. A planar drive system (1), comprising at least one stator assembly (3) each having a plurality of coil groups (4) for generating a stator magnetic field and a stator surface (5), further comprising at least one rotor (10) having a plurality of magnet units (11) for generating a rotor magnetic field, wherein the rotor may be driven above the stator surface via a magnetic coupling between the stator magnetic field and the rotor magnetic field, wherein the planar drive system (1) further comprises a controller (8) and a processing element (100), wherein the controller (8) comprises a computing unit and is configured to output control signals, wherein the control signals comprise energizing information for coil groups (4) of a stator assembly (3), wherein the coil groups (4) are energized in such a way on the basis of the control signals that the method according to any one of claims 1 to 4 is carried out.