METHOD FOR MACHINING A PLANAR DRIVE SYSTEM

Description

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

[0002] This patent application claims priority from German patent application DE 10 2021 134 510.3, filed on December 23, 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 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 movable 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 the magnetic interaction of energized coil groups of a stator unit with drive magnets of several magnet arrangements of the rotor. Planar drive systems with rectangular and elongated coil groups and rectangular and elongated magnet arrangements of the rotor are known from the prior art. One such planar drive system is described, for example, in the published patent application DE 10 2017 131 304 A1. Such a planar drive system enables, in particular, linear and translational movement of the rotor. This means that, using such a planar drive system, the rotor can be freely moved parallel to the stator surface above a stator surface, beneath which the rectangular and elongated coil groups are arranged, and can be moved perpendicular to the stator surface at least at different distances from the stator surface.

[0005] German Patent Application DE 10 2019 117 431 A1 discloses a planar drive system in which a gap is arranged between two stator modules of a stator surface. In the region of the gap, functional elements are optionally arranged, which can provide a function beyond the movement of the rotor. The functional elements can optionally act on a rotor of the planar drive system.

[0006] The published patent application DE 10 2018 129 731 A1 discloses a planar drive system in which a two-dimensional virtual potential curve can be used for pathfinding of a runner.

[0007] US Patent No. 6,445,093 B1 discloses a planar drive system in which sliders can be moved in six dimensions, including three spatial directions, and rotated around three axes. This planar drive system can be used, for example, to process semiconductors.

[0008] It is an object of the invention to provide a planar drive system with which a flat object can be machined. A further object of the invention is to provide a corresponding operating method for machining a flat object using such a planar drive system.

[0009] These objects are achieved by the method for processing a flat object using a planar drive system and the planar drive system of the independent patent claims. Advantageous further developments are specified in the dependent patent claims.

[0010] A planar drive system according to the invention comprises at least one stator unit, each having a plurality of coil groups for generating a stator magnetic field. The stator unit with the coil groups can be arranged in a stator module with a stator module housing, wherein several stator units can be arranged in a stator module. The planar drive system further comprises a stator surface above the stator unit and a rotor, wherein the rotor has a plurality of magnet units for generating a rotor magnetic field and is movable above the stator surface in a first direction and / or a second direction and / or a third direction by means of an interaction of the stator magnetic field with the rotor magnetic field. The first direction and the second direction are parallel to the stator surface.

[0011] The rotor is further movable in the third direction perpendicular to the stator surface. Furthermore, a tool is arranged on the rotor. The planar drive system further comprises a control unit configured to output a first signal and a second signal. Based on the first signal, the coil groups are energized such that the rotor has a predetermined height above the stator surface in the third direction, and based on the second signal, the coil groups are energized such that the rotor moves along a predetermined trajectory, with the tool and a flat object being in mechanical contact, thereby machining the flat object.

[0012] In a method for machining a flat object using a planar drive system, the planar drive system has 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 a rotor. The rotor has a plurality of magnet units for generating a rotor magnetic field, wherein the rotor is movable above the stator surface by means of an interaction of the stator magnetic field with the rotor magnetic field in a first direction and / or a second direction and / or a third direction, wherein the first direction and the second direction are parallel to the stator surface. The rotor is further movable in the third direction perpendicular to the stator surface. A tool is arranged on the rotor, wherein the flat object is arranged between the stator surface and the rotor.The arrangement of the flat object between the stator surface and the rotor can include the rotor at least partially covering the flat object. During processing, the following steps are performed: . The coil groups are energized in such a way that the rotor has a predetermined height above the stator surface in the third direction; the coil groups are energized in such a way that the rotor moves along a predetermined trajectory, whereby the tool and the flat object are in mechanical contact and the flat object is thus machined.

[0013] A flat object can in particular comprise an object that has significantly smaller dimensions in the third direction than in the first direction and / or the second direction. The flat object can be, for example, paper, cardboard, a layer of plastic, glass, or a metal sheet. In the latter case, it can be provided in particular that the metal sheet is not ferromagnetic in order not to excessively disrupt the interaction of the stator magnetic field with the rotor magnetic field. By arranging the flat object between the rotor and the stator surface, the force exerted by the tool on the flat object can be well controlled, since this force can be well adjusted and / or controlled and / or regulated by means of the current supply to the coil groups and the resulting attraction between the coil groups and the magnet units. This provides a simple processing method for flat objects.The thickness of the flat object can be up to 5 millimeters, preferably a maximum of 2 millimeters.

[0014] In one embodiment of the method, the magnetic permeability of the flat object is taken into account when energizing the coil groups such that the rotor has a predetermined height above the stator surface in the third direction. The magnetic permeability can either be predetermined based on knowledge of the material, thickness, and / or other properties of the flat object or can be determined using a sensor.

[0015] In one embodiment of the method, the current strength of the coil groups is adjusted, in particular increased, based on the magnetic permeability of the flat object. By increasing the current strength, an influence on the interaction of the stator magnetic field with the rotor magnetic field caused by the magnetic permeability can be at least partially, preferably completely, compensated.

[0016] In one embodiment of the method, the coil groups are first energized such that the rotor moves in the third direction away from the stator surface. The coil groups are then energized such that the rotor is located above the flat object. Following this, the coil groups are energized such that the rotor moves in the third direction towards the stator surface until the tool and the flat object are in mechanical contact. This can be used to determine a thickness of the flat object in the third direction, whereby the specified height can be set during processing based on this thickness. The initial raising of the rotor and the subsequent lowering provides a simple way of moving the rotor to the specified height during processing.

[0017] In one embodiment of the method, when energizing the coil groups such that the rotor moves along a predetermined trajectory, a predetermined force is compared with a determined force for at least one point of the trajectory, and the coil groups are energized such that the determined force corresponds to the predetermined force. This allows forces transmitted by the tool to be adjusted in the first direction, / or the second direction, and / or the third direction.

[0018] In one embodiment of the method, a thickness of the flat object in the third direction is determined, and the specified height is calculated based on the thickness. For this purpose, magnetic field sensors arranged within the planar drive system, for example, can be used, which can be used to determine the position of the rotor.

[0019] In one embodiment of the method, the thickness of the flat object in the third direction is determined by means of a sensor arranged on the rotor.

[0020] In one embodiment of the method, at least one fixation rotor is moved toward the stator surface by means of the coil groups in such a way that the flat object is restricted from movement in the first direction, second direction, and / or third direction at the stator surface by means of the fixation rotor. This enables improved processing of the flat object.

[0021] In one embodiment of the method, a force-increasing rotor acts on the rotor by means of at least one force transmission unit to increase the force of the tool on the flat object in the third direction. This also enables improved processing of the flat object.

[0022] In one embodiment of the method, the tool comprises a cutting tool. Processing the flat object involves cutting.

[0023] In one embodiment of the method, the cutting tool has a first cutting edge and at least one second cutting edge, wherein the first cutting edge is arranged on a first side of the rotor and the second cutting edge is arranged on a second side of the rotor, wherein the first side and the second side of the rotor (100) lie opposite one another. To machine the flat object, the rotor can be inclined such that either the first cutting edge or the second cutting edge is in mechanical contact with the flat object. This allows different cutting edges to be used on one rotor, making the method more efficient overall, since only one rotor is required for two independent cutting processes.

[0024] In one embodiment of the method, the tool comprises a punching tool. Processing the flat object involves punching.

[0025] In one embodiment of the method, the tool comprises a stamp. A stamp bed is arranged on the stator surface. Processing the flat object involves stamping. The stamp bed can also be referred to as a stamp pad.

[0026] In one embodiment of the method, the tool has a print head. Processing the flat object involves printing. The transfer of a printing material such as ink, paint, toner, or the like occurs by means of mechanical contact between the tool and the flat object, with the printing material establishing the mechanical contact.

[0027] In one embodiment of the method, the tool has an adhesive nozzle. Processing the flat object involves applying an adhesive. The adhesive is transferred by means of mechanical contact between the tool and the flat object, with the adhesive establishing the mechanical contact.

[0028] In one embodiment of the method, the tool comprises a roller. Processing the flat object involves rolling.

[0029] In one embodiment of the method, the tool comprises a press. Processing the flat object involves pressing.

[0030] In one embodiment of the method, the tool comprises a pen. Editing the planar object involves writing or drawing.

[0031] In one embodiment of the method, the tool comprises a driven tool. Processing the flat object comprises drilling and / or milling and / or engraving and / or sawing and / or grinding and / or perforating. The driven tool can be a power tool and have an electric drive. Alternatively or additionally, the driven tool can have a pneumatic and / or hydraulic drive.

[0032] In one embodiment of the method, processing the flat object comprises folding. In one embodiment of the method, processing the flat object comprises ironing. In one embodiment of the method, processing the flat object comprises scoring glass. In one embodiment of the method, processing the flat object comprises cutting fabric.

[0033] The invention is explained in more detail with reference to the accompanying figures. Herein: Fig. 1 shows a planar drive system; Fig. 2 shows a side view of a planar drive system; Fig. 3 shows a side view of a planar drive system; Fig. 4 shows a planar drive system; Fig. 5 shows a planar drive system; Fig. 6 shows a planar drive system; Fig. 7 shows a side view of a planar drive system; Fig. 8 shows a view of a rotor; Fig. 9 shows a planar drive system; Fig. 10 shows a side view of a planar drive system; Fig. 11 shows a side view of a planar drive system; Fig. 12 shows a planar drive system; Fig. 13 shows a side view of a planar drive system; Fig. 14 shows a side view of a planar drive system; Fig. 15 shows a side view of a planar drive system; Fig. 16 shows a side view of a planar drive system; Fig. 17 shows a side view of a planar drive system; Fig. 18 is a side view of a planar drive system; and Fig. 19 is a side view of a planar drive system.

[0034] In the following, the same reference symbols may be used for identical features. Furthermore, for reasons of clarity, not all elements may be shown in every figure. Furthermore, for reasons of clarity, not every element in every drawing may be provided with its own reference symbol.

[0035] Figure 1shows a planar drive system 1 with 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 assemblies 4, wherein the coil assemblies 4 are shown with different orientations. The coil assemblies 4 serve to generate a stator magnetic field. In the illustrated embodiment, the coil assemblies 4 are designed as rectangular and elongated coil assemblies 4.Each stator unit 3 of the stator modules 2 contains three individual, rectangular, and elongated coils of a coil arrangement 4. Likewise, in an embodiment not shown, a different number of individual rectangular and elongated coils could form a coil arrangement 4. Their longitudinal extension is oriented parallel to one of the edges of the respective stator unit 3. Below each of the illustrated coil arrangements 4, there are further coils that have an orientation rotated by 90° with respect to their longitudinal extension. This grid of elongated and rectangular coils of a coil arrangement 4 can be formed multiple times one above the other. In reality, neither stator units 3 nor coil arrangements 4 are visible, as they are enclosed by a housing 7 of the stator module 2. The six stator modules 2 form a continuous stator surface 5 above the stator units 3.Furthermore, a rotor 100 is arranged, wherein the rotor has a plurality of magnet units 105 for generating a rotor magnetic field. The coil arrangements 4 can interact with the magnet units 105 when appropriately energized, thereby moving the rotor 100 within the planar drive system 1 above the stator surface 5. The stator surface 5 thus defines a plane of movement for the rotor 100. The illustration in . Figure 1 is simplified, since in each stator unit 3, several coil arrangements 4 are arranged, each arranged at a 90° angle to each other, but only one layer of coil arrangements 4 is shown. The magnet units 105 are arranged circumferentially within the rotor 100 and can each interact with the coil arrangements 4 to move the rotor 100. In Figure 1Furthermore, a further rotor 101 is shown, in which the integrated magnet units 105 are not shown. The movements of the rotor 100 can take place in particular in a plane spanned by a first direction 21 and a second direction 22. Furthermore, a superposition of these movements is possible, so that the rotor 100 can be moved in all directions parallel to the stator surface 5. Furthermore, the rotor 100 can be moved in a third direction 23 perpendicular 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, it can also be provided to arrange more or fewer stator units 3 within a stator module 2. For example, each stator module 2 can comprise only one stator unit 3 or more than four stator units 3.

[0036] Also in Figure 1Shown is a flat object 30 which is arranged on the stator surface 5. The rotor 100 is in Figure 1 arranged next to the flat object 30. A tool which is arranged on the runner 100 can be used to process the flat object, but is perspectively in Figure 1 not visible. Because the runners 100 can be freely moved with the tool over the stator surface 5, flexible machining of the flat object 30 is possible, for example, using multiple runners 100 with different tools. The runners 100 are individually controllable and can thus move independently of one another, enabling flexible machining sequences.

[0037] Furthermore, an additional, in Figure 1A cover (not shown) made of a non-magnetic material can be used to cover the stator modules 2. The cover can serve, for example, to protect the stator modules 2 or the stator surface 5 from damage during machining processes. The cover can be up to one millimeter thick, for example.

[0038] Additionally in Figure 1 Shown is a control unit 25, which is connected to one of the stator modules 2. It can be provided that the stator modules 2 can transmit communication signals to each other. Alternatively, each stator module 2 can be connected to the control unit 25 (not shown). Figure 1shown). The control unit 25 is configured to output signals to the stator modules 2, wherein the stator modules 2 are configured to energize the coil assemblies 4 based on the signals and thereby control a movement of the rotor 100 parallel to the stator surface 5. The coil assemblies 3 can further be energized based on the signals such that the rotor 100 is moved perpendicular to the stator surface 5. Furthermore, the coil assemblies 3 can be energized based on the signals such that the rotor 100 rotates about an axis perpendicular to the stator surface 5 or is rotated at least by a few degrees or is rotated by a few degrees about an axis parallel to the stator surface 5.

[0039] To edit the flat object 30, the following steps are provided: Energizing the coil groups 4 such that the rotor 100 has a predetermined height above the stator surface 5 in the third direction 23; energizing the coil groups 4 such that the rotor 100 moves along a predetermined trajectory, wherein the tool and the flat object 30 are in mechanical contact, thereby machining the flat object.

[0040] The control unit 25 is configured to output a first signal, wherein the first signal is used to energize the coil groups 4 such that the rotor 100 has a predetermined height above the stator surface 5 in the third direction 23, and further to output a second signal, wherein the second signal is used to energize the coil groups 4 such that the rotor 100 moves along a predetermined trajectory, wherein the tool and a flat object 30 are in mechanical contact and the flat object 30 is thereby machined. The flat object 30 can be arranged between the rotor 100 and the stator surface 5. This can include, for example, the rotor 100 at least partially covering the flat object 30.

[0041] The flat object 30 can in particular comprise an object that has significantly smaller dimensions in the third direction 23 than in the first direction 21 and / or the second direction 22. The flat object 30 can be, for example, paper, cardboard, a layer of plastic, or a metal sheet. In the latter case, it can be provided, in particular, that the metal sheet is not ferromagnetic in order not to excessively disrupt the interaction of the stator magnetic field with the rotor magnetic field. By arranging the flat object 30 between the rotor 100 and the stator surface 5, a force of the tool on the flat object can be well controlled, since this force can be well adjusted and / or controlled and / or regulated by means of the energization of the coil groups 4 and the resulting attraction between the coil groups 4 and the magnet units 105. Thus, a simple processing method for flat objects 30 is provided.

[0042] Also in Figure 1 Magnetic field sensors 6 are shown in one of the stator modules 2, wherein each of the stator modules 2 can comprise magnetic field sensors 6. In one embodiment of the method, a thickness of the flat object 30 is determined. The thickness can include a dimension of the flat object 30 in the third direction 23. The predetermined height is calculated using the thickness. For this purpose, for example, the magnetic field sensors 6 arranged within the planar drive system 1, which can additionally also be used to determine a position of the rotor 100, can be used.

[0043] In one embodiment of the method, a magnetic permeability of the flat object 30 is taken into account when energizing the coil groups 4 such that the rotor 100 has a predetermined height above the stator surface 5 in the third direction 23. The magnetic permeability can either be predetermined based on knowledge of the material, the thickness, and / or other properties of the flat object 30 or can be determined by means of a sensor, for example, by means of the magnetic field sensors 6.

[0044] In one embodiment of the method, a current intensity of the coil groups 4 is adjusted, in particular increased, based on the magnetic permeability of the flat object 30. By increasing the current intensity, an influence on the interaction of the stator magnetic field with the rotor magnetic field caused by the magnetic permeability can be at least partially, preferably completely, compensated.

[0045] In one embodiment, more than one rotor 100 is provided, each of these rotors 100 comprising a tool. This allows for easy tool replacement.

[0046] Figure 2 shows a side view of a planar drive system 1 with which a flat object 30 can be machined. In contrast to the Figure 1 only one stator module 2 is shown, further stator modules 2 analogous to Figure 1 However, they can also be provided. Furthermore, the stator module 2, as described in connection with Figure 1explained, stator units 3, coil groups 4, and magnetic field sensors 6. The flat object 30 is arranged between the stator surface 5 and the rotor 100. The rotor 100 has a tool 120, which is designed as a cutting tool 121 and is arranged centrally on the rotor 100. The cutting tool 121 serves to cut the flat object 30. For this purpose, the cutting tool 121 is in mechanical contact with the flat object 30. The cutting tool 121 can also be arranged at other positions on the rotor 100.

[0047] In this case, the working space of the cutting tool 121 can encompass the entire stator surface 5 and is thus only limited by the size and arrangement of the stator modules. Furthermore, the power consumption of the coil groups 4 can be measured, and a change in the power consumption can be used to detect whether the cutting tool 121 is or is becoming blunt. In this case, the rotor 100 with the cutting tool 121 can be moved away from the flat object 30 in the third direction 23 and replaced by another rotor with a sharp cutting tool. Furthermore, it can be provided that several rotors 100 with several cutting tools 121 are used, each processing the flat object 30 at different locations. Since the rotors 100 can be individually controllable, this results in a flexible processing option.

[0048] In one embodiment, the coil groups 4 are first energized such that the rotor 100 moves in the third direction 23 away from the stator surface 5. Subsequently, the coil groups 4 are energized such that the rotor 100 is located above the flat object 30. Subsequently, the coil groups 4 are energized such that the rotor 100 moves in the third direction 23 towards the stator surface 5 until the tool 120, i.e. the cutting tool 121, and the flat object 30 are in mechanical contact. This method was indeed described in connection with Figure 2explained in more detail, but can also be applied to the other embodiments with alternative tools. In particular, the magnetic field sensors 6 can be evaluated to determine the mechanical contact of the tool 120 with the flat object 30, for example, when the rotor 100 can no longer be moved further towards the stator surface 5 because the tool 120 is already in contact with the flat object 30. If necessary, a machining depth can also be used when setting the predetermined height, in the embodiment of the Figure 2For example, a required cutting depth. It can further be provided that the rotor 100 with the cutting tool 121 can be rotated 360 degrees. This can be used for drilling holes. In particular, it can be provided to use a rotor 100 with a cutting tool 121 for both straight cuts and for drilling holes. This enables more flexible processing.

[0049] Figure 3 shows a side view of a planar drive system 1, which corresponds to the planar drive system 1 of the Figure 2 corresponds, unless differences are described below. The cutting tool 121 has a first cutting edge 122 and a second cutting edge 123, wherein the first cutting edge 122 is arranged on a first side 111 of the rotor 100 and the second cutting edge 123 is arranged on a second side 112 of the rotor 100. The first

[0050] The first side 111 and the second side 112 of the slider 100 are opposite each other. To machine the flat object 30, the slider 100 is tilted such that either the first cutting edge 122 or the second cutting edge 123 is in mechanical contact with the flat object 30. Figure 3The case is shown in which the second cutting edge 123 is in mechanical contact with the flat object 30 and the first cutting edge 122 is not in mechanical contact. The rotor 100 is inclined, i.e. not parallel to the stator surface 5. Thus, a selection can be made between the first cutting edge 122 and the second cutting edge 123, thus enabling more flexible machining, particularly when the first cutting edge 122 and the second cutting edge 123 are different. Furthermore, it can be provided that the first cutting edge 122 and the second cutting edge 123 are suitable for machining different materials, i.e., in particular, the first cutting edge 122 is suitable for a first material and the second cutting edge 123 is suitable for a second material.In an alternative embodiment not shown, the first cutting edge 122 and the second cutting edge 123 can also be in simultaneous mechanical contact with the flat object 30 and process the flat object 30 together. Likewise, more than two cutting tools 121 can be arranged on a rotor 100. Furthermore, circles can be cut by moving the rotor 100 with the cutting tool 121 along a circular path.

[0051] Figure 4 shows a planar drive system 1, which is used in connection with the Figures 1 to 3described features. The planar drive system 1 further comprises four fixing rotors 115, wherein the number of fixing rotors 115 is at least one. By means of the coil groups 4, the fixing rotors 115 are moved towards the stator surface 5 in such a way that the flat object 30 on the stator surface 5 is restricted from movement in the first direction 21 and / or second direction 22 and / or third direction 23 by means of the fixing rotor 115. Thus, the rotor 100 with the tool 120 can be used more easily for machining the flat object 30, since the flat object 30 rests better against the stator surface 5 and is less likely to move due to the action of a force from the tool 120.

[0052] Figure 5 and Figure 6 show a plan view of a planar drive system 1, which, like the planar drive system of the Figure 4is constructed. During operation, i.e. during processing of the flat object 30 by means of the runner 100 with the tool 120, individual ones of the fixing runners 115 can be moved so that the flat object 30 is always fixed in the vicinity of the runner 100 with the tool 120 and the flat object 30 is thus even less likely to move due to a force applied by the tool 120. The fixing runner 115 can optionally have a tool such as one or more rollers. As indicated by the arrows, fixing runners 115 that are no longer required to fix the flat object 30 can be steered past other fixing runners 115 that are currently required to fix the flat object 30 in order to fix the flat object 30 again before the runner 100 with the tool 120 reaches the next processing area.This enables continuous processing of the flat object 30, requiring only a small number of fixation runners 115. Furthermore, the flat object 30 can occupy the entire stator surface 5, so that the size of the flat object 30 is limited only by the stator surface 5, which can be expanded as desired by increasing the number of stator modules 2.

[0053] Figure 7 shows a side view of a planar drive system 1, which corresponds to the planar drive system 1 of the Figure 2corresponds, unless differences are described below. Instead of the cutting tool 121, the tool 120 comprises a punching tool 128, which is arranged on the rotor 100. The processing of the flat object 30 comprises punching. The flat object 30 can comprise a food item such as a slice of cheese or sausage. However, other materials, in particular the materials already mentioned, can also be punched. It can be provided that the punching tool 128 comprises a device for ejecting a punched-out material. Alternatively, it can be provided that the removal of the punched-out material from the punching tool 128 takes place in such a way that the coil groups 4 are energized in such a way that the rotor 100 moves back and forth, wherein the movement shakes out the punched-out material. For example, a back and forth movement can take place at a frequency between one tenth of a Hertz and ten Hertz.Ejection can occur, for example, at a predetermined position on the stator surface 5, where further punched-out material can be removed from the stator surface 5 if necessary. It is also possible to check the punching quality using the magnetic field sensors 6. This is done, in particular, by checking whether the rotor 100, after it has been moved toward the flat object 30 and the punching tool 128 has acted on the flat object 30, is parallel to the stator surface 5. If this is the case, it can be assumed that the punching has been completed. If this is not the case, the flat object 30 was not completely pierced by the punching tool 30.

[0054] Different runners 100 can have different punching tools 128, i.e., punching tools 128 with different shapes. The positions at which the punching processes take place can be selected dynamically, for example, to obtain as many punched pieces (punched material) as possible from a material sheet of the flat object 30. It can be provided that an ideal punching arrangement of the punching tools 128 is calculated in advance by the control unit 10.

[0055] Figure 8 shows a plan view from below of the rotor 100 with the punching tool 128 of the Figure 7 The punching tool 128 can have any desired shape. Furthermore, multiple runners 100 can be coupled, and the punching tool 128 can be arranged over multiple runners 100.

[0056] Figure 9shows a planar drive system 1 with which a flat object 30 can be machined, and in which four force-increasing rotors 116 act on the rotor 100 by means of force transmission units 117 in order to increase a force of the tool 120 on the flat object 30 in the third direction 23. In particular, a different number of force-increasing rotors 116 can also be selected, for example one force-increasing rotor 116. The force-increasing rotors 116 can be used flexibly and can act on different rotors 100 with tool 120. This can be particularly advantageous if different rotors 100 are to be used with different tools 120. In particular, the tool 120 can comprise the already described cutting tool 121 or the already described punching tool 128.The maximum force with which the tool 120 can act on the flat object 30 is limited by the magnetic attraction between the coil assemblies 4 of the stator modules 2 and the magnet units 105 of the rotors 100. The force-increasing rotors 116 can exert an additional force on the rotor 100 with the tool 120, which is generated by a magnetic attraction between the coil assemblies 4 of the stator modules 2 and the magnet units 105 of the force-increasing rotors 116.

[0057] Figure 10shows a side view of a planar drive system 1 with a rotor 100 with a tool 120, here a cutting tool 121, and a force-increasing rotor 116 with a force transmission unit 117. The force of the tool 120 on the flat object 30 can thus be increased in the third direction 23. It can further be provided that when using force-increasing rotors 116, as described in connection with Figures 9 and 10, a number of force-increasing rotors 116 is selected based on a thickness of the flat object 30 to be machined, and in particular more force-increasing rotors 116 are used for thicker flat objects 30.

[0058] Figure 11shows a side view of a planar drive system 1 with which a flat object 30 can be processed. The runner 100 has a pen 131 as a tool 120. Processing the flat object 30 comprises writing or drawing. In particular, if the pen 131 is a pencil, wear of a pencil lead can be detected, for example via the force acting on the runner 100, determined by the magnetic field sensors 6. Then, a flight height of the runner 100 in the third direction 23 can be adjusted so that, for example, despite a worn pin 131, the contact pressure of the pen 131 on the flat object remains identical, or the pen 131 continues to touch the flat object 30. Alternatively, it can also be provided to replace the pen 131 and, for this purpose, to remove the runner 100 from the flat object 30.

[0059] Figure 12shows a top view of a planar drive system 1, in which the rotor 100 has a stamp, and with which a flat object 30 can be machined. A stamp bed 133 is arranged on the stator surface 5, wherein the stamp of the rotor 100 picks up new stamp ink from the stamp bed 133 at regular intervals.

[0060] Figure 13 shows a side view of the planar drive system 1 of the Figure 12 . The tool 120, here the punch 134, is again arranged between the runner 100 and the flat object 30. The flat object 30 of the Figure 12 and 13can comprise a continuous material, for example, paper or a film. It can be particularly advantageous if the continuous material of the flat object and the runner 100 move synchronously with the stamp 134, i.e., at a coordinated speed. This allows the stamp 134 to transfer ink from the stamp bed 133 to the flat object 30 without the flat object 30 having to be stopped. This enables a more efficient process, since the coil groups 4 can be energized in such a way that the runner 100 moves synchronously with the flat object.

[0061] If the ink present in the stamp bed 133 is partially used up, it can be provided that the slider 100 with the stamp 134 is pressed onto the stamp bed 133 with greater force, thus transferring the same amount of ink to the stamp 134 than with more ink in the stamp bed 133 and less force being applied. The force with which the stamp 134 is pressed onto the stamp bed 133 can therefore be adapted to the amount of ink present in the stamp bed 133. Furthermore, it can alternatively be provided that if there is less ink on the stamp 134, for example due to less ink in the stamp bed 133 or because a stamp impression has already been transferred, the stamp 134 is pressed onto the flat object 30 with greater force.

[0062] Analogous to Figure 3 Several stamps 134 can also be provided on the rotor 100. Then the stamp to be used can be determined as in connection with Figure 3explained by tilting the rotor 100 accordingly.

[0063] Figure 14 shows a side view of a planar drive system 1 with which a flat object 30 can be processed. The tool 120 comprises an adhesive nozzle 136. The processing of the flat object 30 includes the application of an adhesive 138. Furthermore, the adhesive nozzle 136 is connected to an adhesive supply 137, with which the adhesive 138 can be made available. By tilting or inclining the slider 100, even hard-to-reach areas of the flat object 30 can be wetted with adhesive 138. The transfer of the adhesive 138 takes place by means of mechanical contact between the tool 120 and the flat object 30, with the adhesive 138 establishing the mechanical contact.

[0064] Figure 15shows a side view of a planar drive system 1, with which a flat object 30 can be processed. The tool 120 comprises a print head 141. Processing the flat object 30 involves printing. Furthermore, the print head 141 is connected to a print material supply 142, with which print material can be provided. The print material can be ink, pigments, or even 3D printing material. The transfer of the print material takes place by means of mechanical contact between the tool 120 and the flat object 30, with the print material establishing the mechanical contact.

[0065] Figure 16shows a side view of a planar drive system 1 with which a flat object 30 can be machined. The tool 120 comprises a driven tool 145, and the machining of the flat object 30 comprises drilling and / or milling and / or engraving and / or sawing and / or grinding and / or perforating. In particular, the driven tool 145 can have a pneumatic drive and / or a hydraulic drive and / or an electric drive. In the case of an electric drive, the driven tool 145 can be referred to as a power tool. The driven tool 145 can comprise a high-speed multifunctional tool. High-speed can mean that the multifunctional tool can have a rotational speed of more than five hundred revolutions per minute. Such a multifunctional tool can comprise a tool head with cutting edges with which the flat object 30 can be machined.Furthermore, a power cable for supplying the power tool 145 and an extraction system 147 for extracting splinters or dust are provided. Contrary to the illustration in , the extraction system 147 may be provided. Figure 16 is arranged on another rotor 100.

[0066] Figure 17 shows a side view of a planar drive system 1, which corresponds to the planar drive system 1 of the Figure 16 unless differences are described below. No extraction is provided. Instead, the rotor 100 has a battery 148, which is connected to the driven tool 145 via the power cable 146. This allows an electrical supply to the driven tool 145.

[0067] In the Figures 16 and 17 The driven tool 145 is arranged centrally on the rotor. Of course, the driven tool 145 can also be arranged in a different position, for example, at the edge.

[0068] In the examples of the Figures 11 to 17 may also be related to the Figures 4 to 6 explained fixation runner 115 and / or in connection with the Figures 9 and 10 explained power booster rotor 116 can be used.

[0069] Figure 18shows a side view of a planar drive system 1. A camera 150 with a data and energy transmission 151 is arranged on the rotor 100, wherein the data and energy transmission 151 is shown as a wired connection, i.e., as a cable, but can also be a wireless connection. Furthermore, the energy transmission can be wired and the data transmission can be wireless. A quality inspection can be carried out by means of the camera 150. Furthermore, a 2S code, for example a QR code, applied to the flat object 30 can be read by means of the camera 150, wherein the QR code can include information about a thickness and / or a magnetic permeability of the flat material 30. The camera 150 can also be used to capture large-area images or to capture optical features of the flat object 30, such as boundary points. Contrary to the representation of the Figure 18, in which the camera 150 is placed centrally on the runner 100, the camera 150 can also be arranged at a different position, for example at the edge.

[0070] Figure 19shows a side view of a planar drive system 1. A sensor 153 with a data and energy transmission 151 is arranged on the rotor 100. The rotor 100 and thus also the sensor 153 can be moved to any location on the stator surface 5. The sensor 153 can be used to determine a temperature of the flat object 30, a roughness or flatness of the flat object 30, an elasticity of the flat object 30, a thickness of the flat object 30 and / or a magnetic permeability of the flat object 30. The sensor 153 can also be a capacitive sensor. The thickness of the flat object 30 and / or the magnetic permeability of the flat object 30 can alternatively or additionally be determined using the magnetic field sensors 6. The data and energy transmission 151 is shown as a wired connection, i.e., as a cable, but can also be a wireless connection.Furthermore, the energy transmission can be wired and the data transmission can be wireless.

[0071] All parameters relevant for machining the flat object 30 (e.g., thickness, tool height, material) can be specified by an operator of the planar drive system via a parameter. This allows the height to which the slider 100 with the tool 120 must move in order to position the slider 100 without machining, how far the slider 100 must be lowered to machine the flat object 30, and the force with which the slider 100 must machine the flat object 30 to be determined. This can be specified, for example, to the control unit 25.

[0072] The thickness of the flat object 30 can be determined automatically. For this purpose, a thickness determination process is started in which the slider 100 is raised to its maximum height so that it does not touch the flat object 30, and then slowly lowers. The slider 100 is moved using position control. This means that when the slider 100 or the tool 120 begins to touch the flat object 30, mechanical resistance occurs, causing a larger positioning error and thus a larger force to be applied. This can then be evaluated to show that the tool 120 or slider 100 and the flat object 30 are now touching. If the force increases, it is assumed that contact has occurred. Since the position of the slider 100 at this time is also known via the magnetic field sensors 6, the thickness of the material of the flat object 30 can be determined.It can be provided that the runner 100 comprises a needle, wherein the mechanical contact between the flat object 30 and the runner 100 is established by means of the needle.

[0073] If the flat object 30 has different thicknesses at different points, i.e., has heights and depths, a single determination of the thickness is not necessarily useful. In this case, for example, the Figure 19 The runner 100 described above can be used with a sensor 153, whereby the sensor 153 can be configured as a distance sensor (capacitive, inductive). Alternatively, the sensor 153 can be configured for laser distance measurement. The sensor 153 can transmit data to the control unit 25. The data from the sensor 153 can then be used directly to specify the height of the runner 100.

[0074] Alternatively, the surface of the flat object 30 can also be measured in its entirety using a completely external system, e.g. a camera system that captures the entire material surface at once and can thus create a height profile.

[0075] In almost all machining processes, the tool 120 is mounted below the slider 100 or laterally on the slider 100. Information about the tool 120, and in particular how it is geometrically arranged on the slider 100 and its projection relative to the slider 100, can be taken into account by setting parameters when calculating the specified height.

[0076] Because the thickness of the flat object 30 and the projection of the tool 120 from the rotor are known, the specified height can be selected such that the flat object 30 is machined, but the stator module 2 is not touched by the tool 120. Additionally, a mechanical protective layer, e.g., a thin stainless steel sheet, can be arranged on the stator module 2. List of reference symbols

[0077] 1 Planar drive system 2 Stator module 3 Stator unit 4 Coil group 5 Stator surface 6 Magnetic field sensor 7 Housing 10 Control unit 11 Data line 21 First direction 22 Second direction 23 Third direction 25 Control unit 30 Flat object 100 Rotor 101 Further rotor 105 Magnetic unit 111 First side 112 Second side 115 Fixing rotor 116 Force increase rotor 117 Force transmission unit 120 Tool 121 Cutting tool 122 First cutting edge 123 Second cutting edge 128 Punching tool 131 Pin 133 Stamp bed 134 Stamp 136 Adhesive nozzle 137 Adhesive supply 138 Adhesive 141 Print head 142 Printing material supply 145 Driven tool 146 Power cable 147Suction 148Accumulator 150Camera 151Data and energy transmission 153Sensor

Claims

1. A method for processing a planar object (30) with the aid of a planar drive system (1), the planar drive system (1) comprising at least a stator assembly (3) comprising in each case a plurality of coil groups (4) for generating a stator magnetic field, a stator surface (5) above the stator assembly (3), and a rotor (100), the rotor (100) comprising a plurality of magnet units (105) for generating a rotor magnetic field, the rotor (100) being movable above the stator surface (5) with the aid of an interaction of the stator magnetic field with the rotor magnetic field in a first direction (21) and / or a second direction (22) and / or a third direction (23), wherein the first direction (21) and the second direction (22) are parallel to the stator surface (5), wherein the rotor (100) is movable in the third direction (23) perpendicular to the stator surface (5), wherein a tool (120) is arranged at the rotor (100), wherein the planar object (30) is arranged between the stator surface (5) and the rotor (100), the method comprising the following steps: - energizing the coil groups (4) in such a way that the rotor (100) comprises a predetermined height above the stator surface (5) in the third direction (23); - energizing the coil groups (4) in such a way that the rotor (100) moves along a predetermined trajectory, wherein the tool (120) and the planar object (30) are in mechanical contact, thereby processing the planar object (30).

2. The method according to claim 1, wherein when energizing the coil groups (4) in such a way that the rotor (100) has a predetermined height above the stator surface (5) in the third direction (23), a magnetic permeability of the planar object (30) is taken into account.

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

4. The method according to any one of claims 1 to 3, wherein at first the coil groups (4) are energized in such a way that the rotor (100) moves in the third direction (23) away from the stator surface (5), then the coil groups (4) are energized in such a way that the rotor (100) is located above the planar object (30), and then the coil groups (4) are energized in such a way that the rotor (100) moves in the third direction (23) towards the stator surface (5) until the tool (120) and the planar object (30) are in mechanical contact.

5. The method according to any one of claims 1 to 4, wherein energizing the coil groups (4) in such a way that the rotor (100) moves along a predetermined trajectory is carried out in such a way that for at least one point of the trajectory a predetermined force is compared to a determined force, and energizing the coil groups (4) is carried out in such a way that the determined force corresponds to the predetermined force.

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

7. The method according to claim 6, wherein the thickness of the planar object (30) in the third direction (23) is determined with the aid of a sensor (153) arranged at the rotor (100).

8. The method according to any one of claims 1 to 7, wherein a fixation rotor (115) is moved towards the stator surface (5) with the aid of the coil groups (4) in such a way that the planar object (30) at the stator surface (5) is restricted from moving in the first direction (21) and / or second direction (22) and / or third direction (23) with the aid of the fixation rotor (115).

9. The method according to any one of claims 1 to 8, wherein a force-increasing rotor (116) acts upon the rotor (100) with the aid of at least one force-transmitting unit (117) to increase a force of the tool (120) on the planar object (30) in the third direction (23).

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

11. The method according to claim 10, wherein the cutting tool (121) comprises a first cutting edge (122) and at least one second cutting edge (123), wherein the first cutting edge (122) is arranged on a first side (111) of the rotor (100) and the second cutting edge (123) is arranged on a second side (112) of the rotor (100), wherein the first side (111) and the second side (112) of the rotor (100) are opposite to each other, wherein the rotor (100) may be tilted for processing the planar object (30) in such a way that the first cutting edge (122) and / or the second cutting edge (123) are in mechanical contact with the planar object (30).

12. The method according to any one of claims 1 to 11, wherein the tool (120) comprises a punching tool (128) and the processing of the planar object (30) comprises punching, and / or wherein the tool (120) comprises a stamp (134), wherein a stamp bed (133) is arranged on the stator surface (5), and wherein processing the planar object (30) comprises stamping, and / or wherein the tool comprises a print head (141) and the processing of the planar object (30) comprises printing, and / or wherein the tool (120) comprises an adhesive-dispensing nozzle (136) and the processing of the planar object (30) comprises applying an adhesive (138), and / or wherein the tool comprises a roller and the processing of the planar object (30) comprises rolling, and / or wherein the tool comprises a press and the processing of the planar object (30) comprises pressing, and / or wherein the tool (120) comprises a pen (131) and the processing of the planar object (30) comprises writing or drawing, and / or wherein the tool comprises a driven tool (145) and the processing of the planar object (30) comprises drilling and / or milling and / or engraving and / or sawing and / or grinding and / or perforating.

13. A planar drive system (1) having at least a stator assembly (3) respectively comprising a plurality of coil groups (4) for generating a stator magnetic field, a stator surface (5) above the stator assembly (3), and a rotor (100), the rotor (100) comprising a plurality of magnet units (105) for generating a rotor magnetic field, the rotor (100) being movable above the stator surface (5) with the aid of an interaction of the stator magnetic field with the rotor magnetic field in a first direction (21) and / or a second direction (22) and / or a third direction (23), wherein the first direction (21) and the second direction (22) are parallel to the stator surface (5), wherein the rotor (100) is movable in the third direction (23) perpendicular to the stator surface (5), wherein a tool is arranged at the rotor, further comprising a controller which is set up to output a first signal, wherein on the basis of the first signal the coil groups (4) are energized in such a way that the rotor (100) has a predetermined height above the stator surface (5) in the third direction (23) and furthermore to output a second signal, wherein on the basis of the second signal the coil groups (4) are energized in such a way that the rotor (100) moves on a predetermined trajectory, wherein the tool and a planar object (30) are in mechanical contact in the process and the planar object (30) is processed as a result.