Device for manipulating an object, method for filling an object, and corresponding use

Abstract

The invention relates to a device (1) for manipulating an object (3), wherein the object (3) can be moved on a driving surface in a contactless manner by means of at least one mover (4) which is magnetically coupled to a stator assembly (5), and the driving surface (7) is designed as a tight border, in particular a delimiting wall (8) of a protected interior (9). The stator assembly (5) has an array (32) of permanent magnets (31) with variable positions. The use of such a flexible device (1) is preferably of interest to the food industry or the pharmaceutical industry but is not limited to these fields however.

Description

[0001] Device for manipulating an object, method for filling an object and corresponding use

[0002] The invention relates to a device for manipulating an object, wherein the object can be moved contactlessly on a drive surface by at least one mover which is magnetically coupled to a stator arrangement, according to the features of the preamble of claim 1. Such devices are known, for example, from EP 4 106 160 A1.

[0003] It is common practice to carry out special manufacturing processes that require a controlled and / or sterile environment in protected indoor spaces. Such protected indoor spaces include clean rooms, such as isolators, containments or radioactively contaminated rooms. Protected indoor spaces are used in a variety of ways, including in the production of semiconductors, in aerospace engineering and in the aseptic production or packaging of food, pharmaceutical or cosmetic products. Semi- or fully automated process steps are widely used to optimize special manufacturing processes. However, many process steps are often carried out by humans, which can lead to contamination of the products to be manufactured, even if the process is carried out within a protected indoor space.

[0004] Devices for manipulating objects in industry are well known. Manipulation can be considered, for example, any process that can take place in a device to process and / or finish a product. For example, in the pharmaceutical industry, injection vials are first conveyed via a conventional conveyor belt, a conveyor star, or a conveyor rake to a filling device, where they are filled, and then transported via the conveyor belt to further process stations. Such systems can be relatively inflexible, prone to failure, and maintenance-intensive.

[0005] Recently, there have been devices for manipulating objects in which a transport body, known as a mover, can be moved and / or rotated in an electromagnetic field, preferably without contact, in at least two degrees of freedom. The mover is magnetically coupled to a stator assembly (planar motor system) and levitates contactlessly a few millimeters above the stator assembly. The stator assembly consists of at least one tile and can be modularly positioned and modified to suit the given spatial conditions.

[0006] For example, the XPlanar system from Beckhof Automation GmbH & Co. KG, Hülshorstweg 20, 33415 Verl, is known. In this system, the stator arrangement is composed of tiles, each of which has a coil arrangement and a power supply circuit to generate a controlled magnetic field in which the at least one mover is levitated. By appropriately controlling the power supply circuit, the magnetic field can be changed in a controlled manner such that the at least one mover is not only levitated but also driven.

[0007] The invention further relates to a method for filling an object that is transported by a mover along a boundary wall of a protected interior space to a filling device and filled by the filling device. The invention further relates to the use of a boundary wall of a protected interior space as a drive surface.

[0008] The invention is based on the object of expanding the use of protected interior spaces and making them more flexible.

[0009] To achieve the stated object, the features of claim 1 are provided according to the invention. In particular, to achieve the stated object, in a device of the type described above, the stator arrangement comprises at least one movably controllable permanent magnet for generating a magnetic field that levitates and / or drives the at least one mover.

[0010] A tile, as defined in the generic term, can in particular be a smallest unit with which a levitating and / or driving magnetic field can be generated and / or a "mover" can be moved. The tile can also, for example, be movable and / or have movable elements.

[0011] The advantage here is that current supply to the stator arrangement for the controlled generation of a levitating magnetic field is dispensable. This reduces heat input, particularly due to ohmic heat in magnetic field coils and / or switching losses in a power supply circuit for controlling magnetic field coils. This expands the application possibilities of a levitating transport system.

[0012] According to the invention, the drive surface can include all or part of the boundary walls. Thus, the drive surface can also extend to other, possibly non-horizontal, surfaces within the protected interior, thereby achieving expanded functionality and / or working capacity as well as greater flexibility. Thus, the stator arrangement can be formed on the boundary wall of the protected interior, thereby simultaneously saving space and material.

[0013] The advantage is that transport in a protected interior is abrasion-free. This reduces the effort required for cleaning. This also ensures that no particles are released during production that could cause contamination, for example, during filling.

[0014] In one embodiment of the invention, the stator arrangement for generating the magnetic field can be provided with a two-dimensional field of movably controllable permanent magnets. This allows a finely controllable magnetic field to be generated, in particular to form a potential well of the magnetic field in which the mover is trapped and / or with which the mover is movable.

[0015] In one embodiment of the invention, the stator arrangement can have at least one permanent magnet that is rotatable about an axis transverse to its dipole. Thus, a mover can be driven along the drive surface, particularly while reducing or avoiding heat generation due to switching currents.

[0016] In one embodiment of the invention, it can be provided that the at least one permanent magnet is movable in a controlled manner transversely to the drive surface. Thus, a levitation distance of a mover from the drive surface can be controlled, in particular by a collective movement of the permanent magnets of a two-dimensional field. If the permanent magnets of a field are movable independently of one another and / or in a different manner, tilting of the mover about an axis oriented along the drive surface is also achievable.

[0017] In a further advantageous embodiment of the invention, it can be provided that the stator arrangement is arranged outside a protected interior space. The stator arrangement can thus be separated from the conditions in the interior space. For example, it can be provided that the stator arrangement is fastened to a boundary wall. This results in a particularly space-saving variant. In this case, it can be provided that the boundary wall is arranged vertically and / or horizontally and / or obliquely. Differently oriented boundary walls can thus be used.

[0018] In one embodiment of the invention, it can be provided that the at least one mover is arranged in the protected interior space. This is advantageous in that many processes, in particular conveying and / or transport processes, can be carried out in the protected interior space without manual intervention. A controlled exchange, for example of air between the interior space and the environment can thus be achieved. Such a controlled exchange is of great importance in aseptic applications with isolators or in toxic processes in containments. Furthermore, costly and time-consuming clean room tests in the form of, for example, microbiological contact plates can be reduced. The embodiment can, for example, make it possible to operate the at least one mover in an interior space into which no substances can enter from the outside in an uncontrolled manner and / or from which no substances can escape to the outside in an uncontrolled manner.It can further be provided that the at least one mover is arranged outside a protected interior space. Consequently, for a functional arrangement, a corresponding stator arrangement can be enclosed within the protected interior space. Thus, advantageous processes can be carried out outside the protected interior space. This can prevent particles and / or contaminants generated and / or released by or on the stator arrangement from escaping from the interior space in an uncontrolled manner.

[0019] In a further advantageous embodiment of the invention, it can be provided that the boundary wall of the protected interior space contains a coupling region comprising the stator arrangement and the at least one mover, in particular wherein the area within the coupling region can be smaller than the area of ​​the boundary wall. It is advantageous that further devices can be mounted outside the coupling region and / or in the protected interior space, for example, magnetically non-neutral devices and / or structures which can influence and disrupt the magnetic field or the range of motion of the movers.

[0020] For example, gripping devices, scales, closure systems, filling devices or conventional transport systems for manipulating containers can be installed outside the coupling area.

[0021] In a further advantageous embodiment of the invention, the boundary wall can be made of a magnetically neutral separating layer. Magnetically neutral in the sense of the invention means that the materials used can reduce or prevent any disruption or impairment of the magnetic coupling between the mover and the stator arrangement.

[0022] For example, the separating layer can be made of or comprise a layer of stainless steel and / or glass. Alternatively or additionally, the separating layer can also be made of gas-tight plastic or composite material. This makes it particularly suitable for protected interior spaces.

[0023] Preferably, the separation layer is less than 2 mm thick. This allows the mover to be positioned very close to the stator assembly for strong magnetic coupling.

[0024] In one embodiment of the invention, it can be provided that the boundary wall and / or a coupling region, for example the one already mentioned, is stabilized by support components. The use of support components is advantageous for the statics of the device.

[0025] It is advantageous if the carrier components are made of magnetically neutral materials. This reduces or even prevents coupling disruption and / or deformation of the magnetic fields. This is particularly advantageous in conjunction with a magnetically neutral separating layer.

[0026] In a further advantageous embodiment of the invention, the stator arrangement can be installed in at least one rack. It is advantageous that the stator arrangement can be stabilized in the at least one rack.

[0027] In this case, it is advantageous if at least one rack is mounted directly against the boundary wall and / or a coupling area, for example, the one already mentioned. This allows the stator arrangement to be positioned very close to the mover for magnetic coupling.

[0028] Alternatively, the rack can be positioned freely on the boundary wall and / or the coupling area to allow more flexible movement of the racks.

[0029] Preferably, the at least one rack is movable to and from the site of use and / or is adjustable at the site of use between a working position close to the boundary wall and a position remote from the boundary wall. Since stator assemblies must be accessible, for example, for maintenance and / or repair work, a design of the stator assembly in movable racks is advantageous. Furthermore, the rack can advantageously move to a position remote from the boundary wall, whereby stator assemblies can be removed without sustaining damage to themselves or causing damage to the boundary wall.

[0030] In a further advantageous embodiment of the invention, the boundary wall and / or the separating layer can be removed from the device. This is advantageous because the boundary wall and / or the separating layer can be removed from the interior, thereby making stator arrangements accessible for cost-effective maintenance.

[0031] In a further advantageous embodiment of the invention, it can be provided that the protected interior has at least two chambers, in particular wherein the at least two chambers are separated by an intermediate wall which preferably has at least one small access opening. This has the advantage that different process steps of a method can be separated from one another in order to eliminate further sources of contamination and / or particles. According to the invention, the at least one small access opening allows the transport of, for example, open vessels from one chamber to another chamber in order to be filled and / or closed there.

[0032] Preferably, the intermediate wall is designed as a boundary wall on which further processes can be carried out separately from one another.

[0033] Alternatively or additionally, overpressure can be created in one of the chambers so that no contamination or particles from the other chamber can enter this chamber through at least one small access opening.

[0034] In a further advantageous embodiment of the invention, at least one processing station can be permanently mounted or located on a mover in the protected interior. Thus, objects can be processed flexibly in the protected interior throughout the entire manipulation process.

[0035] For example, a filling device can be permanently mounted or positioned on a mover. A filling device enables the regulation of the fill level of an object.

[0036] Preferably, the at least one process station is located on the boundary wall and / or in a coupling area, for example, the one already mentioned. This allows a multi-stage manufacturing process to be implemented in a modular and dynamic manner, since the movers can move essentially freely on the drive surface and travel paths can be easily modified, particularly in a closed interior and / or without moving parts. Due to the modularity and dynamics according to the invention, a method and / or process can be quickly adapted and modified without endangering the protected clean room.

[0037] It is also possible for the process station to be located in one chamber and secured in a second chamber. This is advantageous because the process station can be securely positioned in one chamber, protected from contamination, and then moved into a second chamber for processing. For example, a process station can be moved from one chamber into a second chamber through an opening, such as a lock.

[0038] In a next advantageous embodiment of the invention, it can be provided that the stator arrangement is fastened to the boundary walls and / or to one, in particular the already mentioned, coupling regions, and / or two adjacent walls of the protected interior space, in such a way that the at least one mover can transport the at least one object within the at least two chambers and / or through the at least one small access opening in the intermediate wall between the at least two chambers. The advantage here is that work steps in which particles or contaminants can be released can be separated from subsequent work steps. In this way, the spread of contamination can be reduced or even prevented.

[0039] In a further advantageous embodiment of the invention, it can be provided that the stator arrangement is preferably arranged vertically within the at least one partition wall between the at least two chambers. It is advantageous in this case that the at least one partition wall provides a drive surface for movers for lifting movements. Alternatively or additionally, the at least one partition wall can be designed as a coupling area, which can have at least one magnetically neutral area for attaching gripping devices, carriages, closure systems, filling devices, or other process stations for manipulating containers.

[0040] In a further advantageous embodiment of the invention, it can be provided that a stator assembly is installed within the at least one partition wall in at least one rack. This allows the stator assembly to be very easily removed from the partition wall for maintenance and / or repair work.

[0041] In an alternative or additional embodiment of the invention, it can be provided that the or a boundary wall and / or the or a separating layer of one partition wall are removable. This allows the or a stator arrangement to be accessible from the interior for maintenance work, which is advantageous, in particular, if the or a stator arrangement is fixed in the partition wall in a stationary manner, for example, in stationary racks.

[0042] In a further advantageous embodiment of the invention, the protected interior space can be provided with at least one flow-through zone. In a flow-through zone, the particle concentration in the air can be advantageously reduced, which is beneficial for the purity of the products to be processed, in particular the products to be filled.

[0043] In particular, the drive surface can be aligned such that the at least one mover can be moved into the zone and / or within the zone. Consequently, a flow-through zone can be realized which is smaller in area than the base area of ​​the protected interior and can be reached and driven through by movers. The advantage of such a flow-through zone is that less energy is required for the air flow, which can save costs. Alternatively or additionally, it is advantageous that a further means is provided with which the penetration of contaminants into a work area can be prevented.

[0044] In a further advantageous embodiment of the invention, the stator arrangement can be enclosed by a sealed tunnel, with the drive surface being formed by a casing of the tunnel. Thus, the drive surface can advantageously be formed on a tunnel within the protected interior, with the drive surface and the mover being able to be incorporated into the device in a space-saving manner.

[0045] Alternatively, the drive surface within the protected interior can be configured independently of the enclosure. This allows, in particular, the movement of the mover(s) separately from the enclosure or tunnel, so that the mover(s) can be moved and deployed flexibly within the protected interior.

[0046] In a further advantageous embodiment of the invention, it can be provided that the tunnel is accessible from one side or both sides from outside the protected interior. This can be made possible, for example, by the accesses described herein. The stators of the stator arrangement can therefore advantageously be accessed from outside the protected interior, in particular for maintenance and / or repairs. Alternatively or additionally, it can be provided that the tunnel is surrounded by the protected interior along a full circumference running around its longitudinal extent. The tunnel can thus be fully integrated into the protected interior, as a result of which the integrity of the protected interior can be particularly high. Furthermore, space can advantageously be saved outside the protected interior.

[0047] In a further advantageous embodiment of the invention, it can be provided that the protected interior has a profile body, wherein the profile body has the stator arrangement and the separating layer. In this way, a drive surface for movers can be designed with a level difference with respect to a floor of the protected interior, which can reduce contamination originating from the floor. The profile body can be inserted or set up in the protected interior, wherein the profile body in particular has at least one foot which forms a connection to the outside of the protected interior, so that electrical equipment, for example, can advantageously be supplied to the profile body, in particular to the stator arrangement. The at least one foot can also advantageously serve to dissipate waste heat from the stator arrangement, so that overheating of the device can be avoided.

[0048] In particular, it can be provided that the separating layer is replaceably attached to the profile body. This allows the profile body to be sealed, preventing any material exchange between the stator assembly and the protected interior. The separating layer is replaceable, which advantageously allows for the easy replacement of defective and / or serviceable stator assemblies.

[0049] In particular, it can be provided that the separating layer is adhesively attached to the profile body. This makes it particularly easy to close the profile body. The profile body can even have adhesive surfaces for the separating layer, so that the separating layer is not glued to the stator arrangement. In this embodiment in particular, the separating layer rests on the stator arrangement, so that no air gap is created between the separating layer and the stator arrangement. This allows the magnetic coupling of the mover and the stator arrangement to be particularly efficient and trouble-free.

[0050] The separating layer is preferably film-like. A separating layer in the form of a film is particularly easy to handle, especially if it is glued to the profile body, as described above.

[0051] In a preferred and advantageous embodiment, the separating layer formed as a film can be a glass fiber composite. Other magnetically neutral materials can be used alternatively and at the user's request to form the separating layer.

[0052] In a further advantageous embodiment of the invention, it can be provided that the tunnel and / or the profile body forms / forms access points outside the protected interior. In this case, the access points are advantageously formed by the front ends of the tunnel and / or profile body. In particular, this embodiment can simplify removal of the stator arrangement, for example during maintenance, without having to enter the protected interior or contaminating it through tampering. Thus, starting or resuming operation in the device can be carried out particularly quickly.

[0053] Alternatively or additionally, to solve the above-mentioned

[0054] Task the features of the independent claim directed to a method are provided according to the invention. In particular, in a method of the type described at the outset, it is proposed according to the invention that the at least one object is moved by a mover on a drive surface of the protected interior to a process station, for example a filling device, and is filled by the filling device, wherein the filling device is positioned in the protected interior, in particular on the drive surface, or is fastened to a further mover. It is preferably provided that the mover with the at least one object carries out a lifting movement to the filling device, which is located above the horizontal floor plane of the device. The vertically arranged filling device therefore does not influence the transport path of the device, as a result of which further movers can be guided to further process stations in a flexible manner.

[0055] Alternatively, a movement of the filling device towards the mover with the at least one object is also conceivable.

[0056] Alternatively or additionally, the features of the independent claim directed to a use are provided according to the invention to achieve the stated object. In particular, when used as described at the outset, it is proposed according to the invention that a boundary wall of a protected interior space is used as the drive surface of at least one mover which is coupled to a stator arrangement. The use according to the invention further provides that the stator arrangement generates a magnetic field that levitates and / or drives the at least one mover by a controlled movement of at least one permanent magnet. Controlled energization of a magnetic field coil is therefore unnecessary. This can advantageously be used to reduce heat input into the protected interior space during operation.For example, it can be provided that the at least one mover, the stator arrangement and the drive surface are part of a device according to the invention, in particular as described above and / or claimed below.

[0057] Preferably, the stator assembly is positioned outside the protected interior space. This enables spatial separation of the mover and stator assembly, which are typically not separated within a single space. This is advantageous in that maintenance and / or retrofitting of the stator assembly in a protected interior space, for example, an insulator or containment, can be implemented flexibly.

[0058] The invention will now be described in more detail with reference to exemplary embodiments, but is not limited to the exemplary embodiments shown. Further exemplary embodiments result from combining the features of one or more claims with one another and / or with one or more features of the exemplary embodiments.

[0059] It shows, partly cut:

[0060] Fig. 1 is a side view of a device with differently oriented stator arrangements and movers,

[0061] Fig. 2 is a side view of a device with a coupling area,

[0062] Fig. 3 is a side view of a device with racks,

[0063] Fig. 4 is a side view of a device with vertically arranged process stations, Fig. 5 is a side view of a device with two chambers,

[0064] Fig. 6 is a side view of a device with two chambers and a stator arrangement in an intermediate wall,

[0065] Fig. 7 is a side view of a device with two chambers and a process station mounted in one chamber and extending into a second chamber,

[0066] Fig. 8 is a front view of a device with a mover-stator arrangement located in the protected interior,

[0067] Fig. 9 is a side view of a device with a stator arrangement enclosed in a tunnel,

[0068] Fig. 10 is a front view of a device with a stator arrangement enclosed in a tunnel,

[0069] Fig. 11 is a front view of a device with a stator arrangement enclosed in a profile body,

[0070] Fig. 12 is a side view of the device from Fig. 11 with a stator arrangement enclosed in the profile body,

[0071] Fig. 13 is a detailed side view of a variant of Fig. 11,

[0072] Fig. 14 is a detailed side view of a further variant of Fig. 11 and Fig. 15 is a further device according to the invention with movable permanent magnets in the stator arrangement and

[0073] Fig. 16 two advantageous uses of movable permanent magnets for lowering and / or tilting a mover.

[0074] Figure 1 shows a device 1 according to the invention, designated as a whole by 1. The device 1 has a housing 2 having a protected interior space 9. For the input and output of at least one object 3 from the protected interior space 9, the device 1 according to the invention has locks and / or decontamination areas conventional for isolators or containments.

[0075] Alternatively or additionally, the device 1 and / or the housing 2 can be movable.

[0076] In the protected interior space 9, at least one object 3 is located on the floor, on the ceiling, on a vertical wall, and on an inclined wall. The at least one object 3 is positioned on a holder 6 of a mover 4. The at least one mover 4 is magnetically coupled to a stator arrangement 5. The stator arrangement 5 has at least one tile 37.

[0077] Figure 1 shows that four stator assemblies 5, each composed of one or more stators, are positioned outside the protected interior space 9 on a vertical, horizontal or inclined wall. A stator assembly 5 can alternatively also be positioned in the housing 2 and / or in a boundary wall 8 and / or between the housing 2 and the boundary wall 8. The at least one mover 4 can be operated passively, for example by integrated permanent magnets (not shown), or actively, for example by an integrated coil pack (not shown), on the drive surface 7. The active operation of the at least one mover 4 can be realized by a preferably contactless movement, in particular a movement along the drive surface or with a component transverse to this, a rotation and / or a tilting, relative to the drive surface 7.In the embodiment shown here, the drive surface 7 forms the boundary wall 8 of the device 1. The device 1 according to the invention can additionally comprise conventional transport devices such as conveyor belts, star wheels and / or rake systems for moving the at least one object 3.

[0078] In an embodiment according to Figure 2, a device 1 has a coupling region 10 which is incorporated into a vertical boundary wall 8 of a housing 2. The area of ​​the coupling region 10 is smaller than the area of ​​the vertical boundary wall 8. The vertical boundary wall 8 can have various process stations 15 positioned inside or outside the coupling region 10 and on the side of the protected interior space 9 (not shown). These process stations 15 can be approached by at least one mover 4 for manipulating at least one object 3. In Figure 2, the drive surface 7 is implemented as a magnetically neutral separating layer 11, for example a separating layer 11 made of glass, stainless steel, gas-tight plastic or composite material.Furthermore, the coupling region 10 is positioned and stabilized on the housing 2 and / or the boundary wall 8 by magnetically neutral support components 12, for example bars and / or angles and / or profile rails and / or ribs and / or other stiffeners. It can thus further be stated that the coupling region 10 of the stator arrangement 5 is made of a magnetically neutral separating layer 11. It can also be seen that the separating layer 11 extends over more than one tile 37 of the stator arrangement 5.

[0079] Alternatively or additionally, the stator arrangement 5 can also be connected to the housing 2 and / or the separating layer 11 by support components 12.

[0080] In an embodiment according to Figure 3, a stator assembly 5 is mounted in a rack 13 outside the protected interior space 9. For example, for repair and / or maintenance work, the stator assembly 5 can be moved away from a contact position near the boundary wall 8 by the rack 13, so that the stator assembly 5 is accessible.

[0081] In addition, the rack 13 may have a drive (not shown) to move individual tiles of the stator arrangement 5 and / or the stator arrangement 5 within one or between several drive surfaces 7.

[0082] 4, a stator arrangement 5 is arranged on a vertical wall. In the protected interior space 9 of the device 1 there is a mover 4 which holds at least one object 3 on a holder 6. A filling device 14 is fixedly mounted above the mover 4 on the vertical wall, and a further process station 15 is fixedly mounted below the mover 4. The mover 4 can travel to the filling device 14 to fill the at least one object 3. Once filled, the mover 4 can travel with the at least one object 3 to the process station 15, which can preferably be a scale to measure the fill level of the at least one object 3. Alternatively, the filling device 14 and / or the process station 15 can be positioned on a mover 4 (not shown). This allows the mover 4 to be moved relative to the filling device 14 and / or the process station 15.

[0083] In a further embodiment, the process station 15 and / or the filling device 14 could be arranged on a conventional movement system, in particular as already mentioned.

[0084] With a device 1 according to the invention, a method for filling an object, preferably a vial, a syringe, a carpoule and / or an ampoule or an injection bottle, can thus be carried out, which method could proceed as follows.

[0085] A mover 4 moves at least one unfilled or partially filled object 3 to a scale in order to determine the empty weight of the at least one unfilled or partially filled object 3. The mover 4 then moves the at least one unfilled or partially filled object 3 along a vertical drive surface 7 towards a filling device 14, by means of which the at least one unfilled or partially filled object 3 is filled. After filling, the mover 4 can be moved with the at least one filled object 3 to a further process station 15 for further method steps, for example back to the further scale.

[0086] Figure 5 shows a device 1 with two chambers 16, 23. The two chambers 16, 23 are formed by an intermediate wall 17 and connected to one another via at least one small access opening 18. The stator arrangement 5 shown here is formed at the bottom of the device 1. At least one mover 4 can be moved by a horizontal movement through the at least one small access opening 18 between the two chambers 16, 23.

[0087] Alternatively or additionally, a stator arrangement 5 can also be arranged on a vertical and / or inclined wall in order to move the at least one mover 4 between the at least two chambers 16, 23.

[0088] In the embodiment according to Figure 6, at least one rack 13 with at least one stator arrangement 5 is positioned on a partition wall 17 between two chambers 16, 23. The at least one mover 4 can be moved vertically and / or horizontally on the partition wall 17. By means of further stator arrangements 5 (not shown), the at least one mover 4 can be moved in or between the at least two chambers 16, 23.

[0089] Figure 7 shows a device 1 with two chambers 16, 23, in which a process station 15 is positioned on a vertical wall of a first chamber 16. The process station 15 shown here projects through an access opening 18 into the second chamber 23, but in alternative embodiments can also project into several chambers 16, 23. The stator arrangement 5 is enclosed in an intermediate wall 17. A mover 4 located in the second chamber 23 can move towards the process station 15 via the magnetic coupling with the stator arrangement 5, where processing of an object 3 can be carried out.

[0090] Alternatively or additionally, the process station 15 or a part of it can be moved, for example movable within a chamber 16, 23 or between at least two chambers 16, 23. In an embodiment according to Figure 8, a mover 4 with a corresponding stator arrangement 5 is located within the protected space 9 of the device 1, the stator arrangement 5 being enclosed on all sides by a tight and magnetically neutral casing 19. The casing 19, together with the stator arrangement 5, is robustly positioned in the protected interior space 9 by two anchors 20. The number of supporting anchors 20 can be alternatively designed, which is why a casing 19 can be positioned in the protected interior space 9 without, with one or with more than two anchors 20.

[0091] Alternatively or additionally, the casing 19, together with the mover 4 and stator arrangement 5, can be suspended and / or clamped into the protected interior 9.

[0092] Figure 9 shows a side view of a device 1 in which an object 3 is located on a mover 4 within a flow-through zone 21. As is known for clean rooms, filtered air is admitted from the ceiling into the protected interior 9 in order to displace the air present therein. Figure 9 also shows that the mover 4 is magnetically coupled to a stator arrangement 5 which is tightly enclosed by a tunnel 22. The casing 19 forming the tunnel 22 is made from magnetically neutral materials to ensure trouble-free use of the mover-stator application. Not shown in this figure are racks 13 or other transport vehicles which enable the stator arrangement 5 to be extended out of the tunnel 22.

[0093] Figure 10 shows a tunnel 22, as shown in particular in Figure 9, in a front view. The drive surface 2, 7, 8 is formed by the casing 19 of the tunnel 22. In an embodiment not shown, the drive surface 2, 7, 9 can also be formed separately or independently of the tunnel 22 or its casing 19 within the protected interior space 9, so that the device 1 can be designed flexibly.

[0094] The tunnel 22 in Figs. 11 and 12 is accessible from both sides from the outside of the protected interior space 9. Thus, for example, in the event of maintenance, the stators of the stator arrangement 5 can be brought into the exterior space A via the access points 25, in particular as already described with reference to Fig. 9. Thus, the stators of the stator arrangement 5 can be serviced without having to enter the protected interior space 9 or contaminating it through tampering.

[0095] Such accesses 25 can also be formed in a profile body 24 as described below.

[0096] The tunnel 22 is surrounded by the protected interior 9 along a full circumference running around its longitudinal extent.

[0097] Furthermore, it can be seen in Figure 10 that the stator arrangement 5 is provided with an adjusting device 26 (cf. Figures 13 and 14) in order to be able to be aligned if necessary.

[0098] Figures 11 (front view) and 12 (side view) show a device 1 with a profile body 24 located in the protected interior 9, wherein the profile body 24 has the stator arrangement 5 and the separating layer 11, in particular wherein the film-like separating layer 11 is exchangeably attached to the profile body 24. The film-like separating layer 11 is adhesively bonded to adhesive surfaces of the

[0099] Profile body 24 is attached and closes it. Figs. 13 and 14 show two variants of the structure from Figs. 11 and 12 in more detail.

[0100] In a first variant according to Fig. 13, the separating layer 11, which can be film-like for this purpose, is placed on an outer profile 29, for example made of sheet metal, of the profile body 24 and glued to it. The inner profile, for example made of aluminum or plastic (e.g., glass-fiber-reinforced plastic), is arranged in the space 31 thus formed, which is connected to the outer space A via the base 24. This inner profile 28 accommodates the stator assembly 5 and is placed on adjustment devices 26 in order to align a top side of the stator assembly 5 with an end of the outer profile 29.

[0101] In the arrangement according to Fig. 15, the separating layer 11—also film-like, for example—is delimited by an inner profile 28 of the profile body 24, preferably made of aluminum or plastic such as fiberglass or another magnetically neutral material. An outer profile 29 of the profile body 24, preferably made of sheet metal, surrounds the inner profile 28 and is sealed to the inner profile 28 by a sealing element 30, for example, a sealing compound such as silicone or in the form of a sealing lip or a sealing profile, so that contamination cannot enter the protected interior space 9.

[0102] The separating layer 11 lies on the stator arrangement 5 so that no air gap is created between the separating layer 11 and the stator arrangement 5. The magnetic coupling of the mover 4 and the stator arrangement 5 is thus particularly efficient and trouble-free. The profile body 24 according to Figures 11 and 12 is inserted or set up in the protected interior space 9 and has two feet 27 (see Figure 11) which form a connection to the exterior space A of the protected interior space 9 so that, for example, electrical equipment can advantageously be supplied to or removed from the profile body 24, in particular from the stator arrangement 5. The two feet 27 advantageously serve to dissipate waste heat produced by the stator arrangement 5. This prevents overheating of the device 1. For example, connecting lines of the stator arrangement 5 can be led into the exterior space A via the foot 24.

[0103] In a further embodiment, the profile body 24 is supported by only one foot 27 or by more than two feet 27.

[0104] Fig. 15 shows a further device 1 according to the invention. Components and functional units that are functionally and / or structurally similar or identical to the preceding embodiments are designated by the same reference numerals and are not described separately again.

[0105] In the device 1 according to Fig. 15, the stator arrangement 5 has permanent magnets 31 (cf. Fig. 16) which form a two-dimensional field 32 (the second dimension is in the image plane).

[0106] These permanent magnets 31 are rotatable about an axis 33 that is vertical or perpendicular to the drive surface 7. Each permanent magnet 31, which may be composed of one or more elementary linear dipoles or may have any shape with a preferred magnetization, is assigned an actuator 35, for example, a stepper motor. This actuator 35 allows the position or orientation of the associated permanent magnet 31 to be precisely specified.

[0107] A two-dimensional field of permanent magnets 34 is arranged on the underside of the mover 4 or on a side facing the drive surface 7 during operation. The alignment of these permanent magnets 34 relative to one another is selected such that, at least for a specific alignment of the stator-side permanent magnets 31, the mover 4 remains in a stable or at most indifferent floating state. The mover 4 can be set in motion by appropriately adjusting the permanent magnets 31.

[0108] Each permanent magnet 31 of the stator arrangement 5 also has a lifting device 36, with which the distance of the permanent magnet 31 from the drive surface 7 can be changed. If this is done in the same way for all permanent magnets 31, the mover 4 is raised or lowered, or moved away from or closer to the drive surface 7. If the permanent magnets 31 are raised or adjusted in different ways, as shown by way of example in Fig. 16, the mover 4 can be tilted.

[0109] Depending on the alignment of the permanent magnets 31, 34 to one another and to one another, the arrangement according to Figures 15 and 16 can also be used for wall operation, in which the drive surface 7 encloses a vertical axis or intersects it at an acute angle, or in an overhead operation.

[0110] The arrangement according to Fig. 15 and 16 can also be used in the other embodiments.

[0111] The invention thus generally proposes a device 1 for

[0112] Manipulation of an object 3, wherein the object 3 can be moved contactlessly on a drive surface 7 by at least one mover 4, which is magnetically coupled to a stator arrangement 5, wherein the drive surface 7 is designed as a boundary wall 8 of a protected interior space 9. In this case, the stator arrangement 5 has a field 32 of position-variable permanent magnets 31. The use of such a flexible device 1 is preferably of interest in the food industry or pharmaceutical industry, but is not limited to these areas.

[0113] List of reference symbols

[0114] 1 device

[0115] 2 housings

[0116] 3 Object

[0117] 4 movers

[0118] 5 Stator arrangement

[0119] 6 Recording

[0120] 7 Drive surface

[0121] 8 Boundary wall

[0122] 9 protected interior

[0123] 10 Coupling area

[0124] 11 Separating layer

[0125] 12 carrier components

[0126] 13 racks

[0127] 14 Filling device

[0128] 15 Process station

[0129] 16 (first) chamber

[0130] 17 Partition wall

[0131] 18 Access opening

[0132] 19 Wrapping

[0133] 20 Anchoring

[0134] 21 Zone

[0135] 22 tunnels

[0136] 23 (second) chamber

[0137] 24 profile bodies

[0138] 25 Access

[0139] 26 Adjustment device

[0140] 27 feet of 24

[0141] 28 inner profile

[0142] 29 Exterior profile

[0143] 30 sealing element

[0144] 31 permanent magnet

[0145] 32 field

[0146] 33 Axis 34 Permanent magnet

[0147] 35 Actuator

[0148] 36 Lifting device

[0149] 37 tiles

[0150] A outdoor space

Claims

Claims 1. Device (1) for manipulating an object (3), wherein the object (3) can be moved contactlessly on a drive surface (7) by at least one mover (4) which is magnetically coupled to a stator arrangement (5), wherein the drive surface (7) is designed as a tight boundary, in particular as a boundary wall (8), of a protected interior space (9), wherein the stator arrangement (5) has at least one tile (37), wherein a coupling region (10) of the stator arrangement (5) is made of a magnetically neutral separating layer (11), wherein the separating layer (11) extends over more than one tile (37) of the stator arrangement (5), characterized in that the stator arrangement (5) has at least one movably controllable permanent magnet (31) for generating a magnetic field which levitates and / or drives the at least one mover (4).

2. Device (1) according to claim 1, characterized in that the stator arrangement (5) for generating the magnetic field has a two-dimensional field (32) of movably controllable permanent magnets (31).

3. Device (1) according to one of the preceding claims, characterized in that the stator arrangement (5) has at least one permanent magnet (31) which is rotatable about an axis (33) which is transverse to its dipole and / or its preferential magnetization.

4. Device (1) according to one of the preceding claims, characterized in that the at least one permanent magnet (31), in particular the two-dimensional field (32) of permanent magnets (31), is movable in a controlled manner transversely to the drive surface (7).

5. Device (1) according to one of the preceding claims, characterized in that the stator arrangement (5) is arranged outside a protected interior space (9), in particular on a preferably vertical and / or horizontal and / or oblique boundary wall (8), and / or that the at least one mover (4) is arranged in the protected interior space (9) or outside the protected interior space (9).

6. Device (1) according to one of the preceding claims, characterized in that the boundary wall (8) of the protected interior (9) has a coupling region (10) consisting of the stator arrangement (5) and the at least one mover (4), in particular wherein the area within the coupling region (10) can be smaller than the area of ​​the boundary wall (8).

7. Device (1) according to one of the preceding claims, characterized in that the boundary wall (8) is made of the magnetically neutral separating layer (11), in particular of a stainless steel and / or glass layer and / or of gas-tight plastic and / or of composite material, which is preferably less than 2 mm thick, and / or that the boundary wall (8) and / or the or a coupling region (10) is stabilized by carrier components (12), preferably consisting of magnetically neutral materials.

8. Device (1) according to one of the preceding claims, characterized in that the stator arrangement (5) is constructed in at least one rack (13), wherein the at least one rack (13) is mounted directly on the boundary wall (8) and / or the or a coupling area (10), and / or is movable from and to the place of use and / or is adjustable at the place of use between a working position close to the boundary wall (8) and a position remote from the boundary wall (8), and / or that the or a boundary wall (8) and / or the or a separating layer (11) are removable from the device (1).

9. Device (1) according to one of the preceding claims, characterized in that the protected interior space (9) has at least two chambers (16, 23), in particular wherein the at least two chambers (16, 23) are formed by an intermediate wall (17) which preferably has at least one small access opening (18) and / or preferably forms the boundary wall (8), and / or that at least one process station (15), for example a filling device (14), is fixedly or detachably positioned or is arranged on a mover (4) in the protected interior space (9) on the boundary wall (8) and / or in the or a coupling region (10) and / or in a chamber (16) and is fastened in a second chamber (23).

10. Device (1) according to one of the preceding claims, characterized in that the stator arrangement (5) is arranged on at least one boundary wall (8) and / or at least one coupling region (10) and / or two adjacent walls of the protected interior space (9) such that the at least one mover (4) can transport the at least one object (3) within the at least two chambers (16, 23) and / or through the at least one small access opening (18) of the intermediate wall (17) between the at least two chambers (16, 23), and / or that the stator arrangement (5) is preferably arranged vertically within the at least one intermediate wall (17) between the at least two chambers (16, 23).

11. Device (1) according to claims 7 to 10, characterized in that the stator arrangement (5) in the at least one intermediate wall (17) in at least one rack (13) and / or that the protected interior space (9) has at least one flow-through zone (21), in particular wherein the drive surface (7) is aligned such that the at least one mover (4) can be moved into the zone (21) and / or in the zone (21).

12. Device (1) according to one of the preceding claims, characterized in that the stator arrangement (5) is enclosed by a tunnel (22) which is sealed off from the interior (9), wherein the drive surface (7) is formed by an enclosure (19) of the tunnel (22) or wherein the drive surface (7) is formed within the protected interior (9) independently of the enclosure (19), and / or that the tunnel (22) is accessible on one side or two sides from outside the protected interior (9) and / or that the tunnel (22) is surrounded by the protected interior (9) along a full circumference running around its longitudinal extent.

13. Device (1) according to one of the preceding claims, characterized in that the protected interior (9) has a profile body (24), wherein the profile body (24) has the stator arrangement (5) and the separating layer (11), in particular wherein the preferably film-like separating layer (11) is preferably replaceably attached to the profile body (24), and / or that the tunnel (22) and / or the profile body (24) forms / forms accesses (25) outside the protected interior (9).

14. Method for filling at least one object (3) with a device according to one of the preceding claims, characterized in that the at least one object (3) is moved by a mover (4) on a drive surface (7) of the protected interior (9) to a process station (15), for example a filling device (14), and is filled by the filling device (14), wherein the Filling device (14) is positioned in the protected interior, in particular on the drive surface (7) or on a further mover (4).

15. Use of a boundary wall (8) of a protected interior space (9) as a drive surface (7) of at least one Movers (4) which are coupled to a stator arrangement (5), wherein the stator arrangement (5) generates a magnetic field which levitates and / or drives the at least one mover by a controlled movement of at least one permanent magnet, in particular wherein the at least one mover (4), the stator arrangement (5) and the drive surface (7) are part of a device (1) according to one of claims 1 to 13.

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