Automated system of planar motor form

Abstract

To provide an automated system of a planar motor form for a vertical and / or overhead operation.SOLUTION: An automated system comprises a stator (2) provided with at least one stator segment, and at least one shuttle (51, 52). At least the one shuttle comprising a magnet unit (6) is set up so as to support an article or a loading cargo (7). The stator or at least the one stator segment comprises a plurality of magnetic elements (3), and the plurality of magnetic elements are electromagnetically interacted with the magnet unit of at least the one shuttle in such a manner that at least the one shuttle is raised up to an operation height (h) from a stator surface (4), and is two-dimensionally movable in at least two-moving directions in a movement plane formed by the stator or at least the one stator segment.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The invention relates to an automation system in the form of a planar motor for vertical and / or overhead movements, comprising a stator with at least one stator segment and at least one shuttle with a magnet unit, the at least one shuttle being set up to support an object, the stator or the at least one stator segment comprising a plurality of magnetic elements forming a movement plane for the at least one shuttle, the plurality of magnetic elements electromagnetically interacting with the magnet unit of the at least one shuttle such that the at least one shuttle is raised from the stator surface to a working height and is two-dimensionally movable in at least two movement directions within the movement plane formed by the stator or the at least one stator segment. [Background technology]

[0002] Planar motors are well known in the prior art: US 9,202,719 B2, for example, discloses the basic structure and mode of operation of a planar motor.

[0003] Planar motors have a stator that essentially forms a moving plane. One or more stator segments usually build the stator of a planar motor, and the stator segments can be connected in virtually any pattern, from a square, to a rectangle, to complex paths that traverse around other equipment or link different work stations of a production process. One or more movable devices, so-called shuttles, can move mainly in two dimensions in the moving plane formed by the stator. For this purpose, magnetic elements are usually arranged on the stator, in particular on the stator segments of a planar motor. The magnetic elements can be drive coils. The drive coils are controlled by a control unit to generate a time-variable moving magnetic field in the desired direction of movement by energizing the respective drive coils of the stator. Alternatively, the magnetic elements can be permanent magnets, which are movable to generate a time-variable moving magnetic field. Furthermore, it is also conceivable that only fixed permanent magnets are installed on the stator, since the magnetic elements and the moving magnetic field are generated on the shuttle. In the context of the present disclosure, the stationary unit of a planar motor is generally called the stator, which comprises at least one stator segment and devices, which, regardless of the operating mode, are movable within a plane of movement defined by the stator, called the shuttle.

[0004] The shuttle comprises a magnet unit including a drive magnet (permanent magnet or electromagnet). The drive magnets are arranged distributed in two dimensions. The shuttle magnet unit, or rather the drive magnet of the magnet unit, can electromagnetically interact with the moving magnetic field of the stator to apply a drive force and a levitation force to the shuttle. The drive force can be used to move the shuttle in the desired direction of movement. The levitation force can be used to lift the shuttle to an operating height (e.g., a few millimeters to a few centimeters) above the stator surface and to maintain the shuttle at a constant operating height during operation (e.g., as long as the drive coil is energized or the permanent magnet of the stator is moving). From this, for example, an air gap is created and / or configured by the levitation force. The air gap between the shuttle and the stator surface can be maintained and the shuttle can be magnetically floated to an operating height above the stator surface in the desired direction of movement during operation of the planar motor. Additionally, tilt forces and moments can be generated for more complex movements. A two-dimensional interaction between the magnetic field of the stator and the magnetic field of the shuttle is required to enable two-dimensional movement of the shuttle, which is a characteristic of planar motors. Thus, either one of the two magnetic fields must be variable over time in at least two dimensions, or both magnetic fields must be variable in time in at least one dimension (complementary to the other dimension). The magnetic elements of the stator and the drive magnets are therefore advantageously arranged to allow, in addition to one-dimensional movement along the axes spanned by the motion plane (e.g. x and y axes based on a coordinate system defined by the motion plane), also more complex two-dimensional movement of the shuttle within the conveying plane.

[0005] Modern planar motors also make it possible to perform high-precision movements of a shuttle floating above the stator surface at the working height in the directions of all six rigid degrees of freedom. Translational movements of the shuttle in the two main directions of movement (e.g. x and y directions based on a coordinate system fixedly defined by the plane of movement) are possible virtually without limits due to the modular design of the stator with one or more stator segments (segmented devices). In addition, translation of the shuttle in the third spatial direction ("lifting" or "lowering" the shuttle in the z direction based on a coordinate system fixedly defined by the plane of movement) and rotation of the shuttle (up to a certain runout) can be performed at least to a limited extent. Translational and rotational movements along the third spatial direction (vertical or z axis) are called secondary directions of movement. The motor forces and torques required for these shuttle movements are generated by (electro)magnetism.

[0006] Planar motors can be used, for example, as conveying devices in production processes and can implement very flexible conveying processes with complex movement profiles. Such applications of planar motors as conveying devices are shown, for example, in US9,828,192B2, WO2018 / 176137A1, WO2020 / 239930A1, or WO2020 / 239933A1. A vertical arrangement of the planar motor, as shown, for example, in US9,828,192B2, WO2020 / 239930A1, or even a configuration of the planar motor for overhead operation, may be necessary to implement such applications of planar motors with flexible movement profiles. However, the applications of planar motors are currently mainly limited to horizontal arrangements of planar motors. In the context of this disclosure, a planar motor configuration is considered to be in a horizontal configuration when the stator is oriented mostly horizontally and the shuttle is on top of the stator or the top surface of the stator forms the plane of movement for the shuttle. A vertical configuration of a planar motor means that the stator forms a vertical plane, which is the plane of movement for the shuttle. That is, the shuttle moves on or above the vertically oriented stator. A planar motor configuration in which the bottom surface of the stator forms the plane of movement for the shuttle is considered in the context of this disclosure as a configuration of the planar motor for overhead operation. That is, the shuttle moves on or below the bottom surface of the stator (e.g., to perform pick-and-place tasks, inspection tasks from above, etc.), and the stator can be oriented horizontally or tilted.

[0007] One reason for limiting the application of planar motors to horizontal arrangements can be seen in the higher power consumption of vertical arrangements or arrangements for overhead operation. When planar motors are used for vertical and / or overhead operation, the gravitational force acting on the shuttle and any objects attached to it (e.g. products to be transported or conveyed, containers, cameras, etc.) must be compensated for purely by electromagnetic interaction of the magnetic elements of the stator or stator segments with the magnet units of the shuttle in order to hold the shuttle firmly at the operating height or to maintain an air gap between the vertically oriented stator surface or the lower surface of the stator. That is, for example, if the magnetic element of the stator is a drive coil, the drive coil must be actively energized not only to levitate and move the shuttle, but also to compensate for the gravitational force acting on the shuttle and any objects attached to it. This leads to a relatively high power consumption and may reduce the dynamics of other degrees of freedom, especially the secondary movement direction, such as, for example, the rotational movement.

[0008] Another, even more important reason why the use of vertically oriented planar motors or planar motors for overhead operation is limited is that the final rest position of the shuttle is determined mainly or almost exclusively by gravity and its inertia. This means that if, for example, the power supply of the stator segments or the stator is disturbed or is cut off (e.g., caused by an emergency stop) or the automation system or the planar motor malfunctions, the shuttle will move based on its inertia and gravity. In the case of a horizontal arrangement of the planar motor, the movement of the shuttle will be limited by the surface of the stator. In the case of a vertical arrangement or an arrangement for overhead operation, the shuttle will fall off the stator segments or the stator because the gravity of the shuttle and any objects attached to it is not sufficiently compensated or is no longer compensated. If a drive coil is used, for example, as a magnetic element of the stator, insufficient or no current flowing through the drive coil can lead to the gravity of the shuttle and any objects attached to it being no longer compensated. The shuttle will fall off the stator. For example, when movable permanent magnets are used in the stator to generate a moving magnetic field, disturbances or interruptions in the power supply can, for example, lead to insufficient or lack of movement of the magnets, which in turn can lead to the shuttle falling off the stator, which can lead to damage to the shuttle, the object carried by the shuttle, and any other components of the automation system or production site, and even personal injury.

[0009] Mechanical safety devices, such as nets or ropes, can be used to fix the shuttle and prevent it from falling off the stator or stator segments in case of a power failure or emergency shutdown. However, the use of nets or ropes can significantly limit the possible applications of the planar motor, and in particular the possible movement paths of the shuttle. Another option for mechanical safety devices is, for example, claws or something similar, which are attached to the shuttle. These claws can extend from the bottom side of the shuttle and be activated in case of a power failure of the stator or stator segments, for example, to prevent the shuttle from falling. From US 9,701,488 B2 it is known, for example, to provide a suction element to the shuttle of a planar motor for vertical operation. The suction element can extend from the bottom side of the shuttle in order to fix the shuttle on the surface of the stator when the current in the drive coil falls below a predetermined threshold. It will therefore be necessary to adapt the shuttle accordingly. Summary of the Invention

[0010] The object of the present disclosure is to provide an automation system in the form of a planar motor that allows vertical and / or overhead movement of a shuttle in an energy-efficient and safe manner without any additional efforts or adaptations.

[0011] These and other objects are solved by an automated system according to the present independent claims. Advantageous embodiments of the invention are set out in the dependent claims.

[0012] According to the invention, these and other objects are achieved by an automation system in the form of a planar motor for vertical and / or overhead operation, the stator having an additional ferromagnetic body constructed and arranged to interact with at least one shuttle magnet unit and to exert a magnetic attractive force on the at least one shuttle, the magnetic attractive force at least partially compensating the gravitational force of the at least one shuttle at the operating height of the at least one shuttle. The interaction of the additional magnetic body of the stator with the magnet unit of the at least one shuttle results in a temporarily induced magnetization of the additional ferromagnetic body. The magnetization causes a magnetic attractive force acting on the shuttle and serving to hold the shuttle at its operating height when it floats in the moving plane formed by the stator or stator segments. Thus, the power consumption required for the generation of a moving magnetic field (for example for energizing the driving coils used as magnetic elements, etc.) and for the interaction of the magnetic elements of the stator or stator segments with the magnet unit of the at least one shuttle in the vertical and / or overhead operation of the planar motor can be reduced. Additionally, no adaptation of the shuttle is necessary.

[0013] In an advantageous embodiment, the ferromagnetic body is constructed and arranged to interact with the magnet unit of the at least one shuttle in the absence of electromagnetic interaction between the magnetic elements of the stator and the magnet unit of the at least one shuttle, so that the magnetic attractive force applied to the at least one shuttle at least compensates for the gravitational force of the at least one shuttle. The at least one shuttle ideally adheres to the stator surface due to the magnetic attractive force instead of falling, even without any electromagnetic interaction between the magnetic elements of the stator and the magnet unit of the at least one shuttle. This allows the shuttle to be very easily positioned on the stator for vertical and / or overhead operation before starting the operation. Furthermore, the shuttle is retained on the stator after a power failure or an emergency stop, for example the shuttle adheres on the stator (lower) surface.

[0014] In a particularly advantageous embodiment, the ferromagnetic body is constructed and arranged to maintain the at least one shuttle at the operating height as long as there is an electromagnetic interaction between the magnetic elements of the stator and the magnet unit of the at least one shuttle, and to interact with the magnet unit of the at least one shuttle so that the magnetic attractive force exerted on the at least one shuttle at least compensates for the gravitational force of the at least one shuttle at the operating height of the at least one shuttle when the electromagnetic interaction between the magnetic elements of the stator and the magnet unit of the at least one shuttle is reduced or fails, thereby pulling the shuttle towards the stator surface. Thus, the at least one shuttle is kept at the operating height during operation. If the interaction between the magnetic elements of the stator and the magnet unit of the at least one shuttle is insufficient or fails due to a disturbance in the power supply of the stator or at least one stator segment, a power failure, an emergency stop, etc., the at least one shuttle is pulled safely to the stator, i.e. the shuttle reaches a stable position instead of falling from the stator. Damage to the shuttle or other automation units or personal injuries are prevented.

[0015] It is also advantageous if additional ferromagnetic bodies are constructed and arranged to further compensate for the gravity of the object supported by the at least one shuttle, so that the automated system for vertical and / or overhead operations can also operate with reduced power consumption and in a safe manner when the shuttle supports the object or load.

[0016] In a further embodiment, the additional ferromagnetic body is implemented as at least one layer arranged in or on the stator or stator segments. In this connection, it is also advantageous if the distance between the at least one layer and the stator surface or the surface of the stator segments is adjustable. This allows the distance between the at least one layer of ferromagnetic body and the stator surface to be easily adapted to the respective application of the automation system and / or the weight of the shuttle and / or the load of the shuttle, since the magnetic attraction corresponds to the distance between the shuttle and the ferromagnetic body or the at least one layer.

[0017] It is further preferred if at least one layer consists of several thin ferromagnetic layers separated by insulating material. A stack of ferromagnetic materials designed as layers has the advantage that eddy currents that can be induced by changes in the magnetic flux in the ferromagnetic materials due to the shuttle movement are reduced. Preferably, the thin ferromagnetic layers and the insulating material are oriented perpendicular to the stator surface and, consequently, to the shuttle movement direction.

[0018] In another alternative embodiment, additional ferromagnetic material is incorporated into the magnetic elements of the stator, particularly where the magnetic elements are drive coils, which can be easily incorporated, for example, by using a larger core or by varying the penetration depth of the drive coil.

[0019] In a preferred embodiment of the automation system, the shuttle magnet unit comprises a permanent magnet. Preferably, a drive coil is used as the magnetic element of the stator, which is energized for electromagnetic interaction with the shuttle magnet unit and for generating a time-variable moving magnetic field.

[0020] In a further embodiment of the automation system, the underside of the stator forms the plane of movement, and at least one shuttle floats below the underside of the stator during operation and attaches to the underside of the stator before and after operation. The automation system can be used for any possible overhead operation, especially when the stator of the automation system is tilted at any angle between a vertical and / or horizontal orientation. That is, the stator can be oriented at any angle between a nearly vertical orientation and a nearly horizontal orientation with the shuttle floating below the underside of the stator or stator segment during operation.

[0021] In a particular embodiment of the automated system, the stator is oriented horizontally, the underside of the stator forms the plane of movement, and at least one shuttle floats below the underside of the stator during operation and adheres to the underside of the stator before and after operation.

[0022] In the following, the invention will be explained in more detail with reference to Figures 1 to 4, which show illustrative, schematic and non-limiting advantageous embodiments of the invention. [Brief description of the drawings]

[0023] [Figure 1] FIG. 1 is a schematic diagram of a horizontally disposed planar motor seen from the side. [Diagram 2] FIG. 1 is a schematic diagram of a planar motor in an arrangement for overhead operation in operation as viewed from the side. [Diagram 3] FIG. 1 is a schematic diagram of a planar motor in an arrangement for overhead operation without electromagnetic interaction, viewed from the side. [Figure 4] FIG. 13 is another schematic diagram of the planar motor in an arrangement for overhead operation as viewed from the side. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] FIG. 1 shows a schematic diagram of an electromagnetic automation system 1 in the form of a horizontally arranged planar motor. The planar motor 1 comprises at least one stator segment 2, which for example forms the stator 2 of the planar motor in the embodiment shown in FIG. 1. Typically, the stator 2 of the planar motor 1 comprises a modular structure built from two or more stator segments 2 that can be connected in virtually any pattern required for the respective application of the planar motor 1. The stator 2 of the planar motor 1 forms a movement plane. For the planar motor 1, a coordinate system x, y, z can be defined that can be connected to the stator 2, the movement plane can for example be located in the main plane x, y.

[0025] The shuttles 51, 52 are arranged in a floating manner above the plane of movement or above the stator surface 4 or the surface 4 of the stator segment 2 in the horizontal arrangement of the planar motor 1 during operation. With the help of such a planar motor 1, a highly accurate movement of the floating shuttles 51, 52 can be performed in the directions of six rigid degrees of freedom. Due to the modular structure of the stator 2, the translational movements in the two main directions of movement are practically unrestricted. The two main directions of movement (for example the x and y directions of the coordinate system) are arranged substantially parallel to the plane of movement 4 of the planar motor 1. In addition, limited movements in the four remaining secondary directions of movement are usually also possible. The four secondary directions of movement comprise translations (up and down) along the secondary directions in the z direction of the coordinate system and all three rotations about the axes x, y, z of the coordinate system. Movements in the secondary directions of movement are typically restricted physically or due to construction. For example, the secondary movement direction along the z-axis is limited due to the magnetic flux density, which decreases exponentially with flying height, and rotation about the x- and y-axes is substantially limited due to the space required for rotation, i.e. again due to the required stroke motion and loss of controllability (due to maximum force / torque limitations) and observability. For certain planar motors, substantially unlimited rotation about the z-axis may be possible, but typically rotation about the z-axis is limited due to interactions between the stator 2 and the magnet units 6 in the shuttle 51, 52.

[0026] The forces required for the movement of the floating shuttle 5 are generated by (electro)magnetism. For this purpose, several magnetic elements 3 (e.g. drive coils, movable permanent magnets) are arranged in groups on the stator 2, the magnetic elements 3 usually defining the movement direction of the shuttles 51, 52 in the movement plane 4. The drive coils 3 of a drive coil group can for example be arranged relative to one another such that the two main movement directions (e.g. x and y directions of the coordinate system) are orthogonal to one another, but depending on the structural design of the stator 2 and the shuttles 51, 52, movement in four secondary movement directions is also possible to a limited extent. The magnetic elements 3 are not shown separately in FIG. 1 (and in FIGS. 2-4) for the sake of clarity.

[0027] Control of the movement of the shuttles 51, 52 along a movement path in a movement plane 4 formed or defined by the stator 2 or stator segments 2. If a drive coil 3 is used as the magnetic element 3, the control of the movement of the shuttles 51, 52 is associated with the control of energizing the drive coil 3, which is well known, for example, from WO2021 / 105165A1 and WO2021 / 175885A1. In principle, the drive coil 3 in the area of ​​the shuttles 51, 52 is energized to generate a moving magnetic field. Alternatively, the stator 2 can be equipped with a movable permanent magnet 3 as a magnetic element 3 for generating a moving magnetic field. The movement of the shuttles 51, 52 is then controlled, for example, by the movement of the movable permanent magnet 3.

[0028] The shuttles 51, 52 comprise a magnet unit 6, usually arranged on the underside of the shuttle 51, 52 facing the surface 4 of the stator 2 or of the respective stator segment 2. The magnet unit 6 comprises a drive magnet, usually a permanent magnet, but also an electromagnet can be used. A moving magnetic field generated by the magnetic element 3 of the stator, for example by either energizing the magnetic element 3 (or the drive coil) or by moving the magnetic element 3 (or the movable permanent magnet), interacts (electro)magnetically with the magnet unit 6, or rather with the drive magnet of the magnet unit 6 of the respective shuttle 51, 52. Driving and levitation forces F L can be applied to each shuttle 51, 52. The drive force can be used to move the shuttles 51, 52 in a desired direction of movement within a plane of movement.

[0029] The levitation force F generated by the magnetic element 3 L can be used to lift the shuttle from the stator surface 4 to an operating height h (e.g., a few millimeters). Additionally, the levitation force F Lcan for example maintain the shuttles 51, 52 at the operating height h at all times during operation, but can also be used for example to move the shuttles 51, 52 in the direction of the z-axis. The air gap between the shuttles 51, 52 and the stator surface 4 is therefore influenced by the levitation force F generated by the magnetic element 3. L corresponds to the magnetic flux (density) between the magnetic field of the magnetic element 3 and the magnet units 6 of the shuttles 51, 52, and hence to the operating height h or air gap, so that the levitation force F L The shuttles 51, 52 can be magnetically levitated to an operating height h above the stator surface 4 in a desired direction of movement during operation of the planar motor 1. Thus, a levitation force F generated by energizing the drive coils L In order to lift the shuttles 51 and 52, the gravity F of the shuttles 51 and 52 must be at least G 1, for example, shows two illustrative shuttles 51, 52. The first shuttle 51 does not support any object 7 or payload 7 and therefore has a levitation force F L is applied to the first shuttle 51 to lift it to the operating height h and hold it there by the gravity F of the first shuttle 51. G The second shuttle 52 supports an object 7 or load 7 (e.g., a product to be transported, a container, etc.) and therefore has a levitation force F L is the sum of the gravity of the second shuttle 52 and the gravity of the object 7 to lift the second shuttle 52 off the stator surface 4 and hold the second shuttle 52 at the operating height h. G must be balanced with

[0030] If the electromagnetic interaction between the magnetic elements 3 of the stator 2 and the magnet units of the shuttles 51, 52 is reduced or no longer functional, for example due to a permanent or short-term disturbance or interruption of the power supply of the stator 2, the levitation force F Lcan be reduced or even zero. This can happen if the drive coil 3 used as the magnetic element 3 is not energized (enough) during operation or if the movement of the permanent magnet used as the magnetic element 3 is not moved (fast enough). The shuttle 51, 52 can no longer maintain the operating height h. The levitation force F L If the levitation force F is reduced, the shuttles 51, 52 may move to a reduced height h above the stator surface 4. For example, if the levitation force F L is zero, the shuttles 51 and 52 are subjected to the force of gravity F G In other words, in the horizontal arrangement of the planar motor 1, the gravity F of the shuttles 51 and 52 is G Since most of the mass of the shuttle 51, 52 faces towards the stator surface 4, the shuttle 51, 52 falls onto the stator surface 4, which limits the movement of the shuttle 51, 52. Any movement of the shuttle 51, 52 on the stator surface 4 can be reduced at least by friction.

[0031] FIG. 2 shows a schematic representation of an exemplary embodiment of an electromagnetic automation system 1 in the form of a planar motor constructed and arranged for overhead operation. The planar motor 1 comprises a stator 2 having at least one stator segment, which forms a plane of movement. For clarity, FIG. 2 shows a stator 2 with only one stator segment 2, but the configuration of the planar motor 1 for overhead operation can also comprise two or more stator segments 2 to build complex planes of movement. In overhead operation, the lower surface 4 of the stator 2 forms a plane of movement for the shuttles 51, 52. The shuttles 51, 52 are arranged on the stator lower surface 4 with the magnet units 6 of each shuttle 51, 52 facing the lower surface 4 of the stator 2 and moving above the plane of movement formed by the lower surface 4 of the stator 2. The magnetic elements 3 generating the magnetic field for lifting and moving the shuttles 51, 52 are arranged near the lower surface 4 of the stator 2, and the units for controlling the stator 2 (e.g. energizing the drive coils or moving the permanent magnets) can be arranged above the stator 2. The stator 2 of the planar motor 1 can be oriented horizontally or can be tilted relative to the horizontal orientation.

[0032] 2, for example, the horizontal arrangement of FIG. 1 is rotated 180°, with the stator 2 positioned horizontally and the shuttles 51, 52 positioned on the stator underside 4. However, overhead operation of the planar motor 1 as defined in this disclosure includes any embodiment of the planar motor 1 in which the shuttles 51, 52 move above or below the underside of the stator 2, for example, when the stator 2 deviates from a horizontal orientation (e.g., the stator 2 is tilted).

[0033] During overhead operation of the planar motor 1, a moving magnetic field is generated with the help of magnetic elements 3 (e.g. drive coils or movable permanent magnets) or the magnetic elements 3 of the stator 2 electromagnetically interact with the magnet units 6 of the shuttles 51, 52, such that the shuttles 51, 52 float in the moving plane or below the stator surface 4 at an operating height h. Figure 2 also shows two exemplary shuttles 51, 52, the first shuttle 51 does not support any object 7 or load 7 and the second shuttle 52 supports an object 7 or load 7 (e.g. product, container, camera, etc.). The gravitational force F of both shuttles 51, 52 is G must be compensated for to the extent that it holds the shuttles 51, 52 in their respective operating positions at the operating height h during operation. That is, the gravitational force F of the first shuttle 51 G must be compensated for by the stator 2, and the gravitational force F of the second shuttle 52 and the object 7 supported by the second shuttle 52 G must be compensated for by the stator 2. For example, if a drive coil 3 is used as the magnetic element 3, the compensation can be achieved by suitable energization of the drive coil 3 of the stator 2 or of the stator segments 2 during operation. The energization of the drive coil 3 generates the levitation force F L It is possible to generate a levitation force F L should hold each shuttle 51, 52 at operating height h during operation.

[0034] Furthermore, the stator 2 or stator segments 2 of the planar motor 1 have an additional ferromagnetic material 8 (for example iron, cobalt, nickel, etc.) which interacts with the magnet units 6 of the shuttles 51, 52 and generates a passive magnetic attraction force F A Further, the ferromagnetic body generates a magnetic attractive force F A is the force of gravity F of the object 7 supported by each shuttle 51, 52 and, if applicable, by each shuttle 52 at the operating height h of each shuttle 51, 52. G In the case of the first shuttle 51, the passive attractive force F A is, for example, the gravity F of the first shuttle 51 at the operating height h. G In the case of the second shuttle 52, the passive attractive force F A is, for example, the gravity F of the second shuttle 52 at the operating height h. G , and the gravity F of the object 7 supported by the second shuttle 52 G must be at least partially balanced.

[0035] Passive magnetic attraction F A results from a temporary induced magnetization of the additional ferromagnetic body 8 due to the magnets of the magnet units 6 of the shuttles 51, 52. Preferably, the magnets of the magnet units 6 are permanent magnets. A The degree of the magnetic flux density B between the shuttles 51, 52 and the additional ferromagnetic body 8 corresponds to the magnetic flux density B between the shuttles 51, 52 and the additional ferromagnetic body 8, and hence corresponds to the distance a between the shuttles 51, 52 and the ferromagnetic body 8. The maximum magnetic flux density B can be described by the following formula (1):

[0036]

number

[0037] where B0 is the magnetic flux density on the magnet surface (in the intermediate homogeneous region), τ is the pole width, h is the operating height of the shuttle 51, 52, and δ Ais the distance between the ferromagnet 8 and the stator surface 4. e represents the Euler number e and π represents the number π.

[0038] During operation of the planar motor 1, the distance a between the shuttles 51, 52 and the ferromagnetic mass 8 is equal to the distance δ between the ferromagnetic mass 8 and the stator surface 4. A and the operating height h of each shuttle 51, 52. The magnetic attractive force F resulting from the (temporary) interaction between the ferromagnetic body 8 and the magnet unit 6 of the shuttle 51, 52 A At the operating point of the operating height h of the shuttles 51 and 52, the gravity F of the shuttle 51 or the shuttle 52 and the object 7 supported by the shuttle 52 G When at least partially compensating for the power consumption of the magnetic element 3 (e.g. for energizing a drive coil or for moving a movable permanent magnet) and, as a result, the levitation force F L In a static situation, the gravitational force F at a distance a can be reduced. A is gravity F G If it holds true that the power consumption is reduced.

[0039] Moreover, the magnetic attraction force F applied to the shuttles 51, 52 at the operating point of the operating height h of the shuttles 51, 52 A However, the gravity F of the shuttle 51 or shuttle 52 and the supported object 7 G or at least compensate for the gravity F of the shuttle 51 or 52 and the supported object 7. G , the shuttles 51, 52 are kept at the operating height h during operation and are pulled towards the stator 2 or the stator surface 4 when the electromagnetic interaction between the magnetic elements 3 of the stator 2 and the magnet units 6 of the shuttles 51, 52 is reduced or non-functioning, i.e. for example the energization of the drive coils 3 used as magnetic elements 3 is reduced or zero or for example the movement of the permanent magnets used as magnetic elements 3 is reduced or non-existent.

[0040] As a result, the shuttles 51, 52 reach a stable position on the stator surface 4 instead of falling. Since this principle applies not only to overhead operation of the planar motor 1 (as shown in figures 2 and 3) but also to any orientation of the stator (e.g. overhead operation with tilted stator 2, vertical positioning of the stator 2, etc.), the stator 2 or stator segments 2 of the planar motor 1 can be mounted on a robot or a gantry to perform tasks such as actuators, picking and placing objects 7, transporting objects 7, etc. The additional ferromagnetic mass 8 of the stator 2 or stator segments 2 ensures that the shuttles 51, 52 do not fall whenever the electromagnetic interaction between the magnetic elements 3 of the stator 2 and the magnet units 6 of the respective shuttles 51, 52 is reduced or fails.

[0041] 3 shows an automation system 1 or a planar motor 1 for overhead operation in the absence of electromagnetic interaction between the magnetic elements 3 of the stator 2 and the magnet units 6 of the shuttles 51, 52, for example in a situation where the drive coils 3 are de-energized or the permanent magnets 3 are not moving. This situation can occur, for example, before the operation of the planar motor 1 is started or after a power failure (e.g. interruption of the power supply of the stator 2 or a single stator segment 2, emergency stop, etc.). The shuttles 51, 52 are subjected to a magnetic attractive force F resulting from the (temporary) interaction of the ferromagnetic material 8 with the magnet units 6 of the shuttles 51, 52. A If the shuttle does not support any object 7, it will stick to the stator surface 4 due to the magnetic attraction force F A is at least as strong as Shuttle 51's gravity F G When the shuttle 52 supports an object, the magnetic attraction force F A is at least the gravity F of the shuttle 52 and the supported object 7. G must be compensated.

[0042] Magnetic attraction force F Amust preferably be adapted to the specific application of the planar motor (e.g. the weight of the shuttles 51, 52 used, the load situation or the weight of the supported object) to ensure a safe operation in overhead operation. That is, in particular when the energization of the drive coils is reduced or becomes zero, the shuttles 51, 52 are attached to the stator surface 4 with zero coil current and / or pulled tightly towards the stator surface 4. This adaptation can be done, for example, by adapting the operating height h of the respective shuttle 51, 52 to the specific load situation of the shuttles 51, 52, the specific weight of the shuttles 51, 52 used, etc. That is, for example, a first shuttle 51 without any object 7 can float to a higher operating height h (from the stator surface 4) than a second shuttle 52 supporting an object 7. The supported object 7, depending on the specific object weight, thus reduces the controlled air gap between the shuttles 51, 52 and the stator surface 4.

[0043] This adaptation can also be done during the design phase of the planar motor 1, for example by adapting the magnetic reluctance or magnetic resistance of the ferromagnetic bodies 8. The magnetic reluctance of the ferromagnetic bodies 8 depends, for example, on the permeability and / or the geometry or shape of the additional ferromagnetic bodies 8 used.

[0044] This additional ferromagnetic material 8 can for example be integrated into the magnetic elements 3 of the stator 2 or the stator segments 2. That is, if the drive coils 3 are the magnetic elements 3, these can be designed to include the additional ferromagnetic material 8 (for example, larger iron core, penetration depth of the drive coils, etc.).

[0045] Alternatively, the additional ferromagnetic material 8 can be implemented as at least one layer 8, as exemplarily shown in Figures 2 and 3. The at least one ferromagnetic layer 8 can be arranged in the stator 2 or the stator segment 2 or on the stator 2 or the stator segment 2. During the design of the planar motor 1, the stator 2 or the respective stator segment 2, for example, the distance δ between the ferromagnetic layer 8 and the stator surface 4 can be determined. A Besides the geometry of the ferromagnetic layer 8, the permeability of the ferromagnetic material 8 can also be used as a design parameter.

[0046] In a particular embodiment of the planar motor 1, the distance δ between the ferromagnetic layer 8 and the stator surface 4 A can be adjusted manually or automatically to the respective application of the planar motor 1 and / or the loading situation of the shuttles 51, 52 before or during operation of the planar motor 1. Thus, the distance δ between the at least one ferromagnetic layer 8 and the stator surface 4 A is designed to be variable. The adaptation can be achieved, for example, by moving layer 8 to a desired distance δ A Alternatively, the stator surface 4 can be positioned at various distances δ A Depending on the load situation, the ferromagnetic layer 8 is then fixed to a suitable mechanical latch at a fixed distance relative to the stator surface 4, for example. A servo motor can be used to adjust the distance δ between the ferromagnetic layer 8 and the stator surface 4. A It is also possible to adapt it automatically.

[0047] Alternatively, more than one ferromagnetic layer 8 can be arranged in the stator 2 or in the stator segment 2. Such a preferred embodiment is shown by way of example in FIG. 4. Depending on the load situation of the shuttles 51, 52, each ferromagnetic layer 81, 82 is spaced apart by a different distance δ A1 , δ A2 As shown in FIG. 4, the first ferromagnetic layer 81 interacting with the first shuttle 51 without any cargo 7 can be positioned at a first distance δ from the stator surface 4, for example.A1 The second ferromagnetic layer 82, which interacts with the second shuttle 52 supporting the load 7, is positioned at a second distance δ A2 The magnetic attraction force F resulting from the (temporary) interaction of the second ferromagnetic layer 82 with the magnet unit 6 of the second shuttle 52 A is the gravity F of the second shuttle 52 and the supported load 7 G must be at least partially compensated for, so the second distance δ A2 is, for example, the first distance δ A1 or the second magnetic layer 82 is positioned closer to the stator surface 4 than the first magnetic layer 81. Additionally, the stator 2 or stator segment may have a distance δ between the ferromagnetic layers 81, 82 and the stator surface 4. A1 , δ A2 can be designed, for example, such that it can be adapted manually or automatically to the respective application of the planar motor 1 and / or the loading situation of the respective shuttles 51, 52 before or during operation of the planar motor 1.

[0048] Furthermore, the ferromagnetic material 8 preferably consists of a number of thin ferromagnetic layers (laminations) separated by insulating material. Ideally, the layers of ferromagnetic material and the layers of insulating material are oriented perpendicular to the stator surface 4 and, consequently, to the direction of movement of the shuttles 51, 52. Laminations of the ferromagnetic material 8 have the advantage that eddy currents that may be induced by changes in the magnetic flux in the ferromagnetic material 8 due to the movement of the shuttles 51, 52 are reduced.

[0049] Although the present invention has been described with reference to Figures 2 to 4 showing an embodiment of an automation system 1 for overhead operation with a horizontally oriented stator, the present invention is equally applicable to automation systems 1 in the form of planar motors with a vertical arrangement for vertical operation, planar motors 1 for overhead operation with stators 2 or stator segments 2 arranged at an incline with respect to the vertical and / or horizontal orientation, and planar motors 1 for any combination of overhead and vertical operation.

[0050] Ideally, the automation system 1 in the form of a planar motor as described above and exemplarily shown in Figs. 2-4 can be used for product inspection and / or "pick and place" tasks and / or manipulation of products. During product inspection from above, the shuttles 51, 52 can support, for example, a camera 7 or a camera is integrated in the shuttles 51, 52. The shuttles 51, 52 with the camera 7 can then move in a movement plane at an operating height h below the stator surface 4 to inspect the product from above. The shuttles 51, 52 can also be configured to grip objects, transport objects or manipulate products from above. The shuttles 51, 52 can then support respective actuators 7, for example, to grip, hold and transport objects or to manipulate objects or products.

[0051] Furthermore, two or more shuttles 51, 52 (e.g. three shuttles) can be combined by connecting the shuttles 51, 52 with links and joints to form link kinematics similar to so-called delta robots of two or more axes. If only three shuttles 51, 52 are combined, a kinematics for overhead motion, for example, can be formed that can translate, rotate and change orientation based on the state of the automation system or product requirements. Furthermore, the use of multiple robots together based on combined shuttles 51, 52 of planar motors 1 for overhead and / or vertical motion can be expanded to provide configurations of automation systems, providing dynamic cooperation of the robots.

[0052] [Reference sign] 1. Electromagnetic Automation Systems 2 Stator or stator segment 3. Magnetic elements 4 Stator surface 51,52 Shuttle 6 Magnet Unit 7 Objects or cargo 8 Ferromagnetic material 81,82 Ferromagnetic layer FL Lifting force F G gravity h Operating height F A Magnetic attraction δ A Distance between the stator surface and the ferromagnetic material δ A1 , δ A2 Distance between the stator surface and the ferromagnetic layer a Distance between the shuttle and the ferromagnetic body x,y,z coordinate system axes

Claims

1. An automation system (1) in the form of a planar motor for vertical and / or overhead movements, - a stator (2) comprising at least one stator segment, said stator (2) comprising a plurality of magnetic elements (3) defining a plane of movement; at least one shuttle (51, 52) with a magnet unit (6), wherein said at least one shuttle (51, 52) is set up to support an object (7), wherein the magnetic elements (3) electromagnetically interact with the magnet unit (6) of at least one of the shuttles (51, 52) such that the at least one of the shuttles (51, 52) is raised from a stator surface (4) to an operating height and is two-dimensionally movable in at least two directions of movement within the movement plane formed by the stator (2), the stator (2) interacting with the magnet unit (6) of the at least one of the shuttles (51, 52) generates a magnetic attractive force (F A ) is applied to at least one of said shuttles (51, 52), A ) is the force of gravity (F) of at least one of said shuttles (51, 52) at the operating height (h) of said at least one of said shuttles (51, 52). G ) at least partially compensating for.

2. The ferromagnetic body (8) interacts with the magnet unit (6) of at least one of the shuttles (51, 52) to reduce the magnetic attraction force (F) applied to at least one of the shuttles (51, 52) in the absence of electromagnetic interaction between the magnetic element (3) of the stator (2) and the magnet unit (6) of at least one of the shuttles (51, 52). A ) is the force of gravity (F) of at least one of said shuttles (51, 52). G 2. The automation system (1) according to claim 1, characterized in that it is constructed and arranged to at least compensate for:

3. The ferromagnetic body (8) maintains the at least one shuttle at the operating height (h) as long as there is electromagnetic interaction between the magnetic element (3) of the stator (2) and the magnet unit (6) of at least one of the shuttles (51, 52) and interacts with the magnet unit (6) of at least one of the shuttles (51, 52) to reduce the magnetic attractive force (F) applied to at least one of the shuttles (51, 52) so as to pull the shuttle towards the stator surface (4) when the electromagnetic interaction between the magnetic element (3) of the stator (2) and the magnet unit (6) of at least one of the shuttles (51, 52) is reduced or no longer functions. A ) is the force of gravity (F) of at least one of said shuttles (51, 52) at said operating height (h) of at least one of said shuttles (51, 52). G 3. The automation system (1) according to claim 1 or 2, characterized in that it is constructed and arranged to at least compensate for:

4. The additional ferromagnetic body (8) is adapted to receive the force of gravity (F) of the object (7) supported by at least one of the shuttles (52). G 4. The automation system (1) according to any one of claims 1 to 3, characterized in that it is constructed and arranged to further compensate for:

5. The automation system (1) according to any one of claims 1 to 4, characterized in that the additional ferromagnetic body (8) is implemented as at least one layer (8, 81, 82) arranged in or on the stator (2) or stator segment (2).

6. The distance (δ) between at least one of the layers (8, 81, 82) and the stator surface (4) or the surface (4) of the stator segment (2) A , δ A1 , δ A2 6. The automation system (1) according to claim 5, characterized in that the control means (11) is adjustable.

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

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

9. The automation system (1) according to any one of the preceding claims, characterized in that the magnet units (6) of the shuttles (51, 52) comprise permanent magnets.

10. Automation system (1) according to any one of the preceding claims, characterized in that the magnetic elements (3) of the stator (2) are drive coils (3).

11. The automation system (1) according to any one of claims 1 to 10, characterized in that a lower surface (4) of the stator (2) forms the movement plane and in that at least one of the shuttles (51, 52) floats below the lower surface (4) of the stator during operation.

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

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

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