PLANAR TRANSPORTATION DEVICE AND METHOD OF OPERATING A PLANAR TRANSPORTATION DEVICE

Abstract

A planar transport device (10) having a driving surface (12) and having at least one first platform (16), which can be coupled electromagnetically to the driving surface and moved parallel to the driving surface. The planar transport device includes a payload space (24) for arrangement of a payload (26).The planar transport device includes an inertial element (30) which is movable relative to the first platform, and the movable inertial element and the payload space are oriented relative to each other such that, upon deceleration of the first platform due to movement of the inertial element in an effective direction relative to the first platform, at least some of the kinetic energy of the inertial element can be transferred to the payload space. A method for operation of a planar transport device is also described.

Claims

1. A planar transport device (10) having a driving surface (12) and having at least one first platform (16), which can be coupled electromagnetically to the driving surface (12) and moved parallel to the driving surface (12), wherein the planar transport device (10) comprises a payload space (24) for arrangement of a payload (26), wherein the planar transport device (10) comprises an inertial element (30) which is movable relative to the first platform (16), wherein the movable inertial element (30) and the payload space (24) are oriented relative to each other such that, upon deceleration of the first platform (16) due to movement of the inertial element (30) in an effective direction (44) relative to the first platform (16), at least some kinetic energy of the inertial element (30) can be transferred to the payload space (24).

2. The planar transport device (10) according to claim 1, wherein the planar transport device (10) comprises a return device (38), which moves the inertial element (30) contrary to the effective direction (44).

3. The planar transport device (10) according to claim 1, wherein the first platform (16) comprises a first linear guide (28) for guidance of the inertial element (30) or an intermediate element (46), serving for placement of the inertial element (30).

4. The planar transport device (10) according to claim 3, wherein the intermediate element (46) comprises a second linear guide (50) for guidance of the inertial element (30).

5. The planar transport device (10) according to claim 4, wherein the first linear guide (28) extends along a first guiding axis (36), the second linear guide (50) extends along a second guiding axis (52), and the first guiding axis (36) and the second guiding axis (52) are oriented perpendicular to each other.

6. The planar transport device (10) according to claim 3, wherein the intermediate element (46) is mounted rotatably on the first platform (16) about an axis of rotation (56).

7. The planar transport device (10) according to claim 1, wherein the payload space (24) is associated with the at least one first platform (16).

8. The planar transport device (10) according to claim 7, wherein the inertial element (30) forms, at least in an initial state, an at least partial boundary of the payload space (24).

9. The planar transport device (10) according to claim 1, wherein the payload space (24) is associated with a second platform (58), which can be coupled electromagnetically to the driving surface (12) and which can move parallel to the driving surface (12).

10. The planar transport device (10) according to claim 9, wherein the inertial element (30) comprises an extension section (60) extending in the effective direction (44), which extends beyond the first platform (16) at least in a deflected state of the inertial element (30).

11. A method for operating a planar transport device (10) according to claim 1, wherein a payload (26) is arranged in the payload space (24), wherein the movable inertial element (30) and the payload space (24) are oriented relative to each other such that, upon deceleration of the platform (16) due to movement of the inertial element (30) relative to the platform (16), at least some kinetic energy of the inertial element (30) is transferred to the payload space (24) and to the payload (26).

12. The method according to claim 11, wherein upon movement of the platform (16) in an x-direction of the driving surface (12) and then a deceleration of the platform (16), the inertial element (30) moves relative to an intermediate element (46), and wherein upon movement of the platform (16) in a y-direction of the driving surface (12), perpendicular to the x-direction of the driving surface (12), and then a deceleration of the platform (16), the inertial element (30) moves together with the intermediate element (46) relative to the platform (16).

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Further features and benefits are the subject of the following description and the graphical representation of embodiments.

[0026] The drawing shows

[0027] FIG. 1 a perspective view of one embodiment of a planar transport device having a first platform and a payload;

[0028] FIG. 2 a perspective view of the first platform of FIG. 1 in an initial state;

[0029] FIG. 3 a perspective view of the platform of FIG. 1 when ejecting the payload;

[0030] FIG. 4 a perspective view of another embodiment of a first platform having an intermediate element and a payload;

[0031] FIG. 5 a perspective view of the platform of FIG. 4 when ejecting the payload in the x-direction;

[0032] FIG. 6 a perspective view of the platform of FIG. 4 in a state of the intermediate element and the payload deflected in the y-direction;

[0033] FIG. 7 a perspective view of the platform of FIG. 4 upon ejecting the payload following the state per FIG. 6;

[0034] FIG. 8 a perspective view of another embodiment of a platform having a rotatably mounted intermediate element and a payload;

[0035] FIG. 9 a perspective view of the platform of FIG. 8 with a rotated intermediate element;

[0036] FIG. 10 a perspective view of the platform of FIG. 8 upon ejecting the payload following the state per FIG. 9; and

[0037] FIG. 11 a perspective view of another embodiment of a planar transport device having a first platform and a second platform.

DETAILED DESCRIPTION

[0038] A planar transport device is denoted as a whole with the reference number 10 in the drawing. The planar transport device 10 comprises a driving surface 12, defining an x-y plane 14, on which a first platform 16 is arranged, cf. FIG. 1.

[0039] The driving surface 12 is oriented in particular perpendicular to the direction of gravity 17.

[0040] The first platform 16 is coupled electromagnetically to the driving surface 12 and can be driven to move on the driving surface 12. Optionally, a spacing 18 can also be set between the first platform 16 and the driving surface 12, so that the first platform 16 can be positioned freely in a space which is thus defined not only by the x-y plane 14, but also by a z-axis 20 perpendicular to it.

[0041] The first platform 16 comprises a platform side 22 facing away from the driving surface 12, being associated with a payload space 24. A payload 26 for transport can be arranged in the payload space 24.

[0042] The first platform 16 furthermore comprises a first linear guide 28, which extends along the platform side 22 and in which an inertial element 30 is movably mounted.

[0043] The payload 26 and the inertial element 30 can be moved together with the first platform 16. Thus, it is possible to transport the payload 26 to freely selected positions of the driving surface 12.

[0044] The inertial element 30 is cuboidal in shape, in particular, and situated in an initial state in physical proximity to a first outer edge 32 of the platform side 22, cf. FIG. 2. Preferably, one lengthwise side 33 of the inertial element 30 is oriented parallel to the first outer edge 32 of the platform side 22. In this way, the inertial element 30 forms a boundary of the payload space 24.

[0045] The inertial element 30 comprises a sliding block 34 or is connected to a sliding block 34. The sliding block 34 is led in the first linear guide 28 of the first platform 16 and can move—together with the inertial element 30—along a first guiding axis 36 of the first linear guide 28. Preferably, the friction against the contact surfaces between the sliding block 34 and a wall of the first linear guide 28 is minimized. This can be achieved, for example, by the choice of materials with a low coefficient of friction and/or by a surface treatment, such as a low-friction coating of the surfaces.

[0046] Furthermore, a return device 38 is situated in a free space of the first linear guide 28, being fashioned for example as a spring. The spring is braced against the first platform 16 at a first end 40 of the first linear guide 28 and connected to the inertial element 30 at a second end 42 of the first linear guide 28.

[0047] If the first platform 16 is moving at a constant speed, the inertial element 30 will remain in an initial state in the region of the first outer edge 32.

[0048] If the first platform 16 is decelerated or braked from a state of motion, the inertial element 30 on account of its inertial mass will retain a portion of its kinetic energy and be deflected along the first linear guide 28. The inertial element 30 will move relative to the platform side 22 and in particular relative to the payload space 24. The direction of movement of the inertial element 30 will define an effective direction 44 of the inertial element 30.

[0049] If the first platform 16 is moving during the braking in the direction of the first guiding axis 36 of the first linear guide 28, the direction of movement and the effective direction 44 of the inertial element 30 will coincide. However, it is also conceivable for the direction of movement of the first platform 16 and the guiding axis 36 of the first linear guide 28 to make an angle which is less than 90°. The effective direction 44 of the inertial element 30 will then deviate by this angle from the direction of movement of the first platform 16.

[0050] Thanks to the deflection of the inertial element 30 relative to the payload space 24, a portion of the kinetic energy of the inertial element 30 is transferred to the payload space 24. If a payload 26 is situated in the payload space 24, this payload 26 will be accelerated in the effective direction 44 by the transfer of a portion of the kinetic energy of the inertial element 30 to the payload 26 and be removed from the first platform 16 by being ejected from the payload space 24, cf. FIG. 3.

[0051] The deflection of the inertial element 30 is accompanied by a tensioning of the return device 38. In this process, a further portion of the kinetic energy of the inertial element 30 is taken up by the return device 38 and stored temporarily as tensioning energy. The tensioned return device 38 strikes against the inertial element 30 with a restoring force, which acts contrary to the effective direction 44 of the inertial element 30. Thanks to the restoring force of the return device 38, the inertial element 30 is returned to its initial nondeflected state. A new payload can then be arranged in the payload space 24.

[0052] FIG. 4 shows a further embodiment of a planar transport device 10. The first platform 16 comprises a flat intermediate element 46, which is arranged between the platform side 22 and the inertial element 30. The intermediate element 46 extends in parallel with the platform side 22.

[0053] The intermediate element 46 comprises an intermediate element side 48, facing away from the driving surface 12, being associated with a payload space 24. A payload 26 for transport can be arranged in the payload space 24.

[0054] The intermediate element 46 is mounted in the first linear guide 28 of the first platform 16 and can move relative to the platform side 22.

[0055] The intermediate element 46 comprises a second linear guide 50 having a second guiding axis 52. The inertial element 30 is movably mounted in the second linear guide 50 of the intermediate element 46. The first guiding axis 36 of the first linear guide 28 and the second guiding axis 52 of the second linear guide 50 are oriented perpendicular to each other.

[0056] The first linear guide 28 and the second linear guide 50 each contain a return device 38 and 51, for example, they each contain a spring.

[0057] The inertial element 30 is L-shaped and extends along a first outer edge 54 and an adjacent second outer edge 56 of the intermediate element side 48. The second outer edge 56 is indicated schematically in FIG. 4. The L-shaped inertial element 30 bounds the payload space 24 on two mutually perpendicular sides.

[0058] Upon movement of the first platform 16 in the direction of the second guiding axis 52 followed by deceleration of the platform 16, the inertial element 30 will be deflected along the second linear guide 50 and move relative to the intermediate element side 48 and the payload space 24. The intermediate element 46 in this process remains in its initial position, cf. FIG. 5.

[0059] If a payload 26 is arranged in the payload space 24, a portion of the kinetic energy of the inertial element 30 will be transferred to the payload 26. The payload 26 will be accelerated by this in the effective direction 44 and removed from the first platform 16, cf. FIG. 5.

[0060] Upon movement of the first platform 16 in the direction of the first guiding axis 36 followed by deceleration of the first platform 16, the inertial element 30 and the intermediate element 46 will be deflected together, cf. FIG. 6.

[0061] The inertial element 30 and the intermediate element 46 will move along the first linear guide 28 relative to the platform side 22 in the effective direction 44. The payload 26 remains in contact with the intermediate element side 48 up to the maximum deflection of the inertial element 30 and the intermediate element 46.

[0062] Once the maximum deflection is achieved, the payload 26 moves further relative to the inertial element 30 and the intermediate element 46 and is removed from the intermediate element side 48 and from the payload space 24 by ejecting, cf. FIG. 7.

[0063] FIGS. 8 to 10 show a further embodiment of the planar transport device 10, there being arranged a pivot 54 on the first platform 16, by means of which the intermediate element 46 is mounted on the platform 16 rotatably about an axis of rotation 56. The axis of rotation 56 is oriented, in particular, perpendicular to the intermediate element side 48. Moreover, the axis of rotation 56 is preferably offset laterally from the center of gravity of the first platform 16.

[0064] The intermediate element 46 comprises a second linear guide 50, already explained above with reference to FIGS. 4 to 7, in which the inertial element 30 is movably mounted.

[0065] The pivot 54 enables an orienting of the intermediate element 46 about the axis of rotation 56 regardless of the orientation of the first platform 16 about a z-axis 20. In particular, the orientation of the linear guide 50 can be adjusted. In this way, the orientation of the effective direction 44 of the inertial element 30 can be assigned regardless of the orientation of the first platform 16, cf. FIG. 9.

[0066] If the first platform 16 moves on the driving surface 12 and is then decelerated, the inertial element 30 will move relative to the intermediate element 46 and the payload space 24. A portion of the kinetic energy of the inertial element 30 will be transferred to the payload 26 in the manner already described above and the payload will be removed from the payload space 24, cf. FIG. 10.

[0067] FIG. 11 shows a further embodiment of a planar transport device 10. The planar transport device 10 comprises a first platform 16 and a second platform 58. Both platforms 16 and 58 are electromagnetically coupled to the driving surface 12 and can move independently of each other in the x-y plane 14.

[0068] In a departure from the above-described embodiments, a payload space 24 is associated not with the first platform 16, but rather with the second platform 58. The payload 26 can be arranged in the payload space 24 and it can be transported by the second platform 58.

[0069] The first platform 16 comprises the inertial element 30, which is movably mounted in the first linear guide 28. The inertial element 30 has an extension section 60, and the extension section 60 extends in particular along and/or parallel to the first guiding axis 36 of the first linear guide 28.

[0070] Upon inertia-induced deflection of the inertial element 30, the extension section 60 of the inertial element 30 extends beyond the first platform 16 and transfers at least a portion of the kinetic energy of the inertial element 30 to the payload space 24 of the second platform 58, so that a payload 26 situated there can be ejected from the payload space.