Abstract
A method is provided for processing an object using a planar drive system having at least one stator assembly with a plurality of coil groups for generating a stator magnetic field, a stator surface above the stator assembly, and at least one rotor with a plurality of magnet units for generating a rotor magnetic field. A processing element is arranged above the stator surface. The planar drive system has at least one rotational position, where the rotor can be rotated about an axis perpendicular to the stator surface. A spatial arrangement of the processing element is predetermined by the rotational position. The method comprises energizing the coil groups so a rotor with the object arranged on the rotor moves to the rotational position, energizing the coil groups so the rotor rotates, and processing the object with the aid of the rotor rotation, where the processing element acts upon the object.
Claims
1. A method for processing an object using a planar drive system, the planar drive system comprising: at least one stator assembly having in each case a plurality of coil groups for generating a stator magnetic field, a stator surface above the stator assembly, and at least one rotor having a plurality of magnet units for generating a rotor magnetic field; wherein a processing element is arranged above the stator surface, wherein the planar drive system comprises at least one rotational position, wherein the rotor is rotatable in the rotational position about an axis of rotation perpendicular to the stator surface, and wherein a spatial arrangement of the processing element is predetermined by the rotational position; the method comprising the following steps: energizing the coil groups in such a way that a rotor of said at least one rotor with the object arranged on the rotor moves into the rotational position, energizing the coil groups in such a way that the rotor rotates, and processing the object with aid of rotation of the rotor, wherein the processing element acts upon the object.
2. The method according to claim 1, wherein the rotational position is determined based on a point of contact of four stator assemblies.
3. The method according to claim 1, wherein during rotor rotation the processing element and the rotor are moved relative to each other in parallel to the axis of rotation.
4. The method according to claim 3, wherein the rotor is rotated and the movement of the processing element and the rotor in parallel to the axis of rotation relative to each other is carried out in such a way that a first movement and a second movement relative to each other are superimposed for the object disposed on the rotor and the processing element.
5. The method according to claim 4, wherein the processing element holds a cover for the object, and wherein the superimposed first movement and second movement cause the cover to be screwed to the object.
6. The method according to claim 4, wherein the processing element is arranged in such a way that a center of the cover is arranged above the rotational position.
7. The method according to claim 4, wherein the rotor rotates and the processing element moves towards the rotor.
8. The method according to claim 4, wherein the rotor comprises a screw holder, the object being a screw, the screw holder holding the screw and screwing it into a further object held by the processing element with aid of the superimposed first movement and second movement.
9. The method according to claim 8, wherein the rotor is moved away from the stator surface during the rotational movement along the rotational axis, wherein a change in distance of the rotor per rotation depends on a pitch of the screw.
10. The method according to claim 4, wherein control commands for energizing the coil groups during the rotational movement are output on the basis of a closed-loop control, and wherein, on the basis of the closed-loop control, torques and/or angular momentums are furthermore taken into account during the superimposed first motion and second motion, wherein a maximum torque or a maximum angular momentum are predetermined.
11. The method according to claim 10, wherein rotation of the rotor is stopped upon reaching the maximum torque.
12. The method according to claim 1, wherein the processing element comprises a labeling element.
13. The method according to claim 12, wherein the labeling element comprises a label roll holder, wherein the labeling element comprises an unwinding device at which a label is transferred from the label roll holder to the object arranged on the rotating rotor.
14. The method according to claim 1, wherein the processing element comprises a laser, wherein the laser irradiates and thereby alters a surface of the object.
15. The method according to claim 13, wherein a laser controller of the laser is arranged to activate and deactivate the laser, wherein an activation sequence is determined based on information provided by the rotation of the rotor and a movement of the laser along the rotational axis and image information, and the laser is activated and deactivated based on the activation sequence, wherein the laser and the rotor are moved relative to each other in parallel to the axis of rotation.
16. The method according to claim 1, wherein the processing element comprises a stirring spatula immovable perpendicular to the rotational axis, the stirring spatula being arranged directly above the rotational position, wherein the object comprises a vessel with a liquid, wherein prior to the rotor rotation the stirring spatula is moved in parallel to the rotational axis and immersed in the liquid.
17. A planar drive system, comprising: at least one stator assembly, each having a plurality of coil groups for generating a stator magnetic field and a stator surface, and further comprising at least one rotor having a plurality of magnet units for generating a rotor magnetic field, wherein the rotor is drivable above the stator surface via a magnetic coupling between the stator magnetic field and the rotor magnetic field; wherein the planar drive system further comprises a controller and a processing element, wherein the controller outputs control commands to the at least one stator assembly of the planar drive system, the controller being configured to output control signals, the control signals comprising energization information for the coil groups of the stator assembly, the coil groups being energized on the basis of the control signals in such a way that a rotor of said at least one rotor having an object arranged on the rotor moves into a rotational position and then rotates, wherein the processing element acts upon the object when rotating.
18. The planar drive system according to claim 17, wherein the processing element comprises a labeling element, wherein the labeling element comprises a label roll holder, wherein the labeling element comprises an unwinding device at which a label is transferred from the label roll holder to the object arranged on the rotating rotor.
19. The planar drive system according to claim 17, wherein the processing element comprises a laser, wherein the laser irradiates and thereby alters a surface of the object wherein a laser controller of the laser is arranged to activate and deactivate the laser, wherein an activation sequence is determined based on information provided by the rotation of the rotor and a movement of the laser along the rotational axis and image information, and the laser is activated and deactivated based on the activation sequence, wherein the laser and the rotor are moved relative to each other in parallel to the axis of rotation.
20. The planar drive system according to claim 17, wherein the processing element comprises a stirring spatula immovable perpendicular to the rotational axis, the stirring spatula being arranged directly above the rotational position, wherein the object comprises a vessel with a liquid, wherein prior to the rotor rotation the stirring spatula is moved in parallel to the rotational axis and immersed in the liquid.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0035] So that the manner in which the above recited features of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only typical embodiments of this invention and are therefore not to be considered limiting of its scope, for the invention may admit to other equally effective embodiments.
[0036] FIG. 1 shows a planar drive system having a rotor and rotational positions.
[0037] FIG. 2 shows a top view of a planar drive system during rotation.
[0038] FIG. 3 shows the planar drive system of FIG. 2 in a side view comprising a processing element.
[0039] FIG. 4 shows processing of an object using the planar drive system of FIGS. 2 and 3.
[0040] FIG. 5 shows the planar drive system of FIGS. 2 to 4 after processing the object.
[0041] FIG. 6 shows a side view of a further planar drive system prior to object processing.
[0042] FIG. 7 shows a side view of a further planar drive system prior to object processing.
[0043] FIG. 8 shows a top view of the planar drive system of FIG. 7 during object processing.
[0044] FIG. 9 shows a top view of a further planar drive system during object processing.
[0045] FIG. 10 shows a side view of the planar drive system of FIG. 9.
[0046] FIG. 11 a side view of a planar drive system prior to object processing.
[0047] FIG. 12 shows a side view of the planar drive system of FIG. 11 during object processing.
[0048] FIG. 13 shows a side view of a further planar drive system during object processing.
[0049] FIG. 14 shows a side view of a further planar drive system during object processing.
DETAILED DESCRIPTION
[0050] FIG. 1 shows a planar drive system 1 with the aid of which the method according to the invention for processing an object may be carried out. The planar drive system 1 shown in FIG. 1 comprises six stator modules 2, the stator modules 2 being arranged in such a way that a rectangle of two on three stator modules 2 is formed. Other arrangements of the stator modules 2 are also conceivable, and more or fewer than six stator modules 2 may be arranged. In the stator module 2 shown above on the right, an interior of the stator module 2 is indicated, wherein the stator module 2 comprises four stator assemblies 3, the four stator assemblies 3 being arranged within a stator module 2 in a square two-on-two arrangement. Furthermore, for two stator assemblies 3, it is shown that the stator assemblies 3 comprise coil groups 4, wherein the coil groups 4 are shown with different alignments. The coil groups 4 are used to generate a stator magnetic field. In the embodiment shown, the coil groups 4 are rectangular and elongated. In each stator assembly 3 of the stator modules 2, three individual rectangular and elongated coils of a coil group 4 are shown. Likewise, a different number of individual rectangular and elongated coils could form a coil group 4. In this case, their longitudinal extension is oriented in parallel with regard to one of the edges of the respective stator assembly 3. Below each of the depicted coil groups 4, further coils are provided which have an orientation rotated by 90 with respect to their longitudinal extension. This grid of longitudinally extended and rectangular coils of a coil group 4 may be formed one above the other several times. In real terms, neither stator assemblies 3 nor coil groups 4 are visible, since they are surrounded by a housing of the stator module 2. The six stator modules 2 form a continuous stator surface 5 above the stator assemblies 3. Furthermore, a rotor 10 is arranged, the rotor comprising a plurality of magnet units 11 for generating a rotor magnetic field. The coil groups 4 may interact with the magnet units 11 when an appropriate current is applied, thereby moving the rotor 10 above the stator surface 5 within the planar drive system 1. A plane of movement for the rotor 10 is thus defined by the stator surface 5. The coil groups 4 are arranged in parallel to the outer edges 6. Since the stator modules 2 each have outer edges 6 at 900 with regard to one another, two different alignments of the coil groups 4 are therefore necessary for the movement of the rotor 10. The depiction in FIG. 1 is simplified, since in each stator assembly 3 a plurality of coil groups 4 are arranged, which in each case are oriented at 900 with regard to one another, however, only one coil group 4 is depicted in each case. The magnet units 11 are also arranged in parallel with regard to rotor outer edges 12 of the rotor 10. Furthermore, the magnet units 11 are arranged circumferentially within the rotor 10 at the rotor outer edges 12 and may interact with the coil groups 4, respectively, to move the rotor in parallel to the outer edges 6 of the stator modules 2. Furthermore, superposition of two movements parallel to the outer edges 6 is possible, so that the rotor 10 may be moved in all directions in parallel to the stator surface 5. The arrangement of four stator assemblies 3 within a stator module 2 corresponds to the stator modules 2 for a planar drive system 1 marketed by the applicant under the name XPLANAR transport system. It may alternatively be envisaged to arrange more or fewer stator assemblies 3 within a stator module 2. For example, each stator module 2 may comprise only one stator assembly 3 or may comprise more than four stator assemblies 3.
[0051] The planar drive system 1 comprises a plurality of rotational positions 7. The rotational positions 7 are always arranged in such a way that four stator assemblies 3 touch each other in the rotational position 7. In particular, this means that corner positions of the stator assemblies 3 define the rotational positions 7 in each case, with the rotational positions 7 always being arranged at the points where four corners of the stator assemblies 3 meet. In particular, this may be in the center of the stator modules 2, in a center of the outer edges 6 of the stator modules 2 or in corner areas of the stator modules 2. Outside of the rotational positions 7, a rotation of the rotor 10 is restricted. Thus, outside of the rotational positions 7, rotors 10 may only be rotated from a resting position up to a predetermined angle, for example 150 or 20, with the rotor outer edges 12 being in parallel to the outer edges 6 in the resting position. In the rotational positions 7, free rotation of the rotor 10 is possible, and depicted in FIG. 1 by the fact that the rotor has carried out a rotation of 45. Thus, the alignment of the rotor 10 shown in FIG. 1 is only achievable in a rotational position 7. In FIG. 1, the rotor 10 is located in the center of a stator module 2 and thus also in a rotational position 7.
[0052] Also shown in FIG. 1 is a controller 8 and a communication line 9, the controller 9 being connected by the communication line 9 to one of the stator modules 2. It may be provided that the stator modules 2 may forward communication signals to one another. Alternatively, a plurality of communication lines 9 could be provided, in which case each stator module 2 may be connected to the controller 8. The controller 8 is set up to output control commands to the stator modules 2 via the communication line 9, the stator modules 2 being set up to energize the coil groups 4 on the basis of the control signals and thereby to control a movement of the rotor 10 parallel to the stator surface 5 into a rotational position 7 and, when the rotor 10 is arranged in the rotational position 7, to energize the coil groups 4 in such a way that the rotor 10 rotates. The coil groups 4 may further be energized in such a way that the rotor 10 is moved perpendicularly with regard to the stator surface 5.
[0053] The planar drive system 1 shown in FIG. 1 may be used in automation technology, in particular in manufacturing technology, handling technology and process engineering, in order to process objects. For example, the objects may be arranged on the rotor 10 or beheld above the stator surface 5 by a holder and processed accordingly by the rotor 10. The fact that the rotor 10 may carry out a rotational movement in the rotational position 7 results in advantageous new embodiments for possible object processing, which will be described in more detail below. For this purpose, it may be provided that a processing element is arranged above the stator surface 5 and a spatial arrangement of the processing element is predetermined by the rotational position 7 in which rotor 10 is to be rotated. An object may be processed with the aid of the rotor rotation, wherein the processing element also acts upon the object. Furthermore, it may be provided that the processing element and the rotor 10 are moved relative to each other in parallel to an axis of rotation during the rotor rotation.
[0054] As the case may be, the further figures contain the reference numerals described in connection with FIG. 1. In the further description, as the case may be, these reference numerals will not be discussed furthermore, since the parts of the planar drive system 1 described with these reference numerals were described in connection with FIG. 1.
[0055] FIG. 2 shows a top view of a planar drive system 1, which is essentially constructed like the planar drive system 1 of FIG. 1. An object 20, in this case a can 21, is arranged on the rotor 10. A rotational axis 13 is perpendicular with regard to the stator surface 5 and is guided by a rotational position 7, in this case in the center of a stator module 2. The rotor 10 may be rotated about the rotational axis 13.
[0056] FIG. 3 shows a side view of the planar drive system 1 of FIG. 2. The can 21, i.e. the object 20, is arranged on the rotor 10. Above the object 20, a processing element 100 is shown, which holds a lid 22. The can 21 has a thread 23, with the aid of which the lid 22 may be screwed to the can 21. In order to process the object 20, the rotor 10 is first moved with the aid of energizing the coil groups 4 in such a way that the rotor 10 with the object 20 arranged thereon moves into the rotational position 7. Subsequently, the coil groups 4 are energized in such a way that the rotor 10 rotates. Now the object 20 is processed with the aid of the rotor rotation, with the processing element 100 acting on the object 20. In the embodiment example of FIG. 3, this may be carried out by moving either the rotor 10 and/or the processing element 100 along the direction of movement 14 parallel to the axis of rotation 13 in such a way that the can 21 and the lid 22 move towards each other. The processing by the processing element 100 may thereby comprise, as indicated in the embodiment example of FIGS. 2 and 3, a closing of the can 21 with the aid of the lid 22, in which the lid 22 is screwed onto the thread 23 of the can 21.
[0057] FIG. 4 shows a side view of the planar drive system 1 of FIGS. 2 and 3 after the processing element 100 has been moved slightly towards the rotor 10. The cover 22 is now in close proximity to the thread 23 and may now be screwed to the can 21.
[0058] FIG. 5 shows the planar drive system of FIGS. 1 to 4 after the lid 22 has been screwed to the can 21. Here, during the rotation of the rotor 10, the rotor was additionally moved away from the stator surface 5 and the can 21 was rotated into the lid 21 by the rotational movement and the movement away from the stator surface 5.
[0059] In the embodiment example of FIGS. 2 to 5, it is shown that the processing element 100 and the rotor 10 may be moved relative to each other in parallel to the axis of rotation 13 during rotor rotation. In particular, the processing element 100 may at first be moved towards the stator surface 5 while the rotor 10 is not yet rotating. In principle, this movement may also be omitted. Subsequently, the rotor 10 is rotated and simultaneously moved away from the stator surface 5 in order to achieve the screwing of the can 21 into the lid 22. Alternatively, instead of moving the rotor 10 away from the stator surface 5, a further movement of the processing element 100 towards the stator surface 5 may also be provided. Additionally, it may be provided that the rotor 10 rotates and is simultaneously moved away from the stator surface 5 while additionally moving the processing element 100 towards the stator surface 5.
[0060] In an embodiment, the rotor 10 and the processing element 100 are moved relative to each other in parallel to the axis of rotation 13 in such a way that a first movement and a second movement relative to each other are superimposed for the object 20 arranged on the rotor 10 and the processing element 100. The first movement is rotation of the rotor 10, while the second movement comprises movement of the rotor 10 and/or the processing element 100 relative to each other parallel to the axis of rotation 13. Such movement may be described as helical relative to each other. This allows for the object 20, in this case the can 21, to be easily screwed to the lid 22 held by the processing element 100. A relative change of a distance of the rotor 10 and the processing element 100 with respect to each other during a complete rotation of the rotor 10 thereby depends on a pitch of the thread 23.
[0061] In an embodiment, the processing element 100 holds a lid 22 for the object 20, as shown in FIGS. 3 to 5. By superimposing the first movement and the second movement, a screw connection of the lid 22 with the can 21, i.e. with the object 20, takes place. It may be provided that the processing element 100 is arranged in such a way that a center of the lid 22 is arranged above the rotational position 7.
[0062] In the embodiment example of FIGS. 2 to 5, instead of the can 21 and the lid 22, it may also be provided that the object 20 comprises a bottle, and a lid 22 is screwed to the object 20, i.e. the bottle, during the rotational movement of the rotor.
[0063] FIG. 6 shows a side view of a further embodiment of a planar drive system 1, in which an object 20 may be processed with the aid of a rotation of a rotor 10. Here, the rotor 10 comprises a screw holder 30 and the object 20 is a screw 31. A further object 32 is held by the processing element 100. Analogous to the screwing of the cover 22 and the can 21 of the embodiment example of FIGS. 2 to 5, in the embodiment example of FIG. 6 the screw 31 may be operated in such a way by the rotation of the rotor 10 and a simultaneous movement of the rotor 10 away from the stator surface 5 or of the processing element 100 towards the stator surface 5 that the screw 31 is screwed into the further object 32. The further object 32 may have a corresponding thread for this purpose. It may be provided in this context that a relative change of a distance of the rotor 10 and the processing element 100 with regard to each other during a complete revolution of the rotor 10 depends on a pitch of the screw 31.
[0064] In the embodiment example of FIG. 6, it may be provided that the screw holder 30 with the screw 31 is arranged centrally on the rotor 10. It may further be provided that the processing element 100 may additionally be moved in parallel to the stator surface 5 in order to arrange a thread of the further object 32 above the rotational position 7. In particular, in this embodiment of the method, it may be provided that a plurality of rotors 10 is equipped with screw holders 30 and is accordingly equipped with screws 31. After a screw 31 has been screwed into the further object 32, the corresponding rotor 10 may be moved out from under the further object 32 and a further rotor with a further screw may be positioned at the rotational position 7, the processing element 100 with the further object 32 may be moved in parallel to the stator surface 5 and subsequently the further screw may also be screwed into the further object 32. It may further be provided that the rotor 10 or the further rotor may pick up further screws at a screw transfer unit. In this case, as the case may be, the rotor 10 may also be used to screw in the further screw.
[0065] Alternatively, it may be provided that a screw holder 30 with a screw 31 is held by the processing element 100 and the object 20 is arranged on the rotor 10, wherein with the aid of the rotation of the rotor 10 and a movement of the rotor 10 and the processing element 100 relative to each other, the screw 31 is screwed into the object 20.
[0066] In the embodiment examples of FIGS. 2 to 6, it may be provided that the movement of the rotor 10 and the processing element 100 relative to each other is also controlled by the controller 8 shown in FIG. 1 and corresponding control commands are output to the stator assembly 2 or the processing element 100. In an embodiment example, these control commands for energizing the coil groups 4 during the rotational movement may be output on the basis of a closed-loop control. With the aid of the closed-loop control, torques and/or angular momentums may further be taken into account during the helical movement, wherein a maximum torque and/or a maximum angular momentum are predetermined. Optionally, it may be provided that a rotation of the rotor 10 is stopped when the maximum torque is reached. In particular, this allows for the lid 22 to be screwed onto the can 21 with a predetermined torque or the screw 31 to be screwed into the further object 32 with a predetermined torque.
[0067] FIG. 7 shows a side view of a further planar drive system 1 in which the processing element 100 comprises a labeling element 101. The object 20 comprises a bottle 24 with a lid 22, and the lid 22 may have been screwed onto the bottle 24 in a manner analogous to the method described in FIGS. 2 to 5. The labeling element 101 is used to apply a label to the bottle 24, or to the object 20. In this regard, it may be provided that a label is transferred from the labeling element 101 to the bottle 24 while the bottle 24 is completely rotated once together with the rotor 10. During the rotation of the rotor 10, a processing of the object 20 by the labeling element 101, i.e. by the processing element 100, takes place by transferring a label onto the bottle 24.
[0068] As an alternative to the method shown in FIG. 7, it may also be provided that a label is transferred to a can 21 with the aid of the labeling element 101, wherein the can may be embodied analogously to FIGS. 2 to 5. Furthermore, the can 21 may also comprise an alternative can closure instead of a screw cap, and still be labeled with the aid of the labeling element 21. The same applies in principle to the bottle 24, which may e.g. not be embodied with a lid 22 that may be screwed on, but may likewise have a lid 22 in the form of a crown cork or another closure.
[0069] FIG. 8 shows a top view of the planar drive system 1 of FIG. 7. The processing element 100, i.e. the labeling element 101, comprises a label roll holder 102 and an unwinding device 103. A label is transferred from the label roll 102 to the object arranged on the rotating rotor 10, i.e. the bottle 24. This may e.g. be carried out by the unwinding device 103 pressing the label onto the bottle 24, thereby transferring it from the label roll holder 102 to the bottle 24.
[0070] FIG. 9 shows a top view of a further planar drive system 1. In this embodiment, the processing element 100 comprises a laser 110. The laser 110 may irradiate a surface of the object 20 and thereby change it. Thus, a laser radiation 111 emanates from the laser 110 and impinges on the object 20. For example, the laser radiation 111 may be arranged for laser engraving or laser marking of the object 20. The processing element 100 further comprises an optional laser control 112 for activating and deactivating the laser 110.
[0071] FIG. 10 shows a side view of the planar drive system 1 of FIG. 9, showing that the processing element 100 and/or the rotor 10 may be moved along a direction of movement 14 parallel to the axis of rotation 13. Furthermore, it may be provided that the rotor 10 is tilted so that the axis of rotation 13 is no longer perpendicular to the stator surface 5. With the aid of the laser radiation 111, a barcode 25 is thereby generated on the object 20. In this case, the object 20 is not shown as round, as in the previous embodiment examples. The corresponding generation of the barcode may therefore also be carried out for non-round objects 20. In this case, for each line of the barcode 25, the rotor 10 and/or the processing element 100 is moved in parallel to the axis of rotation 13, and after completion of each line of the barcode 25, the object 20 is further rotated. Alternatively, it may be provided that object is completely rotated once while the laser 110 is turned on and off by the laser control 112, generating one line of barcode at a time. This corresponds to an embodiment example in which the laser control 112 of the laser 110 is arranged to activate and deactivate the laser 110, wherein an activation sequence is determined based on information obtained by the rotation of the rotor 10 and a movement of the laser along the rotational axis 13 and image information, and the laser 110 is activated and deactivated based on the activation sequence. This provides an efficient method for laser marking or laser engraving of the object 20.
[0072] FIG. 11 shows a side view of a further planar drive system 1 for processing an object 20. In this embodiment, the object 20 comprises a vessel 26 with a liquid 27. The processing element 100 comprises a stirring spatula 120, which is immovable in a perpendicular direction with regard to the axis of rotation 13 and is arranged directly above the rotational position 7. In parallel to the axis of rotation 13, the stirring spatula 120 may be moved along the direction of movement 14 and immersed in the liquid 27. FIG. 11 shows the stirring spatula 120 above the vessel 26, with the rotor 10 already moved to the rotational position 7, but not yet rotated.
[0073] FIG. 12 shows a side view of the planar drive system 1 of FIG. 11, after the stirring spatula 120 has been immersed in the liquid 27 and a rotation of the rotor 10 has been started. Due to the position of the stirring spatula 120 in the liquid 27, a processing of the liquid 27 may be carried out with the aid of the rotor rotation by stirring the liquid 27 with the aid of the stirring spatula 120.
[0074] FIG. 13 shows a side view of a further planar drive system 1 for processing an object 20. A milling head 40 is arranged on the rotor 10. The processing element 100 holds the object 20 with the aid of an object holder 130. The rotor 10 may be rotated about the rotational axis 13 in a rotational position 7, as previously described. As a result, the milling head 40 rotates, as well, wherein milling of the object 20 is possible with the aid of the milling head 40. Thereby, a rotational speed of the rotor 10 may be controlled. The processing element 100 may be moved in parallel and perpendicular with regard to the stator surface 5, as a result of which various milling patterns may be generated.
[0075] Furthermore, the rotor 10 may also be tilted from the vertical so that the axis of rotation 13 is no longer perpendicular to the stator surface 5. This allows for milling patterns with angled milling edges.
[0076] FIG. 14 shows a side view of a further planar drive system 1 for processing an object 20. The object 20 is arranged on the rotor 10. A processing element 100 is configured as a cutting tool 140, for example as a turning tool. The processing tool 140 may be moved in parallel and perpendicular with regard to the stator surface 5. By rotating the rotor 10, the object 20 may be processed as on a lathe when the processing tool 140 is brought into contact with the object 20.
