Modular electromagnetic actuator for positioning movements along a curved movement path

Abstract

The present invention relates to an electromagnetic actuator for positioning movements along a curved movement path, in particular a circular path. In order to be able to be used more in a more versatile way than known solutions, the actuator according to the invention comprises: a. at least one magnet module (2a, 2b) which has a magnetic gap; b. at least one coil module (3a, 3b) which has a solenoid coil; c. a magnet carrier (4) which has a plurality of magnet module couplings (4a, 4b) for being coupled to each magnet module (2a, 2b); and d. a coil carrier (5) which is movable, in particular rotatable, relative to the magnet carrier (4) and has a plurality of coil module couplings (5a, 5b) for being coupled to each coil module (3a, 3b). The modules (2a, 2b; 3a, 3b) can be coupled to the module couplings (4a, 4b) in such a way that the solenoid coil of a coil module (3a, 3b) coupled to a coil module coupling (5a, 5b) is arranged in the magnetic gap of a magnet module (2a, 2b) coupled to an associated magnet module coupling (4a, 4b), so that when an electric current is applied to this solenoid coil, the coil carrier (5) moves along the movement path (B) relative to the magnet carrier (4) due to a magnetic force acting between the magnet module (2a, 2b) and the coil module (3a, 3b).

Description

[0001] Modular electromagnetic actuator for positioning movements along a curved path

[0002] The present invention relates to an electromagnetic actuator for positioning movements along a curved movement path, in particular a circular path.

[0003] A rotary actuator with a multitude of stacked coil and magnet segments is known, among other things, from CN113422492B. The coils are conventionally wound in a cake shape and adhesively attached to a common, partially circular coil carrier to form a rotary drive with a limited stroke in combination with circular segment-shaped magnets.

[0004] An actuator with conventionally wound coils is significantly more expensive, especially for high-volume production. Current actuators do not allow for easy scalability. Conventionally wound coils have low planar stiffness. The position of the copper wire in the coil winding has high tolerances.

[0005] The present invention is based on the object of improving an electromagnetic actuator of the type mentioned above in such a way that it is more cost-effective and versatile than the solutions known from the prior art.

[0006] To achieve this object, the present invention provides the electromagnetic actuator according to claim 1.

[0007] Disclosed is an electromagnetic actuator for positioning movements along a curved movement path, in particular a circular path, comprising: at least one magnet module with a magnetic gap; at least one coil module with a magnetic coil; a magnet carrier with a plurality of magnet module couplings for coupling to a respective magnet module; a coil carrier movable, in particular rotatable, relative to the magnet carrier and having a plurality of coil module couplings for coupling to a respective coil module, wherein the modules can be coupled to the module couplings in such a way that the magnetic coil of a coil module coupled to a coil module coupling is arranged in the magnetic gap of a magnet module coupled to an associated magnet module coupling, such that when an electric current is applied to this magnet coil, the coil carrier moves along the movement path relative to the magnet carrier due to a magnetic force acting between the magnet module and the coil module.

[0008] The actuator according to the invention has a modular design as a kit. The modules can preferably be detachably coupled to the magnet carrier or the coil carrier via module couplings. The actuator can therefore be equipped with the desired modules and configured for a specific application. With a detachable coupling of the modules to the module couplings, the number of modules and / or the module arrangement can be subsequently changed. By relocating the modules or changing the number of modules, the travel of the actuator along the movement path or the drive force generated by the actuator along the movement path can be individually adjusted. The use of the modules and the provision of several module couplings considerably reduce manufacturing costs. Scaling the drive, i.e. increasing the torque, is easily achieved by coupling additional modules via the available module couplings.The modules preferably have a high stiffness in the planar plane, which has a positive effect on the overall stiffness of the actuator.

[0009] Advantageous further training is subject to dependent claims.

[0010] It can be advantageous if the magnet modules and magnet module couplings have uniform interfaces, so that each magnet module can be coupled to any magnet module coupling, and / or if the coil modules and coil module couplings have uniform interfaces, so that each coil module can be coupled to any coil module coupling, wherein preferably each magnet module is identically designed and / or each coil module is identically designed. This means that the actuator requires a minimal number of different components. By relocating or changing the number of magnet modules and / or coil modules, the actuator can be particularly easily configured for specific applications.

[0011] It can prove useful if the magnet carrier has a housing or is designed as a housing, wherein preferably each magnet module coupled to the magnet carrier is arranged inside the housing, wherein particularly preferably each magnet module coupling is designed in a slot-shaped or pocket-shaped receptacle in a housing wall. In this design, the magnet carrier also fulfills the function of a protective housing in which the magnet modules can be accommodated safely and protected from environmental influences. The use of magnetic steel as the housing material is advantageous because it allows the modules accommodated inside to be shielded from magnetic influences from the environment. Plastics are also conceivable as the housing material, from which even more complex geometries can be realized relatively easily, for example by means of an injection molding or an additive process (e.g. 3D printing).Particularly when using Halbach arrays for permanent magnet arrangements of the magnet modules, other non-magnetic materials can be used as the housing material. The housing preferably has a plurality of slots, to whose side walls (webs) one or more magnet modules are attached. The magnet carrier can either be made from a solid block or be assembled modularly from several segments. It can be helpful if the coil carrier is arranged movable, in particular rotatably, in the housing, wherein the coil carrier is preferably designed as a shaft rotatably mounted in the housing, wherein each coil module coupled to the coil carrier is preferably arranged inside the housing. The rotatable arrangement of the coil carrier makes it possible to create a rotary actuator. The coil carrier, with the coil modules coupled to it, can be accommodated securely in the housing, protected from environmental influences.The mounting of the coil carrier relative to the magnet carrier is preferably achieved via solid-state joints or solid-state rotary joints, by means of rolling elements, air bearings, magnetic bearings, or the like. The coil carrier can be designed as a solid component or be modularly assembled from individual segments, each with a coil carrier. The coil carrier is preferably rotatably mounted via a shaft bearing.

[0012] It may be useful for the housing to have a cover through which the coil carrier can be inserted or removed. The cover facilitates assembly and disassembly of the coil carrier and securely locks the coil carrier in the housing when closed.

[0013] It can be practical if the magnet carrier or the coil carrier has a lever in order to transmit the magnetic force generated between the magnet module and the coil module to an element to be driven, preferably by stepping up or down, wherein the lever preferably protrudes from the housing, wherein particularly preferably a radial dimension of the lever with respect to a rotational axis of the coil carrier relative to the magnet carrier is larger or smaller than the radial dimension of the coil module coupled to the coil carrier or the radial dimension of a center of gravity of the respective magnet coil. The lever is preferably located on the rotating component, i.e. the rotor. Due to its lower mass, the coil carrier preferably forms the rotor and the magnet carrier the stator. However, it is fundamentally also possible for the magnet carrier to form the rotor and have the lever.The lever allows the magnetic force generated between the magnet module and the coil module to be transferred particularly effectively to a driven element. The torque acting on the lever (input torque) is approximately calculated from the product of the radius of the area center of gravity of the respective magnetic coil and the magnetic force generated or acting on it. The force acting on the driven element is the quotient of the input torque (dividend) and the lever arm (dividend). By adjusting the length of the lever arm, the drive force acting on the driven element can be increased or decreased. The lever can be aligned parallel to the coil modules (see Fig. 1). However, it is also possible for the lever to be located diametrically opposite the magnet carrier with respect to a rotational axis of the coil carrier (see Fig. 3).This is particularly advantageous when the coil modules are protected within the housing and the lever protrudes from the housing to actuate a driven element. Preferably, the length of the lever arm is adjustable or the lever is interchangeably mounted on the magnet carrier or the coil carrier.

[0014] It can prove advantageous if at least one of the magnet modules has two preferably part-circular permanent magnet arrangements that are arranged opposite one another in pairs to form the magnetic gap, wherein each permanent magnet arrangement is preferably designed as a Halbach array, wherein the Halbach arrays are particularly preferably arranged such that the magnetic flux is amplified within the magnetic gap and weakened outside the magnetic gap. The permanent magnet arrangements can generate a magnetic field that is largely constant within the magnetic gap. This promotes a homogeneous drive force over the entire stroke or adjustment path of the actuator along the movement path. The Halbach array design allows the magnetic force to be concentrated particularly well on the magnetic gap. Each magnet module preferably consists of the opposing permanent magnet arrangements and a structure, e.g.made of iron, to which the permanent magnet arrangements are attached.

[0015] It can be useful if at least one of the coil modules has a preferably circular segment-shaped circuit board or is designed as such, wherein the magnetic coil is preferably designed as an etched conductor track of this circuit board and thus integrated into the circuit board, wherein the circuit board is preferably multi-layered and particularly preferably has several layers, each with at least one etched conductor track, in order to form one or more, in particular parallel, magnetic coils. This makes it possible to generate conductor tracks with varying widths and very effective use of the circuit board area, and the design of the circuit board and thus of the coil modules can be extremely compact. Furthermore, the position and spacing of the individual etched conductor tracks relative to one another are much more defined and subject to much smaller tolerances than with wound coils.

[0016] It can be practical if the solenoid coil has three interconnected and electrically isolated conductor tracks, so that a 3-phase control of the solenoid coil is possible.

[0017] It can be helpful if at least two of the magnet module couplings or at least two of the coil module couplings are spaced apart from each other along the movement path or in the circumferential direction relative to a rotational axis of the coil carrier relative to the magnet carrier. This makes it possible to couple the modules to the respective carriers in selected (angular) ranges along the movement path in which a drive of a driven element is desired. By arranging several magnet modules or coil modules adjacent to each other along the movement path, the actuator's travel range along the movement path can be extended.

[0018] It can prove useful to arrange the magnetic coils of two coil modules coupled to the coil carrier in the magnetic gap of the same magnetic module coupled to the magnetic carrier. This also allows the actuator's travel along the path of motion to be extended. In addition, the magnetic force acting between the magnetic carrier and the coil carrier can be increased.

[0019] It can be useful if at least two of the magnet module couplings or at least two of the coil module couplings are spaced apart from the magnet carrier transversely to the movement path or along a rotational axis of the coil carrier. This allows multiple magnet modules and multiple coil modules to be coupled parallel to each other to the respective carriers, significantly increasing the magnetic force acting between the magnet carrier and the coil carrier.

[0020] It may be advantageous if the magnet carrier is coupled to a plurality of magnet modules or the coil carrier is coupled to a plurality of coil modules, wherein the modules are preferably arranged symmetrically to one another, preferably with respect to a plane of symmetry oriented perpendicular to the axis of rotation or a plane of symmetry enclosing the axis of rotation. This allows a particularly uniform drive force to be generated.

[0021] It may prove helpful if the actuator has at least one weight compensation device. The weight compensation device generates a torque that counteracts a torque applied to the coil carrier, resulting from its own weight and a payload to be moved by the coil carrier. The weight compensation device is preferably designed as a magnetic constant-force spring. Preferably, several weight compensation devices are arranged in parallel between the magnet carrier and the coil carrier. This allows the coil carrier to be positioned in a desired starting position relative to the magnet carrier.

[0022] It may be useful for the actuator to have a device for determining the position of the coil carrier relative to the magnet carrier, with the position determination device preferably being arranged within the housing. This results in a particularly compact or integral design, which simultaneously protects the position determination device from external influences. The position determination device preferably comprises an encoder (or rotary encoder or pulse generator) which converts the (angular) position of the coil carrier relative to the magnet carrier into a binary code. The position determination device can be connected to a controller which also supplies the magnetic coil(s) with power and thus controls a drive movement of the actuator. The stroke / travel of the actuator is preferably limited to an angular range of up to 90°, preferably up to 60° or 45°, in each case measured from one end position to the other.Within this stroke / travel, the drive force is preferably constant within a tolerance range of + / - 10%, preferably + / - 5%. The drive force of the actuator is preferably in the range of 0 to 10 N. The actuator described represents a complete positioning system that includes a position encoder and can thus be modularly combined with other actuators to create serial and parallel kinematic positioning systems.

[0023] It may be advantageous if the actuator has a device for acquiring and processing measurement or operating data relevant to the actuator's condition. This device is designed to continuously acquire and process the measurement or operating data during the actuator's operation and optionally link them together so that an image of the actuator's condition can be derived from it. From this image of the actuator's condition, any necessary actions, such as replacing actuator bearings due to wear, can be identified.

[0024] A further aspect of the present invention relates to a parallel kinematic positioning device, comprising at least one actuator according to one of the preceding claims, for driving a movable positioning unit relative to a base.

[0025] It may be advantageous if this parallel kinematic positioning device is designed as a tripod or hexapod, and three or six leg elements of fixed length are arranged between the base and the movable positioning unit in the form of a platform. The end of each leg element facing away from the platform is pivotally connected to the actuator lever, and the end of each leg element facing the platform is pivotally connected to the platform. Such a positioning device has a particularly compact design.

[0026] Further advantageous developments result from any combination of the features disclosed in the claims, the figures and the description.

[0027] Terms and definitions

[0028] In the context of the present invention, a magnetic coil is understood to be a conductor loop that generates a force when current is flowing through it and arranged in a permanent magnetic field. This force is proportional to the magnetic field strength and the current. Reversing the current direction also changes the direction of the force. This makes it possible to realize bidirectional actuators with identical behavior in both operating directions. A hexapod is a special type of parallel kinematic machine that has a base, a positioning unit, and six legs that can be moved between the base and the positioning unit.

[0029] The conjunction 'or' used herein should - unless explicitly stated otherwise - be understood as a non-exclusive disjunction or as an inclusive or

[0030] Short description of the characters:

[0031] They show:

[0032] Fig. 1: a side view of an actuator according to the invention according to a first embodiment.

[0033] Fig. 2: an isometric view of an actuator according to the invention according to a second embodiment in the assembled state.

[0034] Fig. 3: a perspective exploded view of the actuator according to Fig. 2.

[0035] Fig. 4: an isometric view of a hexapod with the actuators from Fig. 2.

[0036] Fig. 5: a side view of the hexapod from Fig. 4.

[0037] Detailed description of the preferred embodiments

[0038] The preferred embodiments of the invention are described in detail below with reference to the accompanying figures.

[0039] Fig. 1 shows a side view of an actuator 1 according to the invention. It is an electromagnetic actuator 1 for positioning movements along a curved movement path in the form of a circular path B. The actuator 1 comprises a magnet carrier 4 with a plurality of magnet module couplings 4a, 4b and a plurality of magnet modules 2a, 2b detachably coupled thereto, each having a magnetic gap. In addition, the actuator 1 comprises a coil carrier 5 rotatable relative to the magnet carrier 4 about a rotation axis X, with a plurality of coil module couplings 5a, 5b and a plurality of coil modules 3a, 3b detachably coupled thereto, each having a magnetic coil.The magnetic coil of each coil module 3a, 3b coupled to a coil module coupling 5a, 5b is arranged in the magnetic gap of a magnetic module 2a, 2b coupled to an associated magnetic module coupling 4a, 4b such that when an electric current is applied to this magnetic coil, the coil carrier 5 moves along the movement path B relative to the magnetic carrier 4 or rotates about the rotation axis X due to a magnetic force acting between the magnetic module 2a, 2b and the coil module 3a, 3b.

[0040] In the embodiment shown in Fig. 1, the coil carrier 5 has a lever 8, which is aligned approximately parallel to the coil modules 3a, 3b with respect to the rotational axis X, in order to transmit this magnetic force to a driven element (not shown). The radial length of the lever 8 relative to the rotational axis X is greater than a radius of the center of gravity of the magnetic coils of the magnetic modules 2a, 2b, on which a vector of the magnetic force acts approximately. In this embodiment, the drive force of the actuator 1 is reduced by the lever 8.

[0041] In the actuator 1 according to Figs. 2 and 3, which is also depicted in Figs. 4 and 5, the lever 8 is arranged diametrically opposite the coil modules 3a, 3b relative to the magnet carrier 4 with respect to the rotational axis X of the coil carrier 5. The magnet carrier 4 is designed as a housing made of magnetic steel. Each magnet module 2a, 2b coupled to the magnet carrier 4 is located inside the housing in a slot- or pocket-shaped receptacle in a housing wall, which serves as a magnet module coupling 4a, 4b.

[0042] The coil carrier 5 is designed as a shaft rotatably mounted in the housing by means of rolling bearings and, together with all the coil modules 3a, 3b coupled to it, is also arranged inside the housing. The coil carrier can also be mounted using flexure joints; air or magnetic bearings are also conceivable. The coil carrier 5 primarily serves to generate torque via the coils or coil modules 3a, 3b coupled to it. In addition, the coil carrier 5 includes a scale for position measurement. The lever 8 attached to the coil carrier 5 primarily serves to connect a payload to be moved or positioned to a predetermined force application point. A weight force compensation device 6 coupled to the magnetic carrier 4 and the coil carrier 5 serves to compensate for the torque acting on the coil carrier 5, which results from the dead weight of the coil carrier and the payload acting on the coil carrier 5.This device 6 for weight force compensation is designed, for example, as a magnetic constant force spring.

[0043] The housing comprises a cover 7, through which the coil carrier 5 can be inserted into the housing for assembly or removed from the housing for disassembly. When the cover 7 is closed, the lever 8 protrudes from the housing through an opening in this cover 7. Unlike in the exemplary embodiment according to Fig. 1, the lever arm (R1) in the exemplary embodiment according to Figs. 2 and 3 is shorter than a radius (R2) of the center of gravity of the magnetic coils of the magnetic modules 2a, 2b. Accordingly, the driving force generated by the actuator 1 is translated in this exemplary embodiment, specifically in the ratio R2 / R1.

[0044] In the perspective exploded view according to Fig. 3, it is clearly visible that the magnet modules 2a, 2b and the magnet module couplings 4a, 4b have uniform interfaces. This allows each magnet module 2a, 2b to be coupled to any magnet module coupling 4a, 4b. Likewise, the coil modules 3a, 3b and the coil module couplings 5a, 5b have uniform interfaces. Accordingly, each coil module 3a, 3b can be coupled to any coil module coupling 5a, 5b. Ideally, all magnet modules 2a, 2b are identical, and all coil modules 3a, 3b are identical, so that a minimal number of different components is required to construct the actuator 1.

[0045] Depending on the intended use and application of actuator 1, modules 2a, 2b; 3a, 3b can be coupled with different module couplings 4a, 4b; 5a, 5b. This allows actuator 1 to be configured differently and individually with the same modules 2a, 2b; 3a, 3b in terms of stroke or travel, working (angle) range, and drive force.

[0046] Each of the magnet modules 2a, 2b comprises two semi-circular permanent magnet arrangements, designed as a Halbach array, positioned opposite each other in pairs to form the magnetic gap. This arrangement increases the magnetic flux within the magnetic gap while decreasing it outside the magnetic gap.

[0047] Each of the coil modules 3a, 3b is designed as a circular segment-shaped, multilayer circuit board. The magnetic coil forms a component of this circuit board as an etched conductor track and is thus integrated into the circuit board. Each layer of the circuit board can have an etched conductor track to form one or more, particularly parallel, magnetic coils.

[0048] In an advantageous embodiment, the magnetic coil has three interconnected and electrically isolated conductor tracks, so that a 3-phase control of the magnetic coil is possible.

[0049] In a modification of the actuator 1 (not shown), two magnet module couplings 4a, 4b and / or at least two of the coil module couplings 5a, 5b are spaced apart from one another along the movement path B or in the circumferential direction with respect to a rotational axis X of the coil carrier 5 relative to the magnet carrier 4. By coupling the modules 2a, 2b; 3a, 3b with different module couplings 4a, 4b; 5a, 5b along the movement path B, the operating angle range of the actuator 1 can be changed, for example.

[0050] To increase the driving force of the actuator 1, the magnetic coils of two coil modules 3a, 3b coupled to the coil carrier 5 can be arranged in the magnetic gap of the same magnetic module 2a, 2b coupled to the magnetic carrier 4.

[0051] 2 and 3, two magnet module couplings 4a, 4b and two coil module couplings 5a, 5b are spaced apart from one another along the rotation axis X of the coil carrier 5 relative to the magnet carrier 4, i.e., they are aligned parallel to one another with respect to the rotation axis X. The magnet carrier 4 is coupled to two magnet modules 2a, 2b, and the coil carrier 5 is coupled to two coil modules 3a, 3b. The modules 2a, 2b; 3a, 3b are arranged symmetrically to one another with respect to a plane of symmetry aligned orthogonal to the rotation axis X. In addition to the carriers 4, 5 and the modules 2a, 2b; 3a, 3b coupled thereto, the actuator 1 has a device 6 for weight force compensation, designed as a magnetic constant force spring. This device 6 generates a torque that counteracts a torque applied to the coil carrier 5, resulting from its own weight and payload.Depending on the magnitude of the weight force to be compensated, several such weight force compensation devices 6 can be arranged in parallel between the magnet carrier 4 and the coil carrier 5 in order to set a desired compensation torque.

[0052] In addition, the actuator 1 comprises a device for determining the position of the coil carrier 5 relative to the magnet carrier 4, which is advantageously arranged within the housing.

[0053] The actuator according to the invention is designed for use in a parallel kinematic positioning device 10 for driving a movable positioning unit 12 relative to a base 11.

[0054] Such a parallel kinematic positioning device 10, designed as a hexapod, is shown in Figs. 4 and 5. Six leg elements 13 of fixed length are arranged between the base 11 and the movable positioning unit 12 in the form of a platform. The end of each leg element 13 facing away from the platform is pivotally connected to the lever 8 of the actuator 1. The end of each leg element 13 facing toward the platform, however, is pivotally connected to the platform.

[0055] The general idea of ​​the invention can be summarized as follows:

[0056] The electromagnetic actuator 1 disclosed herein is designed for actuating / positioning movements along a circular path B (i.e., rotational) and comprises a plurality of partially circular multilayer printed circuit boards or coil modules 3a, 3b containing copper coils, as well as corresponding partially circular magnets or magnet modules 2a, 2b, which are arranged on a magnet carrier 4 such that a multilayer printed circuit board 3a, 3b is arranged between each two adjacent and opposite magnets 2a, 2b. The multilayer printed circuit boards 3a, 3b are connected to a rotatable shaft, which represents a coil carrier 5. Particular emphasis is placed on the modularity of the actuator 1, according to which a number of individual drives can be combined as required depending on the application, thus enabling scaling of the actuator 1 with regard to the effective torque on the shaft.Due to a stack arrangement, only the height varies with this scaling, but not the other dimensions of the actuator.

[0057] Optionally, the number of magnets or magnet modules 2a, 2b per subunit can be varied depending on the required travel. Optionally, a lever 8 is mounted on the shaft for increasing or decreasing the circular movement. The position of the lever 8 can be measured directly via an encoder or a device for determining the position of the coil carrier 5 relative to the magnet carrier 4.

[0058] The preferred application of the actuator 1 is its use as a drive in a lever-based, parallel kinematic positioning system in the form of a hexapod 10.

[0059] The actuator 1 according to the invention is designed for this purpose and is based on coil modules 3a, 3b in the form of printed circuit boards (PCBs) with integrated coils in a "pie-shaped configuration." Three distinguishable and electrically isolated coils are nested within the PCB, allowing for 3-phase control in a very compact design. While such nesting with conventionally wound coils is also possible, it requires significantly more effort and does not achieve the same level of compactness. Consequently, an actuator with conventionally wound coils would have to be built larger. Voice coil drives with PCB-integrated coils or conventionally wound coils are also conceivable. However, a comparably compact design is not possible here either.

[0060] The PCBs with the coils rotate a maximum of less than one full revolution. Depending on the actuator's intended travel, the angle can be significantly smaller to keep the actuator's dimensions compact.

[0061] The kitchen-piece-shaped coils or coil modules 3a, 3b are arranged in parallel. Depending on the torque required by actuator 1, any number of coils or coil modules 3a, 3b can be combined in parallel. Each coil has two magnet arrays, which together form a magnet module 2a, 2b.

[0062] Parallel to the magnet modules 2a, 2b and coil modules 3a, 3b, a device 6 for weight force compensation, e.g., in the form of a magnetic constant-force spring, is integrated into the actuator 1. This generates a torque that counteracts the resulting weight of the coil carrier and a payload to be moved or positioned with the coil carrier. A parallel arrangement of several weight force compensation devices 6 is conceivable (depending on the torque requirement). Preferably, a scale for position measurement, a device for torque generation (coils), a lever for connecting a payload to be moved or positioned, and a weight force compensation device are combined in a single unit, the coil carrier 5.

[0063] Further modifications of the embodiments are possible within the scope of the appended claims.

[0064] I Electromechanical actuator

[0065] 2a, 2b magnetic module (Hallbach array)

[0066] 3a, 3b Coil module (multilayer circuit board)

[0067] 4 magnet carrier or stator (housing)

[0068] 4a, 4b Magnetic module coupling

[0069] 4c mount for weight compensation

[0070] 5 Coil carrier or rotor (shaft)

[0071] 5a, 5b Coil module coupling

[0072] 5c Coupling for weight compensation

[0073] 6 Weight force compensation

[0074] 7 Cover (screwing plate)

[0075] 8 booms (levers)

[0076] 10 Hexapod

[0077] II Basis

[0078] 12 Movable platform

[0079] 13 hexapod legs

[0080] B Movement path

[0081] X axis of rotation

Claims

Claims 1. An electromagnetic actuator (1) for positioning movements along a curved movement path (B), in particular a circular path, comprising: a. At least one magnet module (2a, 2b) with a magnetic gap. b. At least one coil module (3a, 3b) with a magnetic coil. c. A magnet carrier (4) with a plurality of magnet module couplings (4a, 4b) for coupling to a respective magnet module (2a, 2b). d. A coil carrier (5) movable, in particular rotatable, relative to the magnet carrier (4) and having a plurality of coil module couplings (5a, 5b) for coupling to a respective coil module (3a, 3b).wherein the modules (2a, 2b; 3a, 3b) can be coupled to the module couplings (4a, 4b) in such a way that a magnetic coil of a coil module (3a, 3b) coupled to a coil module coupling (5a, 5b) is arranged in the magnetic gap of a magnetic module (2a, 2b) coupled to an associated magnetic module coupling (4a, 4b), so that when an electric current is applied to this magnetic coil, the coil carrier (5) moves along the movement path (B) relative to the magnetic carrier (4) due to a magnetic force acting between the magnetic module (2a, 2b) and the coil module (3a, 3b).

2. Actuator (1) according to the preceding claim, characterized in that the magnet modules (2a, 2b) and magnet module couplings (4a, 4b) have uniform interfaces, so that each magnet module (2a, 2b) can be coupled to any magnet module coupling (4a, 4b) or that the coil modules (3a, 3b) and coil module couplings (5a, 5b) have uniform interfaces, so that each coil module (3a, 3b) can be coupled to any coil module coupling (5a, 5b), wherein preferably each magnet module (2a, 2b) is designed identically or each coil module (3a, 3b) is designed identically.

3. Actuator (1) according to one of the preceding claims, characterized in that the magnet carrier (4) has a housing or is designed as a housing, preferably made of magnetic steel or plastic, wherein preferably each magnet module (2a, 2b) coupled to the magnet carrier (4) is arranged in the interior of the housing, wherein particularly preferably each magnet module coupling (4a, 4b) is designed in a slot-shaped or pocket-shaped receptacle in a housing wall.

4. Actuator (1) according to the preceding claim, characterized in that the coil carrier (5) is arranged movable, in particular rotatably, in the housing, wherein the coil carrier (5) is preferably designed as a shaft rotatably mounted in the housing wherein each coil module (3a, 3b) coupled to the coil carrier (5) is preferably arranged inside the housing.

5. Actuator (1) according to the preceding claim, characterized in that the housing has a cover (7) through which the coil carrier (5) can be inserted into the housing or removed from the housing.

6. Actuator (1) according to one of the preceding claims, characterized in that the magnet carrier (4) or the coil carrier (5) has a lever (8) in order to transmit the magnetic force generated between the magnet module (2a, 2b) and the coil module (3a, 3b) to an element to be driven (13), preferably by stepping up or stepping down, wherein the lever (8) preferably protrudes from the housing, wherein particularly preferably a radial dimension of the lever (8) with respect to an axis of rotation (X) of the coil carrier (5) relative to the magnet carrier (4) is greater or smaller than the radial dimension of the coil module (3a, 3b) coupled to the coil carrier (5) or the radial dimension of a center of gravity of the respective magnet coil.

7. Actuator (1) according to one of the preceding claims, characterized in that at least one of the magnet modules (2a, 2b) has two preferably part-circular permanent magnet arrangements which are arranged opposite one another in pairs to form the magnetic gap, wherein each permanent magnet arrangement is preferably designed as a Halbach array, wherein the Halbach arrays are particularly preferably arranged such that the magnetic flux is amplified within the magnetic gap and weakened outside the magnetic gap.

8. Actuator (1) according to one of the preceding claims, characterized in that at least one of the coil modules (3a, 3b) has a preferably circular segment-shaped circuit board or is designed as such, wherein the magnetic coil is preferably designed as an etched conductor track of this circuit board and is thus integrated into the circuit board, wherein the circuit board is preferably multi-layered and particularly preferably has several layers, each with at least one etched conductor track, in order to form one or more, in particular parallel, magnetic coils.

9. Actuator (1) according to the preceding claim, characterized in that the magnetic coil has three interconnected and electrically insulated conductor tracks, so that a 3-phase control of the magnetic coil is possible.

10. Actuator (1) according to one of the preceding claims, characterized in that at least two of the magnet module couplings (4a, 4b) or at least two of the coil module couplings (5a, 5b) along the movement path (B) or in the circumferential direction are spaced apart from one another with respect to an axis of rotation (X) of the coil carrier (5) relative to the magnet carrier (4).

11. Actuator (1) according to the preceding claim, characterized in that the magnetic coils of two coil modules (3a, 3b) coupled to the coil carrier (5) are arranged in the magnetic gap of the same magnetic module (2a, 2b) coupled to the magnetic carrier (4).

12. Actuator (1) according to one of the preceding claims, characterized in that at least two of the magnet module couplings (4a, 4b) or at least two of the coil module couplings (5a, 5b) are spaced apart from one another transversely to the movement path (B) or along an axis of rotation (X) of the coil carrier (5) relative to the magnet carrier (4).

13. Actuator (1) according to the preceding claim, characterized in that the magnet carrier (4) is coupled to a plurality of magnet modules (2a, 2b) or the coil carrier (5) is coupled to a plurality of coil modules (3a, 3b), wherein the modules (2a, 2b; 3a, 3b) are preferably arranged symmetrically to one another, preferably with respect to a plane of symmetry oriented perpendicular to the axis of rotation (X) or a plane of symmetry enclosing the axis of rotation (X).

14. Actuator (1) according to one of the preceding claims, characterized in that the actuator (1) has at least one device for weight force compensation, wherein the device for weight force compensation generates a torque which counteracts a torque applied to the coil carrier (5), resulting from its own weight and a payload, wherein the device for weight force compensation is preferably designed as a magnetic constant force spring, wherein preferably several devices for weight force compensation are arranged in parallel between the magnet carrier (4) and the coil carrier (5).

15. Actuator (1) according to one of the preceding claims, characterized in that the actuator (1) has a device for determining the position of the coil carrier (5) relative to the magnet carrier (4), wherein the device for determining the position is preferably arranged within the housing.

16. Actuator (1) according to one of the preceding claims, characterized in that the actuator (1) has a device for recording and processing measurement or operating data relevant to the state of the actuator (1), which device is designed to record and process the measurement or operating data during the operation of the actuator (1) and optionally to link them together, so that an image of the state of the actuator (1) can be derived therefrom.

17. Parallel kinematic positioning device (10), comprising at least one actuator (1) according to one of the preceding claims, for driving a movable positioning unit (12) relative to a base (11).

18. Parallel kinematic positioning device (10) according to the preceding claim, characterized in that it is designed as a tri- or hexapod and three or six leg elements of fixed length are arranged between the base (11) and the movable positioning unit (12) in the form of a platform, wherein the respective end of a leg element facing away from the platform is articulated to the lever (8) of the actuator (1), and the respective end of a leg element facing the platform is articulated to the platform.

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