Stator module and planar drive system

Abstract

A stator module (3) for electromagnetically driving a rotor (2) in a planar drive system (1) comprises a stator plate (31), a power unit (32) having at least one circuit card (321) which projects downward, in particular vertically downward, from the underside (313) of the stator plate, a feedback circuit board (33) in which a feedback circuit board passage grid (336) is provided, a box-shaped cooling unit (34) having a heat-conducting plate (341) which has a projecting, encircling frame (344), wherein a heat-conducting plate accommodation grid (346) is provided in the heat-conducting plate (341).

Description

Technical Field

[0001] This invention relates to a stator module of a planar drive system and a planar drive system having a stator module. Background Technology

[0002] This patent application claims priority to German patent application 10 2023 131 529.3, the disclosure of which is incorporated herein by reference.

[0003] Planar drive systems are particularly used in automation technology to enable the movement of movable elements of equipment or machines in at least two linear, independent directions. A planar drive system may include a permanent magnet planar motor, which comprises a stator having a planar surface and a rotor capable of moving in two directions on the surface.

[0004] In an electromagnetic planar electric motor, the driving force on the rotor is generated by conductors fixedly arranged on the stator and through which a driving current flows. These conductors interact with driving magnets arranged on the rotor. To generate the driving current required for the rotor's motion, the stator typically has one or more current generating units.

[0005] To detect the rotor's position on the stator, a planar drive system may include a position detection unit arranged on the stator, which interacts with the rotor. This interaction can be achieved, for example, magnetically using a magnetic field sensor and magnets arranged on the rotor. To accurately determine the rotor's position, the interaction between the rotor and the position detection unit should be detected with the highest possible signal-to-noise ratio.

[0006] The planar stator of a planar drive system can be constructed as a stator module, which includes stator units with conductors through which current flows and electronic components for generating drive current and detecting rotor position. Here, the stator units with conductors through which drive current flows are arranged on the upper side of the stator module. The electronic components for generating drive current and detecting rotor position are arranged below the stator units within the stator module. To transmit sufficient force to the rotor, a drive current with a high intensity is sometimes required. This can lead to high resistive losses in the conductors, resulting in intense heating of the stator module. Furthermore, the drive current is typically generated as alternating current. This results in a high electromagnetic alternating field, which interferes with the electronic components arranged on the stator. Therefore, proper functioning cannot be guaranteed.

[0007] For example, a stator module and planar drive system according to the prior art described is known from DE 102017131314 A1. Summary of the Invention

[0008] The purpose of this invention is to provide an improved stator unit for a planar drive system and a compact planar drive system.

[0009] This objective is achieved by means of the stator module according to claim 1 and the planar drive system according to claim 8. Advantageous embodiments are given in the dependent claims.

[0010] A stator module for an electromagnetically driven rotor in a planar drive system includes a stator plate having coil conductors on the upper side of the stator plate for generating a magnetic field to drive the rotor, to which a drive current can be applied, and at least one stator plate connection mechanism disposed on the lower side of the stator plate for feeding the drive current. The stator module also includes a power unit facing the lower side of the stator plate, the power unit having at least one circuit card, wherein the circuit card protrudes downward, particularly vertically, from the lower side (313) of the stator plate. The circuit card has a drive current circuit card connection mechanism for electrically connecting to the stator plate connection mechanism to output the drive current, and a control signal circuit card connection mechanism for feeding control signals. At least one circuit card has a circuit card power component for generating a drive current based on the fed control signal and the fed power. The stator module also includes a feedback circuit board having at least one, but particularly multiple, sensor components for rotor position detection and a feedback communication mechanism for control signal generation and data processing, wherein a feedback circuit board through a grid is disposed in the feedback circuit board. The feedback circuit board has at least one feedback circuit board connection mechanism for data technology contact with the control signal circuit card connection mechanism to output control signals. The stator module also includes a box-shaped cooling unit with a heat-conducting plate having a protruding surrounding frame and heat-conducting structural elements on its upper side. A heat-conducting plate receiving grid is provided in the heat-conducting plate, connecting to a heat-conducting plate receiving structure on its lower side. The lower side of the stator plate rests on the frame of the cooling unit, and the lower side of the feedback circuit board is arranged on the upper side of the heat-conducting plate. The heat-conducting structural elements of the heat-conducting plate pass through the feedback circuit board, through the grid, and rest against the lower side of the stator plate. The power unit's circuit card at least partially passes through the feedback circuit board, through the grid, and engages with the heat-conducting plate receiving grid.

[0011] By utilizing the connection scheme and the arrangement of the power unit's circuit cards on the feedback circuit board, the distance of the rotor sensor components can be freely adjusted. Here, the distance can be adapted by changing the frame of the cooling unit without altering the power unit's circuit cards or the feedback circuit board. During stator module manufacturing, the feedback circuit board can first be placed on the heat-conducting plate of the cooling unit, and then connected to the power unit's circuit cards. This allows for very precise positioning of the feedback circuit board and consequently, the sensor components.

[0012] The power unit may include multiple rectangular circuit cards forming a grid oriented at right angles to the underside (313) of the stator plate. When the rotor moves on the stator surface, undesirable eddy current braking effects can occur in the underlying metal structure, as if it were present in a circuit board. The vertical arrangement of the circuit cards in the power unit prevents these eddy current effects. Furthermore, the vertical arrangement of the circuit cards allows the power components, including those containing ferromagnetic materials, to be placed further away from the stator plate. This prevents the sensor components from being affected by rapidly changing magnetic fields. The vertical arrangement also allows for arbitrary expansion of the circuit card area of ​​the power unit without insulating the stator surface from the cooling unit from a thermal perspective.

[0013] The power unit's circuit cards each have a circuit card insertion gap on the outer edge of a first printed circuit board facing the lower side of the stator board or on the outer edge of a second printed circuit board facing the upper side of the feedback circuit board. The width of the circuit card insertion gap substantially matches the thickness of the printed circuit board. The printed circuit board of the first embodiment is pushed into the circuit card insertion gap of the printed circuit board of the second embodiment via its circuit card insertion gap to form a grid. This circuit card design allows for the establishment of cross-grid connections or grid mesh connections between the circuit cards, ensuring high mechanical stability of the power unit.

[0014] Each circuit card may have a first outer edge resting against the underside of the stator board, wherein each circuit card may have a second outer edge opposite the first outer edge, the cutout having a supporting edge resting against the upper side of the feedback circuit board. This design ensures improved positioning of the feedback circuit board on the power unit's circuit board.

[0015] At least one feedback circuit board connection mechanism for controlling signal output can be constructed as a flexible connector. The flexible connector design allows for flexible adjustment and, if necessary, simple adjustment of the insertion depth of the power unit's circuit board into the feedback circuit board. The flexible connector is characterized by a flat, cable-like connection structure and is extremely flexible and movable, making it easy to compensate for distances and / or angles between the electrical or electronic components to be connected.

[0016] At least one feedback circuit board connection mechanism configured as a flexible connector can have its electrical signal path constructed as a single piece with the electrical signal path of the feedback circuit board. Therefore, for example, no additional connection unit is required on the feedback circuit board terminal block. During manufacturing, the flexible connector on the feedback circuit board terminal block can be arranged such that it extends into a recess in the feedback circuit board terminal block, for example, extending into a grid through which a circuit card of a power unit should be inserted, or extending into a recess through which a thermally conductive structural element on the upper side of a heat-conducting plate protrudes from the feedback circuit board terminal block. Thus, no additional surface of the feedback circuit board terminal block is required for the flexible connector. The plug of the flexible connector can be held on the feedback circuit board terminal block by a connecting web made of, for example, FR4 or polyimide. Therefore, the plug of the flexible connector can be cleanly and easily detached from the feedback circuit board terminal block before the circuit card is inserted.

[0017] In the assembled stator module, the internal space extending between the underside of the stator plate and the upper side of the heat-conducting plate can be filled with a preferably electrically insulating and thermally conductive casting material. Because there are no mechanical or electrical components between the sensor components on the feedback circuit board arranged on the upper side of the heat-conducting plate and the underside of the stator plate, the casting material can be introduced into the air volume in this area. The casting material improves thermal conductivity and allows for optimized heat dissipation from the stator plate during operation to the heat-conducting plate of the cooling unit.

[0018] Furthermore, a connection module with a housing can be provided, within which at least one power supply component, a power supply interface and distribution structure, and a data interface and distribution structure are arranged. The power supply interface and distribution structure are connected to a power supply line pair, and the data interface and distribution structure are connected to a data line pair. This design allows for the separation of data communication and power supply within the connection module. Attached Figure Description

[0019] The invention will now be explained in detail with reference to the accompanying drawings. Herein lies:

[0020] Figure 1 A perspective view of the planar drive system is shown from above;

[0021] Figure 2 As shown below Figure 1 A three-dimensional diagram of a planar drive system;

[0022] Figure 3 An exploded perspective view of the stator module is shown below;

[0023] Figure 4 An exploded perspective view of the stator module is shown from above;

[0024] Figure 5A perspective view of the cooling unit of the stator module is shown from above;

[0025] Figure 6 A perspective view of the cooling unit and feedback circuit board of the stator module is shown from above;

[0026] Figure 7 A perspective view of the feedback circuit board of the stator module is shown below;

[0027] Figure 8 A perspective view of the power unit and feedback circuit board is shown below;

[0028] Figure 9 A detailed partial view of the feedback circuit board and a detailed partial view of the power unit and feedback circuit board are shown below.

[0029] Refer to the Cartesian coordinate system in the following figures. The coordinate system is exemplarily constructed as a right-handed coordinate system and is used to simplify the understanding of the figures. The positive Z direction is also referred to as "up" below, and the negative Z direction is also referred to as "down". Detailed Implementation

[0030] Figure 1 The planar drive system 1 is shown from above in a three-dimensional view. The planar drive system consists of a rotor 2, a stator module 3, and a load-bearing mechanism 4. Here, in... Figure 1 The planar drive system 1 shown represents a basic unit, in which stator modules 3 or load-bearing mechanisms 4 can be arranged side-by-side with other stator modules or load-bearing mechanisms and can form arbitrary geometries. The assembled stator modules 3 form a common surface on which rotor 2 or other rotors can move.

[0031] Rotor 2 has a support surface, and the support surface is in Figure 1 The illustrated embodiment is generally square in shape with a magnet arrangement on its underside. The rotor can also have any other shape. The magnet arrangement consists of multiple, preferably four, magnets arranged in a ring around the underside along the edge of the support surface. The rotor 2 is typically passively constructed without moving parts or connectors and is capable of supporting any load on the support surface. The size of the support surface can be selected based on load or area requirements.

[0032] The stator module 3 includes a stator plate 31 on its upper side. The stator plate 31 is located on... Figure 1In the illustrated embodiment, it is constructed as a square, but in principle, other geometries are also possible. An arrangement of coil conductors 311 (not shown further, but generally known from the prior art) is provided in the stator plate 31, which can generate a traveling magnetic field. Here, the traveling magnetic field can interact with the magnet arrangement of the rotor 2 to lift the rotor 2 in the z-direction and simultaneously move the rotor in the x-direction and / or y-direction. The rotor 2 can also tilt about the x-axis or y-axis or rotate about the z-axis.

[0033] The stator module 3 also has a box-shaped cooling unit 34, with a stator plate 31 arranged on top of the cooling unit. The cooling unit 34 also serves as the housing of the stator module 3. A base plate 36 is arranged on the back or bottom side of the box-shaped cooling unit 34. Figure 2 As shown in the perspective view from below, a connecting module 37 is fixed on the base plate 36. The base plate 36 is supported on the load-bearing mechanism 4, which serves as the machine bed, as shown in... Figure 1 As shown. In Figure 2 Conversely, the supporting mechanism 4 is omitted in order to better see the connecting module 37.

[0034] The support mechanism 4 has two rod-shaped support elements, a first support element 41 and a second support element 42. The first support element 41 and the second support element 42 are arranged on the side of the connecting module 37 on the base plate 36, wherein the base plate 36 rests only partially on the first support element or the second support element 41, 42. Thus, it is possible to connect with the first support element or the second support element 41, 42... Figure 1 The stator module 3 shown is arranged with other stator modules sideways adjacent to it to form a stator module arrangement. The first and second support elements 41 and 42 can also be extended so that multiple stator modules can be sequentially arranged on the first and second support elements 41 and 42. The support elements 41 and 42 can have hollow profiles and be permeated with a heat transfer medium to ensure heat transfer to the heat sink.

[0035] The connection module 37 has a rectangular connection module housing 371, on which power supply line pairs 372 and data line pairs 373 are arranged. Cooling rib structures (not shown) may be partially or completely provided on the connection module housing.

[0036] Figure 3 An exploded perspective view of stator module 3 is shown from below. Figure 4 An exploded perspective view of the stator module is shown from above. Therefore, in Figure 3 The lower side of the components included by stator module 3 can be seen, while Figure 4The upper side of the components included in stator module 3 is shown in the middle. For clarity, in Figure 3 and Figure 4 The base plate and connecting module are not shown.

[0037] Viewed from top to bottom, the stator module 3 consists of a stator board 31, a power unit 32, a feedback circuit board 33, a cooling unit 34, a base plate 36, and a connection module 37.

[0038] A square stator plate 31, having a coil conductor arrangement between the upper side 312 and the lower side 313 of the stator plate, can be divided into multiple sectors (not shown), for example, four sectors, which are substantially identical in construction. Within these sectors, the coil conductor arrangement can be further divided into sub-sectors. However, dividing the stator plate 31 into multiple sectors is not absolutely necessary. The coil conductors 311 of each sector or sub-sector are electrically insulated from each other and can be powered independently.

[0039] Inside the sector of the stator plate 31, coil conductors 311 are arranged in multiple stacked layers, wherein in each layer, coil conductors 311, constructed as metallic conductor rails, are arranged within an insulating material. These layers can be arranged in pairs, with the coil conductors 311 of one layer extending along the x-direction and the coil conductors 311 of another layer extending along the y-direction, such that the coil conductors 311 in adjacent layers are oriented perpendicularly to each other. However, any other order of the layers is also possible. Within a single layer, the coil conductors 311 in adjacent sectors are parallel and oriented perpendicularly to each other about the x- or y-direction.

[0040] Here, the contact points of the coil conductor 311 are made on the lower side 313 of the stator plate using a stator plate connection mechanism 315 for feeding the drive current. The stator plate connection mechanism 315 is arranged on the lower side 313 of the stator plate in such a way that it can be electrically connected to the drive current circuit card connection mechanism 3241 of the power unit 32. The electrical connection between the stator plate connection mechanism 315 and the drive current circuit card connection mechanism 3241 for drive current output can be constructed, for example, as a soldered connection, and / or a plug-in connection and / or a press-fit connection. A plug-in connection or a press-fit connection allows the circuit card 321 to be easily mounted on the lower side 313 of the stator plate. Furthermore, the pitch, i.e., the distance between the individual contacts, is freely selectable, providing further optimization potential. Additionally, the press-fit connection ensures the mechanical stability of the connection.

[0041] The coil conductors 311 in each sector of the stator plate 31 are preferably interconnected as a three-phase system, wherein each phase is given a drive current independently of each other through the stator plate connection mechanism 315 for feeding drive current.

[0042] A power unit 32 is arranged on the lower side 313 of the stator board, and the power unit consists of a plurality of circuit cards 321. The circuit cards 321 are constructed as multi-layered rectangular circuit card boards equipped with circuit card power components 3216, and only a few of the circuit card power components are shown in the figure by way of example only. Here, at least some of the circuit cards 321 have circuit card connection mechanisms 3214 for outputting drive current to the stator board on the upper outer edge 3212 facing the stator board 31. At least some of the printed circuit boards have additional connection mechanisms, not shown here, for example for feeding power to the circuit card power components 3216 and possibly other electrical and electronic components placed on the circuit cards via power supply components.

[0043] The circuit card power component 3216 is used to generate a drive current based on the input control signal and the input power. Power is fed into the circuit card power component 3216 via a connection mechanism (not shown).

[0044] Here, the arrangement of the circuit card power component 3216 on the circuit card 321 is selected such that the component having ferromagnetic material is preferably arranged in the circuit card region adjacent to the outer edge 3213 of the second circuit card and away from the stator plate 31.

[0045] like Figure 3 and Figure 4 As shown, the circuit cards 321 form a grid 322. Here, every four circuit cards 321 form a cross grid structure. In order to allow these four circuit cards 321 to be inserted together to form a cross grid structure, every two circuit cards have two circuit card insertion gaps at the outer edge 3212 of the first circuit card, and two circuit cards 321 have two circuit card insertion gaps at the outer edge 3213 of the second circuit card.

[0046] Thus, a cross grid consisting of four circuit cards 321 can be arranged on the lower side 313 of the stator plate, wherein the circuit card connection mechanism 3214 for driving current output is engaged with the stator plate connection mechanism 315 for driving current input on the lower side 313 of the stator plate.

[0047] Instead of the cross-grid structure, the circuit cards can also be arranged on the underside of the stator plate in any other grid structure. Here, the arrangement of the circuit cards is predetermined by the arrangement of the stator plate connection mechanism for driving current input on the underside of the stator plate, wherein the circuit card connection mechanism for driving current output engages with this stator plate connection mechanism. In all arrangements, the circuit cards protrude downwards from the underside of the stator plate, particularly vertically downwards.

[0048] By constructing the power unit 32 using a grid of circuit cards 321 arranged perpendicular to the stator plate 31, the area of ​​the circuit cards can be selected according to the required equipment. In modified embodiments, it may be necessary to increase the area of ​​the circuit cards without creating additional obstacles to heat dissipation from the stator plate 31 to the cooling unit 34 from a thermal perspective.

[0049] By vertically arranging the circuit card 321 below the stator plate 31, the eddy current effect caused by the movement of the rotor 2 and its magnet arrangement inside the copper layer of the circuit card 321 can also be avoided.

[0050] As explained, by arranging these circuit card power components 3216 away from the stator plate 31 in the lower circuit card area, the negative effects caused by the ferromagnetic material in the circuit card power components 3216 can also be reduced.

[0051] like Figure 3 and Figure 4 As shown, in stator module 3, viewed from above, feedback circuit board 33 follows power unit 32. Feedback circuit board 33 includes feedback circuit board terminal block 331, the size of which substantially matches the size of stator board 31. Feedback circuit board terminal block 331 is constructed in multiple layers and consists of electrically insulating material in which conductor tracks are embedded. Feedback circuit board terminal block 331 also has a feedback circuit board through grid 336, which includes regularly arranged grid structures connected to each other by connecting sections, wherein island areas are provided in four grid structures.

[0052] A plurality of sensor components 334 for detecting the position of the rotor 2 on the upper side 332 of the feedback circuit board terminal block 331 facing the stator plate 31 are provided. For clarity, only a few sensor components 334 are shown in the accompanying drawings. The sensor components 334 are, for example, magnetic field sensors, particularly digital or analog 3D Hall sensors, which can detect the magnetic field of magnets arranged on the rotor 2 in different spatial directions. The sensor components 334 are arranged in a regular pattern (e.g., a grid structure or a diamond structure) on the upper side 332 of the feedback circuit board. The arrangement pattern of the sensor components 334 on the feedback circuit board terminal block 331 can be selected according to the rotor position evaluation process.

[0053] At least one component of a feedback communication mechanism 335 is arranged on the lower side 333 of the feedback circuit board of the feedback circuit board terminal block 331. A sensor component 334 is connected to the feedback communication mechanism 335, which detects and processes signals from the sensor component 334 to determine the rotor position. The feedback communication mechanism 335 can also be used to generate control signals for the circuit card power component 3216 on the circuit card 321. Alternatively, the feedback communication mechanism 335 may process only partially or not at all the signals from the sensor component 334, and transmit the pre-processed or unprocessed sensor signals for determining the rotor position to a control unit (not shown) of the planar drive system 1, from which the control unit generates control signals for the circuit card power component 3216.

[0054] like Figure 3 and Figure 4 As shown, in the outer edge 3213 of the second circuit card facing the cooling unit 34, each circuit card 321 has a rectangular circuit card cutout 3218 provided substantially centrally. Figure 8 As shown, in the stator module 3, the circuit card 321 of the power unit 32 passes through the feedback circuit board through the grid 336. The feedback circuit board through the grid has a corresponding cross grid structure so as to insert the cross grid structure composed of four circuit cards 321. The cross grid structure enables the circuit card 321 to be inserted into the feedback circuit board through the grid 336 with the outer edge 3213 of the second circuit card. The supporting edge in the circuit card cutout 3218 is arranged on the upper side 332 of the feedback circuit board in the area between the two channel openings in the feedback circuit board through the grid 336.

[0055] The control signal generated by the components of the feedback communication mechanism 335 on the feedback circuit board 33 is transmitted via the feedback circuit board connection mechanism 337 to output a control signal. The feedback circuit board connection mechanism 337 is arranged on the feedback circuit board 33 and can be connected to the control signal circuit card connection mechanism 3217 on the circuit card 321 for feeding control signals. Here, the control signal circuit card connection mechanism 3217 for feeding control signals is formed as a socket on the circuit card 321, wherein, as Figure 7 As shown, a plug 3371 is provided on the feedback circuit board 33 for each circuit card 321. The plug has a flexible strip 3372 that serves as a feedback circuit board connection mechanism 337 for control signal output and constitutes a flexible connector. Figures 7 to 9 The arrangement and construction of flexible connectors also need to be discussed in detail.

[0056] The components of the stator module 3 (particularly the stator board 31), the power unit 32, and the feedback circuit board 33 are arranged in a box-shaped cooling unit 34. The box-shaped cooling unit 34... Figure 5 and Figure 6It is shown in a three-dimensional top view.

[0057] The cooling unit 34 includes a heat-conducting plate 341, which is sized to match the stator plate 31. The heat-conducting plate 341 has an arrangement of heat-conducting structural elements 345 on its upper surface 342. Here, the arrangement of the heat-conducting structural elements 345 corresponds to the feedback circuit board via a grid 336 in the area of ​​the channel openings, which are not used for inserting the circuit card 321 of the power unit 32.

[0058] The heat-conducting plate 341 also has a heat-conducting plate receiving grid 346, which corresponds to the feedback circuit board through grid 336 in the area of ​​the channel opening for inserting the circuit card 321.

[0059] A protruding frame 344 is provided around the upper side 342 of the heat-conducting plate. In the stator module 3, the stator plate 31 is placed on the frame 344 of the cooling unit 34 with its lower side 313. Furthermore, in the stator module 3, the lower side 333 of the feedback circuit board is arranged on the upper side 342 of the heat-conducting plate. Thus, the thermally conductive structural element 345 of the heat-conducting plate 341 passes through the feedback circuit board through corresponding channel openings in the grid 336, wherein the thermally conductive structural element 345 of the heat-conducting plate 341 rests against the lower side 313 of the stator plate to establish thermal contact. The thermally conductive structural element may also have any other shape and is optimized in terms of its shape, for example, with respect to the eddy current effect that may occur.

[0060] Furthermore, the heat-conducting plate accommodating grid 346 of the heat-conducting plate 341 is provided with channel openings for accommodating electrical connection structures (not shown) and / or data technology connection structures for the components of the stator module 3.

[0061] The circuit card 321, inserted into the corresponding recess in the grid 336, is engaged in the stator module 3 with the corresponding recess in the heat-conducting plate receiving grid 346.

[0062] In the assembled stator module 3, the internal space extending between the lower side 313 of the stator plate and the upper side 342 of the heat-conducting plate is filled with a preferably electrically insulating and thermally conductive casting material. The casting material can be, for example, a two-component system consisting of resin and a hardener. Electrical or data connection links within the internal space filled with the casting material are protected from casting, i.e., constructed to be casting-resistant.

[0063] and Figure 5 Unlike the illustration of the heat-conducting plate 341, the feedback circuit board terminal block 331 is placed into the circuit according to... Figure 6The feedback circuit board 331 is located in the heat-conducting plate 341. Here, the feedback circuit board 331 can be positioned very accurately relative to the frame 344. This is crucial for accurately detecting the position of the rotor 2 using the sensor component 334 of the feedback circuit board 33. The more accurately the feedback circuit board 331 is positioned in the heat-conducting plate 341, the more accurate the subsequent position detection of the rotor 2 will be. To permanently secure the feedback circuit board 331 in its fixed position in the heat-conducting plate 341, it is secured by a plurality of feedback circuit board fastening elements 339. These fastening elements can be, for example, constructed as bolts, which are screwed into corresponding threads in the heat-conducting plate 341.

[0064] As described above and Figure 7 As shown, the feedback circuit board connector 331 has a feedback circuit board connection mechanism 337 for each circuit card 321.

[0065] Now, Figure 8 The feedback circuit board connector 331 is shown from below in a perspective view, with the circuit card 321 containing the power unit 32 having passed through the feedback circuit board via the grid 336. The plug 3371 of the feedback circuit board connection mechanism 337 is inserted here into the corresponding socket of the control signal circuit card connection mechanism 3217 on the circuit card 321. The flexible connector design of the feedback circuit board connection mechanism 337 allows for flexible adjustment and, if necessary, simple adaptation of the insertion depth of the power unit 32's circuit card 321 within the feedback circuit board 33. Furthermore, possible manufacturing tolerances can be compensated for. The flexible connector design of the feedback circuit board connection mechanism 337 also enables optimal use of the circuit card surface of the feedback circuit board 33.

[0066] Now, Figure 9 Shown in magnified detail view according to Figure 7 and Figure 8 The area of ​​the feedback circuit board card 331. Figure 9 a) shows according to Figure 7 The feedback circuit board 331 in its state after manufacturing and before installation. Differently, Figure 9 b) with Figure 8 Correspondingly shown is a feedback circuit board circuit card 331 having a circuit card 321 that is passed through and contacts by means of a flexible connector.

[0067] like Figure 9As shown in a), during the manufacture of the feedback circuit board 33, the flexible connector can be arranged in a space-saving manner within the channel opening in the grid 336 for inserting the circuit card 321. The flexible strip 3372 of the flexible connector extends from the feedback circuit board card 331 into the channel opening in the plane of the feedback circuit board, wherein the plug 3371 is fixed to the feedback circuit board card 331 during manufacture by means of a connecting web 338. Here, the connecting web 338 connects the plug 3371 to the feedback circuit board card 331 on the sides and thus holds the plug 3371 in the plane of the feedback circuit board card 331. For example, the connecting web 338, made of FR4 or polyamide, can be slightly cut before the circuit card 321 is inserted to release the channel opening in the grid 336 for inserting the circuit card 321.

[0068] After disconnecting plug 3371 from the feedback circuit board connector 331, as Figure 9 As shown in b), the plug 3371 can rotate very flexibly by means of the flexible strip 3372, so that after the circuit card 321 is inserted into the feedback circuit board of the feedback circuit board terminal block 331 through the channel opening in the grid 336, the plug 3371 can be inserted into the control signal circuit card connection mechanism 3217, which is configured as a socket on the circuit card 321. The flexible strip 3372 connected to the feedback circuit board terminal block 331 is designed to be anti-pouring, while the plug socket connection is located outside the pouring area, which extends in the assembled stator module 3 between the lower side 313 of the stator plate and the upper side 342 of the heat-conducting plate.

[0069] List of reference numerals

[0070] 1 Planar drive system

[0071] 2 rotors

[0072] 3 stator modules

[0073] 31 stator plate

[0074] 311 coil conductor

[0075] 312 stator plate upper side

[0076] 313 stator plate underside

[0077] 315 stator plate connection structure

[0078] 32 power units

[0079] 321 circuit card

[0080] 322 grid mesh

[0081] 3212 First Circuit Card Outer Edge

[0082] 3213 Second Circuit Card Outer Edge

[0083] 3214 Drive Current Circuit Card Connection Mechanism

[0084] 3216 circuit card power components

[0085] 3217 Control Signal Circuit Card Connection Mechanism

[0086] 3218 circuit card cutout

[0087] 33 Feedback Circuit Board

[0088] 331 Feedback Circuit Board Wiring Board

[0089] 332 feedback circuit board top side

[0090] 333 feedback circuit board bottom side

[0091] 334 sensor components

[0092] 335 Feedback Communication Agency

[0093] 336 feedback circuit board via mesh

[0094] 337 Feedback Circuit Board Connection Mechanism

[0095] 3371 plug

[0096] 3372 Flexible Strip

[0097] 338 connecting web

[0098] 339 Feedback Circuit Board Fastener

[0099] 34 cooling units

[0100] 341 heat transfer plate

[0101] 342 heat-conducting plate upper side

[0102] 343 heatsink underside

[0103] 344 border

[0104] 345 thermally conductive structural element

[0105] 346 heat-conducting plate accommodates mesh

[0106] 36 base plate

[0107] 37 connection module

[0108] 371 Connection Module Housing

[0109] 372 power supply line pair

[0110] 373 data line pairs

[0111] 4 bearing mechanism

[0112] 41 First load-bearing element

[0113] 42 Second bearing element.

Claims

1. A stator module (3) for a rotor (2) in an electromagnetically driven planar drive system. It has a stator plate (31) having a coil conductor (311) on the upper side (312) of the stator plate for generating a magnetic field to drive the rotor (2) that can be applied with a drive current, and at least one stator plate connection mechanism (315) arranged on the lower side (313) of the stator plate for feeding the drive current. having a power unit (32) facing the underside (313) of the stator plate, the power unit having at least one circuit card (321), wherein The circuit card protrudes downward from the underside (313) of the stator board, particularly vertically downward. The circuit card (321) has a drive current circuit card connection mechanism (3214) for making electrical contact with the stator plate connection mechanism (315) to output drive current, and a control signal circuit card connection mechanism (3217) for feeding control signals. The circuit card (321) includes a circuit card power component (3216) for generating a drive current based on the input control signal and the input power, and It has a feedback circuit board (33), which has at least one sensor component (334) for position detection of the rotor (2) and a feedback communication mechanism (335) for control signal generation and data processing. The feedback circuit board (33) is provided with a feedback circuit board through a grid (336). The feedback circuit board (33) has at least one feedback circuit board connection mechanism (337) for data technology connection with the control signal circuit card connection mechanism (3217) to output control signals. A box-shaped cooling unit (34) has a heat-conducting plate (341) with a protruding surrounding frame (344) and heat-conducting structural elements (345) on the upper side (342) of the heat-conducting plate. A heat-conducting plate receiving grid (346) is provided in the heat-conducting plate (341). The lower side (313) of the stator plate is placed on the frame (344) of the cooling unit (34). The feedback circuit board (333) is arranged on the upper side (342) of the heat-conducting plate, and the heat-conducting structural element (345) of the heat-conducting plate (341) passes through the feedback circuit board, through the grid (336), and rests on the lower side (313) of the stator plate. The circuit card (321) of the power unit (32) passes at least partially through the feedback circuit board through the grid (336) and is engaged in the heat-conducting plate receiving grid (346).

2. The stator module of claim 1, wherein, The power unit has multiple rectangular circuit cards that form a grid oriented at right angles to the underside (313) of the stator plate.

3. The stator module (3) according to claim 2, wherein, Each circuit card (321) has a first circuit card outer edge (3212) resting on the lower side (313) of the stator board, wherein each circuit card (321) has a circuit card cutout (3218) in a second circuit card outer edge (3213) opposite to the first circuit card outer edge (3212), the circuit card cutout having a support edge resting on the upper side (332) of the feedback circuit board.

4. The stator module (3) according to any one of claims 1 to 3, wherein, The at least one feedback circuit board connection mechanism (337) for controlling signal output is configured as a flexible connector.

5. The stator module according to claim 4, wherein, The electrical signal path of the at least one feedback circuit board connection mechanism (337) configured as the flexible connector is constructed in a single piece with the electrical signal path of the feedback circuit board (33).

6. The stator module (3) according to any one of claims 1 to 5, wherein, The internal space extending between the lower side (313) of the stator plate and the upper side (342) of the heat-conducting plate is filled with a preferably electrically insulating and thermally conductive casting material.

7. The stator module (3) according to any one of claims 1 to 6. A connection module (37) includes a connection module housing (371), in which at least one power supply component, a power supply interface and a distribution structure, and a data interface and a distribution structure are arranged. The power supply interface and distribution structure are connected to the power supply line pair (372), and the data interface and distribution structure are connected to the data line pair (373).

8. A planar drive system (1) having a plurality of stator modules (3) according to any one of claims 1 to 7 and at least one rotor (2), wherein, Multiple stator modules (3) form a common surface on which the rotor (2) is able to move.

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