Apparatus, system and method for installing a stator in a displacement system

Abstract

This disclosure provides a stator mounting apparatus for a magnetic displacement system. The stator mounting apparatus may include a main support member sized to pass through a primary opening therein for receiving a stator. Adjacent to the primary opening, the main support member may include a support portion for supporting the stator. The stator can be received through the primary opening from an external side of the main support member and can be moved in a mounting direction to a mounting position on the support portion. The external side of the main support member may face away from the working surface of the displacement system, in which a mover is controllable. The mounting direction may be parallel to the working surface. From the mounting position, the stator can be moved in a removal direction opposite to the mounting direction to the primary opening for removal through the primary opening to the external side of the main support member.

Description

Cross-reference to related applications

[0001] This application claims the benefit and priority of U.S. Provisional Patent Application No. 63 / 555,821, filed February 20, 2024, the entire contents of which are incorporated herein by reference. This application also claims the benefit and priority of U.S. Provisional Patent Application No. 63 / 564,947, filed March 13, 2024, the entire contents of which are also incorporated herein by reference. This application is also a partial continuation of International Patent Application No. PCT / CA2024 / 051062, filed August 14, 2024, the entire contents of which are also incorporated herein by reference. Technical Field

[0002] This disclosure generally relates to magnetic displacement systems, and to stators installed for such systems in a manner that isolate them from the external environment. Background Technology

[0003] Displacement systems or conveyors (such as XY tables and rotary tables) can be used in a variety of manufacturing, inspection, packaging, and assembly processes. XY motion can be achieved by stacking two linear platforms (such as an X-stage and a Y-stage) together via connecting bearings. Alternatively, a single moving platform capable of XY motion can be used without additional bearings. It may also be desirable to enable such a moving platform to provide at least some Z motion.

[0004] Magnetic displacement systems have been designed using the interaction between current-carrying coils and permanent magnets. These systems typically consist of a stator and a mover. The mover, also known as a robotic device, mover mechanism, or movable platform, comprises one or more permanent magnets and holds the component to be moved. The stator comprises one or more current-carrying coils, which are used to control and actuate the mover.

[0005] However, existing magnetic displacement systems may lack certain functionalities and performance characteristics. For example, in some applications, the stator or multiple stators may be isolated from the environment above them by an impermeable barrier. In such a configuration, removing the stator from above can be disadvantageous because, for example, there is a risk of damaging the impermeable barrier. One solution could be to allow the stator to be mounted from below by placing ribs between adjacent stators. However, this method requires adjacent stators to operate using the gaps between them that accommodate the ribs, and if these gaps are large, the performance of the magnetic displacement system may be compromised. Summary of the Invention

[0006] Embodiments of this disclosure may provide apparatus and systems for mounting a stator in a magnetic displacement system to isolate the stator from the external environment, as well as methods and kits including such apparatus and systems.

[0007] According to at least one embodiment, a stator mounting device for a magnetic displacement system is disclosed, the stator mounting device comprising: a main support member defined in size to receive a primary opening through which one or more stators pass, the main support member including a support portion adjacent to the primary opening for supporting at least one of the one or more stators received through the primary opening, wherein: the at least one of the one or more stators is received through the primary opening from an outer side of the main support member and is movable in a mounting direction to a mounting position on the support portion, in which the at least one of the one or more stators is supported by the support portion, the outer side of the main support member facing away from a working surface of the displacement system, one or more movers of the displacement system being controllable on the working surface, the mounting direction being parallel to the working surface; and from the mounting position, the at least one of the one or more stators is movable in a disassembly direction opposite to the mounting direction to the primary opening for removal through the primary opening to the outer side of the main support member.

[0008] In some embodiments, the main support is located below the working surface.

[0009] In some embodiments, the primary opening is sized to receive one or more stators in an installation orientation therethrough.

[0010] In some embodiments, the primary opening has a shape corresponding to the shape of each of the one or more stators in the mounting orientation.

[0011] In some embodiments, the primary opening has a primary width perpendicular to the mounting direction; and the main support further defines a secondary opening having a secondary width perpendicular to the mounting direction, the secondary width being smaller than the primary width.

[0012] In some embodiments, the secondary opening is continuous with the primary opening.

[0013] In some embodiments, the secondary opening is sized to prevent the one or more stators from passing through it in the mounting orientation.

[0014] In some embodiments, the secondary opening is sized to prevent the one or more stators from passing through it.

[0015] In some embodiments, the secondary width is less than 75% of the primary width.

[0016] In some embodiments, the main support includes a mounting plate.

[0017] In some embodiments, the stator mounting apparatus further includes a guiding device for guiding at least one of the one or more stators between the mounting position and the primary opening along the mounting direction and the disassembly direction.

[0018] In some embodiments, the guiding device includes at least one structural member extending from the main support.

[0019] In some embodiments, the stator mounting apparatus further includes a stator support member releasably attached to the main support member to support the stator in the primary opening.

[0020] In some embodiments, the stator support includes a sub-mounting plate.

[0021] In some embodiments, the stator support has a stator support opening sized to prevent one or more stators from passing through it when the stator support is attached to the main support.

[0022] In some embodiments, the stator support opening is sized to receive through it one or more utility service conduits associated with the one or more stators.

[0023] In some embodiments, at least one of the one or more utility service conduits is configured to carry communication between the one or more stators and remote devices.

[0024] In some embodiments, at least one of the one or more utility service conduits is configured to carry power to the one or more stators.

[0025] In some embodiments, the stator support includes an alignment device for aligning the stator support with the main support when the stator support is attached to the main support.

[0026] In some embodiments, at least a portion of the stator support has a shape corresponding to the shape of at least a portion of the primary opening; and the alignment device includes an edge shoulder that extends along the periphery of the at least a portion of the stator support and is sized to engage at least one edge of the primary opening.

[0027] In some embodiments, the stator mounting apparatus further includes a stator alignment device for aligning at least one of the one or more stators with the stator support, at least when the stator support is attached to the main support.

[0028] In some embodiments, the stator alignment device includes at least one structural member extending from the main support member.

[0029] In some embodiments, the stator mounting device further includes a seal located between the main support and the stator support to provide at least one of an airtight seal and a liquid seal between the main support and the stator support when the stator support is attached to the main support.

[0030] In some embodiments, the stator mounting apparatus further includes a cover spaced apart from the main support member, such that the cover member and the main support member define a stator chamber therebetween, the stator chamber being sized to accommodate the one or more stators.

[0031] In some embodiments, the cover supports the working surface.

[0032] In some embodiments, the cover and the main support are sealed together to provide at least one of an airtight seal and a liquid seal between the cover and the main support.

[0033] According to at least another embodiment, a stator mounting system is disclosed, including one or more stator mounting devices, each stator mounting device as described above.

[0034] In some embodiments, the cover of each of the one or more stator mounting devices is provided by an integral cover having one or more covering portions, each covering portion providing a corresponding cover for a specific stator mounting device in the one or more stator mounting devices.

[0035] In some embodiments, the main support of each of the one or more stator mounting devices is provided by an integral main support having one or more main support portions, each main support portion providing a corresponding main support for a specific stator mounting device in the one or more stator mounting devices.

[0036] In some embodiments, the one or more stator mounting devices include a plurality of stator mounting devices positioned adjacent to each other.

[0037] In some embodiments, each of the plurality of stator mounting devices has an orientation opposite to that of its adjacent stator mounting device.

[0038] In some embodiments, the primary openings of adjacent stator mounting devices among the plurality of stator mounting devices are not adjacent.

[0039] According to at least another embodiment, a stator assembly for a magnetic displacement system is disclosed, the stator assembly comprising: a stator mounting system as described above; and one or more of the stators operable to generate a magnetic field operable to move the one or more movers of the displacement system.

[0040] In some embodiments, each of the one or more stators includes one or more electrical conductors operable to generate the magnetic field.

[0041] In some embodiments, each of the one or more stators further includes a drive circuit operable to drive at least one current in the one or more electrical conductors to cause the one or more electrical conductors to generate the magnetic field.

[0042] According to at least another embodiment, a method is provided for mounting a stator to a stator mounting device of a magnetic displacement system, the method comprising: inserting the stator through a primary opening in a main support member of the stator mounting device, the primary opening being approached from an external side of the main support member, the external side of the main support member being opposite to a working surface of the displacement system, one or more movers of the displacement system being controllable on the working surface; moving the stator from the primary opening along a mounting direction parallel to the working surface to a mounting position on a support portion of the main support member; and supporting the stator via the support portion.

[0043] In some embodiments, the main support is located below the working surface.

[0044] In some embodiments, the method further includes orienting the stator to an installation orientation before insertion through the primary opening.

[0045] In some embodiments, inserting the stator through the primary opening includes inserting the stator through the primary opening in an insertion direction perpendicular to the working surface.

[0046] In some embodiments, moving the stator from the primary opening to the installation position along the installation direction includes approaching the stator through the primary opening.

[0047] In some embodiments, moving the stator from the primary opening along the mounting direction to the mounting position includes approaching the stator through a secondary opening in the main support member; the primary opening has a primary width perpendicular to the mounting direction; and the secondary opening has a secondary width perpendicular to the mounting direction, the secondary width being smaller than the primary width.

[0048] In some embodiments, the method further includes attaching a stator support to the main support to support the stator in the primary opening.

[0049] In some embodiments, the method further includes: inserting one or more utility service conduits associated with the stator through a stator support opening in the stator support member, the stator support opening being accessible from the outer side of the main support member; and connecting the one or more utility service conduits to the stator.

[0050] In some embodiments, at least one of the one or more utility service conduits is configured to carry communication between the stator and the remote device.

[0051] In some embodiments, at least one of the one or more utility service conduits is configured to carry power to the stator.

[0052] In some embodiments, the method further includes sealing the main support member to the stator support member to provide at least one of an airtight seal and a liquid seal between the main support member and the stator support member.

[0053] According to at least another embodiment, a method for removing a stator from a stator mounting device of a magnetic displacement system is disclosed, the method comprising: approaching the stator from an external side of a main support member of the stator mounting device such that the stator is moved in a disassembly direction from a mounting position on the main support member to a primary opening in the main support member, the external side of the main support member being opposite to a working surface of the displacement system, one or more movers of the displacement system being controllable on the working surface, the disassembly direction being parallel to the working surface; and moving the stator through the primary opening to the external side of the main support member.

[0054] In some embodiments, the main support is located below the working surface.

[0055] In some embodiments, the method further includes holding the stator in an installation orientation as the stator passes through the primary opening to the outer side of the main support.

[0056] In some embodiments, passing the stator through the primary opening to the outer side of the main support includes passing the stator through the primary opening in a removal direction perpendicular to the working surface.

[0057] In some embodiments, approaching the stator from the outer side of the main support member includes approaching the stator through the primary opening.

[0058] In some embodiments, approaching the stator from the outer side of the main support member includes approaching the stator through a secondary opening in the main support member; the primary opening has a primary width perpendicular to the disassembly direction; and the secondary opening has a secondary width perpendicular to the disassembly direction, the secondary width being smaller than the primary width.

[0059] In some embodiments, the method further includes detaching the stator support from the main support to allow the stator to pass through the primary opening.

[0060] In some embodiments, the method further includes breaking at least one of the airtight seal and the liquid seal between the main support member and the stator support member.

[0061] Other aspects and features will become apparent to those skilled in the art after reading the following description of illustrative embodiments in conjunction with the accompanying drawings. Attached Figure Description

[0062] Exemplary embodiments are illustrated in the accompanying drawings. The embodiments and drawings disclosed herein should be considered illustrative rather than restrictive.

[0063] Figure 1 This is a front sectional view of a displacement system according to one embodiment.

[0064] Figure 2 This is a partial cross-sectional perspective view of a displacement system according to another embodiment.

[0065] Figure 3 yes Figure 2 The local decomposition and local section perspective view of the displacement system.

[0066] Figure 4 yes Figure 2 A bottom view of the displacement system, wherein the stator of the displacement system is positioned in the primary opening of the main support member of the displacement system.

[0067] Figure 5 yes Figure 2 Another bottom view of the displacement system, in which the two stators of the displacement system are positioned in the stator chamber of the displacement system.

[0068] Figure 6 yes Figure 2 Another bottom view of the displacement system, in which the stator support of the displacement system is attached to the main support.

[0069] Figure 7 It is along Figure 2 and Figure 6 The middle is marked as " Figure 7 The line cut off Figure 2 A cross-sectional view of the displacement system.

[0070] Figure 8 This is a partial cross-sectional perspective view of a displacement system according to another embodiment.

[0071] Figure 9 yes Figure 8 The local decomposition and local section perspective view of the displacement system.

[0072] Figure 10 It is along Figure 9 The middle is marked as " Figure 10 The line cut off Figure 9 A sectional view of a partially decomposed and partially cut perspective view.

[0073] Figure 11 yes Figure 8 Another locally decomposed perspective view of the displacement system.

[0074] Figure 12 yes Figure 8 A bottom view of the displacement system, wherein the stator of the displacement system is positioned in the primary opening of the integral main support of the displacement system.

[0075] Figure 13 yes Figure 8 Another bottom view of the displacement system, in which the four stators of the displacement system are positioned in the stator chamber of the displacement system.

[0076] Figure 14 yes Figure 8 Another bottom view of the displacement system, in which the stator support of the displacement system is attached to the integral main support.

[0077] Figure 15 It is along Figure 8 and Figure 14 The middle is marked as " Figure 15 The line cut off Figure 8 A cross-sectional view of the displacement system.

[0078] Figure 16 This is a cross-sectional view of a displacement system according to another embodiment. Detailed Implementation

[0079] Manufacturing, assembly, and inspection systems can use displacement systems or conveyors to transport parts to be processed, assembled, and packaged. Electromagnetic planar motors can be used as magnetic displacement systems in these applications. Electromagnetic planar motors typically include one or more movers for holding the parts and one or more stators for supporting and driving / actuating the movers. This document describes stator mounting equipment and stator mounting systems for supporting the stator of a magnetic displacement system during operation while maintaining separation between the stator and mover operating environments of the magnetic displacement system.

[0080] Reference Figure 1 A magnetic displacement system according to one embodiment is generally shown as 100 and includes a mover 102, a stator 104, and a controller 106. The mover 102 may be configured to carry one or more components (not shown). The mover 102 may also be referred to as a “mover device,” “robotic device,” “mobile platform,” “motion platform,” or “mobile motion platform.” Furthermore, as used herein, the term “component” is a generic term, and non-limiting examples of components that may be carried by the mover 102 may include workpieces, products being assembled, original parts, materials, samples, biological samples, pharmaceuticals, containers, payloads, devices, and components. In the illustrated embodiment, the magnetic displacement system 100 includes only one mover 102. However, alternative embodiments may include multiple movers, and in some alternative embodiments, multiple movers may carry retainers capable of holding one or more components. In some systems, all movers are substantially similar or nearly identical. However, other systems may include movers of different sizes and configurations.

[0081] Stator 104 supports and actuates mover 102, causing mover 102 to travel across stator 104 to another position in magnetic displacement system 100. In the illustrated embodiment, magnetic displacement system 100 includes only one stator 104. However, alternative embodiments may include multiple stators, and in some alternative embodiments, the multiple stators may be of different types—for example, in some alternative embodiments, some stators may have large working areas, while other stators may serve as flyways between working areas for rapid movement of mover and components in confined spaces. This can be achieved by arranging a stator consisting of multiple electromagnetically driven regions arranged in a single row in the direction of mover movement.

[0082] Controller 106 controls stator 104 and rotor 102. Controller 106 can be directly connected to stator 104 using a wired or wireless connection and can indirectly control rotor 102 through stator 104. Alternatively, controller 106 can also be connected to rotor 102 using a wired or wireless connection, allowing controller 106 to communicate directly with rotor 102. For example, a high-speed data cable, such as an Ethernet cable, HDMI cable, or any cable with sufficient data rate bandwidth, can be used. In some embodiments, controller 106 can be fully integrated with stator 104. In embodiments where controller 106 is fully integrated within stator 104, any electrical connection method can be used, such as ribbon cables, edge plate connectors, wire connectors, pin headers, and pins. Wireless connectivity may include Bluetooth®, WiFi, Zigbee®, cellular, near field communication (NFC), etc. In some embodiments, more than one controller may be used within magnetic displacement system 100. For example, controller 106 may control only stator 104 or a group of stators including stator 104, while another controller may control another stator or another group of stators.

[0083] Typically, the mover 102 and the stator 104 can interact with each other via one or more magnetic fields, such that the stator 104 can provide force and torque to the mover 102 to controllably move the mover 102. The controller 106 can determine and provide commands to the stator 104 to generate specific forces and torques to move the mover 102.

[0084] A pair of coordinate systems can be defined to help explain the motion of the mover 102 relative to the stator 104. Specifically, a stator coordinate system fixed to the stator 104 can be defined. A mover coordinate system can also be defined, which is fixed to the mover 102 and moves with the mover 102 relative to the stator 104 and the stator coordinate system. These coordinate systems can be described using conventional Cartesian coordinates (x, y, z), but it should be understood that other coordinate systems can also be used. For convenience and brevity, in this description and related figures, the directions in the stator coordinate system (e.g., the x, y, z directions) and the directions in the mover coordinate system can be shown and described as coinciding with each other—that is, the stator-x (or Xs), stator-y (or Ys), and stator-z (or Zs) directions can be shown as coinciding with the mover-x (or Xm), mover-y (Ym), and mover-z (or Zm) directions, respectively. Therefore, references to directions x, y, and / or z can specify the direction in either the sub-coordinate system or the moving sub-coordinate system. However, it will be understood from the context of this document that in some embodiments and / or cases, the moving part 102 may move relative to the stator 104 such that these stator and moving sub-coordinate systems no longer coincide. In such cases, the following conventions may be adopted: the terms stator-x, stator-y, and stator-z may be used to specify the direction and / or coordinate in the sub-coordinate system, and the terms moving part-x, moving part-y, and moving part-z may be used to refer to the direction and / or coordinate in the moving sub-coordinate system. The symbols Xm, Ym, and Zm can be used to indicate the mover-x, mover-y, and mover-z directions, respectively; the symbols Xs, Ys, and Zs can be used to indicate the stator-x, stator-y, and stator-z directions, respectively; and the symbols X, Y, and Z can be used to indicate any one or both of the mover-x, mover-y, and mover-z directions and / or the stator-x, stator-y, and stator-z directions. In some embodiments, during normal operation, the mover-z and stator-z directions are substantially the same (e.g., within ±30° in some embodiments; within ±10° in some embodiments; and within ±2° in some embodiments).

[0085] The mover 102 includes a structural frame 108 and one or more actuating magnets 110 fixed to the structural frame 108. The structural frame 108 can be used to provide support for the magnets, facilitate engagement, and / or provide an interface for parts, fixtures, or tooling. In some embodiments, the structural frame 108 may optionally be used to mount additional mounting or positioning features (not shown). The one or more actuating magnets 110 may also be referred to as an "actuating magnet assembly" or more generally as a "magnet assembly." The one or more actuating magnets 110 may be, for example, permanent magnets. In some embodiments, the one or more actuating magnets 110 may include a plurality of magnetization regions, each magnetization region having a respective magnetization direction. Figure 1In this embodiment, the mover 102 is shown as including a single actuating magnet 110. However, in some embodiments, the mover 102 may include more than one actuating magnet 110, i.e., the mover 102 may include a plurality of actuating magnets 110. In such embodiments, one, some, or all of the plurality of actuating magnets 110 may be fixed to the structural frame 108. One or more actuating magnets 110 are configured to respond to one or more external magnetic fields, and in particular are configured to generate a force for moving the mover 102 in response to one or more external magnetic fields. Examples of such actuating magnets are described and shown in U.S. Patent No. 10,222,237 (incorporated herein by reference) as an array of permanent magnets 112A, 112B, 112C, 112D (or collectively referred to as magnet array 112).

[0086] Still refer to Figure 1 The stator 104 includes a sensor 114, an electrical conductor 116, and an amplifier 118. Each sensor 114 is configured to measure at least one magnetic field. Each sensor 114 can precisely measure only the magnetic field within a certain range of that sensor 114. An example of such a sensor is described and shown in U.S. Patent No. 10,222,237 as magnetic field sensor 501. Sensor 114 may include, for example, a Hall effect magnetic field sensor, a magnetoresistive sensor, and / or other suitable types of magnetic field sensors capable of measuring magnetic flux density. Figure 1 In the diagram, stator 104 is shown to include three sensors 114; however, it should be understood that in some alternative embodiments, stator 104 may include a different number of sensors 114, or may not include any sensors. In addition... Figure 1 In addition to the different X positions shown, these sensors 114 can also be arranged at positions extending along the Y direction.

[0087] Each electrical conductor 116 is configured to generate at least one external magnetic field. The electrical conductor 116 can be, for example, a coil. An example of such a coil is described and shown in U.S. Patent No. 10,222,237 as coil trace 126. Figure 1 In this design, stator 104 is shown as including four electrical conductors 116; however, it should be understood that in some alternative embodiments, stator 104 may include only one electrical conductor 116, two electrical conductors 116, three electrical conductors 116, or more than four electrical conductors 116. In some embodiments, stator 104 may include a plurality of electrical conductors distributed in one or more planar layers. In some embodiments, the arrangement of the electrical conductors 116 may include a first direction (e.g., as shown in the diagram). Figure 1 A first set of coils linearly oriented and / or elongated in the X direction (as shown). The first set of coils may include a second set in a second direction (e.g., as shown). Figure 1The conductor 116 may also include a second coil pitch or spacing in the Y direction (as shown). The conductor 116 may further include a second set of coils that are linearly elongated in the second direction. The second set of coils may include a first pitch or spacing in the first direction. The first coil pitch / spacing and the second coil pitch / spacing may be equal. In some embodiments, the conductor 116 may be linearly elongated in different directions (e.g., linearly elongated in the X direction or linearly elongated in the Y direction) and may vertically overlap with other conductors.

[0088] Sensors 114 and electrical conductors 116 may be patterned on stator 104, such as as described and illustrated in, for example, U.S. Patent No. 10,222,237. The pattern may include one or more sensors 114 configured around each electrical conductor 116, for example, one sensor 114 at each edge of one of the electrical conductors 116. Other patterns are also possible. It should be understood that, for example, sensors 114 may be patterned near or around the electrical conductors 116 to provide appropriate feedback to controller 106 for position sensing and control of mover 102. In some embodiments, stator 104 may further include a plurality of teeth (not shown).

[0089] Amplifier 118 is connected to electrical conductor 116. In some embodiments, amplifier 118 may be referred to as a "drive circuit" or "stator drive circuit." Typically, amplifier 118 drives one or more currents in electrical conductor 116, thereby generating one or more external magnetic fields. Controller 106 may be configured to transmit control signals to amplifier 118. The control signals can be used to control the current driven into electrical conductor 116 by amplifier 118. Figure 1 In the illustrated embodiment, stator 104 includes an amplifier 118. However, in alternative embodiments, the stator may include more than one amplifier.

[0090] Controllably driving a current into each conductor 116 can cause that conductor 116 to generate or produce at least one external magnetic field. This generated at least one external magnetic field causes a corresponding magnetic force to act on the mover 102. One or more external magnetic fields can act on an actuating magnet 110, thereby causing the mover 102 to move relative to the stator 104. The mover 102 can be controllable in at least two degrees of freedom (2-DOF) of motion, including but not limited to three-plane degrees of freedom (3-DOF) and six-degree-of-freedom (6-DOF) controllable motion, which may include, for example, three translational degrees of freedom and three rotational degrees of freedom. Typically, embodiments such as those described herein may involve one or more movers that are controllably movable relative to the stator in, for example, at least two-plane DOF, three-plane DOF, four-plane DOF, five-plane DOF, or six-DOF controllable motion.

[0091] In the illustrated embodiment, the magnetic displacement system 100 includes a cover 120 superimposed on a stator 104. The cover 120 may cover the entire top surface of the stator 104 and may serve as a barrier between the stator 104 and the operating environment (generally shown as 122) of the mover 102. The operating environment 122 is typically the space in which the mover 102 moves during operation—i.e., when controlled by the stator 104, such as when carrying a component. In some embodiments, the cover 120 may protect the stator 104 from adverse conditions in the operating environment 122, such as humidity, liquids, and / or corrosive environments. In some embodiments, the cover 120 may protect the operating environment 122 from contamination. The cover 120 may be made of one or more materials that interact minimally with a magnetic field, such as nonmagnetic steel (i.e., austenitic stainless steel), plastic, ceramic, aluminum, titanium, or other minimally magnetic or nonmagnetic materials. In some embodiments, the cover 120 may withstand internal stresses (e.g., tensile stress) during installation.

[0092] The cover 120 includes and thus supports a working surface 124 on which the mover 102 can move. Typically, the working surface 124 describes a continuous region of the cover 120 in which the mover 102 can be controlled by the stator 104. That is, when the cover 120 covers the stator 104, the working surface 124 is between the stator 104 and the operating environment 122, and therefore when the mover 102 is being controlled by the stator 104 (i.e., when the mover 102 moves in response to an external magnetic field generated by the stator 104), the working surface 124 is between the stator 104 and the mover 102. A suitable feedback control algorithm executed by the controller 106 and suitable position feedback from the sensor 114 allow the controller 106 and the stator 104 to control the mover 102 along the working surface 124. The working surface 124 can be flat, curved, cylindrical, spherical, or some other shape that allows the mover 102 to move along the working surface 124. In some embodiments, the combined working surface may be defined by a plurality of stators, each stator having a respective stator cover, such that each working surface of each stator cover can be combined to form a larger combined working surface. In other embodiments, a single stator cover or an integral cover may cover multiple stators to form a single continuous working surface. Although working surface 124 is in Figure 1 The surface is depicted horizontally, but it should be understood that the working surface 124 can be mounted vertically or at an angle to gravity.

[0093] The mover 102 can move along the working surface 124 in either a "contact mode" or a "non-contact mode". The contact mode (also known as a "seated mode") may involve a contact medium between the mover 102 and the working surface 124, such as a sliding and / or rolling bearing. The non-contact mode (also known as a "suspended mode") may require maintaining a controllable gap 126 between the mover 102 and the working surface 124 of the cover 120 along the normal direction Z. The gap 126 may be an air gap. The mover 102 may also rest on the working surface 124 without moving, which can be in either the contact or non-contact mode. In the non-contact mode, the mover 102 may have 6-DOF controllable motion (referred to as an "active suspended mode"). Alternatively, the mover 102 may maintain the gap 126 by a passive suspending means (referred to as a "passive suspended mode"). In the passive suspended mode, the mover 102 may rest above the working surface 124 in the non-contact mode.

[0094] In some embodiments, the magnetic force associated with the interaction between the magnetic field generated by the current in the conductor 116 and the magnetic field associated with the actuating magnet 110 can always attract the mover 102 toward the stator 104 and thus toward the working surface 124 when the controller 106 controls the current driven by the amplifier 118. In other embodiments, the magnetic force associated with the interaction between the magnetic field generated by the current in the conductor 116 and the magnetic field associated with the actuating magnet 110 can push the mover 102 away from the stator 104 and thus away from the working surface 124 to counteract gravity and thus always maintain the gap 126.

[0095] In some embodiments, the gap 126 between the mover 102 and the working surface 124 of the cover 120 may be maintained by an air bearing or a compressed fluid bearing. It should be understood that in some embodiments, the gap 126 may be zero, for example when the mover 102 operates in contact mode.

[0096] As described above, the mover 102 can operate in a "floating mode," hovering near the working surface 124 of the cover 120 without contacting the cover 120. In the floating mode, the mover 102 can move along the working surface 124 in the X and Y directions, where X and Y are two non-parallel (e.g., orthogonal) directions within the working surface 124. It should be understood that the gap 126 between the working surface 124 and the bottom surface of the mover 102 is typically much smaller than the lateral dimension of the mover (i.e., the dimension in the X and Y directions).

[0097] While the mover 102 can perform 6-DOF controlled motion, such functionality may not be necessary in all cases. In some embodiments, levitation of the mover 102 may not be required, but rather heavy-duty load-bearing capacity. In such embodiments, the mover 102 may be seated on a working surface 124, supported by mechanical bearings (e.g., planar sliding bearings and / or ball bearing units), and may be capable of the following in-plane 3-DOF controlled motions: translation in the X and Y directions and rotation about the Z direction, where X and Y are two non-parallel (e.g., orthogonal) directions in the working surface 124, and Z is a direction perpendicular to the working surface 124. When the mover 102 is supported on the working surface 124 by sliding and / or rolling bearings and is capable of 3-DOF controlled motion, it may be referred to as operating in a “3-DOF controlled seating mode”.

[0098] In some embodiments, the mover 102 may be able to perform in-plane 3-DOF controllable motion (translation in the X and Y directions and rotation about the Z direction) in a levitation mode without contacting the working surface 124. In this mode, the translation in the Z direction, rotation about the X direction, and rotation about the Y direction of the mover 102 (and thus the associated degrees of freedom) can be open-loop controlled using appropriate passive levitation techniques without feedback. When the mover 102 is able to perform 3-DOF controllable motion without contacting the stator 104, it may be referred to as operating in a “3-DOF controlled levitation mode”.

[0099] Now refer to Figures 2 to 7 A magnetic displacement system according to another embodiment is generally shown as 150 and includes a mover 152, stators 154 and 156, a stator mounting device 158, and a controller (not shown). The mover 152 includes one or more magnets (not shown) and may be similar to... Figure 1 The embodiment of the mover 102. Each of the stators 154 and 156 includes one or more electrical conductors (not shown) and an amplifier (not shown), and may be similar to Figure 1 The stator 104 in this embodiment. Similarly, Figures 2 to 7 The controller in the embodiment may be similar to Figure 1 The controller 106 of the embodiment. In the illustrated embodiment, the stator mounting device 158 includes a cover 160 and a main support 162.

[0100] The cover 160 of the illustrated embodiment can generally be similar to Figure 1 Cover 120 of the embodiment. That is, cover 160 covers the stators 154 and 156 and acts as a barrier between the stators 154 and 156 and the operating environment of the rotor 152 (shown generally as 164). Furthermore, as... Figure 1As in the embodiment, the cover 160 includes and thus supports the working surface 166 for the movement of the mover 152 on the working surface 166, and the mover 152 can be controlled on the working surface 166 by the stators 154 and 156.

[0101] Typically, the main support 162 provides a mounting platform for supporting the stators 154 and 156 relative to the cover 160 and thus relative to the working surface 166, at least during operation. More specifically, the main support 162 is spaced apart from the cover 160 such that the cover 160 and the main support 162 define a stator chamber therebetween, generally shown as 168. The stator chamber 168 is dimensioned to accommodate the stators 154 and 156 such that the stators 154 and 156 can be supported relative to the working surface 166 within the stator chamber 168. In the illustrated embodiment, the cover 160 and the main support 162 are supported by structural members 170 and 172 of the stator mounting device 158 extending between the cover 160 and the main support 162, spaced apart from each other (see [link to documentation]). Figure 7 In some embodiments, the cover 160 and the main support 162 may be sealed together directly and / or indirectly. For example, the cover 160 may be sealed to structural members 170 and 172, which in turn may be sealed to the main support 162. In such embodiments, the seal between the cover 160 and the main support 162 may provide one or more of a hermetically tight seal and a liquid-tight seal between the cover 160 and the main support 162. In the illustrated embodiment, the main support 162 has the form of a mounting plate, but in alternative embodiments, the main support may have a different shape.

[0102] The outer side 174 of the main support member 162 faces away from the stator chamber 168, and therefore away from the cover member 160, and thus away from the working surface 166. Therefore, the outer side 174 of the main support member 162 can be accessed from the side of the stator mounting device 158 that faces away from the working surface 166. Thus, the outer side 174 of the main support member 162 can be accessed without interfering with or damaging the working surface 166.

[0103] The main support member 162 defines one or more openings that extend from the outer side 174 of the main support member 162 to access the stator chamber 168. More specifically, in the illustrated embodiment, the main support member 162 defines a primary opening 176 and a secondary opening 178, such as... Figure 4 As shown.

[0104] The primary opening 176 is sized to receive one of the stators 154 and 156 through it, such that stators 154 and 156 can be inserted into the stator chamber 168 from the outer side 174 of the main support 162 through the primary opening 176, and that stators 154 and 156 can be removed from the stator chamber 168 to the outer side 174 of the main support 162 through the primary opening 176. More specifically, in the illustrated embodiment, the primary opening 176 is sized to receive one of the stators 154 and 156 in a mounting orientation. As used herein, the term "mounting orientation" refers to the orientation of a stator (e.g., one of the stators 154 and 156) when mounted / supported in the stator chamber 168 to generate a magnetic field operable to move the mover 152 in the operating environment 164. For example, in Figures 2 to 7 In each of these embodiments, stators 154 and 156 are depicted in a mounting orientation. In the illustrated embodiment, to allow stators 154 and 156 to pass through a primary opening 176 in a mounting orientation, the primary opening 176 has a shape generally corresponding to the shape of one of the stators 154 and 156 in the mounting orientation. That is, in the illustrated embodiment, the primary opening 176 is complementary to one of the stators 154 and 156 in the mounting orientation.

[0105] Compared to the primary opening 176, the secondary opening 178 is typically sized to prevent stators 154 and 156 from passing through it, at least when stators 154 and 156 are in their mounting orientation. Typically, the secondary opening 178 can be provided from the outer side 174 of the main support 162 to the stator within the stator chamber 168 positioned away from the primary opening 176—that is, as... Figure 2 , Figure 3 and Figures 5 to 7 As shown – proximity to stator 154. In the illustrated embodiment, secondary opening 178 is continuous with primary opening 176. However, alternative embodiments may differ. For example, some alternative embodiments may include a main support having more than one primary opening and / or more than one secondary opening. Some alternative embodiments may include a main support defining a primary opening and one or more secondary openings separate from (i.e., discontinuous) from the primary opening. Other alternative embodiments may include a main support having only a primary opening – i.e., no secondary openings. Furthermore, some alternative embodiments may include one or more reinforcing supports (not shown) removably or permanently mounted across one or more secondary openings. In such embodiments, the reinforcing supports may be removable, for example, to facilitate stator mounting and removal.

[0106] In the illustrated embodiment, the working surface 166 is generally horizontal, the operating environment 164 (in which the mover 152 moves) is above the working surface 166, and the main support 162 is below the working surface 166, such that the stator chamber 168 is below the working surface 166, and the outer side 174 of the main support 162 faces downwards from the main support 162. Therefore, in the illustrated embodiment, the stators 154 and 156 can be inserted into and removed from the stator chamber 168 through the primary opening 176 from below the main support 162, while the operating environment 164 remains undisturbed above the working surface 166. However, alternative embodiments may differ. For example, in some alternative embodiments, the working surface may not be horizontal, but may be mounted vertically or at an angle to gravity. In some such alternative embodiments, the main support and stator chamber may not be positioned below the working surface.

[0107] The main support member 162 includes a support portion 180 adjacent to the primary opening 176 and the secondary opening 178 (see in detail). Figure 4 Typically, the support portion 180 of the main support member 162 is used to support one or more of the stators 154 and 156 within the stator chamber 168—for example, during operation. In the illustrated embodiment, the support portion 180 is depicted as supporting at least the stator 154. Figure 4 and Figure 5 As shown, when the stator 154 has been inserted into the stator chamber 168 through the primary opening 176 from the outer side 174 of the main support member 162, the stator 154 can be moved along the mounting direction 182 to a mounting position 184 on the support 180, where the stator 154 is supported by the support 180. In the illustrated embodiment, the mounting direction 182 is parallel to the working surface 166. From the mounting position 184, the stator 154 can be moved along a disassembly direction 186 (opposite to the mounting direction 182 and therefore also parallel to the working surface 166) to the primary opening 176, so that the stator 154 can be removed from the stator chamber 168 to the outer side 174 of the main support member 162 through the primary opening 176.

[0108] To facilitate movement of the stator within the stator chamber 168, the stator mounting device 158 may include means for guiding the stator 154, for example, between the mounting position 184 and the primary opening 176 along the mounting direction 182 and the disassembly direction 186. For example, structural members 170 and 172 may serve as guiding means for guiding the stator 154 along the mounting direction 182 and the disassembly direction 186. Furthermore, in some embodiments, particularly those including main supports with primary openings that are discontinuous with their corresponding secondary openings, at least some stators may—at least during installation—not have any features that project downward toward the main support 162 and could potentially impede movement of the stator within the stator chamber 168 along the mounting direction 182 and the disassembly direction 186.

[0109] like Figure 4 As shown, the primary opening 176 has a primary width 188 perpendicular to the mounting direction 182 (and therefore perpendicular to the disassembly direction 186), and the secondary opening 178 has a secondary width 190 perpendicular to the mounting direction 182 (and therefore perpendicular to the disassembly direction 186). Typically, the secondary width 190 is smaller than the primary width 188. In some embodiments, the secondary width 190 may be less than 75% of the primary width 188. In some embodiments, the secondary width 190 may be at least 10 mm smaller than the primary width 188. In some embodiments, the secondary width 190 may be at least 25 mm smaller than the primary width 188. In some embodiments, the secondary width 190 may be at least 50 mm smaller than the primary width 188. At least because the secondary width 190 of the secondary opening 178 is smaller than the primary width 188 of the primary opening 176, stators 154 and 156 can pass through the primary opening 176 but not through the secondary opening 178 when in the mounting orientation. That is, as described above, the primary opening 176 is sized to receive the stators 154 and 156 when they are in the mounting orientation, while the secondary opening 178 is sized to prevent the stators 154 and 156 from passing through when they are in the mounting orientation.

[0110] Reference Figure 3 , Figure 6 and Figure 7 In the illustrated embodiment, the stator mounting device 158 includes a stator support 192 that is releasably attachable to a main support 162 around at least a primary opening 176 to support one or more of stators 154 and 156 within the primary opening 176. That is, the stator support 192 releasably secures the primary opening 176 to prevent stators 154 and 156 from passing through it. Thus, for example, stators 154 and 156 can be inserted into the stator chamber 168 from the outer side 174 of the main support 162 through the primary opening 176, and then the stator support 192 can be attached to the main support 162 to secure the primary opening 176 and thereby secure stators 154 and 156 within the stator chamber 168. Figures 2 to 7As depicted, when the stator support 192 is attached to the main support 162 to secure the primary opening 176, the stator support 192 covers at least a portion of the primary opening 176 and supports at least the stator 154 within the primary opening 176. Furthermore, in the illustrated embodiment, when the stator support 192 is attached to the main support 162 to secure the primary opening 176, the stator support 192 also covers at least a portion of the secondary opening 178. In the illustrated embodiment, the stator support 192 has the form of a sub-mounting plate, but in alternative embodiments, the stator support 192 may have a different shape. The stator support 192 can be releasably attached to the main support 162 by fasteners (e.g., screws and / or bolts). Of course, the stator support 192 of the illustrated embodiment is merely an example, and alternative embodiments may differ. For example, some alternative embodiments may include a stator support that, when attached to the main support 162 to secure the primary opening 176, covers only a portion of the primary opening 176 and does not cover the secondary opening 178 at all.

[0111] To facilitate alignment between the stator support 192 and the main support 162, the stator support 192 may include alignment means for aligning the stator support 192 with the main support 162 when the stator support 192 is attached to the main support 162 and when the stator support 192 is attached to the main support 162. For example, as Figure 3 and Figure 6 As shown, the stator support 192 has a shape generally corresponding to the shapes of the primary opening 180 and the secondary opening 184 (i.e., the stator support 192 is complementary to the primary opening 180 and the secondary opening 184), and includes an edge shoulder 194 extending along the periphery of the stator support 192, the edge shoulder 194 being dimensioned to engage with the edge 196 of the primary opening 180 and the edge 198 of the secondary opening 184. Therefore, when the stator support 192 is attached to the main support 162, the edge shoulder 194 can engage edges 196 and 198, thus serving as an alignment device for aligning the stator support 192 with the main support 162.

[0112] To facilitate alignment between the stator and stator support 192 in stator chamber 168, main support 162 may include a stator alignment device for aligning, for example, the stator 154 with the stator support 192, at least when the stator support 192 is attached to main support 162. For example, structural members 170 and 172 may be used as such a stator alignment device for aligning the stator 154 with the stator support 192.

[0113] Still refer to Figure 3 , Figure 6 and Figure 7In the illustrated embodiment, the stator support 192 includes stator support openings 200 and 202 that provide access to the stator chambers 168 and / or the stators 154 and 156 within the stator chambers 168, even when the stator support 192 is attached to the main support 162 to secure the primary opening 176. The stator support 192 thus covers portions of the primary opening 176 and the secondary opening 178. Each of the stator support openings 200 and 202 is sized to prevent the stators 154 and 156 from passing through it. The stator support openings 200 and 202 can be used, for example, to pass wires, cables, and / or other conduits from outside the stator chamber 168 to inside the stator chamber 168 to connect the stators 154 and 156 to one or more devices (e.g., power supplies, controllers) outside the stator chamber 168. See below. Figure 16 For a more specific example. In the illustrated embodiment, each of the stator support openings 200 and 202 is completely surrounded (i.e., encircled) by the stator support 192 in a plane parallel to the working surface 166. However, in an alternative embodiment, the stator support 192 may include at least one stator support opening that is not thereby completely surrounded by the stator support 192 but is open at least a portion of its periphery.

[0114] Reference Figure 7 In the illustrated embodiment, the stator mounting device 158 further includes seals 204 and 206 between the stator support 192 and the main support 162, and between the stator support 192 and one or more of the stators 154 and 156. When the stator support 192 is attached to the main support 162, these seals provide one or more of a hermetically and liquidally tight seal between the stator support 192 and the main support 162 or the stators 154 and 156. Each of the seals 204 and 206 may be or may include one or more of, for example, O-rings, gaskets, and adhesives. Seals 204 and 206, for example, may mitigate any potential pathways for fluid exchange or cross-contamination between the stator chamber 168 and the external environment (e.g., the outer side 174 of the main support 162). Of course, the illustrated embodiment is merely an example, and alternative embodiments may differ. For example, some alternative embodiments may omit any seals between stator support 192 and main support 162 and / or between stator support 192 and stators 154 and 156.

[0115] Now refer to Figures 8 to 15 A magnetic displacement system according to another embodiment is generally shown as 210 and includes a mover 212, stators 214, 216, 218 and 220, a stator mounting system 222, and a controller (not shown). The mover 212 includes one or more magnets (not shown) and may be similar to... Figure 1 The mover 102 and / or in the embodiment Figures 2 to 7The embodiment includes a mover 152. Each of the stators 214, 216, 218, and 220 includes one or more electrical conductors (not shown) and an amplifier (not shown), and may be similar to... Figure 1 Stator 104 and / or in the embodiment Figures 2 to 7 Stator 154 and 156 in the embodiment. Similarly, Figures 8 to 15 The controller in the embodiment may be similar to Figure 1 The controller 106 in the embodiment.

[0116] The stator mounting system 222 includes two stator mounting devices 224 and 226 positioned adjacent to each other. That is, the stator mounting devices 224 and 226 are arranged adjacent to each other in an ordered sequence. More specifically, as Figure 8 As shown, stator mounting devices 224 and 226 are positioned on both sides of plane 228. Each of the stator mounting devices 224 and 226 is generally similar to Figures 2 to 7 The stator mounting device 158 of the embodiment. The stator mounting system 222 also includes a single integral cover 230 and a single integral main support 232. The integral cover 230 includes a cover portion 234 that provides cover for the stator mounting device 224; and a cover portion 236 that provides cover for the stator mounting device 226. Similarly, the integral main support 232 includes a main support portion 238 that provides main support for the stator mounting device 224; and a main support portion 240 that provides main support for the stator mounting device 226. Of course, the stator mounting system 222 of the illustrated embodiment is merely an example, and alternative embodiments may differ. For example, some alternative embodiments may include a stator mounting system consisting of two or more stator mounting devices. In some alternative embodiments, the stator mounting system may not include an integral main support and / or an integral cover, but may instead have a separate main support and / or a separate cover for each stator mounting device.

[0117] The integral cover 230 of the illustrated embodiment is generally similar to Figure 1 Cover 120 and in the embodiment Figures 2 to 7 Cover 160 of the embodiment. That is, integral cover 230 covers the stators 214, 216, 218 and 220 and acts as a barrier between the stators 214, 216, 218 and 220 and the operating environment of the rotor 212 (generally shown as 242). Furthermore, as... Figure 1 and Figures 2 to 7 Like the covers 120 and 160 in the embodiments, the integral cover 230 includes and thus supports the working surface 244, allowing the mover 212 to move on the working surface 244, and the mover 212 can be controlled on the working surface 244 by the stators 214, 216, 218 and 220.

[0118] The integral main support member 232 of the embodiment shown is generally similar to Figures 2 to 7 The embodiment's main support member 162. That is, the integral main support member 232 provides, at least during operation, a mounting platform for supporting the stators 214, 216, 218, and 220 relative to the integral cover 230 and thus relative to the working surface 244. Figures 2 to 7 As in the illustrated embodiment, the integral main support 232 is spaced apart from the integral cover 230 such that the integral cover 230 and the integral main support 232 define a stator chamber (generally shown as 246) between them, and the stator chamber 246 is sized to accommodate stators 214, 216, 218, and 220 such that stators 214, 216, 218, and 220 can be supported relative to the working surface 244 within the stator chamber 246. In the illustrated embodiment, the integral cover 230 and the integral main support 232 are supported by structural members 248 and 250 of the stator mounting system 222 extending between the integral cover 230 and the integral main support 232, spaced apart from each other (see [reference needed]). Figure 15 ).

[0119] In addition, such as Figures 2 to 7 As in some embodiments, the integral cover 230 and the integral main support 232 can be sealed together directly and / or indirectly. For example, the integral cover 230 can be sealed to structural members 248 and 250, which in turn can be sealed to the integral main support 232. In such embodiments, the seal between the integral cover 230 and the integral main support 232 can provide one or more of a hermetically tight seal and a liquid-tight seal between the integral cover 230 and the integral main support 232. Furthermore, as... Figures 2 to 7 Like the main support member 162 in the embodiment, Figures 8 to 15 The monolithic main support 232 in the illustrated embodiment has the form of a mounting plate, but may have a different shape in alternative embodiments. In some embodiments, the monolithic cover may also be sealed to one or more other structures to form an enclosed volume, for example above the working surface 244 and / or around the operating environment 242.

[0120] The outer side 252 of the integral main support member 232 faces away from the stator chamber 246, and therefore away from the integral cover member 230, and therefore away from the working surface 244. (Refer to...) Figure 11 The outer side 252 of the integral main support member 232 is therefore accessible from the side of the stator mounting system 222 away from the working surface 244. The integral main support member 232 defines primary openings 254 and 256 and secondary openings 258 and 260. More specifically, the main support portion 238 defines the primary opening 254 and the secondary opening 258, while the main support portion 240 defines the primary opening 256 and the secondary opening 260.

[0121] like Figures 2 to 7 As in the embodiments described, each of the primary openings 254 and 256 is sized to pass through which one of the stators 214, 216, 218, and 220 is received, thereby allowing the stators 214, 216, 218, and 220 to pass through the primary openings 254 and 256 to be inserted into and removed from the stator chamber 246 from the outer side 252 of the integral main support 232. Similarly, each of the secondary openings 258 and 260 is generally sized to prevent the stators 214, 216, 218, and 220 from passing through them, at least when the stators 214, 216, 218, and 220 are in the mounting orientation. Furthermore, as... Figures 2 to 7 As in the embodiments described, the primary and secondary openings in each of the stator mounting devices 224 and 226 are continuous with each other. That is, the secondary opening 258 is continuous with the primary opening 254, and the secondary opening 260 is continuous with the primary opening 256.

[0122] Reference Figure 12 The main support portion 238 of the integral main support member 232 includes a support portion 262 adjacent to the primary opening 254 and the secondary opening 258 (see...). Figure 12 Similarly, the main support portion 240 of the integral main support member 232 includes a support portion 264 adjacent to the primary opening 256 and the secondary opening 260. Figures 2 to 7 Similar to support 180 in the embodiments, supports 262 and 264 are used to support one or more of stators 214, 216, 218, and 220 within the stator chamber 246. In the illustrated embodiment, support 262 is depicted to support at least stator 216, and support 264 is depicted to support at least stator 220. (Refer to...) Figure 12 and Figure 13 When the stator 216 has been inserted into the stator chamber 246 through the primary opening 254 from the outer side 252 of the integral main support 232, the stator 216 can be moved along the mounting direction 266 to the mounting position 268 on the support 262, where the stator 216 is supported by the support 262. From the mounting position 268, the stator 216 can be moved along the disassembly direction 270, opposite to the mounting direction 266, to the primary opening 254, so that the stator 216 can be removed from the stator chamber 246 to the outer side 252 of the integral main support 232 through the primary opening 254.

[0123] Similarly, when the stator 220 has been inserted into the stator chamber 246 from the outer side 252 of the integral main support 232 through the primary opening 256, the stator 220 can be moved along the mounting direction 272 to a mounting position 274 on the support 264, where the stator 220 is supported by the support 264. From the mounting position 274, the stator 220 can be moved along a disassembly direction 276 opposite to the mounting direction 272 to the primary opening 256, so that the stator 220 can be removed from the stator chamber 246 through the primary opening 256 to the outer side 252 of the integral main support 232. Figures 2 to 7 As in the embodiments, each of the mounting directions 266 and 272 and the disassembly directions 270 and 276 is parallel to the working surface 244.

[0124] Reference Figures 11 to 13 In the illustrated embodiment, the stator mounting device 224 has an orientation opposite to that of the adjacent stator mounting device 226. That is, for example, the mounting direction 266 of the stator mounting device 224 is antiparallel to the mounting direction 272 of the stator mounting device 226, and the disassembly direction 270 of the stator mounting device 224 is antiparallel to the disassembly direction 276 of the stator mounting device 226. However, alternative embodiments may differ. For example, in some alternative embodiments, adjacent stator mounting devices may have the same orientation. In some alternative embodiments, adjacent stator mounting devices may have an orientation perpendicular to each other in a plane parallel to the working surface 244. More generally, in some alternative embodiments, adjacent stator mounting devices may have an orientation that is not parallel to each other in a plane parallel to the working surface 244. In some alternative embodiments having two or more stator mounting devices, adjacent stator mounting devices may have an orientation that alternates in a repeating sequential pattern in a plane parallel to the working surface 244.

[0125] Typically, in some embodiments that include more than one stator mounting device, the primary openings of adjacent stator mounting devices may be non-adjacent, including non-diagonally adjacent. Figures 8 to 15 In the illustrated embodiment, the primary opening 254 of the stator mounting device 224 is generally diagonally adjacent to the primary opening 256 of the stator mounting device 226. For example, Figure 11 and Figure 12As shown, to avoid continuity between primary opening 254 and primary opening 256, primary opening 254 is offset by an offset distance 271 relative to primary opening 256 in the X direction. Therefore, the integral main support 232 includes a portion 273 that separates primary opening 254 from primary opening 256. Due to the offset between primary opening 254 and primary opening 256, when stator 214 is inserted into stator chamber 246 through primary opening 254, it must be moved by an offset distance 275 in the +X direction to align with stator 220 in the X direction. Similarly, when stator 218 is inserted into stator chamber 246 through primary opening 256, it must be moved by an offset distance 277 in the -X direction to align with stator 220 in the X direction. In embodiments where primary openings are not adjacent, such offset between primary openings of adjacent stator mounting devices may not be necessary. For example, in embodiments where adjacent stator mounting devices have opposite orientations, as in... Figures 8 to 15 In the illustrated embodiment, such offset can be avoided if each stator mounting device holds three or more stators, instead of each of stator mounting devices 224 and 226 holding two stators (i.e., stators 214 and 216, and stators 218 and 220, respectively).

[0126] like Figure 12 As shown, the primary opening 254 has a primary width 278 perpendicular to the mounting direction 266 (and therefore perpendicular to the disassembly direction 270), and the secondary opening 258 has a secondary width 280 perpendicular to the mounting direction 266 (and therefore perpendicular to the disassembly direction 270). Similarly, the primary opening 256 has a primary width 282 perpendicular to the mounting direction 272 (and therefore perpendicular to the disassembly direction 276), and the secondary opening 260 has a secondary width 284 perpendicular to the mounting direction 272 (and therefore perpendicular to the disassembly direction 276). Figures 2 to 7 As in the embodiment, the secondary width 280 is smaller than the primary width 278, and the secondary width 284 is smaller than the primary width 282. Therefore, stators 214, 216, 218, and 220 can pass through the primary openings 254 and 256, but cannot pass through the secondary openings 258 and 260.

[0127] like Figures 2 to 7 As with the stator mounting device 158 in the embodiment, referring to Figure 9 Each of the stator mounting devices 224 and 226 of the stator mounting system 222 includes a stator support releasably attachable to the integral main support 232. (See reference...) Figure 10More specifically, the stator mounting device 224 includes a stator support 286 releasably attachable to a main support portion 238 of an integral main support 232 around at least a primary opening 254 to support one or more of stators 214, 216, 218, and 220 in the primary opening 254. Similarly, the stator mounting device 226 includes a stator support 288 releasably attachable to a main support portion 240 of an integral main support 232 around at least a primary opening 256 to support one or more of stators 214, 216, 218, and 220 in the primary opening 256. Typically, stator supports 286 and 288 are similar to Figures 2 to 7 The stator support 192 of the embodiment can be used to releasably secure primary openings 254 and 256 respectively to prevent any of the stators 214, 216, 218, and 220 from passing through primary openings 254 and 256. Figures 8 to 15 As depicted, when stator supports 286 and 288 are attached to the integral main support 232 to secure primary openings 254 and 256, stator support 286 covers at least a portion of the primary opening 254 and at least a portion of the secondary opening 258 and supports at least stator 214 in the primary opening 254, and stator support 288 covers at least a portion of the primary opening 256 and at least a portion of the secondary opening 260 and supports at least stator 218 in the primary opening 256. Figures 2 to 7 Like the stator support 192 in the embodiment, each of the stator supports 286 and 288 includes a stator support opening that provides access to the stator 214, 216, 218 and 220 inside the stator chamber 246 and / or the stator 214, 216, 218 and 220 inside the stator chamber 246. More specifically, stator support 286 includes stator support openings 290 and 292, which respectively provide access to stators 214 and 216 when stator support 286 is attached to integral main support 232 to secure primary opening 254 and thus cover portions of primary opening 254 and secondary opening 258; and stator support 288 includes stator support openings 294 and 296, which respectively provide access to stators 218 and 220 when stator support 286 is attached to integral main support 232 to secure primary opening 256 and thus cover portions of primary opening 256 and secondary opening 260. Each of the stator support openings 290, 292, 294, and 296 is sized to prevent stators 214, 216, 218, and 220 from passing through it.

[0128] Reference Figure 15 ,like Figures 2 to 7Like the stator mounting device 158 of the embodiment, each of the stator mounting devices 224 and 226 of the stator mounting system 222 includes seals 298, 300, 302, and 304 for providing airtight and / or liquid-tight seals between the stator supports 286 and 288 and the integral main support 232, and between the stator supports 286 and 288 and one or more of the stators 214, 216, 218, and 220. Each of the seals 298, 300, 302, and 304 may generally resemble Figures 2 to 7 Seals 204 and 206 in the embodiment.

[0129] Now refer to Figure 16 A magnetic displacement system according to another embodiment is generally shown as 310 and includes a mover 312, a plurality of stators including stators 314 and 316, a stator mounting system 318, and a controller (not shown). The mover 312 includes one or more magnets (not shown) and may be similar to Figure 1 The moving part 102 in the embodiment Figures 2 to 7 The mover 152 and / or in the embodiment Figures 8 to 15 The mover 212 of the embodiment. Each of the plurality of stators including stators 314 and 316 includes one or more electrical conductors (not shown) and an amplifier (not shown), and may be similar to Figure 1 Stator 104 in the embodiment Figures 2 to 7 Stator 154 and 156 and / or in the embodiments Figures 8 to 15 Stator 214, 216, 218, and 220 in the embodiments. Similarly, Figures 8 to 15 The controller in the embodiment may be similar to Figure 1 The controller 106 in the embodiment.

[0130] generally, Figure 16 The stator mounting system 318 shown is similar to Figures 8 to 15The stator mounting system 222 of this embodiment. Specifically, the stator mounting system 318 includes an integral cover 320 that includes and supports a working surface 322 and generally forms a barrier between the stators 314 and 316 and the operating environment of the rotor 312 (generally shown as 324). The stator mounting system 318 also includes an integral main support 326 that provides a mounting platform for supporting the stators 314 and 316 relative to the integral cover 320 and is spaced apart from the integral cover 320 to define a stator chamber (generally shown as 328) sized to accommodate the stators 314 and 316. The integral cover 320 and the integral main support 326 are spaced apart from each other by structural members 330 and 332. The outer side 334 of the integral main support 326 faces away from the stator chamber 328, and therefore away from the integral cover 320, and therefore away from the working surface 322, so that the outer side 334 can be accessed from the side of the stator mounting system 318 away from the working surface 322.

[0131] like Figures 8 to 15 As in the embodiments, Figure 16 The integral main support 326 shown defines a primary opening and a secondary opening between the stator chamber 328 and the outer side 334 of the integral main support 326. For example, as Figure 16 As shown, the integral main support 326 defines a primary opening 336, which is sized to receive one of a plurality of stators (e.g., stator 316) therethrough; and a secondary opening 338, which is generally sized to prevent a stator from passing through it.

[0132] In addition, such as Figures 8 to 15 As in the embodiments, Figure 16 The stator mounting system 318 shown includes stator supports 340 and 342 that are releasably attachable to an integral main support 326. The stator support 340 is generally similar to... Figures 8 to 15 The stator supports 286 and 288 in the embodiments, and Figure 16In the illustrated embodiment, when attached to the integral main support 326, it covers at least a portion of the secondary opening 338. The stator support 340 also defines a stator support opening, generally shown as 344, which provides access to the stator chamber 328 and the stator 314 within the stator chamber 328, even when the stator support 340 is attached to the integral main support 326. When attached to the integral main support 326, the stator support 342 covers at least a portion of the primary opening 336 and supports the stator 316 within the primary opening 336. The stator support 342 defines a stator support opening 346, sized to receive a utility service conduit 348 associated with at least the stator 316. In some embodiments, the utility service conduit 348 may be connectable to, for example, the stator 316. In some embodiments, the utility service conduit 348 may carry communication between the stator 316 and a remote device, such as a controller. In some embodiments, the utility service conduit 348 may carry power to the stator 316.

[0133] like Figures 8 to 15 Like the stator mounting system 222 in the embodiment, Figure 16 The stator mounting system 318 shown includes seals for providing airtight and / or liquid-tight seals when the stator supports 340 and 342 are attached to the integral main support 326. For example, such as Figure 16 As shown, the stator mounting system 318 includes a seal 350 between the stator support 340 and the integral main support 326, a seal 352 between the stator support 342 and the integral main support 326, and a seal 354 between the stator support 340 and the stator 314. Furthermore, the stator mounting system 318 includes a seal 356 for providing an airtight and / or liquid-tight seal between the stator support 342 and the utility service conduit 348 when the utility service conduit 348 is received through the stator support opening 346. Each of the seals 350, 352, 354, and 356 may generally resemble... Figures 2 to 7 Seals 204 and 206 in the embodiments and / or Figures 8 to 15 The seals in the embodiments are 298, 300, 302 and 304.

[0134] Typically, the stator can be installed into or removed from magnetic displacement system 150, magnetic displacement system 210, or magnetic displacement system 310 by at least passing the stator through a primary opening in the main support of the respective magnetic displacement system. For example, see reference... Figures 8 to 15The magnetic displacement system 210 shown, with stators 218 and 220, can be mounted onto the stator mounting device 226 by first inserting the stator 220 into the stator chamber 246 through the primary opening 256 of the main support portion 240 of the integral main support member 232 from the outer side 252; moving the stator 220 from the primary opening 256 along the mounting direction 272 to the mounting position 274 on the support portion 264 of the main support portion 240; and having the stator 220 supported by the support portion 264. Figure 10 and Figure 11 As shown, stator 220 can be inserted into stator chamber 246 through primary opening 256 in an insertion direction 358 perpendicular to working surface 244. Stator 220 can be moved from primary opening 256 to mounting position 274 in mounting direction 272 by approaching stator 220 from external side 252 through primary opening 256 and / or secondary opening 260. Mounting stator 220 may also include orienting stator 220 to a mounting orientation before insertion through primary opening 256. Once stator 220 has been inserted into stator chamber 246 and moved to mounting position 274, stator 218 can also be inserted into stator chamber 246 from external side 252 through primary opening 256 (e.g., in insertion direction 258). Stator support 288 can then be attached to main support portion 240 of integral main support 232 to support stator 218 in primary opening 256. In some embodiments, attaching the stator support 288 to the main support 240 may involve sealing the stator support 288 to the main support 240 (e.g., using a seal 302) to provide at least one of an airtight seal and a liquid seal between the main support 240 and the stator support 288. This is applicable in applications including one or more utility service conduits (e.g., Figure 16 In some embodiments of the utility service conduit 348 of the magnetic displacement system 310 shown, stator mounting may further include inserting the utility service conduit through a stator support opening in the stator support and connecting the utility service conduit to the stator.

[0135] Similarly, stators 218 and 220 can be removed from stator mounting device 226 by first detaching stator support 288 from main support portion 240 of integral main support 232. In some embodiments, detachment of stator support 288 may include breaking the airtight and / or liquid-tight seal between main support portion 240 and stator support. Once stator support 288 has been detached, stator 218 can be approached from outer side 252 of integral main support 232 to remove stator 218 from stator chamber 246 by passing stator 218 through primary opening 256 to outer side 252. Once the stator 218 has been removed, the stator 220 can also be approached from the outer side 252 of the integral main support 232, so that the stator 220 is moved from the mounting position 274 to the primary opening 256 in the disassembly direction 276, and then removed from the stator chamber 246 by passing the stator 220 through the primary opening 256 to the outer side 252. Figure 10 and Figure 11 As shown, stators 218 and 220 can be removed from stator chamber 246 through primary opening 256 in a removal direction 360 opposite to the insertion direction 358 and therefore perpendicular to the working surface 244. Stators 218 and 220 can be accessed from the outer side 252 of integral main support 232 through primary opening 256 and / or secondary opening 260. Removal of each of stators 218 (or 220) may involve keeping stator 218 (or 220) in the mounting orientation while passing stator 218 (or 220) through primary opening 256 to outer side 252.

[0136] The magnetic displacement system shown in the embodiment is merely an example, and alternative embodiments may differ. For example, in Figures 2 to 15 In some embodiments, each stator mounting device (i.e., stator mounting devices 158, 224, and 226) is shown supporting up to two stators (i.e., stators 154 and 156, stators 214 and 216, and stators 218 and 220, respectively). However, some alternative embodiments may include stator mounting devices that can support only a single stator, while other alternative embodiments may include stator mounting devices that can support three or more stators.

[0137] Furthermore, some alternative embodiments may include a main support member having more than one support portion adjacent to a given primary opening, such that the stator can be inserted into the stator chamber through the primary opening and moved along more than one mounting direction. For example, in some such embodiments, the main support member may include two supports adjacent to and on opposite sides of the central primary opening, such that the stator can be inserted into the stator chamber through the central primary opening and moved along a first mounting direction to a first support portion or along a second mounting direction opposite to the first mounting direction to a second support portion. In other such embodiments, the main support member may include four supports adjacent to the central primary opening and arranged around the central primary opening at 90° intervals, such that there are four possible mounting directions for the stator inserted into the stator chamber through the central primary opening. In still other such embodiments, the main support member may include eight supports adjacent to the central primary opening and arranged around the central primary opening at 45° intervals, such that there are eight possible mounting directions for the stator inserted into the stator chamber through the central primary opening.

[0138] Terms and Conditions This disclosure includes, but is not limited to, the following provisions, which may be combined with other subjects in this specification.

[0139] 1. A stator mounting device for a magnetic displacement system, the stator mounting device comprising: A main support member, sized to pass through a primary opening in which one or more stators are received, the main support member including a support portion adjacent to the primary opening for supporting at least one of the one or more stators received through the primary opening, wherein: At least one of the one or more stators is received through the primary opening from the outer side of the main support member and is movable in the mounting direction to a mounting position on the support member, in which the at least one of the one or more stators is supported by the support member, the outer side of the main support member faces away from the working surface of the displacement system, one or more movers of the displacement system are controllable on the working surface, and the mounting direction is parallel to the working surface; and From the installation position, at least one of the one or more stators can be moved in a disassembly direction opposite to the installation direction to the primary opening, so as to be removed through the primary opening to the outer side of the main support.

[0140] 2. The stator mounting device according to Clause 1, wherein the main support member is below the working surface.

[0141] 3. The stator mounting apparatus according to Clause 1 or 2, wherein the primary opening is sized to receive the one or more stators in a mounting orientation therethrough.

[0142] 4. The stator mounting apparatus according to Clause 3, wherein the primary opening has a shape corresponding to the shape of each of the one or more stators in the mounting orientation.

[0143] 5. The stator mounting equipment according to any one of clauses 1 to 4, wherein: The primary opening has a primary width perpendicular to the installation direction; and The main support member further defines a secondary opening, the secondary opening having a secondary width perpendicular to the installation direction, the secondary width being smaller than the primary width.

[0144] 6. The stator mounting device according to Clause 5, wherein the secondary opening is continuous with the primary opening.

[0145] 7. The stator mounting apparatus according to Clause 5 or 6 when directly or indirectly subordinate to Clause 3, wherein the secondary opening is sized to prevent the one or more stators from passing through it in the mounting orientation.

[0146] 8. The stator mounting device according to clauses 5, 6 or 7, wherein the secondary opening is sized to prevent the one or more stators from passing through it.

[0147] 9. The stator mounting device according to any one of clauses 5 to 8, wherein the secondary width is less than 75% of the primary width.

[0148] 10. The stator mounting device according to any one of clauses 1 to 9, wherein the main support member includes a mounting plate.

[0149] 11. The stator mounting apparatus according to any one of clauses 1 to 10, further comprising a guiding device for guiding at least one of the one or more stators between the mounting position and the primary opening along the mounting direction and the disassembly direction.

[0150] 12. The stator mounting apparatus according to Clause 11, wherein the guiding device includes at least one structural member extending from the main support member.

[0151] 13. The stator mounting apparatus according to any one of clauses 1 to 12 further includes a stator support member releasably attachable to the main support member to support the stator in the primary opening.

[0152] 14. The stator mounting device according to Clause 13, wherein the stator support includes a sub-mounting plate.

[0153] 15. The stator mounting apparatus according to Clause 13 or 14, wherein the stator support has a stator support opening sized to prevent the one or more stators from passing through it when the stator support is attached to the main support.

[0154] 16. The stator mounting apparatus according to Clause 15, wherein the stator support opening is sized to receive through it one or more utility service conduits associated with the one or more stators.

[0155] 17. The stator mounting equipment according to Clause 16, wherein at least one of the one or more utility service conduits is configured to carry communication between the one or more stators and a remote device.

[0156] 18. The stator mounting equipment according to Clause 16 or 17, wherein at least one of the one or more utility service conduits is configured to carry power to the one or more stators.

[0157] 19. The stator mounting apparatus according to any one of clauses 13 to 18, wherein the stator support includes an alignment device for aligning the stator support with the main support when the stator support is attached to the main support.

[0158] 20. The stator mounting equipment as described in Clause 19, wherein: At least a portion of the stator support has a shape corresponding to the shape of at least a portion of the primary opening; and The alignment device includes a shoulder that extends around the periphery of at least a portion of the stator support and is sized to engage at least one edge of the primary opening.

[0159] 21. The stator mounting apparatus according to any one of clauses 13 to 20, further comprising a stator alignment device for aligning at least one of the one or more stators with the stator support, at least when the stator support is attached to the main support.

[0160] 22. The stator mounting apparatus according to Clause 21, wherein the stator alignment device includes at least one structural member extending from the main support member.

[0161] 23. The stator mounting device according to any one of clauses 13 to 22 further includes a seal between the main support and the stator support to provide at least one of an airtight seal and a liquid seal between the main support and the stator support when the stator support is attached to the main support.

[0162] 24. The stator mounting apparatus according to any one of clauses 1 to 23 further includes a cover spaced apart from the main support member, such that the cover member and the main support member define a stator chamber therebetween, the stator chamber being sized to accommodate the one or more stators.

[0163] 25. The stator mounting apparatus according to Clause 24, wherein the cover supports the working surface.

[0164] 26. The stator mounting device according to clause 24 or 25, wherein the cover and the main support are sealed together to provide at least one of an airtight seal and a liquid seal between the cover and the main support.

[0165] 27. A stator mounting system comprising one or more stator mounting devices, each stator mounting device as described in any one of clauses 1 to 23.

[0166] 28. A stator mounting system comprising one or more stator mounting devices, each stator mounting device as described in clauses 24, 25 or 26.

[0167] 29. The stator mounting system according to Clause 28, wherein the cover of each of the one or more stator mounting devices is provided by an integral cover having one or more covers, each cover providing a corresponding cover for a specific stator mounting device among the one or more stator mounting devices.

[0168] 30. The stator mounting system according to clauses 27, 28 or 29, wherein the main support of each of the one or more stator mounting devices is provided by an integral main support having one or more main support portions, each main support portion providing a corresponding main support for a corresponding stator mounting device among the one or more stator mounting devices.

[0169] 31. The stator mounting system according to any one of Clauses 27 to 30, wherein the one or more stator mounting devices comprise a plurality of stator mounting devices positioned adjacent to each other.

[0170] 32. The stator mounting system according to Clause 31, wherein each of the plurality of stator mounting devices has an orientation opposite to that of its adjacent stator mounting device among the plurality of stator mounting devices.

[0171] 33. The stator mounting system according to clause 31 or 32, wherein the primary openings of adjacent stator mounting devices among the plurality of stator mounting devices are not adjacent.

[0172] 34. A stator assembly for a magnetic displacement system, the stator assembly comprising: Stator mounting system according to any one of Clauses 27 to 33; and One or more of the stators are operable to generate a magnetic field operable to move the one or more movers of the displacement system.

[0173] 35. The stator assembly according to Clause 34, wherein each of the one or more stators includes one or more electrical conductors operable to generate the magnetic field.

[0174] 36. The stator assembly according to Clause 35, wherein each of the one or more stators further includes a drive circuit operable to drive at least one current in the one or more electrical conductors to cause the one or more electrical conductors to generate the magnetic field.

[0175] 37. A method for mounting a stator on a stator mounting device of a magnetic displacement system, the method comprising: The stator is inserted through a primary opening in the main support of the stator mounting device, the primary opening being approached from the outer side of the main support, the outer side of the main support facing away from the working surface of the displacement system, one or more movers of the displacement system being controllable on the working surface; The stator is moved along the mounting direction from the primary opening to the mounting position on the support portion of the main support member, the mounting direction being parallel to the working surface; and The stator is supported by the support portion.

[0176] 38. The method according to Clause 37, wherein the main support is below the working surface.

[0177] 39. The method according to clause 37 or 38 further includes orienting the stator to an installation orientation before insertion through the primary opening.

[0178] 40. The method according to clauses 37, 38 or 39, wherein inserting the stator through the primary opening comprises inserting the stator through the primary opening in an insertion direction perpendicular to the working surface.

[0179] 41. The method according to any one of clauses 37 to 40, wherein moving the stator from the primary opening along the mounting direction to the mounting position includes approaching the stator through the primary opening.

[0180] 42. The method according to any one of clauses 37 to 41, wherein: Moving the stator from the primary opening along the mounting direction to the mounting position includes approaching the stator through a secondary opening in the main support member; The primary opening has a primary width perpendicular to the installation direction; and The secondary opening has a secondary width perpendicular to the installation direction, and the secondary width is smaller than the primary width.

[0181] 43. The method according to any one of clauses 37 to 42 further includes attaching a stator support to the main support to support the stator in the primary opening.

[0182] 44. The method described pursuant to Clause 43 further comprises: One or more utility service conduits associated with the stator are inserted through a stator support opening in the stator support member, the stator support opening being accessible from the outer side of the main support member; and Connect the one or more utility service conduits to the stator.

[0183] 45. The method according to Clause 44, wherein at least one of the one or more utility service conduits is configured to carry communication between the stator and the remote device.

[0184] 46. ​​The method according to clause 44 or 45, wherein at least one of the one or more utility service conduits is configured to carry power to the stator.

[0185] 47. The method according to any one of clauses 43 to 46 further includes sealing the main support to the stator support to provide at least one of an airtight seal and a liquid seal between the main support and the stator support.

[0186] 48. A method for removing a stator from a stator mounting device of a magnetic displacement system, the method comprising: Approaching the stator from the outer side of the main support member of the stator mounting device, so that the stator is moved in the disassembly direction from its mounting position on the main support member to a primary opening in the main support member, the outer side of the main support member facing away from the working surface of the displacement system, one or more movers of the displacement system being controllable on the working surface, the disassembly direction being parallel to the working surface; and The stator is made to pass through the primary opening to the outer side of the main support.

[0187] 49. The method according to Clause 48, wherein the main support is below the working surface.

[0188] 50. The method according to clause 48 or 49 further includes maintaining the stator in an installation orientation while the stator is being passed through the primary opening to the outer side of the main support.

[0189] 51. The method according to clauses 48, 49 or 50, wherein passing the stator through the primary opening to the outer side of the main support comprises passing the stator through the primary opening in a removal direction perpendicular to the working surface.

[0190] 52. The method according to any one of clauses 48 to 51, wherein approaching the stator from the outer side of the main support member includes approaching the stator through the primary opening.

[0191] 53. The method according to any one of clauses 48 to 52, wherein: Approaching the stator from the outer side of the main support member includes approaching the stator through a secondary opening in the main support member; The primary opening has a primary width perpendicular to the disassembly direction; and The secondary opening has a secondary width perpendicular to the disassembly direction, and the secondary width is smaller than the primary width.

[0192] 54. The method according to any one of clauses 48 to 53 further includes detaching the stator support from the main support to allow the stator to pass through the primary opening.

[0193] 55. The method according to Clause 54 further includes breaking at least one of the airtight seal and the liquid seal between the main support and the stator support.

[0194] Although specific embodiments have been described and shown, these embodiments should be considered illustrative only and should not limit the invention as interpreted under the appended claims.

Claims

1. A stator mounting device for a magnetic displacement system, the stator mounting device comprising: A main support member defining a primary opening sized to receive one or more stators therethrough, the main support member including a support portion adjacent to the primary opening for supporting at least one of the one or more stators received through the primary opening, wherein: At least one of the one or more stators is received through the primary opening from the outer side of the main support member and is movable in the mounting direction to a mounting position on the support member, in which the at least one of the one or more stators is supported by the support member, the outer side of the main support member faces away from the working surface of the displacement system, one or more movers of the displacement system are controllable on the working surface, and the mounting direction is parallel to the working surface; and From the installation position, at least one of the one or more stators can be moved in a disassembly direction opposite to the installation direction to the primary opening, so as to be removed through the primary opening to the outer side of the main support.

2. The stator mounting device according to claim 1, wherein, The main support is located below the working surface.

3. The stator mounting device according to claim 1 or 2, wherein, The primary opening is sized to receive one or more stators in an installation orientation.

4. The stator mounting device according to claim 3, wherein, The primary opening has a shape corresponding to the shape of each of the one or more stators in the mounting orientation.

5. The stator mounting device according to any one of claims 1 to 4, wherein: The primary opening has a primary width perpendicular to the installation direction; and The main support member further defines a secondary opening, the secondary opening having a secondary width perpendicular to the installation direction, the secondary width being smaller than the primary width.

6. The stator mounting device according to claim 5, wherein, The secondary opening is continuous with the primary opening.

7. The stator mounting device according to claim 5 or 6 when directly or indirectly dependent on claim 3, wherein, The secondary opening is sized to prevent the one or more stators from passing through it in the mounting orientation.

8. The stator mounting device according to any one of claims 1 to 7, wherein, The main support component includes a mounting plate.

9. The stator mounting apparatus according to any one of claims 1 to 8, further comprising a stator support member releasably attached to the main support member to support the stator in the primary opening.

10. The stator mounting device according to claim 9, wherein, The stator support includes a sub-mounting plate.

11. The stator mounting device according to claim 9 or 10, wherein, The stator support has a stator support opening, the size of which is configured to prevent the one or more stators from passing through it when the stator support is attached to the main support.

12. The stator mounting device according to claim 11, wherein, The stator support opening is sized to receive one or more utility service conduits associated with the one or more stators.

13. The stator mounting device according to any one of claims 9 to 12, wherein: The stator support includes an alignment device for aligning the stator support with the main support when the stator support is attached to the main support. At least a portion of the stator support has a shape corresponding to the shape of at least a portion of the primary opening; and The alignment device includes a shoulder that extends around the periphery of at least a portion of the stator support and is sized to engage at least one edge of the primary opening.

14. The stator mounting apparatus according to any one of claims 9 to 13, further comprising a seal located between the main support member and the stator support member to provide at least one of an airtight seal and a liquid seal between the main support member and the stator support member when the stator support member is attached to the main support member.

15. The stator mounting apparatus according to any one of claims 1 to 14, further comprising a cover spaced apart from the main support member, such that the cover member and the main support member define a stator chamber therebetween, the stator chamber being sized to accommodate the one or more stators.

16. The stator mounting device according to claim 15, wherein, The cover and the main support are sealed together to provide at least one of an airtight seal and a liquid seal between the cover and the main support.

17. A stator mounting system comprising one or more stator mounting devices, each stator mounting device as described in claim 15 or 16.

18. The stator mounting system according to claim 17, wherein, The cover of each of the one or more stator mounting devices is provided by an integral cover having one or more covering portions, each covering portion providing a corresponding cover for a specific stator mounting device in the one or more stator mounting devices.

19. The stator mounting system according to claim 17 or 18, wherein, The one or more stator mounting devices include multiple stator mounting devices positioned adjacent to each other.

20. The stator mounting system according to claim 19, wherein, Each of the plurality of stator mounting devices has an orientation opposite to that of its adjacent stator mounting device.

21. The stator mounting system according to claim 19 or 20, wherein, The primary openings of adjacent stator mounting devices among the plurality of stator mounting devices are not adjacent.

22. A method for mounting a stator onto a stator mounting device of a magnetic displacement system, the method comprising: The stator is inserted through a primary opening in the main support of the stator mounting device, the primary opening being approached from the outer side of the main support, the outer side of the main support facing away from the working surface of the displacement system, one or more movers of the displacement system being controllable on the working surface; The stator is moved from the primary opening to the mounting position on the support portion of the main support member along the mounting direction, the mounting direction being parallel to the working surface; as well as The stator is supported by the support portion.

23. A method for removing a stator from a stator mounting device of a magnetic displacement system, the method comprising: Approaching the stator from the outer side of the main support of the stator mounting device, so that the stator is moved from the mounting position on the main support in the disassembly direction to the primary opening in the main support, the outer side of the main support facing away from the working surface of the displacement system, one or more movers of the displacement system being controllable on the working surface, the disassembly direction being parallel to the working surface; as well as The stator is made to pass through the primary opening to the outer side of the main support.

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