Electromagnetic drive system and stator unit for an electromagnetic drive system

Abstract

The present disclosure relates to an electromagnetic drive system and to a stator unit for an electromagnetic drive system. The invention relates to a stator unit (3) for moving at least one shuttle (4) of an electromagnetic drive system (1) and to an electromagnetic drive system (1) comprising at least one stator (3) forming a stator (2). The stator unit (3) comprises an arrangement of drive coils (7) which are energized by a drive current (I D ) in the region of the at least one shuttle (4) to generate an electromagnetic field which interacts with a magnet unit (5) arranged on the at least one shuttle (4) to move the at least one shuttle (4). The drive coils (7) are configured as elongated flat coils (8) comprising conductors (14, 15, 16, 21, 22, 23) arranged in winding layers (12, 19) which are electrically insulated from each other by a non-conducting insulating medium (17).

Description

Technical Field

[0001] This invention generally relates to the field of industrial automation systems. In particular, it relates to a stator unit for at least one shuttle in a mobile electromagnetic drive system, which is particularly in the form of a long stator linear motor system or a planar motor system. The stator unit includes an arrangement of drive coils energized by a drive current in a region of at least one shuttle to generate an electromagnetic field that interacts with a magnetic unit arranged on the at least one shuttle to move the at least one shuttle. The drive coils of the stator unit are configured as elongated flat coils, which include conductors arranged in winding layers electrically insulated from each other by a non-conductive insulating medium. The invention also relates to an associated electromagnetic drive system comprising at least one stator unit and at least one shuttle. Background Technology

[0002] Today, electromagnetic drive systems, particularly linear drive systems or linear motor systems, are used in many applications in most modern manufacturing and production facilities. Specifically, electromagnetic drive systems, such as linear motor systems, are used to move objects or articles along a predefined path and typically convert rotational movement into linear movement. Therefore, an electromagnetic drive system comprises a primary section or stator and a secondary section or rotor. The secondary section or rotor is arranged to be movable relative to the primary section or stator, which is configured to generate a (electro)magnetic field. Typically, a drive coil is arranged on the primary section or stator, with a drive magnet arranged on the secondary section or rotor, but the reverse arrangement is also possible. The drive magnet is designed as a permanent magnet, an electric coil, or a short-circuited winding. The drive coil is an electric coil that is energized to generate an electromagnetic field. Due to the interaction of the (electro)magnetic fields of the drive magnet and the drive coil, a force acts on the secondary section, causing it to move relative to the primary section. For example, an electromagnetic drive system can be designed in the form of a long-stator linear motor system (LLM) or a planar motor system (PM).

[0003] Long-stator linear motor systems and planar motor systems, as well as their applications and operating modes, are well known in the art. Both types of motors—long-stator linear motors and planar motors—comprise a stationary portion (stator) and at least one movable portion (rotor), also referred to as a mover or shuttle. At least one movable portion or shuttle is movable relative to the stator due to interacting magnetic fields in at least one direction of movement. For this purpose, a magnetic unit including drive magnets, such as electromagnets or typically permanent magnets, is arranged on one part of the unit, usually on the movable portion or shuttle. The drive magnets of the magnetic unit interact with an electromagnetic field generated by energized drive coils arranged on another part of the electromagnetic drive system, typically the stator. Thus, the drive coils arranged on the stator, or different groups of drive coils, are energized, typically by applying voltage and / or drive current under the control of a control arrangement, to generate a time-varying and moving magnetic field. When the drive coil or different sets of drive coils are powered, the generated electromagnetic field interacts with the magnetic field of the magnet unit, generating a force that moves the movable part or shuttle.

[0004] A long-stator linear motor system comprises a stator consisting of at least one stator unit (typically a large number of stator units). Drive coils are arranged on the stator or stator units in fixed positions relative to each other. The stator units can have different geometries (e.g., straight lines, curves, track changers, etc.) and can be assembled to form a desired stator by arranging them accordingly. The stator then forms a moving track or path along which at least one shuttle (typically multiple shuttles) moves. For this purpose, each shuttle has a magnet unit comprising a drive magnet for interacting with an electromagnetic field generated by energizing the drive coils arranged on the stator. By energizing the drive coils interacting with each shuttle (typically by applying a voltage), the movement of the shuttles can be controlled individually and independently of each other. Thus, the individual shuttles are held and guided to move along the moving track formed by the stator. For this purpose, guiding elements (e.g., rollers, wheels, sliding elements, etc.) can be provided on the shuttles, which interact with track guiding elements on the moving track. For example, LLM is known from WO2013 / 143783A1 or US2013 / 0074724A1.

[0005] Planar motor systems, known from the prior art, are commonly used as transport systems in production processes, for example, or in other applications requiring complex movement profiles. Planar motor systems also include a stator, which is typically modular in design and usually forms a fixed part of the planar motor system. Typically, the stator comprises at least one (usually several) stator units that can be connected in virtually any manner—from squares and rectangles to complex paths to bypass other equipment or connect different workstations in a production process. However, the stator of a planar motor system forms a plane of movement in which one or more shuttles can move at least two-dimensionally. Similar to long-stator linear motor systems, drive coils are arranged on the stator or stator units for this purpose. Each shuttle also includes a magnet unit with drive magnets (typically permanent magnets) arranged in a two-dimensional distribution. These drive magnets interact with the moving electromagnetic field of the stator, which is generated by energizing the drive coils (e.g., by applying a voltage). The interaction between the drive magnet of the shuttle and the (electro)magnetic field of the energized drive coil of the stator generates a driving force and a levitation force applied to the shuttle. The levitation force is used to at least slightly lift the shuttle away from the stator surface and hold the shuttle in a constant position, for example, by creating or setting and maintaining an air gap between the shuttle and the stator surface. The driving force can be used to move the shuttle in a desired direction of movement on a plane of movement formed by the stator or stator units. In addition, the driving force can be used to generate tilting force or torque. At least two-dimensional interaction of the (electro)magnetic fields of the stator and the individual shuttles is necessary, thus, for example, one of the two magnetic fields must vary with time in at least two dimensions, or both magnetic fields must vary with time in at least one dimension, to achieve movement of the individual shuttles with up to six degrees of freedom of movement (i.e., three directions of movement and three directions of rotation), which is characteristic of a planar motor system. Therefore, the drive coils and drive magnets are advantageously arranged in this manner, making it possible, in addition to one-dimensional movement along axes spanned by the moving plane (e.g., the x and y axes based on a coordinate system defined by the moving plane), more complex movements of the individual shuttles within the moving plane are also possible. These include, for example, lifting and rotating relative to the vertical or z-axis of the coordinate system defined by the moving plane, tilting (relative to the x and y axes of the coordinate system defined by the moving plane), or any combination thereof, and translational movements within the moving plane. The basic structure and operating modes of a planar motor system are disclosed, for example, in WO 2013 / 059934 A1 or WO 2019 / 129576 A1. Applications of planar motor systems are shown, for example, in EP 3 172 156 B1 or EP 3 172 134 B1.

[0006] Typically, drive coils used in electromagnetic drive systems, or arranged in the stator or stator units of such systems, are constructed from wound wires. However, efforts to build smaller, flatter, and / or more compact electromagnetic drive systems and stator units have led to the use of elongated flat coils as drive coils. This development was also prompted by the fact that conventional coil manufacturing methods became increasingly uneconomical as dimensions decreased. Therefore, today, drive coils arranged in stator units that form the stator of electromagnetic drive systems (especially planar motor systems) are typically elongated flat coils.

[0007] An elongated flattened coil comprises conductors forming the coil windings, typically made of copper, aluminum, or any comparable conductive material. The conductors generally have an elongated and flattened shape, and they are arranged in one or more winding layers, wherein the winding layers are electrically insulated from each other by an insulating medium. The insulating medium is non-conductive and may also be substantially non-conductive magnetically. Air, insulating foil made of plastic, a carrier substrate (e.g., fiber-reinforced plastic or synthetic material), or ceramics may be used as the insulating medium. It is also possible that the conductors are coated with an insulating medium or have an oxide layer disposed as the insulating medium.

[0008] Specifically, elongated flat coils can be configured as elongated printed circuit board coils or short elongated PCB coils. The conductors forming the coil's winding structure or windings are created directly from traces etched from one or more layers of conductive material (e.g., copper) laminated on or between layers of non-conductive insulating dielectric.

[0009] There are various arrangements and connections for the elongated flat coils used as drive coils. Adjacent elongated flat coils can be individually controlled and energized (e.g., single-phase control). It is also possible for several elongated flat coils to be interconnected to form a multiphase system, typically a three-phase system, such as a star configuration with a floating star point or a star point connected to a fixed potential, as shown in WO 2020 / 020606 A1. Furthermore, the elongated flat coils can be arranged on the stator unit in different ways, for example, as a centralized or distributed coil arrangement in a single-layer or multi-layer configuration.

[0010] In electromagnetic drive systems of the form of planar motor systems, elongated flat coils, particularly if configured as elongated PCB coils, are typically arranged alternately in the direction of the axis spanned by the plane of movement of the shuttle, for example, in the x-axis and y-axis directions based on a coordinate system defined by the plane of movement, on the stator units forming the stator. However, different arrangements of the elongated flat coils are also possible. In electromagnetic drive systems of the form of long-stator linear motor systems, for example, the elongated flat coils are arranged only in one direction (e.g., perpendicular to the direction of movement of the shuttle) on the stator units forming the stator. If the planar motor system needs to provide a preferred direction of movement when moving the shuttle relative to the stator, the number of elongated flat coils arranged on the stator in one direction (e.g., along the x-axis) can differ from the number of elongated flat coils arranged on the stator in another direction (e.g., along the y-axis). The individual winding layers of the elongated coils can also be connected in series or in parallel.

[0011] Typically, electromagnetic drive systems are optimized for maximum drive efficiency, i.e., maximum holding force when the individual shuttles are stationary and / or when the shuttles are moving at low speeds. This optimization results in elongated flat coils with the highest possible fill factor of the conductive material (e.g., copper), meaning the elongated flat coils are configured with relatively wide conductors. As the shuttles move along a plane or path of movement formed by the stator units, thus moving above the elongated flat coils arranged on the stator units, the magnetic field of the drive magnets of the individual shuttles induces eddy currents in the conductors of the elongated flat coils used as drive coils. The generated eddy currents essentially have two effects: generating ohmic losses, particularly heat losses, in the elongated flat coils used as drive coils, and generating magnetic fields that counteract the interaction of the (electro)magnetic fields of the drive coils and the drive magnets of the individual shuttles. The magnetic field generated by the eddy currents brakes the movement of the shuttles (e.g., similar to an eddy current brake). That is, the drive coils must generate a larger force applied to the shuttles to overcome the reaction force generated by the eddy currents. Therefore, a higher drive current must be applied, which further increases ohmic losses in the elongated flattened coils used as drive coils and in the control arrangement. These losses are particularly noticeable when the shuttle moves at medium and high speeds. They reduce the efficiency of the electromagnetic drive system and can cause thermal limitations on available forces, such as those used for shuttle movement. Furthermore, additional cooling measures (e.g., water cooling) may be required to reduce heat generation in the stator unit, the shuttle, and the objects moved and transported by the shuttle, as well as the impact of heat generation on sensors used for position determination, for example. Summary of the Invention

[0012] Against this backdrop, the purpose of this disclosure is to provide a stator unit for an electromagnetic drive system and an associated electromagnetic drive system, particularly in the form of a long stator linear motor system or a planar motor system, which provides improved efficiency and reduced losses, especially eddy current losses and ohmic or thermal losses, in high-speed and medium-speed applications.

[0013] These and other objectives are achieved by the stator unit and electromagnetic drive system according to the independent claims. The dependent claims describe advantageous embodiments of the invention.

[0014] According to the invention, these and other objectives are achieved by a stator unit for at least one shuttle in a moving electromagnetic drive system, wherein the stator unit comprises an arrangement of a plurality of drive coils energized by drive current in a region of the at least one shuttle to generate an electromagnetic field that interacts with a magnet unit arranged on the at least one shuttle to move the at least one shuttle. These drive coils are configured as elongated flat coils comprising conductors arranged in winding layers electrically insulated from each other by a non-conductive insulating medium. The elongated flat coils serving as drive coils comprise at least one winding layer in which at least one winding is arranged, the at least one winding comprising a forward conductor and a return conductor electrically connected to each other by a bridging connection, and wherein the forward conductor and / or return conductor of at least one winding is at least partially divided into at least two sub-conductors arranged parallel to each other in the winding layer.

[0015] By dividing the forward and / or return conductors of the drive coils into at least two sub-conductors arranged parallel to the main flow direction of the energized drive current, losses, particularly eddy current losses and heat losses, are reduced during operation of the electromagnetic drive system, especially when the shuttle moves on the stator unit at medium and / or high speeds. This reduction in losses results in higher efficiency for the stator unit and the entire electromagnetic drive system. By applying the same drive current to the drive coils of the stator unit, this allows for higher shuttle speeds and higher payloads. Furthermore, due to the reduction in losses and heat generation, additional cooling measures (e.g., water cooling) can be reduced or eliminated. It is also possible to increase power output at higher speeds or increase the maximum speed at which the shuttle moves on the stator unit, while maintaining heat generation at the same level.

[0016] To further reduce losses, it can be advantageous when the bridging portion of at least one winding is also divided into at least two sub-conductors extending substantially parallel to each other. Therefore, the conductors of the elongated flat coil, i.e., the forward conductor, the return conductor, and / or the bridging portion, can be at least partially divided into sub-conductors in any desired manner. That is, the conductors of the elongated flat coil can be partially divided and can, for example, have sections with and without sub-conductors. The conductor can be completely divided into at least two sub-conductors. That is, for example, the conductor consists entirely of at least two separate sub-conductors, or is divided into at least two sub-conductors along its entire length.

[0017] Furthermore, it is advantageous when both the forward and return conductors are completely divided into at least two sub-conductors, and when each of the at least two sub-conductors of the forward conductor is electrically connected to one of the at least two sub-conductors of the return conductor via a bridging connection. This results in an elongated flat coil having a winding that is completely divided into sub-conductors forming at least two sub-windings. These sub-windings can be controlled by a common stage of the control arrangement to apply drive current. Additionally, an inductor is inserted in the connection between the two sub-windings and the common stage of the control arrangement to further reduce eddy current losses.

[0018] In a preferred embodiment of the stator unit, the elongated flat coil used as the drive coil in the electromagnetic drive system includes at least one additional winding layer, in addition to which the at least one additional winding layer is electrically insulated from the winding layer by a non-conductive insulating medium. At least one additional winding is arranged in this at least one additional winding layer, which also includes a forward conductor and a return conductor electrically connected by a bridging connection. That is, the elongated flat coil includes at least two or more winding layers, each winding layer having at least one winding. At least one additional winding of the at least one additional winding layer is electrically connected to at least one winding of the winding layer. Furthermore, the forward conductor and / or return conductor of the at least one additional winding are at least partially divided into at least two sub-conductors arranged parallel to each other in the at least one additional winding layer. In this way, eddy current losses and heat losses in the elongated flat coil having two or more winding layers can be reduced very easily, thereby allowing the conductors of the winding and at least one additional winding to be subdivided into at least two sub-conductors as needed.

[0019] Furthermore, it is also possible that the bridging connection of at least one additional winding is also divided into two sub-conductors extending parallel to each other. This provides additional flexibility to adjust the elongation of the flat coil as needed.

[0020] In a suitable embodiment of the stator unit, the forward conductor of at least one additional winding and the return conductor of at least one additional winding are each completely divided into at least two sub-conductors, wherein each of the at least two sub-conductors of the forward conductor of the at least one additional winding is electrically connected to one of the at least two sub-conductors of the return conductor via a bridging connection of the at least one additional winding. Thus, at least two parallel sub-windings are also created from the at least one additional winding layer to further reduce losses. These at least two parallel sub-windings are ideally electrically connected to the at least two parallel sub-windings formed by the forward conductor, return conductor, and bridging connection of the at least one winding of the winding layer. Therefore, each of the at least two sub-conductors of the return conductor of the at least one winding of the winding layer is connected to exactly one of the at least two sub-conductors of the forward conductor of the at least one additional winding of the at least one additional winding of the winding layer.

[0021] Furthermore, in another preferred embodiment of the stator unit, one of the at least two sub-conductors of the forward conductor of at least one winding of at least one winding of at least one additional winding of at least one additional winding of at least one other winding of at least one additional winding of at least one winding of at least one other winding of at least one winding of at least one winding of at least one winding of at least one winding of at least one winding of at least one winding of at least one winding of at least one winding of at least one winding of at least two winding of at least one ...

[0022] In another preferred embodiment of the stator unit, one of the at least two sub-conductors of the return conductor of at least one winding of a winding layer is electrically connected via an additional bridging connection to one of the at least two sub-conductors of the forward conductor of at least one winding of the winding layer, and one of the at least two sub-conductors of the return conductor of at least one additional winding of at least one other winding of a winding layer is electrically connected via another additional bridging connection to one of the at least two sub-conductors of the forward conductor of the at least one additional winding of that winding layer. Furthermore, another sub-conductor of the at least two sub-conductors of the return conductor of at least one winding of a winding layer is electrically connected to another sub-conductor of the forward conductor of the at least one additional winding of that winding layer. Thus, a coil having at least two winding layers is created, having at least two parallel sub-windings created by dividing the entire conductor of at least one winding of a respective winding layer. One of the at least two sub-windings created by dividing the conductor of each winding layer is electrically connected via an additional bridging connection to another sub-winding of at least two sub-windings in the same winding layer. Furthermore, one of the at least two sub-windings of a winding layer is electrically connected to another of the two sub-windings of at least one other winding layer. In this way, at least two sub-windings of the respective winding layers are connected in series with each other, and the same applies to at least two winding layers.

[0023] Furthermore, it is advantageous when the forward conductors, return conductors, and / or bridging connections of the respective windings, divided on the respective winding layers, are separately arranged on an insulating medium and electrically insulated from each other to prevent transverse current between the sub-conductors.

[0024] Alternatively, this can be advantageous when the corresponding forward conductor, the corresponding return conductor, and / or the corresponding bridging connection are divided into sub-conductors that are not completely separated from each other. That is, only a notch exists between at least two sub-conductors, or a small trace of conductive material (e.g., copper) perpendicular to the main flow direction of the driving current still connects at least two sub-conductors. The notch or trace can be designed in such a way that the ohmic resistance between at least two sub-conductors is so large that the possible lateral current is minimized. In this case, eddy current losses are also reduced.

[0025] In a preferred embodiment of the stator unit, corresponding forward and return conductors are arranged in a main layer, and corresponding bridging connections are arranged in a secondary layer. The main and secondary layers form corresponding winding layers, and they are electrically insulated from each other by a non-conductive insulating medium. Interlayer connections are provided to connect the corresponding forward and return conductors to the corresponding bridging connections. For example, when the carrier substrate is used as the insulating medium, the insulating medium provides interlayer connections, which can be configured as, for example, vertical interconnects or short vias, similar to elongated PCB coils. Furthermore, the forward and return conductors of the corresponding windings can be arranged on a first side of the insulating medium layer or the carrier substrate, forming the main layer of the winding layer. The associated bridging connections of the corresponding windings can be arranged on a second side (opposite to the first side) of the insulating medium layer, forming the secondary layer of the winding layer. The insulating medium layer then provides vias to electrically connect the forward conductors, return conductors, and the bridging connections of the corresponding windings. Furthermore, it is possible to arrange the forward and return conductors of at least one additional elongated flat coil forming the main layer of another elongated flat coil on a second side of the insulating medium, on which at least one bridging connection for forming the secondary layer of the elongated flat coil is arranged, in order to construct a space-saving and compact coil arrangement.

[0026] Furthermore, in a preferred embodiment of the stator unit, the elongated flat coil used as the drive coil is configured as an elongated printed circuit board coil or a short elongated PCB coil. The forward conductor, return conductor, and bridging connections of the winding structure or winding forming the PCB coil are created directly by traces etched from one or more conductive layers of conductive material (e.g., copper) laminated on or between layers of non-conductive electrically insulating dielectric (typically a carrier substrate, such as, for example, fiber-reinforced plastic or synthetic material). This means that the drive coil can be arranged on the stator unit in a very space-efficient manner.

[0027] Furthermore, the above and other objectives are achieved by an electromagnetic drive system comprising at least one stator unit and at least one shuttle according to the invention, the shuttle comprising a magnet unit having a drive magnet, wherein a drive coil arranged on the at least one stator unit is energized by a drive current in a region of the at least one shuttle to generate an electromagnetic field, the electromagnetic field interacting with the drive magnet of the magnet unit of the at least one shuttle to move the at least one shuttle.

[0028] The electromagnetic drive system can be configured as a long stator linear motor system, wherein an elongated flat coil serving as a drive coil is arranged on at least one stator unit according to the invention along a predefined movement path of at least one shuttle; or it can be configured as a planar motor system, wherein the elongated flat coil serving as a drive coil is arranged in at least two coil groups on at least one stator unit according to the invention, and wherein each of the at least two coil groups defines a main movement direction of at least one shuttle. However, the stator unit according to the invention can also be used in any other electromagnetic drive system (e.g., a short stator linear motor system, a linear drive system, a synchronous linear motor actuator, etc.). Attached Figure Description

[0029] In the following text, reference will be made to Figures 1 to 5c The invention is described in more detail below, and these figures illustrate exemplary, illustrative, and non-limiting advantageous embodiments of the invention. In the figures:

[0030] Figure 1 At least one section of an embodiment of an electromagnetic drive system in the form of a long stator linear motor system including at least one stator unit according to the present invention is shown;

[0031] Figure 2 Another embodiment of an electromagnetic drive system in the form of a planar motor system including at least one stator unit according to the invention is shown in a side view;

[0032] Figure 3a and Figure 3b Different views are shown of an embodiment of an exemplary elongated coil used as a drive coil in a stator unit according to the invention;

[0033] Figure 4 Another embodiment of an exemplary elongated coil used as a drive coil in a stator unit according to the invention is shown;

[0034] Figures 5a to 5c The perspective view shows different embodiments of an exemplary elongated coil having at least two winding layers, used as a drive coil in a stator unit according to the invention. Detailed Implementation

[0035] Figure 1 An exemplary embodiment of an electromagnetic drive system 1 in the form of a long stator linear motor system is schematically illustrated. Specifically, for clarity, Figure 1 The cross-section of the linear motor system 1 through a section of the stator 2 is shown, as well as the cross-section of the shuttle 4 moving along the stator 2.

[0036] The long stator linear motor 1 has a stator 2, which includes at least one stator unit 3. Typically, the stator 2 consists of multiple stator units 3, which may have different geometries or configurations (e.g., straight lines, curves, switchers, etc.) and can be assembled to form a stator 2 of any shape and / or length. The stator 2 forms the movement path or trajectory of the long stator linear motor 1. During operation, at least one shuttle 4, typically multiple shuttles 4, moves along the movement path or trajectory in the movement direction B (e.g., in the x-axis direction of the reference coordinate system of the electromagnetic drive system 1).

[0037] The shuttle 4 includes a magnet unit 5, which is arranged, for example, on one side of the shuttle 4 facing the stator 2 or the corresponding stator unit 3. The magnet unit 5 includes a drive magnet 6, which is typically a permanent magnet. To move the shuttle 4 along the stator 2 or along at least one stator unit 3, the stator unit 3 forming the stator 2 includes a plurality of drive coils 7, which are configured, for example, as elongated flat coils 8. The elongated flat coils 8 include conductors 14, 15, 16, 21, 22, 23 arranged in one or more winding layers 12, 19, which are electrically insulated from each other by one or more non-conductive insulating media 17, as will be referred to below. Figure 3a and Figure 3b A detailed explanation follows. For example, the drive coil 7 can be configured as a concentrated or distributed winding and / or a single-layer or multi-layer winding, wherein the individual windings 13, 20 can be connected in series or in parallel. Furthermore, the drive coils can be interconnected to form a multiphase system, typically a three-phase system with a floating star point or a star point connected to a predefined fixed potential.

[0038] The drive coils 7 are arranged side-by-side with each other in the direction of movement B, for example, fixed to the corresponding stator unit 3. The drive coils 7 are driven by a drive current I controlled by the control arrangement. D Power is supplied. For example, for EP3385110A1 or EP3376166A1, the control of the movement of the shuttle 4 along the travel path or along the stator 2, and the related control of the drive coil 7, are well known and therefore will not be explained in detail here. In principle, the drive coil 7 in at least one area of ​​the shuttle 4 is powered by a drive current I applied under the appropriate control of the control arrangement. D The stator 2 is energized to generate a moving driving magnetic field. This driving magnetic field interacts with the driving magnet 6 of the magnet unit 5 arranged on the shuttle 4, causing the shuttle 4 to move in the moving direction b. Therefore, the shuttle 4 and the object transported by the shuttle 4 can move to a predetermined position along the moving trajectory or moving path formed by the stator 2.

[0039] Alternatively, the electromagnetic drive system 1 can also be configured as a planar motor system 1. Figure 2An exemplary embodiment of an electromagnetic drive system 1 in the form of a planar motor system 1 is shown in a partially sectional side view. The planar motor system 1 also includes a stator 2, which includes at least one stator unit 3. The stator 2 forms a movement plane 9, wherein the size and shape of the movement plane 9 are defined by the number, shape, and arrangement of the stator units 3 forming the stator 2, and wherein the movement plane 9 can be arbitrarily aligned in space or relative to the reference coordinate system x, y, z of the electromagnetic drive system 1. For simplicity, Figure 2 Only one exemplary stator unit 3 for forming the stator 2 according to the present invention is shown. However, many stator units 3 can be aligned to form the stator 2 and a larger moving plane 9.

[0040] At least one shuttle 4 of the planar motor system 1 can move at least two-dimensionally on the moving plane 9, for example, in the x-axis and y-axis directions of the reference coordinate system of the electromagnetic drive system 1. However, more complex movements of the shuttle 4 are also possible, including, for example, lifting and rotating relative to the z-axis of the reference coordinate system, tilting (relative to the x-axis and y-axis of the reference coordinate system), or any combination of these movements in the moving plane 9. For this purpose, the stator unit 3 includes a plurality of drive coils 7.

[0041] The drive coil 7 is configured, for example, as an elongated flat coil 8, as in an electromagnetic drive system 1 in the form of a linear motor with a long stator. Each elongated flat coil 8 includes conductors 14, 15, 16, 21, 22, 23 arranged in one or more winding layers 12, 19, which are electrically insulated from each other by one or more layers of non-conductive insulating medium 17, as will be referred to below. Figure 3a and Figure 3b Detailed explanation.

[0042] If configured as elongated flat coils 8, the drive coils 7 of the first drive coil group 10 and the second drive coil group 11 can be arranged and connected in various ways. For example, the drive coils 7 can be constructed as concentrated or distributed windings and / or single-layer or multi-layer windings, wherein the individual windings 13, 20 can be connected in series or in parallel. Furthermore, the drive coils 7 can be interconnected to form a multiphase system, typically a three-phase system with a floating star point or a star point connected to a predefined fixed potential.

[0043] Furthermore, the drive coil 7 is arranged on the stator unit 3 in this manner, enabling the shuttle 4 to perform the aforementioned movement. Typically, the drive coil 7 is arranged in drive coil groups 10 and 11. Figure 2Two exemplary drive coil groups 10 and 11 are schematically shown. For example, a first drive coil group 10 (e.g., an x-coil) may be arranged to define a first direction of movement (e.g., in the x-axis direction of the reference coordinate system of the electromagnetic drive system 1), and a second drive coil group 11 (e.g., a y-coil) may be arranged to define a second direction of movement (e.g., in the y-axis direction of the reference coordinate system of the electromagnetic drive system 1). For example, as Figure 2 As shown, the drive coils 7 of the first drive coil group 10 and the second drive coil group 11 can be arranged relative to each other in such a way that the two directions of movement are orthogonal to each other. When using an elongated flat coil 8, especially in the form of an elongated PCB coil, the drive coils 7 of the first drive coil group 10 and the second drive coil group 11 are typically arranged alternately in winding layers 12, 19, as shown. Figure 2 As shown, however, different arrangements of the drive coils 7 of the drive coil groups 10 and 11 are also possible. The arrangement of the drive coil groups 10 and 11 relative to each other allows the shuttle 4 to move, for example, along any movement path on the movement plane 9 defined by the x-axis and y-axis of the reference coordinate system of the electromagnetic drive system 1. Through the corresponding structural design of the stator 2 or at least one stator unit 1 and the specific shuttle 4, for example, movement can also be performed, at least to a limited extent, additionally using four other degrees of freedom of movement—that is, rising and falling in the z-axis direction of the reference coordinate system and rotation about the x, y, and z axes, as described above.

[0044] For example, in WO2021 / 105165A1 or WO2021 / 175885A1, the control of the movement of at least one shuttle 4 on the moving plane 9 and the control of the drive coils 7 involved in the drive coil groups 11, 12 are well known. In principle, the drive coil 7 of at least one drive coil group 10, 11 in the region of the shuttle 4 is energized to generate a moving drive magnetic field. The movable drive magnetic field then interacts electromagnetically with the drive magnet 6 of the magnet unit 5 arranged on the shuttle 4, thereby allowing the shuttle 4 to move along a predefined moving path or to a predetermined position on the moving plane 9.

[0045] Figure 3a An exemplary embodiment of an elongated flat coil 8 used as a drive coil 7 in a stator 3 unit according to the invention is shown from a top view. The elongated flat coil 8 (which can be configured as an elongated printed circuit board coil or a short elongated PCB coil) includes conductors 14, 15, and 16, which are arranged in at least one winding layer 12 on an insulating medium 17 (for clarity, in...). Figure 3a(Not shown in the image). Conductors 14, 15, and 16 are made of conductive materials, such as copper, aluminum, etc. Insulating medium 17 can be a non-conductive material (e.g., fiber-reinforced plastic or synthetic material, ceramic, plastic foil, etc.), which can also be substantially non-conductive magnetically, but it is also possible to use air as insulating medium 17, or conductors 14, 15, and 16 can be coated with insulating medium 17.

[0046] Conductors 14, 15, and 16 are arranged in at least one winding 13, which consists of a forward conductor 14 and a return conductor 15. The forward conductor 14 and the return conductor 15 are electrically connected by a bridging connection 16. The forward conductor 14, the return conductor 15, and the bridging connection 16 can be arranged on the same layer 171 of the insulating medium 17. Specifically, for elongated PCB coils, the forward conductor 14 and the return conductor 15 can also be arranged in a main layer 121, and the bridging connection 16 is arranged in a secondary layer 122. The main layer 121 and the secondary layer 122 together form a winding layer 12 and are separated and electrically insulated by the insulating medium layer 17, for example... Figure 3b An example is shown to achieve a more compact coil 8.

[0047] Figure 3b It shows Figure 3a The exemplary elongated flat coil 8 shown is a cross-sectional view along cut line AA. For example, the forward conductor 14 and the return conductor 15 of winding 13 are arranged on a first side of layer 171 of insulating medium 17. An associated bridging connection 16 is arranged on another layer 172 of insulating medium 17 and / or on a second side of layer 171 of insulating medium 17, opposite to the first side of the insulating medium layer where the forward conductor 14 and return conductor 15 are arranged. The connection between the forward conductor 14 and the bridging connection 16, and the connection between the return conductor 15 and the bridging connection 16, are achieved via interlayer connections 18 disposed in layer 171 of insulating medium 17. Interlayer connections 18 can be designed as vertical interconnecting vias 18 (abbreviated as vias) in the form of an elongated flat coil, for example, in the form of an elongated PCB coil. A through-hole 18 is an electrical connection between conductors 14, 15, 16 disposed on the sides of different layers 171, 172 and / or layer 171 of the non-conductive insulating medium 17. Essentially, a through-hole 18 is a small drilled hole that at least penetrates layer 171 of the non-conductive insulating medium 17. This hole is plated with a conductive material (e.g., copper) to form an electrical connection through the insulating layer 171 of the carrier material 17.

[0048] To create a space-saving and compact coil arrangement, the second side of layer 171 of the insulating medium 17 can be used for a winding layer of additional elongated flat coil 8. For example, a main layer having at least one forward conductor and return conductor of the winding layer of additional elongated flat coil 8 can be arranged on the second side of layer 171 of the insulating medium 17—separated from the bridging connection 16 of the winding layer 13 of the elongated flat coil 8. The associated bridging connection forming the secondary layer of the winding layer of additional elongated flat coil 8 can be arranged on another layer of the insulating material 17, for example, in a multilayer coil arrangement. Alternatively, it is also possible that the secondary layer of the winding layer of additional elongated flat coil 8 is arranged on the first side of layer 171 of the insulating medium 17—for example, separated from the main layer 121 of the elongated flat coil 8.

[0049] like Figure 3a As shown, the forward conductor 14 and the return conductor 15 are at least partially divided into two exemplary sub-conductors 141, 142, 151, 152, but the forward conductor 14 and / or the return conductor 15 may also be divided into more than two sub-conductors 141, 142, 151, 152. The sub-conductors 141 and 142 of the forward conductor 14 are arranged parallel to each other and parallel to the energizing drive current I. D The main flow direction is arranged, where the driving current I... D For example, the positive conductor 14 flows through the main flow direction in the x-axis direction of the reference coordinate system of the electromagnetic drive system 1. The sub-conductors 151 and 152 of the return conductor 15 are also arranged side by side in parallel to each other and parallel to the energized drive current I. D The main flow direction, where the driving current I D For example, the return conductor 15 flows in the main flow direction opposite to the x-axis direction of the reference coordinate system of the electromagnetic drive system 1.

[0050] The elongated flat coil 8 also includes at least one connector 24 and / or connecting conductor 25, energizing a drive current I. D The control can be applied via connector 24 and / or connecting conductor 25 and controlled by a corresponding level of the control arrangement of the electromagnetic drive system 1. Connector 24 can be arranged to connect to one end of the forward conductor 14 (which is not connected to the bridging connection 16). Connector 24 can be configured in such a way that a corresponding level of the control arrangement can connect to the elongated flat coil 8—for example, in the form of plug contacts, pins, etc. For example, connecting conductor 25 can be arranged on the sublayer 122 of winding layer 12, and arranged in such a way that it is connected to one end of the return conductor 15 (which is not connected to the bridging connection 16) for example, through interlayer connection 18 or through-hole 18. Alternatively, a segment of the return conductor 15 not connected to the bridging connection 16 can also be provided with connector 24. Figure 3a(Not shown in the diagram). Particularly in a single-phase system, the connector 24 of the forward conductor 14 and the connector 24 of the return conductor 15, or the connecting conductor 25 connected to the return conductor 15, are used to apply and control the drive current I through the corresponding stage of the control arrangement. D In a multiphase system (e.g., a three-phase system), the connecting conductor 25 or the connector 24 of the return conductor 14 can be used to connect to the conductor of another drive coil 7 in the coil arrangement, or to the star point if the drive coil 7 is arranged in a star configuration.

[0051] The sub-conductors 141, 142, 151, 152 of the forward conductor 14 and / or return conductor 15 can be separately arranged on the insulating medium 17, with gaps between at least two sub-conductors 141, 142, 151, 152 to insulate them from each other, such as... Figure 3a As exemplarily shown in the diagram. Alternatively, it is also possible that the sub-conductors 141, 142, 151, 152 of the forward conductor 14 and / or return conductor 15 are not completely separated, and a thin layer of conductive material (e.g., copper) still connects the sub-conductors 141, 142, 151, 152. That is, the sub-conductors 141, 142, 151, 152 are separated only by grooves or notches in the forward conductor 14 and / or return conductor 15. The thin layer left between the sub-conductors 141, 142, 151, 152 is perpendicular to the drive current I. D The main flow direction extends and can be designed in such a way that the ohmic resistance between at least two sub-conductors 141, 142, 151, 152 is so large that the possible lateral current flowing through the thin layer is reduced to a minimum.

[0052] The subdivision of the forward conductor 14 and / or return conductor 15 to the sub-conductors 141, 142, 151, 152 can be uniform and occur only in one subdivision segment, for example, as shown below. Figure 3a As shown. However, it is also possible to divide the forward conductor 14 and / or the return conductor 15 into sub-conductors 141, 142, 151, 152 unevenly or differently. For example, the forward conductor 14 may be divided into sub-conductors 141, 142, while the return conductor 15 may not be divided, or vice versa. The subdivision of the forward conductor 14 and / or the return conductor 15 into sub-conductors 141, 142, 151, 152 may also be carried out, for example, in more than one segment, whereby divided and undivided segments may alternate.

[0053] Furthermore, the bridging connection 16 of the winding 13 can also be at least partially divided into two or more sub-conductors 161, 162 (e.g. Figure 4(As shown). The division of the bridging connection 16 to the sub-conductors 161, 162 can also be made in one section, in more sections, or along the entire length of the bridging connection 16. The sub-conductors 161, 162 are also arranged parallel to each other on the insulating medium 17, whereby the sub-conductors 161, 162 can be completely or partially separated by an insulating gap.

[0054] Dividing at least the forward conductor 14 and / or return conductor 15 of the elongated flat coil 8 used as the drive coil 7 in the stator unit 3 into sub-conductors 141, 142, 151, 152 can reduce losses during operation of the electromagnetic drive system 1, particularly eddy current losses and heat losses. Eddy current losses, generated by eddy currents induced in the drive coil 7 by the magnetic field of the magnetic unit 5 of the shuttle 4, are reduced when one or more shuttles 4 move on the stator 2, particularly at medium and / or high speeds above the drive coil 7 arranged on the stator 2.

[0055] The elongated flat coil 8, used as the drive coil 7 in stator unit 3, is exemplarily in... Figure 3a and Figure 3b As shown, it is configured, for example, as an elongated printed circuit board coil or a short elongated PCB coil. However, any other form of elongated flat coil 8 can be used as the drive coil 7. For example, an elongated flat coil 8 can be used, which has conductors 14, 15, 16 in an elongated flat shape forming at least one winding 13, and air or plastic foil as the insulating medium 17. It is also possible that the conductors 14, 15, 16 forming at least one winding 13 are coated with an oxide layer for insulation.

[0056] Figure 4 Another embodiment of the elongated flat coil 8 is shown from a top view, for example in the form of a PCB coil, which can be used as a drive coil 7 arranged on the stator unit 3 of the electromagnetic drive system 1. The elongated flat coil 8 also includes conductors 14, 15, and 16, which are arranged in an insulating medium 17. Figure 4 In at least one winding layer 12 (not shown). Conductors 14, 15, 16 also include a forward conductor 14 and a return conductor 15 disposed in the main layer 121 of the winding layer 12, and a bridging connection 16 disposed in the secondary layer 122 of the winding layer 12 and electrically connecting the forward conductor 14 and the return conductor 15. However, it is also possible that the forward conductor 14, the return conductor 15, and the bridging connection 16 are disposed on the same layer 171 of the insulating medium 17.

[0057] exist Figure 4In the embodiment of the elongated flat coil 8 shown, the forward conductor 14 and the return conductor 15 are completely divided into two exemplary sub-conductors 141, 142, 151, 152. However, it is also possible for the two conductors 14, 15 to be divided into more than two sub-conductors 141, 142, 151, 152, where "completely divided" means that the respective conductors 14, 15 are divided into sub-conductors 141, 142, 151, 152 along their entire length. In other words, the forward conductor 14 is formed by two (or more) sub-conductors 141, 142 extending parallel to each other along the entire length of the forward conductor 14, and the return conductor 15 is also formed by two (or more) sub-conductors 151, 152 extending parallel to each other along the entire length of the return conductor 15.

[0058] Furthermore, the bridging connection 16 is also completely divided into two (or more) sub-conductors 161, 162, wherein the number of sub-conductors 161, 162 in the bridging connection 16 depends on the number of sub-conductors 141, 142, 151, 152 in the forward conductor 15 and the return conductor 16. Additionally, each of the two (or more) sub-conductors 141, 142 of the forward conductor 14 is electrically connected to one of the two (or more) sub-conductors 151, 152 of the return conductor 15 through one of the two (or more) sub-conductors 161, 162 in the bridging connection 16. In other words, as... Figure 4 As shown, the forward conductor 14, return conductor 15, and bridging connection 16 of the elongated flat coil 8 are each completely divided into two sub-conductors 141, 142, 151, 152, 161, and 162. The first sub-conductor 141 of the forward conductor 14 is electrically connected to the first sub-conductor 151 of the return conductor 15 via the first sub-conductor 161 of the bridging connection 16, and the second sub-conductor 142 of the forward conductor 14 is electrically connected to the second sub-conductor 152 of the return conductor 15 via the second sub-conductor 162 of the bridging connection 16. This results in the elongated flat coil 8 having a winding 13 completely divided into sub-conductors 141, 142, 151, 152, 161, and 162, wherein the corresponding sub-conductors 141, 142, 151, 152, 161, and 162 form sub-windings 131 and 132, driving current I. D These sub-windings can be connected in parallel. The elongated flat coil 8 also includes connectors 24, for example, connected to sub-conductors 141, 142 of the forward conductor 14, and / or connecting conductors 25, for example, connected to sub-conductors 151, 152 of the return conductor 15, to apply a drive current I. D Therefore, the sub-windings 131 and 132 of winding 13 can be controlled by the common stage of the control arrangement of the electromagnetic drive system 1. Inductors can be inserted into the connection, for example, by connecting connector 24 of the sub-conductors 141 and 142 of the forward conductor 14 to the stage of the control arrangement to further reduce eddy currents.

[0059] In a single-phase system, the provided connector 24 and / or connecting conductor 25 can be connected to the common terminal of the control arrangement. In a multi-phase system, the connector 24 of the sub-conductors 141, 142 of the forward conductor 14 can be connected to the common terminal of the control arrangement to apply a drive current I to the elongated flat coil 8. D The connecting conductor 25, which connects to the sub-conductors 151 and 152 of the return conductor 15, can be connected to another drive coil 7 in the coil arrangement, or, for example, to a star point in a star configuration. The sub-conductors 151 and 152 of the return conductor 15 can be connected to the connector 24 instead of the connecting conductor 25, for example.

[0060] Figure 5a Another exemplary embodiment of an elongated flat coil 8 used as a drive coil 7 in the stator unit 3 of an electromagnetic drive system 1 is shown in perspective. The elongated flat coil 8 can be configured, for example, as an elongated PCB coil. The elongated flat coil 8 includes a winding layer 12 having at least one winding 13 and at least one additional winding layer 19 having at least one additional winding 20. That is, the elongated flat coil 8 may include two or more winding layers 12, 19, each winding layer 12, 19 having one or more windings 13, 20. Figure 5a In the illustrated embodiment, for clarity, only two exemplary winding layers 12, 19 are shown, each winding layer 12, 19 having only one exemplary winding 13, 20, wherein the winding layer 12 forms a first winding layer 12 having at least one winding 13 forming a first winding 13, and at least one additional winding layer 19 forms a second winding layer 19 having a second winding 20. Both the first winding layer 12 and the second winding layer 19 are electrically insulated by an insulating medium 17. Figure 5a (Not shown in the image).

[0061] A first winding 13 is arranged in a first winding layer 12 of an elongated flat coil. The first winding 13 also includes, for example, a forward conductor 14 and a return conductor 15 arranged in a primary layer 121 of the first winding layer 12, and a bridging connection 16 electrically connecting the forward conductor 14 and the return conductor 15 and, for example, arranged in a secondary layer of the first winding layer 12. The primary layer 121 and the secondary layer 122 form the first winding layer 12, wherein the primary layer 121 and the secondary layer 122 of the first winding layer 12 are electrically separated by, for example, a layer 171 of an insulating medium 17 (e.g., as shown in the image). Figure 3b (As shown). The connection between the forward conductor 14 and the bridging connection 16, and the connection between the reverse conductor 15 and the bridging connection 16, can be achieved through the interlayer connection 18, especially through the through hole 18.

[0062] In the second winding layer 19 of the elongated flat coil 8, a second winding 20 is arranged, which also includes a forward conductor 21 and a return conductor 22, which are also electrically connected by a bridging connection 23. Similar to the first winding layer 12, the forward conductor 21 and return conductor 22 of the second winding 20 can be arranged in the main layer 191 of the second layer 19, and the bridging connection 23 of the second winding 20 can be arranged in the secondary layer 192 of the second winding layer 19. The main layer 191 and the secondary layer 192 form the second winding layer 19 and are also electrically separated, for example, by an insulating dielectric layer 17 (e.g., as...). Figure 3b (As shown). The connection between the forward conductor 21 of the second winding 20 and the bridging connection 23, as well as the connection between the return conductor 22 of the second winding 20 and the bridging connection 23, can be achieved through the interlayer connection 18, in particular through the through hole 18.

[0063] Furthermore, the first winding 13 and the second winding 20 of the elongated flat coil 8 are electrically connected. For this purpose, one end of the return conductor 15 of the first winding 13 (which is not connected to the bridging connection 16 of the first winding 13) is connected via an interlayer bridging connection 26 to one end of the forward conductor 21 of the second winding 20 (which is not connected to the bridging connection 23 of the second winding 20). For example, the interlayer bridging connection 26 may be arranged in the sublayer of the first winding layer 12 to achieve a more compact coil 8. In addition, the elongated flat coil 8 also includes at least one connector 24 and / or connecting conductor 25 to apply a drive current I to the elongated flat coil 8. D For example, at least one connector 24 may be connected to one end of the forward conductor 14 of the first winding 13 (this end is not connected to the bridging connection 16 of the first winding 13). At least one connecting conductor 25 may be arranged in such a way that it is connected, for example, through an interlayer connection 18 or a through-hole 18 to one end of the return conductor 22 of the second winding 20 (this end is not connected to the bridging connection 23 of the second winding 20). For example, the connecting conductor 25 may be arranged in the sublayer 192 of the second winding layer 19. Alternatively, the return conductor 22 may also be connected to the connector 24 instead of the connecting conductor 25.

[0064] Furthermore, the forward conductor 14 and / or return conductor 15 of the first winding can be at least partially divided into at least two sub-conductors 141, 142, 151, 152, as already referenced. Figure 3a Described. Furthermore, the forward conductor 21 and / or return conductor 22 of the second winding 20 may also be at least partially divided into at least two sub-conductors 211, 212, 221, 222. The sub-conductors 211, 212, 221, 222 of the forward conductor 21 and return conductor 22 of the second winding 20 are arranged side-by-side and parallel to each other in the second winding layer 19, particularly in the main layer 191 of the second winding layer 19.

[0065] exist Figure 5a In the illustrated embodiment, the forward conductors 14, 21 and return conductors 15, 22 of the two windings 13, 20 are divided into, for example, sub-conductors 141, 142, 151, 152, 211, 212, 221, 222. However, it is also possible that only the forward conductor 14, 21 and / or the return conductor 15, 22 of one of the windings 13, 20 are divided into sub-conductors 141, 142, 151, 152, 211, 212, 221, 222. For example, the forward conductor 14 or return conductor 15, or two conductors 14, 15, of the first winding 13 arranged in the first winding layer 12 can be divided into sub-conductors 141, 142, 151, 152; or the forward conductor 21 or return conductor 22, or two conductors 21, 22, of the second winding 20 arranged in the second winding layer 19 can be divided into sub-conductors 211, 212, 221, 222, while the forward conductors 14, 21 and / or return conductors 15, 22 of the corresponding other winding remain undivided. Furthermore, it is possible that the subdivision of the forward conductors 14, 21 and / or return conductors 15, 22 into sub-conductors 141, 142, 151, 152, 211, 212, 221, 222 can be uniform and occur only in one subdivision segment, for example, as shown below. Figure 5a As shown. However, it is also possible to subdivide or divide the forward conductors 14, 21 and / or return conductors 15, 22 into segments of more sub-conductors 141, 142, 151, 152, 211, 212, 221, 222 in a non-uniform manner.

[0066] Furthermore, the bridging connections 16 and 23 of windings 13 and 20 can also be at least partially divided into two or more sub-conductors 161, 162, 231, and 232 (e.g., Figure 5b (As shown). The division of bridging connections 16, 23 to sub-conductors 161, 162, 231, 232 can also be done in one segment, in more segments, or along the entire length of the corresponding bridging connections 16, 23. The sub-conductors 161, 162, 231, 232 of the corresponding bridging connections 16, 23 are also arranged parallel to each other on the insulating medium 17 in the corresponding winding layers 12, 19.

[0067] Figure 5b Another exemplary embodiment of an elongated flat coil 8 used as a drive coil 7 in the stator unit 3 of an electromagnetic drive system 1 is shown in perspective.

[0068] Figure 5b The embodiment of the elongated flat coil 8 shown also includes two exemplary winding layers 12, 19, which include two exemplary windings 13, 20 (in... Figure 5b(Not explicitly marked). The forward conductors 14, 21 and return conductors 15, 22 of the corresponding (i.e., first and second) windings 13, 20 are also arranged in, for example, the main layers 121, 191 of the corresponding (first or second) winding layers 12, 19. The bridging connections 16, 23 connecting the corresponding forward conductors 14, 21 and the corresponding return conductors 15, 22 of the corresponding (i.e., first and second) windings 13, 20 are also arranged in, for example, the secondary layers 122, 192 of the corresponding (i.e., first or second) winding layers 12, 19. See reference. Figure 4 As already described, the forward conductor 14, return conductor 15, and bridging connection 16 of the first winding 13 are completely divided into at least two sub-conductors 141, 142, 151, 152, 161, and 162. Similarly, the forward conductor 21, return conductor 22, and bridging connection 23 of the second winding 20 are also divided into sub-conductors 211, 212, 221, 222, 231, and 232 in the same manner. That is, the forward conductor 21, return conductor 22, and bridging connection 23 of the second winding 20 are each completely divided into two or more sub-conductors 211, 212, 221, 222, 231, and 232. Figure 5b In the exemplary embodiment shown, the forward conductor 14, return conductor 15 and bridging connection 16 of the first winding 13 and the forward conductor 21, return conductor 22 and bridging connection 23 of the second winding 20 are all divided into two sub-conductors 141, 142, 151, 152, 161, 162, 211, 212, 221, 222, 231, 232.

[0069] This results in the elongated flat coil 8 having windings 13 and 20 on each winding layer 12, 19, which are completely divided into sub-conductors 141, 142, 151, 152, 161, 162, 211, 212, 221, 222, 231, 232. The corresponding sub-conductors 141, 142, 151, 152, 161, 162, 211, 212, 221, 222, 231, 232 form sub-windings on the corresponding winding layers 12, 19. For example... Figure 5b As shown, the sub-conductors 141, 142, 151, 152, 161, and 162 of the first winding 13 or the first winding layer 12 form two sub-windings 131 and 132, driving current I. D These two sub-windings can flow in parallel. Furthermore, the sub-conductors 211, 212, 221, 222, 231, and 232 of the second winding 20 or second winding layer 19, formed by the forward conductor 21, the return conductor 22, and the associated bridging connection 23, also form two sub-windings (in...). Figure 5b (Not explicitly marked in the text) Drive current I D The two sub-windings can also be connected in parallel.

[0070] If the interlayer bridging connection 26 is also completely divided into sub-conductors, such as Figure 5b As shown, this results in the elongated flat coil 8 having completely separate conductors 14, 15, 16, 21, 22, 23, 26, thereby forming parallel-arranged sub-coils, each sub-coil having, for example, at least one winding arranged on each of at least two winding layers 12, 19. The number of sub-conductors in the interlayer bridging connection 26 may depend on the number of forward conductors 14, 21, return conductors 15, 22 of windings 13, 20, and the number of sub-conductors 141, 142, 151, 152, 161, 162, 211, 212, 221, 222, 231, 232 divided in the bridging connection 16, 23.

[0071] For example, such as Figure 5b As shown, the first sub-conductor of the interlayer bridging connection 26 can electrically connect one end of the first sub-conductor 151 of the return conductor 15 of the first winding 13 (which is not connected to any of the sub-conductors 161 and 162 of the bridging connection 16 of the first winding 13) to one end of the first sub-conductor 211 of the first forward conductor 21 of the second winding 20 (which is not connected to any of the sub-conductors 231 and 232 of the bridging connection 23 of the second winding 20). The second sub-conductor of the interlayer bridging connection 26 can then electrically connect one end of the second sub-conductor 152 of the return conductor 15 of the first winding 13 (which is not connected to any of the sub-conductors 161 and 162 of the bridging connection 16 of the first winding 13) to one end of the second sub-conductor 212 of the first forward conductor 21 of the second winding 20 (which is not connected to any of the sub-conductors 231 and 232 of the bridging connection 23 of the second winding 20).

[0072] The elongated flat coil 8 also includes connectors 24, such as sub-conductors 141, 142 connected to the forward conductor 14 of the first winding 13 or the first winding layer 12, and / or connecting conductors 25, such as sub-conductors 221, 222 connected to the reverse conductor 22 of the second winding 20 or the second winding layer 19, to apply a drive current I to the elongated flat coil 8. D Alternatively, the sub-conductors 221 and 222 of the return conductor 22 can also be connected to connector 24 instead of conductor 25. The sub-coil formed by completely subdividing conductors 14, 15, 16, 21, 22, 23, and 26 into sub-conductors 141, 142, 151, 152, 161, 162, 211, 212, 221, 222, 231, and 232 can be controlled by the common stage of the control arrangement of the electromagnetic drive system 1 to apply a drive current I to the elongated flat coil 8. DInductors can be inserted into the connection, for example, by connecting connector 24 of the sub-conductors 141, 142 of the positive conductor 14 of the first winding 13 to the stage of the control arrangement, to further reduce eddy currents.

[0073] Furthermore, it is possible to electrically connect one of the at least two sub-conductors 141, 142 of the forward conductor 14 of at least one winding 13 of winding layer 12 to one of the at least two sub-conductors 221, 222 of the return conductor 22 of at least one additional winding 20 of at least one additional winding layer 19, in series to connect the sub-windings 131, 132 of windings 13, 20 created by fully dividing the conductors 14, 15, 16, 21, 22, 23, 26 of the elongated flat coil 8. For example, the first sub-conductor 221 of the return conductor 22 of the second winding arranged on the second winding layer 19 can be connected to one of the two sub-conductors 141, 142 of the forward conductor 14 of the first winding 13 arranged on the first winding layer 12. This connection can be achieved by interlayer bridging connection 26 (e.g., using interlayer connection 18 or through-hole 18).

[0074] Figure 5c Another exemplary embodiment of an elongated flat coil 8 used as a drive coil 7 in the stator unit 3 of an electromagnetic drive system 1 is shown in perspective.

[0075] In this embodiment, the elongated flat coil 8 also includes two exemplary winding layers 12, 19, wherein corresponding forward conductors 14, 21, corresponding return conductors 15, 22, and corresponding bridging connections 16, 23 linking the forward conductors 14, 21 and the return conductors 15, 22 are arranged to form corresponding windings 13, 20 (in Figure 5c (Not explicitly marked in the text). Furthermore, all forward conductors 14, 21, return conductors 15, 22, and bridging connections 16, 23 are completely divided into sub-conductors 141, 142, 151, 152, 161, 162, 211, 212, 221, 222, 231, 232. This results in each winding 13, 20 being divided into two sub-windings 131, 132 arranged in each winding layer 12, 19, and each conductor 14, 15, 16, 21, 22, 23 includes, for example, two sub-conductors 141, 142, 151, 152, 161, 162, 211, 212, 221, 222, 231, 232.

[0076] Furthermore, sub-windings 131 and 132, formed by sub-conductors 141, 142, 151, 152, 161, 162, 211, 212, 221, 222, 231, and 232 on each winding layer, are connected in series. For this purpose, the first sub-conductor 151 of the return conductor 15 of the first winding 13 on the first winding layer 12 is electrically connected to one of the two sub-conductors 141 and 142 of the forward conductor 14 of the first winding 13 on the first winding layer 12. An additional bridging connection 27 is used for this connection, which is, for example, arranged on the sub-layer 192 of the first winding layer 19. Figure 5c In the illustrated embodiment, the first sub-conductor 141 of the positive conductor 14 of the first winding 13 on the first winding layer 12 is, for example, provided with a method for applying a drive current I. D The connector 24, wherein the second sub-conductor 142 of the forward conductor 14 of the first winding 13 on the first winding layer 12 is electrically connected via an additional bridging connection 24 to the first return conductor 151 of the return conductor 15 of the first winding 13 on the first winding layer 12, so as to connect the sub-windings 131, 132 in series.

[0077] Similarly, the first sub-conductor 221 of the return conductor 22 of the second winding 20 on the second winding layer 19 is electrically connected to one of the two sub-conductors 211 and 212 of the forward conductor 21 of the second winding 20 on the second winding layer 19, wherein the other sub-conductor of the two sub-conductors 211 and 212 of the forward conductor 21 of the second winding 20 on the second winding layer 19 is electrically connected to the second sub-conductor 152 of the return conductor 15 of the first winding 13 on the first winding layer 12 via the interlayer bridging connection 26.

[0078] exist Figure 5c In the illustrated embodiment, the first sub-conductor 221 of the return conductor 22 of the second winding 20 on the second winding layer 19 is, for example, electrically connected to the first sub-conductor 212 of the forward conductor 22 of the second winding 20 on the second winding layer 19, wherein the first sub-conductor 211 of the forward conductor 21 of the second winding 20 on the second winding layer 19 is connected to the second sub-conductor 152 of the return conductor 15 of the first winding 13 on the first winding layer 12 via the interlayer bridging connection 26.

[0079] Furthermore, the second sub-conductor 222 of the return conductor 22 of the second winding 20 on the second winding layer 19 is provided with or connected to a connecting conductor 25, which is used to apply a drive current I to the elongated flat coil 8. D .

[0080] like Figures 3a to 5cThe elongated flat coil 8 shown in the example can be used as a drive coil 7 in the stator unit 3 of various electromagnetic drive systems 1, particularly in long stator linear motor systems and / or planar motor systems. On the stator 2 or stator unit 3 of the electromagnetic drive system 1, the elongated flat coil 8 used as the drive coil 7 can be arranged and connected in various ways, for example, as a coil with concentrated or distributed windings and / or as a single-layer or multi-layer winding. The elongated flat coil 8 used as the drive coil 7 can be arranged in a single-phase system, or can be interconnected to form a multi-phase system, typically a three-phase system with a floating star point or a star point connected to a predefined fixed potential.

[0081] In particular, if the planar motor system 1 (such as...) Figure 2 As shown, to provide a preferred direction of movement for the movement of the shuttle 4 relative to the stator 2 (e.g., in the x-axis direction of the reference coordinate system), the number of elongated flat coils 8 arranged on the stator 2 in one direction (e.g., in the x-axis direction of the reference coordinate system) can differ from the number of elongated flat coils arranged on the stator in another direction (e.g., in the y-axis direction of the reference coordinate system). Furthermore, if only the elongated flat coils 8 defining the preferred direction of movement, such as x-coils or coils arranged in the x-axis direction of the reference coordinate system defining the x-axis direction as the preferred direction, are designed as follows... Figures 3a to 5c The elongated flat coil 8 shown in one of the figures can be advantageous. That is, the elongated flat coil 8, which only defines the preferred direction of movement, includes at least one forward conductor 14, 21 and / or return conductors 15, 22 divided into at least two sub-conductors 141, 142, 151, 152, 211, 212, 221, 222 (e.g., Figure 3a or Figure 5a As shown), for example, the conductors 14, 15, 21, 22 of the elongated flat coil 8 arranged on the stator 2 in another direction (e.g., in the y-axis direction of the reference coordinate system) remain undivided.

Claims

1. A stator unit (3) for at least one shuttle (4) of a mobile electromagnetic drive system (1), wherein the stator unit (3) includes an arrangement of drive coils (7) driven by a drive current (I) in the region of the at least one shuttle (4). D An electromagnetic field is generated by energizing the at least one shuttle (4), which interacts with a magnet unit (5) arranged on the at least one shuttle (4) to move the at least one shuttle (4). Furthermore, the drive coil (7) is configured as an elongated flat coil (8), the elongated flat coil comprising conductors (14, 15, 16, 21, 22, 23) arranged in winding layers (12, 19), the winding layers being electrically insulated from each other by a non-conductive insulating medium (17); characterized in that, The elongated flat coil (8) used as the drive coil (7) includes at least one winding layer (12) in which at least one winding (13) is arranged, the at least one winding (13) including a forward conductor (14) and a return conductor (15) electrically connected to each other by a bridging connection (16), and wherein the forward conductor (14) and / or the return conductor (15) of the at least one winding (13) are at least partially divided into at least two sub-conductors (141, 142, 151, 152) arranged parallel to each other in the winding layer (12).

2. The stator unit (3) according to claim 1, characterized in that, The bridging connection (16) of the at least one winding (13) is also divided into at least two sub-conductors (161, 162) that extend parallel to each other.

3. The stator unit (3) according to claim 2, characterized in that, The forward conductor (14) and the return conductor (15) are each completely divided into at least two sub-conductors (141, 142, 151, 151), wherein each of the at least two sub-conductors (141, 142) of the forward conductor (14) is electrically connected to one of the at least two sub-conductors (161, 162) of the return conductor (15) through one of the sub-conductors (161, 162) of the bridging connection (16).

4. The stator unit (3) according to any one of claims 1 to 3, characterized in that, The elongated flat coil (8) includes at least one additional winding layer (19) electrically insulated from the winding layer (12) by the non-conductive insulating medium (17), and at least one additional winding (20) is arranged in the additional winding layer, the at least one additional winding also including a forward conductor (21) and a return conductor (22) electrically connected by a bridging connection (23), the at least one additional winding (20) of the at least one additional winding layer (19) being electrically connected to the at least one winding (13) of the winding layer (12), and wherein the forward conductor (21) and / or the return conductor (22) of the at least one additional winding (20) are at least partially divided into at least two sub-conductors (211, 212, 221, 222) arranged side by side in the at least one additional winding layer (19).

5. The stator unit (3) according to claim 4, characterized in that, The bridging connection (23) of the at least one additional winding (20) is also divided into at least two sub-conductors (231, 232) that extend parallel to each other.

6. The stator unit (3) according to claim 5, characterized in that, The forward conductor (21) of the at least one additional winding (20) and the return conductor (22) of the at least one additional winding (20) are each completely divided into at least two sub-conductors (211, 212, 221, 222), wherein each of the at least two sub-conductors (211, 212) of the forward conductor (21) of the at least one additional winding (20) is electrically connected to one of the at least two sub-conductors (231, 232) of the return conductor (22) through one of the sub-conductors (231, 232) of the bridging connection (23) of the at least one additional winding (20).

7. The stator unit (3) according to claim 6, characterized in that, Each of the at least two sub-conductors (151, 152) of the return conductor (15) of the at least one winding (13) of the winding layer (12) is connected to exactly one of the at least two sub-conductors (211, 212) of the forward conductor (21) of the at least one additional winding (20) of the at least one additional winding layer (19).

8. The stator unit (3) according to claim 7, characterized in that, Another sub-conductor of the at least two sub-conductors (141, 142) of the forward conductor (14) of the at least one winding (13) of the winding layer (12) is electrically connected to one of the at least two sub-conductors (221, 222) of the return conductor (22) of the at least one additional winding (20) of the at least one additional winding layer (19).

9. The stator unit (3) according to claims 3 and 6, characterized in that, One of the at least two sub-conductors (151, 152) of the return conductor (15) of the at least one winding (13) of the winding layer (12) is electrically connected via an additional bridging connection (27) to one of the at least two sub-conductors (141, 142) of the forward conductor (14) of the at least one winding (13) of the winding layer (12), wherein one of the at least two sub-conductors (221, 222) of the return conductor (22) of the at least one additional winding (20) of the at least one additional winding layer (19) is connected via another additional bridging connection (27). 7) One of the at least two sub-conductors (211, 212) of the positive conductor (14) of the at least one additional winding (20) of the at least one additional winding layer (19) is electrically connected to one of the sub-conductors (212) of the at least two additional winding (20) of the return conductor (15) of the at least one winding (13) of the at least one winding layer (12) is electrically connected to the other of the at least two sub-conductors (211, 212) of the positive conductor (21) of the at least one additional winding (20) of the at least one additional winding layer (19) is electrically connected to one of the sub-conductors (211, 212) of the positive conductor (21) of the at least one additional winding (20) of the at least one additional winding layer (19).

10. The stator unit (3) according to any one of claims 1 to 9, characterized in that, The corresponding forward conductors (14, 21), the corresponding return conductors (15, 22) and / or the corresponding bridging connections (16, 23) are divided into at least two sub-conductors (141, 142, 151, 152, 161, 162, 211, 212, 221, 222, 231, 232) which are separately arranged on the insulating medium (17) and electrically insulated from each other.

11. The stator unit (3) according to any one of claims 1 to 9, characterized in that, The corresponding forward conductors (14, 21), the corresponding return conductors (15, 22) and / or the corresponding bridging connections (16, 23) are divided into at least two sub-conductors (141, 142, 151, 152, 161, 162, 211, 212, 221, 222, 231, 232) which are arranged on the insulating medium (17) without being completely separated from each other.

12. The stator unit (2) according to any one of claims 1 to 11, characterized in that, The respective forward conductors (14, 21) and the respective return conductors (15, 22) are arranged in the main layers (121, 191), and the respective bridging connections (16, 23) are arranged in the secondary layers (122, 192), wherein the main layers (121, 191) and the secondary layers (122, 192) form the respective winding layers (12, 19), wherein the main layers (121, 191) and the secondary layers (122, 192) are electrically insulated from each other by the insulating medium (17), and wherein interlayer connections (18) are provided to connect the respective forward conductors (14, 21) and the respective return conductors (15, 22) to the respective bridging connections (16, 23).

13. The stator unit (3) according to any one of claims 1 to 12, characterized in that, The elongated flat coil (8) is configured as an elongated printed circuit board coil.

14. An electromagnetic drive system (1) comprising at least one stator unit (3) according to any one of claims 1 to 13 to form a stator (2), and at least one shuttle (4), said at least one shuttle comprising a magnet unit (5) having a drive magnet (6), wherein the drive coil (7) arranged on said at least one stator unit (3) is driven by a drive current (I) in said region of said at least one shuttle (4). D An electromagnetic field is generated by energizing the at least one shuttle (4) and interacting with the drive magnet (6) of the magnet unit (5) of the at least one shuttle (4) to move the at least one shuttle (4).

15. The electromagnetic drive system (1) according to claim 14, characterized in that, The electromagnetic drive system (1) is configured as a long stator linear motor system, wherein the elongated flat coil (8) serving as the drive coil (7) is arranged on the at least one stator unit (3) forming the stator (2) along a predetermined movement path of the at least one shuttle (4), or the electromagnetic drive system (1) is configured as a planar motor system, wherein the elongated flat coil (8) serving as the drive coil (7) is arranged in at least two coil groups (10, 11) on the at least one stator unit (3) forming the stator (2), and wherein each of the at least two coil groups (10, 11) defines the main movement direction of the at least one shuttle (4).

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