Planar motor with supporting structure
By setting a support structure between the mover and the stator, combined with magnetic levitation support, the planar motor achieves high load capacity, low friction and stable movement, solving the problems of complex structure, high cost and impact deviation in the existing technology, and improving reliability and accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-12
- Publication Date
- 2026-03-31
AI Technical Summary
Existing planar motors are complex and expensive under heavy loads, and are prone to collisions or positional shifts between the mover and stator due to sudden power failures or external force attraction, especially when the load is located at the edge and the force is unbalanced.
A support structure, including balls, brackets, or sliders, is set between the mover and the stator to achieve rigid support through rolling or sliding connection. Combined with magnetic levitation support, the support structure is installed in the mounting groove to support the horizontal movement of the mover.
It improves the load capacity of the mover, simplifies the structural design, reduces costs, enhances motion accuracy and reliability, and avoids collision and positional misalignment accidents.
Smart Images
Figure CN224068523U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of planar motor technology, and in particular relates to a planar motor with a support structure. Background Technology
[0002] Currently, planar motors, as a type of two-dimensional planar drive device, possess characteristics such as high response, high speed, and high precision, and are widely used in precision machining, semiconductor electronic chip production, automated instrument manufacturing, and intelligent robotics. One type of planar motor in related technologies is described below. Figure 1 As shown, the planar motor includes a mover 1' and a stator 2'. The mover 1' is equipped with a permanent magnet, and the stator 2' is equipped with an electromagnetic coil. The mover 1' and the stator 2' are levitated and supported by magnetic levitation. During operation, the load 3' is placed on the mover 1'.
[0003] The planar motors in the related technologies have the following shortcomings: 1) Since the mover 1′ and stator 2′ are non-contact suspended supports, when the load on the mover 1′ is large, it is necessary to increase the magnetic force between the mover 1′ and stator 2′, which puts forward more stringent requirements on the power supply, electromagnetic coil structure, distribution design and circuit control design, making the structure of the planar motor more complex and costly; 2) When a sudden power failure occurs, or when the mover 1′ is attracted by an external force, it may cause an accident of collision or positional displacement between the mover 1′ and stator 2′; 3) When the load 3 on the mover 1′ is placed at the edge of the mover 1′, the force on the entire mover 1′ is unbalanced, causing the mover 1′ to tilt.
[0004] To solve the above-mentioned technical problems, this utility model designs a planar motor with a support structure. Utility Model Content
[0005] This utility model provides a planar motor with a support structure, which has strong load capacity, high motion accuracy, and good reliability.
[0006] To achieve the above objectives, this utility model provides the following technical solution: a planar motor with a support structure, comprising a mover, a stator, and a support structure. The mover and stator are spaced apart in a vertical direction. A permanent magnet is disposed in the mover, and a plurality of electromagnetic coils are disposed in the stator. The electromagnetic coils interact with the permanent magnet to suspend the mover above the stator. A first mounting groove is disposed on one side of the mover facing the stator, or a second mounting groove is disposed on one side of the stator facing the mover. One side of the support structure is disposed in the first mounting groove or the second mounting groove, and the other side of the support structure is movably connected to the stator or the mover, so that the mover can move horizontally relative to the stator.
[0007] Based on the above technical solution, the other side of the support structure is either rolled or slidably connected to the stator or mover.
[0008] Based on the above technical solution, the support structure includes ball bearings, which are rotatably disposed within the first mounting groove, with a portion of the ball bearing located outside the first mounting groove and used for connection with the stator; or, the ball bearings are rotatably disposed within the second mounting groove, with a portion of the ball bearing located outside the second mounting groove and used for connection with the mover.
[0009] Based on the above technical solution, the support structure further includes a bracket, which is mounted on the mover or the stator. A plurality of the ball bearings are rotatably arranged on the bracket, and all the ball bearings are coplanar.
[0010] Based on the above technical solution, the bracket has a circular structure, and multiple balls are distributed at intervals along the circumference of the bracket.
[0011] Based on the above technical solution, the bracket and / or the ball bearing are made of one of ceramic, glass, or plastic.
[0012] Based on the above technical solution, the support structure includes a slider, one end of which is disposed in a first mounting groove or a second mounting groove, and the other end is slidably connected to a stator or a mover.
[0013] Based on the above technical solution, the slider has a sliding surface, and the slider is slidably connected to the mover or the stator through the sliding surface, and the sliding surface is coated with a lubricant.
[0014] Based on the above technical solution, multiple support structures are provided at intervals between the mover and the stator.
[0015] Compared with related technologies, the beneficial effects of this utility model are as follows:
[0016] This planar motor utilizes a support structure between the mover and stator, providing both magnetic levitation support and rigid support, which enhances the mover's load capacity. When the load on the mover is heavy, the rigid support allows for the operation of the planar motor without increasing the power of the electromagnetic coils, simplifying the structural design and reducing costs. The magnetic levitation support reduces pressure between the support structure and the mover / stator, thus decreasing friction and movement resistance. The first and second mounting slots limit the movement of the support structure, ensuring the motor's accuracy. Furthermore, the support structure stabilizes the mover, preventing collisions, positional shifts, and other accidents when sudden power loss, external forces, or the load being at an edge occur. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one embodiment of this utility model. For those skilled in the art, other embodiments can be derived from the provided drawings without creative effort.
[0018] Figure 1 This is a schematic diagram of the structure of a planar motor in related technologies;
[0019] Figure 2 This is a schematic diagram of the planar motor according to Embodiment 1 of this utility model;
[0020] Figure 3 This is a schematic diagram of the stator and support structure according to Embodiment 1 of this utility model;
[0021] Figure 4 This is a schematic diagram of the stator and support structure according to Embodiment 2 of this utility model;
[0022] Figure 5 This is a schematic diagram of the support structure of Embodiment 3 of this utility model;
[0023] Figure 6 This is a schematic diagram of the stator and support structure of Embodiment 4 of this utility model;
[0024] Figure 7 This is a schematic diagram of the planar motor according to Embodiment 5 of this utility model;
[0025] Figure 8This is a schematic diagram of the stator and support structure of Embodiment 5 of this utility model.
[0026] Figure 1 middle:
[0027] 1′, Motor; 2′, Stator; 3′, Load-bearing object.
[0028] Figures 2 to 8 middle:
[0029] 1. Moving element; 10. First plane; 2. Stator; 20. Second plane; 3. Ball bearing; 4. Support; 5. Roller; 6. Slider. Detailed Implementation
[0030] The present invention will be further described below with reference to the accompanying drawings and examples:
[0031] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.
[0032] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0033] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0034] Example 1
[0035] like Figure 2-4As shown, this utility model provides a planar motor with a support structure, including a mover 1, a stator 2, and a support structure. The mover 1 and stator 2 are arranged vertically at intervals. A permanent magnet is disposed in the mover 1, and several electromagnetic coils are disposed in the stator 2. The electromagnetic coils interact with the permanent magnet to suspend the mover 1 above the stator 2. A first mounting groove is provided on the side of the mover facing the stator, or a second mounting groove is provided on the side of the stator facing the mover. One side of the support structure is disposed within the first or second mounting groove, and the other side of the support structure is movably connected to the stator or mover, allowing the mover to move horizontally relative to the stator. The side of the mover 1 facing the stator 2 is a first plane 10 (i.e., the bottom surface of the mover 1), and the side of the stator 2 facing the mover 1 is a second plane 20 (i.e., the top surface of the stator 2). The first plane 10 and the second plane 20 are parallel and spaced apart, forming an air gap between them. The support structure is disposed within the air gap and is used to support the mover 1. The installation forms of the support structure include, but are not limited to, the following: First, the support structure is fixedly connected to the mover 1, located in the first mounting slot, and movably connected to the stator 2; second, the support structure is fixedly connected to the stator 2, located in the second mounting slot, and movably connected to the mover 1. By movably connecting the support structure to either the mover 1 or the stator 2, the mover 1 can move horizontally relative to the stator 2, thereby realizing the two-dimensional planar drive function of the entire planar motor.
[0036] It is understandable that by setting a support structure between the mover 1 and the stator 2, with both magnetic levitation support and rigid support of the support structure existing simultaneously, the load capacity of the mover 1 can be improved. When the weight of the object carried on the mover 1 is large, the rigid support of the support structure allows the overall function of the planar motor to be achieved without increasing the power of the electromagnetic coil, thus simplifying the structural design of the planar motor and reducing costs. The magnetic levitation support reduces the pressure between the support structure and the mover 1 and stator 2, thereby reducing the friction between the support structure and either the mover 1 or the stator 2, and reducing the movement resistance of the mover 1. The first and second mounting slots limit the movement of the support structure, ensuring the motion accuracy of the planar motor. Simultaneously, under the support of the support structure, the force on the mover 1 is more stable. Even in the event of a sudden power outage, attraction by other external forces, or the object being carried being located at an edge, the relative position between the mover 1 and the stator 2 can be well maintained, avoiding collisions, positional shifts, and other accidents, thus exhibiting good reliability.
[0037] Optionally, the support structure is mounted on the second plane 20 of the stator 2, and the support structure is rollingly connected to the first plane 10 of the mover 1. This rolling connection between the support structure and the mover 1 helps reduce friction on their connection surfaces, ensuring the motion accuracy of the planar motor. Specifically, the support structure includes ball bearings 3, which are used to rollly connect the mover 1. Alternatively, in another embodiment, the support structure can also be mounted on the first plane 10 of the mover 1, and the support structure is rollingly connected to the second plane 20 of the stator 2.
[0038] Optionally, multiple support structures are provided, spaced apart within the air gap. The plane containing the support structures is parallel to the first plane 10 and the second plane 20. By spaced out multiple support structures, they can be distributed across various regions within the air gap, ensuring that each position of the mover 1 is supported by the support structures, thus accommodating various positions where the load-bearing object can be placed on the mover 1. Specifically, the multiple support structures are arranged in an array on the second plane 20 of the stator 2. This structure enables multi-degree-of-freedom movement of the mover 1. For example: Refer to... Figure 3 As shown, the mover 1 can move horizontally along the length direction (X direction in the diagram) of the stator 2. Alternatively, it can move horizontally along the width direction (Y direction in the diagram). Or, it can move along the diagonal direction of the stator 2.
[0039] Example 2
[0040] like Figure 4 As shown (the remaining reference numerals follow those of Embodiment 1), a planar motor is provided, the structure of which is similar to that of Embodiment 1, the difference being that: a plurality of second mounting grooves are recessed on the second plane 20 of the stator 2, the number and position of the plurality of second mounting grooves corresponding one-to-one with the balls 3. The plurality of second mounting grooves are arranged in an array, and the balls 3 are embedded and rolled within the second mounting grooves. A portion of the balls 3 is located outside the second mounting grooves, so that the balls 3 can roll and connect with the first plane 10 of the mover 1. In this embodiment, the support structure is directly the balls 3, and the balls 3 are directly embedded on the stator 2, which helps to simplify the overall structure of the support structure. Of course, in other embodiments, a plurality of first mounting grooves corresponding one-to-one with the balls 3 can also be recessed on the first plane 10 of the mover 1, the balls 3 are installed in the first mounting grooves, and the portion of the balls 3 located outside the first mounting grooves is used for rolling connection with the second plane 20 of the stator 2.
[0041] Example 3
[0042] like Figure 5As shown (the remaining reference numerals follow those of Embodiment 1), a planar motor is provided, the structure of which is similar to that of Embodiment 1, the difference being that the support structure includes a bracket 4 and ball bearings 3. The bracket 4 is used to mount the ball bearings 3, and the bracket 4 is mounted on the mover 1 or stator 2. Multiple brackets 4 are provided, spaced apart within the air gap. The bracket 4 has a circular ring structure, and each bracket 4 is provided with multiple ball bearings 3, which are spaced apart along the circumference of the bracket 4. A third mounting groove is provided on the bracket 4 for mounting the ball bearings 4, and the ball bearings 3 are rotatably disposed within the third mounting groove. In this embodiment, the shape of the bracket 4 is not limited to a circular ring, but also includes other shapes such as a square frame, a triangular plate, a hexagonal plate, and a circular plate.
[0043] Specifically, both the support 4 and the ball bearing 3 are made of ceramic material. Ceramic is non-ferromagnetic and possesses properties such as wear resistance and high hardness, making it suitable as a material for manufacturing support structures. Of course, in other embodiments, the materials of the support 4 and the ball bearing 3 can also be other non-magnetic materials such as glass and plastic.
[0044] Example 4
[0045] like Figure 6 As shown (the remaining reference numerals follow those of Embodiment 1), a planar motor is provided, with a structure similar to that of Embodiment 1, except that the support structure includes rollers 5, which are cylindrical. The rollers 5 are distributed sequentially at intervals along the length of the stator 2, and are rotatably mounted in a second mounting groove on the second plane 20 of the stator 2. One end of the roller 5 facing away from the stator 2 is used for rolling connection with the first plane 10 of the mover 1. Alternatively, in other embodiments, the rollers 5 can be mounted in the first mounting groove on the first plane 10 of the mover 1, and the rollers 5 can be rollingly connected to the second plane 20 of the stator 2. This structure enables single-degree-of-freedom movement of the mover 1. For example, the mover 1 can move horizontally along the length of the stator 2.
[0046] Example 5
[0047] like Figure 7 and Figure 8 As shown (the remaining reference numerals follow those of Embodiment 1), a planar motor is provided, the structure of which is similar to that of Embodiment 1, except that: the support structure is mounted on the stator 2, and the support structure is slidably connected to the mover 1. The support structure includes a slider 6, one end of which is mounted on a second mounting groove on the second plane 20 of the stator 2, and the side of the slider 6 facing away from the stator 2 is a sliding surface, through which the slider 6 is slidably connected to the first plane 10 of the mover 1. To reduce sliding resistance, a lubricant is coated on the sliding surface. There are multiple sliders 6, and the multiple sliders 6 are arrayed on the second plane 20 of the stator 2. Of course, in other embodiments, the slider 6 can also be mounted on the first mounting groove on the mover 1, and the sliding surface of the slider 6 is slidably connected to the second plane 20 of the stator 1.
[0048] Specifically, the planar motor also includes a power supply for supplying power to the electromagnetic coils in the stator 2. Multiple permanent magnets are arrayed within the mover 1. The permanent magnets within the mover 1 interact with the magnetic field of the electromagnetic coils to achieve magnetic levitation support for the mover 1 and to convert the electromagnetic energy between them into two-dimensional planar motion of the mover 1.
[0049] The significant advantages of this embodiment are as follows: By setting a support structure between the mover 1 and the stator 2, the simultaneous presence of magnetic levitation support and rigid support of the support structure between the mover 1 and the stator 2 improves the load capacity of the mover 1. When the weight of the object carried on the mover 1 is large, the rigid support of the support structure allows the overall function of the planar motor to be achieved without increasing the power of the electromagnetic coil, thus simplifying the structural design of the planar motor and reducing costs. The magnetic levitation support reduces the pressure between the support structure and the mover 1 and stator 2, thereby reducing the friction between the support structure and either the mover 1 or the stator 2, reducing the movement resistance of the mover 1, and ensuring the motion accuracy of the planar motor. Simultaneously, the support of the support structure makes the force on the mover 1 more stable. Even in the event of a sudden power outage, attraction by other external forces, or the object being carried being located at an edge, the relative position between the mover 1 and the stator 2 can be well maintained, preventing collisions, positional shifts, and other accidents.
[0050] The present invention has been described above by way of example, but the present invention is not limited to the specific embodiments described above. Any modifications or variations made based on the present invention shall fall within the scope of protection claimed by the present invention.
Claims
1. A planar motor with a support structure, characterized in that, The motor includes a mover, a stator and a support structure, the mover and the stator are arranged in a vertical direction, the mover is provided with a permanent magnet, the stator is provided with a plurality of electromagnetic coils, the electromagnetic coils and the permanent magnet act to suspend the mover above the stator, the mover is provided with a first mounting groove on one side of the stator, or the stator is provided with a second mounting groove on one side of the mover, one side of the support structure is arranged in the first mounting groove or the second mounting groove, and the other side of the support structure is movably connected with the stator or the mover, so that the mover can move horizontally relative to the stator, a plurality of support structures are arranged between the mover and the stator, one side of the stator facing the mover is a second plane, and the plurality of support structures are arranged in an array on the second plane of the stator.
2. The planar motor with support structure according to claim 1, characterized in that, The other side of the support structure is rollingly or slidingly connected with the stator or the mover.
3. The planar motor with support structure according to claim 2, characterized in that, The support structure includes a plurality of balls, the balls are rollingly arranged in the first mounting groove, and a part of the balls is located outside the first mounting groove and used to connect with the stator. Alternatively, the balls are rollingly arranged in the second mounting groove, and a part of the balls is located outside the second mounting groove and used to connect with the mover.
4. The planar motor with support structure according to claim 3, characterized in that, The support structure further includes a bracket, the bracket is mounted on the mover or the stator, a plurality of balls are rollingly arranged on the bracket, and all the balls are coplanar.
5. The planar motor with support structure according to claim 4, characterized in that, The bracket has a circular ring structure, and the plurality of balls are arranged in a circumferential direction of the bracket.
6. The planar motor with support structure according to claim 5, characterized in that, The material of the bracket and / or the balls is one of ceramic, glass and plastic.
7. The planar motor with support structure of claim 2, wherein, The support structure includes a sliding block, one end of the sliding block is arranged in the first mounting groove or the second mounting groove, and the other end of the sliding block is slidingly connected with the stator or the mover.
8. The planar motor with support structure according to claim 7, characterized in that, The sliding block has a sliding surface, the sliding block is slidingly connected with the mover or the stator through the sliding surface, and a lubricant is coated on the sliding surface.