Planar motor

Abstract

The embodiment of the present application provides a planar motor, which comprises a mover and a stator, the stator comprises a coil unit, the mover comprises a substrate and a magnet unit, the magnet unit is arranged on the substrate, the mover can move relative to the stator under the interaction of the magnet unit and the coil unit; the magnet unit comprises a first magnet array and a second magnet array, the first magnet array extends along a first direction of the mover, the second magnet array extends along a second direction of the mover, wherein the first direction is not parallel to the second direction; a ball assembly is arranged on one side of the mover facing the stator, and the ball assembly is used for rolling contact with the surface of the stator facing the mover when the mover moves relative to the stator.

Description

Technical Field

[0001] This application relates to the field of electric motors, and more particularly to a planar electric motor. Background Technology

[0002] A planar motor is a type of motor that can directly convert electromagnetic energy into planar motion. It mainly consists of a stator, a mover, and supporting components. A planar motor achieves the movement of the mover within a plane by converting electrical energy into two-dimensional planar electromagnetic thrust.

[0003] In existing planar motors, the supporting components generally adopt a magnetic levitation structure, that is, the stator supports the mover through magnetic levitation. However, the materials used to manufacture magnetic levitation structures are expensive, the manufacturing process is complex, and the corresponding control structure is more precise, resulting in high manufacturing costs for existing planar motors. In addition, the load-bearing capacity of magnetic levitation structures is relatively weak, which limits the use of planar motors in heavy-duty fields. Utility Model Content

[0004] This application provides a planar motor, including a mover and a stator. The stator includes a coil unit, and the mover includes a substrate and a magnet unit. The magnet unit is disposed on the substrate, and the mover can move relative to the stator under the interaction of the magnet unit and the coil unit. The magnet unit includes a first magnet array and a second magnet array. The first magnet array extends along a first direction of the mover, and the second magnet array extends along a second direction of the mover, wherein the first direction and the second direction are not parallel. A ball bearing assembly is disposed on the side of the mover facing the stator, and the ball bearing assembly is used to roll into contact with the surface of the stator facing the mover when the mover moves relative to the stator.

[0005] In some embodiments, the ball assembly includes a connecting frame and a first ball disposed on the connecting frame, the connecting frame being connected to the substrate, the first ball being rotatably connected to the connecting frame, the first ball being disposed at the center of the connecting frame, and the diameter of the first ball being greater than half the maximum length of the connecting frame.

[0006] In some embodiments, the ball assembly includes a connecting frame and a first ball and a plurality of second balls disposed on the connecting frame. The connecting frame is connected to the substrate, the first ball is rotatably connected to the connecting frame, the first ball is disposed at the center of the connecting frame, and the plurality of second balls are disposed around the first ball.

[0007] In some embodiments, the diameter of the second ball is less than half the diameter of the first ball.

[0008] In some embodiments, there are two of each of the first magnet array and the second magnet array. The two first magnet arrays are designed along the X-axis, and the two second magnet arrays are designed along the Y-axis. The two first magnet arrays are respectively distributed on both sides of the X-axis, and the two second magnet arrays are respectively distributed on both sides of the Y-axis. Each first magnet array, each second magnet array, and the edge of the substrate together form a non-magnetic region, and a ball bearing assembly is disposed on each non-magnetic region.

[0009] In some embodiments, the ball bearing assembly is disposed in the non-magnetic region at the edge away from the first magnet array and the second magnet array, and the plurality of ball bearing assemblies are arranged symmetrically in pairs.

[0010] In some embodiments, the two first magnet arrays and the two second magnet arrays together form a central region, and the ball bearing assembly is also disposed in the central region.

[0011] In some embodiments, the first magnet array and the second magnet array are combined to form a square region, and the substrate has an outer peripheral region outside the square region, the outer peripheral region surrounding the square region, and the ball bearing assembly is respectively disposed at the four corners of the square region in the outer peripheral region.

[0012] In some embodiments, the square region has a non-magnetic central region, and the central region is provided with a ball bearing assembly.

[0013] In some embodiments, the ball assembly is made of a non-magnetic material.

[0014] Compared with the prior art, in the planar motor of this application embodiment, a ball assembly is provided on the side of the mover facing the stator. The ball assembly is used to roll and contact the surface of the stator facing the mover when the mover moves relative to the stator, so that the planar motor of this application embodiment has low manufacturing cost and can be applied to heavy loads. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of a planar motor according to an embodiment of this application.

[0017] Figure 2 This is a schematic diagram of the structure of a ball bearing assembly according to an embodiment of this application.

[0018] Figure 3 This is a schematic diagram of the structure of a ball bearing assembly according to another embodiment of this application.

[0019] Figure 4 This is a schematic diagram of the structure of a mover according to an embodiment of this application.

[0020] Figure 5 This is a schematic diagram of the structure of the mover according to another embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0024] First, in the description of the embodiments of this application, it should be understood that the terms "longitudinal", "lateral", "up", "down", "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 drawings. They are only for the convenience of describing this application 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 application.

[0025] Secondly, the terms "first," "second," and "third" are used only to distinguish descriptions and have no order or distinction of importance. They should not be interpreted as indicating or implying relative importance. Features marked "first" or "second" may explicitly or implicitly include one or more of the same feature.

[0026] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," not that the structure must be completely horizontal, but can be slightly tilted; the term "along a certain direction" does not imply that it must be absolutely parallel to that direction, but can be offset, that is, it can have a component in that direction.

[0027] Furthermore, it should be noted in the description of this application that, unless otherwise expressly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, electromagnetic connections, or even communication connections; they can refer to direct connections or indirect connections through an intermediate medium, or even internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] Furthermore, in this application, "and / or," such as "feature 1 and / or feature 2," refers to three possibilities: feature 1 alone, feature 2 alone, or feature 1 plus feature 2.

[0029] like Figure 1As shown, the planar motor 100 of this application includes a mover 10 and a stator 20. The stator 20 includes a plurality of coil units 21. The mover 10 includes a substrate 11 and a magnet unit 12. The magnet unit 12 is disposed on the substrate 11. The mover 10 can move relative to the stator 20 under the interaction of the magnet unit 12 and the coil units 21. That is, the coil units 21 of the stator 20 are energized to generate a magnetic field, which acts on the magnet unit 12 of the mover 10, thereby realizing the movement of the mover 10 on the stator 20. The load carried by the mover 10 also moves with the mover 10. The magnet unit 12 includes a first magnet array and a second magnet array. The first magnet array extends along a first direction of the mover 10, and the second magnet array extends along a second direction of the mover 10, wherein the first direction and the second direction are not parallel. The interaction between the first magnet array and the coil unit 21 generates a driving force along the first direction, and the interaction between the second magnet array and the coil unit 21 generates a driving force along the second direction. Since the first and second directions are not parallel, the two driving forces are not parallel. By adjusting these non-parallel driving forces, they can be combined to generate any force within the plane, ensuring the precision of the planar motor 100 control. A ball bearing assembly 13 is provided on the side of the mover 10 facing the stator 20. The ball bearing assembly 13 is used to make rolling contact with the surface of the stator 20 facing the mover 10 when the mover 10 moves relative to the stator 20. That is, the mover 10 is supported on the stator 20 by the ball bearing assembly 13, and the rolling contact between the two is achieved through the ball bearing assembly 13. This ensures high load-bearing capacity while reducing the friction between the two during relative movement.

[0030] In some embodiments, the ball assembly 13 includes a connecting frame 131 and a first ball 132 disposed on the connecting frame 131. The connecting frame 131 is connected to the substrate 11, and the first ball 132 is rotatably connected to the connecting frame 131.

[0031] like Figure 2 As shown, the first ball 132 is disposed at the center of the connecting frame 131, and the diameter of the first ball 132 is greater than half the maximum length of the connecting frame 131. The first ball 132 is used to roll contact with the surface of the stator 20 facing the mover 10 to support the connecting frame 131, so as to ensure the stability of the ball assembly 13 supporting the substrate 11 and realize the smooth movement of the mover 10 on the stator 20.

[0032] like Figure 3As shown, in some embodiments, the ball assembly 13 further includes a plurality of second balls 133 disposed on the connecting frame 131. The first ball 132 is disposed at the center of the connecting frame 131. The connecting frame 131 is connected to the substrate 11. The first ball 132 and the second ball 133 are rotatably connected to the connecting frame 131 respectively. The plurality of second balls 133 are arranged around the first ball 132. The first ball 132 and the second ball 133 are used to roll contact with the surface of the stator 20 facing the mover 10 to support the connecting frame 131, thereby ensuring the stability of the ball assembly 13 in supporting the substrate 11 and realizing the smooth movement of the mover 10 on the stator 20.

[0033] In one embodiment, the diameter of the second ball 133 is less than half the diameter of the first ball 132, so that the first ball 132 and the second ball 133 can provide stable support for the connecting frame 131 while making the structure between them reasonable and compact. Of course, in other embodiments, the diameter of the second ball 133 may also be equal to half the diameter of the first ball 132, or the diameter of the second ball 133 may be greater than half the diameter of the first ball 132, so it is not limited to this.

[0034] like Figure 4 As shown, in some embodiments, there are two of each of the first magnet array 121 and the second magnet array 122. The two first magnet arrays 121 are designed along the X-axis, and the two second magnet arrays 122 are designed along the Y-axis. The two first magnet arrays 121 are distributed on both sides of the X-axis, and the two second magnet arrays 122 are distributed on both sides of the Y-axis. Each first magnet array 121 and each second magnet array 122 together with the edge of the substrate 11 form a non-magnetic region 12a. Each non-magnetic region 12a is provided with a ball bearing assembly 13. The mover 10 can move more smoothly on the stator 20 by means of the ball bearing assembly 13 on each non-magnetic region 12a.

[0035] like Figure 4 As shown, in some embodiments, the ball bearing assembly 13 is disposed in the non-magnetic region 12a at the edge away from the first magnet array 121 and the second magnet array 122, and the multiple ball bearing assemblies 13 are symmetrically arranged in pairs, so that the position of each ball bearing assembly 13 is more reasonable, and further improves the stability of the mover 10 on the stator 20.

[0036] Two first magnet arrays 121 and two second magnet arrays 122 together form a central region 12b. The central region 12b is also provided with a ball bearing assembly 13, which further improves the stability of the mover 10 on the stator 20 and increases the load-bearing capacity of the mover 10, preventing the mover 10 from deforming in the middle due to excessive load.

[0037] like Figure 5As shown, in some embodiments, the first magnet array 121 and the second magnet array 122 are combined to form a square region 12c. The substrate 11 also has an outer periphery region 12d outside the square region. The outer periphery region 12d surrounds the square region 12c. The outer periphery region is provided with ball bearing assemblies 13 at the four corners of the square region, so that the positions of each ball bearing assembly 13 are more reasonable and further improve the stability of the mover 10 on the stator 20.

[0038] In some embodiments, the square region has a non-magnetic central region 12e, and the non-magnetic central region 12e is provided with a ball bearing assembly 13, which further improves the stability of the mover 10 on the stator 20 and improves the load-bearing capacity of the mover 10, and avoids the mover 10 from deforming in the middle due to excessive load.

[0039] In some embodiments, the ball assembly 13 is made of a non-magnetic material to avoid affecting the interaction between the magnet unit 12 and the coil unit 21, that is, to avoid interfering with the movement of the control mover 10 and to ensure the accuracy of control.

[0040] Compared with the prior art, in the planar motor 100 of this application embodiment, a ball assembly is provided on the side of the mover 10 facing the stator 20. The ball assembly is used to roll contact with the surface of the stator 20 facing the mover 10 when the mover 10 moves relative to the stator 20, so that the planar motor 100 of this application embodiment has low manufacturing cost and is suitable for heavy load.

[0041] The above-disclosed examples are merely preferred embodiments of this application, intended to facilitate understanding and implementation by those skilled in the art. However, they cannot be used to limit the scope of this application. Therefore, equivalent variations made within the scope of this application are still within the scope of this application.

Claims

1. A planar motor, comprising a mover and a stator, the stator comprising a coil unit, the mover comprising a substrate and a magnet unit disposed on the substrate, the mover being movable relative to the stator under the interaction of the magnet unit and the coil unit; characterized in that: The magnet unit includes a first magnet array and a second magnet array, the first magnet array extending along a first direction of the mover, and the second magnet array extending along a second direction of the mover, wherein the first direction and the second direction are not parallel; A ball bearing assembly is provided on the side of the mover facing the stator, and the ball bearing assembly is used to roll into contact with the surface of the stator facing the mover when the mover moves relative to the stator.

2. The planar motor as described in claim 1, characterized in that: The ball assembly includes a connecting frame and a first ball disposed on the connecting frame. The connecting frame is connected to the substrate, and the first ball is rotatably connected to the connecting frame. The first ball is disposed at the center of the connecting frame, and the diameter of the first ball is greater than half the maximum length of the connecting frame.

3. The planar motor as described in claim 1, characterized in that: The ball assembly includes a connecting frame and a first ball and a plurality of second balls disposed on the connecting frame. The connecting frame is connected to the substrate. The first ball and the second ball are rotatably connected to the connecting frame. The first ball is disposed at the center of the connecting frame, and the plurality of second balls are disposed around the first ball.

4. The planar motor as described in claim 3, characterized in that: The diameter of the second ball is less than half the diameter of the first ball.

5. The planar motor as described in claim 1, characterized in that: The number of the first magnet array and the second magnet array are both two. The two first magnet arrays are designed along the X-axis, and the two second magnet arrays are designed along the Y-axis. The two first magnet arrays are respectively distributed on both sides of the X-axis, and the two second magnet arrays are respectively distributed on both sides of the Y-axis. Each first magnet array, each second magnet array, and the edge of the substrate together form a non-magnetic region, and a ball bearing assembly is disposed on each non-magnetic region.

6. The planar motor as described in claim 5, characterized in that: The ball bearing assembly is located in the non-magnetic region at the edge away from the first magnet array and the second magnet array, and the plurality of ball bearing assemblies are arranged symmetrically in pairs.

7. The planar motor as described in claim 5, characterized in that: The two first magnet arrays and the two second magnet arrays together form a central region, and the ball bearing assembly is also provided in the central region.

8. The planar motor as described in claim 1, characterized in that: The first magnet array and the second magnet array together form a square region. The substrate also has an outer perimeter region outside the square region. The outer perimeter region surrounds the square region, and the ball bearing assembly is respectively provided at the four corners of the square region.

9. The planar motor as described in claim 8, characterized in that: The square area has a non-magnetic central region, and the central region is equipped with a ball bearing assembly.

10. The planar motor as described in claim 1, characterized in that: The ball bearing assembly is made of a non-magnetic material.

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