Stator module and planar drive system

Abstract

Proposed is a stator module (3) for electromagnetically driving an armature (2) in a planar drive system (1), the stator module comprising: a stator plate (31); a power unit (32) which has at least one printed circuit board (321) projecting downward, in particular perpendicularly, from a stator plate underside (313); a feedback board (33) in which a pattern of feedback board passages (336) is provided; and a box-like cooling unit (34) which has a thermally conductive plate (341) having a projecting enclosure (344) around the periphery, a pattern of thermally conductive plate receptacles (346) being provided in the thermally conductive plate (341).

Description

[0001] Description

[0002] Stator module and planar drive system

[0003] The invention relates to a stator module of a planar drive system and a planar drive system with a stator module.

[0004] The patent application claims priority from the German patent application

[0005] 10 2023 131 529.3, the disclosure content of which is hereby incorporated by reference.

[0006] Planar drive systems are used, among other things, in automation technology to move a moving element of a system or machine in at least two linearly independent directions. Planar drive systems can comprise a permanently excited electromagnetic planar motor, which has a stator with a flat, planar surface and a rotor movable in two directions above the surface.

[0007] In the electromagnetic planar motor, the drive force on the rotor is generated by conductors fixed to the stator, through which a drive current flows, interacting with drive magnets mounted on the rotor. To generate the drive current required to move the rotor, the stator typically has one or more power generation units.

[0008] To detect the position of the rotor relative to the stator, the planar drive system can include a position detection unit arranged on the stator that interacts with the rotor. Such interaction can be achieved, for example, magnetically using magnetic field sensors and magnets arranged on the rotor. For accurate determination of the rotor's position, the interaction between the rotor and the position detection unit should be recorded with the highest possible signal-to-noise ratio.

[0009] The planar stator of the planar drive system can be designed as a stator module, which comprises a stator unit with the current-carrying conductors and electronic components for generating the drive current and for detecting the position of the rotor. The stator unit with the conductors through which the drive current flows is arranged on the top side of the stator module. The electronic components for generating the drive current and for detecting the position of the rotor are then arranged below the stator unit in the stator module. In order to transmit sufficient power to the rotor, drive currents with high current intensity must sometimes be generated. This can lead to high resistance losses in the conductors through which the current flows and thus to significant heating of the stator module. Furthermore, the drive current is usually generated as an alternating current.This can lead to high alternating electromagnetic fields, which can interfere with electronic components located on the stator. As a result, proper operation cannot be guaranteed.

[0010] A stator module and a planar drive system according to the described prior art is known, for example, from DE 102017131314 A1.

[0011] It is an object of the invention to provide an improved stator unit for a planar drive system and a compact planar drive system.

[0012] This object is achieved by means of a stator module according to claim 1 and a planar drive system according to claim 8. Advantageous embodiments are specified in the dependent claims.

[0013] A stator module for electromagnetically driving a rotor in a planar drive system comprises a stator plate having a coil conductor, which can be supplied with a drive current for generating a magnetic field that drives the rotor, above a stator plate upper side, and at least one stator plate connection device arranged on a stator plate underside for supplying drive current. The stator module further comprises a power unit facing the stator plate underside, which has at least one printed circuit board, wherein the printed circuit board projects downwards, in particular vertically, from the stator plate underside (313). The printed circuit board has a drive current printed circuit board connection device for electrically contacting the stator plate connection device for outputting drive current, and a control signal printed circuit board connection device for supplying control signals.At least one circuit board has circuit board power components for generating drive current based on input control signals and input power. The stator module further comprises a feedback board, which has at least one, but in particular a plurality of, sensor components for detecting the position of the rotor and a feedback communication device for control signal generation and data processing, wherein a feedback board pass-through grid is provided in the feedback board. The feedback board has at least one feedback board connection device for data contacting with the control signal circuit board connection device for control signal output.The stator module further comprises a box-shaped cooling unit having a heat-conducting plate with a protruding, circumferential surround and heat-conducting structural elements on a heat-conducting plate upper side. A heat-conducting plate receiving grid is provided in the heat-conducting plate and is connected to a heat-conducting plate receiving structure on a heat-conducting plate underside. The stator plate underside rests on the surround of the cooling unit. A feedback board underside is arranged on the heat-conducting plate upper side, and the heat-conducting structural elements of the heat-conducting plate pass through the feedback board passage grid and bear against the stator plate underside. The circuit board of the power unit at least partially passes through the feedback board passage grid and engages in the heat-conducting plate receiving grid.

[0014] The connection concept and the arrangement of the power unit circuit board within the feedback board allow the distance between the rotor and sensor components to be freely adjusted. The distance can be adjusted without changing the power unit circuit board or the feedback board by modifying the cooling unit's enclosure. During production of the stator module, the feedback board can first be positioned on the cooling unit's heat-conducting plate, and then the feedback board can be connected to the power unit circuit board. This allows the feedback board, and thus the sensor components, to be positioned very precisely.

[0015] The power unit can have a plurality of rectangular printed circuit boards, wherein the printed circuit boards form a grid that is aligned at a right angle to the stator plate underside (313). When the rotor moves across the stator surface, unwanted eddy current braking effects can occur in an underlying metal structure, such as that present in the printed circuit boards. The vertical arrangement of the power unit's printed circuit boards prevents eddy current effects. Furthermore, the vertical arrangement of the printed circuit boards allows printed circuit board power components that contain ferromagnetic materials to be placed further away from the stator plate. This prevents the sensor components from being influenced by rapidly changing magnetic fields.The vertical arrangement allows the surface area of ​​the power unit's printed circuit boards to be increased as desired without thermally isolating the stator surface from the cooling unit. The power unit's printed circuit boards each have a printed circuit board insertion gap on their first outer edge facing the underside of the stator plate or on their second outer edge facing the top of the feedback board. The width of the slot essentially corresponds to the thickness of a printed circuit board. Printed circuit boards of the first-mentioned embodiment are inserted with their printed circuit board insertion gaps into printed circuit board insertion gaps of printed circuit boards of the second-mentioned embodiment to form the grid pattern. This printed circuit board design allows for cross-grid or grid-pattern connections between printed circuit boards, which ensure high mechanical stability of the power unit.

[0016] Each circuit board can have a first outer edge that abuts the underside of the stator plate, and each circuit board can have a circuit board notch with a support edge on a second outer edge opposite the first outer edge that abuts the top side of the feedback board. This configuration ensures improved positioning of the feedback board on the circuit boards of the power unit.

[0017] The at least one feedback board connection device for control signal output can be designed as a flexible connector. The flexible connector design allows the insertion depth of the power unit's circuit boards into the feedback board to be flexibly adjusted and easily adjusted if necessary. Flexible connectors are characterized by a flat cable-like connection structure and are extremely flexible and movable, allowing distances and / or angles between electrical or electronic components to be connected to be easily compensated.

[0018] The electrical signal paths of the at least one feedback board connection device designed as a flexible connector can be formed integrally with the electrical signal paths of the feedback board. Thus, for example, no additional connection unit is required on the feedback board circuit board. The flexible connectors on the feedback board circuit board can be arranged during manufacture such that the flexible connectors extend into recesses in the feedback board circuit board, for example, in the feedback board through-hole grid, through which the circuit boards of the power unit are to be inserted, or into recesses in which the heat-conducting structure elements on the top side of the heat-conducting plate protrude through the feedback board circuit board. This eliminates the need for additional surface area of ​​the feedback board circuit board for the flexible connectors.The flex connector's connector can be secured to the feedback board's printed circuit board using connecting bridges, such as FR4 or polyimide. This allows the flex connector's connector to be cleanly and easily removed from the feedback board's printed circuit board before inserting the circuit boards.

[0019] In the assembled stator module, the interior space extending between the underside of the stator plate and the top of the heat-conducting plate can be filled with a preferably electrically insulating and thermally conductive potting compound. Since there are no mechanical or electrical components between the sensor components on the feedback board, which is arranged on the top of the heat-conducting plate, and the underside of the stator plate, potting compound can be introduced into the air volume in this area. The potting compound improves thermal conductivity, and heat generated at the stator plate during operation can be optimally dissipated to the heat-conducting plate of the cooling unit using the potting compound.

[0020] Furthermore, a connection module with a connection module housing can be provided, in which at least one power supply unit, a power connection and distribution structure, and a data connection and distribution structure are arranged, wherein the power connection and distribution structure is connected to a power supply line pair, and the data connection and distribution structure is connected to a data line pair. With this configuration, data communication and power supply can be separated in the connection module.

[0021] The invention is explained in more detail below with reference to the figures. These show:

[0022] Figure 1 is a perspective view of a planar drive system from above;

[0023] Figure 2 is a perspective view of the planar drive system from Figure 1 from below;

[0024] Figure 3 is an exploded perspective view of the stator module from below;

[0025] Figure 4 is an exploded perspective view of the stator module from above; Figure 5 is a perspective view of the cooling unit of the stator module from above;

[0026] Figure 6 is a top perspective view of the cooling unit and the feedback board of the stator module;

[0027] Figure 7 is a perspective view of the feedback board of the stator module from below;

[0028] Figure 8 is a perspective view of the power unit and feedback board from below;

[0029] Figure 9 shows a detailed section of the feedback board from below and a detailed section of the power unit and feedback board from below.

[0030] The following figures refer to a Cartesian coordinate system. The coordinate system is designed as a right-hand coordinate system for ease of understanding of the figures. The positive Z direction is also referred to as "top" and the negative Z direction as "bottom" in the following.

[0031] Figure 1 shows a perspective view of a planar drive system 1 from above, consisting of a rotor 2, a stator module 3, and a support device 4. The planar drive system 1 shown in Figure 1 represents a basic unit, whereby the stator module 3 or the support device 4 can be arranged in series with additional stator modules or support devices to form any desired geometry. The assembled stator modules 3 then form a common surface on which the rotor 2 or additional rotors can be moved.

[0032] The rotor 2 has a supporting surface, which in the embodiment shown in Figure 1 is essentially square and on whose underside a magnet arrangement is provided. The rotor can also have any other shape. The magnet arrangement consists of a plurality, preferably four, magnets arranged in a ring around the edges of the supporting surface on the underside. The rotor 2 is generally passive, without any moving parts or connections, and can support any load on the supporting surface. The size of the supporting surface can be selected according to the load or the space required.

[0033] The stator module 3 comprises a stator plate 31 on its top side. In the embodiment shown in Figure 1, the stator plate 31 is square, but can in principle also have a different geometry. An arrangement of coil conductors 311 (not shown in detail but known in principle from the prior art) is provided in the stator plate 31, with which a traveling magnetic field can be generated. The traveling magnetic field can interact with the magnet arrangement of the rotor 2 in order to lift the rotor 2 in the z-direction and simultaneously move it in the x- and / or y-direction. The rotor 2 can also be tilted about the x- or y-axis or rotated about the z-axis.

[0034] The stator module 3 further comprises a box-shaped cooling unit 34, on the top of which the stator plate 31 is arranged. The cooling unit 34 simultaneously serves as the housing of the stator module 3. A base plate 36 is arranged on the rear or underside of the box-shaped cooling unit 34. A connection module 37 is fastened to the base plate 36, as shown in the perspective view from below in Figure 2. The base plate 36 is supported on the carrier device 4 serving as the machine bed, as shown in Figure 1. In Figure 2, however, the carrier device 4 has been omitted for better visibility of the connection module 37.

[0035] The support device 4 has two rod-shaped support elements, the first support element 41 and the second support element 42. The first support element 41 and the second support element 42 are arranged laterally from the connection module 37 on the base plate 36, wherein the base plate 36 only partially rests on the first or second support element 41, 42. A further stator module can then be arranged laterally on the first or second support element 41, 42, adjacent to the stator module 3 shown in Figure 1, in order to form a stator module arrangement. The first and second support elements 41, 42 can also be extended so that several stator modules can be arranged one behind the other on the first and second support elements 41, 42. The support elements 41, 42 can have a hollow profile and can be flowed through by a heat transfer medium in order to ensure heat transport to a heat sink.The connection module 37 has a rectangular connection module housing 371, on which a power supply line pair 372 and a data line pair 373 are arranged. A cooling fin structure (not shown here) can be partially or completely provided on the connection module housing.

[0036] Figure 3 shows a perspective exploded view of the stator module 3 viewed from below, and Figure 4 shows a perspective exploded view of the stator module viewed from above. Figure 3 shows the undersides of the components encompassed by the stator module 3, while Figure 4 shows the top sides of the components encompassed by the stator module 3. For reasons of clarity, the base plate and the connection module are not shown in Figures 3 and 4.

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

[0038] The square stator plate 31 with the coil conductor arrangement between a stator plate top side 312 and a stator plate bottom side 313 can be divided into several sectors (not shown), for example four, which are essentially identical in structure. Within the sectors, the coil conductor arrangement can be divided into further subsectors. However, dividing the stator plate 31 into sectors is not absolutely necessary. The coil conductors 311 of the individual sectors or subsectors are electrically insulated from one another and can be supplied with current independently.

[0039] Within the sectors of the stator plate 31, the coil conductors 311 are arranged in several superimposed layers, with coil conductors 311 formed as metallic conductor tracks being arranged in an insulating material in each layer. The layers can be provided in pairs, with the coil conductors 311 of one layer extending along the x-direction and the coil conductors 311 of the other layer extending along the y-direction, so that the coil conductors 311 in adjacent layers are oriented perpendicular to one another. However, any other sequence of layers is also conceivable. The coil conductors 311 in adjacent sectors within a layer are then again parallel and aligned perpendicular to one another with respect to the x-direction or y-direction. The contacting of the coil conductors 311 takes place on a stator plate underside 313 with stator plate connection devices 315 for supplying the drive current.The stator plate connection devices 315 are arranged on the stator plate underside 313 in such a way that they can be electrically connected to drive current circuit board connection devices 3241 of the power unit 32. The electrical connection between the stator plate connection devices 315 and the drive current circuit board connection devices 3214 for drive current output can be designed, for example, as a soldered connection and / or as a plug-socket connection and / or as a press-fit connection. A plug-socket connection or a press-fit connection enables simple mounting of the circuit boards 321 on the stator plate underside 313. In addition, a contact pitch, i.e., a distance between individual contact points, can be freely selected, which offers further optimization potential. Furthermore, press-fit connections ensure mechanical stability of the connection.

[0040] The coil conductors 311 in the individual sectors of the stator plate 31 are preferably interconnected as three-phase systems, wherein the individual phases are supplied with drive current independently of one another via the stator plate connection devices 315 for supplying drive current.

[0041] The power unit 32, which is composed of a plurality of printed circuit boards 321, is arranged on the stator plate underside 313. The printed circuit board 321 is designed as a multi-layer, rectangular printed circuit board plate equipped with printed circuit board power components 3216, some of which are only shown as examples in the figures. At least some of the printed circuit boards 321 have printed circuit board connection devices 3214 for outputting drive current to the stator plate on the upper first outer edge 3212 facing the stator plate 31. At least some of the printed circuit boards have further connection devices, not shown here, which serve, for example, to supply power to the printed circuit board power components 3216 and any other electrical and electronic components placed on the printed circuit board via the power supply.

[0042] The circuit board power components 3216 serve to generate drive current based on supplied control signals and supplied power. The power is fed into the circuit board power components 3216 via the power supply connection devices (not shown). The arrangement of the circuit board power components 3216 on the circuit board 321 is selected such that components with ferromagnetic materials are preferably arranged in the lower circuit board area facing away from the stator plate 31, adjacent to the second circuit board outer edge 3213.

[0043] The printed circuit boards 321 form a grid 322, as shown in Figures 3 and 4. Four printed circuit boards 321 each form a cross-grid structure. To enable the four printed circuit boards 321 to be plugged together to form the cross-grid structure, two printed circuit boards each have two printed circuit board insertion slots at the first outer edge 3212 of the printed circuit boards, and two printed circuit boards 321 each have two printed circuit board insertion slots at the second outer edge 3213 of the printed circuit boards.

[0044] The cross grids consisting of four circuit boards 321 can then be arranged on the stator plate underside 313, wherein the circuit board connection devices 3214 for drive current output engage in the stator plate connection devices 315 for drive current supply on the stator plate underside 313.

[0045] Instead of a cross-grid structure, the circuit boards can also be arranged in any other grid structure on the underside of the stator plate. The arrangement of the circuit boards is determined by the arrangement of the stator plate connection devices for the drive current supply on the underside of the stator plate, into which the circuit board connection devices for the drive current output engage. In all arrangements, the circuit boards protrude downwards, particularly vertically, from the underside of the stator plate.

[0046] By designing the power unit 32 with a grid of printed circuit boards 321 arranged perpendicular to the stator plate 31, the printed circuit board area can be selected according to the required assembly, whereby a possibly necessary enlargement of the printed circuit board area in modified embodiments does not result in any additional obstacle from a thermal point of view for heat dissipation from the stator plate 31 to the cooling unit 34.

[0047] The vertical arrangement of the circuit boards 321 below the stator plate 31 also prevents eddy current effects within the copper layers of the circuit boards 321 due to the movement of the rotor 2 with its magnet arrangement. Negative effects caused by ferromagnetic materials in the circuit board power components 3216 can also be reduced by arranging such circuit board power components 3216 away from the stator plate 31 in the lower circuit board area, as explained.

[0048] As shown in Figures 3 and 4, in the stator module 3, the power unit 32 is followed from above by the feedback board 33. The feedback board 33 comprises a feedback board printed circuit board 331, the size of which essentially corresponds to that of the stator plate 31. The feedback board printed circuit board 331 has a multi-layer structure and is made of electrically insulating material in which conductor tracks are embedded. The feedback board printed circuit board 331 further has a feedback board passage grid 336, which comprises regularly arranged grid structures that are connected to one another via connecting sections, with island regions being provided in four grid structures.

[0049] On a feedback board top side 332 of the feedback board circuit board 331 facing the stator plate 31, a plurality of sensor components 334 for detecting the position of the rotor 2 are provided on the stator plate top side 312. For reasons of clarity, only a few sensor components 334 are shown in the figures. The sensor components 334 are, for example, magnetic field sensors, in particular digital or analog 3D Hall sensors, with which the magnetic field of the magnet arrangement on the rotor 2 can be detected in various spatial directions. The sensor components 334 are arranged on the feedback board top side 332 in a regular pattern, for example, in a grid or diamond structure. The pattern of the sensor components 334 on the feedback board circuit board 331 can be selected according to the evaluation method for the rotor position.

[0050] At least one component of a feedback communication device 335 is arranged on the feedback board underside 333 of the feedback board printed circuit board 331. The sensor components 334 are connected to the feedback communication device 335, which detects and processes the signals from the sensor components 334 to determine the rotor position. The feedback communication device 335 can then further serve to generate control signals for the circuit board power components 3216 on the circuit boards 321. Alternatively, the feedback communication device 335 can only partially process the signals from the sensor components 334 or not process them at all and transmit the preprocessed or unprocessed sensor signals for determining a rotor position to a control unit (not shown) of the planar drive system 1, which then generates control signals for the circuit board power components 3216 from the signals.

[0051] As Figures 3 and 4 show, each of the printed circuit boards 321 is provided with a rectangular printed circuit board notch 3218 essentially centrally in the second printed circuit board outer edge 3213 facing the cooling unit 34. In the stator module 3, as Figure 8 shows, the printed circuit boards 321 of the power unit 32 pass through the feedback board passage grid 336, which has a corresponding cross-grid structure for inserting the cross-grid structure consisting of four printed circuit boards 321, which allows the printed circuit boards 321 to be inserted with the second printed circuit board outer edge 3213 into the feedback board passage grid 336, wherein a support edge in the printed circuit board notch 3218 is arranged in a region between two passage openings in the feedback board passage grid 336 on the feedback board top side 332.

[0052] The control signals generated by the components of the feedback communication device 335 on the feedback board 33 are transmitted for control signal output using feedback board connection devices 337, which are arranged on the feedback board 33 and can be connected to the control signal circuit board connection devices 3217 for control signal input on the circuit boards 321. The control signal circuit board connection devices 3217 for control signal input are formed as sockets on the circuit boards 321. As Figure 7 shows, a plug 3371 with a flexible strip 3372 is provided on the feedback board 33 for each circuit board 321 as feedback board connection devices 337 for control signal output, each forming a flexible connector. The arrangement and design of the flexible connectors will be discussed in more detail in connection with Figures 7 to 9.

[0053] The components of the stator module 3, in particular the stator plate 31, the power unit 32, and the feedback board 33, are arranged in the box-shaped cooling unit 34. The box-shaped cooling unit 34 is shown in a perspective view in Figures 5 and 6.

[0054] The cooling unit 34 comprises a heat-conducting plate 341, which corresponds in terms of dimensions to the stator plate 31. The heat-conducting plate 341 has an arrangement of heat-conducting structural elements 345 on a heat-conducting plate top side 342, forming a pattern. The pattern of the heat-conducting structural elements 345 corresponds to the feedback board passage grid 336 in the area of ​​the passage opening, which is not used for inserting the circuit boards 321 of the power unit 32.

[0055] The heat-conducting plate 341 further has a heat-conducting plate receiving grid 346, which corresponds to the feedback board passage grid 336 in the region of the passage openings for inserting the circuit boards 321.

[0056] A protruding surround 344 is provided circumferentially on the heat-conducting plate top side 342. In the stator module 3, the stator plate 31 rests with the stator plate bottom side 313 on the surround 344 of the cooling unit 34. Furthermore, in the stator module 3, the feedback board bottom side 333 is arranged on the heat-conducting plate top side 342. The heat-conducting structure elements 345 of the heat-conducting plate 341 then penetrate the corresponding passage openings in the feedback board passage grid 336, with the heat-conducting structure elements 345 of the heat-conducting plate 341 resting against the stator plate bottom side 313 to establish thermal contact. The heat-conducting structure elements can also have any other shape and can be optimized, for example, with respect to eddy current effects.

[0057] In the heat-conducting plate receiving grid 346 of the heat-conducting plate 341, through openings are also provided for receiving electrical and / or data connection structures (not shown) for the components of the stator module 3.

[0058] The circuit boards 321 inserted into the corresponding recesses in the feedback board passage grid 336 engage in the corresponding recesses in the heat-conducting plate receiving grid 346 in the stator module 3.

[0059] In the assembled stator module 3, the interior space extending between the stator plate underside 313 and the heat-conducting plate top side 342 is filled with a preferably electrically insulating and thermally conductive potting compound. The potting compound can, for example, be a two-component system consisting of a resin and a hardener. The electrical or data connections in the interior space filled with potting compound are protected against potting, i.e., are designed to be pot-proof. In contrast to the illustration of the heat-conducting plate 341 in Figure 5, the feedback board circuit board 331 is inserted into the heat-conducting plate 341 according to Figure 6. The feedback board circuit board 331 can be aligned very precisely with the frame 344. This is of great importance for very precise position detection of a rotor 2 by means of the sensor components 334 of the feedback board 33.The more precisely the feedback board circuit board 331 is positioned in the heat-conducting plate 341, the more accurate the subsequent position detection of the rotor 2 will be. To permanently fix a specified position of the feedback board circuit board 331 in the heat-conducting plate 341, the feedback board circuit board 331 is secured by means of a plurality of feedback board fastening elements 339. These can be designed, for example, as screws that are screwed into corresponding threads in the heat-conducting plate 341.

[0060] As already described above and shown in Figure 7, the feedback board circuit board 331 has a feedback board connection device 337 for each circuit board 321.

[0061] Figure 8 now shows the feedback board circuit board 331 in a perspective view from below, with the circuit boards 321 of the power unit 32 already pushed through the feedback board passage grid 336. The plugs 3371 of the feedback board connection devices 337 are plugged into corresponding sockets of the control signal circuit board connection devices 3217 on the circuit board 321. The flexible connector design of the feedback board connection devices 337 makes it possible to flexibly adjust the insertion depth of the circuit boards 321 of the power unit 32 into the feedback board 33 and, if necessary, easily adapt it. In addition, any manufacturing tolerances can be compensated for. The flexible connector design of the feedback board connection devices 337 also makes it possible to optimally utilize the circuit board area of ​​the feedback boards 33.

[0062] Figure 9 now shows, in an enlarged detailed view, areas of the feedback board circuit board 331 according to Figures 7 and 8. Figure 9 a) shows the feedback board circuit board 331 according to Figure 7 in a state after manufacture or before assembly of the feedback board circuit board 331. Figure 9 b), however, shows, according to Figure 8, the feedback board circuit board 331 with the circuit boards 321 pushed through and contacted by means of the flex connectors. As Figure 9 a) shows, during manufacture of the feedback board 33, the flex connectors can be arranged in a space-saving manner in the through openings in the feedback board through grid 336 for inserting the circuit boards 321. The flex ribbon 3372 of the flex connectors extends at the feedback board level from the feedback board printed circuit board 331 into a through-hole, wherein the connector 3371 is secured to the feedback board printed circuit board 331 during manufacture by means of connecting webs 338.The connecting webs 338 laterally connect the connector 3371 to the feedback board circuit board 331, thus holding the connector 3371 in the plane of the feedback board circuit board 331. The connecting webs 338, which are made of FR4 or polyamide, for example, can then be easily severed before inserting the circuit boards 321 in order to clear the through-openings in the feedback board through-opening grid 336 for inserting the circuit boards 321.

[0063] After the connector 3371 has been severed from the feedback board circuit board 331, the connector 3371 can be rotated quite flexibly by means of the flexible band 3372, as shown in Figure 9 b), so that the connector 3371 can be plugged into a control signal circuit board connection device 3217 formed as a socket on the circuit board 321 after the circuit boards 321 have been plugged into the through openings in the feedback board through-opening grid 336 of the feedback board circuit board 331. The flex band 3372, which is connected to the feedback board circuit board 331, is designed to be potted-proof, whereas the plug-socket connection is located outside the potting area, which extends in the assembled stator module 3 between the stator plate bottom side 313 and the heat-conducting plate top side 342.

[0064] List of reference symbols

[0065] 1 planar drive system

[0066] 2 runners

[0067] 3 Stator module

[0068] 31 Stator plate

[0069] 311 coil conductor

[0070] 312 Stator plate top

[0071] 313 Stator plate underside

[0072] 315 Stator plate connection device

[0073] 32 power units

[0074] 321 circuit board

[0075] 322 grids

[0076] 3212 first circuit board outer edge

[0077] 3213 second circuit board outer edge

[0078] 3214 Drive current circuit board connection device

[0079] 3216 Printed Circuit Board Power Component

[0080] 3217 Control signal circuit board connection device

[0081] 3218 PCB notch

[0082] 33 Feedback board

[0083] 331 Feedback board circuit board

[0084] 332 Feedback board top

[0085] 333 Feedback board bottom

[0086] 334 Sensor component

[0087] 335 Feedback communication device

[0088] 336 feedback board pass-through grid

[0089] 337 Feedback board connection device

[0090] 3371 plug

[0091] 3372 Flexband

[0092] 338 connecting bridge

[0093] 339 Feedback board fastener cooling unit

[0094] thermal plate

[0095] Thermal plate top

[0096] Thermal plate underside

[0097] frame

[0098] Thermally conductive structural element

[0099] Heat-conducting plate mounting grid

[0100] base plate

[0101] Connection module

[0102] Connection module housing

[0103] Power supply cable pair

[0104] Data line pair

[0105] Carrier device first carrier element second carrier element

Claims

Claims 1 . Stator module (3) for electromagnetically driving a rotor (2) in a planar drive system, comprising a stator plate (31) having a coil conductor (311) to which a drive current can be applied for generating a magnetic field driving the rotor (2) via a stator plate upper side (312) and at least one stator plate connection device (315) arranged on a stator plate lower side (313) for supplying drive current, comprising a power unit (32) facing the stator plate lower side (313) and having at least one printed circuit board (321), wherein the printed circuit board projects downwards, in particular vertically, from the stator plate lower side (313), wherein the printed circuit board (321) has a drive current printed circuit board connection device (3214) for electrically contacting the stator plate connection device (315) for outputting drive current, and a control signal printed circuit board connection device (3217) for control signal supply,wherein the circuit board (321) has circuit board power components (3216) for generating drive current on the basis of supplied control signals and supplied power, and with a feedback board (33) which has at least one sensor component (334) for detecting the position of the rotor (2) and a feedback communication device (335) for control signal generation and data processing, wherein a feedback board pass-through grid (336) is provided in the feedback board (33), wherein the feedback board (33) has at least one feedback board connection device (337) for data contact with the control signal circuit board connection device (3217) for control signal output, with a box-shaped cooling unit (34) which has a heat-conducting plate (341) with a protruding circumferential border (344) and heat-conducting structure elements (345) on a heat- guide plate top (342),wherein a heat conducting plate receiving grid (346) is provided in the heat conducting plate (341), wherein the stator plate underside (313) rests on the frame (344) of the cooling unit (34), wherein a feedback board underside (333) is arranged on the heat conducting plate top side (342), and the heat conducting structure elements (345) of the heat conducting plate (341) pass through the feedback board passage grid (336) and rest on the stator plate underside (313), wherein the circuit board (321) of the power unit (32) at least partially extends through the feedback board passage grid (336) and engages in the heat conducting plate receiving grid (346).

2. Stator module according to claim 1, wherein the power unit comprises a plurality of rectangular circuit boards, the circuit boards forming a grid pattern aligned at a right angle with respect to the stator plate bottom surface (313).

3. Stator module (3) according to claim 2, wherein each circuit board (321) has a first circuit board outer edge (3212) which bears against the stator plate underside (313), wherein each circuit board (321) has a circuit board notch (3218) with a support edge in a second circuit board outer edge (3213) opposite the first circuit board outer edge (3212) which bears against the feedback board upper side (332).

4. Stator module (3) according to one of claims 1 to 3, wherein the at least one feedback board connection device (337) for control signal output is designed as a flex connector.

5. Stator module according to claim 4, wherein the electrical signal paths of the at least one feedback board connection device (337) designed as a flex connector are formed integrally with the electrical signal paths of the feedback board (33).

6. Stator module (3) according to one of claims 1 to 5, wherein an interior space extending between the stator plate underside (313) and the heat-conducting plate upper side (342) is filled with a preferably electrically insulating and thermally conductive potting compound.

7. Stator module (3) according to one of claims 1 to 6, with a connection module (37) which has a connection module housing (371) in which at least one power supply unit, a power connection and distribution structure and a data connection and distribution structure are arranged, wherein the power connection and distribution structure is connected to a power supply line pair (372) and the data connection and distribution structure is connected to a data line pair (373).

8. Planar drive system (1) with a plurality of stator modules (3) according to one of claims 1 to 7 and at least one rotor (2), wherein the plurality of stator modules (3) form a common surface on which the rotor (2) can be moved.

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