Apparatuses, systems, and methods for mounting stators in displacement system

Abstract

Aspects of the present disclosure provide a stator mounting apparatus for a magnetic displacement system. The stator mounting apparatus may include a main support defining a primary opening dimensioned to receive stators therethrough. Adjacent the primary opening, the main support may include a support portion for supporting stators. A stator may be received through the primary opening from an external side of the main support and may be moved, in a mounting direction, to a mounting position on the support portion. The external side of the main support may face away from a working surface of the displacement system where movers are controllable. The mounting direction may be parallel to the working surface. From the mounting position, the stator may be moved, in a dismounting direction opposite to the mounting direction, to the primary opening for removal through the primary opening to the external side of the main support.

Description

[0001] APPARATUSES, SYSTEMS, AND METHODS FOR MOUNTING STATORS IN DISPLACEMENT SYSTEM

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application claims the benefit of and priority from United States provisional patent application no. 63 / 555,821 , filed February 20, 2024, the entire contents of which are incorporated by reference herein. This application also claims the benefit of and priority from United States provisional patent application no. 63 / 564,947, filed March 13, 2024, the entire contents of which are also incorporated by reference herein. This application is also a continuation-in-part of International patent application no. PCT / CA2024 / 051062, filed August 14, 2024, the entire contents of which are also incorporated by reference herein.

[0004] FIELD

[0005] This disclosure relates generally to magnetic displacement systems and to mounting stators for such systems such that they are isolated from external environments.

[0006] BACKGROUND

[0007] Displacement systems, or conveyors, such as XY tables and rotary tables may be used in various manufacturing, inspection, packaging, and assembling processes. XY motion may be achieved by stacking two linear stages (e.g., a X-stage and a Y-stage) together via connecting bearings. Alternatively, a single moving stage capable of XY motion may be used, eliminating additional bearings. It may also be desirable for such a moving stage to be able to provide at least some Z motion.

[0008] Attempts have been made to design magnetic displacement systems using the interaction between current-carrying coils and permanent magnets. Such systems generally include a stator and a mover. The mover, also referred to as a robotic device, mover device, or moveable stage, includes one or more permanent magnets and holds a component to be moved. The stator includes one or more current-carrying coils, and employs these coils to control and actuate the mover.

[0009] However, existing magnetic displacement systems may lack certain functionality and performance. For example, in some applications, the stator or stators may be isolated from an environment above them by an impermeable barrier. In such configurations, removal of the stators from above may be disadvantageous, as it may, for example, risk disrupting the impermeable barrier. One solution may be to allow the stators to be installed from below by placing ribs between adjacent stators. However, this approach requires that adjacent stators operate with gaps between them to accommodate the ribs, and the performance of the magnetic displacement system may be compromised if these gaps are large.

[0010] SUMMARY

[0011] Embodiments of the present disclosure may provide apparatuses and systems for mounting stators in a magnetic displacement system such that the stators are isolated from external environments, and methods and kits incorporating such apparatuses and systems.

[0012] According to at least one embodiment, there is disclosed a stator mounting apparatus for a magnetic displacement system, the stator mounting apparatus comprising: a main support defining a primary opening dimensioned to receive one or more stators therethrough, the main support comprising a support portion adjacent the primary opening, the support portion for supporting at least one of the one or more stators received through the primary opening, wherein: the at least one of the one or more stators is received through the primary opening from an external side of the main support and can be moved, in a mounting direction, to a mounting position on the support portion in which the at least one of the one or more stators is supported by the support portion, the external side of the main support facing away from a working surface of the displacement system upon which one or more movers of the displacement system are controllable, the mounting direction being parallel to the working surface; and from the mounting position, the at least one of the one or more stators can be moved, in a dismounting direction opposite to the mounting direction, to the primary opening for removal through the primary opening to the external side of the main support.

[0013] In some embodiments, the main support is under the working surface.

[0014] In some embodiments, the primary opening is dimensioned to receive therethrough the one or more stators in a mounting orientation.

[0015] In some embodiments, the primary opening has a shape corresponding to a shape of each of the one or more stators in the mounting orientation. In some embodiments, the primary opening has a primary width perpendicular to the mounting direction; and the main support further defines a secondary opening having a secondary width perpendicular to the mounting direction, the secondary width less than the primary width.

[0016] In some embodiments, the secondary opening is continuous with the primary opening.

[0017] In some embodiments, the secondary opening is dimensioned to prevent the one or more stators from passing therethrough in the mounting orientation.

[0018] In some embodiments, the secondary opening is dimensioned to prevent the one or more stators from passing therethrough.

[0019] In some embodiments, the secondary width is less than 75% of the primary width.

[0020] In some embodiments, the main support comprises a mounting plate.

[0021] In some embodiments, the stator mounting apparatus further comprises guiding means for guiding the at least one of the one or more stators along the mounting direction and the dismounting direction between the mounting position and the primary opening.

[0022] In some embodiments, the guiding means comprises at least one structural member extending from the main support.

[0023] In some embodiments, the stator mounting apparatus further comprises a stator support releasably attachable to the main support to support a stator in the primary opening.

[0024] In some embodiments, the stator support comprises a sub-mounting plate.

[0025] In some embodiments, the stator support has a stator support opening dimensioned to prevent the one or more stators from passing therethrough when the stator support is attached to the main support.

[0026] In some embodiments, the stator support opening is dimensioned to receive therethrough one or more utility service conduits associated with the one or more stators. In some embodiments, at least one of the one or more utility service conduits is configured to carry communications between the one or more stators and a remote device.

[0027] In some embodiments, at least one of the one or more utility service conduits is configured to carry electrical power to the one or more stators.

[0028] In some embodiments, the stator support comprises alignment means for aligning the stator support with the main support when the stator support is attached to the main support.

[0029] In some embodiments, at least a portion of the stator support has a shape corresponding to a shape of at least a portion of the primary opening; and the alignment means comprises a marginal shoulder extending along a perimeter of the at least a portion of the stator support and sized to engage with at least one edge of the primary opening.

[0030] In some embodiments, the stator mounting apparatus further comprises stator alignment means for aligning the at least one of the one or more stators with the stator support at least when the stator support is attached to the main support.

[0031] In some embodiments, the stator alignment means comprises at least one structural member extending from the main support.

[0032] In some embodiments, the stator mounting apparatus further comprises a seal between the main support and the stator support to provide at least one of an airtight seal and a liquid- tight seal between the main support and the stator support when the stator support is attached to the main support.

[0033] In some embodiments, the stator mounting apparatus further comprises a cover spaced apart from the main support, such that the cover and the main support define therebetween a stator chamber dimensioned to accommodate the one or more stators.

[0034] In some embodiments, the cover supports the working surface.

[0035] In some embodiments, the cover and the main support are sealed together to provide at least one of an airtight seal and a liquid-tight seal between the cover and the main support. According to at least another embodiment, there is disclosed a stator mounting system comprising one or more stator mounting apparatuses, each as described above.

[0036] In some embodiments, the cover of each of the one or more stator mounting apparatuses is provided by a unitary cover having one or more cover portions each providing a respective said cover for a respective one of the one or more stator mounting apparatuses.

[0037] In some embodiments, the main support of each of the one or more stator mounting apparatuses is provided by a unitary main support having one or more main support portions each providing a respective said main support for a respective one of the one or more stator mounting apparatuses.

[0038] In some embodiments, the one or more stator mounting apparatuses comprises a plurality of stator mounting apparatuses positioned in adjacent succession.

[0039] In some embodiments, each stator mounting apparatus of said plurality of stator mounting apparatuses has an orientation opposite to an orientation of its adjacent stator mounting apparatus of said plurality of stator mounting apparatuses.

[0040] In some embodiments, primary openings of adjacent ones of said plurality of stator mounting apparatuses are non-adjacent.

[0041] According to at least another embodiment, there is disclosed a stator kit for a magnetic displacement system, the stator kit comprising: the stator mounting system as described above; and one or more of said stators operable to generate magnetic fields operable to move the one or more movers of the displacement system.

[0042] In some embodiments, each of the one or more stators comprises one or more electrical conductors operable to generate the magnetic fields.

[0043] In some embodiments, each of the one or more stators further comprises a driving circuit operable to drive at least one electrical current in the one or more electrical conductors to cause the one or more electrical conductors to generate the magnetic fields.

[0044] According to at least another embodiment, there is a method of installing a stator on a stator mounting apparatus of a magnetic displacement system, the method comprising: inserting the stator through a primary opening in a main support of the stator mounting apparatus, the primary opening being accessed from an external side of the main support facing away from a working surface of the displacement system upon which one or more movers of the displacement system are controllable; moving the stator, in a mounting direction, from the primary opening to a mounting position on a support portion of the main support, the mounting direction being parallel to the working surface; and supporting the stator by the support portion.

[0045] In some embodiments, the main support is under the working surface.

[0046] In some embodiments, the method further comprises orienting the stator in a mounting orientation prior to insertion through the primary opening.

[0047] In some embodiments, inserting the stator through the primary opening comprises inserting the stator through the primary opening in an insertion direction perpendicular to the working surface.

[0048] In some embodiments, moving the stator in the mounting direction from the primary opening to the mounting position comprises accessing the stator through the primary opening.

[0049] In some embodiments, moving the stator in the mounting direction from the primary opening to the mounting position comprises accessing the stator through a secondary opening in the main support; the primary opening has a primary width perpendicular to the mounting direction; and the secondary opening has a secondary width perpendicular to the mounting direction, the secondary width less than the primary width.

[0050] In some embodiments, the method further comprises attaching a stator support to the main support to support the stator in the primary opening.

[0051] In some embodiments, the method further comprises: inserting one or more utility service conduits associated with the stator through a stator support opening in the stator support, the stator support opening being accessed from the external side of the main support; and connecting the one or more utility service conduits to the stator.

[0052] In some embodiments, at least one of the one or more utility service conduits is configured to carry communications between the stator and a remote device. In some embodiments, at least one of the one or more utility service conduits is configured to carry electrical power to the stator.

[0053] In some embodiments, the method further comprises sealing the main support to the stator support to provide at least one of an airtight seal and a liquid-tight seal between the main support and the stator support.

[0054] According to at least another embodiment, there is disclosed a method of removing a stator from a stator mounting apparatus of a magnetic displacement system, the method comprising: accessing the stator from an external side of a main support of the stator mounting apparatus to move the stator in a dismounting direction from a mounting position on the main support to a primary opening in the main support, the external side of the main support facing away from a working surface of the displacement system upon which one or more movers of the displacement system are controllable, the dismounting direction being parallel to the working surface; and passing the stator through the primary opening to the external side of the main support.

[0055] In some embodiments, the main support is under the working surface.

[0056] In some embodiments, the method further comprises maintaining the stator in a mounting orientation when passing the stator through the primary opening to the external side of the main support.

[0057] In some embodiments, passing the stator through the primary opening to the external side of the main support comprises passing the stator through the primary opening in a removal direction perpendicular to the working surface.

[0058] In some embodiments, accessing the stator from the external side of the main support comprises accessing the stator through the primary opening.

[0059] In some embodiments, accessing the stator from the external side of the main support comprises accessing the stator through a secondary opening in the main support; the primary opening has a primary width perpendicular to the dismounting direction; and the secondary opening has a secondary width perpendicular to the dismounting direction, the secondary width less than the primary width. In some embodiments, the method further comprises detaching a stator support from the main support to allow the stator to pass through the primary opening.

[0060] In some embodiments, the method further comprises breaking at least one of an airtight seal and a liquid-tight seal between the main support and the stator support.

[0061] Other aspects and features will become apparent to those ordinarily skilled in the art upon review of the following description of illustrative embodiments in conjunction with the accompanying figures.

[0062] BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Exemplary embodiments are illustrated in referenced figures of the drawings. It is intended that the embodiments and figures disclosed herein are to be considered illustrative rather than restrictive.

[0064] FIG. 1 is a front sectional view of a displacement system according to one embodiment.

[0065] FIG. 2 is a partly cut-away perspective view of a displacement system according to another embodiment.

[0066] FIG. 3 is a partly exploded and partly cut-away perspective view of the displacement system of FIG. 2.

[0067] FIG. 4 is a bottom view of the displacement system of FIG. 2, with a stator of the displacement system positioned in a primary opening of a main support of the displacement system.

[0068] FIG. 5 is another bottom view of the displacement system of FIG. 2, with two stators of the displacement system positioned in a stator chamber of the displacement system.

[0069] FIG. 6 is another bottom view of the displacement system of FIG. 2, with a stator support of the displacement system attached to the main support.

[0070] FIG. 7 is a sectional view of the displacement system of FIG. 2 taken along the line labelled FIG. 7 in FIGS. 2 and 6. FIG. 8 is a partly cut-away perspective view of a displacement system according to another embodiment.

[0071] FIG. 9 is a partly exploded and partly cut-away perspective view of the displacement system of FIG. 8.

[0072] FIG. 10 is a sectional view of the partly exploded and partly cut-away perspective view of FIG. 9, taken along the line labelled FIG. 10 in FIG. 9.

[0073] FIG. 11 is another partly exploded and perspective view of the displacement system of FIG. 8

[0074] FIG. 12 is a bottom view of the displacement system of FIG. 8, with stators of the displacement system positioned in primary openings of a unitary main support of the displacement system.

[0075] FIG. 13 is another bottom view of the displacement system of FIG. 8, with four stators of the displacement system positioned in a stator chamber of the displacement system.

[0076] FIG. 14 is another bottom view of the displacement system of FIG. 8, with stator supports of the displacement system attached to the unitary main support.

[0077] FIG. 15 is a sectional view of the displacement system of FIG. 8 taken along the line labelled FIG. 15 in FIGS. 8 and 14.

[0078] FIG. 16 is a sectional view of a displacement system according to another embodiment.

[0079] DETAILED DESCRIPTION

[0080] Manufacturing, assembly, and inspection systems may use displacement systems, or conveyors, to transport components to be processed, combined, and packaged. Electromagnetic planar motors may be used as magnetic displacement systems in such applications. An electromagnetic planar motor generally includes one or more movers for holding components and one or more stators for supporting and driving / actuating the movers. Described herein are stator mounting apparatuses and stator mounting systems for supporting stators of a magnetic displacement system during operation while maintaining separation between the stators and a mover working environment of the magnetic displacement system.

[0081] Referring to FIG. 1 , a magnetic displacement system according to one embodiment is shown generally at 100 and includes a mover 102, a stator 104, and a controller 106. The mover 102 may be configured to carry one or more components (not shown). The mover 102 may also be referred to as a “mover device”, a “robotic device”, a “moveable stage”, a “motion stage”, or a “moveable motion stage”. Further, as used herein, the term “component” is a general term and non-limiting examples of components that may be carried by the mover 102 may include workpieces, products being assembled, raw parts, materials, samples, biological samples, drugs, containers, payloads, devices, and assemblies. In the embodiment shown, the magnetic displacement system 100 includes only one mover 102. However, alternative embodiments may include multiple movers, and in some alternative embodiments, a plurality of movers may carry a holder which may hold one or more components. In some systems, all movers are substantially similar or nearly identical. However, other systems may include movers of varying sizes and configurations.

[0082] The stator 104 supports and actuates the mover 102, such that the mover 102 travels across the stator 104 to another location in the magnetic displacement system 100. In the embodiment shown, the magnetic displacement system 100 includes only one stator 104. However, alternative embodiments may include multiple stators, and in some alternative embodiments, the multiple stators may be of different types - for example, in some alternative embodiments, some stators may have large work areas, while other stators may function as flyways between the work areas for rapid movement of movers and components in narrow spaces. This may be achieved by arranging a stator made from multiple electromagnetic driving regions, arranged in a single row in the direction of movement of the mover.

[0083] The controller 106 controls the stator 104 and the mover 102. The controller 106 may be directly connected to the stator 104 using a wired or wireless connection, and may control the mover 102 indirectly through the stator 104. Alternatively, the controller 106 may also be connected to the mover 102 using a wired or wireless connection, such that the controller 106 may communicate with the mover 102 directly. For example, a high-speed data cable may be used, such as an ethernet cable, a HDMI cable, or any cable of sufficient data rate bandwidth. In some embodiments, the controller 106 may be completely integrated with the stator 104. In embodiments where the controller 106 is completely integrated within the stator 104, any method of electrical connection may be used, such as ribbon cables, edge board connectors, wire connectors, headers and pins, etc. A wireless connection may include Bluetooth®, WiFi, Zigbee®, Cellular, Near Field Communications (NFC), etc. In some embodiments, more than one controller may be used within the magnetic displacement system 100. For example, the controller 106 may only control the stator 104 or a group of stators including the stator 104, while another controller may control another stator or group of stators.

[0084] Generally, the mover 102 and the stator 104 may interact with each other via one or more magnetic fields, so that the stator 104 can provide forces and torques to the mover 102 to controllably move the mover 102. The controller 106 may determine and provide commands to the stator 104 to generate specific forces and torques to move the mover 102.

[0085] A pair of coordinate systems may be defined to help explain the movement of the mover 102 relative to the stator 104. In particular, a stator coordinate system may be defined, which is fixed to the stator 104. A mover coordinate system may also be defined, which is fixed to the mover 102 and moves with the mover 102 relative to the stator 104 and the stator coordinate system. Conventional Cartesian coordinates (x, y, z) may be used to describe these coordinate systems, although it will be appreciated that other coordinate systems could be used. For convenience and brevity, in the present description and the associated drawings, the directions (e.g., x, y, z directions) in the stator coordinate system and the directions in the mover coordinate system may be shown and described as being coincident with one another - i.e. , the stator-x (or Xs), stator-y (or Ys), and stator-z (or Zs) directions may be shown as coincident with mover-x (orXm), mover-y (Ym), and mover-z (or Zm) directions, respectively. Accordingly, reference to directions x, y, and / or z may refer to directions in both or either of the stator and mover coordinate systems. However, it will be appreciated from the context herein that in some embodiments and / or circumstances, the mover 102 may move relative to the stator 104 such that these stator and mover coordinate systems are no longer coincident with one another. In such cases, the following convention may be adopted: the terms stator-x, stator-y and stator-z may be used to refer to directions and / or coordinates in the stator coordinate system and the terms mover-x, mover-y and mover-z may be used to refer to directions and / or coordinates in the mover coordinate system. The symbols Xm, Ym, and Zm may be used to refer respectively to the mover-x, mover-y and mover-z directions, the symbols Xs, Ys, and Zs may be used to refer respectively to the stator-x, stator-y and stator-z directions and the symbols X, Y, and Z may be used to refer respectively to either or both of the mover-x, mover-y, and mover-z and / or stator-x, stator-y, and stator-z directions. In some embodiments, during normal operation, the mover-z and stator-z directions are approximately in the same direction (e.g. within ±30° in some embodiments; within ±10° in some embodiments; and within ±2° in some embodiments).

[0086] The mover 102 includes a structural frame 108 and one or more actuation magnets 110 fixed to the structural frame 108. The structural frame 108 may be used to provide support to the magnets, facilitate bonding, and / or provide an interface for a part, fixture, or tooling. In some embodiments, the structural frame 108 may optionally be used to mount additional mounting or locating features (not shown). The one or more actuation magnets 110 may also be referred to as an “actuation magnet assembly” or, more generally, a “magnet assembly”. The one or more actuation magnets 110 may be, for example, permanent magnets. In some embodiments, the one or more actuation magnet 110 may include a plurality of magnetization regions, each magnetization region having a respective magnetization direction. In FIG. 1 , the mover 102 is shown as including a single actuation magnet 110. However, in some embodiments, the mover 102 may include more than one actuation magnet 110, that is, the mover 102 may include a plurality of actuation magnets 110. In such embodiments, one, some, or all of the plurality of actuation magnets 110 may be fixed to the structural frame 108. The one or more actuation magnets 110 are configured to respond to one or more external magnetic fields, and in particular are configured to generate forces for moving the mover 102 in response to one or more external magnetic fields. Examples of such actuation magnets are described and illustrated in United States patent no. US 10,222,237 (incorporated herein by reference) as arrays of permanent magnets 112A, 112B, 112C, 112D (or collectively, magnet arrays 112).

[0087] Still referring to FIG. 1 , the stator 104 includes sensors 114, electrical conductors 116, and an amplifier 118. Each of the sensors 114 is configured to measure at least one magnetic field. Each of the sensors 114 may only accurately measure a magnetic field within a certain range of that sensor 114. Examples of such sensors are described and illustrated in United States patent no. US 10,222,237 as magnetic field sensors 501. The sensors 114 may include, for example, Hall-effect magnetic field sensors, magneto-resistive sensors, and / or other suitable types of magnetic field sensors that can measure magnetic flux density. In FIG. 1 , the stator 104 is shown as including three sensors 114; however, it will be appreciated that in some alternative embodiments, the stator 104 may include a different number of sensors 114, or may not include any sensors. These sensors 114 may also be arranged at positions extending along the Y direction in addition to different X positions that are shown in FIG. 1.

[0088] Each of the electrical conductors 116 is configured to generate at least one external magnetic field. The electrical conductors 116 may be, for example, coils. Examples of such coils are described and illustrated in United States patent no. US 10,222,237 as coil traces 126. In FIG. 1 , the stator 104 is shown as including four electrical conductors 116; however, it will be appreciated that in some alternative embodiments, the stator 104 may include only one electrical conductor 116, two electrical conductors 116, three electrical conductors 116, or more than four electrical conductors 116. In some embodiments, the stator 104 may include a plurality of electrical conductors distributed in one or more planar layers. In some embodiments, the layout of the electrical conductors 116 may include a first group of coils that are linearly oriented and / or elongated in a first direction (e.g., the X-direction as shown in FIG. 1). The first group of coils may include a second coil pitch or spacing in a second direction (e.g., the Y- direction as shown in FIG. 1). The electrical conductors 116 may also include a second group of coils that are linearly elongated in the second direction. The second group of coils may include a first coil pitch or spacing in the first direction. The first and second coil pitch / spacing may be equal. In some embodiments, the electrical conductors 116 may be linearly elongated in different directions (e.g., linearly elongated in the X-direction or linearly elongated in the Y- direction) and may vertically overlap with other electrical conductors.

[0089] The sensors 114 and electrical conductors 116 may be arranged in a pattern on the stator 104, for example as described and illustrated in United States patent no. US 10,222,237. Patterns may include one or more sensors 114 configured around each of the electrical conductors 116, such as one of the sensors 114 at each edge of one of the electrical conductors 116. Other patterns may also be possible. It will be appreciated that the sensors 114 may be arranged in patterns near or around the electrical conductors 116 to provide proper feedback to the controller 106 for position sensing and control of the mover 102, for example. In some embodiments, the stator 104 may further include a plurality of iron teeth (not shown).

[0090] The amplifier 118 is connected to the electrical conductors 116. In some embodiments, the amplifier 118 may be referred to as a “driving circuit” or a “stator driving circuit”. In general, the amplifier 118 may drive one or more electrical currents in the electrical conductors 116, generating one or more external magnetic fields. The controller 106 may be connected to deliver control signals to the amplifier 118. The control signals may be used to control current driven by the amplifier 118 into the electrical conductors 116. In the embodiment shown in FIG. 1 , the stator 104 includes one amplifier 118. However, in alternative embodiments, a stator may include more than one amplifier.

[0091] The current controllably driven into each of the electrical conductors 116 may cause that electrical conductor 116 to create or generate at least one external magnetic field. The at least one external magnetic field thus generated causes corresponding magnetic forces to act on the mover 102. The one or more external magnetic fields may act on the actuation magnet 110, thereby moving the mover 102 relative to the stator 104. The mover 102 may be controllable in at least two degrees-of-freedom (2-DOF) motions, including but not limited to three in-plane degrees-of-freedom (3-DOF) controllable motions and six degrees-of-freedom (6-DOF) controllable motions, which may include three translational degrees of freedom and three rotational degrees of freedom, for example. In general, embodiments such as those described herein may involve one or more movers that are controllably movable relative to a stator in at least 2 in-plane DOF motions, in 3 in-plane DOF motions, in 4 in-plane DOF motions, in 5 in-plane DOF motions, or in 6-DOF controllable motions, for example.

[0092] In the embodiment shown, the magnetic displacement system 100 includes a cover 120 overlaying the stator 104. The cover 120 may overlay an entire top surface of the stator 104 and may function as a barrier between the stator 104 and an operating environment of the mover 102, shown generally at 122. The operating environment 122 is generally a space in which the mover 102 moves during operation - that is, when being controlled by the stator 104, e.g., when carrying a component. In some embodiments, the cover 120 may protect the stator 104 from adverse conditions in the operating environment 122, such as humidity, liquids, and / or corrosive environments. In some embodiments, the cover 120 may protect the operating environment 122 from contamination. The cover 120 may be made up of one or more materials that minimally interact with magnetic fields, such as non-magnetic steel (i.e., austenitic stainless steel), plastic, ceramic, aluminum, titanium, or other minimally magnetic or nonmagnetic materials. In some embodiments, the cover 120 may be subject to internal stresses (e.g., tensile stresses) when installed. The cover 120 includes and thus supports a working surface 124 for the mover 102 to move upon. Generally, the working surface 124 describes a continuous area of the cover 120 upon which the mover 102 may be controlled by the stator 104. That is, when the cover 120 overlays the stator 104, the working surface 124 is between the stator 104 and the operating environment 122, and is thus between the stator 104 and the mover 102 when the mover 102 is being controlled by the stator 104 (i.e., when the mover 102 is moving in response to external magnetic fields generated by the stator 104). Suitable feedback control algorithms executed by the controller 106 and suitable position feedback from the sensors 114 allow the controller 106 and the stator 104 to control the mover 102 along the working surface 124. The working surface 124 may be flat, curved, cylindrical, spherical or some other shape that allows the mover 102 to move along the working surface 124. In some embodiments, a combined working surface may be defined by a plurality of stators each having a respective stator cover, such that each working surface of each stator cover may be combined into a larger combined working surface. In other embodiments, a single stator cover or unitary cover may overlay a plurality of stators, forming a single continuous working surface. While the working surface 124 is depicted horizontally in FIG. 1 , it should be understood that the working surface 124 may be mounted vertically or at an angle to gravity.

[0093] The mover 102 may move along the working surface 124 in a “contact mode” or a “noncontact mode”. The contact mode (also known as “sitting mode”) may involve contact media such as sliding and / or rolling bearings between the mover 102 and the working surface 124. The non-contact mode (also known as “levitation mode”) may require maintaining a controllable gap 126 between the mover 102 and the working surface 124 of the cover 120 in a normal direction Z. The gap 126 may be an air gap. The mover 102 may also rest upon the working surface 124 without moving, which may be in a contact mode or a non-contact mode. In the non-contact mode, the mover 102 may have 6-DOF controllable motion (known as “active levitation mode”). Alternatively, the mover 102 may maintain the gap 126 by passive levitation means (known as “passive levitation mode”). In the passive levitation mode, the mover 102 may rest above the working surface 124 in the non-contact mode.

[0094] In some embodiments, the magnetic forces associated with the interactions between the magnetic fields created by the currents in the electrical conductors 116 and the magnetic fields associated with the actuation magnet 110 may attract the mover 102 toward the stator 104, and thus the working surface 124, at all times when the controller 106 is controlling the currents driven by the amplifier 118. In other embodiments, the magnetic forces associated with the interactions between the magnetic fields created by the currents in the electrical conductors 116 and the magnetic fields associated with the actuation magnet 110 may force the mover 102 away from the stator 104, and thus the working surface 124, in order to balance gravitational forces to maintain the gap 126 at all times.

[0095] In some embodiments, the gap 126 between the mover 102 and the working surface 124 of the cover 120 may be maintained by air bearings or compressed-fluid bearings. It will be appreciated that in some embodiments, the gap 126 may be zero, such as when the mover 102 operates in contact mode.

[0096] As described above, the mover 102 may work in “levitation mode”, being levitated near the working surface 124 of the cover 120 without contacting the cover 120. In the levitation mode, the mover 102 may move along the working surface 124 in X and Y directions, where X and Y are two non-parallel (e.g., orthogonal) directions inside the working surface 124. It will be appreciated that the gap 126 between the working surface 124 and a bottom surface of the mover 102 is generally much smaller than the mover’s lateral dimensions (i.e. , dimensions in the X and Y directions).

[0097] Although the mover 102 may be capable of 6-DOF controllable motion, such functionality may not be necessary in all situations. In certain embodiments, levitation of the mover 102 may not be needed and heavy load carrying capability of the mover 102 may be desirable. In such embodiments, the mover 102 may sit on the working surface 124 supported with mechanical bearings (for example, planar sliding bearings and / or ball transfer units), and may be capable of in-plane 3-DOF controllable motion: translation in X and Y and rotation around Z, where X and Y are two non-parallel (e.g., orthogonal) directions in working surface 124 and Z is a direction normal to the working surface 124. When the mover 102 relies on sliding and / or rolling bearings for support on the working surface 124 and the mover 102 is capable of 3-DOF controllable motion, it may be referred to as working in “3-DOF controlled sitting mode”.

[0098] In some embodiments, the mover 102 may be capable of in-plane 3-DOF controllable motions (translations in X and Y and rotation around Z) working in levitation mode without contact with working surface 124. In this mode, the translation in Z, rotation around X, and rotation around Y (and thus the associated degrees-of-freedom) of the mover 102 may be openloop controlled without feedback, using suitable passive levitation technology. When the mover 102 is capable of 3-DOF controllable motion without contact with the stator 104, it may be referred to as working in “3-DOF controlled levitation mode”.

[0099] Referring now to FIGS. 2 to 7, a magnetic displacement system according to another embodiment is shown generally at 150 and includes a mover 152, stators 154 and 156, a stator mounting apparatus 158, and a controller (not shown). The mover 152 includes one or more magnets (not shown) and may be similar to the mover 102 of the embodiment of FIG. 1. Each of the stators 154 and 156 includes one or more electrical conductors (not shown) and an amplifier (not shown) and may be similar to the stator 104 of the embodiment of FIG. 1. Likewise, the controller of the embodiment of FIGS. 2 to 7 may be similar to the controller 106 of the embodiment of FIG. 1. In the embodiment shown, the stator mounting apparatus 158 includes a cover 160 and a main support 162.

[0100] The cover 160 of the embodiment shown may generally be similar to the cover 120 of the embodiment of FIG. 1. That is, the cover 160 overlays the stators 154 and 156 and functions as a barrier between the stators 154 and 156 and an operating environment of the mover 152, shown generally at 164. Further, as in the embodiment of FIG. 1 , the cover 160 includes and thus supports a working surface 166 for the mover 152 to move upon and upon which the mover 152 may be controlled by the stators 154 and 156.

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

[0102] An external side 174 of the main support 162 faces away from the stator chamber 168 and thus away from the cover 160 and thus away from the working surface 166. Therefore, the external side 174 of the main support 162 is accessible from a side of the stator mounting apparatus 158 which is away from the working surface 166. As a result, the external side 174 of the main support 162 may be accessed without disturbing or disrupting the working surface 166.

[0103] The main support 162 defines one or more openings which provide access to the stator chamber 168 from the external side 174 of the main support 162. More specifically, in the embodiment shown, the main support 162 defines a primary opening 176 and a secondary opening 178, as shown in FIG. 4 for example.

[0104] The primary opening 176 is dimensioned to receive therethrough one of the stators 154 and 156, such that the stators 154 and 156 may be inserted into the stator chamber 168 through the primary opening 176 from the external side 174 of the main support 162, and such that the stators 154 and 156 may be removed from the stator chamber 168 through the primary opening 176 to the external side 174 of the main support 162. More specifically, in the embodiment shown, the primary opening 176 is dimensioned to receive therethrough one of the stators 154 and 156 in a mounting orientation. As used herein, the term “mounting orientation” refers to an orientation of a stator - such as one of the stators 154 and 156 - when mounted / supported in the stator chamber 168 to generate magnetic fields operable to move the mover 152 in the operating environment 164. For example, in each of FIGS. 2 to 7, the stators 154 and 156 are depicted in the mounting orientation. In the embodiment shown, in order to allow the stators 154 and 156 to pass through the primary opening 176 in the mounting orientation, the primary opening 176 has a shape that is generally corresponds to a shape of one of the stators 154 and 156 in the mounting orientation. That is, in the embodiment shown, the primary opening 176 is complementary to one of the stators 154 and 156 in the mounting orientation. In contrast to the primary opening 176, the secondary opening 178 is generally dimensioned to prevent the stators 154 and 156 from passing therethrough, at least when the stators 154 and 156 are in the mounting orientation. In general, the secondary opening 178 may provide access, from the external side 174 of the main support 162, to stators in the stator chamber 168 which are positioned away from the primary opening 176 - that is, as shown in FIGS. 2, 3, and 5 to 7, to the stator 154. In the embodiment shown, the secondary opening 178 is continuous with the primary opening 176. However, alternative embodiments may differ. For example, some alternative embodiments may include a main support with more than one primary opening and / or more than one secondary opening. Some alternative embodiments may include a main support defining a primary opening and one or more secondary openings which are separate from the primary opening (i.e., not continuous). Other alternative embodiments may include a main support with only primary openings - that is, without secondary openings. Additionally, some alternative embodiments may include one or more stiffening supports (not shown) removably or permanently installed across one or more secondary openings. In such embodiments, the stiffening supports may be removable to facilitate stator installation and removal, for example.

[0105] In the embodiment shown, the working surface 166 is generally horizontal, the operating environment 164 (where the mover 152 moves) is above the working surface 166, the main support 162 is under the working surface 166 such that the stator chamber 168 is under the working surface 166, and the external side 174 of the main support 162 faces underneath the main support 162. Thus, in the embodiment shown, the stators 154 and 156 may be inserted into and removed from the stator chamber 168 through the primary opening 176 from underneath the main support 162, while the operating environment 164 remains undisturbed above the working surface 166. However, alternative embodiments may differ. For example, in some alternative embodiments, the working surface may not be horizontal and may instead be mounted vertically or at an angle to gravity. In some such alternative embodiments, the main support and the stator chamber may not be positioned under the working surface.

[0106] The main support 162 includes a support portion 180 adjacent the primary opening 176 and the secondary opening 178 (see, in particular, FIG. 4). In general, the support portion 180 of the main support 162 serves to support one or more of the stators 154 and 156 inside the stator chamber 168 - for example, during operation. In the embodiment shown, the support portion 180 is depicted as supporting at least the stator 154. As shown in FIGS. 4 and 5, when the stator 154 has been inserted into the stator chamber 168 through the primary opening 176 from the external side 174 of the main support 162, the stator 154 may be moved in a mounting direction 182 to a mounting position 184 on the support portion 180 in which the stator 154 is supported by the support portion 180. In the embodiment shown, the mounting direction 182 is parallel to the working surface 166. From the mounting position 184, the stator 154 may be moved, in a dismounting direction 186 opposite to the mounting direction 182 (and thus also parallel to the working surface 166), to the primary opening 176 such that the stator 156 may be removed from the stator chamber 168 through the primary opening 176 to the external side 174 of the main support 162.

[0107] To facilitate movement of stators in the stator chamber 168, the stator mounting apparatus 158 may include guiding means for guiding, for example, the stator 154 along the mounting direction 182 and the dismounting direction 186 between the mounting position 184 and the primary opening 176. For example, the structural members 170 and 172 may serve as guiding means for guiding the stator 154 along the mounting direction 182 and the dismounting direction 186. Additionally, in some embodiments, particularly those which include main supports having primary openings which are not continuous with their corresponding secondary openings, at least some of the stators may be free - at least during installation - of any features which protrude downward toward the main support 162 and which may impede stator movement within the stator chamber 168 along the mounting direction 182 and the dismounting direction 186.

[0108] As shown in FIG. 4, the primary opening 176 has a primary width 188 perpendicular to the mounting direction 182 (and thus to the dismounting direction 186), and the secondary opening 178 has a secondary width 190 perpendicular to the mounting direction 182 (and thus to the dismounting direction 186). In general, the secondary width 190 is less than the primary width 188. In some embodiments, the secondary width 190 may be less than 75% of the primary width 188. In some embodiments, the secondary width 190 may be at least 10 mm less than the primary width 188. In some embodiments, the secondary width 190 may be at least 25 mm less than the primary width 188. In some embodiments, the secondary width 190 may be at least 50 mm less than the primary width 188. At least because the secondary width 190 of the secondary opening 178 is less than the primary width 188 of the primary opening 176, the stators 154 and 156 may be able to pass through the primary opening 176 but not through the secondary opening 178 when in the mounting orientation. That is, as explained above, the primary opening 176 is dimensioned to receive the stators 154 and 156 when in the mounting orientation, while the secondary opening 178 is dimensioned to prevent the stators 154 and 156 from passing through when in the mounting orientation.

[0109] Referring to FIGS. 3, 6, and 7, in the embodiment shown, the stator mounting apparatus 158 includes a stator support 192 which is releasably attachable to the main support 162 around at least the primary opening 176 to support one or more of the stators 154 and 156 in the primary opening 176. That is, the stator support 192 may releasably secure the primary opening 176 to prevent the stators 154 and 156 from passing through the primary opening 176. Therefore, for example, the stators 154 and 156 may be inserted into the stator chamber 168 through the primary opening 176 from the external side 174 of the main support 162, and then the stator support 192 may be attached to the main support 162 to secure the primary opening 176 and thus to secure the stators 154 and 156 inside the stator chamber 168. As depicted in FIGS. 2 to 7, when the stator support 192 is attached to the main support 162 to secure the primary opening 176, the stator support 192 covers at least a portion of the primary opening 176 and supports at least the stator 154 in the primary opening 176. Further, in the embodiment shown, when the stator support 192 is attached to the main support 162 to secure the primary opening 176, the stator support 192 also covers at least a portion of the secondary opening 178. In the embodiment shown, the stator support 192 has the form of a sub-mounting plate, but in alternative embodiments the stator support 192 may have different shapes. The stator support 192 may be releasably attachable to the main support 162 by fasteners such as, for example, screws and / or bolts. Of course, the stator support 192 of the embodiment shown is an example only, and alternative embodiments may differ. For example, some alternative embodiments may include a stator support that, when attached to the main support 162 to secure the primary opening 176, covers only portions of the primary opening 176, and does not cover the secondary opening 178 at all.

[0110] To facilitate alignment between the stator support 192 and the main support 162, the stator support 192 may include alignment means for aligning the stator support 192 with the main support 162 when the stator support 192 is attached to the main support 162 and when attaching the stator support 192 to the main support 162. For example, as shown in FIGS. 3 and 6, the stator support 192 has a shape which generally corresponds to a shape of the primary opening 180 and the secondary opening 184 (i.e., the stator support 192 is complementary to the primary opening 180 and the secondary opening 184), and includes a marginal shoulder 194 extending along a perimeter of the stator support 192 and sized to engage with an edge 196 of the primary opening 180 and with an edge 198 of the secondary opening 184. As such, as the stator support 192 is attached to the main support 162, the marginal shoulder 194 may engage the edges 196 and 198 and may thus serve as an alignment means for aligning the stator support 192 with the main support 162.

[0111] To facilitate alignment between the stators in the stator chamber 168 and the stator support 192, the main support 162 may include stator alignment means for aligning, for example, the stator 154 with the stator support 192 at least when the stator support 192 is attached to the main support 162. For example, the structural members 170 and 172 may serve as such stator alignment means for aligning the stator 154 with the stator support 192.

[0112] Still referring to FIGS. 3, 6, and 7, in the embodiment shown, the stator support 192 includes stator support openings 200 and 202 which may provide access to the stator chamber 168 and / or to the stators 154 and 156 inside the stator chamber 168 even when the stator support 192 is attached to the main support 162 to secure the primary opening 176. The stator support 192 thus covers portions of the primary opening 176 and of the secondary opening 178. Each of the stator support openings 200 and 202 is dimensioned to prevent the stators 154 and 156 from passing therethrough. The stator support openings 200 and 202 may be used, for example, to pass wires, cables, and / or other conduits through from outside the stator chamber 168 to inside the stator chamber 168 to connect the stators 154 and 156 to one or more devices outside of the stator chamber 168 (e.g., a power source, the controller). See FIG. 16 below for a more specific example. In the embodiment shown, each of the stator support openings 200 and 202 is fully enclosed (i.e., surrounded) by the stator support 192 within a plane parallel to the working surface 166. However, in alternative embodiments, the stator support 192 may include at least one stator support opening which is not thus fully enclosed by the stator support 192 and is instead open along at least a portion of its perimeter.

[0113] Referring to FIG. 7, in the embodiment shown, the stator mounting apparatus 158 also includes seals 204 and 206 between the stator support 192 and the main support 162, and between the stator support 192 and one or more of the stators 154 and 156. These seals provide one or more of an airtight seal and a liquid-tight seal between the stator support 192 and either the main support 162 or the stators 154 and 156 when the stator support 192 is attached to the main support 162. Each of the seals 204 and 206 may be or may include, for example, one or more of an O-ring, a gasket, and an adhesive. The seals 204 and 206 may, for example, mitigate any potential pathways for fluid exchange or cross-contamination between the stator chamber 168 and external environments (e.g., the external side 174 of the main support 162). Of course, the embodiment shown is an example only, and alternative embodiments may differ. For example, some alternative embodiments may not include any seals between the stator support 192 and the main support 162, and / or between the stator support 192 and the stators 154 and 156.

[0114] Referring now to FIGS. 8 to 15, a magnetic displacement system according to another embodiment is shown generally at 210 and includes a mover 212, stators 214, 216, 218, and 220, a stator mounting system 222, and a controller (not shown). The mover 212 includes one or more magnets (not shown) and may be similar to the mover 102 of the embodiment of FIG. 1 and / or to the mover 152 of the embodiment of FIGS. 2 to 7. Each of the stators 214, 216, 218, and 220 includes one or more electrical conductors (not shown) and an amplifier (not shown) and may be similar to the stator 104 of the embodiment of FIG. 1 and / or to the stators 154 and 156 of the embodiment of FIGS. 2 to 7. Likewise, the controller of the embodiment of FIGS. 8 to 15 may be similar to the controller 106 of the embodiment of FIG. 1.

[0115] The stator mounting system 222 includes two stator mounting apparatuses 224 and 226 positioned in adjacent succession. That is, the stator mounting apparatuses 224 and 226 are arranged next to each other in an ordered sequence. More specifically, as shown in FIG. 8, the stator mounting apparatuses 224 and 226 are positioned on either side of a plane 228. Each of the stator mounting apparatuses 224 and 226 is generally similar to the stator mounting apparatus 158 of the embodiment of FIGS. 2 to 7. The stator mounting system 222 also includes a single unitary cover 230 and a single unitary main support 232. The unitary cover 230 includes a cover portion 234, which provides a cover for the stator mounting apparatus 224, and a cover portion 236, which provides a cover for the stator mounting apparatus 226. Similarly, the unitary main support 232 includes a main support portion 238, which provides a main support for the stator mounting apparatus 224, and a main support portion 240, which provides a main support for the stator mounting apparatus 226. Of course, the stator mounting system 222 of the embodiment shown is an example only, and alternative embodiments may differ. For example, some alternative embodiments may include a stator mounting system made up of more than two stator mounting apparatuses. In some alternative embodiments, the stator mounting system may not include a unitary main support and / or a unitary cover, and may instead have individual main supports and / or individual covers for each stator mounting apparatus.

[0116] The unitary cover 230 of the embodiment shown is generally similar to the cover 120 of the embodiment of FIG. 1 and to the cover 160 of the embodiment of FIGS. 2 to 7. That is, the unitary cover 230 overlays the stators 214, 216, 218, and 220 and functions as a barrier between the stators 214, 216, 218, and 220 and an operating environment of the mover 212, shown generally at 242. Further, like the covers 120 and 160 of the embodiments of FIG. 1 and of FIGS. 2 to 7, the unitary cover 230 includes and thus supports a working surface 244 for the mover 212 to move upon and upon which the mover 212 may be controlled by the stators 214, 216, 218, and 220.

[0117] The unitary main support 232 of the embodiment shown is generally similar to the main support 162 of the embodiment of FIGS. 2 to 7. That is, the unitary main support 232 provides a mounting platform for supporting the stators 214, 216, 218, and 220 relative to the unitary cover 230 and thus the working surface 244 at least during operation. As in the embodiment of FIGS. 2 to 7, the unitary main support 232 is spaced apart from the unitary cover 230 such that the unitary cover 230 and the unitary main support 232 define between them a stator chamber, shown generally at 246, and the stator chamber 246 is dimensioned to accommodate the stators 214, 216, 218, and 220 such that the stators 214, 216, 218, and 220 may be supported relative to the working surface 244 in the stator chamber 246. In the embodiment shown, the unitary cover 230 and the unitary main support 232 are supported to be spaced apart from each other by structural members 248 and 250 of the stator mounting system 222 extending between the unitary cover 230 and the unitary main support 232 (see FIG. 15).

[0118] Also as in the embodiment of FIGS. 2 to 7, the unitary cover 230 and the unitary main support 232 may be sealed together, directly and / or indirectly. For example, the unitary cover 230 may be sealed to the structural members 248 and 250, which may in turn be sealed to the unitary main support 232. In such embodiments, sealing between the unitary cover 230 and the unitary main support 232 may provide one or more of an airtight seal and a liquid-tight seal between the unitary cover 230 and the unitary main support 232. Additionally, like the main support 162 in the embodiment of FIGS. 2 to 7, the unitary main support 232 in the embodiment shown in FIGS. 8 to 15 has the form of a mounting plate, but in alternative embodiments may have a different shape. In some embodiments, the unitary cover may also be sealed to one or more other structures to form a closed volume, for example, above the working surface 244 and / or around the operating environment 242.

[0119] An external side 252 of the unitary main support 232 faces away from the stator chamber 246 and thus away from the unitary cover 230 and thus away from the working surface 244. Referring to FIG. 11 , the external side 252 of the unitary main support 232 is therefore accessible from a side of the stator mounting system 222 which is away from the working surface 244. The unitary main support 232 defines primary openings 254 and 256 and secondary openings 258 and 260. More specifically, the main support portion 238 defines the primary opening 254 and the secondary opening 258, while the main support portion 240 defines the primary opening 256 and the secondary opening 260.

[0120] As in the embodiment of FIGS. 2 to 7, each of the primary openings 254 and 256 is dimensioned to receive therethrough one of the stators 214, 216, 218, and 220, thus allowing the stators 214, 216, 218, and 220 to be inserted into and removed from the stator chamber 246 through the primary openings 254 and 256 from / to the external side 252 of the unitary main support 232. Likewise, each of the secondary openings 258 and 260 is generally dimensioned to prevent the stators 214, 216, 218, and 220 from passing therethrough, at least when the stators 214, 216, 218, and 220 are in the mounting orientation. Also as in the embodiment of FIGS. 2 to 7, the primary and secondary openings within each of the stator mounting apparatuses 224 and 226 are continuous with one another. That is, the secondary opening 258 is continuous with the primary opening 254, and the secondary opening 260 is continuous with the primary opening 256.

[0121] Referring to FIG. 12, the main support portion 238 of the unitary main support 232 includes a support portion 262 adjacent the primary opening 254 and the secondary opening 258 (see FIG. 12). Similarly, the main support portion 240 of the unitary main support 232 includes a support portion 264 adjacent the primary opening 256 and the secondary opening 260. Like the support portion 180 in the embodiment of FIGS. 2 to 7, the support portions 262 and 264 serve to support one or more of the stators 214, 216, 218, and 220 inside the stator chamber 246. In the embodiment shown, the support portion 262 is depicted as supporting at least the stator 216, and the support portion 264 is depicted as supporting at least the stator 220. Referring to FIGS. 12 and 13, when the stator 216 has been inserted into the stator chamber 246 through the primary opening 254 from the external side 252 of the unitary main support 232, the stator 216 may be moved in a mounting direction 266 to a mounting position 268 on the support portion 262 in which the stator 216 is supported by the support portion 262. From the mounting position 268, the stator 216 may be moved, in a dismounting direction 270 opposite to the mounting direction 266, to the primary opening 254 such that the stator 216 may be removed from the stator chamber 246 through the primary opening 254 to the external side 252 of the unitary main support 232.

[0122] Likewise, when the stator 220 has been inserted into the stator chamber 246 through the primary opening 256 from the external side 252 of the unitary main support 232, the stator 220 may be moved in a mounting direction 272 to a mounting position 274 on the support portion 264 in which the stator 220 is supported by the support portion 264. From the mounting position 274, the stator 220 may be moved, in a dismounting direction 276 opposite to the mounting direction 272, to the primary opening 256 such that the stator 220 may be removed from the stator chamber 246 through the primary opening 256 to the external side 252 of the unitary main support 232. As in the embodiment of FIGS. 2 to 7, each of the mounting directions 266 and 272 and the dismounting directions 270 and 276 is parallel to the working surface 244.

[0123] Referring to FIGS. 11 to 13, in the embodiment shown, the stator mounting apparatus 224 has an orientation opposite to an orientation of the adjacent stator mounting apparatus 226. That is, for example, the mounting direction 266 of the stator mounting apparatus 224 is antiparallel to the mounting direction 272 of the stator mounting apparatus 226, and the dismounting direction 270 of the stator mounting apparatus 224 is antiparallel to the dismounting direction 276 of the stator mounting apparatus 226. However, alternative embodiments may vary. For example, in some alternative embodiments, adjacent stator mounting apparatuses may have the same orientation. In some alternative embodiments, adjacent stator mounting apparatuses may have orientations which are perpendicular to each other within a plane parallel to the working surface 244. More generally, in some alternative embodiments, adjacent stator mounting apparatuses may have orientations which are nonparallel to each other within a plane parallel to the working surface 244. In some alternative embodiments with more than two stator mounting apparatuses, adjacent stator mounting apparatuses may have orientations that alternate in a repeating sequential pattern within a plane parallel to the working surface 244.

[0124] In general, in some embodiments which include more than one stator mounting apparatus, primary openings of adjacent stator mounting apparatuses may be non-adjacent, including non-diagonally adjacent. In the embodiment shown in FIGS. 8 to 15, the primary opening 254 of the stator mounting apparatus 224 is generally diagonally adjacent the primary opening 256 of the stator mounting apparatus 226. As shown, for example, in FIGS. 11 and 12, in order to avoid continuity between the primary opening 254 and the primary opening 256, the primary opening 254 is offset from the primary opening 256 by an offset distance 271 in the X- direction. As such, the unitary main support 232 includes a portion 273 separating the primary opening 254 from the primary opening 256. Because of the offset between the primary opening 254 and the primary opening 256, when the stator 214 is inserted through the primary opening 254 into the stator chamber 246, it must be moved an offset distance 275 in the +X-direction in order to be aligned with the stator 220 in the X-direction. Likewise, when the stator 218 is inserted through the primary opening 256 into the stator chamber 246, it must be moved an offset distance 277 in the -X-direction in order to be aligned with the stator 220 in the X- direction. Such an offset between primary openings of adjacent stator mounting apparatuses may not be necessary in embodiments where the primary openings are non-adjacent. For example, in embodiments where adjacent stator mounting apparatuses have opposite orientations, as in the embodiment shown in FIGS. 8 to 15, such an offset may by avoided if each of the stator mounting apparatuses holds three or more stators, rather the two stators held by each of the stator mounting apparatuses 224 and 226 (i.e., the stators 214 and 216, and the stators 218 and 220, respectively).

[0125] As shown in FIG. 12, the primary opening 254 has a primary width 278 perpendicular to the mounting direction 266 (and thus to the dismounting direction 270), and the secondary opening 258 has a secondary width 280 perpendicular to the mounting direction 266 (and thus to the dismounting direction 270). Similarly, the primary opening 256 has a primary width 282 perpendicular to the mounting direction 272 (and thus to the dismounting direction 276), and the secondary opening 260 has a secondary width 284 perpendicular to the mounting direction 272 (and thus to the dismounting direction 276). As in the embodiment of FIGS. 2 to 7, the secondary width 280 is less than the primary width 278 and the secondary width 284 is less than the primary width 282, and, therefore, the stators 214, 216, 218, and 220 may be able to pass through the primary openings 254 and 256 but not through the secondary openings 258 and 260.

[0126] Like the stator mounting apparatus 158 of the embodiment of FIGS. 2 to 7, referring to FIG. 9, each of the stator mounting apparatuses 224 and 226 of the stator mounting system 222 includes a stator support which is releasably attachable to the unitary main support 232. Referring to FIG. 10, more specifically, the stator mounting apparatus 224 includes a stator support 286, which is releasably attachable to the main support portion 238 of the unitary main support 232 around at least the primary opening 254 to support one or more of the stators 214, 216, 218, and 220 in the primary opening 254. Similarly, the stator mounting apparatus 226 includes a stator support 288 which is releasably attachable to the main support portion 240 of the unitary main support 232 around at least the primary opening 256 to support one or more of the stators 214, 216, 218, and 220 in the primary opening 256. In general, the stator supports 286 and 288 are similar to the stator support 192 of the embodiment of FIGS. 2 to 7, and may be used to releasably secure the primary openings 254 and 256, respectively, to prevent any of the stators 214, 216, 218, and 220 from passing through the primary openings 254 and 256. As depicted in FIGS. 8 to 15, when the stator supports 286 and 288 are attached to the unitary main support 232 to secure the primary openings 254 and 256, the stator support 286 covers at least a portion of the primary opening 254 and at least a portion of the secondary opening 258 and supports at least the stator 214 in the primary opening 254, and the stator support 288 covers at least a portion of the primary opening 256 and at least a portion of the secondary opening 260 and supports at least the stator 218 in the primary opening 256. Like the stator support 192 of the embodiment of FIGS. 2 to 7, each of the stator supports 286 and 288 includes stator support openings which may provide access to the stator chamber 246 and / or to the stators 214, 216, 218, and 220 inside the stator chamber 246 even when the stator supports 286 and 288 are attached to the unitary main support 232 to secure the primary openings 254 and 256. More specifically, the stator support 286 includes stator support openings 290 and 292 which provide access to the stators 214 and 216, respectively, when the stator support 286 is attached to the unitary main support 232 to secure the primary opening 254 and thus covers portions of the primary opening 254 and the secondary opening 258, and the stator support 288 includes stator support openings 294 and 296 which provide access to the stators 218 and 220, respectively, when the stator support 286 is attached to the unitary main support 232 to secure the primary opening 256 and thus covers portions of the primary opening 256 and the secondary opening 260. Each of the stator support openings 290, 292, 294, and 296 is dimensioned to prevent the stators 214, 216, 218, and 220 from passing therethrough.

[0127] Referring to FIG. 15, like the stator mounting apparatus 158 of the embodiment of FIGS. 2 to 7, each of the stator mounting apparatuses 224 and 226 of the stator mounting system 222 includes seals 298, 300, 302, and 304 for providing airtight and / or liquid-tight sealing between the stator supports 286 and 288 and the unitary main support 232, and between the stator supports 286 and 288 and one or more of the stators 214, 216, 218, and 220. Each of the seals 298, 300, 302, and 304 may generally be similar to the seals 204 and 206 of the embodiment of FIGS. 2 to 7.

[0128] Referring now to FIG. 16, a magnetic displacement system according to another embodiment is shown generally at 310 and includes a mover 312, a plurality of stators including stators 314 and 316, a stator mounting system 318, and a controller (not shown). The mover 312 includes one or more magnets (not shown) and may be similar to the mover 102 of the embodiment of FIG. 1 , to the mover 152 of the embodiment of FIGS. 2 to 7, and / or to the mover 212 of the embodiment of FIGS. 8 to 15. Each of the plurality of stators, including the stators 314 and 316, includes one or more electrical conductors (not shown) and an amplifier (not shown) and may be similar to the stator 104 of the embodiment of FIG. 1 , to the stators 154 and 156 of the embodiment of FIGS. 2 to 7, and / or to the stators 214, 216, 218, and 220 of the embodiment of FIGS. 8 to 15. Likewise, the controller of the embodiment of FIGS. 8 to 15 may be similar to the controller 106 of the embodiment of FIG. 1.

[0129] In general, the stator mounting system 318 shown in FIG. 16 is similar to the stator mounting system 222 of the embodiment of FIGS. 8 to 15. That is, the stator mounting system 318 includes a unitary cover 320 which includes and supports a working surface 322 and which generally forms a barrier between the stators 314 and 316 and an operating environment of the mover 312, shown generally at 324. The stator mounting system 318 also includes a unitary main support 326 which provides a mounting platform for supporting the stators 314 and 316 relative to the unitary cover 320 and which is spaced apart from the unitary cover 320 to define a stator chamber, shown generally at 328, which is dimensioned to accommodate the stators 314 and 316. The unitary cover 320 and the unitary main support 326 are spaced apart from each other by structural members 330 and 332. An external side 334 of the unitary main support 326 faces away from the stator chamber 328 and thus away from the unitary cover 320 and thus away from the working surface 322, such that the external side 334 is accessible from a side of the stator mounting system 318 which is away from the working surface 322.

[0130] As in the embodiment of FIGS. 8 to 15, the unitary main support 326 shown in FIG. 16 defines primary openings and secondary openings between the stator chamber 328 and the external side 334 of the unitary main support 326. For example, as shown in FIG. 16, the unitary main support 326 defines a primary opening 336, which is dimensioned to receive therethrough one of the plurality of stators, such as the stator 316, and a secondary opening 338, which is generally dimensioned to prevent the stators from passing therethrough.

[0131] Also as in the embodiment of FIGS. 8 to 15, the stator mounting system 318 shown in FIG. 16 includes stator supports 340 and 342 which are releasably attachable to the unitary main support 326. The stator support 340 is generally similar to the stator supports 286 and 288 of the embodiment of FIGS. 8 to 15, and, in the embodiment shown in FIG. 16, covers at least a portion of the secondary opening 338 when attached to the unitary main support 326. The stator support 340 also defines a stator support opening shown generally at 344, which may provide access to the stator chamber 328 and to the stator 314 inside the stator chamber 328 even when the stator support 340 is attached to the unitary main support 326. The stator support 342 covers at least a portion of the primary opening 336 and supports the stator 316 in the primary opening 336 when attached to the unitary main support 326. The stator support 342 defines a stator support opening 346 which is dimensioned to receive therethrough a utility service conduit 348 associated with at least the stator 316. In some embodiments, the utility service conduit 348 may be connectable to, for example, the stator 316. In some embodiments, the utility service conduit 348 may carry communications between the stator 316 and a remote device, such as the controller. In some embodiments, the utility service conduit 348 may carry electrical power to the stator 316.

[0132] Like the stator mounting system 222 of the embodiment of FIGS. 8 to 15, the stator mounting system 318 shown in FIG. 16 includes seals for providing airtight and / or liquid-tight sealing when the stator supports 340 and 342 are attached to the unitary main support 326. For example, as shown in FIG. 16, the stator mounting system 318 includes a seal 350 between the stator support 340 and the unitary main support 326, a seal 352 between the stator support 342 and the unitary main support 326, and a seal 354 between the stator support 340 and the stator 314. Additionally, the stator mounting system 318 includes a seal 356 for providing an airtight and / or liquid-tight seal between the stator support 342 and the utility service conduit 348 when the utility service conduit 348 is received through the stator support opening 346. Each of the seals 350, 352, 345, and 356 may generally be similar to the seals 204 and 206 of the embodiment of FIGS. 2 to 7 and / or to the seals 298, 300, 302, and 304 of the embodiment of FIGS. 8 to 15.

[0133] In general, a stator may be installed into or removed from the magnetic displacement system 150, the magnetic displacement system 210, or the magnetic displacement system 310 by, at least, passing the stator through a primary opening in a main support of the respective magnetic displacement system. For example, with reference to the magnetic displacement system 210 shown in FIGS. 8 to 15, the stators 218 and 220 may be installed onto the stator mounting apparatus 226 by first inserting the stator 220 into the stator chamber 246 through the primary opening 256 of the main support portion 240 of the unitary main support 232 from the external side 252 of the unitary main support 232, moving the stator 220 in the mounting direction 272 from the primary opening 256 to the mounting position 274 on the support portion 264 of the main support portion 240, and supporting the stator 220 by the support portion 264. As shown in FIGS. 10 and 11 , the stator 220 may be inserted into the stator chamber 246 through the primary opening 256 in an insertion direction 358 perpendicular to the working surface 244. The stator 220 may be moved in the mounting direction 272 from the primary opening 256 to the mounting position 274 by accessing the stator 220, from the external side 252, through the primary opening 256 and / or the secondary opening 260. Installation of the stator 220 may further include orienting the stator 220 in the mounting orientation prior to insertion through the primary opening 256. Once the stator 220 has been inserted into the stator chamber 246 and moved to the mounting position 274, the stator 218 may also be inserted into the stator chamber 246 (e.g., in the insertion direction 258) through the primary opening 256 from the external side 252. The stator support 288 may then be attached to the main support portion 240 of the unitary main support 232 to support the stator 218 in the primary opening 256. In some embodiments, attaching the stator support 288 to the main support portion 240 may involve sealing the stator support 288 to the main support portion 240 (e.g., using the seal 302) to provide at least one of an airtight seal and a liquid-tight seal between the main support portion 240 and the stator support 288. In some embodiments which include one or more utility service conduits, such as the utility service conduit 348 of the magnetic displacement system 310 shown in FIG. 16, stator installation may also include inserting a utility service conduit through a stator support opening in a stator support and connecting the utility service conduit to the stator.

[0134] Similarly, the stators 218 and 220 may be removed from the stator mounting apparatus 226 by first detaching the stator support 288 from the main support portion 240 of the unitary main support 232. In some embodiments, detachment of the stator support 288 may include breaking an airtight and / or liquid-tight seal between the main support portion 240 and the stator support. Once the stator support 288 has been detached, the stator 218 may be accessed from the external side 252 of the unitary main support 232 to remove the stator 218 from the stator chamber 246 by passing the stator 218 through the primary opening 256 to the external side 252. Once the stator 218 has been removed, the stator 220 may also be accessed from the external side 252 of the unitary main support 232 to move the stator 220 in the dismounting direction 276 from the mounting position 274 to the primary opening 256, and then to remove the stator 220 from the stator chamber 246 by passing the stator 220 through the primary opening 256 to the external side 252. As shown in FIGS. 10 and 11 , the stators 218 and 220 may be removed from the stator chamber 246 through the primary opening 256 in a removal direction 360 opposite to the insertion direction 358 and thus also perpendicular to the working surface 244. The stators 218 and 220 may be accessed from the external side 252 of the unitary main support 232 through the primary opening 256 and / or the secondary opening 260. Removal of each of the stators 218 (or 220) may involve maintaining the stator 218 (or 220) in the mounting orientation when passing the stator 218 (or 220) through the primary opening 256 to the external side 252.

[0135] The magnetic displacement systems of the embodiments shown are examples only, and alternative embodiments may differ. For example, in the embodiments of FIGS. 2 to 15, each stator mounting apparatus (i.e., the stator mounting apparatuses 158, 224, and 226) is shown supporting up to two stators (i.e., the stators 154 and 156, the stators 214 and 216, and the stators 218 and 220, respectively). However, some alternative embodiments may include stator mounting apparatuses which may support only a single stator, while other alternative embodiments may include stator mounting apparatuses which may support three or more stators.

[0136] Additionally, some alternative embodiments may include a main support having more than one support portion adjacent a given primary opening, such that stators may be inserted into the stator chamber through the primary opening and moved in more than one mounting direction. For example, in some such embodiments, the main support may include two support portions adjacent to and on opposing sides of a central primary opening, such that a stator may be inserted into the stator chamber through the central primary opening and moved in a first mounting direction onto a first support portion or in a second mounting direction opposite to the first mounting direction onto a second support portion. In other such embodiments, the main support may include four support portions adjacent to a central primary opening and arranged at 90° intervals around the central primary opening, such that there are four possible mounting directions for a stator inserted into the stator chamber through the central primary opening. In yet other such embodiments, the main support may include eight support portions adjacent to a central primary opening and arranged at 45° intervals around the central primary opening, such that there are eight possible mounting directions for a stator inserted into the stator chamber through the central primary opening.

[0137] Clauses

[0138] This disclosure includes but is not limited to the following clauses, which may be combined with other subject matter in this specification.

[0139] 1. A stator mounting apparatus for a magnetic displacement system, the stator mounting apparatus comprising: a main support defining a primary opening dimensioned to receive one or more stators therethrough, the main support comprising a support portion adjacent the primary opening, the support portion for supporting at least one of the one or more stators received through the primary opening, wherein: the at least one of the one or more stators is received through the primary opening from an external side of the main support and can be moved, in a mounting direction, to a mounting position on the support portion in which the at least one of the one or more stators is supported by the support portion, the external side of the main support facing away from a working surface of the displacement system upon which one or more movers of the displacement system are controllable, the mounting direction being parallel to the working surface; and from the mounting position, the at least one of the one or more stators can be moved, in a dismounting direction opposite to the mounting direction, to the primary opening for removal through the primary opening to the external side of the main support.

[0140] 2. The stator mounting apparatus of clause 1 wherein the main support is under the working surface.

[0141] 3. The stator mounting apparatus of clause 1 or 2 wherein the primary opening is dimensioned to receive therethrough the one or more stators in a mounting orientation.

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

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

[0144] 6. The stator mounting apparatus of clause 5 wherein the secondary opening is continuous with the primary opening.

[0145] 7. The stator mounting apparatus of clause 5 or 6 when directly or indirectly dependent from clause 3 wherein the secondary opening is dimensioned to prevent the one or more stators from passing therethrough in the mounting orientation.

[0146] 8. The stator mounting apparatus of clause 5, 6, or 7 wherein the secondary opening is dimensioned to prevent the one or more stators from passing therethrough. 9. The stator mounting apparatus of any one of clauses 5 to 8 wherein the secondary width is less than 75% of the primary width.

[0147] 10. The stator mounting apparatus of any one of clauses 1 to 9 wherein the main support comprises a mounting plate.

[0148] 11 . The stator mounting apparatus of any one of clauses 1 to 10 further comprising guiding means for guiding the at least one of the one or more stators along the mounting direction and the dismounting direction between the mounting position and the primary opening.

[0149] 12. The stator mounting apparatus of clause 11 wherein the guiding means comprises at least one structural member extending from the main support.

[0150] 13. The stator mounting apparatus of any one of clauses 1 to 12 further comprising a stator support releasably attachable to the main support to support a stator in the primary opening.

[0151] 14. The stator mounting apparatus of clause 13 wherein the stator support comprises a sub-mounting plate.

[0152] 15. The stator mounting apparatus of clause 13 or 14 wherein the stator support has a stator support opening dimensioned to prevent the one or more stators from passing therethrough when the stator support is attached to the main support.

[0153] 16. The stator mounting apparatus of clause 15 wherein the stator support opening is dimensioned to receive therethrough one or more utility service conduits associated with the one or more stators.

[0154] 17. The stator mounting apparatus of clause 16 wherein at least one of the one or more utility service conduits is configured to carry communications between the one or more stators and a remote device.

[0155] 18. The stator mounting apparatus of clause 16 or 17 wherein at least one of the one or more utility service conduits is configured to carry electrical power to the one or more stators. 19. The stator mounting apparatus of any one of clauses 13 to 18 wherein the stator support comprises alignment means for aligning the stator support with the main support when the stator support is attached to the main support.

[0156] 20. The stator mounting apparatus of clause 19 wherein: at least a portion of the stator support has a shape corresponding to a shape of at least a portion of the primary opening; and the alignment means comprises a marginal shoulder extending along a perimeter of the at least a portion of the stator support and sized to engage with at least one edge of the primary opening.

[0157] 21 . The stator mounting apparatus of any one of clauses 13 to 20 further comprising stator alignment means for aligning the at least one of the one or more stators with the stator support at least when the stator support is attached to the main support.

[0158] 22. The stator mounting apparatus of clause 21 wherein the stator alignment means comprises at least one structural member extending from the main support.

[0159] 23. The stator mounting apparatus of any one of clauses 13 to 22 further comprising a seal between the main support and the stator support to provide at least one of an airtight seal and a liquid-tight seal between the main support and the stator support when the stator support is attached to the main support.

[0160] 24. The stator mounting apparatus of any one of clauses 1 to 23 further comprising a cover spaced apart from the main support, such that the cover and the main support define therebetween a stator chamber dimensioned to accommodate the one or more stators.

[0161] 25. The stator mounting apparatus of clause 24 wherein the cover supports the working surface.

[0162] 26. The stator mounting apparatus of clause 24 or 25 wherein the cover and the main support are sealed together to provide at least one of an airtight seal and a liquid-tight seal between the cover and the main support.

[0163] 27. A stator mounting system comprising one or more stator mounting apparatuses, each as recited in any one of clauses 1 to 23. 28. A stator mounting system comprising one or more stator mounting apparatuses, each as recited in clause 24, 25, or 26.

[0164] 29. The stator mounting system of clause 28 wherein the cover of each of the one or more stator mounting apparatuses is provided by a unitary cover having one or more cover portions each providing a respective said cover for a respective one of the one or more stator mounting apparatuses.

[0165] 30. The stator mounting system of clause 27, 28, or 29 wherein the main support of each of the one or more stator mounting apparatuses is provided by a unitary main support having one or more main support portions each providing a respective said main support for a respective one of the one or more stator mounting apparatuses.

[0166] 31. The stator mounting system of any one of clauses 27 to 30 wherein the one or more stator mounting apparatuses comprises a plurality of stator mounting apparatuses positioned in adjacent succession.

[0167] 32. The stator mounting system of clause 31 wherein each stator mounting apparatus of said plurality of stator mounting apparatuses has an orientation opposite to an orientation of its adjacent stator mounting apparatus of said plurality of stator mounting apparatuses.

[0168] 33. The stator mounting system of clause 31 or 32 wherein primary openings of adjacent ones of said plurality of stator mounting apparatuses are non-adjacent.

[0169] 34. A stator kit for a magnetic displacement system, the stator kit comprising: the stator mounting system of any one of clauses 27 to 34; and one or more of said stators operable to generate magnetic fields operable to move the one or more movers of the displacement system.

[0170] 35. The stator kit of clause 34 wherein each of the one or more stators comprises one or more electrical conductors operable to generate the magnetic fields.

[0171] 36. The stator kit of clause 35 wherein each of the one or more stators further comprises a driving circuit operable to drive at least one electrical current in the one or more electrical conductors to cause the one or more electrical conductors to generate the magnetic fields.

[0172] 37. A method of installing a stator on a stator mounting apparatus of a magnetic displacement system, the method comprising: inserting the stator through a primary opening in a main support of the stator mounting apparatus, the primary opening being accessed from an external side of the main support facing away from a working surface of the displacement system upon which one or more movers of the displacement system are controllable; moving the stator, in a mounting direction, from the primary opening to a mounting position on a support portion of the main support, the mounting direction being parallel to the working surface; and supporting the stator by the support portion.

[0173] 38. The method of clause 37 wherein the main support is under the working surface.

[0174] 39. The method of clause 37 or 38 further comprising orienting the stator in a mounting orientation prior to insertion through the primary opening.

[0175] 40. The method of clause 37, 38, or 39 wherein inserting the stator through the primary opening comprises inserting the stator through the primary opening in an insertion direction perpendicular to the working surface.

[0176] 41 . The method of any one of clauses 37 to 40 wherein moving the stator in the mounting direction from the primary opening to the mounting position comprises accessing the stator through the primary opening.

[0177] 42. The method of any one of clauses 37 to 41 wherein: moving the stator in the mounting direction from the primary opening to the mounting position comprises accessing the stator through a secondary opening in the main support; the primary opening has a primary width perpendicular to the mounting direction; and the secondary opening has a secondary width perpendicular to the mounting direction, the secondary width less than the primary width.

[0178] 43. The method of any one of clauses 37 to 42 further comprising attaching a stator support to the main support to support the stator in the primary opening.

[0179] 44. The method of clause 43 further comprising: inserting one or more utility service conduits associated with the stator through a stator support opening in the stator support, the stator support opening being accessed from the external side of the main support; and connecting the one or more utility service conduits to the stator.

[0180] 45. The method of clause 44 wherein at least one of the one or more utility service conduits is configured to carry communications between the stator and a remote device.

[0181] 46. The method of clause 44 or 45 wherein at least one of the one or more utility service conduits is configured to carry electrical power to the stator.

[0182] 47. The method of any one of clauses 43 to 46 further comprising sealing the main support to the stator support to provide at least one of an airtight seal and a liquid-tight seal between the main support and the stator support.

[0183] 48. A method of removing a stator from a stator mounting apparatus of a magnetic displacement system, the method comprising: accessing the stator from an external side of a main support of the stator mounting apparatus to move the stator in a dismounting direction from a mounting position on the main support to a primary opening in the main support, the external side of the main support facing away from a working surface of the displacement system upon which one or more movers of the displacement system are controllable, the dismounting direction being parallel to the working surface; and passing the stator through the primary opening to the external side of the main support.

[0184] 49. The method of clause 48 wherein the main support is under the working surface. 50. The method of clause 48 or 49 further comprising maintaining the stator in a mounting orientation when passing the stator through the primary opening to the external side of the main support.

[0185] 51. The method of clause 48, 49, or 50 wherein passing the stator through the primary opening to the external side of the main support comprises passing the stator through the primary opening in a removal direction perpendicular to the working surface.

[0186] 52. The method of any one of clauses 48 to 51 wherein accessing the stator from the external side of the main support comprises accessing the stator through the primary opening.

[0187] 53. The method of any one of clauses 48 to 52 wherein: accessing the stator from the external side of the main support comprises accessing the stator through a secondary opening in the main support; the primary opening has a primary width perpendicular to the dismounting direction; and the secondary opening has a secondary width perpendicular to the dismounting direction, the secondary width less than the primary width.

[0188] 54. The method of any one of clauses 48 to 53 further comprising detaching a stator support from the main support to allow the stator to pass through the primary opening.

[0189] 55. The method of clause 54 further comprising breaking at least one of an airtight seal and a liquid-tight seal between the main support and the stator support.

[0190] Although specific embodiments have been described and illustrated, such embodiments should be considered illustrative only and not as limiting the invention as construed according to the accompanying claims.

Claims

CLAIMS1. A stator mounting apparatus for a magnetic displacement system, the stator mounting apparatus comprising: a main support defining a primary opening dimensioned to receive one or more stators therethrough, the main support comprising a support portion adjacent the primary opening, the support portion for supporting at least one of the one or more stators received through the primary opening, wherein: the at least one of the one or more stators is received through the primary opening from an external side of the main support and can be moved, in a mounting direction, to a mounting position on the support portion in which the at least one of the one or more stators is supported by the support portion, the external side of the main support facing away from a working surface of the displacement system upon which one or more movers of the displacement system are controllable, the mounting direction being parallel to the working surface; and from the mounting position, the at least one of the one or more stators can be moved, in a dismounting direction opposite to the mounting direction, to the primary opening for removal through the primary opening to the external side of the main support.

2. The stator mounting apparatus of claim 1 wherein the main support is under the working surface.

3. The stator mounting apparatus of claim 1 or 2 wherein the primary opening is dimensioned to receive therethrough the one or more stators in a mounting orientation.

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

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

6. The stator mounting apparatus of claim 5 wherein the secondary opening is continuous with the primary opening.

7. The stator mounting apparatus of claim 5 or 6 when directly or indirectly dependent from claim 3 wherein the secondary opening is dimensioned to prevent the one or more stators from passing therethrough in the mounting orientation.

8. The stator mounting apparatus of any one of claims 1 to 7 wherein the main support comprises a mounting plate.

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

10. The stator mounting apparatus of claim 9 wherein the stator support comprises a submounting plate.

11. The stator mounting apparatus of claim 9 or 10 wherein the stator support has a stator support opening dimensioned to prevent the one or more stators from passing therethrough when the stator support is attached to the main support.

12. The stator mounting apparatus of claim 11 wherein the stator support opening is dimensioned to receive therethrough one or more utility service conduits associated with the one or more stators.

13. The stator mounting apparatus of any one of claims 9 to 12 wherein: the stator support comprises alignment means for aligning the stator support with the main support when the stator support is attached to the main support; at least a portion of the stator support has a shape corresponding to a shape of at least a portion of the primary opening; and the alignment means comprises a marginal shoulder extending along a perimeter of the at least a portion of the stator support and sized to engage with at least one edge of the primary opening.

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

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

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

17. A stator mounting system comprising one or more stator mounting apparatuses, each as recited in claim 15 or 16.

18. The stator mounting system of claim 17 wherein the cover of each of the one or more stator mounting apparatuses is provided by a unitary cover having one or more cover portions each providing a respective said cover for a respective one of the one or more stator mounting apparatuses.

19. The stator mounting system of claim 17 or 18 wherein the one or more stator mounting apparatuses comprises a plurality of stator mounting apparatuses positioned in adjacent succession.

20. The stator mounting system of claim 19 wherein each stator mounting apparatus of said plurality of stator mounting apparatuses has an orientation opposite to an orientation of its adjacent stator mounting apparatus of said plurality of stator mounting apparatuses.

21. The stator mounting system of claim 19 or 20 wherein primary openings of adjacent ones of said plurality of stator mounting apparatuses are non-adjacent.

22. A method of installing a stator on a stator mounting apparatus of a magnetic displacement system, the method comprising: inserting the stator through a primary opening in a main support of the stator mounting apparatus, the primary opening being accessed from an external side of the main support facing away from a working surface of the displacement system upon which one or more movers of the displacement system are controllable; moving the stator, in a mounting direction, from the primary opening to a mounting position on a support portion of the main support, the mounting direction being parallel to the working surface; andsupporting the stator by the support portion.

23. A method of removing a stator from a stator mounting apparatus of a magnetic displacement system, the method comprising: accessing the stator from an external side of a main support of the stator mounting apparatus to move the stator in a dismounting direction from a mounting position on the main support to a primary opening in the main support, the external side of the main support facing away from a working surface of the displacement system upon which one or more movers of the displacement system are controllable, the dismounting direction being parallel to the working surface; and passing the stator through the primary opening to the external side of the main support.

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