128 results about "Planar motor" patented technology

There is described an inspection apparatus for a packaging machine producing packages and comprising a control unit for controlling the inspection apparatus, a conveying device and an inspection unit configured to inspect packages. The conveying device comprises a planar motor having a plurality of carriers configured to receive respective packages at an inlet station and to deliver the respective packages to an outlet station. The inspection unit is arranged adjacent to the planar motor at an inspection station. The control unit is configured to selectively control movement of the carriers so as to selectively direct one or more carriers to the inspection station and afterwards to the outlet station and the inspection unit is configured to inspect the packages moved, in use, to the inspection station.

A system and method for object processing using magnetic levitation includes moving carriers with drive magnets across an array of planar motors. Food items on the carriers are moved through processing steps. The system determines the weight of multiple food items and coordinates and arranges for the batching of food items totaling a desired weight from an assembly of available food items and presents the selected food items to an operator for further processing. The system moves the carriers to engage the food items with processing equipment, such as for attaching to poultry shackles, or for cutting by a filet machine.

The invention discloses a multi-degree-of-freedom planar motor permanent magnet array rotor position detection device and method, and relates to the technical field of planar motors. The permanent magnet array rotor pose detection device comprises a printed circuit board Hall sensor array, a Hall sensor array fixing plate, a non-magnetic supporting column, a permanent magnet array rotor, a rotor adapter plate, a Z-axis rotation positioning platform, an X-axis rotation positioning platform, a Y-axis rotation positioning platform, a Z-axis movement positioning platform, a Y-axis movement positioning platform and an X-axis movement positioning platform. The invention discloses an optical positioning platform adapter plate and a high-precision optical positioning platform. Wherein the Hall sensors are uniformly arranged on the PCB according to a rule; the rotor comprises four groups of permanent magnet arrays which are formed by arranging a plurality of permanent magnets with different magnetizing directions according to a rule. The planar motor permanent magnet array rotor pose detection device is high in measurement precision, simple in structure, free in expandability, low in cost, easy to control and convenient to use.

An electrode stacking apparatus provided with a planar motor device (B) comprised of a flat plate-shaped stator (50) and a plurality of movers (40) able to move on a flat surface (51) of the stator in any direction along the flat surface (51) and able to rotate about a perpendicular axis of the flat surface (51) in a state magnetically floating from the flat surface (51). When stacking a new sheet-shaped electrode (1) held by an electrode conveyor device (A) arranged above the planar motor device (B) on a stacked electrode holder (60) of a mover (40), the mover (40) is made to move in synchronization with movement of the new sheet-shaped electrode (1) so that the new sheet-shaped electrode (1) continues to face the sheet-shaped electrode stacking position on the stacked electrode holder (60).

There is described a digital printing apparatus for a packaging machine producing packages comprising a control unit for controlling the digital printing apparatus, a conveying device and a digital printing unit. The conveying device comprises a planar motor having a plurality of carriers configured to receive respective packages at an inlet station and to deliver the respective packages to an outlet station. The digital printing unit is arranged adjacent to the planar motor at a printing station. The control unit is configured to selectively control movement of the carriers so as to selectively direct one or more carriers to the printing station and afterwards to the outlet station. The digital printing unit is configured to print information and / or messages and / or decorations onto the packages directed to the printing station.

The utility model provides a mover support frame assembly, mover and planar motor, the mover support frame assembly comprises a support frame, a rolling part and a backstop part, the support frame is connected with the mover, the support frame is provided with an accommodating groove, the rolling part is arranged in the accommodating groove, the backstop part is covered on the accommodating groove, a part of the rolling part is exposed outside the backstop part, and the backstop part is arranged in the accommodating groove. Thus, when the weight of an object borne by the mover exceeds the bearing range of the mover, the mover realizes relative movement with the stator through the rolling part, the friction force between the mover and the stator can be reduced, the abrasion between the mover and the stator is reduced, the service life of the planar motor is prolonged, and the application range of the planar motor is widened.

The invention relates to the technical field of magnetic suspension planar motors, and discloses an electro-magnetic magnetic suspension planar motor coil configuration, which comprises a planar motor stator formed by a plurality of equivalent N-pole coils and a plurality of equivalent S-pole coils, the plurality of equivalent N-pole coils are arranged in a rectangular array, each equivalent S-pole coil is arranged among four adjacent equivalent N-pole coils, and the equivalent S-pole coils are arranged in a rectangular array. The middle radius of each equivalent N-pole coil is shrunk, the radiuses of the two ends of each equivalent S-pole coil are shrunk, the sections of the equivalent N-pole coils and the equivalent S-pole coils are double-trapezoid, and the current directions of the equivalent N-pole coils and the equivalent S-pole coils are opposite; the planar motor rotor is positioned above the planar motor stator and is formed by stacking a plurality of layers of ceramic-based printed coil circuit board groups with the same configuration at the same position; a cooling system is arranged on the planar motor stator; thermal demagnetization of the motor can be avoided, array parameters can be adjusted in real time, the harmonic proportion in magnetic field distribution is reduced, the motion precision of the motor is improved, and the purpose of improving the performance of the motor is achieved.

The present invention relates to a permanent magnet assembly (1) for a shuttle (2) of a linear motor and / or a planar motor. The permanent magnet assembly (1) has a plurality of permanent magnets (3, 3') disposed on at least one magnetic surface. These permanent magnets (3, 3') form alternating magnetic strips with different polarities in the central region of the magnetic surface. At the edge (7, 7') of the magnetic surface, at least one end magnetic body (13, 13') is provided in the edge surface between the central region and the edge (7, 7'). The at least one end magnetic body changes the magnetic field distribution formed by the permanent magnet (3, 3') in the central region along the edge (7, 7') in a manner that varies along the length of the edge (7, 7'). Alternatively, the at least one end magnetic body (13, 13') is implemented as a magnetic short-circuit element that guides the magnetic field formed by the permanent magnet (3, 3') in the central region along the edge (7, 7'). The mutual attraction or repulsion between two permanent magnet assemblies (1, 1') of the same type arranged side by side with parallel edges (7, 7') is reduced by the changed magnetic field.

The invention relates to a pickup and placement system for logistics applications. In order to provide an improved pick-and-place system (1) in which the required pick-and-place distance and the size of the manipulator (2) are minimized and the operating speed of the pick-and-place system (1) is increased, the discharge conveyor (4) is designed as a planar motor (8), wherein the discharge plane motor (48) is designed to synchronize a movement of the shuttle (10) of the discharge plane motor (48) in the transfer zone (5) with a feed movement trajectory (Ti) of the at least one product (6) in the transfer zone (5) at least when the manipulator (2) picks up the at least one product (6) from the feed conveyor (3), or the feed conveyor (3) is designed as a plane motor (8), wherein the feed plane motor (38) is designed to synchronize a movement of the shuttle (10) of the feed plane motor (38) in the transfer zone (5) with a discharge movement trajectory (To) of the at least one product (6) in the transfer zone (5) at least when the manipulator (2) picks up the at least one product (6) from the shuttle (10) of the feed plane motor (38).

The invention relates to the technical field of planar motors, in particular to a stator unit for a moving magnetic planar magnetic suspension motor and the motor. The stator unit comprises a plurality of basic units, the first coil unit, the second coil unit and the position sensor unit in each basic unit form an n * n square matrix, and n is an integer greater than 1; the first coil units and the position sensor units on any odd-numbered rows or odd-numbered columns of the n * n square matrix are alternately arranged; the position sensor units and the second coil units are alternately arranged on any even-numbered rows or even-numbered columns of the n * n square matrix, and the coil direction of the first coil units is perpendicular to the coil direction of the second coil units. The motor comprises the stator unit, and the stator unit and the motor break through the constraint of a traditional cable, replace a laser interferometer scheme of a traditional moving-magnet planar motor, and simultaneously support the pose measurement of a plurality of rotors in a single oversized working plane.

The invention relates to a planar drive system (10) and to a method for operating the planar drive system (10) wherein: the planar drive system (10) has at least one planar motor drive device (15) and a processing station (20); the planar motor drive device (15) has a stator module assembly (25) with a first stator module (30) and a first conveying device (55) which can be driven by the stator module assembly (25); the processing station (20) has at least one housing (80) and at least one first lock unit (85); processing station (20) enclose a working chamber (50) separated from a transport region (45); the first lock unit (85) has a first lock housing (110) and a first lock bell (120) mounted in the lock housing (110) to rotate about a first axis of rotation; in a first position region of the first lock bell (120), a first lock opening (150) of the first lock bell (120) faces a first housing opening (135) of the first lock housing (110), and a first lock chamber (155) of the first lock bell (120) is open towards the transport region (45) only via the first housing opening (135); independently of an orientation of the first lock bell (120) in the circumferential direction about the first axis of rotation, the first lock bell (50) separates the working chamber (50) from the transport region (45).

An improved pick and place system is disclosed. The system minimizes the pick and place distance and the size of a manipulator, increases operation speed of the pick and place system, and uses a planar motor to serve as an outfeed conveyor. The outfeed planar motor is designed to synchronize the movement of the shuttle of the outfeed planar motor in the transfer zone to an infeed movement trajectory of the at least one product in the transfer zone at least when the manipulator picks the at least one product off the infeed conveyor. An infeed planar motor is designed to synchronize the movement of the shuttle of the infeed planar motor in the transfer zone to an outfeed movement trajectory of the at least one product in the transfer zone at least when the manipulator picks the at least one product off the shuttle of the infeed planar motor.

The utility model relates to the technical field of planar motors, and provides a planar motor with a supporting structure, which comprises a mover, a stator and a supporting structure, the mover and the stator are arranged at intervals along the vertical direction, a permanent magnet is arranged in the mover, a plurality of electromagnetic coils are arranged in the stator, and the supporting structure is arranged on the mover. The electromagnetic coil and the permanent magnet act to enable the mover to be supported above the stator in a suspended mode, a first installation groove is formed in the side face, facing the stator, of the mover, or a second installation groove is formed in the side face, facing the mover, of the stator, and one side of the supporting structure is arranged in the first installation groove or the second installation groove. And the other side of the supporting structure is movably connected with the stator or the rotor, so that the rotor can horizontally move relative to the stator. By arranging the supporting structure, magnetic suspension supporting and rigid supporting of the supporting structure exist between the rotor and the stator at the same time, the load capacity of the rotor can be improved, the moving resistance of the rotor can be reduced, and the motion precision of the planar motor can be guaranteed.

In order to illustrate a transport device (1) in the form of a planar motor which enables a more efficient operation, according to the application it is provided that the transport units (TE) can be moved in two main directions of movement (H1, H2) with different efficiencies (μH1 > μH2) and / or different maximum forces and / or different accuracies in such a way that the drive coils (AS1, AS2) of the first and second coil groups (SG1, SG2) have different coil properties influencing the magnetic field and / or the drive magnets (4) of the transport units which interact with the drive coils (AS1) of the first coil group (SG1) have different magnet properties influencing the magnetic field than the drive magnets (4) which interact with the drive coils (AS2) of the second coil group (SG2), characterized in that the at least one transport section (2) is arranged in a position which deviates from the horizontal position in such a way that the force component of the load force acting on the transport units in the first main direction of movement (H1) is greater than the force component of the load force in the second main direction of movement (H2) when the transport device (1) is operated, wherein the load force at least comprises the transport unit weight of the transport units.

The present disclosure addresses the problem of stabilizing the attitude of a movable unit when a component is mounted on a mounting surface of an object. In a mounting system (10) according to the present disclosure, a movable unit (1) mounts a component being held by a holding unit (12) on a mounting surface of an object, and a control unit (4) controls the movable unit (1) so that the movable unit (1) moves along the plane of a stator (21). One of the movable unit (1) and the stator (21) comprises a first magnet (22) including an electromagnet, and the other includes a second magnet (17) that opposes the electromagnet when the component being held by the holding unit (12) is mounted on the mounting surface of the object. The control unit (4) controls the magnetic poles of the electromagnet so that, when the component being held by the holding unit (12) is mounted on the mounting surface of the object, the magnetic pole of a part of the electromagnet opposing the second magnet (17) and the magnetic pole of a part of the second magnet (17) opposing the electromagnet are different.

The disclosure relates to a method for operating a linear motor system, in particular a long-stator or planar motor system, comprising a stator with numerous drive coils and at least one shuttle carrying drive magnets and moving relative to the stator. An electromagnetic field is generated by energizing selected drive coils to interact with the drive magnets and move the shuttle. To improve efficiency and motion control, a motion control unit determines at least one drive variable from a predefined movement profile and / or target movement values and from actual movement values for a given time step. Based on the drive variable, the motion control unit selects the drive coils to be energized and determines their energization to move the shuttle in a desired motion. An artificial intelligence method is used at least for determining which drive coils are energized and how they are energized, using the drive variable input.

The invention relates to, inter alia, a method for transporting objects (12). The method comprises successively transporting the objects (12) from an inlet region (24) to an outlet region (26) by means of a plurality of movement devices (28). The movement devices (28) can be moved independently of one another and can be individually magnetically driven, preferably by means of a long-stator linear motor drive system, a short-stator linear motor drive system or a planar motor drive system. During transport, the plurality of movement devices (28) move along a circulating path (32) which connects the inlet region (24) and the outlet region (26). During transport, at least one movement device (28) carries out an empty run in which, during movement from the inlet region (24) to the outlet region (26), no object (12) is transported by means of the respective movement device (28).

The present invention belongs to the technical field of motors and discloses a method and system for designing the coil thickness of a fine-coarse double-layer winding magnetic levitation planar motor. The method comprises the following steps: S1 determining the operating mode and design indicators of the motor to be processed based on the operating scenario of the motor to be processed; S2 constructing a harmonic force model for a single coil of the motor to be processed and using the harmonic force model to solve the horizontal thrust fluctuation error of the single coil; S3 decoupling the entire coil array to obtain the relationship between coil thickness and electromagnetic force, combining the relationship between electromagnetic force, maximum load, and motor acceleration to solve the current of the motor to be processed in the electromagnetic force model, and using the current to construct a relationship between the total heating power of the motor to be processed; S4 using the design indicators as constraints and the minimum thickness of the coil of the motor to be processed as the goal, solving the horizontal thrust fluctuation error and total heating power, thereby obtaining the coil thickness of the motor to be processed and realizing the design of the coil thickness.

The invention relates, inter alia, to a device (10) for equipping, preferably labeling, printing, and / or laser marking, containers (12). The device (10) comprises a planar motor drive system (18) with a control unit (32), a base element (20), and several motion devices (22, 24) which can be individually driven by means of magnetic interaction with the base element (20) and are movable independently of one another with respect to the base element (20). The several motion devices (22, 24) comprise several container motion devices (22) designed for transporting the containers (12), and / or several equipment motion devices (24) designed for equipping, preferably labeling, printing, and / or laser marking, the containers (12).

This invention discloses a planar motor with a hybrid arrangement of coreless coils and permanent magnets, comprising a stator, a mover, a Hall sensor array, and a controller. The permanent magnet array and the coreless coil array on the stator surface are arranged on the same plane in an alternating array. The mover structure, from the center outwards, consists of a wireless energy receiving coil, an inner ring magnet, and an outer ring magnet, achieving passive levitation through a balance of attraction and repulsion. The controller calculates the mover position using a Hall fingerprint positioning algorithm and only powers the stator edge coil group corresponding to the mover's edge magnets. When the coils on the mover overlap with the stator coils, it switches to wireless energy transmission mode to provide power to the mover. This invention enables the product to achieve self-levitation, low-power edge drive, and wireless power supply when power is off, making it suitable for various application scenarios.

The invention discloses an iterative correction method for coil position deviation of an ultra-precise moving-coil magnetic levitation motion platform, and belongs to the technical field of magnetic levitation planar motors. According to the method, a Levenberg-Marquardt method is adopted to carry out nonlinear least square estimation on coil deviation parameters, the deviation of each coil relative to a stator coordinate system can be obtained under the condition that no extra measurement equipment is added, the coupling problem of unidirectional output of the coils is greatly improved, the motion control performance is improved, and the method is suitable for large-scale popularization and application. And the method has important engineering application value. According to the coil position deviation iterative correction method disclosed by the invention, the position deviation of each output coil in the stator magnetic field can be set without adding extra detection and calibration equipment, extra expenditure is not increased, and after several times of offline iteration, the position deviation of each output coil can be corrected. Therefore, the problem that the motion performance is reduced due to the position deviation of the coil can be greatly relieved, and the setting efficiency is high.

In order to improve the interplay and especially handover between a long stator linear motor and a planar motor, a hybrid shuttle which is movable along a planar motor stator of a planar motor in at least two planar motor movement directions of the planar motor as well as along a linear motor stator of a long stator linear motor in an linear motor movement direction of the long stator linear motor is provided. The shuttle comprises at least one first bearing component designed to detachably engage with a second bearing component to form a guide system, said guide system being designed to guide the movement of the shuttle along the linear motor movement direction.

The present application relates to the technical field of planar motor, and provides a transition module for a planar motor system, a control method of the transition module and the planar motor system, the planar motor system comprising a stator platform formed by splicing a plurality of stators and a mover suspended and running above the stator platform, the stator platform being formed with a through hole in a thickness direction, the transition module being arranged below the through hole, the transition module comprising a driving member and a transition plate, the driving member being connected with the transition plate, the transition plate being capable of being lifted in a direction of approaching or moving away from the through hole under the driving of the driving member, and an array of transition coils being arranged on a side of the transition plate close to the through hole. The transition module is capable of adjusting its position along with the change of the position of the through hole on the stator, has high flexibility and fast response speed, and compared with changing the path of the mover, the arrangement of the transition module can save time, improve efficiency and reduce cost in the scene where the vacant position of the through hole of the stator frequently changes.

A control unit for operating a goods transport system, a construction kit for producing the goods transport system, and a simulation program product for adjusting the operational behavior of the goods transport system, wherein the goods transport system includes a feed rail and a discharge rail that are each configured as a linear motor, where the rails are configured to linearly move a workpiece support, where a deflecting module is arranged between the feed rail and the discharge rail is configured to move the workpiece support in a specifiable manner, where the deflecting module is further configured as an active component of a planar motor.

According to the Hall position measurement optimization method of the moving-magnet type magnetic suspension planar motor, the magnetic field characteristics of a Halbach permanent magnet array are combined, an orthogonal Hall array is adopted to obtain a magnetic induction intensity signal, and a cascade delay elimination algorithm is introduced to suppress harmonic distortion, so that the displacement calculation precision is improved. A time delay signal elimination method is a method for eliminating signal interference caused by time delay, a harmonic signal is effectively eliminated by carrying out time delay processing on a voltage signal and combining the voltage signal with an original signal, and meanwhile the integrity of a fundamental component can be reserved. The signal is delayed by a quarter of a period by using the voltage quantity under the alpha and beta coordinate systems, and is combined with the original signal. In the process, a harmonic component in the signal can be eliminated, and a fundamental component is ensured not to be influenced by delay attenuation, so that a phase error caused by harmonic waves can be effectively avoided. Experimental results show that harmonic waves can be effectively filtered out.

The invention relates to the technical field of planar motors, and provides a transition module for a planar motor system, a control method of the transition module and the planar motor system.The planar motor system comprises a stator platform formed by splicing a plurality of stators and a rotor running above the stator platform in a suspended mode, and a through hole is formed in the stator platform in the thickness direction; the transition module is arranged below the through hole and comprises a driving part and a transition plate, the driving part is connected with the transition plate, the transition plate can be driven by the driving part to ascend and descend in the direction close to or away from the through hole, and a transition coil array is arranged on the side, close to the through hole, of the transition plate. The position of the transition module can be adjusted along with the change of the position of the through hole in the stator, the flexibility is high, the response speed is high, and under the scene that the vacant position of the through hole in the stator is frequently changed, compared with changing of the path of the rotor, the arrangement of the transition module can save time, improve efficiency and reduce cost.

The invention describes a filling machine (1, 1 ', 1' ') for filling a pourable product into a container (2), and the filling machine comprises: an isolated chamber (6) defining an interior environment (7); a sterilization device (9) arranged at least partially within the interior environment (7); a filling device (10) arranged at least partially within the interior environment (7); a closure device (11) arranged at least partially within the interior environment (7); and a transfer device (12) configured to advance the container (2) at least within the interior environment (7). The transport device (12) comprises a plurality of carriers (20, 20 '), each configured to carry at least one container (2) at a time, and a planar motor (21) configured to move each carrier (20, 20') within the interior environment (7), thereby advancing the containers (2) in sequence to the sterilization device (9), the filling device (10) and the closing device (11).

The present application relates to a kind of stator coil structure and magnetic levitation plane motor for magnetic levitation plane motor.The stator coil structure includes multiple groups of shaping coils and multiple groups of long strip coils, each group of shaping coils and corresponding group of long strip coils form a group of coil combination units;Multiple groups of coil combination units are arranged according to predetermined coil period, for interacting with the mover permanent magnet array located above or below when energized, generate horizontal direction driving force and / or vertical direction suspension force;Each group of shaping coils and long strip coils are arranged alternately, and the shaping coil is used to fill the space gap formed by the arrangement of long strip coil, to improve the effective conductor ratio and coil slot fill factor in stator plane.The present application increases the effective conductor area involved in electromagnetic force under the premise that the heat dissipation condition and thermal power remain basically unchanged, so as to improve the output force density of magnetic levitation plane motor.

The utility model relates to planar motor technical field provides a 3D printing device based on planar motor, including forming platform and printing spray head, the planar motor includes mover and stator, the mover is suspended in the stator top, the mover can be in parallel to the plane of stator surface translation along X axle and Y axle direction and rotates along Z axle direction, the mover upper surface bears the forming platform, the printing spray head is located the forming platform top and can move along Z axle direction. In this way, through the suspension cooperation of mover and stator, the traditional linear guide rail, synchronous belt and so on mechanical transmission parts are saved, the equipment volume reduces, eliminates the mechanical clearance and friction loss of traditional X / Y axle split type transmission mechanism, can promote the positioning accuracy of forming platform, can flexibly and accurately move forming platform in 3D printing process, is convenient for the printing of printing spray head, can improve printing precision and printing efficiency.

This invention belongs to the technical field of magnetic levitation motion control and conveying systems. It provides a method and system for real-time distribution of six-degree-of-freedom generalized forces in a magnetic levitation planar motor. First, a physical model of the magnetic levitation planar motor is established, and the real-time position coordinates of the mover in the stator coordinate system are obtained. A constraint coefficient matrix representing the balance of the six-degree-of-freedom generalized forces is constructed. A quadratic convex optimization projection model is used, with minimizing coil copper loss as the objective function and generalized force balance as the constraint condition. Based on the Lagrange multiplier method, the forces on each coil in the model are optimized to obtain the minimum force on each coil group at any position of the mover throughout its stroke, thereby reducing the coil current and achieving low power consumption for the six-degree-of-freedom motion of the mover. This invention has the advantages of low computational complexity, real-time processing of force distribution tasks at any position of the mover throughout its stroke, and effective reduction of system heat dissipation.