49 results about "Planar motor" patented technology

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 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 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.

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 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.

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.

The present invention provides, in a simple and cost-effective manner, improved operational safety and enhanced safety features, particularly for user interaction. [Solution] The present invention relates to an electromagnetic transport system (1) which is either in the form of a long stator linear motor or a planar motor, comprising a stationary part or stator (2) composed of at least two or more stator segments (21, 22, 2i), and at least one movable part or shuttle (3, 3i) that is movable relative to the stator (2) along a transport path. A magnet unit (4, 4i) is disposed on at least one shuttle (3, 3i), and this magnet unit (4, 4i) electromagnetically interacts with a magnetic element disposed on the stator (2) to move the shuttle (3, 3i) in at least one direction of movement (T) along the transport path.

The invention provides a multi-rotor cooperative control method and system for a planar linear motor, and the method comprises the steps: completing the power-on self-inspection of an edge controller, carrying out the EtherCAT communication inspection and state reading of all stator Planar Units, and determining the working state of a whole planar motor system; multi-mover Mover Unit cooperative control is started, and order distribution and route planning are started to be executed; after the route planning is completed, judging whether a mover Unit reaches the unloading position or not, and if not, circularly executing the route planning until the mover Unit reaches the unloading position; and accumulating the number of the completed orders, judging whether all the order tasks are completed or not, and if not, repeating the steps until all the order tasks are completed, thereby completing the multi-rotor cooperative control of the planar linear motor. According to the technical scheme, the technical problem that cooperative control over the multiple stators and the multiple rotors is difficult to achieve through an existing control method is solved.

In order to provide a transport device that includes a planar motor, which gives greater flexibility in the movement of the transport units, at least two planar motors have opposing transport planes, wherein provided on the transport plane of a first planar motor is at least one first transport unit, which is connected, by a connecting unit, to at least one second transport unit provided on the transport plane of a second planar motor.

A system for wafer handling for semiconductor manufacturing, including at least one vacuum transfer chamber; at least one planar motor mover unit positioned inside the at least one vacuum transfer chamber; an End-effector attached to the least one planar motor mover unit. The End-effector is configured to travel in any direction inside of the at least one vacuum transfer chamber.

A permanent magnet arrangement of a shuttle for a linear and / or planar motor. The permanent magnet arrangement includes a large number of permanent magnets arranged on at least one magnet area. The permanent magnets form an alternating sequence of magnetic strips of different polarities in a central region of the magnet area. At least one end magnet body is arranged at an edge of the magnet area between the central region and the edge and changes the course of the magnetic field formed by the permanent magnets in the central region, along the edge that varies over the length of the edge. The at least one edge has at least two polarity regions having different polarities, and the mutual attraction force between two identical permanent-magnet arrangements arranged next to one another with parallel edges is reduced by the changed magnetic field.

A framework provides an integration of a system for a planar motor transport with laboratory equipment for performing multiple automated laboratory functions directly within the same operating environment. The framework includes a distributed control architecture and processes for performing workflow agent execution logic, and transport and execute of devices and movers for performing automated workflows with workflow agents. Together the integration of the system for planar motor transport with the distributed control architecture and associated processes enable functions such as combining liquid handling operations, sample access operations, cleanup and recovery operations, and others into a single, scalable platform.

The application belongs to the technical field of planar motor and provides a magnetic field adjusting method for magnetic suspension planar motor. The magnetic suspension planar motor comprises a mover assembly and a stator assembly. The mover assembly comprises a mover top plate, a controller cabin, an adjustable magnetic array layer and a mover bottom plate connected from top to bottom. The adjustable magnetic array layer comprises a permanent magnet array and a magnetic field reconstruction unit. The permanent magnet array is composed of multiple permanent magnet subarray units. The magnetic field reconstruction unit is arranged in the magnetic pole gap of the permanent magnet array. Each magnetic field reconstruction unit comprises a micro soft magnetic core and a micro coil wound on the micro soft magnetic core. The controller cabin is provided with a mover controller for receiving instructions and controlling the current of the micro coil. The method is adjusted by controlling the magnetic field reconstruction unit. The application solves the problem of poor utilization of magnetic leakage field caused by the physical gap between the mover permanent magnets in the planar motor.

The application relates to a planar motor thermal loss homogenization decoupling distribution method and system, belongs to the field of magnetic suspension motor motion control technology, and aims to solve the problem of local thermal loss concentration, thermal expansion deformation and even thermal damage of an overdrive planar motor caused by uneven coil current distribution. The application comprises the following steps: obtaining a reference torque instruction of a current control period and an electromagnetic force and torque coefficient matrix corresponding to a current pose of a motor runner; performing an iterative peak value contraction process according to the reference torque instruction and the electromagnetic force and torque coefficient matrix; in each iteration, first, a nonlinear peak value contraction is performed on a coil current vector according to a current contraction threshold value, and then a new round of coil current vector is obtained through decoupling compensation updating; whether an iteration termination condition is reached is judged, and if yes, the current coil current vector is output as a current decoupling instruction to the planar motor. The application provides a matching system.

The invention discloses a planar motor and a working method, and relates to the technical field of motors, the planar motor comprises a rotor and a stator, the rotor is formed by pairwise vertical end-to-end connection of a first group of permanent magnets, a second group of permanent magnets, a third group of permanent magnets and a fourth group of permanent magnets, and the stator comprises an X winding laid along the X-axis direction and a Y winding laid along the Y-axis direction. The X winding and the Y winding are three-phase distribution windings, and the polar distance of the windings is the same as half of the width of the four groups of permanent magnets; the magnetizing directions of the first group of permanent magnets and the second group of permanent magnets are the same, the magnetizing directions of the third group of permanent magnets and the fourth group of permanent magnets are the same, and the magnetizing directions of the first group of permanent magnets and the third group of permanent magnets are opposite; when the rotor linearly moves along the X axis or the Y axis, the motor can output constant electromagnetic thrust like an existing motor, and stable operation of the rotor is guaranteed. When the rotor rotates around the Z axis, the generated electromagnetic torque fluctuation is small, and the running stability of the rotor is improved.

We provide technology for opening and closing openings. [Solution] An opening and closing device for opening and closing a plurality of first openings that connect a first chamber and a plurality of second chambers adjacent to the first chamber, or a second opening that connects the first chamber to the outside, the device having a movable body that moves on a planar motor having coils arranged in the first chamber, and is movable between a position that closes one of the plurality of first openings and the second openings and a position that closes the other openings, and which transports a valve body that closes either opening, the movable body moving on the planar motor by a magnetic field generated by the coils, and opening and closing the opening.

A cap attachment device (15) for attaching caps (7) to packages (2) manufactured by a packaging machine (1) is described. The device comprises a conveying device (16) having a planar motor (22) with a plurality of carriers (23) configured to receive the packages (2) at an inlet station (17) and discharge the packages (2) at an outlet station (18), and a plurality of attachment devices (19) located at an attachment station (20) and configured to attach the caps (7) to the packages (2). The conveying device (16) is configured so that the carriers (23) move selectively from the inlet station (17) to the attachment station (20), and the attachment devices (19) attach the caps (7) to the packages (2) that the carriers (23) are conveying when in use. The transport device (16) is configured such that the carrier (23) moves from the mounting station (20) to the exit station (18), and the package (2) is discharged at the exit station (18).

The invention discloses a planar multi-turn flexible coil magnetic suspension planar motor and a control method thereof, the planar multi-turn flexible coil magnetic suspension planar motor comprises a stator and a rotor, the stator comprises a Hall sensor array and a flexible circuit board coil unit, the flexible circuit board coil unit is located at the upper part of the Hall sensor array, and the rotor comprises four groups of one-dimensional Halbach permanent magnet arrays. The four groups of one-dimensional Halbach permanent magnet arrays are located at the upper part of the flexible circuit board coil unit, and when current is applied to the flexible circuit board coil unit, each group of one-dimensional Halbach permanent magnet array is subjected to thrust in the horizontal direction and buoyancy in the vertical direction; the four groups of one-dimensional Halbach permanent magnet arrays are subjected to eight forces in total, and the magnetic suspension planar motor can perform six-degree-of-freedom non-contact motion through distribution and control of the eight forces. By optimizing the coil arrangement and connection mode, high force density, low thermal resistance, driving decoupling and space multi-degree-of-freedom motion are achieved.

The invention relates to, inter alia, a device (10) for furnishing containers (12), preferably with labels, printed matter and / or laser markings. The device (10) has a planar motor drive system (18) with a control device (32), a base element (20) and multiple movement devices (22, 24) which can be driven individually by means of magnetic interaction with the base element (20) and can be moved independently of one another in relation to the base element (20). The multiple movement devices (22, 24) have multiple container movement devices (22), which are designed to transport the containers (12), and / or multiple furnishing movement devices (24), which are designed to furnish the containers (12), preferably with labels, printed matter and / or laser markings.

This invention discloses a linear guide rail accuracy testing device based on a planar motor, mainly composed of a probe, a spherical universal joint, a mounting bracket, a planar motor, and a data processing device. It enables high-precision measurement of the straightness, parallelism, and surface microstructure of linear guide rails. The invention uses a planar motor as the driving device, driving the probe to perform two-degree-of-freedom translation and deflection within the test plane, eliminating the influence of vibration and friction wear on the test data. By controlling the probe's pose change, the influence of installation errors on the test results is reduced, and the surface information of the guide rail is accurately acquired. The data processing device performs splicing and fitting calculations on the test data to complete the guide rail accuracy measurement. This invention has the advantages of strong anti-interference ability and high support stiffness, and is particularly suitable for measurement scenarios such as high-precision linear guide rails and ultra-long guide rails.

The present application relates to the technical field of planar motor, and particularly relates to a micro-channel cooling structure and a planar motor stator. The micro-channel cooling structure comprises a first cooling plate and a cover plate which are stacked and covered with each other, and the surface of the first cooling plate towards the cover plate is provided with an array of flow channels for flowing cooling liquid; the lower surface wall of the cover plate towards the array of flow channels is sealingly matched with the array of flow channels; the micro-channel cooling structure is further provided with a first liquid inlet channel and a first liquid outlet channel which are respectively communicated with the array of flow channels, the first liquid inlet channel delivers cooling liquid to a central liquid inlet hole, and the array of flow channels is arranged outwardly from the central liquid inlet hole. By arranging the central liquid inlet hole and the array of flow channels which are arranged outwardly from the central liquid inlet hole, the matching of temperature gradient is realized, the cooling efficiency of the central heat gathering area of the planar motor stator is effectively improved, the temperature difference of each part of the planar motor stator is reduced, and the planar motor can normally operate.

The utility model provides a rotor with an adapter tool and a planar motor, the rotor comprises the adapter tool and a rotor body, the adapter tool comprises an adapter plate, the adapter plate is provided with a connecting hole, and the adapter plate can be connected with fixing parts of various products; according to the planar motor transfer tool, the transfer plate and the rotor can be quickly assembled and disassembled in a plugging and / or magnetic attraction mode, so that the transfer tool and the rotor body can be quickly assembled and disassembled, different product fixing parts can be quickly replaced, and the planar motor can be quickly put into a next transfer task.