US 11,701,786 B2
Robotic devices and methods for fabrication, use and control of same
Xiaodong Lu, Vancouver (CA); Peter Tang, Hamilton (CA); Alexander H. Slocum, Bow, NH (US); and Rui Chen, Vancouver (CA)
Assigned to PLANAR MOTOR INCORPORATED
Filed by Planar Motor Incorporated, Richmond (CA)
Filed on Jan. 25, 2021, as Appl. No. 17/157,683.
Application 17/157,683 is a continuation of application No. 16/498,197, granted, now 10,926,418, issued on Feb. 23, 2021, previously published as PCT/CA2018/050375, filed on Mar. 27, 2018.
Claims priority of provisional application 62/626,082, filed on Feb. 4, 2018.
Claims priority of provisional application 62/590,323, filed on Nov. 23, 2017.
Claims priority of provisional application 62/513,975, filed on Jun. 1, 2017.
Claims priority of provisional application 62/490,270, filed on Apr. 26, 2017.
Claims priority of provisional application 62/485,402, filed on Apr. 14, 2017.
Claims priority of provisional application 62/476,871, filed on Mar. 27, 2017.
Prior Publication US 2021/0221008 A1, Jul. 22, 2021
Prior Publication US 2022/0032477 A2, Feb. 3, 2022
Int. Cl. H02P 25/06 (2016.01); B25J 15/06 (2006.01); H02P 25/064 (2016.01); B25J 9/00 (2006.01); B25J 15/02 (2006.01); B65G 1/04 (2006.01); H02K 41/03 (2006.01); H02K 1/26 (2006.01)
CPC B25J 15/065 (2013.01) [B25J 9/0036 (2013.01); B25J 15/0246 (2013.01); B65G 1/0435 (2013.01); H02K 41/031 (2013.01); H02P 25/064 (2016.02); H02K 1/26 (2013.01); H02K 2201/18 (2013.01)] 40 Claims
OG exemplary drawing
 
1. An apparatus for moving a magnetically moveable device, the apparatus comprising:
a work body comprising a plurality of electrically conductive coils and a work surface upon which the magnetically moveable device is configured to be controllably moved within at least two degrees of freedom, wherein the magnetically moveable device and the plurality of electrically conductive coils are on opposite sides of the work surface;
a guiding device at least partially overlapping the work body and thereby defining with the work body an overlapping region associated with the guiding device and the work body;
a transfer device for moving the magnetically moveable device away from or toward the overlapping region; and
one or more controllers configured to controllably move the magnetically movable device over the work surface to or from the overlapping region by driving one or more currents through at least one of the plurality of electrically conductive coils so as to modulate one or more magnetic fields and thereby controllably and magnetically levitate the magnetically movable device,
wherein the guiding device is configured to guide movement of the magnetically movable device between the overlapping region and the transfer device, and
wherein the one or more controllers are further configured to control the transfer device to move the magnetically moveable device away from or toward the overlapping region.
 
22. A method of moving a magnetically moveable device, comprising:
controllably moving the magnetically movable device by magnetic levitation within at least two degrees of freedom over a work surface of a work body to or from an overlapping region associated with a guiding device and the work body, wherein the overlapping region is defined by the guiding device at least partially overlapping the work body;
controllably moving the magnetically movable device between the overlapping region and the transfer device while guiding the movement of the magnetically movable device using the guiding device; and
controllably moving the magnetically movable device away from or toward the overlapping region using the transfer device.
 
24. An apparatus for moving a magnetically moveable device, the apparatus comprising:
a work body comprising a plurality of electrically conductive coils and a work surface upon which the magnetically moveable device is configured to be controllably moved within at least two degrees of freedom, wherein the magnetically moveable device and the plurality of electrically conductive coils are on opposite sides of the work surface;
a transfer device overlapping only a portion of the work body and thereby defining an overlapping region associated with the transfer device and the work body; and
a non-overlapping region associated only with the work body;
one or more controllers configured to controllably move the magnetically movable device over the work surface and into, or out of, the overlapping region by driving one or more currents through at least one of the plurality of electrically conductive coils so as to modulate one or more magnetic fields and thereby controllably and magnetically levitate the magnetically movable device,
wherein the one or more controllers are further configured to control the transfer device to move the magnetically moveable device into, or out of, the overlapping region.
 
38. A method of moving a magnetically moveable device, comprising:
controllably moving the magnetically movable device by magnetic levitation within at least two degrees of freedom over a work surface of a work body into, or out of, an overlapping region associated with a transfer device and the work body, wherein the overlapping region is defined by the transfer device overlapping only a portion of the work body; and
controllably moving the magnetically movable device between the overlapping region and the transfer device; and
controllably moving the magnetically movable device into, or out of, the overlapping region using the transfer device.
 
40. The apparatus of claim 24, wherein the portion of the work body that is overlapped by the transfer device is overlapped by only a portion of the transfer device.