# US 11,909,336 B2 · Multi degree of freedom magnetic levitation system by single body actuator

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- Number: US 11,909,336 B2
- Document ID: US11909336B2
- Status: Granted
- Kind: B2
- Application number: 17/863,971
- Filed: 2022-07-13
- Published: 2023-01-19
- Granted: 2024-02-20
- Earliest claimed: 2021-07-13
- Assignees: University-Industry Foundation, Yonsei University
- Applicants: University Industry Foundation, Yonsei University
- Inventors: JunYoung Yoon; JaeWoo Jung; EunKyu Kim; HyeongMin Yoon
- Web page: https://patentgrep.com/patent/US11909336B2

## CPC

- H02K 1/143: {of the horse-shoe type}
- H02N 15/00: Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for (electric or magnetic devices for holding work on machine tools B23Q3/15 {; monorail vehicle propulsion or suspension B60L13/00}; sliding or levitation devices for railway systems B61B13/08; material handling devices associated with conveyors incorporating devices with electrostatic or magnetic grippers B65G47/92; separating thin or filamentary articles from piles using magnetic force B65H3/16; delivering thin or filamentary articles from magnetic holders by air blast or suction B65H29/24; bearings using magnetic or electric supporting means F16C32/04; relieving bearing loads using magnetic means F16C39/06; magnets H01F7/00; dynamo-electric clutches or brakes H02K49/00 {; electric furnaces with simultaneous levitation and heating H05B6/32})
- H02K 11/22: Optical devices
- H02K 21/44: with armature windings wound upon the magnets
- H02K 41/031: {of the permanent magnet type}
- H02K 2201/18: Machines moving with multiple degrees of freedom
- H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53})
- H02N: ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR

## Abstract

The present disclosure relates to an actuator. The actuator includes at least two iron cores, each iron core including a pole extending in a first direction parallel to a direction of gravity; a permanent magnet disposed between the at least two iron cores so as to generate a magnetic field along a shape of a combination of the at least two iron cores arranged so as to be adjacent to each other in a direction not parallel to the first direction; and a winding wound around the pole of each of the at least two iron cores.

## Claims

### Claim 1

An actuator comprising:
at least two iron cores, each iron core including a pole extending in a first direction parallel to a direction of gravity;
a permanent magnet disposed between the at least two iron cores so as to generate a magnetic field along a shape of a combination of the at least two iron cores arranged so as to be adjacent to each other in a direction not parallel to the first direction; and
a winding wound around the pole of each of the at least two iron cores,
wherein the at least two iron cores include:
a first iron core including a first pole extending in the first direction and a second pole extending in a second direction perpendicular to the first direction from one side end of the first pole; and
a second iron core including a third pole extending in a parallel manner to the extension direction of the first pole, and a fourth pole extending in a parallel manner to the extension direction of the second pole from one side end of the third pole and having an end face facing the end face of the second pole,
wherein the winding includes:
a first winding wound around the first pole; and
a second winding wound around the third pole,
wherein the permanent magnet is disposed between the end face of the second pole and the end face of the fourth pole so that a first pole and a second pole thereof are in contact with the end face of the second pole and the end face of the fourth pole, respectively.

### Claim 2 (depends on 1)

The actuator of claim 1, wherein a lower end of each of the first pole and the third pole has an inclined face facing an inner space defined between the first pole and the third pole.

### Claim 3

An actuator comprising:
at least two iron cores, each iron core including a pole extending in a first direction parallel to a direction of gravity;
a permanent magnet disposed between the at least two iron cores so as to generate a magnetic field along a shape of a combination of the at least two iron cores arranged so as to be adjacent to each other in a direction not parallel to the first direction; and
a winding wound around the pole of each of the at least two iron cores,
wherein the at least two iron cores include:
a first iron core disposed at a first azimuth around an imaginary axial line parallel to the first direction, wherein the first iron core includes a first pole extending in the first direction, and a second pole extending from one side end of the first pole in a second direction perpendicular to the first direction, wherein the second pole has an end face facing the axial line;
a second iron core disposed at a second azimuth around the axial line, wherein the second iron core includes a third pole extending in a parallel manner to the extension direction of the first pole, and a fourth pole extending from one side end of the third pole in the second direction, wherein the fourth pole has an end face facing the axial line; and
a third iron core disposed at a third azimuth around the axial line, wherein the third iron core includes a fifth pole extending in a parallel manner to the extension direction of the first pole, and a sixth pole extending from one side end of the fifth pole in the second direction, wherein the sixth pole has an end face facing the axial line,
wherein the winding includes:
a first winding wound around the first pole;
a second winding wound around the third pole; and
a third winding wound around the fifth pole;
wherein the permanent magnet includes:
a first permanent magnet fixed to the end face of the second pole so that a magnetic flux thereof is directed toward the axial line;
a second permanent magnet fixed to the end face of the fourth pole so that a magnetic flux thereof is directed toward the axial line; and
a third permanent magnet fixed to the end face of the sixth pole so that a magnetic flux thereof is directed toward the end face of the sixth pole.

### Claim 4 (depends on 3)

The actuator of claim 3, wherein a lower end of each of the first pole, the third pole and the fifth pole has an inclined face facing an inner space defined between the first pole, the third pole and the fifth pole.

### Claim 5

An actuator comprising:
at least two iron cores, each iron core including a pole extending in a first direction parallel to a direction of gravity;
a permanent magnet disposed between the at least two iron cores so as to generate a magnetic field along a shape of a combination of the at least two iron cores arranged so as to be adjacent to each other in a direction not parallel to the first direction; and
a winding wound around the pole of each of the at least two iron cores,
wherein the at least two iron cores include:
a first iron core including a first pole extending in the first direction, and a second pole extending in a second direction perpendicular to the first direction from one side end of the first pole;
a second iron core including a third pole extending in a parallel manner to the extension direction of the first pole, and a fourth pole extending in a parallel manner to the extension direction of the second pole from one side end of the third pole and having an end face facing an end face of the second pole;
a third iron core including a fifth pole extending in a parallel manner to the extension direction of the first pole, and a sixth pole extending in the second direction from one side end of the fifth pole, wherein the third iron core is adjacent to the first iron core and the second iron core such that an angle defined between an end face of the sixth pole and each of the end face of the second pole and the end face of the fourth pole is a right angle; and
a fourth iron core including a seventh pole extending in a parallel manner to the extension direction of the first pole, and an eighth pole extending in a parallel manner to the extension direction of the sixth pole from one side end of the seventh pole and having an end face facing the end face of the sixth pole,
wherein the winding includes:
a first winding wound around the first pole;
a second winding wound around the third pole;
a third winding wound around the fifth pole; and
a fourth winding wound around the seventh pole,
wherein the permanent magnet includes:
a first permanent magnet fixed to the end face of the second pole such that a magnetic flux thereof is directed toward the end face of the fourth pole facing the end face of the second pole;
a second permanent magnet fixed to the end face of the fourth pole such that a magnetic flux thereof is directed toward the end face of the fourth pole;
a third permanent magnet fixed to the end face of the sixth pole such that a magnetic flux thereof is directed toward the end face of the eighth pole facing the end face of the sixth pole; and
a fourth permanent magnet fixed to the end face of the eighth pole such that a magnetic flux thereof is directed toward the end face of the eighth pole.

### Claim 6

An actuator comprising:
at least two iron cores, each iron core including a pole extending in a first direction parallel to a direction of gravity;
a permanent magnet disposed between the at least two iron cores so as to generate a magnetic field along a shape of a combination of the at least two iron cores arranged so as to be adjacent to each other in a direction not parallel to the first direction; and
a winding wound around the pole of each of the at least two iron cores,
wherein the at least two iron cores include:
a first iron core including a first pole extending in the first direction, and a second pole extending in a second direction perpendicular to the first direction from one side end of the first pole;
a second iron core including a third pole extending in a parallel manner to the extension direction of the first pole, and a fourth pole extending in a parallel manner to the extension direction of the second pole from one side end of the third pole and having an end face facing an end face of the second pole;
a third iron core including a fifth pole extending in a parallel manner to the extension direction of the first pole, and a sixth pole extending in the second direction from one side end of the fifth pole, wherein the third iron core is adjacent to the first iron core and the second iron core such that an angle defined between an end face of the sixth pole and each of the end face of the second pole and the end face of the fourth pole is a right angle; and
a fourth iron core including a seventh pole extending in a parallel manner to the extension direction of the first pole, and an eighth pole extending in a parallel manner to the extension direction of the sixth pole from one side end of the seventh pole and having an end face facing the end face of the sixth pole,
wherein the winding includes:
a first winding wound around the first pole;
a second winding wound around the third pole;
a third winding wound around the fifth pole; and
a fourth winding wound around the seventh pole,
wherein the permanent magnet includes:
a first permanent magnet fixed to the end face of the second pole such that a magnetic flux thereof is directed toward the end face of the fourth pole facing the end face of the second pole;
a second permanent magnet fixed to the end face of the fourth pole such that a magnetic flux thereof is directed toward the end face of the second pole;
a third permanent magnet fixed to the end face of the sixth pole such that a magnetic flux thereof is directed toward the end face of the sixth pole; and
a fourth permanent magnet fixed to the end face of the eighth pole so that a magnetic flux thereof is directed toward the end face of the eighth pole.

### Claim 7 (depends on 5)

The actuator of claim 5, wherein a lower end of each of the first pole, the third pole, the fifth pole and the seventh pole has an inclined face facing an inner space defined between the first pole, the third pole, the fifth pole and the eighth pole.

### Claim 8 (depends on 6)

The actuator of claim 6, wherein a lower end of each of the first pole, the third pole, the fifth pole and the seventh pole has an inclined face facing an inner space defined between the first pole, the third pole, the fifth pole and the eighth pole.

### Claim 9

An actuator comprising:
at least two iron cores, each iron core including a pole extending in a first direction parallel to a direction of gravity;
a permanent magnet disposed between the at least two iron cores so as to generate a magnetic field along a shape of a combination of the at least two iron cores arranged so as to be adjacent to each other in a direction not parallel to the first direction; and
a winding wound around the pole of each of the at least two iron cores,
wherein the at least two iron cores include:
a first iron core disposed at a first azimuth around an imaginary axial line parallel to the first direction, wherein the first iron core includes a first pole extending in the first direction, and a second pole extending in a second direction perpendicular to the first direction from one side end of the first pole and having an end face facing the axial line;
a second iron core disposed at a second azimuth around the axial line, wherein the second iron core includes a third pole extending in a parallel manner to the extension direction of the first pole, and a fourth pole extending in the second direction from one side end of the third pole and having an end face facing the axial line; and
a third iron core disposed at a third azimuth around the axial line, wherein the third iron core includes a fifth pole extending in a parallel manner to the extension direction of the first pole, and a sixth pole extending from one side end of the fifth pole in the second direction and having an end face facing the axial line,
wherein the winding includes:
a first winding wound around the first pole;
a second winding wound around the third pole; and
a third winding wound around the fifth pole,
wherein the actuator further comprises a central iron core disposed under the end faces of the second pole, the fourth pole, and the sixth pole and being in contact with the second pole, the fourth pole and the sixth pole, wherein the central iron core extends in a parallel manner to the first direction,
wherein the permanent magnet is fixed to a bottom face of the central iron core such that a magnetic flux thereof is directed away from the bottom face of the central iron core.

### Claim 10

An actuator comprising:
at least two iron cores, each iron core including a pole extending in a first direction parallel to a direction of gravity;
a permanent magnet disposed between the at least two iron cores so as to generate a magnetic field along a shape of a combination of the at least two iron cores arranged so as to be adjacent to each other in a direction not parallel to the first direction; and
a winding wound around the pole of each of the at least two iron cores,
wherein the at least two iron cores include:
a first iron core disposed at a first azimuth around an imaginary axial line parallel to the first direction, wherein the first iron core includes a first pole extending in the first direction, and a second pole extending in a second direction perpendicular to the first direction from one side end of the first pole and having an end face facing the axial line;
a second iron core disposed at a second azimuth around the axial line, wherein the second iron core includes a third pole extending in a parallel manner to the extension direction of the first pole, and a fourth pole extending in the second direction from one side end of the third pole and having an end face facing the axial line; and
a third iron core disposed at a third azimuth around the axial line, wherein the third iron core includes a fifth pole extending in a parallel manner to the extension direction of the first pole, and a sixth pole extending from one side end of the fifth pole in the second direction and having an end face facing the axial line,
wherein the actuator further comprises a central iron core in contact with the first to third permanent magnets and disposed under the first to third permanent magnets, wherein the central iron core extends in a parallel manner to the first direction,
wherein the winding includes:
a first winding wound around the first pole;
a second winding wound around the third pole; and
a third winding wound around the fifth pole,
wherein the permanent magnet includes:
a first permanent magnet fixed to the end face of the second pole so that a magnetic flux thereof is directed toward the axial line;
a second permanent magnet fixed to the end face of the fourth pole so that a magnetic flux thereof is directed toward the axial line; and
a third permanent magnet fixed to the end face of the sixth pole so that a magnetic flux thereof is directed toward the axial line.

### Claim 11 (depends on 9)

The actuator of claim 9, wherein a lower end of each of the first pole, the third pole and the fifth pole has an inclined face facing an inner space defined between the first pole, the third pole and the fifth pole.

### Claim 12 (depends on 10)

The actuator of claim 10, wherein a lower end of each of the first pole, the third pole and the fifth pole has an inclined face facing an inner space defined between the first pole, the third pole and the fifth pole.

### Claim 13

An actuator comprising:
at least two iron cores, each iron core including a pole extending in a first direction parallel to a direction of gravity;
a permanent magnet disposed between the at least two iron cores so as to generate a magnetic field along a shape of a combination of the at least two iron cores arranged so as to be adjacent to each other in a direction not parallel to the first direction; and
a winding wound around the pole of each of the at least two iron cores,
wherein the at least two iron cores include:
a first iron core including a first pole extending in the first direction, and a second pole extending in a second direction perpendicular to the first direction from one side end of the first pole;
a second iron core including a third pole extending in a parallel manner to the extension direction of the first pole, and a fourth pole extending in a parallel manner to the extension direction of the second pole from one side end of the third pole and having an end face facing an end face of the second pole;
a third iron core including a fifth pole extending in a parallel manner to the extension direction of the first pole, and a sixth pole extending in the second direction from one side end of the fifth pole, wherein the third iron core is adjacent to the first iron core and the second iron core such that an angle defined between an end face of the sixth pole and each of the end face of the second pole and the end face of the fourth pole is a right angle; and
a fourth iron core including a seventh pole extending in a parallel manner to the extension direction of the first pole, and an eighth pole extending in a parallel manner to the extension direction of the sixth pole from one side end of the seventh pole and having an end face facing the end face of the sixth pole,
wherein the actuator further comprises a central iron core contacting the second pole, the fourth pole, the sixth pole and the eighth pole and disposed under the end faces of the second pole, the fourth pole, the sixth pole and the eighth pole, wherein the central iron core extends in a parallel manner to the first direction,
wherein the winding includes:
a first winding wound around the first pole;
a second winding wound around the third pole;
a third winding wound around the fifth pole; and
a fourth winding wound around the seventh pole,
wherein the permanent magnet is fixed to a bottom face of the central iron core such that a magnetic flux thereof is directed away from the bottom face of the central iron core.

### Claim 14

An actuator comprising:
at least two iron cores, each iron core including a pole extending in a first direction parallel to a direction of gravity;
a permanent magnet disposed between the at least two iron cores so as to generate a magnetic field along a shape of a combination of the at least two iron cores arranged so as to be adjacent to each other in a direction not parallel to the first direction; and
a winding wound around the pole of each of the at least two iron cores,
wherein the at least two iron cores include:
a first iron core including a first pole extending in the first direction, and a second pole extending in a second direction perpendicular to the first direction from one side end of the first pole;
a second iron core including a third pole extending in a parallel manner to the extension direction of the first pole, and a fourth pole extending in a parallel manner to the extension direction of the second pole from one side end of the third pole and having an end face facing an end face of the second pole;
a third iron core including a fifth pole extending in a parallel manner to the extension direction of the first pole, and a sixth pole extending in the second direction from one side end of the fifth pole, wherein the third iron core is adjacent to the first iron core and the second iron core such that an angle defined between an end face of the sixth pole and each of the end face of the second pole and the end face of the fourth pole is a right angle; and
a fourth iron core including a seventh pole extending in a parallel manner to the extension direction of the first pole, and an eighth pole extending in a parallel manner to the extension direction of the sixth pole from one side end of the seventh pole and having an end face facing the end face of the sixth pole,
wherein the winding includes:
a first winding wound around the first pole;
a second winding wound around the third pole;
a third winding wound around the fifth pole; and
a fourth winding wound around the seventh pole,
wherein the permanent magnet includes:
a first permanent magnet fixed to the end face of the second pole such that a magnetic flux thereof is directed toward the end face of the fourth pole facing the end face of the second pole;
a second permanent magnet fixed to the end face of the fourth pole such that a magnetic flux thereof is directed toward the end face of the second pole;
a third permanent magnet fixed to the end face of the sixth pole so that a magnetic flux thereof is directed toward the end face of the eighth pole facing the end face of the sixth pole; and
a fourth permanent magnet fixed to the end face of the eighth pole so that a magnetic flux thereof is directed toward the end face of the sixth pole,
wherein the actuator further comprises a central iron core contacting the first to fourth permanent magnets and disposed under the first to fourth permanent magnets, wherein the central iron core extends in a parallel manner to the first direction.

### Claim 15 (depends on 13)

The actuator of claim 13, wherein a lower end of each of the first pole, the third pole, the fifth pole and the seventh pole has an inclined face facing an inner space defined between the first pole, the third pole, the fifth pole and the eighth pole.

### Claim 16 (depends on 14)

The actuator of claim 14, wherein a lower end of each of the first pole, the third pole, the fifth pole and the seventh pole has an inclined face facing an inner space defined between the first pole, the third pole, the fifth pole and the eighth pole.

### Claim 17

A multi-degrees of freedom magnetic levitating system comprising:
an actuator comprising at least two iron cores, each iron core including a pole extending in a first direction parallel to a direction of gravity, a permanent magnet disposed between the at least two iron cores so as to generate a magnetic field along a shape of a combination of the at least two iron cores arranged so as to be adjacent to each other in a direction not parallel to the first direction, and a winding wound around the pole of each of the at least two iron cores; and
a sensor module including at least two optical-fiber sensors, wherein each of the at least two optical-fiber sensors is disposed under each winding of the actuator,
wherein the at least two optical-fiber sensors measure a position of a magnetically-levitated body,
wherein the system is configured to apply a current to each winding to control the position of the magnetically-levitated body, based on the measured position of the magnetically-levitated body.