Automation equipment, linear motor, linear motor primary and assembly method thereof

Abstract

The present invention relates to the field of linear motors, and provides an automation device, a linear motor, a linear motor primary and an assembly method thereof. The linear motor primary provided by the present invention includes a primary iron core, and the primary iron core includes a tooth unit and a yoke unit. The tooth unit includes at least two annular teeth, each of which is distributed along the axial direction, and a portion of the radial inner end of each annular tooth is fixedly connected to a portion of the radial inner end of the adjacent annular tooth, and a radial outer end of each annular tooth is fixedly connected to the yoke unit. The linear motor includes the aforementioned linear motor primary, and the automation device includes the aforementioned linear motor. This facilitates the installation of an insulating skeleton and winding windings from the radial outer side of the tooth unit into the spacing space, which is conducive to reducing the difficulty of winding the winding, is conducive to improving the slot full rate, is conducive to improving the thrust performance of the linear motor, and is also conducive to reducing magnetic leakage, which is further conducive to improving the thrust performance of the linear motor.

Description

Technical Field

[0001] The invention relates to the field of linear motors, and in particular to an automation device, a linear motor, a linear motor primary and an assembly method thereof. Background Art

[0002] In order to reduce the cogging force of the motor, the prior art designs the cogging of the primary core into a semi-closed form, but this makes it difficult to wind the wire on the primary core.

[0003] In order to solve the above problems, the German patent application with publication number DE102014220148A1 sets the tooth unit and yoke unit of the primary core as split types, so that it is convenient to wind the tooth unit from the back of the tooth unit, and assemble the tooth unit and the yoke unit after the winding of the tooth unit is completed.

[0004] However, for a linear motor with annular primary teeth, especially in a primary with teeth located radially inside the yoke, the primary coil is wound in the spacing between the annular teeth, and thus winding cannot be performed for a single annular tooth unit. Summary of the invention

[0005] One of the purposes of the present invention is to provide a linear motor primary with lower winding difficulty and better thrust performance.

[0006] In order to achieve the above-mentioned purpose, the primary of the linear motor provided by the present invention includes a primary iron core, an insulating frame and a winding; the primary iron core includes a tooth unit and a yoke unit, the tooth unit includes at least two annular teeth, each annular tooth is distributed along the axial direction, a part of the radial inner end of each annular tooth is fixedly connected to a part of the radial inner end of the adjacent annular tooth, and a radial outer end of each annular tooth is fixedly connected to the yoke unit; there is a spacing space between each annular tooth, the winding is wound circumferentially in the spacing space, and the insulating frame separates the winding and the primary iron core.

[0007] As can be seen from the above, the present invention, through the structural design of the primary of the linear motor, sets the yoke unit and the tooth unit separately, and the tooth unit is an integral whole before being assembled with the yoke unit. This facilitates the installation of the insulating frame and the winding of the winding from the radial outer side of the tooth unit to the spacing space, which is beneficial to reducing the difficulty of installing the insulating frame and reducing the difficulty of winding the winding, and is beneficial to improving the slot fill rate and the thrust performance of the linear motor. In addition, in the present invention, the radial inner ends of adjacent annular teeth are not completely connected, which is beneficial to reducing magnetic leakage and further beneficial to improving the thrust performance of the linear motor.

[0008] A preferred solution is that the central angle corresponding to the connecting portion between two adjacent annular teeth is less than or equal to 180°.

[0009] It can be seen from the above that this is beneficial to reducing magnetic leakage and improving the thrust performance of the linear motor.

[0010] Another preferred solution is that two adjacent annular teeth are fixedly connected at least at two locations distributed in the circumferential direction.

[0011] As can be seen from the above, this is beneficial to improving the structural strength and stability of the tooth unit and is beneficial to reducing the deformation of the tooth unit.

[0012] A further solution is that the sum of the central angles corresponding to the connecting parts between two adjacent annular teeth is less than or equal to 180°.

[0013] Another preferred solution is that the tooth unit is formed by splicing at least two blocks.

[0014] It can be seen from the above that this is conducive to reducing the processing difficulty of the gear unit and improving the economy of the primary of the linear motor.

[0015] Another preferred solution is that the tooth unit includes a first block and a second block, the first block has at least two first arc-shaped tooth segments, the second block has at least two second arc-shaped tooth segments, each second arc-shaped tooth segment is distributed along the axial direction, the radial inner end of each second arc-shaped tooth segment is fixedly connected to the radial inner end of the adjacent second arc-shaped tooth segment, and the first block and the second arc-shaped tooth segments are spliced ​​into annular teeth.

[0016] As can be seen from the above, this is conducive to reducing the processing difficulty of the tooth unit and improving the economy; and, since the present solution does not divide the connection positions between the annular teeth into blocks, it is conducive to setting the cross-section of the connection positions of each second arc-shaped tooth segment to be smaller, which is further conducive to reducing magnetic leakage and improving the thrust performance of the linear motor; at the same time, it is conducive to ensuring that the installation position of each block is accurate and stable.

[0017] A further solution is that the first block is formed by stacking a plurality of silicon steel sheets distributed along the circumferential direction, and / or the second block is formed by stacking a plurality of silicon steel sheets distributed along the circumferential direction.

[0018] It can be seen from the above that this is further helpful in reducing the processing difficulty of the tooth unit and improving the economic efficiency.

[0019] A further solution is that the radial inner end of the first block has a tooth shoe, which extends along the circumferential edge of the radial inner end of the first block, protrudes axially toward the adjacent annular teeth, and there is a spacing between the tooth shoes of two adjacent annular teeth.

[0020] It can be seen from the above that the design of the tooth shoe is beneficial to reducing the cogging force of the linear motor, and further beneficial to improving the thrust performance of the linear motor.

[0021] A further solution is that the first block is connected to the second arc-shaped tooth segment by gluing.

[0022] A further solution is that there are at least two second blocks, each of which is distributed along the circumferential direction, and each annular tooth is formed by splicing at least two first blocks and at least two second arc-shaped tooth segments. In the same annular tooth, each first block and each second arc-shaped tooth segment are staggered.

[0023] As can be seen from the above, this is beneficial to improving the structural stability of the tooth unit and improving the position accuracy of each block.

[0024] Another preferred solution is that the insulating frame is formed by splicing at least two arc-extending slot segments in a spacing space, the insulating frame has an annular groove with the notch facing radially outward, and the winding is wound in the annular groove of the insulating frame.

[0025] As can be seen from the above, this is conducive to reducing the difficulty of installing the insulating frame and is conducive to the structural stability of the insulating frame.

[0026] A second object of the present invention is to provide a method for assembling the primary of a linear motor with low difficulty in primary winding operation and good linear motor thrust performance.

[0027] In order to achieve the above-mentioned purpose, the linear motor assembly method provided by the present invention is used to assemble the aforementioned linear motor primary, and the method includes: installing an insulating frame in the spacing space; winding a winding on the insulating frame; and connecting the yoke unit to the radial outer end of each annular tooth.

[0028] As can be seen from the above, this facilitates the installation of the insulating skeleton and the winding of the winding from the radial outer side of the tooth unit into the spacing space, which is beneficial to reducing the difficulty of installing the insulating skeleton and reducing the difficulty of winding the winding, and is beneficial to improving the slot fill rate and the thrust performance of the linear motor. In addition, in the present invention, the radial inner ends of adjacent annular teeth are not completely connected, which is beneficial to reducing magnetic leakage and improving the thrust performance of the linear motor.

[0029] A third object of the present invention is to provide a linear motor with lower difficulty in primary winding operation and better thrust performance.

[0030] In order to achieve the above object, the linear motor provided by the present invention includes the above-mentioned linear motor primary.

[0031] As can be seen from the above, since the present invention adopts the aforementioned linear motor primary, it is convenient to install the insulating frame and wind the winding from the radial outer side of the tooth unit to the spacing space, which is beneficial to reduce the difficulty of installing the insulating frame and reducing the difficulty of winding the winding, and is beneficial to improving the slot fill rate and the thrust performance of the linear motor. In addition, in the present invention, the radial inner ends of adjacent annular teeth are not completely connected, which is beneficial to reduce magnetic leakage and improve the thrust performance of the linear motor.

[0032] A fourth object of the present invention is to provide an automated device with low difficulty in primary winding operation of a linear motor and good thrust performance of the linear motor.

[0033] In order to achieve the above-mentioned purpose, the automation equipment provided by the present invention includes the aforementioned linear motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a structural diagram of an embodiment of a linear motor of the present invention;

[0035] Figure 2 is a cross-sectional view of an embodiment of a linear motor of the present invention;

[0036] Figure 3 is a structural diagram of a gear unit in a primary embodiment of a linear motor of the present invention;

[0037] Figure 4 is a structural diagram of the second puzzle block in the primary embodiment of the linear motor of the present invention;

[0038] Figure 5 It is a structural diagram of the first block located at the axial end in the primary embodiment of the linear motor of the present invention;

[0039] Figure 6 It is a structural diagram of the first block located in the middle of the axial direction in the primary embodiment of the linear motor of the present invention;

[0040] Figure 7 is a structural diagram of a slot segment in a primary embodiment of a linear motor of the present invention;

[0041] Figure 8 It is a structural diagram of the semi-cylinder in the primary embodiment of the linear motor of the present invention. DETAILED DESCRIPTION

[0042] Linear motor primary implementation:

[0043] Please refer to Figure 1 and Figure 2 The linear motor primary 1 of this embodiment includes a primary core 11, an insulating frame 12 and a winding 13. The primary core 11 includes a yoke unit 111 and a tooth unit 112. The tooth unit 112 has seven annular teeth. Please refer to Figure 3In this embodiment, each annular tooth is formed by splicing the following first block 1121 and second arc-shaped tooth segment 11221. Each annular tooth is distributed along the axial direction. The yoke unit 111 is a cylindrical structure. The yoke unit 111 includes two columnar arc plate-shaped semi-cylinders 1111. The two semi-cylinders 1111 are spliced ​​into a cylindrical yoke unit 111. The radial outer end of each annular tooth is connected to the inner cylinder wall of the yoke unit 111.

[0044] Please refer to Figure 3 and Figure 4 The tooth unit 112 includes twenty-eight first blocks 1121 and four second blocks 1122. The first blocks 1121 are first arc-shaped tooth segments, and the center angle of each first arc-shaped tooth segment is 75°. Each second block 1122 includes seven second arc-shaped tooth segments 11221, and the center angle of the second arc-shaped tooth segment 11221 is 15°. Please refer to Figure 4 In the same second block 1122 , the second arc-shaped tooth segments 11221 are sequentially distributed along the axial direction, and the radial inner end of each second arc-shaped tooth segment 11221 is integrally connected with the radial inner end of the adjacent second arc-shaped tooth segment 11221 to form the second block 1122 .

[0045] Please refer to Figure 3 The second blocks 1122 are distributed along the circumferential direction, and each annular tooth is formed by splicing four first blocks 1121 and four second arc-shaped tooth segments 11221. In the same annular tooth, the four first blocks 1121 and the four second arc-shaped tooth segments 11221 are staggeredly distributed in the circumferential direction and connected in sequence.

[0046] Specifically, the first block 1121 is glued to the second arc-shaped tooth segment 11221 .

[0047] Please refer to Figure 2 , Figure 3 and Figure 7 The insulating skeleton 12 has six, six annular spacing spaces 1123 are formed between the seven annular teeth, the six spacing spaces 1123 are distributed along the axial direction, and the six insulating skeletons 12 are arranged in the six spacing spaces 1123 one by one. Each insulating skeleton 12 includes two circumferentially extending groove segments 121, and the two groove segments 121 are spliced ​​to form an annular groove-shaped insulating skeleton 12. The arc grooves 122 of the groove segments 121 are spliced ​​to form an annular groove of the insulating skeleton 12, and the annular notch of the insulating skeleton 12 faces radially outward.

[0048] Please refer to Figure 2 There are six windings 13, and the six windings 13 are respectively wound in the annular grooves of the six insulating skeletons 12. The windings 13 are wound from the radial outer side of the insulating skeleton 12 to the insulating skeleton 12, and the windings 13 are wound along the circumferential direction.

[0049] When assembling the primary linear motor 1, the first step is to splice the first block 1121 and the second block 1122 to form the tooth unit 112 (such as Figure 3 As shown); the second step is to place two slot segments 121 in each spacing space 1123, and the slot segments 121 in the same spacing space 1123 are spliced ​​to form an insulating skeleton 12; the third step is to wind the winding 13 in the annular groove of each insulating skeleton 12; the fourth step is to install and connect the two half cylinders 1111 to the radial outer end of each annular tooth, and the two half cylinders 1111 are surrounded by a cylindrical yoke unit 111.

[0050] Since the primary core 11 is configured as a tooth unit 112 and a yoke unit 111 in this embodiment, the purpose of winding the winding 13 from the radially outer side of the tooth unit 112 can be achieved, which is conducive to reducing the difficulty of winding, and is conducive to improving the slot fill rate, which is conducive to improving the performance of the primary of the linear motor, and then improving the thrust performance of the linear motor. In addition, since the adjacent annular teeth are fixedly connected at part of the radial inner end, on the one hand, the tooth unit 112 can form a whole before being assembled with the yoke unit 111, which is convenient for installing the insulating skeleton 12 and winding the winding 13 in the spacing space 1123, which is conducive to reducing the difficulty of winding the winding 13. On the other hand, the radial inner ends of the adjacent annular teeth in this embodiment are not completely connected, which is conducive to reducing the magnetic leakage of the linear motor and improving the thrust performance of the linear motor.

[0051] Preferably, please refer to Figure 2 , Figure 3 and Figure 8 A limiting groove 1124 is provided on the radial outer side wall of the annular tooth, and a limiting protrusion 1112 is provided on the inner tube wall of the yoke unit 111. The limiting groove 1124 and the limiting protrusion 1112 are both circumferentially extending rings, and the limiting protrusion 1112 is embedded in the limiting groove 1124. This is beneficial for limiting and positioning the cooperation between the tooth unit 112 and the yoke unit 111, and is beneficial for ensuring the accuracy and stability of the positions between the various blocks of the primary iron core 11, which is beneficial for improving the assembly accuracy and reducing the difficulty of assembly.

[0052] For details, please refer to Figure 5 and Figure 6 The radial outer side wall of the first block 1121 has a circumferentially extending groove 11212 , and the radial outer side wall of the second arc-shaped tooth segment 11221 has a circumferentially extending groove 11222 , and the groove 1124 is defined as being formed by splicing the groove 11212 and the groove 11222 .

[0053] Preferably, please refer to Figure 3 , Figure 5 and Figure 6The radial inner end of the first block 1121 has a tooth boot 11211, the tooth boot 11211 extends along the circumferential edge of the radial inner end of the first block 1121, the tooth boot 11211 protrudes toward the adjacent first block 1121 in the axial direction, and there is a spacing between the tooth boots 11211 of adjacent first blocks 1121. The insulating frame 12 abuts against the tooth boot 11211 in the radial direction, and the tooth boot 11211 is provided at the radial inner end of each annular tooth to reduce the axial spacing of the radial inner end of each annular tooth, thereby reducing the tooth portion. The notch at the radial inner end of the unit 112 is beneficial to reducing the tooth force of each annular tooth, thereby improving the thrust performance of the linear motor and improving the stability and reliability of the operation of the primary 1 of the linear motor. Furthermore, the insulating skeleton 12 is radially limited by the tooth boot 11211, which is beneficial to the accurate and stable installation position of the insulating skeleton 12 and the winding 13. In addition, since the tooth unit 112 of this embodiment can be wound from the radial outside, the provision of the tooth boot 11211 will not adversely affect the winding operation.

[0054] For details, please refer to Figure 5 and Figure 6 There are two types of first blocks 1121, the two types of first blocks 1121 are block 1121a and block 1121b, block 1121a is located at the axial end of the tooth unit 112, and block 1121b is located between the two blocks 1121a at the two axial ends. Along the axial direction, the radial inner end of block 1121a has a tooth boot 11211 only on one side, and the radial inner end of block 1121b has a tooth boot 11211 on both sides.

[0055] Optionally, in other embodiments of the present invention, the tooth unit can also be divided into other blocks, for example, the tooth unit is formed by splicing a third block and a fourth block, the third block is a full-ring annular tooth, the third block has an interlocking groove at the radial inner end, the fourth block is in the shape of a strip, and the fourth block is embedded in each interlocking groove to achieve the connection between the third block and the fourth block. Preferably, there are more than two fourth blocks, and each fourth block is distributed along the circumferential direction. Of course, the arrangement of the first block 1121 and the second block 1122 of this embodiment is conducive to ensuring the accurate position and posture between each annular tooth, and is conducive to the regularity of the structural shape of the tooth unit 112, which is conducive to ensuring the excellent performance of the linear motor.

[0056] Optionally, in other embodiments of the present invention, the tooth unit may be an integrated structure, and the entire tooth unit is one part. Of course, the processing difficulty of the tooth unit 112 is relatively large. The primary iron core 11 of this embodiment adopts a block structure, which is conducive to the easy production of the primary iron core 11, especially the block method of the first block 1121 and the second block 1122 of this embodiment, so that the first block 1121 and the second block 1122 are both composed of multiple circumferentially stacked silicon steel sheets, and the processing and production of the first block 1121 and the second block 1122 are simple.

[0057] Preferably, in other embodiments of the present invention, the connection between the first puzzle block 1 and the second arc-shaped tooth segment has a limiting position structure. For example, the circumferential end face of the first arc-shaped tooth segment has a positioning groove, and the circumferential end face of the second arc-shaped segment has a positioning protrusion, which is embedded in the positioning groove. Of course, the limiting position method of the first puzzle block and the second arc-shaped tooth segment can also be specifically set with reference to the limiting position method of the prior art, which will not be repeated here.

[0058] Optionally, in other embodiments of the present invention, the yoke unit may also be a cylindrical body with an integral structure, and the tooth unit equipped with an insulating frame and a winding is axially inserted into the cylinder of the yoke unit. The yoke unit and the tooth unit may be fixed, for example, by: an axially extending limit strip is provided on the inner cylinder wall of the yoke unit, and an axially penetrating limit groove is provided on the radial outer wall of the annular tooth, the limit strip is embedded in the limit groove, and the radial outer wall of the annular tooth is adhesively connected to the inner cylinder wall of the yoke unit; of course, in this embodiment, arranging the yoke unit 111 as two semi-cylinders 1111 is conducive to reducing the difficulty of processing and installing the yoke unit 111, and the cooperation between the circumferentially extending limit groove 1124 and the limit protrusion 1112 is more conducive to bearing the axial thrust, which is conducive to ensuring that the fixed connection between the tooth unit 112 and the yoke unit 111 is stable and reliable.

[0059] Alternatively, in other embodiments of the present invention, the insulating frame may also be integrally injection-molded on the tooth unit, so that there is no need to use more than two slot segments to splice and form the insulating frame.

[0060] In the present embodiment, there are four second blocks 1122, and the sum of the central angles corresponding to the second blocks 1122 is 60°. Of course, in other embodiments of the present invention, the number of second blocks 1122 may not be four, for example, the number of second blocks 1122 is two or three, and the sum of the central angles corresponding to the second blocks 1122 is not necessarily 60°. Preferably, the sum of the central angles corresponding to the second blocks 1122 is less than or equal to 180°, that is, the sum of the central angles corresponding to the connecting parts between adjacent annular teeth is less than or equal to 180°, so as to minimize the connection between the annular teeth and minimize magnetic leakage.

[0061] The assembly method embodiment of the primary linear motor:

[0062] The assembly method of the primary of the linear motor of this embodiment includes: the first step is to splice each first block 1121 and each second block 1122 to form a tooth unit 112; the second step is to place two slot segments 121 in each spacing space 1123, and the two slot segments 121 in the same spacing space 1123 are spliced ​​to form an insulating frame 12; the third step is to wind the winding 13 in the annular groove of each insulating frame 12; the fourth step is to install and connect two semi-cylinders 1111 to the radial outer ends of each annular tooth, and the two semi-cylinders 1111 surround the cylindrical yoke unit 111. The winding 13 is relatively easy to wind and has good economic efficiency.

[0063] Linear motor embodiment:

[0064] Please refer to Figure 1 and Figure 2 The linear motor of this embodiment includes a primary and a secondary 2. The primary adopts the aforementioned linear motor primary 1, and the secondary 2 includes a secondary core 21 and a plurality of permanent magnets 22. The secondary core 21 is cylindrical, and the permanent magnets 22 are ring-shaped. The permanent magnets 22 are sleeved on the secondary core 21, and each permanent magnet 22 is distributed along the axial direction of the secondary core 21.

[0065] The primary is sleeved on the secondary 2, and the secondary 2 is located in the ring of the annular teeth.

[0066] The use of the aforementioned linear motor primary 1 is beneficial, on the one hand, to reducing the difficulty of winding the primary winding 13, and to improving the slot fill rate, which is beneficial to improving the thrust performance of the linear motor; on the other hand, it is beneficial to reducing magnetic leakage, which is further beneficial to improving the thrust performance of the linear motor.

[0067] Optionally, the linear motor of this embodiment may be a moving coil linear motor or a moving magnet linear motor.

[0068] Automation equipment example:

[0069] The automation equipment in this embodiment is a CNC machine tool (not shown in the figure), and the linear motor is used in the feed system of the CNC machine tool. Of course, in other embodiments of the present invention, the automation equipment can also be a machining center, an automated production line, etc., especially a driving device on an automated production line, and the linear motor is used to drive the movement of the actuator on the automated production line.

[0070] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. The primary of the linear motor includes the primary core, insulation frame and winding; Features: The primary core comprises a tooth unit and a yoke unit, wherein the tooth unit comprises at least two annular teeth, each of which is distributed along the axial direction, a portion of a radial inner end of each of the annular teeth is fixedly connected to a portion of a radial inner end of an adjacent annular tooth, and a radial outer end of each of the annular teeth is fixedly connected to the yoke unit; There is a spacing space between each of the annular teeth, the winding is wound circumferentially in the spacing space, and the insulating frame is separated between the winding and the primary iron core.

2. The linear motor primary according to claim 1, characterized in that: The central angle corresponding to the connection portion between two adjacent annular teeth is less than or equal to 180°.

3. The linear motor primary according to claim 1, characterized in that: Two adjacent annular teeth are fixedly connected at least at two locations distributed in the circumferential direction.

4. The primary linear motor according to claim 3, characterized in that: The sum of the central angles corresponding to the connecting parts between two adjacent annular teeth is less than or equal to 180°.

5. The primary linear motor according to any one of claims 1 to 4, characterized in that: The tooth unit is formed by splicing at least two blocks.

6. The primary linear motor according to any one of claims 1 to 4, characterized in that: The tooth unit includes a first block and a second block, the first block has at least two, the first block is a first arc-shaped tooth segment, the second block has at least two second arc-shaped tooth segments, each of the second arc-shaped tooth segments is distributed along the axial direction, the radial inner end of each of the second arc-shaped tooth segments is fixedly connected to the radial inner end of the adjacent second arc-shaped tooth segment, and the first block and the second arc-shaped tooth segment are spliced ​​into the annular tooth.

7. The primary linear motor according to claim 6, characterized in that: The radial inner end of the first block has a tooth shoe, which extends along the circumferential edge of the radial inner end of the first block. The tooth shoe protrudes axially toward the adjacent annular teeth, and there is a spacing between the tooth shoes of two adjacent annular teeth.

8. The primary linear motor according to claim 6, characterized in that: The first block is adhesively connected to the second arc-shaped tooth segment.

9. The linear motor primary according to claim 6, characterized in that: There are at least two second blocks, each of which is distributed along the circumferential direction. Each annular tooth is formed by splicing at least two first blocks and at least two second arc-shaped tooth segments. In the same annular tooth, each first block and each second arc-shaped tooth segment are staggered.

10. The primary linear motor according to claim 6, characterized in that: The first block is formed by stacking a plurality of silicon steel sheets distributed along the circumferential direction, and / or the second block is formed by stacking a plurality of silicon steel sheets distributed along the circumferential direction.

11. The primary linear motor according to any one of claims 1 to 4, characterized in that: The insulating frame is formed by splicing at least two slot segments extending in an arc direction in the spacing space. The insulating frame has an annular groove with a notch facing radially outward, and the winding is wound in the annular groove.

12. The method for assembling a primary linear motor according to any one of claims 1 to 11, characterized in that: Installing the insulating frame in the spacing space; Winding the winding on the insulating frame to form the winding; The yoke unit is connected to the radially outer side end of each of the annular teeth.

13. A linear motor, characterized in that: It comprises the primary of the linear motor as claimed in any one of claims 1 to 11.

14. Automated equipment, characterized in that: Comprising the linear motor as claimed in claim 13.

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