Linear motor and processing device

Abstract

The invention provides a linear motor and a processing device. The linear motor comprises a plurality of first magnetic steels, a plurality of first coils and a plurality of second coils. The plurality of first magnetic steels are sequentially arranged along a first direction, and the magnetic poles of two adjacent first magnetic steels are opposite. In the second direction, the plurality of first coils and the plurality of second coils are arranged on one side of the plurality of first magnetic steels, and the plurality of first coils are arranged along the first direction. In the third direction, the second coils are arranged on one sides of the first coils in a one-to-one correspondence mode, and the first direction, the second direction and the third direction are perpendicular to one another. And in the second direction, the plurality of first coils and the plurality of first magnetic steels are oppositely arranged, and the plurality of second coils and the plurality of first magnetic steels are arranged in a staggered manner. The cost is lower, the size is smaller, and the occupied space is smaller.

Description

Technical Field

[0001] This application relates to the field of motors, and particularly to a linear motor and a processing device. Background Art

[0002] A linear motor is a device used to drive the movement of a load. Currently, the linear motor includes a first magnetic rail, a first coil, a second magnetic rail, and a second coil. The first coil is disposed in the first magnetic rail and can move along the first magnetic rail. The second magnetic rail is mounted on the first coil, and the second coil is disposed in the second magnetic rail and can move along the second magnetic rail. The load is mounted on the second coil. The first coil drives the load to slide along the first magnetic rail through the second magnetic rail and the second coil, and the second coil drives the load to slide along the second magnetic rail. Through the arrangement of the first magnetic rail and the second magnetic rail, the load can move arbitrarily on a plane. However, the design of setting the first magnetic rail and the second magnetic rail has problems of high cost, complex structure, and large occupied space. Summary of the Invention

[0003] This application provides a linear motor and a processing device, aiming to solve the problems of high cost, complex structure, and large occupied space of the linear motor.

[0004] In a first aspect, an embodiment of this application provides a linear motor, which includes a plurality of first magnetic steels and a coil assembly. The coil assembly includes a plurality of first coils and a plurality of second coils. The plurality of first magnetic steels are arranged in sequence along a first direction, and the magnetic poles of two adjacent first magnetic steels are opposite. In a second direction, the plurality of first coils and the plurality of second coils are disposed on one side of the plurality of first magnetic steels, and the plurality of first coils are arranged along the first direction. In a third direction, the plurality of second coils are disposed one by one on one side of the plurality of first coils, and the first direction, the second direction, and the third direction are perpendicular to each other. Among them, in the second direction, the plurality of first coils are disposed opposite to the plurality of first magnetic steels, the plurality of second coils are disposed offset from the plurality of first magnetic steels, and a part of the projection of the plurality of second coils in the second direction overlaps with the projection of the plurality of first magnetic steels in the second direction.

[0005] In the linear motor according to the embodiment of the present application, a plurality of first coils and a plurality of second coils are arranged on one side of a plurality of first magnets along the second direction. In the second direction, the plurality of first coils and the plurality of first magnets are arranged opposite to each other, and the plurality of second coils and the plurality of first magnets are arranged in a staggered manner. The design of arranging the plurality of first coils and the plurality of first magnets opposite to each other enables all the first coils to be located in the magnetic field generated by the first magnets. When the plurality of first coils are energized, the plurality of first coils can move along the first direction under the action of the magnetic field generated by the plurality of first magnets. The design of arranging the plurality of second coils and the plurality of first magnets in a staggered manner enables part of the second coils to be located in the magnetic field generated by the first magnets. When the plurality of second coils are energized, the plurality of second coils can move along the third direction under the action of the magnetic field generated by the plurality of first magnets. That is, the linear motor has two degrees of freedom of moving along the first direction and the third direction. Compared with the prior art, the linear motor according to the embodiment of the present application only needs to set a group of magnetic tracks and two groups of coils to achieve two-degree-of-freedom movement, with lower cost, simpler structure, and smaller occupied space.

[0006] In a possible embodiment, in the third direction, the second coil fixing layer is stacked on one side of the first coil.

[0007] The second coil is directly fixed and stacked on one side of the first coil along the third direction, which can effectively reduce the occupied space of the first coil and the second coil in the third direction, make the structure more compact, and is beneficial to the miniaturization design of the linear motor.

[0008] In a possible embodiment, the size of the second coil in the first direction is less than or equal to the size of the first coil in the first direction. In the first direction, the second coil does not protrude beyond the outermost side of the first coil, and two adjacent first coils can be arranged in a fitting manner, effectively reducing the occupied space of the plurality of first coils in the first direction, making the structure more compact, and being beneficial to the miniaturization design of the linear motor.

[0009] In a possible embodiment, the first coil and the second coil are arranged perpendicular to each other. The arrangement of the first coil and the second coil in space satisfies a 90-degree electrical phase deviation, so that the plurality of first coils and the plurality of second coils can be independently controlled to be energized, and the adjustment is more convenient.

[0010] In a possible embodiment, the number of the first coils and the number of the second coils are both multiples of 3. The larger the multiple, the greater the magnetic force received by the plurality of first coils and the plurality of second coils, and the smoother the movement of the plurality of first coils and the plurality of second coils.

[0011] In a possible embodiment, the coil assembly includes a first coil assembly and a second coil assembly. In the second direction, the second coil assembly is located on one side of the first coil assembly. A plurality of the first coils of the first coil assembly are fixedly laminated with a plurality of first coils of the second coil assembly in a one-to-one correspondence, and a plurality of second coils of the first coil assembly are fixedly laminated with a plurality of second coils of the second coil assembly in a one-to-one correspondence. By providing two sets of coil assemblies, the more the number of the first coils and the second coils, the greater the magnetic force received by the coil assembly, and the smoother the movement of the coil assembly.

[0012] In a possible embodiment, the coil assembly further includes a plurality of third coils, and the plurality of third coils are arranged in sequence along the first direction. In the second direction, the plurality of third coils are arranged in a dislocation manner with respect to the plurality of first magnets, and a part of the projections of the plurality of third coils in the second direction overlaps with the projections of the plurality of first magnets in the second direction.

[0013] The dislocation arrangement here means that: in the third direction, only one end face of each of the plurality of third coils is located between the two opposite end faces of the plurality of first magnets, and a part of the projections of the plurality of third coils in the second direction overlaps with the projections of the plurality of first magnets in the second direction. According to the Lorentz force rule, when the plurality of third coils are energized, the plurality of third coils will receive a magnetic force along the first direction and a magnetic force along the third direction. At this time, the overall magnetic force received by the plurality of first coils, the plurality of second coils and the plurality of third coils is greater, and the movement of the plurality of first coils, the plurality of second coils and the plurality of third coils is smoother.

[0014] In a possible embodiment, in the second direction, the plurality of third coils are fixedly laminated on one side of the plurality of first coils and the plurality of second coils in a one-to-one correspondence.

[0015] By fixedly laminating the plurality of third coils on one side of the plurality of first coils and the plurality of second coils in a one-to-one correspondence, the structure of the three coils is more compact, the occupied space of the three coils can be effectively reduced, which is beneficial to the miniaturization of the linear motor.

[0016] In a possible embodiment, the size of the third coil in the first direction is less than or equal to the size of the first coil in the first direction. By setting the size of the third coil in the first direction to be less than or equal to the size of the first coil in the first direction, the third coil will not protrude beyond the outermost side of the first coil in the first direction, so that two adjacent first coils can be arranged in a fitting manner, effectively reducing the occupied space of the plurality of first coils in the first direction, making the structure more compact, which is beneficial to the miniaturization of the linear motor.

[0017] In a possible embodiment, the size of the third coil in the third direction is less than or equal to the sum of the sizes of the first coil and the second coil in the third direction.

[0018] By setting the size of the third coil in the third direction to be smaller than or equal to the sum of the sizes of the first coil and the second coil in the third direction, the third coil is prevented from protruding out of the first coil and the second coil in the third direction, thereby effectively reducing the space occupied by the three coils in the third direction, making the structure more compact, and facilitating the miniaturization of the linear motor.

[0019] In a possible embodiment, the plurality of first magnetic steels are inclined relative to the first coil along a third direction, and an angle between each of the first magnetic steels and the first coil is α.

[0020] By tilting multiple first magnets along the third direction relative to the first coil, when three-phase current is passed through the multiple first coils, the multiple first coils will be affected by the component of the magnetic force along the first direction and the component of the magnetic force along the third direction of the inclined magnetic field, so that the linear motor can have two degrees of freedom of movement along the first direction and along the third direction.

[0021] In a possible embodiment, the linear motor includes a first back iron, and in the second direction, the first back iron is arranged on a side of the plurality of first magnetic steels away from the plurality of first coils, and the plurality of first magnetic steels are fixedly connected to the first back iron.

[0022] By setting the first back iron, the magnetic field is facilitated to form a magnetic circuit, making the magnetic field intensity stronger, and the magnetic force exerted on the multiple first coils, multiple second coils and multiple third coils is stronger, so that the movement of the multiple first coils, multiple second coils and multiple third coils is smoother, and the linear motor can drive a heavier load.

[0023] In a possible embodiment, the plurality of first magnetic steels are arranged at intervals along the first direction. The linear motor includes a plurality of first auxiliary magnetic steels, and the plurality of first auxiliary magnetic steels are arranged one by one between the plurality of first magnetic steels.

[0024] Multiple first auxiliary magnets are used to solve the magnetic saturation of the first back iron, which is beneficial to improving the magnetic field strength, so that the multiple first coils, multiple second coils and multiple third coils are subjected to greater magnetic force, and thus the movement of the multiple first coils, multiple second coils and multiple third coils is smoother, and the linear motor can drive heavier loads.

[0025] In a possible embodiment, the linear motor includes a plurality of second magnetic steels, the plurality of second magnetic steels are arranged in sequence along the first direction, and the magnetic poles of two adjacent second magnetic steels are opposite. In the second direction, the plurality of second magnetic steels are arranged on a side of the plurality of first coils away from the plurality of first magnetic steels, the plurality of second magnetic steels and the plurality of first magnetic steels are arranged opposite to each other in a one-to-one correspondence, and the magnetic poles of the opposite first magnetic steels and second magnetic steels are opposite.

[0026] By setting up multiple second magnets, the multiple second magnets and the multiple first magnets work together to make the intensity of the magnetic field stronger, and thus the magnetic force exerted on the multiple first coils, the multiple second coils and the multiple third coils is greater, the movement of the multiple first coils, the multiple second coils and the multiple third coils is smoother, and the linear motor can drive a heavier load.

[0027] In a possible embodiment, the distance between the first coil and the first magnetic steel in the second direction is equal to the distance between the first coil and the second magnetic steel in the second direction. The distance between the second coil and the first magnetic steel in the second direction is equal to the distance between the second coil and the second magnetic steel in the second direction.

[0028] The plurality of first coils and the plurality of second coils are arranged between the plurality of first magnetic steels and the plurality of second magnetic steels. According to the principle that like attracts like and opposites repel like, when current flows through the plurality of first coils and the plurality of second coils respectively, both sides of the plurality of first coils along the second direction and both sides of the plurality of second coils along the second direction will also be subjected to magnetic force along the second direction, and the plurality of first coils and the plurality of second coils may swing between the plurality of first magnetic steels and the plurality of second magnetic steels. In the second direction, the plurality of first coils and the plurality of second coils are located in the middle of the interval between the plurality of first magnetic steels and the plurality of second magnetic steels, and the magnetic force of the plurality of first magnetic steels and the magnetic force of the plurality of second magnetic steels on the plurality of first coils are offset, and the magnetic force of the plurality of first magnetic steels and the magnetic force of the plurality of second magnetic steels on the plurality of second coils are offset, and thus the plurality of first coils and the plurality of second coils will not swing in the second direction, and the plurality of first coils and the plurality of second coils can move more smoothly along the first direction and along the third direction.

[0029] In a possible embodiment, the linear motor includes a second back iron, and in the second direction, the second back iron is arranged on a side of the plurality of second magnetic steels away from the first back iron, and the plurality of second magnetic steels are fixedly connected to the second back iron.

[0030] By setting the second back iron, the stability and magnetic field strength of the magnetic circuit are improved. The multiple first coils, multiple second coils and multiple third coils are subjected to greater magnetic force, and the movement of the multiple first coils, multiple second coils and multiple third coils is smoother, and the linear motor can drive heavier loads.

[0031] In a possible embodiment, the plurality of second magnetic steels are arranged at intervals along the first direction, the linear motor includes a plurality of second auxiliary magnetic steels, and the plurality of second auxiliary magnetic steels are disposed one by one between the plurality of second magnetic steels.

[0032] Multiple second auxiliary magnets are used to solve the magnetic saturation of the second back iron, which is beneficial to improving the magnetic field strength, making the magnetic forces received by the multiple first coils, multiple second coils, and multiple third coils greater. As a result, the movements of the multiple first coils, multiple second coils, and multiple third coils are smoother, and the linear motor can drive a heavier load.

[0033] In a second aspect, an embodiment of the present application provides a processing device for processing a load. The processing device includes a workbench and the linear motor provided in the first aspect. The linear motor is installed on the workbench, and the load is installed on the coil assembly of the linear motor. The linear motor is used to drive the load to move relative to the workbench. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background art, the following will describe the drawings required to be used in the embodiments of the present application or the background art.

[0035] Figure 1 is a schematic structural diagram of the processing device provided by the embodiment of the present application;

[0036] Figure 2 is Figure 1 a three-dimensional structural schematic diagram of the linear motor of the processing device shown;

[0037] Figure 3 is Figure 2 a three-dimensional structural exploded schematic diagram of the linear motor shown from another angle;

[0038] Figure 4 is Figure 2 a schematic structural diagram of the linear motor shown in [reference] cut along the L1-L1 line;

[0039] Figure 5 is Figure 4 a schematic structural diagram of the linear motor shown in [reference] cut along the L2-L2 line;

[0040] Figure 6 is Figure 2 a schematic structural diagram of the linear motor (omitting the second back iron, second magnet array, and connecting plate) shown in [reference] from another angle;

[0041] Figure 7 is Figure 2 a schematic structural diagram of the linear motor (omitting the second back iron, second magnet array, and connecting plate) shown in [reference] from another angle;

[0042] Figure 8 is Figure 2 a three-dimensional structural schematic diagram of the linear motor under another embodiment shown;

[0043] Figure 9 isFigure 8 Exploded perspective view of the linear motor shown from another angle;

[0044] Figure 10 is Figure 8 Structural schematic diagram of the linear motor shown in [reference] from another angle;

[0045] Figure 11 is Figure 10 Structural schematic diagram of the linear motor shown in [reference] cut along the L3-L3 line;

[0046] Figure 12 is Figure 2 Exploded perspective view of the linear motor shown in another embodiment;

[0047] Figure 13 is Figure 12 Exploded perspective view of the linear motor shown from another angle;

[0048] Figure 14 is Figure 12 Structural schematic diagram of the linear motor shown cut along the L4-L4 line;

[0049] Figure 15 is Figure 12 Structural schematic diagram of the linear motor (omitting the second magnet array, the second back iron, and the connecting plate) shown in [reference] from another angle;

[0050] Figure 16 is Figure 12 Structural schematic diagram of the linear motor (omitting the second magnet array, the second back iron, the connecting plate, the first coil, and the second coil) shown in [reference] from another angle;

[0051] Figure 17 is Figure 2 Structural schematic diagram of the linear motor (omitting the second back iron, the second magnet array, and the connecting plate) shown in another embodiment;

[0052] Figure 18 is Figure 2 Structural schematic diagram of the linear motor (omitting the second back iron, the second magnet array, and the connecting plate) shown in another embodiment.

[0053] Explanation of reference numerals:

[0054] 1 - Processing device;

[0055] 1000 - Linear motor;

[0056] 100 - First back iron;

[0057] 101 - First surface; 102 - Second surface;

[0058] 200 - Second back iron;

[0059] 201 - Third surface; 202 - Fourth surface;

[0060] 300 - First magnet array;

[0061] 310 - First magnet; 311 - First end face; 312 - Second end face; 310a - First sub - magnet; 310b - Second sub - magnet; 350 - First auxiliary magnet;

[0062] 400 - Second magnet array;

[0063] 410 - Second magnet; 410a - Third sub - magnet; 410b - Fourth sub - magnet; 450 - Second auxiliary magnet;

[0064] 500 - Coil assembly;

[0065] 510 - First coil; 511 - First straight section; 512 - Second straight section; 513 - First arc section; 514 - Second arc section; 515 - First force - applying body; 516 - Second force - applying body; 517 - Third force - applying body; 550 - Second coil; 551 - Third straight section; 552 - Fourth straight section; 553 - Third arc section; 554 - Fourth arc section; 555 - Fourth force - applying body; 556 - Fifth force - applying body; 557 - Sixth force - applying body; 580 - Third coil; 581 - Fifth straight section; 582 - Sixth straight section; 583 - Fifth arc section; 584 - Sixth arc section; 585 - Seventh force - applying body; 586 - Eighth force - applying body; 587 - Ninth force - applying body;

[0066] 600 - Connecting plate;

[0067] 700 - First coil assembly;

[0068] 800 - Second coil assembly;

[0069] 2000 - Workbench;

[0070] 3000 - Processing unit;

[0071] 4000 - Support and guide;

[0072] 3 - Load;

[0073] B1 - First magnetic field;

[0074] B2 - Second magnetic field;

[0075] B3 - Third magnetic field;

[0076] B4 - Fourth magnetic field. Detailed implementation mode

[0077] An embodiment of the present application provides a linear motor, which can be used as a driving mechanism of a processing device to drive a load to move. In the present application, the connection between "component A" and "component B" means that "component A" is directly connected to "component B"; alternatively, "component A" is indirectly connected to "component B" through "component C".

[0078] The embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

[0079] Please refer to Figure 1 、 Figure 2 and Figure 3 , Figure 1 which is a schematic structural diagram of the processing device 1 provided by the embodiment of the present application. Figure 2 is Figure 1 a three-dimensional structural schematic diagram of the linear motor 1000 of the processing device 1 shown in Figure 3 is Figure 2 a three-dimensional structural exploded schematic diagram of the linear motor 1000 shown in another angle.

[0080] For ease of description, as shown in Figure 1 the length direction of the linear motor 1000 is defined as the first direction (i.e., the X-axis direction shown in the figure), the thickness direction of the linear motor 1000 is defined as the second direction (i.e., the Z-axis direction shown in the figure), and the width direction of the linear motor 1000 is defined as the third direction (i.e., the Y-axis direction shown in the figure).

[0081] As shown in Figure 1 the processing device 1 is used to drive the load 3 to move in order to detect or process the load 3. An external power supply is used to supply energy to the processing device 1 so that the processing device 1 can drive the load 3 to move. The processing device 1 includes a linear motor 1000, a workbench 2000, a processing unit 3000, and a support and guide member 4000. The support and guide member 4000 is used to provide support and guidance for the movement of the load 3, and specifically may be an air floating device (such as an air floating pad). The support and guide member 4000 is installed on the workbench 2000, and the load 3 is installed on the support and guide member 4000. The linear motor 1000 is installed on the workbench 2000, and the external power supply is used to supply energy to the linear motor 1000. The linear motor 1000 is used to drive the load 3 to move relative to the support and guide member 4000. In this embodiment, the number of linear motors 1000 is two, and the two linear motors 1000 are respectively located on both sides of the load 3 along the Y-axis direction. In some other embodiments, the number of linear motors 1000 may also be one. The processing unit 3000 is installed on the workbench 2000, and the processing unit 3000 is used to process the load 3. By supplying energy to the linear motor 1000 through the external power supply, the linear motor 1000 can drive the load 3 to move relative to the support and guide member 4000, so that the processing device 1 can drive the load 3 to move, so that the processing unit 3000 can process the load 3.

[0082] As Figure 1 , Figure 2 and Figure 3 shown, in some embodiments, the linear motor 1000 includes a first yoke 100, a second yoke 200, a first magnet array 300, a second magnet array 400, a coil assembly 500, and a connecting plate 600. In the Z-axis direction, the first yoke 100 and the second yoke 200 are spaced apart and oppositely arranged. The first magnet array 300 is fixedly laminated on one side of the first yoke 100 facing the second yoke 200, and is spaced apart and oppositely arranged from the second yoke 200. The second magnet array 400 is fixedly laminated on one side of the second yoke 200 facing the first yoke 100, and is spaced apart and oppositely arranged from the first magnet array 300. The coil assembly 500 is disposed between the first magnet array 300 and the second magnet array 400. In the Y-axis direction, the connecting plate 600 is located on one side of the first yoke 100 and on one side of the second yoke 200. The connecting plate 600 is fixedly connected to the first yoke 100 and the second yoke 200. Exemplarily, the connecting plate 600 is fixedly connected to the first yoke 100 and the second yoke 200 by welding. In some other embodiments, the connecting plate 600 can also be fixedly connected to the first yoke 100 and the second yoke 200 by means including but not limited to threaded connection or snap connection.

[0083] Wherein, the first yoke 100 is mounted on the workbench 2000, and the second yoke 200 faces away from the workbench 2000. By means including but not limited to adhesion, the coil assembly 500 is used to be fixedly connected to the load 3, and an external power source is used to supply energy to the coil assembly 500. The first yoke 100, the second yoke 200, the first magnet array 300, and the second magnet array 400 can cooperate to form a magnetic field. By supplying energy to the coil assembly 500 through the external power source, the coil assembly 500 can conduct current. Under the action of the magnetic field, the coil assembly 500 can move relative to the first yoke 100 and the second yoke 200 along the first magnet array 300 and the second magnet array 400. Thus, by supplying energy to the coil assembly 500 through the external power source, the coil assembly 500 can drive the load 3 fixedly connected to the coil assembly 500 to move relative to the support guide 4000 along the first magnet array 300 and the second magnet array 400, and the linear motor 1000 can drive the load 3 to move relative to the support guide 4000.

[0084] Please refer to Figure 4 , and in combination with Figure 2 and Figure 3 , Figure 4 is Figure 2 a schematic cross-sectional view of the linear motor 1000 shown in

[0085] As Figure 2 , Figure 3 andFigure 4 As shown, exemplarily, the first back iron 100 is a rectangular plate. In some other embodiments, the first back iron 100 may also be a circular plate, a triangular plate, or other irregularly shaped plates. In some embodiments, the first back iron 100 includes a first surface 101 and a second surface 102, and in the Z-axis direction, the first surface 101 and the second surface 102 are arranged in opposite directions.

[0086] In some embodiments, in the Z-axis direction, the second back iron 200 and the first back iron 100 are spaced apart and arranged opposite to each other. Specifically, the second back iron 200 is located on the side of the second surface 102 of the first back iron 100 facing away from the first surface 101 and is spaced apart from the second surface 102. Exemplarily, the second back iron 200 is a rectangular plate. In some other embodiments, the second back iron 200 may also be a circular plate, a triangular plate, or other irregularly shaped plates. The dimension of the second back iron 200 in the X-axis direction is equal to the dimension of the first back iron 100 in the X-axis direction, and the dimension of the second back iron 200 in the Y-axis direction is equal to the dimension of the first back iron 100 in the Y-axis direction. The projection of the second back iron 200 in the Z-axis direction overlaps with the projection of the first back iron 100 in the Z-axis direction. In some other embodiments, the projection of the second back iron 200 in the Z-axis direction may also partially overlap with the projection of the first back iron 100 in the Z-axis direction. Wherein, the second back iron 200 includes a third surface 201 and a fourth surface 202, and in the Z-axis direction, the third surface 201 and the fourth surface 202 are arranged in opposite directions. The third surface 201 faces the second surface 102 and is spaced apart and arranged opposite to the second surface 102, and the fourth surface 202 faces away from the second surface 102.

[0087] Please refer to Figure 5 , and in combination with Figure 3 and Figure 4 , Figure 5 is Figure 4 the schematic cross-sectional structure diagram of the linear motor 1000 along the L2-L2 line as shown.

[0088] The first magnet array 300 and the second magnet array 400 are used to cooperate to generate a magnetic field. After the coil assembly 500 is energized, under the action of the magnetic field, the coil assembly 500 can move along the first magnet array 300 and the second magnet array 400. The first magnet array 300 includes a first magnet 310 and a first auxiliary magnet 350. The first magnet 310 is used to provide a magnetic field, and the first auxiliary magnet 350 is used to strengthen the intensity of the magnetic field, so that the magnetic force received by the coil assembly 500 is greater and the moving speed of the coil assembly 500 is faster.

[0089] Exemplarily, the first permanent magnet 310 is a rectangular plate. In some other embodiments, the first permanent magnet 310 may also be a circular plate, a triangular plate, or other shaped plates. The number of the first permanent magnets 310 is multiple. In this embodiment, the number of the first permanent magnets 310 is 24. In some other embodiments, the number of the first permanent magnets 310 may also be 2, 3, 4, or other greater numbers. The multiple first permanent magnets 310 are arranged at intervals in the X-axis direction in sequence. The greater the number of the first permanent magnets 310, the greater the stroke of the linear motor 1000 in the X-axis direction.

[0090] Among them, in a manner including but not limited to adhesives, the multiple first permanent magnets 310 are fixedly stacked on one side of the second surface 102 and face away from the first surface 101. In other words, the multiple first permanent magnets 310 are fixedly stacked on the side of the first back iron 100 facing the second back iron 200. The dimension of each first permanent magnet 310 in the Y-axis direction is equal to the dimension of the first back iron 100 in the Y-axis direction. In some other embodiments, the dimension of each first permanent magnet 310 in the Y-axis direction may also be smaller than or greater than the dimension of the first back iron 100 in the Y-axis direction. The projection of each first permanent magnet 310 in the Z-axis direction may overlap with the projection of the first back iron 100 in the Z-axis direction and may also overlap with the projection of the second back iron 200 in the Z-axis direction. In some other embodiments, the projection of each first permanent magnet 310 in the Z-axis direction may also partially overlap with the projection of the first back iron 100 in the Z-axis direction and partially overlap with the projection of the second back iron 200 in the Z-axis direction. Each first permanent magnet 310 includes a first end face 311 and a second end face 312, and in the Y-axis direction, the first end face 311 and the second end face 312 face away from each other.

[0091] In some embodiments, two adjacent first permanent magnets 310 include a first sub-permanent magnet 310a and a second sub-permanent magnet 310b, and the magnetic poles of the first sub-permanent magnet 310a and the second sub-permanent magnet 310b are opposite. Exemplarily, the magnetic pole of the first sub-permanent magnet 310a is the N pole, and the magnetic pole of the second sub-permanent magnet 310b is the S pole. It can be understood that the magnetic poles of two adjacent first permanent magnets 310 are opposite.

[0092] In some embodiments, the first auxiliary magnet 350 is a rectangular plate. In some other embodiments, the first auxiliary magnet 350 can also be a circular plate, a triangular plate or other special-shaped plates. The number of the first auxiliary magnets 350 is multiple. In this embodiment, the number of the first auxiliary magnets 350 is 24. In some other embodiments, the number of the first auxiliary magnets 350 can also be 1, 2 or more. The multiple first auxiliary magnets 350 are correspondingly arranged between the multiple first magnets 310 one by one. Specifically, in the X-axis direction, the two sides of each first auxiliary magnet 350 are fixedly connected to the first sub-magnet 310a and the second sub-magnet 310b respectively by means including but not limited to glue. The magnetic poles of the first auxiliary magnet 350 include an N pole and an S pole. The N pole and the S pole are respectively located on both sides of the first auxiliary magnet 350 along the X-axis direction. The N pole of the first auxiliary magnet 350 faces the second sub-magnet 310b, and the S pole of the first auxiliary magnet 350 faces the first sub-magnet 310a.

[0093] Wherein, in the Z-axis direction, the first auxiliary magnet 350 is fixedly laminated on one side of the second surface 102 and faces away from the first surface 101. The dimension of each first auxiliary magnet 350 along the Y-axis direction is equal to the dimension of the first back iron 100 along the Y-axis direction. In some other embodiments, the dimension of each first auxiliary magnet 350 along the Y-axis direction can also be smaller than the dimension of the first back iron 100 along the Y-axis direction. The sum of the dimensions of the multiple first magnets 310 along the X-axis direction and the dimensions of the multiple first auxiliary magnets 350 along the X-axis direction is equal to the dimension of the first back iron 100 along the X-axis direction. In some other embodiments, the sum of the dimensions of the multiple first magnets 310 along the X-axis direction and the dimensions of the multiple first auxiliary magnets 350 along the X-axis direction can also be smaller than the dimension of the first back iron 100 along the X-axis direction. The projection of each first auxiliary magnet 350 in the Z-axis direction can overlap with the projection of the first back iron 100 in the Z-axis direction and can also overlap with the projection of the second back iron 200 in the Z-axis direction.

[0094] In some other embodiments, the dimension of each first auxiliary magnet 350 along the Y-axis direction can also be larger than the dimension of the first back iron 100 along the Y-axis direction. The projection of each first auxiliary magnet 350 in the Z-axis direction partially overlaps with the projection of the first back iron 100 in the Z-axis direction and partially overlaps with the projection of the second back iron 200 in the Z-axis direction.

[0095] Please refer to again Figure 2 、 Figure 3 and Figure 4, in the Z-axis direction, the first magnet array 300 and the second magnet array 400 are spaced apart and arranged opposite to each other. The second magnet array 400 includes a second magnet 410 and a second auxiliary magnet 450. The second magnet 410 is used to provide a magnetic field, and the second auxiliary magnet 450 is used to enhance the intensity of the magnetic field, so that the magnetic force received by the coil assembly 500 is greater and the moving speed of the coil assembly 500 is faster.

[0096] Exemplarily, the second magnet 410 is a rectangular plate. In some other embodiments, the second magnet 410 may also be a circular plate, a triangular plate or other special-shaped plates. The number of the second magnets 410 is multiple. In this embodiment, the number of the second magnets 410 is 24. In some other embodiments, the number of the second magnets 410 may also be 2, 3, 4 or more. The multiple second magnets 410 are sequentially spaced apart in the X-axis direction. The more the number of the second magnets 410, the greater the stroke of the linear motor 1000 in the X-axis direction.

[0097] Among them, in a manner including but not limited to adhesives, the multiple second magnets 410 are fixedly stacked on one side of the third surface 201 and facing away from the fourth surface 202. In other words, the multiple second magnets 410 are fixedly stacked on the side of the second back iron 200 facing the first back iron 100. The dimension of each second magnet 410 in the Y-axis direction is equal to the dimension of the second back iron 200 in the Y-axis direction. In some other embodiments, the dimension of each second magnet 410 in the Y-axis direction may also be smaller or larger than the dimension of the second back iron 200 in the Y-axis direction. The projection of each second magnet 410 in the Z-axis direction may overlap with the projection of the first back iron 100 in the Z-axis direction and may also overlap with the projection of the second back iron 200 in the Z-axis direction. In some other embodiments, the projection of each second magnet 410 in the Z-axis direction may also partially overlap with the projection of the first back iron 100 in the Z-axis direction and partially overlap with the projection of the second back iron 200 in the Z-axis direction. The projections of the multiple second magnets 410 in the Z-axis direction overlap with the projections of the multiple first magnets 310 in the Z-axis direction one by one. The multiple first magnets 310 and the multiple second magnets 410 are spaced apart and arranged opposite to each other one by one.

[0098] In some embodiments, two adjacent second permanent magnets 410 include a third sub-permanent magnet 410a and a fourth sub-permanent magnet 410b, and the magnetic poles of the third sub-permanent magnet 410a and the fourth sub-permanent magnet 410b are opposite. Exemplarily, the magnetic pole of the third sub-permanent magnet 410a is the S pole, and the magnetic pole of the fourth sub-permanent magnet 410b is the N pole. It can be understood that the magnetic poles of two adjacent second permanent magnets 410 are opposite. Among them, in the Z-axis direction, a plurality of third sub-permanent magnets 410a are spaced apart and oppositely arranged corresponding to a plurality of first sub-permanent magnets 310a one by one, and a plurality of fourth sub-permanent magnets 410b are spaced apart and oppositely arranged corresponding to a plurality of second sub-permanent magnets 310b one by one. Among the opposite third sub-permanent magnet 410a and first sub-permanent magnet 310a, the magnetic pole of the third sub-permanent magnet 410a is the S pole, and the magnetic pole of the first sub-permanent magnet 310a is the N pole. Among the opposite fourth sub-permanent magnet 410b and second sub-permanent magnet 310b, the magnetic pole of the fourth sub-permanent magnet 410b is the N pole, and the magnetic pole of the second sub-permanent magnet 310b is the S pole. It can be understood that in the Z-axis direction, a plurality of first permanent magnets 310 and a plurality of second permanent magnets 410 are spaced apart and oppositely arranged corresponding to each other one by one, and the magnetic poles of the opposite first permanent magnets 310 and second permanent magnets 410 are opposite.

[0099] In some embodiments, the second auxiliary permanent magnet 450 is a rectangular plate body. In some other embodiments, the second auxiliary permanent magnet 450 can also be a circular plate body, a triangular plate body or other special-shaped plate bodies. The number of the second auxiliary permanent magnets 450 is multiple. In this embodiment, the number of the second auxiliary permanent magnets 450 is 24. In some other embodiments, the number of the second auxiliary permanent magnets 450 can also be 1, 2 or other more. A plurality of second auxiliary permanent magnets 450 are arranged corresponding to a plurality of second permanent magnets 410 one by one. Specifically, by means including but not limited to bonding, on the X-axis direction, both sides of each second auxiliary permanent magnet 450 are fixedly connected to the third sub-permanent magnet 410a and the fourth sub-permanent magnet 410b respectively. The magnetic poles of each second auxiliary permanent magnet 450 include an N pole and an S pole, and the N pole and the S pole are respectively located on both sides of the second auxiliary permanent magnet 450 along the X-axis direction, and the N pole of the second auxiliary permanent magnet 450 faces the third sub-permanent magnet 410a, and the S pole of the second auxiliary permanent magnet 450 faces the fourth sub-permanent magnet 410b.

[0100] Among them, in the Z-axis direction, the second auxiliary permanent magnet 450 is fixedly laminated on one side of the third surface 201 and faces away from the fourth surface 202. The projections of a plurality of second auxiliary permanent magnets 450 in the Z-axis direction overlap with the projections of a plurality of first auxiliary permanent magnets 350 in the Z-axis direction corresponding to each other one by one. A plurality of second auxiliary permanent magnets 450 and a plurality of first auxiliary permanent magnets 350 are spaced apart and oppositely arranged corresponding to each other one by one in the Z-axis direction.

[0101] The dimension of each second auxiliary magnet 450 in the Y-axis direction is equal to the dimension of the second back iron 200 in the Y-axis direction. In some other embodiments, the dimension of each second auxiliary magnet 450 in the Y-axis direction may also be smaller than the dimension of the second back iron 200 in the Y-axis direction. The sum of the dimensions of the plurality of second magnets 410 in the X-axis direction and the dimensions of the plurality of second auxiliary magnets 450 in the X-axis direction is equal to the dimension of the second back iron 200 in the X-axis direction. In some other embodiments, the sum of the dimensions of the plurality of second magnets 410 in the X-axis direction and the dimensions of the plurality of second auxiliary magnets 450 in the X-axis direction may also be smaller than the dimension of the second back iron 200 in the X-axis direction. The projection of each second auxiliary magnet 450 in the Z-axis direction may overlap with the projection of the first back iron 100 in the Z-axis direction and may also overlap with the projection of the second back iron 200 in the Z-axis direction.

[0102] In some other embodiments, the dimension of each second auxiliary magnet 450 in the Y-axis direction may also be larger than the dimension of the first back iron 100 in the Y-axis direction. The projection of each second auxiliary magnet 450 in the Z-axis direction partially overlaps with the projection of the first back iron 100 in the Z-axis direction and partially overlaps with the projection of the second back iron 200 in the Z-axis direction.

[0103] Among them, as Figure 4 shown, the first sub-magnet 310a, the second sub-magnet 310b, the third sub-magnet 410a, the fourth sub-magnet 410b, the first auxiliary magnet 350, and the second auxiliary magnet 450 cooperate to generate a magnetic field, and the loop of this magnetic field is: the first sub-magnet 310a - the third sub-magnet 410a - the second auxiliary magnet 450 - the fourth sub-magnet 410b - the second sub-magnet 310b - the first auxiliary magnet 350 - the first sub-magnet 310a.

[0104] The first sub-magnet 310a, the second sub-magnet 310b, the third sub-magnet 410a, the fourth sub-magnet 410b, the first back iron 100, and the second back iron 200 cooperate to generate a magnetic field, and the loop of this magnetic field is: the first sub-magnet 310a - the third sub-magnet 410a - the second back iron 200 - the fourth sub-magnet 410b - the second sub-magnet 310b - the first back iron 100 - the first sub-magnet 310a.

[0105] Please refer to Figure 6 and Figure 7 , and in combination with Figure 2 , Figure 3 , Figure 4 and Figure 5 , Figure 6 is Figure 2 The structural schematic diagram of the linear motor 1000 (omitting the second back iron 200, the second magnet array 400, and the connecting plate 600) shown in Figure 7 is Figure 2Schematic structural diagram of the linear motor 1000 (omitting the second back iron 200, the second magnet array 400, and the connection plate 600) shown in another angle. Figure 6 and Figure 7 The content marked in is different.

[0106] Such as Figure 4 、 Figure 5 and Figure 6 As shown in, the coil assembly 500 is disposed between the first magnet array 300 and the second magnet array 400. The coil assembly 500 includes a plurality of first coils 510 and a plurality of second coils 550. In the Z-axis direction, the plurality of first coils 510 and the plurality of second coils 550 are disposed on a side of the plurality of first magnets 310 facing the plurality of second magnets 410. The plurality of first coils 510 are arranged in sequence and spaced apart along the X-axis direction. In the Y-axis direction, the plurality of second coils 550 are disposed on a side of the plurality of first coils 510 one by one. Specifically, in the Y-axis direction, by means including but not limited to glue, the plurality of second coils 550 are fixedly stacked on a side of the first coils 510 one by one. The plurality of second coils 550 are arranged in sequence and spaced apart along the X-axis direction. By fixedly stacking the second coils 550 on a side of the first coils 510 in the Y-axis direction, the size of the coil assembly 500 in the Y-axis direction is effectively reduced, making the structure of the linear motor 1000 more compact, which is beneficial to the miniaturization setting of the linear motor 1000. In some other embodiments, in the Y-axis direction, the first coils 510 and the second coils 550 may also be spaced apart, and the first coils 510 and the second coils 550 are fixedly connected by a connecting member.

[0107] In some embodiments, in the Z-axis direction, the plurality of first coils 510 and the plurality of first magnets 310 are disposed opposite to each other. The plurality of first coils 510 and the plurality of first magnets 310 being disposed opposite to each other means that: in the Z-axis direction, the plurality of first coils 510 and the plurality of first magnets 310 are spaced apart and disposed opposite to each other, and in the Y-axis direction, the plurality of first coils 510 are located between the first end face 311 and the second end face 312 of the plurality of first magnets 310. And the plurality of first coils 510 and the plurality of second magnets 410 are disposed opposite to each other. For the specific description, reference may be made to the description of the plurality of first coils 510 and the plurality of first magnets 310 being disposed opposite to each other, and details will not be repeated.

[0108] Such as Figure 5 and Figure 6 As shown in, for the convenience of description, three first coils 510 arranged in sequence along the positive X-axis direction are sequentially defined as the first coil 510a, the first coil 510b, and the first coil 510c.

[0109] In this embodiment, the distance S1 between each first coil 510 and the first magnet 310 in the Z-axis direction is equal to the distance S2 between each first coil 510 and the second magnet 410 in the Z-axis direction. The first coil 510 is centrally arranged in the Z-axis direction, which improves the uniformity of the force on the first coil 510 in the magnetic field and is beneficial to improving the stability of the movement of the coil assembly 500.

[0110] Exemplarily, the number of the first coils 510 is a multiple of 3. In this embodiment, the number of the first coils 510 is 9. In some other embodiments, the number of the first coils 510 may be 3, 6 or more. Projected along the Z-axis direction, the shape of the first coil 510 is a hollow rounded rectangle. The first coil 510 includes a first straight section 511, a second straight section 512, a first arc section 513 and a second arc section 514. In the X-axis direction, the first straight section 511 and the second straight section 512 are spaced apart and oppositely arranged. In the Y-axis direction, the first arc section 513 and the second arc section 514 are spaced apart and oppositely arranged. Both the first arc section 513 and the second arc section 514 are connected to the first straight section 511 and the second straight section 512.

[0111] Wherein, in the Y-axis direction, the lengths of the first straight section 511 and the second straight section 512 are equal. In the Y-axis direction, the first straight section 511 and the second straight section 512 are located between the first end face 311 and the second end face 312, and both the first straight section 511 and the second straight section 512 are perpendicular to the X-axis direction. In the Y-axis direction, the first arc section 513 and the second arc section 514 are located between the first end face 311 and the second end face 312, and the first arc section 513 and the second arc section 514 are symmetrically arranged along the X-axis. In the Y-axis direction, the distance between the first arc section 513 and the first end face 311 is equal to the distance between the second arc section 514 and the second end face 312. In some other embodiments, the distance between the first arc section 513 and the first end face 311 and the distance between the second arc section 514 and the second end face 312 may not be equal.

[0112] As Figure 7 shown, every three first coils 510 arranged in sequence along the X-axis direction form a force-generating body. The 9 first coils 510 form 3 force-generating bodies, namely a first force-generating body 515, a second force-generating body 516 and a third force-generating body 517. The first force-generating body 515, the second force-generating body 516 and the third force-generating body 517 are arranged in sequence and spaced apart along the X-axis direction. Each force-generating body is used to receive three-phase current. Each phase current of the three-phase current is respectively transmitted to the 3 first coils 510 of the force-generating body. When the first force-generating body 515, the second force-generating body 516 and the third force-generating body 517 are all energized with three-phase current, the first force-generating body 515, the second force-generating body 516 and the third force-generating body 517 will all be subjected to magnetic force, so that the coil assembly 500 can move.

[0113] As shown in Figure 3 , Figure 6 and Figure 7 , after three-phase current is applied to the first force-applying body 515, the resultant magnetic force on the first coil 510a is 0. The resultant magnetic force on the first coil 510b is greater than 0, and the direction of the resultant force is toward the negative X-axis direction. The resultant magnetic force on the first coil 510c is greater than 0, and the direction of the resultant force is toward the negative X-axis direction. That is to say, the resultant magnetic force on the first force-applying body 515 is greater than 0, and the direction is toward the negative X-axis direction.

[0114] Specifically, in each first coil 510 of the first force-applying body 515, the magnitude of the current flowing through the first straight section 511 is equal to the magnitude of the current flowing through the second straight section 512, and the direction of the current flowing through the first straight section 511 is opposite to the direction of the current flowing through the second straight section 512, and both are perpendicular to the X-axis direction. The magnitude of the current flowing through the first arc section 513 is equal to the magnitude of the current flowing through the second arc section 514, and the direction of the current flowing through the first arc section 513 is opposite to the direction of the current flowing through the second arc section 514.

[0115] Among them, in the Z-axis direction, both the first straight section 511 and the second straight section 512 of the first coil 510a are located between the first sub-magnet 310a and the third sub-magnet 410a. Since the magnetic pole of the first sub-magnet 310a is the N pole and the magnetic pole of the third sub-magnet 410a is the S pole, the first sub-magnet 310a and the third sub-magnet 410a generate a first magnetic field B1, and the direction of the magnetic induction line of the first magnetic field B1 is toward the positive Z-axis direction. The current flowing through the first straight section 511 and the current flowing through the second straight section 512 both cut the magnetic induction lines of the first magnetic field B1, and since the lengths of the first straight section 511 and the second straight section 512 are equal, the length of the magnetic induction line cut by the current flowing through the first straight section 511 is equal to the length of the magnetic induction line cut by the current flowing through the second straight section 512. Exemplarily, the direction of the current applied to the first coil 510a is the Figure 6 clockwise direction in, the direction of the current flowing through the first straight section 511 is toward the positive Y-axis direction, and the direction of the current flowing through the second straight section 512 is toward the negative Y-axis direction. And the magnitude of the current flowing through the first straight section 511 is equal to the magnitude of the current flowing through the second straight section 512. According to the Lorentz force rule, the first straight section 511 is subjected to a magnetic force along the positive X-axis direction, the second straight section 512 is subjected to a magnetic force along the negative X-axis direction, and the magnitude of the magnetic force on the first straight section 511 is equal to the magnitude of the magnetic force on the second straight section 512. The resultant magnetic force of the first coil 510a in the X-axis direction is 0.

[0116] In the Y-axis direction, the first arc segment 513 and the second arc segment 514 of the first coil 510a are symmetrically arranged. Both the first arc segment 513 and the second arc segment 514 are located in the first magnetic field B1, and the direction of the magnetic induction lines of the first magnetic field B1 is toward the positive direction of the Z-axis. The current flowing through the first arc segment 513 and the current flowing through the second arc segment 514 both cut the magnetic induction lines of the first magnetic field B1. Moreover, since the length of the first arc segment 513 is equal to the length of the second arc segment 514, the length of the magnetic induction lines cut by the current flowing through the first arc segment 513 is equal to the length of the magnetic induction lines cut by the current flowing through the second arc segment 514. The direction of the current flowing through the first arc segment 513 is toward the positive direction of the X-axis, the direction of the current flowing through the second arc segment 514 is toward the negative direction of the X-axis, and the magnitudes of the current flowing through the first arc segment 513 and the current flowing through the second arc segment 514 are equal. According to the Lorentz force rule, the first arc segment 513 is subjected to a magnetic force along the negative Y-axis direction, and the second arc segment 514 is subjected to a magnetic force along the positive Y-axis direction. The magnitude of the magnetic force received by the first arc segment 513 is equal to the magnitude of the magnetic force received by the second arc segment 514. That is, the resultant magnetic force of the first coil 510a in the Y-axis direction is 0. In summary, the resultant magnetic force of the first coil 510a received by the first magnetic field B1 is 0.

[0117] Continue to refer to Figure 6 , in the Z-axis direction, the first straight segment 511 of the first coil 510b is located between the second sub-magnet 310b and the fourth sub-magnet 410b. Since the magnetic pole of the second sub-magnet 310b is the S pole and the magnetic pole of the fourth sub-magnet 410b is the N pole, the second sub-magnet 310b and the fourth sub-magnet 410b generate the second magnetic field B2, and the direction of the magnetic induction lines of the second magnetic field B2 is toward the negative direction of the Z-axis. The current flowing through the first straight segment 511 cuts the magnetic induction lines of the second magnetic field B2. Exemplarily, the direction of the current input into the first coil 510b is the clockwise direction in Figure 6 , and the direction of the current flowing through the first straight segment 511 is toward the positive direction of the Y-axis. According to the Lorentz force rule, the first straight segment 511 is subjected to a magnetic force along the negative X-axis direction.

[0118] The second straight segment 512 of the first coil 510b is located between the first sub-magnet 310a and the third sub-magnet 410a. Since the magnetic pole of the first sub-magnet 310a is the N pole and the magnetic pole of the third sub-magnet 410a is the S pole, the first sub-magnet 310a and the third sub-magnet 410a generate a third magnetic field B3. The direction of the magnetic induction lines of the third magnetic field B3 is towards the positive direction of the Z axis, and the current flowing through the second straight segment 512 cuts the magnetic induction lines of the third magnetic field B3. The direction of the current flowing through the second straight segment 512 is towards the negative direction of the Y axis. According to the Lorentz force rule, the second straight segment 512 is subjected to a magnetic force along the negative direction of the X axis. The magnetic forces on the first straight segment 511 and the second straight segment 512 of the first coil 510b are both towards the negative direction of the X axis, that is, the resultant force of the magnetic force of the first coil 510b in the X-axis direction is greater than 0, and its direction is towards the negative direction of the X axis.

[0119] In the Y-axis direction, the first arc segment 513 and the second arc segment 514 of the first coil 510b are symmetrically arranged. A part of the first arc segment 513 (the end towards the negative direction of the X axis) and a part of the second arc segment 514 (the end towards the negative direction of the X axis) are both located in the second magnetic field B2. The direction of the magnetic induction lines of the second magnetic field B2 is towards the negative direction of the Z axis. The current flowing through the first arc segment 513 and the current flowing through the second arc segment 514 both cut the magnetic induction lines of the second magnetic field B2. And since the length of the first arc segment 513 located in the second magnetic field B2 is equal to the length of the second arc segment 514 located in the second magnetic field B2, the length of the current flowing through the first arc segment 513 cutting the magnetic induction lines is equal to the length of the current flowing through the second arc segment 514 cutting the magnetic induction lines. The direction of the current flowing through the first arc segment 513 is towards the positive direction of the X axis, the direction of the current flowing through the second arc segment 514 is towards the negative direction of the X axis, and the magnitude of the current flowing through the first arc segment 513 is equal to the magnitude of the current flowing through the second arc segment 514. According to the Lorentz force rule, the first arc segment 513 is subjected to the magnetic force of the second magnetic field B2, and the direction of the magnetic force on the first arc segment 513 by the second magnetic field B2 is towards the positive direction of the Y axis. The second arc segment 514 is subjected to the magnetic force of the second magnetic field B2, and the direction of the magnetic force on the second arc segment 514 by the second magnetic field B2 is towards the negative direction of the Y axis. The magnitude of the magnetic force on the first arc segment 513 by the second magnetic field B2 is equal to the magnitude of the magnetic force on the second arc segment 514 by the second magnetic field B2. That is, the resultant force of the magnetic forces on the first arc segment 513 and the second arc segment 514 by the second magnetic field B2 is 0.

[0120] Another part of the first arc segment 513 of the first coil 510b (the end towards the positive X-axis direction) and another part of the second arc segment 514 (the end towards the positive X-axis direction) are both located in the third magnetic field B3, and the direction of the magnetic induction lines of the third magnetic field B3 is towards the positive Z-axis direction. The current flowing through the first arc segment 513 and the current flowing through the second arc segment 514 both cut the magnetic induction lines of the third magnetic field B3, and since the length of the first arc segment 513 located in the third magnetic field B3 is equal to the length of the second arc segment 514 located in the third magnetic field B3, the length of the current flowing through the first arc segment 513 cutting the magnetic induction lines is equal to the length of the current flowing through the second arc segment 514 cutting the magnetic induction lines. The direction of the current flowing through the first arc segment 513 is towards the positive X-axis direction, the direction of the current flowing through the second arc segment 514 is towards the negative X-axis direction, and the magnitude of the current flowing through the first arc segment 513 is equal to the magnitude of the current flowing through the second arc segment 514. According to the Lorentz force rule, the first arc segment 513 is subjected to the magnetic force of the third magnetic field B3, and the direction of the magnetic force of the third magnetic field B3 on the first arc segment 513 is towards the negative Y-axis direction. The second arc segment 514 is subjected to the magnetic force of the third magnetic field B3, and the direction of the magnetic force of the third magnetic field B3 on the second arc segment 514 is towards the positive Y-axis direction, and the magnitude of the magnetic force of the third magnetic field B3 on the first arc segment 513 is equal to the magnitude of the magnetic force of the third magnetic field B3 on the second arc segment 514. The resultant force of the magnetic forces on the first arc segment 513 and the second arc segment 514 by the third magnetic field B3 is 0. To sum up, the resultant force of the magnetic forces on the first arc segment 513 and the second arc segment 514 of the first coil 510b is 0, the resultant force of the magnetic forces on the first straight segment 511 and the second straight segment 512 is greater than 0, and its direction is towards the negative X-axis direction. That is, the direction of the resultant magnetic force of the first coil 510b is towards the negative X-axis direction.

[0121] Continue to refer to Figure 6 , the first straight segment 511 of the first coil 510c is located in the third magnetic field B3, and the direction of the magnetic induction lines of the third magnetic field B3 is towards the positive Z-axis direction. The current flowing through the first straight segment 511 cuts the magnetic induction lines of the third magnetic field B3. Exemplarily, the current direction of the first coil 510c is Figure 6 the counterclockwise direction in

[0122] The second straight segment 512 of the first coil 510c is located between the second sub-magnet 310b and the fourth sub-magnet 410b. Since the magnetic pole of the second sub-magnet 310b is the S pole and the magnetic pole of the fourth sub-magnet 410b is the N pole, the second sub-magnet 310b and the fourth sub-magnet 410b generate a fourth magnetic field B4, and the direction of the magnetic induction line of the fourth magnetic field B4 is towards the negative direction of the Z axis. The current flowing through the second straight segment 512 cuts the magnetic induction lines of the fourth magnetic field B4. The direction of the current flowing through the second straight segment 512 is towards the positive direction of the Y axis. According to the Lorentz force rule, the second straight segment 512 is subjected to a magnetic force towards the negative direction of the X axis. The magnetic forces on the first straight segment 511 and the second straight segment 512 of the first coil 510c are both towards the negative direction of the X axis, that is, the resultant force of the magnetic forces on the first coil 510c in the X-axis direction is greater than 0, and the direction of the magnetic force on the first coil 510c in the X-axis direction is towards the negative direction of the X axis.

[0123] In the Y-axis direction, the first arc segment 513 and the second arc segment 514 of the first coil 510c are symmetrically arranged. A part of the first arc segment 513 (the end towards the negative direction of the X axis) and a part of the second arc segment 514 (the end towards the negative direction of the X axis) are both located in the third magnetic field B3, and the direction of the magnetic induction line of the third magnetic field B3 is towards the positive direction of the Z axis. The current flowing through the first arc segment 513 and the current flowing through the second arc segment 514 both cut the magnetic induction lines of the third magnetic field B3, and since the length of the first arc segment 513 located in the third magnetic field B3 is equal to the length of the second arc segment 514 located in the third magnetic field B3, the length of the current flowing through the first arc segment 513 cutting the magnetic induction lines is equal to the length of the current flowing through the second arc segment 514 cutting the magnetic induction lines. The direction of the current flowing through the first arc segment 513 is towards the negative direction of the X axis, the direction of the current flowing through the second arc segment 514 is towards the positive direction of the X axis, and the magnitude of the current flowing through the first arc segment 513 is equal to the magnitude of the current flowing through the second arc segment 514. According to the Lorentz force rule, the first arc segment 513 is subjected to the magnetic force of the third magnetic field B3, and the direction of the magnetic force on the first arc segment 513 by the third magnetic field B3 is towards the positive direction of the Y axis. The second arc segment 514 is subjected to the magnetic force of the third magnetic field B3, and the direction of the magnetic force on the second arc segment 514 by the third magnetic field B3 is towards the negative direction of the Y axis, and the magnitude of the magnetic force on the first arc segment 513 by the third magnetic field B3 is equal to the magnitude of the magnetic force on the second arc segment 514 by the third magnetic field B3. That is, the resultant force of the magnetic forces on the first arc segment 513 and the second arc segment 514 of the first coil 510c by the third magnetic field B3 is 0.

[0124] Another part of the first arc segment 513 (the end towards the positive X-axis direction) and another part of the second arc segment 514 (the end towards the positive X-axis direction) are both located in the fourth magnetic field B4, and the direction of the magnetic induction lines of the fourth magnetic field B4 is towards the negative Z-axis direction. The currents flowing through the first arc segment 513 and the second arc segment 514 both cut the magnetic induction lines of the fourth magnetic field B4, and since the length of the first arc segment 513 located in the fourth magnetic field B4 is equal to the length of the second arc segment 514 located in the fourth magnetic field B4, the length of the current flowing through the first arc segment 513 cutting the magnetic induction lines is equal to the length of the current flowing through the second arc segment 514 cutting the magnetic induction lines. The direction of the current flowing through the first arc segment 513 is towards the negative X-axis direction, the direction of the current flowing through the second arc segment 514 is towards the positive X-axis direction, and the magnitude of the current flowing through the first arc segment 513 is equal to the magnitude of the current flowing through the second arc segment 514. According to the Lorentz force rule, the first arc segment 513 is subjected to the magnetic force of the fourth magnetic field B4, and the direction of the magnetic force of the fourth magnetic field B4 on the first arc segment 513 is towards the negative Y-axis direction. The second arc segment 514 is subjected to the magnetic force of this fourth magnetic field B4, and the direction of the magnetic force of this fourth magnetic field B4 on the second arc segment 514 is towards the positive Y-axis direction, and the magnitude of the magnetic force of the fourth magnetic field B4 on the first arc segment 513 is equal to the magnitude of the magnetic force of this fourth magnetic field B4 on the second arc segment 514. The resultant force of the magnetic forces on the first arc segment 513 and the second arc segment 514 of the first coil 510c by the fourth magnetic field B4 is 0.

[0125] In summary, the resultant force of the magnetic forces on the first arc segment 513 and the second arc segment 514 of the first coil 510c is 0, the resultant force of the magnetic forces on the first straight segment 511 and the second straight segment 512 is greater than 0, and the direction of the resultant force of the magnetic forces on the first straight segment 511 and the second straight segment 512 is towards the negative X-axis direction. That is, the direction of the resultant force of the magnetic forces on the first coil 510c is towards the negative X-axis direction.

[0126] It can be understood that after the first force - generating body 515 is energized with three - phase current, the resultant force of the magnetic forces received by the first coil 510a, the first coil 510b, and the first coil 510c in the Y - axis direction is 0, the resultant force of the magnetic forces received by the first coil 510a, the first coil 510b, and the first coil 510c in the X - axis direction is greater than 0, and the direction of the resultant force of the magnetic forces received by the first coil 510a, the first coil 510b, and the first coil 510c in the X - axis direction is towards the negative direction of the X - axis. That is, the direction of the resultant force of the magnetic forces received by the first force - generating body 515 in the magnetic field is towards the negative direction of the X - axis. Similarly, the second force - generating body 516 and the third force - generating body 517 are connected in series or in parallel with the first force - generating body 515, and the direction of the resultant force of the magnetic forces received by the second force - generating body 516 and the third force - generating body 517 in the magnetic field is towards the negative direction of the X - axis. The coil assembly 500 can drive the load to move along the negative direction of the X - axis. In some other embodiments, by changing the phase sequence of the three - phase current, the direction of the resultant force of the magnetic forces received by the first force - generating body 515, the second force - generating body 516, and the third force - generating body 517 in the magnetic field can be made to be towards the positive direction of the X - axis, and the coil assembly 500 can drive the load to move along the positive direction of the X - axis. The magnetic force generated when the second force - generating body 516 is energized with three - phase current and the magnetic force generated when the third force - generating body 517 is energized with three - phase current can be referred to the relevant description of the first force - generating body 515 and will not be elaborated here.

[0127] As Figure 5 and Figure 6 shown, in the Z - axis direction, multiple second coils 550 and multiple first magnetic steels 310 are arranged in a staggered manner. The staggered arrangement of multiple second coils 550 and multiple first magnetic steels 310 means that: in the Y - axis direction, only one end face of each of the multiple second coils 550 is located between the first end face 311 and the second end face 312, the other end face of each of the multiple second coils 550 is located outside the first end face 311 and the second end face 312, and the projected part of the multiple second coils 550 in the Z - axis direction overlaps with the projected part of the multiple first magnetic steels 310 in the Z - axis direction. The staggered arrangement of multiple second coils 550 and multiple second magnetic steels 410 can be specifically referred to the description of the staggered arrangement of multiple second coils 550 and multiple first magnetic steels 310 and will not be elaborated here.

[0128] As Figure 5 and Figure 6 described, for the convenience of description, three second coils 550 arranged in sequence along the positive direction of the X - axis are sequentially defined as the second coil 550a, the second coil 550b, and the second coil 550c.

[0129] In this embodiment, by setting the distance S1 between each second coil 550 and multiple first permanent magnets 310 in the Z-axis direction to be equal to the distance S2 between each second coil 550 and multiple second permanent magnets 410 in the Z-axis direction, and the second coil 550 is centered in the Z-axis direction, the uniformity of the force on the second coil 550 in the magnetic field is improved, which is beneficial to improving the stability of the movement of the coil assembly 500.

[0130] Exemplarily, the number of the second coils 550 is a multiple of 3. In this embodiment, the number of the second coils 550 is 9. In some other embodiments, the number of the second coils 550 can be 3, 6 or more. Projected along the Z-axis direction, the shape of the second coil 550 is a hollow rounded rectangle. The second coil 550 includes a third straight section 551, a fourth straight section 552, a third arc section 553 and a fourth arc section 554. In the X-axis direction, the third arc section 553 and the fourth arc section 554 are spaced apart and oppositely arranged. In the Y-axis direction, the third straight section 551 and the fourth straight section 552 are spaced apart and oppositely arranged. Both the third arc section 553 and the fourth arc section 554 are connected to the third straight section 551 and the fourth straight section 552. Among them, only the fourth straight section 552 is located between the first end face 311 and the second end face 312, that is, only the fourth straight section 552 is located in the magnetic field and cuts the magnetic induction line. The fourth straight section 552 is perpendicular to the Y-axis direction.

[0131] In this embodiment, please continue to refer to Figure 6 , the maximum distance between the third arc section 553 and the fourth arc section 554 in the X-axis direction is less than or equal to the maximum distance between the first straight section 511 and the second straight section 512 in the X-axis direction. It can be understood that the size of the second coil 550 in the X-axis direction is less than or equal to the size of the first coil 510 in the X-axis direction. In this way, the second coil 550 will not protrude beyond the outermost side of the first coil 510 along the X-axis direction. In the X-axis direction, multiple first coils 510 can be arranged in a fitting manner in sequence to reduce the size of the coil assembly 500 in the X-axis direction, and the structure of the coil assembly 500 is more compact, which is beneficial to the miniaturization of the linear motor 1000.

[0132] In other embodiments, the size of the second coil 550 in the X-axis direction can also be greater than the size of the first coil 510 in the X-axis direction. At this time, in the X-axis direction, the second coil 550 protrudes beyond the outermost side of the first coil 510. Multiple second coils 550 can be arranged in a fitting manner in sequence along the X-axis direction, and multiple first coils 510 are arranged at intervals in sequence along the X-axis direction. This setting method results in a larger size of the coil assembly 500 in the X-axis direction and occupies a larger space.

[0133] Please refer to Figure 7, every three second coils 550 arranged in sequence along the X-axis direction form a force-generating body. Nine second coils 550 form three force-generating bodies, namely the fourth force-generating body 555, the fifth force-generating body 556, and the sixth force-generating body 557. The fourth force-generating body 555, the fifth force-generating body 556, and the sixth force-generating body 557 are arranged in sequence along the X-axis direction and are spaced apart. Each force-generating body is used to receive three-phase current. Each phase current of the three-phase current is respectively transmitted to the three second coils 550 of the force-generating body. When the fourth force-generating body 555, the fifth force-generating body 556, and the sixth force-generating body 557 are all energized with three-phase current, the fourth force-generating body 555, the fifth force-generating body 556, and the sixth force-generating body 557 will all be subjected to magnetic force, causing the coil assembly 500 to move.

[0134] As Figure 3 , Figure 6 and Figure 7 shown, after the fourth force-generating body 555 is energized with three-phase current, all three second coils 550 are subjected to magnetic force along the positive Y-axis direction. Specifically, in each second coil 550 of the first force-generating body 515, only the fourth straight section 552 is located between the first end face 311 and the second end face 312. It can be understood that only the fourth straight section 552 will cut the magnetic induction lines in the magnetic field to generate magnetic force. Among them, the fourth straight section 552 of the second coil 550a is located in the first magnetic field B1, and the direction of the magnetic induction lines of the first magnetic field B1 is towards the positive Z-axis direction. The current flowing through the fourth straight section 552 cuts the magnetic induction lines of the first magnetic field B1. Exemplarily, the current direction of the second coil 550a is the clockwise direction as shown in Figure 6 , and the direction of the current flowing through the fourth straight section 552 is towards the negative X-axis direction. According to the Lorentz force rule, the fourth straight section 552 is subjected to magnetic force along the positive Y-axis direction. That is, the second coil 550a is subjected to magnetic force along the positive Y-axis direction.

[0135] A part (the end towards the negative X-axis direction) of the fourth straight section 552 of the second coil 550b is located in the second magnetic field B2, and the direction of the magnetic induction lines of the second magnetic field B2 is towards the negative Z-axis direction. The current flowing through the fourth straight section 552 cuts the magnetic induction lines of the second magnetic field B2. Exemplarily, the current direction of the second coil 550b is the counterclockwise direction as shown in Figure 6 , and the direction of the current flowing through the fourth straight section 552 is towards the positive X-axis direction. According to the Lorentz force rule, the fourth straight section 552 is subjected to the magnetic force of the second magnetic field B2, and the direction of the magnetic force of the fourth straight section 552 subjected to the second magnetic field B2 is towards the positive Y-axis direction.

[0136] Another part of the fourth straight segment 552 (the end facing the positive direction of the X-axis) is located in the third magnetic field B3. The direction of the magnetic induction lines of the third magnetic field B3 is towards the positive direction of the Z-axis. The current flowing through the fourth straight segment 552 cuts the magnetic induction lines of the third magnetic field B3. The direction of the current flowing through the fourth straight segment 552 is towards the positive direction of the X-axis. According to the Lorentz force rule, the fourth straight segment 552 is subjected to the magnetic force of the third magnetic field B3, and the direction of the magnetic force on the fourth straight segment 552 by the third magnetic field B3 is towards the negative direction of the Y-axis. Since the length of the fourth straight segment 552 located in the second magnetic field B2 is greater than the length of the fourth straight segment 552 located in the third magnetic field B3, the length of the magnetic induction lines of the second magnetic field B2 cut by the current flowing through the fourth straight segment 552 is greater than the length of the magnetic induction lines of the third magnetic field B3 cut by the current flowing through the fourth straight segment 552. The magnetic force on the fourth straight segment 552 by the second magnetic field B2 is greater than the magnetic force on the fourth straight segment 552 by the third magnetic field B3. The resultant magnetic force on the fourth straight segment 552 of the second coil 550b is greater than 0, and the direction of the resultant magnetic force on the fourth straight segment 552 of the second coil 550b is towards the positive direction of the Y-axis, that is, the resultant magnetic force on the second coil 550b is greater than 0, and the direction of the resultant magnetic force on the second coil 550b is towards the positive direction of the Y-axis.

[0137] A part of the fourth straight segment 552 of the second coil 550c (the end facing the negative direction of the X-axis) is located in the third magnetic field B3. The direction of the magnetic induction lines of the third magnetic field B3 is towards the positive direction of the Z-axis. The current flowing through the fourth straight segment 552 cuts the magnetic induction lines of the third magnetic field B3. Exemplarily, the current direction of the second coil 550c is the counterclockwise direction as shown in Figure 6 . The direction of the current flowing through the fourth straight segment 552 is towards the positive direction of the X-axis. According to the Lorentz force rule, the fourth straight segment 552 is subjected to the magnetic force of the third magnetic field B3, and the direction of the magnetic force on the fourth straight segment 552 by the third magnetic field B3 is towards the negative direction of the Y-axis.

[0138] Another part of the fourth straight section 552 (the end facing the positive direction of the X-axis) is located in the fourth magnetic field B4. The direction of the magnetic induction lines of the fourth magnetic field B4 is towards the negative direction of the Z-axis. The current flowing through the fourth straight section 552 cuts the magnetic induction lines of the fourth magnetic field B4. The direction of the current flowing through the fourth straight section 552 is towards the positive direction of the X-axis. According to the Lorentz force rule, the fourth straight section 552 is subjected to the magnetic force of the fourth magnetic field B4, and the direction of the magnetic force of the fourth straight section 552 subjected to the fourth magnetic field B4 is towards the positive direction of the Y-axis. Since the length of the fourth straight section 552 located in the fourth magnetic field B4 is greater than its length located in the third magnetic field B3, the length of the magnetic induction lines of the fourth magnetic field B4 cut by the current flowing through the fourth straight section 552 is greater than the length of the magnetic induction lines of the third magnetic field B3 cut by it. The magnetic force of the fourth straight section 552 subjected to the fourth magnetic field B4 is greater than the magnetic force of the third magnetic field B3 it is subjected to. The resultant force of the magnetic forces on the fourth straight section 552 is greater than 0, and the direction of the resultant force of the magnetic forces on the fourth straight section 552 is towards the positive direction of the Y-axis. That is, the resultant force of the magnetic forces on the second coil 550c is greater than 0, and the direction of the resultant force of the magnetic forces on the second coil 550c is towards the positive direction of the Y-axis.

[0139] It can be understood that after three-phase current is passed through the fourth force-generating body 555, the fourth straight sections 552 of the three second coils 550 are all subjected to magnetic forces along the positive direction of the Y-axis. That is, the direction of the total magnetic force on the fourth force-generating body 555 in the magnetic field is towards the positive direction of the Y-axis. Similarly, the fifth force-generating body 556 and the sixth force-generating body 557 are both connected in series or parallel with the fourth force-generating body 555. The direction of the total magnetic force on the fifth force-generating body 556 and the sixth force-generating body 557 in the magnetic field is towards the positive direction of the Y-axis. The coil assembly 500 can drive the load 3 to move along the positive direction of the Y-axis. In some other embodiments, by changing the phase sequence of the three-phase current, the direction of the total magnetic force on the fourth force-generating body 555, the fifth force-generating body 556, and the sixth force-generating body 557 in the magnetic field can be made towards the negative direction of the Y-axis, so that the coil assembly 500 can drive the load 3 to move along the negative direction of the Y-axis.

[0140] When the coil assembly 500 moves in the Y-axis direction and all the third straight sections 551 and fourth straight sections 552 of the multiple second coils 550 enter between the first end face 311 and the second end face 312, both the third straight section 551 and the fourth straight section 552 cut the magnetic induction lines. The magnitudes of the currents in the third straight section 551 and the fourth straight section 552 are equal, the directions are opposite, and the directions of the magnetic fields where the third straight section 551 and the fourth straight section 552 are located are the same. According to the Lorentz force rule, the magnetic forces on the third straight section 551 and the magnetic forces on the fourth straight section 552 are equal in magnitude and opposite in direction. That is, the sum of the magnetic forces of the multiple second coils 550 in the Y-axis direction is 0, and the coil assembly 500 stops moving in the Y-axis direction.

[0141] In this embodiment, please continue to refer to Figure 6, the length direction of the first coil 510 (i.e., the X-axis direction) is perpendicular to the length direction of the second coil 550 (i.e., the Y-axis direction). At this time, the spatial arrangement of the first coil 510 and the second coil 550 satisfies a 90-degree electrical phase deviation. Therefore, multiple first coils 510 and multiple second coils 550 can be independently controlled to be energized, so that multiple first coils 510 can be subjected to a magnetic force along the X-axis direction, and multiple second coils 550 can be subjected to a magnetic force along the Y-axis direction. Compared with using two three-phase currents with a phase difference to be respectively applied to multiple first coils 510 and multiple second coils 550, the adjustment is more convenient.

[0142] In this embodiment, in the Z-axis direction, the design in which multiple first coils 510, multiple first permanent magnets 310, and multiple second permanent magnets 410 are oppositely arranged makes all the first coils 510 located in the magnetic field generated by multiple first permanent magnets 310 and multiple second permanent magnets 410. When multiple first coils 510 are energized, multiple first coils 510 can move along the X-axis direction under the action of the magnetic field generated by multiple first permanent magnets 310 and multiple second permanent magnets 410, that is, the coil assembly 500 can move along the X-axis direction.

[0143] In the Z-axis direction, the design in which multiple second coils 550 and multiple first permanent magnets 310 and multiple second permanent magnets 410 are staggeredly arranged makes part of the second coils 550 located in the magnetic field generated by multiple first permanent magnets 310 and multiple second permanent magnets 410. When multiple second coils 550 are energized, multiple second coils 550 can move along the Y-axis direction under the action of the magnetic field generated by multiple first permanent magnets 310 and multiple second permanent magnets 410, that is, the coil assembly 500 can move along the Y-axis direction. That is to say, the linear motor 1000 has two degrees of freedom of moving along the first direction (X-axis direction) and along the third direction (Y-axis direction). Compared with the prior art, the linear motor 1000 in the embodiment of the present application only needs to be provided with two sets of magnetic tracks and two sets of coils to achieve two-degree-of-freedom movement, so as to drive the load 3 to move along the X-axis direction and the Y-axis direction, which not only has a lower cost, a simpler structure, but also occupies less space.

[0144] The design of multiple second magnets 410 and multiple first magnets 310 is conducive to increasing the magnetic field intensity, and is conducive to increasing the magnetic forces received by multiple first coils 510 and multiple second coils 550. The design of the first back iron 100 and the second back iron 200 is conducive to forming a magnetic circuit for the magnetic field, effectively improving the magnetic field intensity, and making the magnetic forces received by multiple first coils 510 and multiple second coils 550 greater. The design of the first auxiliary magnet 350 and the second auxiliary magnet 450 is conducive to solving the magnetic saturation of the first back iron 100 and the second back iron 200, increasing the magnetic field intensity, and making the magnetic forces received by multiple first coils 510 and multiple second coils 550 greater. In some other embodiments, the first back iron 100, the second back iron 200, the first auxiliary magnet 350, and the second auxiliary magnet 450 can all be omitted.

[0145] In some other embodiments, one of the first magnet array 300 and the second magnet array 400 can be omitted. Exemplarily, when the second magnet array 400 is omitted, multiple first coils 510 and multiple second coils 550 are arranged on one side of the first magnet array 300 along the Z-axis direction. And in the Z-axis direction, multiple first coils 510 and multiple first magnets 310 are arranged oppositely, multiple second coils 550 and multiple first magnets 310 are arranged in a staggered manner, and the projection of multiple second coils 550 in the Z-axis direction overlaps with the projection of multiple first magnets 310 in the Z-axis direction. The specific positional relationship between the first coil 510 and multiple first magnets 310, and the specific positional relationship between the second coil 550 and multiple first magnets 310 can refer to the above relevant descriptions and will not be elaborated here.

[0146] In the first magnet array 300, a magnetic field is formed among the first sub-magnet 310a (N pole), the second sub-magnet 310b (S pole), and the first auxiliary magnet 350. Among them, the first sub-magnet 310a (N pole) and the second sub-magnet 310b (S pole) are used to generate the magnetic field, and the first auxiliary magnet 350 is used to strengthen the intensity of the magnetic field. In some other embodiments, the first auxiliary magnet 350 can be omitted. The first coil 510 is entirely located in the magnetic field. After the first coil 510 is energized, it cuts the magnetic induction lines to generate a magnetic force, so that the coil assembly 500 can move along the X-axis direction. The second coil 550 is partially located in the magnetic field. After the second coil 550 is energized, it cuts the magnetic induction lines to generate a magnetic force, so that the coil assembly 500 can move along the Y-axis direction. The force analysis of the first coil 510 and the force analysis of the second coil 550 can specifically refer to the above relevant descriptions and will not be elaborated here.

[0147] In this embodiment, the linear motor 1000 can achieve two-degree-of-freedom movement by only setting one set of magnet array and two sets of coils, with a simpler structure, lower cost, and smaller occupied space, which is conducive to miniaturized design.

[0148] Please refer to Figure 8 、 Figure 9 、 Figure 10 and Figure 11 , Figure 8 is Figure 2 a perspective structural schematic diagram of the linear motor 1000 shown in another embodiment. Figure 9 is Figure 8 a perspective structural exploded schematic diagram of the linear motor 1000 shown in another angle. Figure 10 is Figure 8 a structural schematic diagram of the linear motor 1000 shown in another angle in Figure 11 is Figure 10 a structural schematic diagram of the linear motor 1000 shown in a cut along the L3-L3 line.

[0149] As Figure 8 、 Figure 9 、 Figure 10 and Figure 11 shown, in some other embodiments, the number of the coil assemblies 500 is two, and the two coil assemblies 500 are respectively a first coil assembly 700 and a second coil assembly 800. Both the first coil assembly 700 and the second coil assembly 800 are disposed between the first magnet array 300 and the second magnet array 400. In the Z-axis direction, the second coil assembly 800 is located on one side of the first coil assembly. By means including but not limited to glue, the plurality of the first coils 510 of the first coil assembly 700 are fixedly laminated with the plurality of the first coils 510 of the second coil assembly 800 one by one, and the plurality of the second coils 550 of the first coil assembly 700 are fixedly laminated with the plurality of the second coils 550 of the second coil assembly 800 one by one. It can be understood that in the Z-axis direction, the plurality of the first coils 510 are arranged in a double layer, and the plurality of the second coils 550 are arranged in a double layer. In this embodiment, by laminating the first coil assembly 700 and the second coil assembly 800, the number of the first coils 510 and the second coils 550 is increased without increasing the size of the coil assembly 500 in the X-axis length direction. More first coils 510 and second coils 550 are stressed, so that the resultant force of the magnetic forces received by the coil assembly 500 in the magnetic field is greater, the coil assembly 500 can drive the load 3 more smoothly, and the coil assembly 500 can drive a heavier load 3.

[0150] Please refer to Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 and Figure 16 , Figure 12 is Figure 2 a perspective structural schematic diagram of the linear motor 1000 shown in another embodiment. Figure 13 is Figure 12Exploded perspective view of the linear motor 1000 shown at another angle. Figure 14 is Figure 12 Schematic structural view of the linear motor 1000 shown in section along the L4-L4 line. Figure 15 is Figure 12 Schematic structural view of the linear motor 1000 (omitting the second magnet array, the second back iron, and the connecting plate) shown in Figure 16 is Figure 12 Schematic structural view of the linear motor 1000 (omitting the second magnet array, the second back iron, the connecting plate, the first coil, and the second coil) shown in

[0151] As Figure 13 , Figure 14 and Figure 15 shown, in some other embodiments, the linear motor 1000 further includes a plurality of third coils 580. In the Z-axis direction, the plurality of third coils 580 are respectively arranged on one side of the plurality of first coils 510 and the plurality of second coils 550 in a one-to-one correspondence, and the plurality of third coils 580 are arranged in sequence and spaced apart along the X-axis direction. In this embodiment, in the Z-axis direction, by means including but not limited to adhesive, the plurality of third coils 580 are respectively fixedly laminated on one side of the plurality of first coils 510 and the plurality of second coils 550 in a one-to-one correspondence. By respectively fixedly laminating the plurality of third coils 580 on one side of the plurality of first coils 510 and the plurality of second coils 550, the structure of the coil assembly 500 is more compact, the occupied space of the coil assembly 500 is reduced, which is beneficial to the miniaturization of the linear motor 1000. In some other embodiments, in the Z-axis direction, the plurality of third coils 580 may also be spaced apart from the plurality of second coils 550 and the plurality of first coils 510, and the plurality of third coils 580 are fixedly connected to the plurality of first coils 510 and the plurality of second coils 550 using connecting members. Or in the Z-axis direction, the plurality of third coils 580 may also be on the same horizontal plane as the plurality of first coils 510 and the plurality of second coils 550.

[0152] In this embodiment, the dimension of the third coil 580 in the X-axis direction is less than or equal to the dimension of the first coil 510 in the X-axis direction. Thus, in the X-axis direction, the third coil 580 does not protrude beyond the outermost side of the first coil 510. The plurality of first coils 510 can be arranged in sequence and attached to each other along the X-axis direction, effectively reducing the dimension of the coil assembly 500 in the X-axis direction, and the structure of the coil assembly 500 is more compact, which is beneficial to the miniaturization of the linear motor 1000.

[0153] In addition, the dimension of the third coil 580 in the Y-axis direction is less than or equal to the sum of the dimension of the first coil 510 in the Y-axis direction and the dimension of the second coil 550 in the Y-axis direction, so that the dimension of the coil assembly 500 in the Y-axis direction can be effectively reduced, the structure of the coil assembly 500 is more compact, and it is beneficial to the miniaturization of the linear motor 1000.

[0154] Please refer specifically to Figure 16 , in this embodiment, in the Z-axis direction, the plurality of third coils 580 and the plurality of first permanent magnets 310 are arranged in a staggered manner. The arrangement of the plurality of third coils 580 and the plurality of first permanent magnets 310 in a staggered manner means that: in the Z-axis direction, the plurality of third coils 580 and the plurality of first permanent magnets 310 are arranged at intervals and opposite to each other. And in the Y-axis direction, one end face of the plurality of third coils 580 is located between the first end face 311 and the second end face 312, the other end face of the plurality of third coils 580 is located outside the first end face 311 and the second end face 312, and the projected part of the plurality of third coils 580 in the Z-axis direction overlaps with the projected part of the plurality of first permanent magnets 310 in the Z-axis direction. The plurality of third coils 580 and the plurality of second permanent magnets 410 are arranged in a staggered manner. For the specific arrangement, reference can be made to the description of the arrangement of the plurality of third coils 580 and the plurality of first permanent magnets 310, and details will not be repeated here.

[0155] Exemplarily, the number of the third coils 580 is a multiple of 3. In this embodiment, the number of the third coils 580 is 9. In other embodiments, the number of the third coils 580 can also be 3, 6 or other more. Projected along the Z-axis direction, the shape of the third coil 580 is a hollow rounded rectangle. The third coil 580 includes a fifth straight section 581, a sixth straight section 582, a fifth arc section 583 and a sixth arc section 584. In the X-axis direction, the fifth straight section 581 and the sixth straight section 582 are arranged at intervals and opposite to each other. In the Y-axis direction, the fifth arc section 583 and the sixth arc section 584 are arranged at intervals and opposite to each other. The fifth arc section 583 and the sixth arc section 584 are both connected to the fifth straight section 581 and the sixth straight section 582.

[0156] Among them, in the Y-axis direction, the lengths of the fifth straight segment 581 and the sixth straight segment 582 are equal. In the Y-axis direction, the fifth straight segment 581 and the sixth straight segment 582 are located between the first end face 311 and the second end face 312, and both the fifth straight segment 581 and the sixth straight segment 582 are perpendicular to the X-axis direction. In the Y-axis direction, the fifth arc segment 583 and the sixth arc segment 584 are symmetrically arranged along the center line of the third coil 580. A part of the fifth arc segment 583 is located between the first end face 311 and the second end face 312, and the sixth arc segment 584 is located between the first end face 311 and the second end face 312. In some other embodiments, a part of the fifth straight segment 581 and the sixth straight segment 582 may also be located between the first end face 311 and the second end face 312, the fifth arc segment 583 is located outside the first end face 311 and the second end face 312, and the sixth arc segment 584 is located between the first end face 311 and the second end face 312.

[0157] As Figure 16 shown, every three third coils 580 arranged in sequence along the positive X-axis direction form a force-generating body. Nine third coils 580 form three force-generating bodies, namely the seventh force-generating body 585, the eighth force-generating body 586, and the ninth force-generating body 587. The seventh force-generating body 585, the eighth force-generating body 586, and the ninth force-generating body 587 are arranged in sequence and spaced apart along the X-axis direction. When three-phase currents are applied to the seventh force-generating body 585, the eighth force-generating body 586, and the ninth force-generating body 587, the seventh force-generating body 585, the eighth force-generating body 586, and the ninth force-generating body 587 will all be subjected to magnetic forces, enabling the coil assembly 500 to move. For the convenience of description, the three third coils 580 arranged in sequence along the positive X-axis direction are sequentially defined as the third coil 580a, the third coil 580b, and the third coil 580c.

[0158] When a three-phase current is applied to the seventh force-generating body 585, in each third coil 580 of the seventh force-generating body 585, the magnitude of the current flowing through the fifth straight segment 581 is equal to the magnitude of the current flowing through the sixth straight segment 582, and the direction of the current flowing through the fifth straight segment 581 is opposite to the direction of the current flowing through the sixth straight segment 582. The magnitude of the current flowing through the fifth arc segment 583 is equal to the magnitude of the current flowing through the sixth arc segment 584, and the direction of the current flowing through the fifth arc segment 583 is opposite to the direction of the current flowing through the sixth arc segment 584.

[0159] Among them, in the Z-axis direction, both the fifth straight section 581 and the sixth straight section 582 of the third coil 580a are located in the first magnetic field B1. The direction of the magnetic induction lines of the first magnetic field B1 is towards the positive direction of the Z-axis. The current flowing through the fifth straight section 581 and the current flowing through the sixth straight section 582 both cut the magnetic induction lines of the first magnetic field B1. And since the length of the fifth straight section 581 is equal to the length of the sixth straight section 582, the length of the magnetic induction lines cut by the current flowing through the fifth straight section 581 is equal to the length of the magnetic induction lines cut by the current flowing through the sixth straight section 582. Exemplarily, the current direction of the third coil 580 is the clockwise direction as shown in Figure 16 The current flowing through the fifth straight section 581 is towards the positive direction of the Y-axis, the current flowing through the sixth straight section 582 is towards the negative direction of the Y-axis, and the magnitude of the current flowing through the fifth straight section 581 is equal to the magnitude of the current flowing through the sixth straight section 582. According to the Lorentz force rule, the fifth straight section 581 is subjected to a magnetic force along the positive direction of the X-axis, the sixth straight section 582 is subjected to a magnetic force along the negative direction of the X-axis, and the magnitude of the magnetic force received by the fifth straight section 581 is equal to the magnitude of the magnetic force received by the sixth straight section 582.

[0160] In the Z-axis direction, a part of the fifth arc section 583 of the third coil 580a is located in the first magnetic field B1, and the current flowing through the fifth arc section 583 cuts the magnetic induction lines of the first magnetic field B1. The sixth arc section 584 is entirely located in the first magnetic field B1, and the current flowing through the sixth arc section 584 cuts the magnetic induction lines of the first magnetic field B1. Since the length of the sixth arc section 584 located in the first magnetic field B1 is greater than the length of the fifth arc section 583 located in the first magnetic field B1, the length of the magnetic induction lines cut by the current flowing through the sixth arc section 584 is greater than the length of the magnetic induction lines cut by the current flowing through the fifth arc section 583. The current flowing through the fifth arc section 583 is towards the positive direction of the X-axis, the current flowing through the sixth arc section 584 is towards the negative direction of the X-axis, and the magnitude of the current flowing through the fifth arc section 583 is equal to the magnitude of the current flowing through the sixth arc section 584. According to the Lorentz force rule, the fifth arc section 583 is subjected to the magnetic force of the first magnetic field B1, and the direction of the magnetic force received by the fifth arc section 583 from the first magnetic field B1 is towards the negative direction of the Y-axis. The sixth arc section 584 is subjected to the magnetic force of the first magnetic field B1, and the direction of the magnetic force received by the sixth arc section 584 from the first magnetic field B1 is towards the positive direction of the Y-axis, and the magnetic force received by the sixth arc section 584 is greater than the magnetic force received by the fifth arc section 583. To sum up, the resultant force of the magnetic force of the third coil 580a in the X-axis direction is 0, the resultant force of the magnetic force of the third coil 580a in the Y-axis direction is greater than 0, and its direction is towards the negative direction of the Y-axis. That is, the resultant force of the magnetic force received by the third coil 580a is greater than 0, and the direction of the resultant force of the magnetic force received by the third coil 580a is towards the negative direction of the Y-axis.

[0161] The fifth straight segment 581 of the third coil 580b is located in the second magnetic field B2, and the direction of the magnetic induction lines of the second magnetic field B2 is towards the negative direction of the Z axis. The current flowing through the fifth straight segment 581 cuts the magnetic induction lines of the second magnetic field B2. Exemplarily, the current direction of the third coil 580b is the clockwise direction as shown in Figure 16 , and the direction of the current flowing through the fifth straight segment 581 is towards the positive direction of the Y axis. According to the Lorentz force rule, the fifth straight segment 581 is subjected to a magnetic force along the negative direction of the X axis.

[0162] The sixth straight segment 582 of the third coil 580b is located in the third magnetic field B3, and the direction of the magnetic induction lines of the third magnetic field B3 is towards the positive direction of the Z axis. The current flowing through the sixth straight segment 582 cuts the magnetic induction lines of the third magnetic field B3. The direction of the current flowing through the sixth straight segment 582 is towards the negative direction of the Y axis. According to the Lorentz force rule, the sixth straight segment 582 is subjected to a magnetic force along the negative direction of the X axis.

[0163] A part of the fifth arc segment 583 of the third coil 580b (the end towards the negative direction of the X axis) is located in the second magnetic field B2, and another part of the fifth arc segment 583 (the end towards the positive direction of the X axis) is located in the third magnetic field B3. The current flowing through the fifth arc segment 583 cuts the magnetic induction lines of both the second magnetic field B2 and the third magnetic field B3. And since the length of the fifth arc segment 583 located in the second magnetic field B2 is greater than its length located in the third magnetic field B3, the length of the magnetic induction lines of the second magnetic field B2 cut by the current flowing through the fifth arc segment 583 is greater than the length of the magnetic induction lines of the third magnetic field B3 cut by it. The direction of the current flowing through the fifth arc segment 583 is towards the positive direction of the X axis. According to the Lorentz force rule, the fifth arc segment 583 is subjected to the magnetic force of the second magnetic field B2 and the magnetic force of the third magnetic field B3. The direction of the magnetic force of the second magnetic field B2 on the fifth arc segment 583 is towards the positive direction of the Y axis, and the direction of the magnetic force of the third magnetic field B3 on the fifth arc segment 583 is towards the negative direction of the Y axis. And the magnetic force of the second magnetic field B2 on the fifth arc segment 583 is greater than the magnetic force of the third magnetic field B3 on it. The resultant force of the magnetic forces on the fifth arc segment 583 is greater than 0, and the direction of the resultant force of the magnetic forces on the fifth arc segment 583 is towards the positive direction of the Y axis.

[0164] In the Z-axis direction, a part of the sixth arc segment 584 of the third coil 580b (the end towards the negative X-axis direction) is located in the second magnetic field B2, and another part of the sixth arc segment 584 (the end towards the positive X-axis direction) is located in the third magnetic field B3. The current flowing through the sixth arc segment 584 cuts the magnetic induction lines of both the second magnetic field B2 and the third magnetic field B3. Since the length of the sixth arc segment 584 located in the second magnetic field B2 is greater than its length located in the third magnetic field B3, the length of the magnetic induction lines of the second magnetic field B2 cut by the current flowing through the sixth arc segment 584 is greater than the length of the magnetic induction lines of the third magnetic field B3 cut by it. The current direction of the sixth arc segment 584 is towards the negative X-axis direction. According to the Lorentz force rule, the sixth arc segment 584 is subjected to the magnetic force of the second magnetic field B2 and the magnetic force of the third magnetic field B3. The direction of the magnetic force of the second magnetic field B2 on the sixth arc segment 584 is towards the negative Y-axis direction, and the direction of the magnetic force of the third magnetic field B3 on the sixth arc segment 584 is towards the positive Y-axis direction. Moreover, the magnetic force of the second magnetic field B2 on the sixth arc segment 584 is greater than the magnetic force of the third magnetic field B3 on it. The resultant force of the magnetic forces on the sixth arc segment 584 is greater than 0, and the direction of the resultant force of the magnetic forces on the sixth arc segment 584 is towards the negative Y-axis direction.

[0165] In the Y-axis direction, since only a part of the fifth arc segment 583 is located between the first end face 311 and the second end face 312, the sixth arc segment 584 is entirely located between the first end face 311 and the second end face 312. That is, only a part of the fifth arc segment 583 is located in the second magnetic field B2 and the third magnetic field B3, while the sixth arc segment 584 is entirely located in the second magnetic field B2 and the third magnetic field B3. The length of the magnetic induction lines of the second magnetic field B2 and the third magnetic field B3 cut by the current flowing through the sixth arc segment 584 is greater than the length of the magnetic induction lines of the second magnetic field B2 and the third magnetic field B3 cut by the current flowing through the fifth arc segment 583. According to the Lorentz force rule, the resultant force of the magnetic forces on the sixth arc segment 584 is greater than the resultant force of the magnetic forces on the fifth arc segment 583. That is, the resultant force of the magnetic forces on the third coil 580b in the Y-axis direction is greater than 0, and its direction is towards the negative Y-axis direction.

[0166] In summary, the resultant force of the magnetic forces on the third coil 580b in the X-axis direction is greater than 0, and its direction is towards the negative X-axis direction. The resultant force of the magnetic forces on the third coil 580b in the X-axis direction is greater than 0, and its direction is towards the negative Y-axis direction.

[0167] The fifth straight segment 581 of the third coil 580c is located in the third magnetic field B3, and the direction of the magnetic induction lines of the third magnetic field B3 is towards the positive Z-axis direction. The current flowing through the fifth straight segment 581 cuts the magnetic induction lines of the third magnetic field B3. Exemplarily, the current direction of the third coil 580c is as Figure 16In the counterclockwise direction, the direction of the current flowing through the fifth straight segment 581 is toward the negative direction of the Y-axis. According to the Lorentz force rule, the fifth straight segment 581 is subjected to a magnetic force along the negative direction of the X-axis.

[0168] The sixth straight segment 582 of the third coil 580c is located in the fourth magnetic field B4, and the direction of the magnetic induction lines of the fourth magnetic field B4 is toward the negative direction of the Z-axis. The current flowing through the sixth straight segment 582 cuts the magnetic induction lines of the fourth magnetic field B4. The direction of the current flowing through the sixth straight segment 582 is toward the positive direction of the Y-axis. According to the Lorentz force rule, the sixth straight segment 582 is subjected to a magnetic force along the negative direction of the X-axis.

[0169] A part of the fifth arc segment 583 of the third coil 580c (the end toward the negative direction of the X-axis) is located in the third magnetic field B3, and the direction of the magnetic induction lines of the third magnetic field B3 is toward the positive direction of the Z-axis. Another part of the fifth arc segment 583 (the end toward the positive direction of the X-axis) is located in the fourth magnetic field B4, and the direction of the magnetic induction lines of the fourth magnetic field B4 is toward the negative direction of the Z-axis. The current flowing through the fifth arc segment 583 cuts the magnetic induction lines of the third magnetic field B3 and the fourth magnetic field B4, and since the length of the fifth arc segment 583 located in the fourth magnetic field B4 is greater than its length located in the third magnetic field B3, the length of the current flowing through the fifth arc segment 583 cutting the magnetic induction lines of the fourth magnetic field B4 is greater than its length cutting the magnetic induction lines of the third magnetic field B3. The direction of the current flowing through the fifth arc segment 583 is toward the negative direction of the X-axis. According to the Lorentz force rule, the fifth arc segment 583 is subjected to the magnetic force of the third magnetic field B3 and the magnetic force of the fourth magnetic field B4. The direction of the magnetic force of the third magnetic field B3 on the fifth arc segment 583 is toward the positive direction of the Y-axis, and the direction of the magnetic force of the fourth magnetic field B4 on the fifth arc segment 583 is toward the negative direction of the Y-axis, and the magnetic force of the fourth magnetic field B4 on the fifth arc segment 583 is greater than the magnetic force of the third magnetic field B3 on it. The resultant force of the magnetic forces on the fifth arc segment 583 is greater than 0, and the direction of the resultant force of the magnetic forces on the fifth arc segment 583 is toward the negative direction of the Y-axis.

[0170] A part of the sixth arc segment 584 of the third coil 580c (the end towards the negative X-axis direction) is located in the third magnetic field B3, and the direction of the magnetic induction lines of the third magnetic field B3 is towards the positive Z-axis direction. Another part of the sixth arc segment 584 (the end towards the positive X-axis direction) is located in the fourth magnetic field B4, and the direction of the magnetic induction lines of the fourth magnetic field B4 is towards the negative Z-axis direction. The current flowing through the sixth arc segment 584 cuts the magnetic induction lines of the third magnetic field B3 and the fourth magnetic field B4, and since the length of the sixth arc segment 584 located in the fourth magnetic field B4 is greater than its length located in the third magnetic field B3, the length of the current flowing through the sixth arc segment 584 cutting the magnetic induction lines of the fourth magnetic field B4 is greater than the length of its cutting the magnetic induction lines of the third magnetic field B3. The direction of the current flowing through the sixth arc segment 584 is towards the positive X-axis direction. According to the Lorentz force rule, the sixth arc segment 584 is subjected to the magnetic force of the third magnetic field B3 and the magnetic force of the fourth magnetic field B4. The direction of the magnetic force of the sixth arc segment 584 subjected to the third magnetic field B3 is towards the negative Y-axis direction, the direction of the magnetic force of the sixth arc segment 584 subjected to the fourth magnetic field B4 is towards the positive Y-axis direction, and the magnetic force of the sixth arc segment 584 subjected to the fourth magnetic field B4 is greater than the magnetic force of the third magnetic field B3 it is subjected to. The resultant force of the magnetic forces on the sixth arc segment 584 is greater than 0, and the direction of the resultant force of the magnetic forces on the sixth arc segment 584 is towards the positive Y-axis direction.

[0171] In the Y-axis direction, since only a part of the fifth arc segment 583 is located between the first end face 311 and the second end face 312, the sixth arc segment 584 is entirely located between the first end face 311 and the second end face 312. That is, only a part of the fifth arc segment 583 is located in the third magnetic field B3 and the fourth magnetic field B4, the sixth arc segment 584 is entirely located in the third magnetic field B3 and the fourth magnetic field B4. The length of the current flowing through the sixth arc segment 584 cutting the magnetic induction lines of the third magnetic field B3 and the fourth magnetic field B4 is greater than the length of the current flowing through the fifth arc segment 583 cutting the magnetic induction lines of the third magnetic field B3 and the fourth magnetic field B4. The resultant force of the magnetic forces on the sixth arc segment 584 is greater than the resultant force of the magnetic forces on the fifth arc segment 583. The resultant force of the magnetic forces on the third coil 580c in the Y-axis direction is greater than 0, and the direction of the resultant force of the magnetic forces on the third coil 580c in the Y-axis direction is towards the positive Y-axis direction.

[0172] In summary, the resultant force of the magnetic forces on the third coil 580c in the X-axis direction is greater than 0, and the direction of the resultant force of the magnetic forces on the third coil 580c in the X-axis direction is towards the negative X-axis direction. The resultant force of the magnetic forces on the third coil 580c in the Y-axis direction is greater than 0, and the direction of the resultant force of the magnetic forces on the third coil 580c in the Y-axis direction is towards the positive Y-axis direction.

[0173] It can be understood that the resultant force of the magnetic forces on the third coil 580a in the seventh force application body 585 in the X-axis direction is O. The resultant force of the magnetic forces on the third coil 580b in the X-axis direction is greater than 0, and its direction is towards the negative X-axis direction. The resultant force of the magnetic forces on the third coil 580c in the X-axis direction is greater than 0, and its direction is towards the negative X-axis direction. That is, the resultant force of the magnetic forces on the seventh force application body 585 in the X-axis direction is greater than 0, and its direction is towards the negative X-axis direction.

[0174] The resultant force of the magnetic forces on the third coil 580a in the seventh force application body 585 in the Y-axis direction is greater than 0, and its direction is towards the negative Y-axis direction. The resultant force of the magnetic forces on the third coil 580b in the seventh force application body 585 in the Y-axis direction is greater than 0, and its direction is towards the negative Y-axis direction. The resultant force of the magnetic forces on the third coil 580c in the seventh force application body 585 in the Y-axis direction is greater than 0, and its direction is towards the positive Y-axis direction. Since the lengths of the fifth arc segment 583 and the sixth arc segment 584 of the third coil 580b cutting the magnetic induction lines are equal to the lengths of the fifth arc segment 583 and the sixth arc segment 584 of the third coil 580c cutting the magnetic induction lines, the resultant force of the magnetic forces on the third coil 580b in the Y-axis direction is equal to the resultant force of the magnetic forces on the third coil 580c in the Y-axis direction, and the resultant force of the magnetic forces on the third coil 580b in the Y-axis direction cancels out the resultant force of the magnetic forces on the third coil 580c in the Y-axis direction. The resultant force of the magnetic forces on the seventh force application body 585 in the Y-axis direction is the resultant force of the magnetic forces on the third coil 580a in the Y-axis direction, and its direction is towards the negative Y-axis direction.

[0175] Since both the eighth force application body 586 and the ninth force application body 587 are connected in series or in parallel with the seventh force application body 585, the eighth force application body 586 and the ninth force application body 587 will be subject to magnetic forces along the negative X-axis direction and magnetic forces along the negative Y-axis direction. In other embodiments, by changing the phase sequence of the three-phase current, the seventh force application body 585, the eighth force application body 586, and the ninth force application body 587 can be subject to magnetic forces along the positive X-axis direction and magnetic forces along the positive Y-axis direction.

[0176] When the linear motor 1000 drives the load 3 to move in the X-axis direction, the multiple first coils 510 and the multiple third coils 580 are energized, and the multiple first coils 510 and the multiple third coils 580 are both subject to magnetic forces along the X-axis direction, so that the coil assembly 500 can drive the load 3 to move in the X-axis direction. Compared with only the multiple first coils 510 generating magnetic forces to drive the load 3 to move in the X-axis direction, after adding the multiple third coils 580, the multiple third coils 580 will also generate magnetic forces along the X-axis direction, and the resultant force of the magnetic forces of the coil assembly 500 in the X-axis direction is greater, so that the coil assembly 500 can drive the load 3 to move more smoothly, and the coil assembly 500 can drive a heavier load 3 to move.

[0177] When the linear motor 1000 drives the load 3 to move in the Y-axis direction, a current flows through the plurality of second coils 550 and the plurality of third coils 580. The plurality of second coils 550 and the plurality of third coils 580 are both subjected to a magnetic force in the Y-axis direction, enabling the coil assembly 500 to drive the load 3 to move in the Y-axis direction. Compared with only the plurality of second coils 550 generating a magnetic force to drive the load 3 to move in the Y-axis direction, after adding the plurality of third coils 580, the plurality of third coils 580 also generate a magnetic force in the Y-axis direction. The resultant force of the magnetic force of the coil assembly 500 in the Y-axis direction is greater, thereby enabling the coil assembly 500 to drive the load 3 to move more smoothly, and the coil assembly 500 can drive a heavier load 3 to move.

[0178] In some other embodiments, please refer to Figure 17 , and in combination with Figure 1 and Figure 3 , Figure 17 is Figure 2 a schematic structural diagram of another embodiment of the linear motor 1000 (omitting the second back iron 200, the second magnet array 400, and the connecting plate 600) shown in

[0179] The plurality of first magnets 310, the plurality of first auxiliary magnets 350, the plurality of second magnets 410, and the plurality of second auxiliary magnets 450 are inclined relative to the first coil 510 in the Y-axis direction. Specifically, the plurality of first magnets 310, the plurality of first auxiliary magnets 350, the plurality of second magnets 410, and the plurality of second auxiliary magnets 450 are inclined relative to the width direction of the first coil 510 in the Y-axis direction.

[0180] The included angle between each first magnet 310 and each first coil 510 is α. Specifically, the included angle between the width direction of each first magnet 310 and the width direction of each first coil 510 is α. The included angle between each first auxiliary magnet 350 and each first coil 510 is α. Specifically, the included angle between the width direction of each first auxiliary magnet 350 and the width direction of each first coil 510 is α. The included angle between each second magnet 410 and each first coil 510 is α. Specifically, the included angle between the width direction of each second magnet 410 and the width direction of each first coil 510 is α. The included angle between each second auxiliary magnet 450 and each first coil 510 is α. Specifically, the included angle between the width direction of each second auxiliary magnet 450 and the width direction of each first coil 510 is α.

[0181] Among them, multiple first permanent magnets 310 and multiple first auxiliary permanent magnets 350 are inclined relative to the first coil 510 in the negative Y-axis direction. The relationship between the multiple second permanent magnets 410 and the multiple second auxiliary permanent magnets 450 and the first coil 510 can refer to the relevant descriptions of the multiple first permanent magnets 310 and the multiple first auxiliary permanent magnets 350. That is, the multiple second permanent magnets 410 and the multiple second auxiliary permanent magnets 450 are inclined in the negative Y-axis direction along the width direction of the first coil 510. In other embodiments, the multiple first permanent magnets 310, the multiple first auxiliary permanent magnets 350, the multiple second permanent magnets 410, and the multiple second auxiliary permanent magnets 450 can also be inclined relative to the first coil 510 in the positive Y-axis direction.

[0182] Since the multiple first permanent magnets 310, the multiple first auxiliary permanent magnets 350, the multiple second permanent magnets 410, and the multiple second auxiliary permanent magnets 450 are inclined relative to the first coil 510 in the negative Y-axis direction, each first coil 510 is subjected to the component force of the magnetic force along the X-axis direction and the component force of the magnetic force along the Y-axis direction of the inclined magnetic field. Each second coil 550 is subjected to the magnetic force along the X-axis direction in the magnetic field.

[0183] In this embodiment, by arranging the multiple first permanent magnets 310, the multiple first auxiliary permanent magnets 350, the multiple second permanent magnets 410, and the multiple second auxiliary permanent magnets 450 in an inclined manner, when the multiple first coils 510 are energized, the coil assembly 500 can have degrees of freedom of movement in the X-axis direction and the Y-axis direction. The coil assembly 500 can drive the load 3 to move in the X-axis direction and the Y-axis direction, which is more convenient for adjustment and more energy-efficient. In addition, when both the multiple first coils 510 and the multiple second coils 550 are energized, both the multiple first coils 510 and the multiple second coils 550 are subjected to the magnetic force along the X-axis direction, and the resultant force of the magnetic force of the coil assembly 500 in the X-axis direction is greater. As a result, the coil assembly 500 can drive the load 3 to move more smoothly, and the coil assembly 500 can drive a heavier load 3 to move, which is beneficial to improving the load-carrying capacity of the linear motor 1000.

[0184] Please refer to Figure 18 and in combination with Figure 12 Figure 18 is Figure 2 a schematic structural diagram of the linear motor 1000 (omitting the second back iron 200, the second permanent magnet array 400, and the connecting plate 600) under another embodiment.

[0185] Figure 18 The structure of the linear motor 1000 shown in Figure 17 ​The structures of the linear motors 1000 shown are similar. The difference between them is that the coil assembly 500 further includes a plurality of third coils 580. In the Z-axis direction, the plurality of third coils 580 are respectively arranged on one side of the plurality of first coils 510 and the plurality of second coils 550. The plurality of third coils 580 are arranged in sequence and at intervals along the X-axis direction. For the specific positional relationship between the third coils 580 and the first coils 510 and the second coils 550, reference can be made to Figure 12 the relevant description of the linear motor 1000 shown, which will not be elaborated here.

[0186] In this embodiment, when the plurality of first coils 510, the plurality of second coils 550, and the plurality of third coils 580 are all energized, each first coil 510 is subjected to the component force of the magnetic force along the X-axis direction and the component force of the magnetic force along the Y-axis direction of the inclined magnetic field. Each second coil 550 is subjected to the magnetic force along the X-axis direction in the magnetic field. Each third coil 580 is subjected to the magnetic force along the X-axis direction and the magnetic force along the Y-axis direction in the magnetic field. Furthermore, the resultant force of the magnetic force of the coil assembly 500 in the X-axis direction and the resultant force of the magnetic force in the Y-axis direction are greater. As a result, the coil assembly 500 can drive the load 3 more smoothly, and the coil assembly 500 can drive a heavier load 3, which is beneficial to improving the load-carrying capacity of the linear motor 1000.

[0187] The above are only some embodiments and implementation manners of the present application. The protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A linear motor, characterized in that: The linear motor includes a plurality of first magnetic steels and a coil assembly; the coil assembly includes a plurality of first coils and a plurality of second coils; A plurality of the first magnetic steels are arranged in sequence along a first direction, and the magnetic poles of two adjacent first magnetic steels are opposite; In the second direction, the plurality of first coils and the plurality of second coils are disposed on one side of the plurality of first magnetic steels, and the plurality of first coils are arranged along the first direction; In the third direction, the plurality of second coils are arranged one by one on one side of the plurality of first coils, and the first direction, the second direction and the third direction are perpendicular to each other; Wherein, in the second direction, the plurality of first coils and the plurality of first magnetic steels are arranged opposite to each other, and the plurality of second coils and the plurality of first magnetic steels are arranged in a staggered manner.

2. The linear motor according to claim 1, characterized in that: In the third direction, the second coil is fixedly stacked on one side of the first coil.

3. The linear motor according to claim 2, characterized in that: A size of the second coil in the first direction is smaller than or equal to a size of the first coil in the first direction.

4. The linear motor according to any one of claims 1 to 3, characterized in that: The first coil and the second coil are arranged perpendicularly.

5. The linear motor according to any one of claims 1 to 4, characterized in that: The number of the first coils and the number of the second coils are both multiples of three.

6. The linear motor according to any one of claims 1 to 5, characterized in that: The coil component includes a first coil component and a second coil component. In the second direction, the second coil component is located on one side of the first coil component. The multiple first coils of the first coil component are fixedly stacked with the multiple first coils of the second coil component one by one, and the multiple second coils of the first coil component are fixedly stacked with the multiple second coils of the second coil component one by one.

7. The linear motor according to any one of claims 1 to 6, characterized in that: The coil assembly also includes a plurality of third coils, which are arranged in sequence along the first direction; in the second direction, the plurality of third coils are staggered with the plurality of first magnetic steels, and the projections of the plurality of third coils in the second direction overlap with the projections of the plurality of first magnetic steels in the second direction.

8. The linear motor according to claim 7, characterized in that: In the second direction, the plurality of third coils are fixedly stacked on one side of the plurality of first coils and the plurality of second coils in a one-to-one correspondence.

9. The linear motor according to claim 8, characterized in that: A size of the third coil in the first direction is smaller than or equal to a size of the first coil in the first direction.

10. The linear motor according to claim 8 or 9, characterized in that: A size of the third coil in the third direction is smaller than or equal to a sum of sizes of the first coil and the second coil in the third direction.

11. The linear motor according to any one of claims 1 to 10, characterized in that: The plurality of first magnetic steels are inclined relative to the first coil along the third direction, and an angle between each of the first magnetic steels and the first coil is α.

12. The linear motor according to any one of claims 1 to 11, characterized in that: The linear motor includes a first back iron. In the second direction, the first back iron is arranged on a side of the first magnetic steels away from the first coils, and the first magnetic steels are fixedly connected to the first back iron.

13. The linear motor according to claim 12, characterized in that: The plurality of first magnetic steels are arranged at intervals along the first direction; the linear motor comprises a plurality of first auxiliary magnetic steels, and the plurality of first auxiliary magnetic steels are arranged one by one between the plurality of first magnetic steels.

14. The linear motor according to any one of claims 1 to 13, characterized in that: The linear motor includes a plurality of second magnetic steels, which are arranged in sequence along the first direction, and the magnetic poles of two adjacent second magnetic steels are opposite; in the second direction, the plurality of second magnetic steels are arranged on the side of the plurality of first coils away from the plurality of first magnetic steels, and the plurality of second magnetic steels and the plurality of first magnetic steels are arranged relatively to each other in a one-to-one correspondence, and the magnetic poles of the relative first magnetic steels and the second magnetic steels are opposite.

15. The linear motor according to claim 14, characterized in that: The distance between the first coil and the first magnetic steel in the second direction is equal to the distance between the first coil and the second magnetic steel in the second direction; the distance between the second coil and the first magnetic steel in the second direction is equal to the distance between the second coil and the second magnetic steel in the second direction.

16. The linear motor according to claim 14 or 15, characterized in that: The linear motor includes a second back iron. In the second direction, the second back iron is arranged on a side of the plurality of second magnetic steels away from the first back iron. The plurality of second magnetic steels are fixedly connected to the second back iron.

17. The linear motor according to claim 16, characterized in that: The plurality of second magnetic steels are arranged at intervals along the first direction. The linear motor includes a plurality of second auxiliary magnetic steels. The plurality of second auxiliary magnetic steels are arranged one by one between the plurality of second magnetic steels.

18. A processing device for processing a load, characterized in that: The processing device includes a workbench and a linear motor according to any one of claims 1 to 17, wherein the linear motor is mounted on the workbench, the load is mounted on a coil assembly of the linear motor, and the linear motor is used to drive the load to move relative to the workbench.

Images