Linear motor, load orientation device comprising such a motor and a gyro-stabilized module equipped with such a motor

Abstract

Linear motor comprising: - A first group of magnets comprising a first magnet, a second magnet and a third magnet, - A second group of magnets comprising a fourth magnet, a fifth magnet and a sixth magnet, - A plate (2) comprising a first upright, a second upright and an intermediate structure (8) extending between the first upright (4) and the second upright (5), the first magnet and the fourth magnet being carried by the intermediate structure while being spaced from each other, the second magnet and the third magnet framing the first magnet while being arranged one at the first upright and the other at the second upright and the fifth magnet and the sixth magnet framing the fourth magnet while being arranged one at the first upright and the other at the second upright, - A coil (11) which is mounted in the plate around the intermediate structure.Associated orientation device and gyro-stabilized module. ABSTRACT FIGURE: [Fig. 3].

Description

Title of the invention: Linear motor, device for orienting a load comprising such a motor and a gyro-stabilized module equipped with such a motor

[0001] The invention relates to a linear motor.

[0002] The invention also relates to a device for orienting a load comprising such a linear motor.

[0003] The invention relates to a gyrostabilized module equipped with such a motor.

[0004] BACKGROUND OF THE INVENTION

[0005] It is now known to equip an aircraft (whether it be a helicopter, an airplane, a drone, an aerostat, etc.) with a gyro-stabilized module such as a gyro-stabilized optronic ball. Such a module makes it possible, for example, to project images onto the visor of the pilot's helmet, facilitating the piloting of the aircraft.

[0006] Such a module comprises an orientation device shaped to allow the position in elevation and / or in bearing of a load of said module to be modified, making it possible to generate images, the load comprising for example a camera such as an infrared camera. For this purpose, the device generally comprises one or more rotary motors. In order to be effective, the device is also equipped with a stabilization system to stabilize the load in elevation and / or in bearing using one or more other linear motors.

[0007] The inventors were able to observe that if one wanted to improve the performance of current stabilization systems, it proved necessary to increase their dimensions, which implied having a larger module. However, this is often problematic for use in aircraft.

[0008] SUBJECT OF THE INVENTION

[0009] The invention aims in particular to propose a more efficient linear motor, which can be used, for example, and in a non-limiting manner, in a device for orienting a load (for example and in a non-limiting manner to stabilize a load in elevation and / or in bearing), while being of a relatively small volume.

[0010] The invention also relates to a device for orienting a load comprising such a motor as well as a gyro-stabilized module equipped with such a motor. Summary of the invention

[0011] For this purpose, a linear motor is provided comprising:

[0012] - A first group of magnets comprising a first magnet, a second magnet and a third magnet,

[0013] - A second group of magnets comprising a fourth magnet, a fifth magnet and a sixth magnet,

[0014] - A plate comprising a first upright, a second upright and a intermediate structure extending between the first upright and the second upright, the first magnet and the fourth magnet being carried by the intermediate structure while being spaced from each other, the second magnet and the third magnet framing the first magnet while being arranged one at the first upright and the other at the second upright, and the fifth magnet and the sixth magnet framing the fourth magnet while being arranged one at the first upright and the other at the second upright,

[0015] - A coil which is mounted in the plate around the intermediate structure.

[0016] The inventors were able to observe that this particular arrangement cleverly made it possible to have a reduced air gap inside the motor. As a result, the Laplace force generated in the motor is greater, which allows the motor to be more efficient while being of reduced size.

[0017] Advantageously, the arrangement described also limits the variations of the Laplace force generated in the engine, in particular at the ends of the engine travel range.

[0018] Furthermore, due to its simple structure, the engine can be constructed relatively easily.

[0019] It is recalled that a linear motor operates on the same principle as a rotary motor (more conventional) but has a different structure so that the electromagnetic interaction between at least one coil (primary assembly) and at least one magnet (secondary assembly) transforms the electrical energy supplying the motor into linear mechanical energy. A linear motor will therefore produce a force while a rotary motor will produce a torque. The present application relates to such a linear motor. The invention is therefore not a rotary motor.

[0020] Optionally, the plate is constructed at least in part from sheets.

[0021] This makes it possible in particular to simplify the construction of the engine.

[0022] Optionally, the first upright and / or the second upright extends parallel to the intermediate structure.

[0023] Optionally, the motor comprises an insert extending between the second magnet and the fifth magnet to protrude from said magnets and / or an insert extending between the third magnet and the sixth magnet to protrude from said magnets.

[0024] The insert allows two neighboring magnets to be separated. Because the insert protrudes from the magnets, they allow the air gap of the motor to be further reduced, which improves its performance as indicated above.

[0025] Optionally, at least two uprights forming the plate are identical to each other.

[0026] This makes it easier to build the engine.

[0027] Optionally, the plate is symmetrical along at least two planes of symmetry.

[0028] This makes it easier to build the engine.

[0029] Optionally, the first magnet is subdivided in its thickness into at least two sub-magnets which extend longitudinally parallel to the second magnet and to the third magnet and / or the fourth magnet is subdivided in its thickness into at least two sub-magnets which extend longitudinally parallel to the fifth magnet and to the sixth magnet.

[0030] Optionally, the two sub-magnets of the first magnet are identical to each other and / or the two sub-magnets of the fourth magnet are identical to each other.

[0031] Optionally the two sub-magnets of the first magnet as well as the second magnet and the third magnet are identical to each other and / or in which the two sub-magnets of the fourth magnet as well as the fifth magnet and the sixth magnet are identical to each other.

[0032] Optionally the two sub-magnets of the first magnet are separated by a layer of air, a layer of glue or a layer of non-ferromagnetic material and / or the two sub-magnets of the fourth magnet are separated by a layer of air, a layer of glue or a layer of non-ferromagnetic material.

[0033] Optionally, the first magnet and / or the fourth magnet is composed of a plurality of sub-magnets.

[0034] Optionally, the first magnet and / or the fourth magnet is composed of a first sub-magnet and a second sub-magnet.

[0035] Optionally, the first sub-magnet of the first magnet (respectively of the fourth magnet) is identical to the second sub-magnet of the first magnet (respectively of the fourth magnet).

[0036] Optionally, the first sub-magnet and the second sub-magnet of the first magnet are identical to the second magnet and the third magnet.

[0037] This makes it easier to manufacture and maintain the motor by limiting the use of different magnets within the motor.

[0038] Optionally, the first sub-magnet and the second sub-magnet of the fourth magnet are identical to the fifth magnet and the sixth magnet.

[0039] This makes it easier to manufacture and maintain the motor by limiting the use of different magnets within the motor.

[0040] Optionally, the first sub-magnet and the second sub-magnet of the fourth magnet, the first sub-magnet and the second sub-magnet of the first magnet, the second magnet, third magnet, fifth magnet and sixth magnet are all identical to each other.

[0041] This further facilitates the manufacture and maintenance of the motor by limiting the use of different magnets within the motor.

[0042] Optionally the first sub-magnet and the second sub-magnet of the first magnet are separated by a layer of air or a layer of glue.

[0043] Optionally the first sub-magnet and the second sub-magnet of the fourth magnet are separated by a layer of air or a layer of glue, or a non-ferromagnetic element.

[0044] Optionally, the motor comprises at least one arm made of thermally conductive material to carry the coil.

[0045] This allows the heat generated within the engine to be better evacuated from it.

[0046] Optionally the arm is made of aluminum.

[0047] The invention also relates to a device for orienting a load comprising a motor as mentioned above.

[0048] The invention also relates to a gyro-stabilized module equipped with a motor such as mentioned above as well as a load associated with said motor.

[0049] Optionally the load includes a camera.

[0050] Optionally, the motor is arranged in the gyro-stabilized module so as to be able to stabilize the load around two axes of rotation.

[0051] The motor is thus a “two-axis linear motor”, that is to say a motor capable of acting on two axes of rotation.

[0052] The motor can thus be installed in an installation such as that described in application FR 3 103 912 of the present applicant as a replacement for one of the motors 8, 9, 21 or 22 in order to be able to act on two axes of rotation linked to the load to be stabilized.

[0053] Alternatively, the motor is a “single-axis linear motor”, i.e. a motor that can only act on a single axis of rotation.

[0054] Other characteristics and advantages of the invention will emerge from reading the following description of particular and non-limiting embodiments of the invention. Brief description of the drawings

[0055] Reference will be made to the accompanying drawings, among which:

[0056] [Fig.l] [Fig.l] is a schematic sectional view of an engine according to a first particular embodiment of the invention;

[0057] [Fig.2] [Fig.2] is a perspective view of the engine shown in [Fig.l];

[0058] [Fig.3] [Fig.3] is a schematic exploded view of the engine shown in [Fig.l];

[0059] [Fig.4] [Fig.4] is a schematic perspective view of a gyrostabilized module comprising a motor according to [Fig.l];

[0060] [Fig.5] [Fig.5] is a schematic sectional view of an engine according to a second particular embodiment of the invention,

[0061] [Fig.6] [Fig.6] is a cross-sectional view of the engine shown in [Fig.5],

[0062] [Fig.7] [Fig.7] is a schematic sectional view of an engine according to a third particular embodiment of the invention. DETAILED DESCRIPTION OF THE INVENTION

[0063] For the remainder of the description of a motor 1 according to particular embodiments of the invention, the motor 1 comprising a plate 2 and a coil 11 which will be detailed below, we will place ourselves in a Cartesian frame of reference comprising: - A Y axis along which the plate 2 translates relative to the coil 11 when the motor 1 is powered, - An X axis, orthogonal to the Y axis, the plate 2 moving relative to the coil 11 along the Y axis in a plane comprising the X and Y axes, - A Z axis, orthogonal to the X axis and orthogonal to the Y axis.

[0064] With reference to figures 1 to 3, the motor 1 according to a first embodiment of the invention therefore comprises the plate 2.

[0065] The plate 2 comprises a closed frame. A passage 3 is provided in the frame so that said passage 3 passes through said frame, extending here along the X axis.

[0066] The frame comprises, for example, four sides. The frame thus comprises here a first upright 4 and a second upright 5 facing each other and connected to each other by a third upright 6 of the frame on the one hand and by a fourth upright 7 of the frame on the other hand.

[0067] The four uprights 4, 5, 6, 7 are rigidly fixed to each other.

[0068] In this way the frame is a rigid frame.

[0069] The first upright 4 and the second upright 5 both extend longitudinally along the Y axis.

[0070] For example, the third upright 6 extends between the first longitudinal ends of the first upright 4 and the second upright 5 and the fourth upright 7 extends between the second longitudinal ends of the first upright 4 and the second upright 5.

[0071] Preferably the first amount 4 and the second amount 5 are identical to each other.

[0072] For example, the first upright 4 and the second upright 5 are generally shaped into a tray. Optionally, the tray has a bottom and a bottom edge which is continuous and closed. The bottom is formed from a flat surface extending parallel here to the plane (X,Y) comprising the X axis and the Y axis. The bottom is generally shaped into a rectangle. The border here is formed of four sides respectively forming an edge on each of the sides of the rectangle.

[0073] For example, the first upright 4 and the second upright 5 extend so that the bottom of the first upright 4 and the bottom of the second upright 5 extend parallel to each other and to the plane here (X,Y).

[0074] The first amount 4 is thus a single piece and / or the second amount 5 is thus a single piece.

[0075] The first upright 4 and / or the second upright 5 is made of a material which is not a ferromagnetic material. For example, the first upright 4 and / or the second upright 5 is made of or based on non-ferromagnetic metal. For example, the first upright 4 and / or the second upright 5 is made of or based on aluminum and / or titanium.

[0076] The first upright 4 and / or the second upright 5 is formed from one or more sheets.

[0077] This makes it easier to build the engine.

[0078] The first upright 4 and the second upright 5 are arranged so that their respective edges are opposite each other.

[0079] Preferably, the third amount 6 and the fourth amount 7 are identical to each other.

[0080] The following description of the third amount 6 is therefore applicable to the fourth amount 7.

[0081] The third upright 6 is a column extending between the first upright 4 and the second upright 5 along the Z axis.

[0082] The column comprises at least one block. Optionally, the column comprises at least two blocks and for example three blocks: a first block 26 extending between the first upright 4 and the second block 27 and a third block 28 extending between the second block 27 and the second upright 5. An upper face of the first block 26 thus rests against the bottom of the tray (side bordered by the edge) forming the first upright 4 and a lower face of the third block 28 thus rests against the bottom of the tray (side bordered by the edge) forming the second upright 5.

[0083] The two second blocks 27 are identical to each other. The two second blocks 27 are different from the other blocks. The other four blocks 26, 28 are all identical to each other.

[0084] The blocks 26, 27, 28 are fixed to each other on the one hand and to the first upright 4 and to the second upright 5 on the other hand. For example, the plate comprises screw-nut type fixing means for securing the blocks 26, 27, 28 to each other and to the first upright 4 and to the second upright 5.

[0085] Optionally, the blocks 26, 27, 28 and the trays forming the first amount 4 and the second upright 5 have complementary surfaces facilitating the arrangement of the first block 26 in the first upright 4 and of the third block 28 in the second upright 5. For example, the complementary surfaces are formed by chamfers.

[0086] The frame formed by the four uprights 4, 5, 6 and 7 therefore forms a unitary assembly. The frame formed by the four uprights 4, 5, 6 and 7 therefore forms a rigid whole.

[0087] For example, the column formed by the third upright 6 and the column formed by the fourth upright 7 extend parallel to each other. The third upright 6 and the fourth upright 7 thus extend parallel to the plane defined by the axes (Y,Z). For example, the third upright 6 and / or the fourth upright 7 extends perpendicular to the bottom of the first upright 4 and / or to the bottom of the second upright 5.

[0088] The third upright 6 and the fourth upright 7 are made of one or more ferromagnetic materials (Iron-Nickel alloy, Iron-Cobalt alloy, etc.).

[0089] The height of the first upright 4 and the second upright 5, along the Z axis, is less than that of the third upright 6 and the fourth upright 7.

[0090] We thus remember that the amounts of the frame are identical two by two.

[0091] It is also noted that the frame is symmetrical with respect to at least one plane of symmetry, in the present case at least two planes of symmetry and in the present case three planes of symmetry (the plane comprising the X and Y axes, the plane comprising the X and Z axes and the plane comprising the Y and Z axes).

[0092] The symmetrization of the frame makes it possible to simplify the construction of the engine 1.

[0093] Furthermore, the plate 2 comprises an intermediate structure 8 extending between the first upright 4 and the second upright 5. The intermediate structure 8 is here rigidly fixed to the frame so that the frame and the intermediate structure 8 form a rigid whole.

[0094] In this way, plate 2 is a rigid plate.

[0095] The intermediate structure 8 extends here through the frame so as to be secured at a first of its longitudinal ends to the third upright 6 and at a second of its longitudinal ends to the fourth upright 7. The intermediate structure 8 thus extends in a plane parallel to the plane (X,Y).

[0096] The intermediate structure 8 preferably extends within the frame equidistant from the first upright 4 and the second upright 5. Thus, the intermediate structure 8 is here fixed to the center of respectively the third upright 6 and the fourth upright 7 (center considered along the Z axis). More precisely here, the intermediate structure 8 is fixed to the second block 27 of the third upright 6 on the one hand and to the second block 27 of the fourth upright 7 on the other hand.

[0097] For example, the intermediate structure 8 is shaped into a belt. The intermediate structure 8 is here shaped so as to have a central opening which extends along the Z axis.

[0098] The intermediate structure 8 has a sectional section along the plane (X,Y) whose outer periphery is identical to that of the bottom of the first upright 4 and / or the second upright 5.

[0099] The intermediate structure 8 thus has a section whose periphery forms a rectangle. The intermediate structure 8 therefore has four sides respectively forming an edge on each of the sides of the rectangle.

[0100] Still in this plane (X,Y), the intermediate structure 8 has a section whose internal periphery is identical to the section of the first upright 4 and / or the second upright 5 (section taken at the level of the edge).

[0101] The opening thus has a section whose periphery forms a rectangle. The opening is thus delimited by the four sides whose internal faces draw the opening.

[0102] The intermediate structure 8 is thus arranged so as to externally surround the third upright 6 and the fourth upright 7. For example, and as illustrated in [Fig.3], the intermediate structure 8 is arranged so as to externally surround the second block 27 of the third upright 6 and the second block 27 of the fourth upright 7. Consequently, the intermediate structure 8 is aligned with the first upright 4 and the second upright 5 along the X axis and the Y axis.

[0103] The second blocks 27 of the third upright 6 and of the fourth upright 7 are fixed to the longitudinal ends of the intermediate structure 8. For example, the plate comprises screw-nut type fixing means for securing the blocks 27 to the intermediate structure 8.

[0104] Optionally, the two second blocks 27 and the intermediate structure 8 have complementary surfaces facilitating the arrangement of the two second blocks 27 in the intermediate structure 8. For example, the complementary surfaces are formed by chamfers.

[0105] The height of the intermediate structure (considered along the Z axis) is equal to or less than that of the second block 27 of the third upright 6 and of the fourth upright 7. If the second blocks 27 are higher, then the intermediate structure 8 is arranged so that the second blocks 27 protrude by the same height from the upper part and the lower part of the intermediate structure. The height of the intermediate structure (considered along the Z axis) is equal to that of the first upright 4 and / or of the second upright 5.

[0106] Preferably, the intermediate structure 8 extends longitudinally parallel to the bottom of the first upright 4 and / or to the bottom of the second upright 5. The structure intermediate 8 thus extends longitudinally along the Y axis. Here the intermediate structure 8 extends parallel to the bottom of the first upright 4 and to the bottom of the second upright 5 and perpendicular to the columns (extending along the Z axis) forming the third upright 6 and the fourth upright 7.

[0107] The first amount 4 is thus a single piece and / or the second amount 5 is thus a single piece.

[0108] The intermediate structure 8 is in a material which is not a ferromagnetic material. For example, the intermediate structure 8 is in or based on non-ferromagnetic metal. For example, the intermediate structure 8 is in or based on aluminum and / or titanium.

[0109] The intermediate structure 8 is formed from one or more sheets.

[0110] This makes it easier to build the engine.

[0111] The plate 2 thus defines a first housing 9 (delimited by the first upright 4, the third upright 6, the intermediate structure 8 and the fourth upright 7) and a second housing 10 (delimited by the second upright 5, the third upright 6, the intermediate structure 8 and the fourth upright 7).

[0112] It is noted that the intermediate structure 8 forms a closed belt framing the third upright 6 and the fourth upright 7. Likewise, the edges of the third upright 6 and the fourth upright 7 each form a closed belt framing the third upright 6 and the fourth upright 7.

[0113] It is also noted that the third upright 6 and the fourth upright 7 are arranged at the longitudinal ends of the first upright 4 and the second upright 5 and the intermediate structure 8, set back. We will seek to limit the dimension (along the Y axis) of the third upright 6 and the fourth upright 7.

[0114] Thus it is retained that the plate 2 is symmetrical with respect to at least one plane of symmetry, in the present case at least two planes of symmetry and in the present case three planes of symmetry (the plane comprising the X and Y axes, the plane comprising the X and Z axes and the plane comprising the Y and Z axes).

[0115] The symmetrization of the plate 2 makes it possible to simplify the construction of the motor 1.

[0116] Furthermore, the motor 1 therefore includes the coil 11, which has already been introduced, which is mounted in plate 2 around intermediate structure 8.

[0117] The coil 11 therefore externally surrounds the intermediate structure 8.

[0118] The coil 11 is not secured to the plate 2 so that the plate 2 can move relative to the coil 11. The coil 11 is for example fixed to a base of the motor 1 or even to a base of a device for orienting a load comprising such a motor 1 or even to a base of a gyro-stabilized module equipped with such a motor 1.

[0119] The coil 11 extends parallel to the intermediate structure 8. The opening of the coil 11 preferably extends coaxially to the intermediate structure 8 along the Y axis. The motor 1 is not powered, the coil 11 is preferably centered in the plate 2 along the three axes X, Y and Z. The coil 11 thus extends here equidistant (along the Z axis) from the first upright 4, the second upright 5 and the intermediate structure 8.

[0120] The coil 11 is of a length (along the Y axis) less than that of the intermediate structure 8. The coil 11 is of a height (along the Z axis) less than the spacing between the first upright 4 and the second upright 5. The coil 11 can thus move relative to the plate 2 in the two housings 9, 10.

[0121] The coil 11 is for example made of copper.

[0122] Furthermore, the motor 1 comprises a first group of magnets comprising a first magnet 12, a second magnet 14 and a third magnet 15.

[0123] In the present case, the first magnet 12 is made up of a first sub-magnet 12a (which will hereinafter be called the upper sub-magnet 12a) and a second sub-magnet 12b (which will hereinafter be called the lower sub-magnet 12b). Said magnets are arranged successively along an axis which is here parallel to the Z axis.

[0124] Furthermore, the motor 1 comprises a second group of magnets comprising a fourth magnet 16, a fifth magnet 18 and a sixth magnet 19. In the present case, the fourth magnet 16 is made up of a fourth sub-magnet 16a (which will be called the upper sub-magnet 16a hereinafter) and a fourth sub-magnet 16b (which will be called the lower sub-magnet 16b hereinafter). Said magnets are arranged successively along an axis which is here parallel to the Z axis.

[0125] The different magnets are permanent magnets.

[0126] The different magnets are preferably identical to each other.

[0127] This makes it possible to limit the number of different components within the engine 1. The manufacture and handling of the engine 1 are thus made easier.

[0128] The different magnets are for example flat magnets.

[0129] The second magnet 14 and the fifth magnet 18 are carried by the first upright 4 while being spaced from each other (along the Y axis).

[0130] The second magnet 14 and the fifth magnet 18 are fixed to the first upright 4 and are thus integral in movement with the plate 2. More precisely here the second magnet 14 and the fifth magnet 18 are housed in the first upright 4 on the edge side of said first upright 4. The second magnet 14 and the fifth magnet 18 are arranged so as not to protrude from the first upright 4.

[0131] Preferably, the motor 1 comprises an insert 20 made of ferromagnetic material separating the second magnet 14 from the second magnet 18.

[0132] This makes it possible to improve the efficiency of the engine 1.

[0133] Said insert 20 extends for example at the normal of the bottom of the first upright 4 in the direction of the second upright 5. Said insert 20 thus extends along the Z axis in the direction of the second upright 5.

[0134] Said insert therefore extends beyond the remainder of the first upright 4 and therefore beyond the magnets 14, 18 (along the Z axis). Said insert 20 extends into the first housing 9.

[0135] The fact that the insert 20 extends into the first housing makes it possible to reduce the air gap in the motor 1.

[0136] The insert 20 is centered in the first upright 4 along the X axis and the Y axis.

[0137] The insert 20 extends here between the two longitudinal sides of the border.

[0138] The insert 20 is fixed to the first upright 4 (by gluing, by screw-nut, etc.).

[0139] The second magnet 14 and the fifth magnet 18 are arranged in the same way with respect to the first upright 4 so that they protrude by the same height (along the Z axis) from the bottom of the first upright 4 and the insert 50 protrudes by the same height from said two magnets 14, 18.

[0140] It is also noted that the second magnet 14 and the fifth magnet 18 extend longitudinally in the extension of one another (along the Y axis).

[0141] In the present case, the first upright 4 delimits with the third upright 6, the fourth upright 7 and the insert 20, receptacles for receiving the second magnet 14 and the fifth magnet 18 in the plate 2. Typically the second magnet 14 is framed by the third upright 6, the bottom of the first upright 4 (side facing the intermediate structure 8) and the insert 20 of said first upright 4 and the fifth magnet 18 is framed by the fourth upright 7, said bottom and the insert 20 of said first upright 4. Thus arranged, the second magnet 14 and the fifth magnet 18 are included in the first upright 4.

[0142] Furthermore, the second magnet 14 is arranged so that its first pole is arranged on the insert 20 side and its second pole is arranged on the third upright 6 side. Hereinafter, first pole means “south pole” and second pole means “north pole”.

[0143] The fifth magnet 18 is arranged in an inverted manner with respect to the second magnet 14. Thus its first pole is arranged on the fourth upright 7 side and its second pole on the insert 20 side.

[0144] The third magnet 15 and the sixth magnet 19 are carried by the second upright while being spaced from each other (along the Y axis).

[0145] The third magnet 15 and the sixth magnet 19 are fixed to the second upright 5 and are thus integral in movement with the plate 2.

[0146] More precisely here the third magnet 15 and the sixth magnet 19 are housed in the second upright 5 on the edge side of said second upright 5. The third magnet 15 and the sixth magnet 19 are arranged so as not to protrude from the second upright 5.

[0147] Preferably the motor 1 comprises an insert 22 made of ferromagnetic material separating the third magnet 15 and the sixth magnet 19.

[0148] This makes it possible to improve the efficiency of the engine 1.

[0149] Said insert 22 extends for example at the normal of the bottom of the second upright 5 in the direction of the first upright 4. Said insert 22 thus extends along the Z axis in the direction of the first upright 4. Said insert 22 therefore extends beyond the remainder of the second upright 5 and therefore beyond the magnets 15, 19 (along the Z axis). Said insert 22 extends into the second housing 10.

[0150] The fact that the insert 22 extends into the second housing 10 makes it possible to reduce the air gap in the motor 1.

[0151] The insert 22 is centered in the second upright 5 along the X axis and the Y axis.

[0152] The insert 22 extends here between the two longitudinal sides of the border.

[0153] The insert 22 is fixed to the second upright 5 (by gluing, by screw-nut, etc.).

[0154] The third magnet 15 and the sixth magnet 19 are arranged in the same way with respect to the second upright 5 so that they protrude by the same height (along the Z axis) from the bottom of the second upright 5 and the insert 22 protrudes by the same height from said two magnets 15, 19.

[0155] It is also noted that the third magnet 15 and the sixth magnet 19 extend longitudinally in the extension of one another (along an axis parallel to the Y axis).

[0156] In the present case, the second upright 5 delimits with the third upright 6, the fourth upright 7 and the insert receptacles for receiving the third magnet 15 and the sixth magnet 19 in the plate 2. Typically the third magnet 15 is framed by the third upright 6, the bottom of the second upright 5 (facing the intermediate structure 8) and the insert 22 and the sixth magnet 19 is framed by the fourth upright 7, said bottom and the insert 22.

[0157] Thus arranged, the third magnet 15 and the sixth magnet 19 are included in the second upright 5.

[0158] Furthermore, the third magnet 15 is arranged so that its first pole is arranged on the insert 22 side and its second pole is arranged on the third upright 6 side. The sixth magnet 19 is arranged in an inverted manner with respect to the third magnet 15. Thus its first pole is arranged on the fourth upright 7 side and its second pole on the insert 22 side.

[0159] Thus, the third magnet 15 is arranged identically to the second magnet 14. Furthermore, the sixth magnet 19 is arranged identically to the fifth magnet 18.

[0160] Furthermore, the upper sub-magnet 12a and the upper sub-magnet 16a are carried by the intermediate structure 8 while being spaced from each other (along the Y axis).

[0161] The upper sub-magnet 12a and the upper sub-magnet 16a are fixed to the intermediate structure 8 and are thus integral in movement with the plate 2.

[0162] Preferably, the motor 1 comprises an insert 24 made of ferromagnetic material arranged in the intermediate structure 8 to separate the upper sub-magnet 12a and the upper sub-magnet 16a on the one hand (and the lower sub-magnet 12b and the lower sub-magnet 16b on the other hand, as we will see later). Said insert 24 extends, for example, normal to the intermediate structure 8 in the direction of the first upright 4 and the second upright 5. Said insert 24 thus extends along the Z axis in the direction of the first upright 4 and the second upright 5. Said insert 24 therefore extends beyond the rest of the intermediate structure 8 (along the Z axis) in the direction of the first upright 4 and the second upright 5. Said insert 24 thus has a height (along the Z axis) greater than that of the intermediate structure 8.Said insert 24 therefore extends beyond the intermediate structure 8 (on either side thereof) and therefore beyond the upper sub-magnet 12a and the upper sub-magnet 16a on the one hand to extend into the first housing 9 and beyond the lower sub-magnet 12b and the lower sub-magnet 16b on the other hand to extend into the second housing 10.

[0163] The insert 24 extends in the extension of the insert 20 of the first upright 4 and of the insert 22 of the second upright 5 (along the Z axis). The insert 24 thus extends coaxially with the insert 20 of the first upright 4 and with the insert 22 of the second upright 5.

[0164] Because the insert 24 extends into the housings 9 and 10, it makes it possible to reduce the air gap in the motor 1.

[0165] The insert 24 is centered in the intermediate structure along the X axis and the Y axis and the Y axis.

[0166] The insert 24 extends here between the two longitudinal sides of the intermediate structure.

[0167] The insert 24 is fixed to the intermediate structure 8 (by gluing, by screw-nut, etc.).

[0168] The upper submagnet 12a and the upper submagnet 16a are arranged in the same way with respect to structure 8 so that they protrude by the same height (along the Z axis) from structure 8.

[0169] It is also noted that the upper sub-magnet 12a and the upper sub-magnet 16a extend longitudinally in the extension of one another (along the Y axis).

[0170] In the present case, the intermediate structure 8 delimits with the third upright 6 and the fourth upright 7 and the insert 24 receptacles for receiving the upper sub-magnet 12a and the upper sub-magnet 16a. Typically the upper sub-magnet 12a is framed by the third upright 6, the internal walls of the longitudinal flanks of the intermediate structure 8 and the insert 24 of said structure 8 and the upper sub-magnet 16a is framed by the fourth upright 7, the internal walls longitudinal sides of the intermediate structure 8 and the insert 24 of said structure 8. Thus arranged, the upper sub-magnet 12a and the upper sub-magnet 16a are included in the intermediate structure 8.

[0171] Furthermore, the upper sub-magnet 12a is arranged so that its second pole is arranged on the insert 24 side and its first pole is arranged on the third upright 6 side. Furthermore, the upper sub-magnet 16a is arranged in an inverted manner with respect to the upper sub-magnet 12a. Thus, its first pole is arranged on the fourth upright 7 side and its second pole on the insert 24 side.

[0172] It is thus noted that the upper sub-magnet 12a is arranged in an inverted manner with respect to the second magnet 14.

[0173] It is thus noted that the upper sub-magnet 16a is arranged in an inverted manner with respect to the fifth magnet 18.

[0174] Furthermore, the lower sub-magnet 12b and the lower sub-magnet 16b are carried by the intermediate structure 8 while being spaced from each other (along the Y axis).

[0175] The lower sub-magnet 12b and the lower sub-magnet 16b are fixed to the intermediate structure 8 and are thus integral in movement with the plate 2.

[0176] Preferably, as indicated above, the lower sub-magnet 12b and the lower sub-magnet 16b are separated from each other by the insert 24.

[0177] The lower sub-magnet 12b and the lower sub-magnet 16b are arranged in the same way with respect to the structure 8 so that they protrude by the same height (along the Z axis) from the structure 8.

[0178] It is also noted that the lower sub-magnet 12b and the lower sub-magnet 16b extend longitudinally in the extension of one another (along the Y axis).

[0179] In the present case, the intermediate structure 8 delimits with the third upright 6 and the fourth upright 7 and the insert 24 receptacles for receiving the lower sub-magnet 12b and the lower sub-magnet 16b. Typically the lower sub-magnet 12b is framed by the third upright 6, the internal walls of the longitudinal flanks of the structure 8 and the insert 24 and the lower sub-magnet 16b is framed by the fourth upright 7, the internal walls of the longitudinal flanks of the structure 8 and the insert 24. Thus arranged, the lower sub-magnet 12b and the lower sub-magnet 16b are included in the intermediate structure 8.

[0180] In this first embodiment, the upper sub-magnet 12a and the lower sub-magnet 12b are separated from each other by air (along the Z axis). The layer of air separating the upper sub-magnet 12a and the lower sub-magnet 12b will preferably be as thin as possible to limit the size of the motor 1 (it is thus understood that the layer of air illustrated in [Fig.l] has been represented in an exaggerated manner in order to facilitate understanding of the invention).

[0181] Indeed, the upper sub-magnet 12a and the lower sub-magnet 12b are arranged respectively in the upper part and in the lower part of the intermediate structure 8. Furthermore, the cumulative height of that of the upper sub-magnet 12a and of the lower sub-magnet 12b (along the Z axis) is less than that of the structure 8.

[0182] In this first embodiment, the upper sub-magnet 16a and the lower sub-magnet 16b are separated from each other by air (along the Z axis). The layer of air separating the upper sub-magnet 12a and the lower sub-magnet 12b will preferably be as thin as possible to limit the size of the motor 1 (it is thus understood that the layer of air illustrated in [Fig.l] has been represented in an exaggerated manner in order to facilitate understanding of the invention).

[0183] Indeed, the upper sub-magnet 16a and the lower sub-magnet 16b are arranged respectively in the upper part and in the lower part of the intermediate structure 8. Furthermore, the cumulative height of that of the upper sub-magnet 16a and of the lower sub-magnet 16b (along the Z axis) is less than that of the structure 8.

[0184] Furthermore, the lower sub-magnet 12b is arranged so that its second pole is arranged on the insert 24 side and its first pole is arranged on the third upright 6 side. Furthermore, the lower sub-magnet 16b is arranged in an inverted manner with respect to the lower sub-magnet 12b. Thus its first pole is arranged on the fourth upright 7 side and its second pole on the insert 24 side.

[0185] It is thus noted that the lower sub-magnet 12b is arranged in an inverted manner with respect to the third magnet 15.

[0186] It is thus noted that the lower sub-magnet 16b is arranged in an inverted manner with respect to the sixth magnet 19.

[0187] It is thus noted that the lower sub-magnet 12b and the upper sub-magnet 12a are arranged identically to each other. It is thus noted that the lower sub-magnet 16a and the upper sub-magnet 16b are arranged identically to each other.

[0188] Furthermore, it is noted that when it is indicated that the coil 11 extends equidistant from the first upright 4 and the second upright 5, the coil 11 here extends equidistant from the free wall of the insert 20 of the first upright 4 and from the free wall of the insert of the second upright 5. It is also noted that when it is indicated that the coil 11 extends equidistant from the upper face and the lower face of the intermediate structure 8, the coil 11 extends exactly equidistant from the two free walls of the insert 24.Furthermore, it is noted that when it is indicated that the coil 11 extends equidistant from the first upright 4 (respectively second upright 5) and from the intermediate structure 8, the coil 11 here extends equidistant from the free wall of the insert 20 of the first upright 4 (respectively the free wall of the insert 22 of the second upright 5) and from the free wall of the insert 24 of the intermediate structure 8 (respectively from the insert 24 of the intermediate structure 8).

[0189] The motor 1 which has just been described is symmetrical with respect to at least one plane of symmetry, in the present case at least two planes of symmetry and in the present case three planes of symmetry (the plane comprising the X and Y axes, the plane comprising the X and Z axes and the plane comprising the Y and Z axes).

[0190] The motor 1 thus described has four pairs of magnets all arranged inside the plate 2 (second magnet 14 / upper sub-magnet 12a - third magnet 15 / lower sub-magnet 12b - fifth magnet 18 / upper sub-magnet 16a - sixth magnet 19 / sub-magnet 16b).

[0191] In operation, the power supply to the coil 11 generates a magnetic field in the motor 1 (symbolized by the arrows in [Fig.l]): the resulting Laplace force F (shown diagrammatically in [Fig.l]) will cause the magnets to move relative to the coil 11 and therefore the plate 2 to move relative to the coil 11.

[0192] We have seen that the plate 2 forms a frame for the coil 11: this makes it possible to ensure that, in the plane (YZ), the portion of the coil present in the air gap (defined by the inserts 20 and 22) remains constant during the movements of the plate 2 relative to the coil 11.

[0193] This limits the variations in the Laplace force during the movement of the plate 2 relative to the coil 11.

[0194] The motor 1 thus described can be used in any type of application, in particular an application requiring limited travel D (the travel of the motor being shown diagrammatically by a double arrow in [Fig.2]).

[0195] [Fig.4] thus illustrates a gyrostabilized module 100 such as for example a gyro-stabilized optronic ball or gyro-stabilized ball (BGS). The gyro-stabilized module 100 is intended to equip an aircraft (helicopter, airplane, drone, aerostat, etc.), for example, to project images onto the pilot's helmet visor to facilitate piloting of the aircraft.

[0196] Such a module 100 comprises an orientation device 101 shaped to allow modification of the position in elevation and / or in bearing (the elevation and bearing axes being perpendicular to each other) of a load of said module 100 allowing generation of images. The load may be of the optronic, electronic, optical type, etc. The load is or comprises, for example, a mirror, a camera, etc. The movement of the load relative to the rest of the module 100 in elevation and / or in bearing is ensured by a first group of rotary motors of the module 100 (in practice, one rotary motor per axis, i.e., one rotary motor associated with the elevation axis and one rotary motor associated with the bearing axis).

[0197] The module 100, and for example the device 101, is furthermore equipped with a load stabilization system 102 to stabilize the load in site and / or in deposit. Thus the module 100, and for example the device 101, comprises a second group of linear motors, associated with the first group of rotary motors, to stabilize the load in site and in bearing. In this second group, at least one of the linear motors, and preferably all the linear motors, are linear motors according to the invention.

[0198] Each linear motor 1 is arranged in the module 100 so that its plate 2 can act on the stability of the load along at least one axis of rotation of the load (the motor is then called a single-axis linear motor) or along two axes of rotation of the load (the motor is then called a two-axis linear motor). For this purpose, the coil 11 is for example fixed to a base of the motor 1 or to a base of the device 101 or to a base of the module 102.

[0199] Preferably the coil 11 is fixed to the base by at least one arm 25, visible in [Fig.2], made of thermally conductive material.

[0200] This allows the heat generated within the engine to be better evacuated from it.

[0201] Preferably the coil 11 is fixed to the base by at least two arms 25 made of thermally conductive material.

[0202] Preferably, the two arms 25 frame the coil while being fixed respectively to opposite sides of the coil.

[0203] For example, at least one of the arms 25 is made of or based on aluminum.

[0204] A second embodiment will now be described, with reference to Figures 5 and 6.

[0205] This second embodiment is identical to the first embodiment except that: - the upper sub-magnet 12a and the lower sub-magnet 12b of the first magnet 12 are separated by means other than air. For example, the upper sub-magnet 12a and the lower sub-magnet 12b are separated from each other by glue or a layer of non-ferromagnetic material. Preferably, said layer is as thin as possible to limit the size of the motor 1. - And / or - The upper sub-magnet 16a and the lower sub-magnet 16b of the fourth magnet 16 are separated by means other than air. For example, the upper sub-magnet 16a and the lower sub-magnet 16b are separated from each other by glue or a layer of non-ferromagnetic material. Preferably, said layer is as thin as possible to limit the size of the motor 1.

[0206] As in the first embodiment, the upper submagnet 16a, the lower submagnet 16b, the upper submagnet 12a and the lower submagnet 12b, the second magnet 14, the third magnet 15, the fifth magnet 18 and the sixth magnet 19 are identical to each other.

[0207] [Fig.6] allows a better visualization of the arms 25 carrying the coil 24 and already introduced above.

[0208] A third embodiment will now be described, with reference to [Fig.7].

[0209] This third embodiment is identical to the first embodiment except in that : - The first magnet 12 is a single block and is therefore not composed of several sub-magnets, - And / or - The fourth magnet 16 is a single block and is therefore not composed of several sub-magnets.

[0210] In this case the first magnet 12 and the fourth magnet 16 are carried by the intermediate structure 8 while being spaced from each other (along the Y axis).

[0211] The first magnet 12 and the fourth magnet 16 are fixed to the intermediate structure 8 and are thus integral in movement with the plate 2.

[0212] The insert 24 made of ferromagnetic material is arranged in the intermediate structure 8 to separate the first magnet 12 and the fourth magnet 16. Said insert 24 therefore extends beyond the intermediate structure 8 (on either side thereof) and therefore beyond the first magnet 12 and the fourth magnet 16 in the first housing 9 and the second housing 10.

[0213] The first magnet 12 and the fourth magnet 16 are arranged in the same manner with respect to the structure 8 so that they protrude by the same height (along the Z axis) from the structure 8.

[0214] In the present case, the intermediate structure 8 delimits with the third upright 6 and the fourth upright 7 and the insert 24 receptacles for receiving the first magnet 12 and the fourth magnet 16. Typically the first magnet 12 is framed by the third upright 6, the internal walls of the longitudinal sides of the intermediate structure 8 and the insert 24 of said structure 8 and the fourth magnet 16 is framed by the fourth upright 7, the internal walls of the longitudinal sides of the intermediate structure 8 and the insert 24 of said structure 8. Thus arranged, the first magnet 12 and the fourth magnet 16 are included in the intermediate structure 8.

[0215] Furthermore, the first magnet 12 is arranged so that its second pole is arranged on the insert 24 side and its first pole is arranged on the third upright 6 side. Furthermore, the fourth magnet 16 is arranged in an inverted manner with respect to the first magnet 12. Thus its first pole is arranged on the fourth upright 7 side and its second pole on the insert 24 side.

[0216] It is thus noted that the first magnet 12 is arranged in an inverted manner with respect to the second magnet 14.

[0217] It is thus noted that the fourth magnet 16 is arranged in an inverted manner with respect to the fifth magnet 18.

[0218] It is thus noted that the first magnet 12 is arranged in an inverted manner with respect to the third magnet 15.

[0219] It is thus noted that the fourth magnet 16 is arranged in an inverted manner with respect to the sixth magnet 19.

[0220] The motor 1 which has just been described is symmetrical with respect to at least one plane of symmetry, in the present case at least two planes of symmetry and in the present case three planes of symmetry (the plane comprising the X and Y axes, the plane comprising the X and Z axes and the plane comprising the Y and Z axes).

[0221] The motor 1 thus described has four pairs of magnets all arranged inside the plate 2 (second magnet 14 / first magnet 12 - third magnet 15 / first magnet 12 - fifth magnet 18 / fourth magnet 16 - sixth magnet 19 / fourth magnet 16).

[0222] As in the first embodiment, the second magnet 14, the third magnet 15, the fifth magnet 18 and the sixth magnet 19 are identical to each other. Furthermore, the first magnet 12 and the fourth magnet 16 are identical to each other. On the other hand, the first magnet 12 and the fourth magnet 16 are here different from the second magnet 14, third magnet 15, fifth magnet 18 and sixth magnet 19. The first magnet 12 and the fourth magnet 16 are for example thicker than the second magnet 14, the third magnet 15, the fifth magnet 18 and the sixth magnet 19.

[0223] Of course, the invention is not limited to the embodiment described but encompasses any variant falling within the scope of the invention as defined by the claims.

[0224] In particular, although here the uprights forming the column are composed of several elements, at least one of the uprights may be a single piece. Similarly, although here the uprights forming the trays and the intermediate structure are a single piece, the intermediate structure and / or at least one of the uprights forming the trays may be composed of several elements fixed together. Although here the insert of the intermediate structure is a single piece, the insert may be in one or more pieces.

[0225] Although here the magnets are flat and rectangular, the magnets could be shaped differently and for example be round.

[0226] Each group of magnets may have a different number of magnets.

[0227] Although here the receptacles are formed jointly between several elements of the plate, at least one of the receptacles may be provided in a single element of the plate and for example at least one of the receptacles may be provided in the first upright and / or the second upright and / or the intermediate structure. At least one of the inserts may not protrude from the first upright and / or the second upright and / or the intermediate structure (on at least one of the lower or upper faces thereof). At least one of the magnets may protrude from the first upright or the second upright or the intermediate structure.

[0228] At least one of the magnets may protrude from the associated insert.

[0229] Although here the first pole is the "south pole" and the second pole the "north pole", we can have the "north pole" as the first pole and the "south pole" as the second pole.

[0230] The movement between the coil and the plate is relative. However, it could be the plate that is fixed and the coil that moves relative to the plate.

Claims

Claims

1. Linear motor (1) comprising: - A first group of magnets comprising a first magnet, a second magnet and a third magnet, - A second group of magnets comprising a fourth magnet, a fifth magnet and a sixth magnet, - A plate (2) made of ferromagnetic material comprising a first upright (4), a second upright (5) and an intermediate structure (8) extending between the first upright and the second upright, the first magnet and the fourth magnet being carried by the intermediate structure while being spaced apart from each other, the second magnet and the third magnet framing the first magnet while being arranged one at the first upright and the other at the second upright and the fifth magnet and the sixth magnet framing the fourth magnet while being arranged one at the first upright and the other at the second upright, - A coil (11) which is mounted in the plate around the intermediate structure,- an insert (24) made of ferromagnetic material arranged in the intermediate structure to separate the first magnet from the fourth magnet.,

2. Linear motor according to claim 1, wherein the plate (2) is constructed at least partly from metal sheets.

3. Linear motor according to one of the preceding claims, wherein the first upright (4) and / or the second upright (5) extends parallel to the intermediate structure (8).

4. A linear motor according to any preceding claim, comprising an insert (20) extending between the second magnet and the fifth magnet to protrude beyond said magnets and / or an insert (22) extending between the third magnet and the sixth magnet to protrude beyond said magnets.

5. Linear motor according to one of the preceding claims, in which the first upright and the second upright are identical to each other.

6. Linear motor according to one of the preceding claims, in which the plate (2) is symmetrical along at least two planes of symmetry.

7. Linear motor according to one of the preceding claims, wherein the first magnet (12) is subdivided in its thickness into at least two sub-magnets (12a, 12b) which extend longitudinally parallel to the second magnet and the third magnet and / or the fourth magnet (16) is subdivided in its thickness into at least two sub-magnets (16a, 16b) which extend longitudinally parallel to the fifth magnet and the sixth magnet.

8. Linear motor according to claim 7, wherein the two sub-magnets (12a, 12b) of the first magnet are identical to each other and / or the two sub-magnets of the fourth magnet (16a, 16b) are identical to each other.

9. A linear motor according to claim 8, wherein the two sub-magnets (12a, 12b) of the first magnet as well as the second magnet (14) and the third magnet (15) are identical to each other and / or wherein the two sub-magnets (16a, 16b) of the fourth magnet as well as the fifth magnet (18) and the sixth magnet (19) are identical to each other.

10. Linear motor according to one of claims 7 to 9, wherein the two sub-magnets (12a, 12b) of the first magnet are separated by a layer of air, a layer of glue or a layer of non-ferromagnetic material and / or the two sub-magnets (16a, 16b) of the fourth magnet are separated by a layer of air, a layer of glue or a layer of non-ferromagnetic material.

11. Linear motor according to one of the preceding claims, in which the motor comprises at least one arm (25) made of thermally conductive material for carrying the coil.

12. Device for orienting a load comprising a linear motor (1) according to one of the preceding claims.

13. Gyro-stabilized module equipped with a linear motor (1) according to one of claims 1 to 11 and a load associated with said motor.

14. A module according to claim 13, wherein the load comprises a camera.

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