Linear motor and linear motor system

Abstract

To provide a linear motor capable of providing various actions, and a linear motor system.SOLUTION: A rotor 30 of a linear motor M1 is provided in such a manner that first and second movable elements 31 and 32 including magnetic pole parts 35 and 36 are axially movable relative to a stator 20, and the first and second movable elements 31 and 32 themselves may also be provided axially movable relative to each other. The stator 20 includes first and second stationary elements 21 and 22 including magnetic pole parts 25 and 26 and capable of supplying a magnetic field for driving, to the movable elements 31 and 32 corresponding to each of the stationary elements 21 and 22. Interlocked multi-stage extending / contracting actions of the movable elements 31 and 32 by driving the stationary elements 21 and 22 or an independent action of each of the movable elements 31 and 32 can be performed.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a linear motor and a linear motor system for obtaining a linear thrust in an axial direction. [Background technology]

[0002] A linear motor includes a stator having a plurality of magnetic pole portions arranged in a straight line, and a mover having the same plurality of magnetic pole portions arranged in a straight line and combined with the stator to move linearly relative to the stator. For example, the stator is configured with a field element having magnetic pole portions with permanent magnets, or an armature having magnetic pole portions with coils. The mover is configured with an armature having magnetic pole portions with coils, or a field element having magnetic pole portions with permanent magnets. A linear thrust force in the axial direction is obtained by the mutual magnetic interaction between the stator and the mover (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2013-153650 A Summary of the Invention [Problem to be solved by the invention]

[0004] The present inventors have been studying how to obtain a variety of operations as one aspect of a linear motor. That is, an object of the present disclosure is to provide a linear motor and a linear motor system that can obtain a variety of operations. [Means for solving the problem]

[0005] A linear motor according to one aspect of the present disclosure includes a stator (20) having a plurality of stator magnetic pole portions (25-27) arranged in a straight line, and a mover (30) having a plurality of mover magnetic pole portions (35-37) arranged in a straight line, the stator magnetic pole portions including coils (25a-27a) and the stator being configured as an armature, the mover magnetic pole portions including magnetic pole portions (35a-37a) or permanent magnets (35b-37b) and the mover being configured as a field element, or the stator magnetic pole portions including magnetic pole portions (25x, 26x) or permanent magnets (25y, 26y) and the stator being configured as a field element, the mover magnetic pole portions including coils (35x, 36x) and the mover being configured as an armature. The linear motor (M1 to M8) is configured to obtain a linear thrust in the axial (L1) direction by the linear motion of the mover relative to the stator through the mutual magnetic action of the stator magnetic pole portion and the mover magnetic pole portion based on the passage of current through the coil, and the mover is configured so that two or more mover sections (31 to 33), each having the mover magnetic pole portion, are movable relative to the stator in the axial direction and the mover sections themselves are also movable relative to each other in the axial direction, and the stator has two or more stator sections (21 to 23), each having the stator magnetic pole portion, and is configured so that a magnetic field for driving can be supplied to one or more of the mover sections corresponding to each of the stator sections.

[0006] According to the above configuration, the mover of the linear motor is provided with a plurality of mover sections each having a mover magnetic pole portion, which are movable relative to the stator in the axial direction, and the mover sections themselves are also movable relative to each other in the axial direction. The stator has a plurality of stator sections each having a stator magnetic pole portion, and can supply a magnetic field for driving to one or more of the mover sections corresponding to each stator section. By driving the plurality of stator sections to operate the plurality of mover sections in cooperation with each other, it is possible to perform an operation such as expanding and contracting in the axial direction in multiple stages. In addition, each of the plurality of mover sections can be operated independently, and it is also possible to selectively operate the plurality of mover sections. Even if a failure occurs in any of the plurality of stator sections and the corresponding mover section cannot be driven, it is expected that the mover section to be operated can be driven by another stator section.

[0007] A linear motor according to one aspect of the present disclosure includes a stator (20) having a plurality of stator magnetic pole portions (25-27) arranged in a straight line, and a mover (30) having a plurality of mover magnetic pole portions (35-37) arranged in a straight line, the stator magnetic pole portions including coils (25a-27a) and the stator being configured as an armature, the mover magnetic pole portions including magnetic pole portions (35a-37a) or permanent magnets (35b-37b) and the mover being configured as a field element, or the stator magnetic pole portions including magnetic pole portions (25x, 26x) or permanent magnets (25y, 26y) and the stator being configured as a field element, the mover magnetic pole portions including coils (35x, 36x) and the mover being A linear motor (M1-M8) configured as an armature, which obtains a linear thrust in the axial (L1) direction by the linear movement of the mover relative to the stator due to the mutual magnetic action of the stator magnetic pole portion and the mover magnetic pole portion based on the passage of current through the coil, wherein the mover is provided with first and second mover portions (31-33) each having the mover magnetic pole portion such that they can move relative to the stator in the axial direction, and the multiple mover portions themselves are also movable relative to each other in the axial direction, and the stator has first and second stator portions (21-23) each having the stator magnetic pole portion, and is configured so that a magnetic field for driving can be supplied to the mover portion corresponding to each of the stator portions.

[0008] According to the above configuration, the mover of the linear motor is provided with first and second mover sections each having a mover magnetic pole portion, which are movable in the axial direction relative to the stator, and the mover sections themselves are also movable in the axial direction relative to each other. The stator has first and second stator sections each having a stator magnetic pole portion, and can supply a magnetic field for driving to the mover section corresponding to each stator section. By driving the multiple stator sections to operate the multiple mover sections in cooperation with each other, it is possible to perform an operation of expanding and contracting in the axial direction in multiple stages. In addition, each of the multiple mover sections can be operated independently, and it is also possible to selectively operate the multiple mover sections. Even if a failure occurs in any of the multiple stator sections and the corresponding mover section cannot be driven, it is expected that the mover section to be operated can be driven by another stator section.

[0009] A linear motor system according to one embodiment of the present disclosure is configured to include the linear motors (M1 to M8) described above, and a motor control unit (51) that controls the flow of current to the coils provided in the stator magnetic pole portions of the stator of the linear motor, and causes the multiple mover portions of the mover to operate independently or in coordination.

[0010] According to the above configuration, it is possible to provide a linear motor configured to be capable of flexible operation as described above as a linear motor system including control by a motor control unit. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is an axial cross-sectional view showing the configuration of a linear motor according to a first embodiment. [Diagram 2] FIG. 2 is an axial cross-sectional view showing the configuration of the linear motor of the first embodiment. [Diagram 3] FIG. 3 is an axial cross-sectional view showing the configuration of the linear motor of the first embodiment. [Figure 4] FIG. 4 is an axial cross-sectional view showing the configuration of the linear motor of the first embodiment. [Diagram 5]FIG. 5 is a radial cross-sectional view showing the configuration of the linear motor of the first embodiment. [Figure 6] FIG. 6 is a block diagram showing the configuration of a linear motor system including the linear motors of the respective embodiments. [Figure 7] FIG. 7 is an axial cross-sectional view showing an example of an operation mode of a linear motor. [Figure 8] FIG. 8 is an axial cross-sectional view showing an example of an operation mode of a linear motor. [Figure 9] FIG. 9 is an axial cross-sectional view showing an example of an operation mode of a linear motor. [Figure 10] FIG. 10 is an axial cross-sectional view showing the configuration of a linear motor according to the second embodiment. [Figure 11] FIG. 11 is an axial sectional view showing the configuration of a linear motor according to the third embodiment. [Figure 12] FIG. 12 is an axial sectional view showing the configuration of a linear motor according to the fourth embodiment. [Figure 13] FIG. 13 is an axial sectional view showing the configuration of a linear motor according to the fifth embodiment. [Figure 14] FIG. 14 is an axial sectional view showing the configuration of a linear motor according to the sixth embodiment. [Figure 15] FIG. 15 is an axial sectional view showing the configuration of a linear motor according to the seventh embodiment. [Figure 16] FIG. 16 is a radial sectional view showing the configuration of a linear motor according to the eighth embodiment. [Figure 17] FIG. 17 is a radial sectional view showing a modification of the linear motor of the eighth embodiment. [Figure 18] FIG. 18 is a radial sectional view showing a modification of the linear motor of the eighth embodiment. [Figure 19] FIG. 19 is an axial cross-sectional view showing the configuration of a stator and a mover used in the linear motor of each embodiment as the ninth embodiment. [Figure 20] FIG. 20 is an axial cross-sectional view showing, as a ninth embodiment, a modified example of the stator and the mover used in the linear motor of each of the embodiments. [Figure 21]FIG. 21 is an axial cross-sectional view showing, as a ninth embodiment, a modified example of the stator and the mover used in the linear motor of each of the embodiments. [Figure 22] FIG. 22 is an axial cross-sectional view showing a modification of the stator and the mover used in the linear motor of each of the embodiments as the ninth embodiment. [Diagram 23] FIG. 23 is an axial cross-sectional view showing a modification of the stator and the mover used in the linear motor of each of the embodiments as the ninth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] (First embodiment) A first embodiment of a linear motor and a linear motor system will be described below. (Linear motor M1) As shown in Figs. 1 to 4, the linear motor M1 of this embodiment is a motor that obtains linear thrust in the direction of its own axis L1 (simply referred to as the axial direction). The linear motor M1 includes a case member 10, a stator 20, and a mover 30. The linear motor M1 of this embodiment is configured with the stator 20 as an armature and the mover 30 as a field element. The linear motor M1 causes the mover 30 to perform linear reciprocating motion in the axial direction relative to the stator 20 based on power supply to the stator 20, and also causes the mover 30 itself to perform contraction and extension in the axial direction. In the following, the direction in which the mover 30 expands in the axial direction is referred to as the tip direction, and the direction in which the mover 30 contracts in the axial direction is referred to as the base direction.

[0013] (Case member 10) As shown in Fig. 1 and Fig. 5, the case member 10 is cylindrical with a bottom, and includes a cylindrical side wall portion 11 extending in the axial direction, and a disk-shaped bottom wall portion 12 closing the axial base end of the side wall portion 11. The case member 10 accommodates the stator 20 and is also capable of accommodating a mover 30 that expands and contracts in the axial direction. In the state shown in Fig. 1 where the mover 30 is fully contracted, the mover 30 is completely accommodated in the case member 10. The mover 30 expands, causing the mover 30 to protrude outward from the case member 10. An opening 13 is provided at the axial tip end of the case member 10 on the opposite side of the bottom wall portion 12 in the axial direction, and is partially or entirely open so as not to interfere with the mover 30 that expands and contracts in the axial direction.

[0014] (Stator 20) The stator 20 includes a first stator 21 and a second stator 22 as a plurality of stator parts. The first stator 21 is disposed at a radial center position in the case member 10. The first stator 21 is fixed to a center portion of the bottom wall portion 12 of the case member 10. The first stator 21 is substantially cylindrical and extends axially toward the opening 13 in the opening 13 of the case member 10. The second stator 22 is disposed at a radially outer position in the case member 10. The second stator 22 is substantially cylindrical and is fixed to an inner circumferential surface of the side wall portion 11 of the case member 10. The first and second stators 21 and 22 are cylindrical and extend axially with the same axial length.

[0015] (1st stator 21) The first stator 21 has six stator magnetic pole portions (simply referred to as magnetic pole portions) 25 on its outer circumferential surface. Each magnetic pole portion 25 has the same configuration and is arranged side by side in the axial direction. Each magnetic pole portion 25 is arranged close to the bottom wall portion 12 on the opposite side to the opening portion 13 of the case member 10.

[0016] (Second stator 22) The basic configuration of the second stator 22 is substantially the same as that of the first stator 21. The second stator 22 has six magnetic pole portions 26 on its inner peripheral surface. Each of the magnetic pole portions 26 has the same configuration and is arranged side by side in the axial direction. Each of the magnetic pole portions 26 is arranged close to the bottom wall portion 12 on the opposite side to the opening 13 of the case member 10. Each of the magnetic pole portions 26 of the second stator 22 and each of the magnetic pole portions 25 of the first stator 21 are arranged at the same position in the axial direction.

[0017] (Magnetic pole part 25, 26) Each of the magnetic pole portions 25, 26 of the first and second stators 21, 22 is configured to have a coil 25a, 26a, respectively. For example, the coil 25a, 26a of each of the magnetic pole portions 25, 26 is wound in the circumferential direction of the stator 20 around a winding axis facing the axial direction, or a plurality of coil portions of the same pole wound around a winding axis facing the radial direction are arranged in the circumferential direction of the stator 20.

[0018] The coils 25a, 26a of each magnetic pole portion 25, 26 are set as U-phase, -W-phase, V-phase, -U-phase, W-phase, and -V-phase in this order from one axial side. Each coil 25a, 26a is supplied with a corresponding three-phase power from a motor control unit 51 shown in FIG. 6. Each magnetic pole portion 25, 26 generates a linear magnetic field for driving the mover 30 based on the power supply to its own coils 25a, 26a. When the case member 10 is included in the magnetic circuit of the stator 20, the case member 10 also functions as a part of the stator 20.

[0019] (Mover 30) The mover 30 is disposed so as to be able to be housed between the first stator 21 and the second stator 22 in the radial direction inside the case member 10. The mover 30 is configured to receive a magnetic field from the stator 20 and perform a reciprocating motion along the axial direction, and is also configured to perform an expanding and contracting motion in the axial direction.

[0020] The mover 30 includes a first mover 31 and a second mover 32 as a plurality of mover sections. The first and second movers 31, 32 are each configured to have a substantially cylindrical shape extending in the axial direction. The first and second movers 31, 32 are configured to have a length substantially equal to the axial length of the first and second stators 21, 22, respectively. The first mover 31 is configured to have a smaller diameter than the second mover 32 and is configured to be able to be housed inside the second mover 32 in the radial direction.

[0021] (1st mover 31) The first mover 31 has five magnetic protrusions 35a and five permanent magnets 35b each having a substantially circular ring shape, which are provided on its inner circumferential surface. The magnetic protrusions 35a and the permanent magnets 35b are arranged so as to be in contact with each other alternately in the axial direction. The magnetic protrusions 35a and the permanent magnets 35b have substantially the same shape. The magnetic protrusions 35a are magnetically connected to each other via the base of the first mover 31. The magnetic protrusions 35a and the permanent magnets 35b are adjacent to each other in a pair from one side in the axial direction to form one mover magnetic pole portion (simply referred to as magnetic pole portion) 35. The magnetic pole portions 35 of the first mover 31 directly face the magnetic pole portions 25 of the first stator 21 and receive a magnetic field.

[0022] The first mover 31 is assembled in such a manner that the first stator 21 is inserted inside the first mover 31. The first mover 31 is supported by a bearing 41 provided on the inner part of the tip of the second mover 32 so as to be movable in the axial direction. The first mover 31 has a restricting member 42 on the outer periphery of its base end. When the first mover 31 extends in the tip direction in the axial direction relative to the second mover 32, the restricting member 42 engages with the bearing 41 to restrict the extension of the first mover 31 relative to the second mover 32 beyond a predetermined value (see FIG. 3, etc.). The restricting member 42 may abut against the inner periphery of the second mover 32 to function as a bearing. The tip of the first mover 31 is connected to, for example, a driven device (not shown).

[0023] (2nd mover 32) The basic configuration of the second mover 32 is substantially the same as that of the first mover 31. The second mover 32 has five substantially annular magnetic protrusions 36a and five substantially annular permanent magnets 36b, which are provided on the outer circumferential surface of the second mover 32. The magnetic protrusions 36a and the permanent magnets 36b are arranged so as to be in contact with each other alternately in the axial direction. The magnetic protrusions 36a and the permanent magnets 36b have substantially the same shape. The magnetic protrusions 36a are magnetically connected to each other via the base of the second mover 32. The magnetic protrusions 36a and the permanent magnets 36b form a pair of magnetic poles 36 adjacent to each other from one side in the axial direction. The magnetic poles 36 of the second mover 32 directly face the magnetic poles 26 of the second stator 22 and receive a magnetic field.

[0024] The second mover 32 is inserted inside the second stator 22, and is assembled in such a manner that the first mover 31 is inserted inside the second mover 32. The second mover 32 is supported by a bearing 43 provided at the tip of the second stator 22 so as to be movable in the axial direction. The second mover 32 has a restricting member 44 on the outer periphery of its base end. When the second mover 32 extends in the tip direction in the axial direction relative to the second stator 22, the restricting member 44 engages with the bearing 43 to restrict extension of the second mover 32 beyond a predetermined amount relative to the second stator 22 (see FIG. 4, etc.). The restricting member 44 may abut against the inner circumferential surface of the first stator 21 to function as a bearing.

[0025] (Magnetic pole part 35, 36) The first and second movers 31, 32 each have five magnetic poles 35, 36. Each magnetic pole 35 of the first mover 31 is provided so as to be able to face each magnetic pole 25 of the first stator 21. Each magnetic pole 36 of the second mover 32 is provided so as to be able to face each magnetic pole 26 of the second stator 22. Each magnetic pole 35, 36 of the first and second movers 31, 32 and each magnetic pole 25, 26 of the first and second stators 21, 22 are configured with an axial length equivalent to the five magnetic poles 35, 36 of the mover 30 and the six magnetic poles 25, 26 of the stator 20. In the linear motor M1 of this embodiment, the mover 30 has five magnetic poles and the stator 20 has six magnetic poles.

[0026] (Linear motor system 50, motor control unit 51) As shown in FIG. 6, a linear motor system 50 is made up of a linear motor M1 having the above-mentioned configuration, and a motor control unit 51 that controls the linear motor M1.

[0027] The motor control unit 51 controls the operation of the mover 30 by energizing the coils 25a, 26a provided in the magnetic pole portions 25, 26 of the stator 20 of the linear motor M1. In this case, the first and second movers 31, 32 can operate in a coordinated manner or independently depending on the energizing state of the first and second stators 21, 22. Even if a failure occurs in a part of the linear motor M1, the other part that is not broken can still operate. Redundancy in the operation of the linear motor M1 is ensured.

[0028] The motor control unit 51 includes a drive command unit 52 and an inverter 53. The linear motor M1 includes a fault determination unit 54 for the coils 25a, 26a of the magnetic poles 25, 26 in the stator 20, and a state determination unit 55 in the mover 30. The motor control unit 51 receives detection signals from the fault determination unit 54 and state determination unit 55 installed in the linear motor M1 at the drive command unit 52. The drive command unit 52 grasps fault information of the coils 25a, 26a in the stator 20 and position information of the movers 31, 32 in the mover 30. The drive command unit 52 determines a command mode for each case based on various motor information including the fault information and position information, and outputs three-phase drive power based on the command mode from the inverter 53 to the linear motor M1.

[0029] (Action of this embodiment) The operation of this embodiment will be described. In the linear motor M1 of this embodiment, a magnetic field for driving is generated on the surface of the stator 20 facing the mover 30 based on three-phase current supplied from the motor control unit 51 to the coils 25a, 26a of each magnetic pole portion 25, 26 of the stator 20. The mover 30 receives the magnetic field generated by the stator 20 and moves in the axial direction between the most contracted state shown in Fig. 1 and the most extended state shown in Fig. 4. In this case, the operating stroke and the magnitude of the output of the first and second movers 31, 32 can be appropriately changed according to the excitation mode of the first and second stators 21, 22.

[0030] (First example of operation mode) As a first example of the operation mode of the linear motor M1, the first and second movers 31, 32 are sequentially moved between the most contracted state shown in Fig. 1 and the most extended state shown in Fig. 4, thereby enabling two-stage extension and contraction of the mover 30. The mover 30 performs any extension and contraction operation within a maximum two-stage extension and contraction operation range.

[0031] When the first and second movers 31, 32 of the mover 30 are extended in two stages from the most contracted state shown in FIG. 1, the motor control unit 51 first energizes the first stator 21 to generate a magnetic field in the first stator 21. The first mover 31 receives the magnetic field generated by the first stator 21 and extends in the axial direction as shown in FIG. 2. The first mover 31 extends to an arbitrary axial protruding length within a range until the regulating member 42 provided on the first mover 31 engages with the bearing 41 provided on the second mover 32. When the first mover 31 extends until the regulating member 42 engages with the bearing 41, the regulating member 42 and the bearing 41 may have a function to hold the extended state of the first mover 31 relative to the second mover 32 and release the hold when the first mover 31 is subsequently contracted.

[0032] The motor control unit 51 then energizes the second stator 22, causing the second stator 22 to generate a magnetic field. The second mover 32 receives the magnetic field generated by the second stator 22 and extends in the axial direction as shown in FIG. 3. The second mover 32 extends to any axial projection length until the regulating member 44 provided on the second mover 32 engages with the bearing 43 provided on the second stator 22. The regulating member 44 and the bearing 43 may have a function to hold the extended state of the second mover 32 relative to the second stator 22 when the second mover 32 extends until the regulating member 44 engages with the bearing 43, and to release the hold when the second mover 32 contracts thereafter.

[0033] When the mover 30 is contracted from the fully extended state shown in Fig. 4, the operation is the reverse of the above-mentioned extension operation. The motor control unit 51 first energizes the second stator 22, and the second mover 32 is contracted by the magnetic field generated by the second stator 22. Next, the motor control unit 51 energizes the first stator 21, and the first mover 31 is contracted by the magnetic field generated by the first stator 21. The mover 30 reaches the fully extended state shown in Fig. 1 and is housed in the case member 10.

[0034] (Second example of operation mode) As a second example of the operation mode of the linear motor M1, an operation mode of the mover 30 is selected according to the magnitude of the required output, as shown in Figures 7, 8, and 9. The mover 30 performs one-stage extension / contraction in any operation mode.

[0035] When the required output is small as shown in Fig. 7, the motor control unit 51 energizes only the first stator 21, and the first mover 31 alone is extended. When the required output is medium as shown in Fig. 8, the motor control unit 51 energizes only the second stator 22, and the second mover 32 alone is extended. When the required output is large as shown in Fig. 9, the motor control unit 51 energizes both the first and second stators 22 simultaneously, and the first and second movers 32 alone are extended.

[0036] That is, the second stator 22 is configured to have a larger diameter than the first stator 21, and the second mover 32 is also configured to have a larger diameter than the first mover 31. Therefore, the driving force of the second mover 32 by the second stator 22 is larger than the driving force of the first mover 31 by the first stator 21. In other words, when the required output is small, driving of only the first mover 31 by the first stator 21 is selected, and when the required output is medium, driving of only the first mover 31 by the second stator 22 is selected. When the required output is large, cooperative driving of the first and second movers 31, 32 by the first and second stators 21, 22 is selected. The same applies to the contraction operation of the mover 30.

[0037] (Third example of operation mode) As a third example of the operating mode of the linear motor M1, an emergency operating mode of the mover 30 is performed when a failure occurs in the stator 20. This allows for operation with redundancy in case of failure of the linear motor M1 itself. The failure determination unit 54 described above can determine failures such as disconnection of the coils 25a, 26a of the linear motor M1. The state determination unit 55 can also detect the current position of the mover 30, in this case the position at the time of failure.

[0038] For example, when the mover 30 of the linear motor M1 is in the housed state shown in Fig. 1 and a failure occurs in the coil 25a of the first stator 21 and excitation becomes impossible, operation is possible using the second stator 22 and the second mover 32. When a failure occurs in the coil 26a of the second stator 22, operation is possible using the first stator 21 and the first mover 31.

[0039] 2 and a failure occurs in the coil 25a of the first stator 21, the second stator 22 and the second mover 32 can operate alone. If a failure occurs in the coil 26a of the second stator 22, the first stator 21 and the first mover 31 can operate alone.

[0040] 3 or 4, if a failure occurs in the coil 25a of the first stator 21, operation is possible through the second stator 22 and the second mover 32. Until now, the first and second movers 31, 32 were located within the axial range in which they could be driven relative to the first and second stators 21, 22, and therefore each mover 31, 32 could be operated by driving each corresponding stator 21, 22.

[0041] On the other hand, when the coil 26a of the second stator 22 is in the extended state as described above and a failure occurs, the first stator 21 can be driven, but the corresponding first mover 31 is in a state of being separated in the axial direction beyond the range in which it can be driven. Therefore, although the first mover 31 cannot be operated by driving the first stator 21, it is possible to drive the second mover 32 located within the axial range. In this case, since the first stator 21 and the second mover 32 are separated in the radial direction, and the magnetic pole portion 25 of the first stator 21 having the coil 25a and the magnetic pole portion 36 of the second mover 32 are not in a direct opposing relationship, the amount of current to the coil 25a may be increased to deal with this. In other words, even if a failure occurs in either the coil 25a or 26a of the first and second stators 21 and 22 and excitation is no longer possible, the first and second movers 31 and 32 that are not in a direct corresponding relationship can be operated, as well as the directly corresponding relationship.

[0042] In this manner, the linear motor M1 of the present embodiment transmits a part or all of the linear motion between the most contracted state and the most extended state to the driven device at each time, thereby driving the driven device. One example of the application of the linear motor M1 is as a drive source for an actuator for a robot.

[0043] (Effects of this embodiment) The effects of this embodiment will be described. (1-1) The mover 30 of the linear motor M1 of this embodiment is provided such that the first and second movers 31, 32 having the magnetic pole parts 35, 36 are movable relative to the stator 20 in the axial direction, and the first and second movers 31, 32 themselves are also movable relative to each other in the axial direction. The stator 20 has the first and second stators 21, 22 having the magnetic pole parts 25, 26, respectively, and can supply a magnetic field for driving the movers 31, 32 corresponding to each of the stators 21, 22. By the mutually linked operation of the movers 31, 32 by the driving of the stators 21, 22, it is possible to perform an operation of expanding and contracting in the axial direction in two stages. In addition, each mover 31, 32 can be operated independently, and each mover 31, 32 can be selectively operated. Even if a failure occurs in one of the stators 21, 22 and the corresponding mover 31, 32 cannot be driven, it is possible to drive the second mover 32, for example, by the first stator 21. In other words, it is also possible to drive the mover 31, 32 to be operated by the other stators 21, 22 that do not correspond to it. Also, the linear motor M1 and the motor control unit 51 can be provided as a linear motor system 50 that causes the multiple movers 31, 32 to operate independently or in cooperation with each other.

[0044] (1-2) In the linear motor M1, the stator 20 is arranged such that the first and second stators 21, 22 overlap substantially entirely when viewed in a direction perpendicular to the axial direction. The mover 30 is configured to perform an expansion and contraction motion between a contracted state in which the first and second movers 31, 32 overlap substantially entirely when viewed in a direction perpendicular to the axial direction, and an extended state in which the overlap of the movers 31, 32 is sufficiently smaller than that in the contracted state. The linear motor M1 that obtains a linear thrust in the axial direction can be configured to be compact in the axial direction.

[0045] (1-3) In the linear motor M1, the stator 20 and the mover 30 are configured such that the stators 21, 22 and the movers 31, 32 have a one-to-one correspondence. The multiple movers 31, 32 can be easily operated independently or in cooperation with each other.

[0046] (1-4) In the linear motor M1, the stator 20 and the mover 30 are both configured to be cylindrical, and each of the magnetic pole portions 25, 26 and each of the magnetic pole portions 35, 36 are configured over the entire circumference. This is expected to have the effect of making it easier to secure an area for mutual magnetic action between the stator 20 and the mover 30 within a determined motor size, and to make it easier to obtain a small, high-output motor.

[0047] (1-5) In the linear motor system 50, when a small output is required, the first mover 31 is driven by the first stator 21, and when a medium output is required, the second mover 32 is driven by the second stator 22. When a large output is required, the first and second movers 31 and 32 are simultaneously driven by the first and second stators 21 and 22. The magnitude of the output can also be controlled by selecting the size of the first and second stators 21 and 22.

[0048] Second embodiment A second embodiment of the linear motor will be described below. (Linear motor M2, stator 20) 10, the linear motor M2 of this embodiment is obtained by changing the position of the stator 20 of the linear motor M1 of the first embodiment, more specifically, the magnetic pole portion 25 of the first stator 21. In this embodiment, the magnetic pole portion 25 of the first stator 21 is disposed closer to the opening 13 of the case member 10.

[0049] (Positional relationship between mover 30 and stator 20) 10, the first mover 31 and the first stator 21 can have an overlapping range in the axial direction between the magnetic pole portions 35, 25. In this embodiment, a structure is adopted that makes it easy to supply a magnetic field from the first stator 21 when the first mover 31 is contracted.

[0050] (Effects of this embodiment) The effects of this embodiment will be described. (2-1) The same effects as those of the first embodiment can be obtained.

[0051] (2-2) In the present embodiment, the stator 20 and the mover 30 are arranged in such a manner that the magnetic pole portions 25 and 35 have an overlapping range in the axial direction even in the case of Fig. 10 in which the first mover 31 corresponding to the first stator 21 is in the most extended state. When the first mover 31 is contracted, it becomes easier to supply a magnetic field from the first stator 21, and the movement of the mover 30 can be made smooth.

[0052] Third embodiment A third embodiment of the linear motor will now be described. (Linear motor M3) 11, the linear motor M3 of this embodiment has a configuration basically similar to that of the linear motor M1 of the first embodiment. The difference is that the stator 20 and the mover 30 of this embodiment are configured to be substantially plate-shaped rather than substantially cylindrical.

[0053] (Stator 20) In the stator 20 of this embodiment, the magnetic pole portions 25, 26 having the coils 25a, 26a are configured in a substantially plate-like shape. The first stator 21 is fixed to one opposing side wall surface of the side wall portion 11 of the case member 10, and the second stator 22 is fixed to the other opposing side wall surface of the side wall portion 11. In accordance with the plate-like configuration of the stator 20, etc., the case member 10 of this embodiment is configured in, for example, a substantially square box shape.

[0054] (Mover 30) The mover 30 is configured to perform linear motion that can expand and contract in two stages using the first and second movers 31, 32. The first and second movers 31, 32 have their own magnetic pole portions 35, 36 that are generally plate-shaped, that is, the magnetic convex portions 35a, 36a and the permanent magnets 35b, 36b that constitute the magnetic pole portions 35, 36 are generally plate-shaped. The first mover 31 is disposed to face the first stator 21, and the second mover 32 is disposed to face the second stator 22, respectively.

[0055] The linear motor M3 of this embodiment is configured to be substantially plate-like as an example of a modified external shape. The linear motor M3 of this embodiment may be configured to be elongated and plate-like, that is, substantially rod-like.

[0056] (Effects of this embodiment) The effects of this embodiment will be described. (3-1) The same effects as those of the first embodiment can be obtained.

[0057] (3-2) It is possible to provide a linear motor M3 having an appearance other than a typical circular shape, for example, a plate shape. (Fourth embodiment) A fourth embodiment of the linear motor will be described below.

[0058] (Linear motor M4) 12, the linear motor M4 of this embodiment is configured by reversing the magnetic relationship of the linear motor M1 of the first embodiment. The linear motor M1 of the first embodiment is configured with the stator 20 as the armature and the mover 30 as the field element, but the linear motor M4 of this embodiment is configured with the stator 20 as the field element and the mover 30 as the armature.

[0059] (Stator 20) The stator 20 of this embodiment is composed of first and second stators 21, 22, similar to the first embodiment. The first and second stators 21, 22 each have five magnetic poles 25, 26. Each magnetic pole 25, 26 has five substantially annular magnetic protrusions 25x, 26x and five substantially annular permanent magnets 25y, 26y, and is basically configured similarly to the first embodiment. Each magnetic pole 25, 26 is composed of a pair of adjacent magnetic protrusions 25x, 26x and permanent magnets 25y, 26y to form one magnetic pole.

[0060] (Mover 30) The mover 30 of this embodiment is also composed of first and second movers 31, 32, similar to the first embodiment. The first and second movers 31, 32 each have six magnetic pole portions 35, 36. Each magnetic pole portion 35, 36 includes a coil 35x, 36x, respectively, and is basically configured similarly to the first embodiment. The coils 35x, 36x of each magnetic pole portion 35, 36 are supplied with three-phase driving power from the motor control unit 51 (see FIG. 6). Based on the three-phase current flowing to each coil 35x, 36x, a magnetic field for driving is generated on the surface of the mover 30 facing the stator 20.

[0061] The linear motor M4 of this embodiment is configured as an example in which the armature and the field element are interchanged. (Effects of this embodiment) The effects of this embodiment will be described.

[0062] (4-1) The same effects as those of the first embodiment can be obtained. (4-2) It is possible to provide a linear motor M4 in which the magnetic configuration is reversed, with the stator 20 as a field magnet and the mover 30 as an armature.

[0063] Fifth embodiment A fifth embodiment of the linear motor will be described below. (Linear motor M5) 13, like the stator 20 of the linear motor M1 of the first embodiment, the linear motor M5 of this embodiment is composed of first and second stators 21, 22. The mover 30 of this embodiment is configured to be expandable and contractable in three stages by adding a third mover 33 to the first and second movers 31, 32 as multiple mover sections.

[0064] (Mover 30) The mover 30 of this embodiment is composed of first, second and third movers 31 to 33. The first mover 31 is configured to be able to be accommodated radially inside the second mover 32, and the second mover 32 is configured to be able to be accommodated radially inside the third mover 33. The first mover 31 is provided with five magnetic pole parts 35, i.e., five magnetic convex parts 35a and five permanent magnets 35b, on its inner circumferential surface, as in the first embodiment. The second mover 32 is provided with five magnetic pole parts 36, i.e., five magnetic convex parts 36a and five permanent magnets 36b, on its inner circumferential surface, unlike the first embodiment. The first and second movers 31 and 32 can directly face the first stator 21 and are driven by the first stator 21. The third mover 33 is provided with five magnetic pole parts 37, i.e., five magnetic convex parts 37a and five permanent magnets 37b, on its outer circumferential surface. The shape and axial arrangement of each of the magnetic convex portions 37a and each of the permanent magnets 37b are similar to those of the magnetic convex portions 35a, 36a and each of the permanent magnets 35b, 36b. The third mover 33 can directly face the second stator 22 and is driven by the second stator 22.

[0065] The first mover 31 is supported by a bearing 41 provided on the inner tip part of the second mover 32 so as to be movable in the axial direction, as in the first embodiment. The first mover 31 has a restricting member 42 on the outer periphery of its base end, and can be engaged with the bearing 41 to restrict the extension of the second mover 32 beyond a predetermined value. The second mover 32 is supported by a bearing 43 provided on the inner tip part of the third mover 33 so as to be movable in the axial direction. The second mover 32 has a restricting member 44 on the outer periphery of its base end, and can be engaged with the bearing 43 to restrict the extension of the third mover 33 beyond a predetermined value. The third mover 33 is supported by a bearing 45 provided on the outer periphery of the second stator 22 so as to be movable in the axial direction. The third mover 33 has a restricting member 46 on the outer periphery of its base end, and can be engaged with the bearing 45 to restrict the extension of the third mover 32 beyond a predetermined value.

[0066] (Action of this embodiment) The operation of this embodiment will be described. In the linear motor M5 of this embodiment, when the first mover 31 is in an extended state, each magnetic pole portion 36 of the second mover 32 and each magnetic pole portion 25 of the first stator 21 directly face each other. That is, when the first mover 31 is in an extended state, the second mover 32 is extended and contracted by driving the first stator 21. When the second mover 32 is in a fully contracted state, the first mover 31 is extended and contracted by driving the first stator 21. The third mover 33 is extended and contracted by driving the second stator 22. The third mover 33 can operate in cooperation with the first and second movers 31 and 32, or can operate independently. The linear motor M5 of this embodiment can perform extension and contraction of three mover portions, the first, second and third movers 31 to 33, by driving two stator portions, the first and second stators 21 and 22.

[0067] (Effects of this embodiment) The effects of this embodiment will be described. (5-1) The same effects as those of the first embodiment can be obtained.

[0068] (5-2) In the linear motor M5, the stator 20 and the mover 30 include first and second stators 21, 22 and first, second and third movers 31-33, and are configured so that the first stator 21 drives the first and second movers 31, 32. As the first mover 31 moves, which moves first, the magnetic pole portion 36 of the second mover 32, which moves next, faces the same first stator 21. It is possible to omit part of the configuration of the stator 20 while enabling the multiple movers 31, 32 to operate independently or in cooperation with each other.

[0069] Sixth embodiment A sixth embodiment of the linear motor will be described below. (Linear motor M6) 14, the linear motor M6 of this embodiment is composed of first, second and third movers 31-33, similar to the mover 30 of the linear motor M5 of the fifth embodiment. The stator 20 of this embodiment has a third stator 23 in addition to the first and second stators 21, 22 as a plurality of stator sections. In this embodiment, the first, second and third stators 21-23 and the first, second and third movers 31-33 are configured to have a one-to-one relationship.

[0070] (Stator 20) The stator 20 of this embodiment is composed of first, second and third stators 21 to 23. The third stator 23 has six magnetic pole parts 27 each including a coil 27a, and has the same configuration as the second stator 22 of the above-mentioned fifth embodiment. In this embodiment, the third stator 23 can directly face the third mover 33 and drives the third mover 33. In this embodiment, the second stator 22 that substantially drives the second mover 32 is added. The second stator 22 has a substantially cylindrical shape and is fixed to the bottom wall part 12 of the case member 10. The second stator 22 is located radially between the first and second movers 31 and 32 in the housed state. The second stator 22 can directly face the second mover 32 and drives the second mover 32.

[0071] (Action of this embodiment) The operation of this embodiment will be described. In the linear motor M6 of this embodiment, the first, second and third stators 21-23 and the first, second and third movers 31-33 can be driven in a one-to-one relationship. Therefore, not only can the three mover parts of the first, second and third movers 31-33 operate in coordination, but they can also operate independently.

[0072] (Effects of this embodiment) The effects of this embodiment will be described. (6-1) The same effects as those of the first embodiment can be obtained.

[0073] (6-2) In the linear motor M6, the stator 20 and the mover 30 are configured to be operable in three stages in which the first, second and third stators 21-23 and the first, second and third movers 31-33 have a one-to-one correspondence. In this embodiment, more diverse operations can be performed using three each of the stators 21-23 and the movers 31-33.

[0074] Seventh embodiment The seventh embodiment of the linear motor will be described below. (Linear motor M7, mover 30) As shown in FIG. 15, a linear motor M7 of this embodiment is obtained by modifying a part of the configuration of the mover 30 of the linear motor M1 of the first embodiment.

[0075] The first and second movers 31, 32 constituting the mover 30 use a rail member 47 having a function of supporting the first mover 31 relative to the second mover 32. That is, the rail member 47 supports the first mover 31 so that the first mover 31 can move relative to the second mover 32 in the axial direction. In this case, the rail member 47 restricts the movement of the first mover 31 in directions other than the axial direction. The rail member 47 also has a function of restricting the first mover 31 from extending beyond a predetermined extent relative to the second mover 32 when the first mover 31 extends in the axial tip direction relative to the second mover 32. The rail member 47 is a substitute configuration having the same function as the bearing 41 and the restricting member 42 used in the first embodiment.

[0076] (Effects of this embodiment) The effects of this embodiment will be described. (7-1) The same effects as in the first embodiment can be obtained.

[0077] (7-2) As an example of a support mode between the first and second movers 31, 32, a rail member 47 can be used to provide a linear motor M7. Eighth embodiment An eighth embodiment of the linear motor will be described below.

[0078] (Linear motor M8) 16, in the linear motor M8 of this embodiment, the first and second stators 21, 22 constituting the stator 20 are divided into two parts each covering a half-circle. Each magnetic pole portion 25, 26 of each of the stators 21, 22 is configured over a half-circle range, that is, the coils 25a, 26a are wound over a half-circle range.

[0079] The first and second movers 31, 32 constituting the mover 30 are also divided into two parts each covering a half-circle range. Each magnetic pole portion 35, 36 of each mover 31, 32 is configured over a half-circle range, that is, each magnetic protrusion 35a, 36a and each permanent magnet 35b, 36c (omitted in FIG. 16) is configured over a half-circle range.

[0080] The stator 20 and the mover 30 of the linear motor M8 in this embodiment are merely an example, and may be modified as appropriate as described below. (Linear motor M8a) In the linear motor M8a shown in Fig. 17, the first and second stators 21, 22 constituting the stator 20 are configured over a range of half the circumference. That is, in each of the stators 21, 22, the magnetic pole portions 25, 26 including the coils 25a, 26a are configured over a range of half the circumference. The first and second movers 31, 32 constituting the mover 30 are also configured over a range of half the circumference. That is, in each of the movers 31, 32, the magnetic pole portions 35, 36 including the magnetic protrusions 35a, 36a and the permanent magnets 35b, 36c (omitted in Fig. 17) are configured over a range of half the circumference.

[0081] In the linear motor M8a of this embodiment, the magnetic pole portions 25, 26 of the stator 20 and the magnetic pole portions 35, 36 of the mover 30, each covering a half circumference, are arranged to be collected in one of two regions that are divided in half in the circumferential direction.

[0082] (Linear motor M8b) 18, similarly to the linear motor M8a described above, the first and second stators 21, 22 constituting the stator 20 are configured over a range corresponding to half the circumference. The first and second movers 31, 32 constituting the mover 30 are also configured over a range corresponding to half the circumference.

[0083] In the linear motor M8b of this embodiment, the magnetic pole portions 25 of the first stator 21 and the magnetic pole portions 35 of the first mover 31, each of which has a range of half the circumference, are arranged to be gathered in one of two regions divided in half in the circumferential direction. The magnetic pole portions 26 of the second stator 22 and the magnetic pole portions 36 of the second mover 32, each of which has a range of half the circumference, are arranged to be gathered in the other of two regions divided in half in the circumferential direction. In other words, the magnetic pole portions 25 of the first stator 21 and the magnetic pole portions 35 of the first mover 31, and the magnetic pole portions 26 of the second stator 22 and the magnetic pole portions 36 of the second mover 32 are arranged to be positioned on opposite sides of the region divided in half in the circumferential direction.

[0084] (Effects of this embodiment) The effects of this embodiment will be described. (8-1) The same effects as those of the first embodiment can be obtained.

[0085] (8-2) It is possible to provide a linear motor M8 (, M8a, M8b) in which the first and second stators 21, 22 and the first and second movers 31, 32 form a part of the circumferential direction. This makes it possible to reduce the size of each component of the linear motor M8 (, M8a, M8b).

[0086] Ninth embodiment A ninth embodiment of the stator and mover used in a linear motor will be described below. (Applicable objects of the stator 20 and the mover 30) The stator 20 and the mover 30 of this embodiment shown in FIG. 19 are used in the linear motor M1 of the first embodiment, etc. By using the configuration of the stator 20 and the mover 30 of this embodiment, it is possible to configure a so-called vernier motor in which a magnetic deceleration effect occurs during magnetic transmission between the stator 20 and the mover 30. A vernier motor can obtain a motor output with high thrust. The stator 20 and the mover 30 of this embodiment can be applied to linear motors M2 to M8 other than the linear motor M1 of the first embodiment. The following mainly describes the first and second stators 21, 22 and the first and second movers 31, 32 used in the first embodiment, etc.

[0087] (Stator 20) Each of the magnetic poles 25, 26 of the stator 20 of this embodiment includes one coil 25a, 26a, a pair of magnetic plates 25b, 26b, and permanent magnets 25c, 26c. The coils 25a, 26a are wound in the circumferential direction of the stator 20 around a winding axis facing the axial direction. Magnetic plates 25b, 26b having a substantially annular shape are disposed at both axial ends of the coils 25a, 26a, respectively. The magnetic plates 25b, 26b are in contact with the coils 25a, 26a, respectively. The tip end of each of the magnetic plates 25b, 26b facing the mover 30 has a protruding portion 25b1, 26b1 that protrudes toward the mover 30 beyond the coils 25a, 26a, respectively. The permanent magnets 25c and 26c are arranged in a substantially annular shape between the pair of protruding parts 25b1 and 26b1 that sandwich the coils 25a and 26a in the axial direction. The axial ends of the permanent magnets 25c and 26c are in contact with the protruding parts 25b1 and 26b1, respectively. The permanent magnets 25c and 26c are configured such that the magnetic poles appear mainly in the axial center of the axial range on the surface facing the mover 30. The permanent magnets 25c and 26c of this embodiment are configured as polar anisotropic oriented magnets in which the magnetic poles appear locally in the axial center. In other words, each magnetic pole part 25 and 26 of the stator 20 of this embodiment is configured to have a salient pole in order to perform magnetic transmission with the mover 30 locally in the axial range, not in the entire axial range.

[0088] (Mover 30) Each of the magnetic pole portions 35, 36 of the mover 30 of this embodiment includes a magnetic protrusion 35a, 36a and a permanent magnet 35b, 36b. The magnetic poles of each of the permanent magnets 35b, 36b are configured to appear mainly in the axial center of the axial range on the surface facing the stator 20. Each of the permanent magnets 35b, 36b of this embodiment is configured as a polar anisotropic oriented magnet in which the magnetic poles appear locally in the axial center. In other words, each of the magnetic pole portions 35, 36 of the mover 30 of this embodiment is configured to have a salient pole in order to perform magnetic transmission with the stator 20 locally in the axial range, not in the entire axial range.

[0089] (Action of this embodiment) The operation of this embodiment will be described. In the stator 20 and the mover 30 of this embodiment, as described above, the six magnetic poles 25, 26 of the stator 20 and the five magnetic poles 35, 36 of the mover 30 are set to have the same axial length. Each of the magnetic poles 25, 26 of the stator 20 and each of the magnetic poles 35, 36 of the mover 30 functions as a salient pole scattered at a pitch smaller than the length of one magnetic pole. In a linear vernier motor using the stator 20 and the mover 30 of this embodiment, while each of the magnetic poles 35, 36 of the mover 30 moves in one axial direction by the amount of one, the magnetic flux density distribution of the air gap moves in the other axial direction by the amount of six of the magnetic poles 25, 26 of the stator 20. Since the six magnetic pole portions 25, 26 of the stator 20 and the five magnetic pole portions 35, 36 of the mover 30 are set to the same length, the movement of the mover 30 caused by one period of change when current is passed through each of the coils 25a, 26a of the stator 20 is the movement of one of the magnetic pole portions 35, 36. In other words, the movement of the mover 30 is slowed down to 1 / 5. This configuration provides a magnetic deceleration effect when magnetism is transmitted from the stator 20 to the mover 30, thereby providing a high thrust motor output.

[0090] The stator 20 and the mover 30 having the salient poles in this embodiment are merely an example, and may be modified as appropriate as described below. The stator 20 shown in Fig. 20 uses permanent magnets 25d, 26d made of Halbach array magnets having the same function as the above-mentioned polar anisotropic oriented permanent magnets 25c, 26c. The permanent magnets 25d, 26d are formed by combining a plurality of individual linearly oriented magnet bodies 25d1, 26d1. The mover 30 also uses permanent magnets 35c, 36c made of Halbach array magnets having the same function as the above-mentioned polar anisotropic oriented permanent magnets 35b, 36b. The permanent magnets 35c, 36c are formed by combining a plurality of individual linearly oriented magnet bodies 35c1, 36c1.

[0091] The stator 20 shown in Fig. 21 uses composite members 25e, 26e of magnet bodies 25e1, 26e1 and magnetic bodies 25e2, 26e2 having the same function as the above-mentioned polar anisotropic orientation permanent magnets 25c, 26c. The composite members 25e, 26e are configured by sandwiching magnetic bodies 25e2, 26e2 in the axial direction between a pair of magnet bodies 25e1, 26e1 that are oriented linearly and axially in opposite directions. The mover 30 uses the above-mentioned polar anisotropic orientation permanent magnets 35b, 36b. The composite members 25e, 26e consisting of magnet bodies 25e1, 26e1 and magnetic bodies 25e2, 26e2 may be provided in the mover 30.

[0092] The mover 30 shown in Figs. 22 and 23 uses permanent magnets 35d, 36d, each of which is a combination of a pair of magnet bodies 35d1, 36d1 that are linearly oriented and axially opposite to each other. The embodiment in Fig. 22 is a combination with a stator 20 that uses the permanent magnets 25c, 26c with the polar anisotropic orientation described above. The embodiment in Fig. 23 is a combination with a stator 20 that uses composite members 25e, 26e of magnet bodies 25e1, 26e1 and magnetic bodies 25e2, 26e2. The mover 30 shown in Figs. 22 and 23 does not have a saliency in each permanent magnet 35d, 36d, but is configured so that each magnetic protrusion 35a, 36a functions appropriately by default when it receives a magnetic field from the stator 20 that has a saliency.

[0093] (Effects of this embodiment) The effects of this embodiment will be described. (9-1) In this embodiment, each of the magnetic pole portions 25, 26 of the stator 20 and each of the magnetic pole portions 35, 36 of the mover 30 has a salient pole configuration that generates salient poles scattered at a pitch smaller than the length of one magnetic pole portion. In other words, a magnetic deceleration effect is obtained during magnetic transmission between each of the magnetic pole portions 25, 26 and each of the magnetic pole portions 35, 36, making it possible to provide a linear vernier motor with high thrust.

[0094] (9-2) Each magnetic pole portion 25, 26 of the stator 21 having a salient pole can be configured using permanent magnets 25c, 26c made of polar anisotropic oriented magnets and permanent magnets 25d, 26d made of Halbach array magnets. Each magnetic pole portion 25, 26 can be configured using a composite member 25e, 26e in which a magnetic body 25e2, 26e2 is sandwiched between a pair of magnet bodies 25e1, 26e1. Each magnetic pole portion 35, 36 of the mover 30 having a salient pole can also be configured using permanent magnets 35b, 36b made of polar anisotropic oriented magnets and permanent magnets 35c, 36c made of Halbach array magnets. Each magnetic pole portion 25, 26 and each magnetic pole portion 35, 36 having a salient pole can be easily configured.

[0095] (Example of change) The above-described embodiments may be modified as follows: The above-described embodiments and the following modifications may be combined with each other to the extent that no technical contradiction occurs.

[0096] The number of magnetic poles is six when the stator 20 and the mover 30 are used as an armature, and five when the stator 20 and the mover 30 are used as a field element; however, this number is merely an example and may be changed as appropriate.

[0097] Regarding the configuration of the field element, for example, in the first embodiment shown in Fig. 1, each magnetic pole portion 35, 36 of the mover 30, which is the field element, is configured using both the magnetic convex portions 35a, 36a and the permanent magnets 35b, 36b, but it may be configured using only the magnetic convex portions. It may also be configured using only the permanent magnets. In addition, the magnetic convex portions are not limited to a convex shape, as long as they function as magnetic pole portions.

[0098] Although the mover 30 is moved in one axial direction relative to the stator 20, the mover 30 may be configured to move in both axial directions. In addition to the above, the configurations of the stator 20 and the mover 30 constituting the armature and the field element, and the case member 10 may each be modified as appropriate.

[0099] (Additional Note) The technical ideas that can be understood from the above-described embodiment and modified examples will be described. [1] a stator (20) having a plurality of stator magnetic pole portions (25-27) linearly arranged; A mover (30) having a plurality of mover magnetic pole portions (35-37) arranged in a straight line, The stator magnetic pole portion includes a coil (25a to 27a) and the stator is configured as an armature, and the mover magnetic pole portion includes a magnetic pole portion (35a to 37a) or a permanent magnet (35b to 37b) and the mover is configured as a field element, or the stator magnetic pole portion includes a magnetic pole portion (25x, 26x) or a permanent magnet (25y, 26y), and the stator is configured as a field magnet, the mover magnetic pole portion includes a coil (35x, 36x), and the mover is configured as an armature, A linear motor (M1 to M8) that obtains a linear thrust in an axial (L1) direction by a linear motion of the mover relative to the stator due to mutual magnetic interaction between the stator magnetic pole portion and the mover magnetic pole portion based on energization of the coil, The mover includes two or more mover sections (31 to 33) each having the mover magnetic pole portion, and the mover sections are arranged to be movable relative to the stator in the axial direction, and the mover sections themselves are also movable relative to each other in the axial direction, The stator has two or more stator sections (21 to 23) each having the stator magnetic pole portion, and is configured to be able to supply a magnetic field for driving one or more of the mover sections corresponding to each of the stator sections. Linear motor.

[0100] [2] The stator is arranged such that at least a portion of the plurality of stator portions overlap when viewed in a direction perpendicular to the axial direction, and The mover is configured to perform an expansion and contraction operation between a contracted state in which the plurality of mover sections overlap when viewed in a direction perpendicular to the axial direction, and an expanded state in which the overlap of the plurality of mover sections is smaller than that in the contracted state. The linear motor according to the above [1].

[0101] [3] The stator and the mover are configured such that one stator section and one mover section correspond to each other in a one-to-one relationship, and the plurality of mover sections can operate independently or in cooperation with each other. The linear motor according to the above [1] or [2].

[0102] [4] The stator and the mover are configured such that the mover magnetic pole portion of the mover portion that moves next in association with the movement of the mover portion that moves first faces the same stator portion, and one stator portion is configured to drive two or more of the mover portions. The linear motor according to the above [1] or [2].

[0103] [5] The stator and the mover are configured such that the stator magnetic pole portion and the mover magnetic pole portion have an overlapping range in the axial direction even when the mover portion corresponding to the stator portion is in a maximum extended state. A linear motor according to any one of the above items [1] to [4].

[0104] [6] The stator and the movable element are both configured to have a cylindrical shape, The stator magnetic pole portion and the mover magnetic pole portion are both configured over the entire circumference, or are both configured only in parts in the circumferential direction. A linear motor according to any one of the above items [1] to [5].

[0105] [7] At least one of the stator magnetic pole portion of the stator and the mover magnetic pole portion of the mover is configured to have a salient pole such that salient poles are generated at a pitch smaller than the axial length of one of the stator magnetic pole portions or the mover magnetic pole portion, and the vernier motor is configured to obtain a magnetic deceleration effect during magnetic transmission between the stator magnetic pole portion and the mover magnetic pole portion. A linear motor according to any one of the above items [1] to [6].

[0106] [8] a stator (20) having a plurality of stator magnetic pole portions (25-27) linearly arranged; A mover (30) having a plurality of mover magnetic pole portions (35-37) arranged in a straight line, The stator magnetic pole portion includes a coil (25a to 27a) and the stator is configured as an armature, and the mover magnetic pole portion includes a magnetic pole portion (35a to 37a) or a permanent magnet (35b to 37b) and the mover is configured as a field element, or the stator magnetic pole portion includes a magnetic pole portion (25x, 26x) or a permanent magnet (25y, 26y), and the stator is configured as a field magnet, the mover magnetic pole portion includes a coil (35x, 36x), and the mover is configured as an armature, A linear motor (M1 to M8) that obtains a linear thrust in an axial (L1) direction by a linear motion of the mover relative to the stator due to mutual magnetic interaction between the stator magnetic pole portion and the mover magnetic pole portion based on energization of the coil, The mover includes first and second mover portions (31 to 33) each having the mover magnetic pole portion, and the first and second mover portions (31 to 33) are arranged to be movable relative to the stator in the axial direction, and the mover portions themselves are also arranged to be movable relative to each other in the axial direction, The stator has first and second stator portions (21 to 23) each having the stator magnetic pole portion, and is configured to be able to supply a magnetic field for driving the corresponding mover portion for each of the stator portions. Linear motor.

[0107] [9] A linear motor (M1 to M8) according to any one of the above items [1] to [8]; and a motor control unit (51) that controls the energization of the coils provided in the stator magnetic pole portions of the stator of the linear motor, and causes the plurality of mover portions of the mover to operate independently or in cooperation with each other. Linear motor system.

[0108]

[10] The motor control unit includes: a first control mode in which drive control is performed between the plurality of stator units and the plurality of mover units that form a normal time pair; A second control mode in which drive control is performed between the plurality of stator units and the plurality of mover units that are not normally paired. [9] A linear motor system according to the above [9].

[0109]

[11] The linear motor includes a first stator (21) having a small diameter and a cylindrical shape as the plurality of stator portions, and a second stator (22) having a larger diameter than the first stator and a cylindrical shape, and also includes first and second movers (31, 32) which are paired with the first and second stators, respectively; The motor control unit is configured to perform output control corresponding to the physical sizes of the first and second stators, such as driving the first mover by the first stator when a small output is required, driving the second mover by the second stator when a medium output is required, and simultaneously driving the first and second movers by the first and second stators when a large output is required. The linear motor system according to the above [9] or

[10] . [Explanation of symbols]

[0110] M1 to M8 linear motor, L1 axis, 20 stator, 21, 22, 23 first, second and third stators (stator parts), 25, 26, 27 stator magnetic pole parts (magnetic pole parts), 25a, 26a, 27a coils, 25x, 26x magnetic convex parts (magnetic pole parts), 25y, 26y permanent magnets, 30 movers, 31, 32, 33 first, second and third movers (mover parts), 35, 36, 37 mover magnetic pole parts (magnetic pole parts), 35a, 36a, 37a magnetic convex parts (magnetic pole parts), 35b, 36b, 37b permanent magnets, 35x, 36x coils, 50 linear motor system, 51 motor control part

Claims

1. A stator (20) having a plurality of stator magnetic pole portions (25-27) linearly arranged; A mover (30) having a plurality of mover magnetic pole portions (35-37) arranged in a straight line, The stator magnetic pole portion includes a coil (25a to 27a) and the stator is configured as an armature, and the mover magnetic pole portion includes a magnetic pole portion (35a to 37a) or a permanent magnet (35b to 37b) and the mover is configured as a field element, or the stator magnetic pole portion includes a magnetic pole portion (25x, 26x) or a permanent magnet (25y, 26y), and the stator is configured as a field magnet, the mover magnetic pole portion includes a coil (35x, 36x), and the mover is configured as an armature, A linear motor (M1 to M8) that obtains a linear thrust in an axial (L1) direction by a linear motion of the mover relative to the stator due to mutual magnetic interaction between the stator magnetic pole portion and the mover magnetic pole portion based on energization of the coil, The mover includes two or more mover sections (31 to 33) each having the mover magnetic pole portion, and the mover sections are arranged to be movable relative to the stator in the axial direction, and the mover sections themselves are also movable relative to each other in the axial direction, The stator has two or more stator sections (21 to 23) each having the stator magnetic pole portion, and is configured to be able to supply a magnetic field for driving to one or more of the mover sections corresponding to each of the stator sections. Linear motor.

2. The stator is arranged such that at least a portion of the plurality of stator portions overlap when viewed in a direction perpendicular to the axial direction, and The mover is configured to perform an expansion and contraction operation between a contracted state in which the plurality of mover sections overlap when viewed in a direction perpendicular to the axial direction, and an expanded state in which the overlap of the plurality of mover sections is smaller than that in the contracted state.

2. The linear motor according to claim 1.

3. The stator and the mover are configured such that one stator section and one mover section correspond to each other in a one-to-one relationship, and the plurality of mover sections can operate independently or in cooperation with each other.

2. The linear motor according to claim 1.

4. The stator and the mover are configured such that the mover magnetic pole portion of the mover portion that moves next in association with the movement of the mover portion that moves first faces the same stator portion, and one stator portion is configured to drive two or more of the mover portions.

2. The linear motor according to claim 1.

5. The stator and the mover are configured such that the stator magnetic pole portion and the mover magnetic pole portion have an overlapping range in the axial direction even when the mover portion corresponding to the stator portion is in a maximum extended state.

2. The linear motor according to claim 1.

6. The stator and the movable element are both configured to have a cylindrical shape, The stator magnetic pole portion and the mover magnetic pole portion are both configured over the entire circumference, or are both configured only in parts in the circumferential direction.

2. The linear motor according to claim 1.

7. At least one of the stator magnetic pole portion of the stator and the mover magnetic pole portion of the mover is configured to have a salient pole such that salient poles are generated at a pitch smaller than the axial length of one of the stator magnetic pole portions or the mover magnetic pole portion, and the vernier motor is configured to obtain a magnetic deceleration effect during magnetic transmission between the stator magnetic pole portion and the mover magnetic pole portion.

2. The linear motor according to claim 1.

8. A stator (20) having a plurality of stator magnetic pole portions (25-27) linearly arranged; A mover (30) having a plurality of mover magnetic pole portions (35-37) arranged in a straight line, The stator magnetic pole portion includes a coil (25a to 27a) and the stator is configured as an armature, and the mover magnetic pole portion includes a magnetic pole portion (35a to 37a) or a permanent magnet (35b to 37b) and the mover is configured as a field element, or the stator magnetic pole portion includes a magnetic pole portion (25x, 26x) or a permanent magnet (25y, 26y), and the stator is configured as a field magnet, the mover magnetic pole portion includes a coil (35x, 36x), and the mover is configured as an armature, A linear motor (M1 to M8) that obtains a linear thrust in an axial (L1) direction by a linear motion of the mover relative to the stator due to mutual magnetic interaction between the stator magnetic pole portion and the mover magnetic pole portion based on energization of the coil, The mover includes first and second mover sections (31 to 33) each having the mover magnetic pole portion, and the first and second mover sections (31 to 33) are arranged to be movable relative to the stator in the axial direction, and the plurality of mover sections themselves are also movable relative to each other in the axial direction, The stator has first and second stator portions (21 to 23) each having the stator magnetic pole portion, and is configured to be able to supply a magnetic field for driving the corresponding mover portion for each of the stator portions. Linear motor.

9. A linear motor (M1 to M8) according to any one of claims 1 to 8, and a motor control unit (51) that controls the energization of the coils provided in the stator magnetic pole portions of the stator of the linear motor, and causes the plurality of mover portions of the mover to operate independently or in cooperation with each other. Linear motor system.

10. The motor control unit includes: a first control mode in which drive control is performed between the plurality of stator units and the plurality of mover units that form a normal time pair; A second control mode in which drive control is performed between the plurality of stator units and the plurality of mover units that are not normally paired.

10. The linear motor system according to claim 9.

11. The linear motor includes a first stator (21) having a small diameter and a cylindrical shape as the plurality of stator parts, and a second stator (22) having a larger diameter than the first stator and a cylindrical shape, and also includes first and second movers (31, 32) which are paired with the first and second stators, respectively; The motor control unit is configured to perform output control corresponding to the physical sizes of the first and second stators, such as driving the first movable element by the first stator when a small output is required, driving the second movable element by the second stator when a medium output is required, and simultaneously driving the first and second movable elements by the first and second stators when a large output is required.

10. The linear motor system according to claim 9.

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