CN102185460A - Double-coil direct current motor with compensating cogging force and attraction force - Google Patents
Double-coil direct current motor with compensating cogging force and attraction force Download PDFInfo
- Publication number
- CN102185460A CN102185460A CN2011101172923A CN201110117292A CN102185460A CN 102185460 A CN102185460 A CN 102185460A CN 2011101172923 A CN2011101172923 A CN 2011101172923A CN 201110117292 A CN201110117292 A CN 201110117292A CN 102185460 A CN102185460 A CN 102185460A
- Authority
- CN
- China
- Prior art keywords
- electric motors
- linear electric
- track device
- teeth groove
- coil
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/03—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with a magnetic circuit specially adapted for avoiding torque ripples or self-starting problems
Abstract
The invention relates to a double-coil direct current motor with compensating cogging force and attraction force. The direct current motor comprises a first magnetic track device and a second magnetic track device, wherein the first magnetic track device is formed by one or more coil groups in a first group from the same reference position; the second magnetic track device is formed by one or more coil groups in a second group from the same reference position; and the direction of one or more coils in the first group are opposite to the direction of one or more coils in the second group, so that the first magnetic track device and the second magnetic track device counteract each other in a range one third magnetic moment away from each other. The force output needed by the motor is reduced by the cogging force, so that correct operation of a linear motor is interfered. The efficiency of the direct current motor is lowered by the cogging force. The cogging force is counteracted effectively, the efficiency of the direct current motor is increased, and less energy is used in the process, so that the energy cost is saved, and higher productivity is achieved.
Description
Technical field
The present invention relates to the permanent magnet linear synchronous motor, particularly relate to a kind of twin coil linear electric motors with compensation teeth groove power and attraction.
Background technology
In general, two class permanent magnet linear synchronous motors are arranged, be applied to industrial usually.These are no iron core linear electric motors (also being called the centreless linear electric motors) and iron core linear electric motors.No iron core linear electric motors are from its name, and it does not contain cored or iron lamination in coil.Coil only is shaped by copper cash or fashions into required shape.On the other hand, the iron core motor uses the iron lamination to form the core that copper cash twines the place.Iron core helps magnetic flux to gather copper cash.The iron core linear electric motors provide than the higher power of no iron core linear electric motors.It also uses still less permanent magnetic material than iron-core less motor in design, therefore more meet cost benefit.
Yet iron core motor and no iron core linear electric motors have two shortcomings: the first, in the iron core linear electric motors, there is a teeth groove power.This power is to be interacted by the tooth of the magnetic of magnet and iron core to form.In permanent magnet iron core linear electric motors, this is a well-known phenomenon.This teeth groove power is also referred to as reluctance force or detent force sometimes.This power is to aim at the axis that moves along linear electric motors, even when there not being electric current to pass through also to exist under the situation of motor coil.It has disturbed normal linear electric motors operation by hindering from the next needed power of motor.Teeth groove power Fc has been shown among Fig. 1 has acted on the iron core linear electric motors.The direction of power may be positive or negative, depends on the relative position and the track of coil.In other words, during in motion or when motion stabilization, it has increased or has reduced needed power.When disturbing by supplying with more electric current from servo-driver and control card, this in motor, is cancelled, it has reduced the performance of linear electric motors, especially increased setting time, this is after motor puts in place, is still in the needed time in the desired tolerance.In the high-precision application of needs, position of related features necessarily requires target localization in micron in a short period of time, and it is very inadvisable that this effect becomes.
In addition, in needs speed and fastidious application stably, teeth groove power will have negative effects, cause that motor has velocity perturbation or travel speed inhomogeneous.Another unfavorable conditions of iron core linear electric motors is the attraction that has very strong magnetic between the tooth of iron core and magnet.This is significantly since tooth and ferromagnetic between normally 0.8 to 1 millimeter in gap.This power with and direction be as shown in Figure 1.One typical, loop length is at 200 millimeters, coil width is greatly in 75 millimeters cored linear electric motors, attraction approximately is the power 1450N or 145 kilograms.In big iron core linear electric motors that have 700 mm coil length and 220 coil widths, attraction is 23000N or equals 2300 kilograms power.This attraction is extremely worthless, because need very large bearing guide of installation and movable block to hold coil, and the resistance track.Such as the PCB drilling machine, linear electric motors have been mounted a plurality of guide rails at large-scale machine, prevent to collapse or coil and track and lump together, and keep between the two air gap.This also means, the machine components that are used to hold motor coil must be also very hard and firm, owing to increased weight, caused heavy design and reduced dynamic property.When linear electric motors this attraction when moving has increased frictional force, caused linear electric motors efficient to reduce.
The method that is used to reduce the teeth groove power in the iron core linear electric motors has a lot.One of them method is the magnet on the deflection track.By angle of deflection magnet, this teeth groove power can be reduced, though reduce very not remarkable.Another method commonly used is the iron lamination of deflection at coiler part, and it is the same with deflection magnet same effect.When the method for deflection magnet or lamination can reduce teeth groove power on certain degree, it does not solve by the caused problem of attraction.It has also reduced efficiency of motor, because magnetic flux is not optimized fully by the magnet deflection.
Also having a method commonly used is that end at the iron core linear electric motors increases by 2 auxiliary teeth.This has illustrated that in Fig. 2 wherein 5a and 5b are auxiliary teeth.U.S. Patent number 5910691 has been described such technical scheme, and it has increased by 2 auxiliary teeth in the iron core linear electric motors.Auxiliary tooth is designed to have the inclination angle, has certain optimization angle, although can not eliminate teeth groove power fully by it, can be reduced to minimum.U.S. Patent number 4912746 uses auxiliary tooth to reduce teeth groove power in a triangle wedge shape.U.S. Patent number 6831379 B2 have also described linear electric motors that have the design of 8 utmost points 9 grooves, and have also increased by 2 auxiliary teeth at the end of linear motor coil.By optimize the length of auxiliary tooth with the distance between main tooth and 2 the auxiliary teeth, it has been proved to be teeth groove power and can be reduced.With the method that increases auxiliary tooth, when teeth groove power can be reduced, the attraction between coil and track did not still reduce or eliminates.In fact, auxiliary tooth only can increase attraction.
U.S. Patent number 6476524 B1 have described another method, rely at least 2 or 3 linear motor coil series connection.Each single motor coil is made of 8 utmost points and 9 grooves.By changing single coil to gap or space between the sub-fraction magnetic distance, it has been proved to be, and by the teeth groove power that stack is caused by single coil, pure teeth groove power can be eliminated fully.Yet with this design, the minimal coil length of linear electric motors is the length of at least 2 linear electric motors, perhaps equals 16 utmost points.This makes linear motor coil very long, and is not suitable for the space or the confined application of length of slipper.In addition, this method can not solve the problem that is caused by the attraction between linear motor coil and the track.
PCT/NL2005/000029 has described a linear electric motors module, and it comprises the magnet that some in one plane continuous alternating polarities are placed; Place continuously coil blocks at least 2, it comprises the pattern of a pile parallel-plate, each provide at least 3 parallel fingers and electric coil be arranged in finger around, wherein at least 2 assemblies segment distance that separates each other is arranged." slot effect " of having described linear electric motors is so reduces when different coil block layer stack are discontiguous, certain distance is arranged between them.Yet this prior art can't be described " certain distance ", and does not advise adopting neutralization " slot effect ".
Summary of the invention
The objective of the invention is to be the shortcoming at prior art, and a kind of twin coil linear electric motors with compensation teeth groove power and attraction are provided, it has compensation teeth groove power and attraction, and superior performance and effect can be provided.
Twin coil linear electric motors with compensation teeth groove power and attraction of the present invention, its teeth groove power is produced by linear electric motors, when it has 60 degree same distance circulation or 1/3 magnetic distance to move by one.By structure 2 antagonism tracks assemblings, it is deliberately cancelled each other with the distance of 1/3 magnetic distance, the teeth groove power Fc2 that teeth groove power Fc1 offsets or compensation is produced by the bottom linear motor coil that is produced by the linear motor coil on top.Just as can be seen, be arranged like this by two linear electric motors of load, net positive suction head power is actually zero.In other words, the teeth groove power of opposition is cancelled each other.
Concrete technical scheme of the present invention is as follows:
The invention provides a kind of twin coil linear electric motors, comprising with compensation teeth groove power and attraction:
One or more coil groups in first group form the first track device from identical reference position;
One or more coil groups in second group form the second track device from identical reference position;
Wherein, the one or more coils in first group are opposite with the direction of one or more coil in second group, so that the distance of the first track device, the second track device, 1/3 magnetic distance adjacent to each other is cancelled each other.
The present invention also provides a kind of twin coil linear electric motors with compensation teeth groove power and attraction, comprising:
First coil groups forms the first track device from identical reference position;
Second coil groups forms the second track device from identical reference position;
Two track devices wherein are all from same reference position assembling parts, so that the first track device, the second track device are cancelled each other in the distance near 1/3 magnetic distance, this magnetic is apart from making linear electric motors produce clean zero teeth groove power and attraction.
In above-mentioned, the first track device and the second track device are fixed on the mounting panel.
In above-mentioned, described mounting panel is an aluminium sheet.
In above-mentioned, described twin coil linear electric motors also are provided with conduit, and this conduit is mounted in the described mounting panel, and it is used to cool off described twin coil linear electric motors.
The beneficial effect that the present invention has: the present invention is by reducing the output variable of the needed power of motor, and teeth groove power has been interfered the proper operation of linear electric motors.In doing so, teeth groove power has reduced the efficient of linear electric motors.By the effective teeth groove power of having offset, linear electric motors become more efficient, and use energy still less during the course, have not only saved cost of energy, can also bring higher productivity.
Description of drawings
Fig. 1 is the profile of traditional iron core linear electric motors;
Fig. 2 is the profile of another kind of traditional iron core linear electric motors;
Fig. 3-Fig. 4 is for moving the schematic diagram in an electric cycle when linear electric motors;
Fig. 5 is the assembling of two linear motor coils opposition and the structure chart of facing the other side;
Fig. 6 is the sectional view of the preferred embodiment of the present invention;
Fig. 7 is the schematic diagram of linear electric motors magnetic circuit of the present invention;
Fig. 8 is the schematic diagram of another preferred embodiment of the present invention;
Fig. 9 is the scheme of installation of two linear motor coils of the present invention;
Figure 10 is the structure chart of linear electric motors of the present invention;
Figure 11 is the schematic diagram of another preferred embodiment of the present invention.
[figure number is to as directed]
1 iron core, 2 copper coils
3 permanent magnets, 4 back irons
The auxiliary tooth of the auxiliary tooth 5b of 5a
7 track fixed blocks, 8 fixed heads
9a top motor 9b bottom motors
10 mounting panels, 11 water inlets
12 delivery ports
Embodiment
Further understand and understanding for making architectural feature of the present invention and the effect reached had, cooperate detailed explanation, be described as follows in order to preferred embodiment and accompanying drawing:
See also Fig. 1, be traditional iron core linear electric motors profile, these iron core linear electric motors use the design of 8 utmost points, 6 grooves.Iron core 1 is shaped by many iron laminations, and copper coil 2 is to be shaped around the groove of iron core.Permanent magnet 3 is to be assembled on the back iron 4.Magnetic is that a magnet is to the distance between another magnet apart from Pm.2 blocks of magnet will form a complete electrical cycle, can be 360 degree.When linear electric motors move an electrical cycle such as Fig. 3-shown in Figure 4, teeth groove power is produced by linear electric motors, and the circulation of 6 repetitions is 360 complete degree electrical cycles.This means that the circulation of each repetition has the cycle of one 60 degree, perhaps a distance that equals magnetic distance 1/3.
Fig. 2 is the profile for another kind of traditional iron core linear electric motors, and as shown in the figure, 5a, 5b are auxiliary teeth.
Fig. 5 is the assembling of two linear motor coils opposition and the structure chart of facing the other side.Two track device 6a and 6b, separated from each other by the track fixed block 7 of an aluminium.Should be noted that 2 track groups are specially to depart from 1/3 magnetic distance mutually.
Fig. 5 shows the teeth groove power of Fig. 4, specifically is the teeth groove power Fc2 that teeth groove power Fc1 offsets or compensation is produced by the bottom linear motor coil by the linear motor coil generation on top.
As shown in Figure 6, be a viewgraph of cross-section, 2 linear motor coils can be made mechanical connection by a load fixed head 8 fixed thereon.Motor coil also can electric power link together, each motor coil is in parallel or series connection.This means that 2 linear motor coils are more more effective than single motor coil, and by single servo driver drives, have that same current delivery is given or by coil, be to use series connection still in parallel according to them.
Except the compensation of teeth groove power, it can be as seen from Figure 5, and attraction Fa1 and Fa2 act on opposite direction.By fixing 2 linear motor coils in such structure, as shown in the figure, by loading on the fixed head 8 that adds 2 motors, net positive suction head power is actually zero.In other words, attraction has been cancelled each other.
Fig. 7 is the schematic diagram of linear electric motors magnetic circuit of the present invention.Since the track fixed block 7 of aluminium is non magnetic, and two linear electric motors separate by this piece, and the magnetic circuit of top motor 9a and the magnetic circuit of bottom motors 9b separate.Be not conflict between these two magnetic circuits.
Fig. 8 is the schematic diagram of another preferred embodiment of the present invention, relies on to replace skew track device, the distance of the magnetic distance 1/3 that the skew of linear motor coil group is same or 60 degree.The effect of this structure is the same with Fig. 5 description.
In order to strengthen the assembling of 2 linear motor coils, mounting panel can add 2 linear electric motors like this, as shown in Figure 9.These mounting panels 10 are made of aluminium, and they are laterally very hard and help to keep air gap between linear motor coil and the track plate.
A complete module uses this structure, and as shown in figure 10, the linear electric motors assembling is to be fixed on the module center support frame dish, has 2 guide rails in the every side of linear electric motors fit on.In fact, the bracing frame dish joins the top of mounting disc.Use such design, the size of guide rail can be compared conventional iron core linear electric motors and significantly reduce, because clean zero attraction force acts is on guide rail.Guide rail only is used in and supports load and guiding linear electric motors travel direction.A kind of design like this can be applied in such as PCB drilling machine and lathe.
Figure 11 is the schematic diagram of another preferred embodiment of the present invention, and among this figure, the linear motor coil mounting panel is to be designed to have water conduit to allow the linear electric motors water-cooled.Though copper coil can operate on usually up to 130 degree, in using, be necessary with cooling off, it is worthless that heat is transferred to load.In traditional design, water cooling tube normally is installed in linear motor coil inside cooling is provided.This method makes manufacture process very expensive and loaded down with trivial details, just as should be noted that copper cash and the cooling fluid of taking suitable isolation electric current to pass through.Any leakage can cause short circuit and linear motor coil fault.This method has also taken the useful space in the linear motor coil, at the available copper coil that has replaced in the limited space between some grooves at linear motor coil.In the present invention, merge the cooling duct by the installation and processing plate, manufacturing cost can show and reducing, and has more space for the winding of copper coil, therefore makes motor more efficient.With such modularized design, the replacing of any motor coil or wearing terrain also is feasible.
In sum, it only is preferred embodiment of the present invention, be not to be used for limiting scope of the invention process, all equalizations of doing according to the described shape of claim scope of the present invention, structure, feature and spirit change and modify, and all should be included in the claim scope of the present invention.
Claims (8)
1. the twin coil linear electric motors with compensation teeth groove power and attraction is characterized in that, comprising:
One or more coil groups in first group form the first track device from identical reference position;
One or more coil groups in second group form the second track device from identical reference position;
Wherein, the one or more coils in first group are opposite with the direction of one or more coil in second group, so that the distance of the first track device, the second track device, 1/3 magnetic distance adjacent to each other is cancelled each other.
2. the twin coil linear electric motors with compensation teeth groove power and attraction according to claim 1 is characterized in that the first track device and the second track device are fixed on the mounting panel.
3. the twin coil linear electric motors with compensation teeth groove power and attraction according to claim 2 is characterized in that described mounting panel is an aluminium sheet.
4. the twin coil linear electric motors with compensation teeth groove power and attraction according to claim 1 is characterized in that described twin coil linear electric motors also are provided with conduit, and this conduit is mounted in the described mounting panel, and it is used to cool off described twin coil linear electric motors.
5. the twin coil linear electric motors with compensation teeth groove power and attraction is characterized in that, comprising:
First coil groups forms the first track device from identical reference position;
Second coil groups forms the second track device from identical reference position;
Two track devices wherein are all from same reference position assembling parts, so that the first track device, the second track device are cancelled each other in the distance near 1/3 magnetic distance, this magnetic is apart from making linear electric motors produce clean zero teeth groove power and attraction.
6. the twin coil linear electric motors with compensation teeth groove power and attraction according to claim 5 is characterized in that the first track device and the second track device are fixed on the mounting panel.
7. the twin coil linear electric motors with compensation teeth groove power and attraction according to claim 6 is characterized in that described mounting panel is an aluminium sheet.
8. the twin coil linear electric motors with compensation teeth groove power and attraction according to claim 5 is characterized in that described twin coil linear electric motors also are provided with conduit, and this conduit is mounted in the described mounting panel, and it is used to cool off described twin coil linear electric motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101172923A CN102185460A (en) | 2011-05-05 | 2011-05-05 | Double-coil direct current motor with compensating cogging force and attraction force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101172923A CN102185460A (en) | 2011-05-05 | 2011-05-05 | Double-coil direct current motor with compensating cogging force and attraction force |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102185460A true CN102185460A (en) | 2011-09-14 |
Family
ID=44571552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011101172923A Pending CN102185460A (en) | 2011-05-05 | 2011-05-05 | Double-coil direct current motor with compensating cogging force and attraction force |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102185460A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102437705A (en) * | 2011-11-28 | 2012-05-02 | 苏州普思自动化科技有限公司 | Linear motor |
| CN113796002A (en) * | 2019-04-29 | 2021-12-14 | 库利克和索夫工业公司 | Linear motor reaches bonding wire machine including it |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5703420A (en) * | 1994-10-11 | 1997-12-30 | Canon Kabushiki Kaisha | Moving magnet type multi-phase linear motor with vibration suppression and coil cooling means |
| JPH11262236A (en) * | 1998-03-10 | 1999-09-24 | Yaskawa Electric Corp | Linear motor |
| US6800968B1 (en) * | 2000-06-19 | 2004-10-05 | Kabushiki Kaisha Yaskawa Denki | Linear motor |
| CN201774438U (en) * | 2010-03-25 | 2011-03-23 | 王敕 | Double iron core linear motor |
| CN202050348U (en) * | 2011-05-05 | 2011-11-23 | 雅科贝思精密机电(上海)有限公司 | Twin-coil linear motor capable of compensating tooth space force and attractive force |
-
2011
- 2011-05-05 CN CN2011101172923A patent/CN102185460A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5703420A (en) * | 1994-10-11 | 1997-12-30 | Canon Kabushiki Kaisha | Moving magnet type multi-phase linear motor with vibration suppression and coil cooling means |
| JPH11262236A (en) * | 1998-03-10 | 1999-09-24 | Yaskawa Electric Corp | Linear motor |
| US6800968B1 (en) * | 2000-06-19 | 2004-10-05 | Kabushiki Kaisha Yaskawa Denki | Linear motor |
| CN201774438U (en) * | 2010-03-25 | 2011-03-23 | 王敕 | Double iron core linear motor |
| CN202050348U (en) * | 2011-05-05 | 2011-11-23 | 雅科贝思精密机电(上海)有限公司 | Twin-coil linear motor capable of compensating tooth space force and attractive force |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102437705A (en) * | 2011-11-28 | 2012-05-02 | 苏州普思自动化科技有限公司 | Linear motor |
| CN102437705B (en) * | 2011-11-28 | 2013-01-23 | 苏州普思自动化科技有限公司 | Linear motor |
| CN113796002A (en) * | 2019-04-29 | 2021-12-14 | 库利克和索夫工业公司 | Linear motor reaches bonding wire machine including it |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6584619B2 (en) | Linear motor | |
| EP2611011B1 (en) | Linear motor | |
| CN102720786B (en) | Multi-degree of freedom electromagnetic damper | |
| US7944095B2 (en) | Linear motor with integrally formed stator | |
| WO2010067837A1 (en) | Thrust generation mechanism, drive device, xy stage, and xyz stage | |
| KR100964539B1 (en) | Linear motor | |
| US20060012251A1 (en) | Linear motor for use in machine tool | |
| CN102723842B (en) | Multi-freedom and long travel magnetic suspension working bench | |
| CN109217518B (en) | Linear motor and stator thereof | |
| CN202050348U (en) | Twin-coil linear motor capable of compensating tooth space force and attractive force | |
| US7498700B2 (en) | Linear drive system | |
| US7138734B2 (en) | Linear drive unit reducing stress generated in movable part in horizontal direction | |
| CN104767351B (en) | Highly modularized flat plate type multiphase permanent magnet linear motor | |
| CN113859892A (en) | Linear transmission system | |
| CN104167897A (en) | Flat-plate-type transverse magnetic flux switching permanent magnet linear motor | |
| CN102185460A (en) | Double-coil direct current motor with compensating cogging force and attraction force | |
| CN112214857B (en) | Double-side modular low-positioning-force permanent magnet synchronous linear motor and performance optimization method thereof | |
| JP2001211630A (en) | Linear slider | |
| KR101798548B1 (en) | Linear motor | |
| JP5488831B2 (en) | Linear motor and stage device | |
| CN106341029A (en) | Voice coil motor | |
| KR20110082183A (en) | Dual coil linear motor with compensated cogging and attraction force | |
| CN104218771A (en) | Magnetic-suspension permanent-magnet synchronous planar motor with multiple degrees of freedom | |
| CN204835886U (en) | Nose bar formula does not have iron core linear motor | |
| WO2013022403A1 (en) | High force linear motor system for positioning a load |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20110914 |