JP2007209089A - Linear motor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily and inexpensively draw out wiring from a coil of a linear motor. <P>SOLUTION: The linear motor includes: a stator 10 provided with a plurality of electromagnetic coils configured by winding a coil 12 on a bobbin 14 and arranged successively, and a center core 11 composed of a magnetic body penetrating through the center part of the plurality of bobbins of the plurality of electromagnetic coils; and a mover provided with a plurality of permanent magnets on which a magnetic flux from the stator acts, and provided so as to reciprocate along the stator. The bobbin 14 is provided with housing spaces 15, 16 and 17 for housing a lead wire from the coil between the coil 12 and the center core 11. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a structure for drawing a leader line from a coil in a linear motor.

  There are various types of linear motors. Generally, there are a fixed magnet type in which a magnet is provided on the stator side and a movable magnet type in which a magnet is provided on the mover side. For example, in a movable magnet type linear motor in which a coil is provided on the stator side and a permanent magnet is provided on the mover side, as shown in FIG. 10, the stator 110 has an axial center core 111 ( A plurality of coils 112 are continuously arranged in the axial direction around the stator body), and the outer periphery of the coils 112 is wrapped with a non-magnetic pipe 113 such as stainless steel. The mover 120 is configured by continuously arranging a plurality of permanent magnets 121 surrounding the outer periphery of the pipe 113 in the axial direction, and housing these permanent magnets 121 in a magnet case 122. A guide block 123 is fixed to the mover 120, and the guide block 123 is slidably guided along a guide rail 132 fixed to a base (not shown). In the linear motor having such a structure, when electric power is supplied to the coil 112 on the stator side, a thrust is applied to the mover 120 due to the interaction between the magnetic flux from the coil 112 and the permanent magnet 121, and the mover 120 is It moves in the axial direction while being guided along the guide rail 132 on the base.

  By the way, in the linear motor having the above-described structure, there is a problem of how to draw out the wires from the plurality of coils 112 on the stator side to the ends in the longitudinal direction of the stator.

  Conventionally, as a technique for solving this problem, as described in Patent Document 1, a groove extending in the axial direction is provided on the outer peripheral surface of the center core 111, and wiring from a plurality of coils 112 on the stator side is connected to the groove. It has been proposed to be placed inside and pulled out to the end of the center core.

As another method, as described in Patent Document 2, a yoke member provided with an armature coil is provided with a long groove-like lead wire storage groove extending to the end along the longitudinal direction thereof. A configuration has been proposed in which a lead wire for energizing the armature coil is housed in the housing groove and then led out from the longitudinal end portion of the yoke member.
JP 2002-291220 A Japanese Patent Application Laid-Open No. 07-322595

  However, in the case where a wiring groove is provided in the stator main body as described above, there is a risk of short circuit due to contact with the center core, which is a magnetic material, if the insulating film of the lead wire is broken. Therefore, it was necessary to insulate the surface of the groove of the center core by applying a surface treatment such as an insulating coating or an insulating tape. However, surface treatment such as insulation coating is very expensive, and there is a problem that workability is poor for an insulating tape and productivity is lowered.

  Furthermore, in the above-described prior art, since a plurality of lead lines are passed through the common groove, it is difficult to perform the connection work between the lead lines, and there is a problem that the production cost is high.

  Accordingly, the present invention has been made in view of the above-described problems, and an object of the present invention is to make it possible to easily and inexpensively draw a wiring from a coil of a linear motor.

  In order to solve the above-described problems and achieve the object, a linear motor according to the present invention includes a plurality of electromagnetic coils that are formed by winding a bobbin and are continuously arranged, and the plurality of electromagnetic coils. A stator having a center core made of a magnetic material that penetrates the central part of a plurality of bobbins of the coil, and a plurality of permanent magnets that receive the action of magnetic flux from the stator, and can reciprocate along the stator The bobbin is provided with a storage space for storing a lead wire from the winding between the winding and the center core. To do.

  In the linear motor according to the present invention, the plurality of electromagnetic coils include at least two sets of coil groups connected in series, and the bobbin includes the storage space independent for each coil group. Is provided.

  In the linear motor according to the present invention, the storage space includes an independent storage portion for each of the lead wires so that the lead wires do not contact each other in the same storage space. To do.

  In the linear motor according to the present invention, the storage portions adjacent to each other in the storage space are connected by a slit, and the width of the slit is smaller than the outer diameter of the leader line.

  The linear motor according to the present invention is characterized in that a connecting portion connecting lead wires from the electromagnetic coil is stored in the storage space.

  In the linear motor according to the present invention, the storage space is formed by a through hole formed in the bobbin.

  The linear motor according to the present invention further includes an insertion member made of an insulating material inserted between the bobbin and the center core, and the storage space includes a recess formed in the bobbin and the insertion member. It is characterized by comprising a space formed by.

  In the linear motor according to the present invention, the storage space has an opening that opens toward the center core, and the width of the opening is smaller than the outer diameter of the lead wire.

  In the linear motor according to the present invention, the bobbin has a thick portion that partially separates the winding from the center core, and the storage space is provided in the thick portion. To do.

  In the linear motor according to the present invention, the center core has a chamfered portion or a groove formed to extend in the longitudinal direction of the center core, and the thick portion of the bobbin is the chamfered portion or the groove. It is formed in the shape corresponding to.

  According to the present invention, it is possible to easily and inexpensively pull out the wiring from the coil of the linear motor.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of a linear motor of the invention will be described in detail with reference to the accompanying drawings.

(First embodiment)
FIG. 1 is a diagram showing a schematic configuration of a linear motor common to each embodiment of the present invention.

  In FIG. 1, a linear motor includes a shaft body (hereinafter referred to as a stator) 10 containing a plurality of electromagnetic coils (hereinafter abbreviated as coils) continuously arranged, and magnetic fluxes from these coils. And a movable magnet body (hereinafter referred to as a mover) 20 that can travel in the same direction as the direction in which the stator 10 extends. The stator 10 is bridged between two brackets 33 that are fixed on the base 37 at intervals.

  Two guide blocks 35 are fixed to the mover 20, and these two guide blocks 35 are slidably guided by guide rails 34 arranged on the base 37 along the traveling direction of the mover 20. . With this configuration, the mover 20 can move while maintaining a gap with respect to the outer periphery of the stator 10.

  Note that the thrust is the same even if there is some variation in the gap between the outer peripheral surface of the stator 10 and the inner peripheral surface of the mover 20. Precision is not required.

  On the base 37, a linear encoder 36 for detecting the position of the movable element 20 in the traveling direction is disposed along the traveling direction of the movable element 20. The detection signal from the linear encoder 36 is used for positioning control of the mover 20. Further, a power cable 38 a for three-phase driving extends from the control driver 38 of the linear motor, and each coil in the stator 10 is connected to the power cable 38 a via the bracket 33. A personal computer 39 is connected to the control driver 38, and positioning control of the mover 20 can be performed by control data given from the personal computer 39.

  A sensor 41 for detecting the mover 20 is provided on the base 37. The detection signal of the sensor 41 is sent to the control driver 38, and used for positioning the origin of the mover 20 or preventing runaway.

  In the linear motor configured as described above, the mover 20 can be reciprocated within a specified region.

  FIG. 2 is a cross-sectional view showing a schematic configuration of a linear motor common to each embodiment of the present invention.

  In FIG. 2, the stator 10 includes a hollow shaft-shaped center core 11, a plurality of bobbins 14 attached to the center core 11 in a state in which the coils 12 are wound, and outer peripheral surfaces of the plurality of coils 12 and the bobbins 14. And a non-magnetic pipe 13 for covering. The coil 12 includes a U-phase coil, a V-phase coil, and a W-phase coil, and the center core 11 passes through the center of the plurality of bobbins 14 around which these coils are wound. The plurality of bobbins 14 are mounted over substantially the entire travel range of the mover 20 so that the magnetic pole axis of the coil 12 is parallel to the axis of the center core 11.

  The mover 20 includes a plurality of annular permanent magnets 21 surrounding the coil 12 and a magnet case 22 that accommodates the plurality of permanent magnets 21. The plurality of permanent magnets 21 have the same length dimension, are combined in series so that the adjacent magnetic poles are opposite to each other and the magnetic pole axes are parallel to the axis of the center core 11, and the magnet case 22 is combined. Contained.

  The pipe 13 is made of a nonmagnetic metal material such as stainless steel, but may be a resin material or the like.

  The center core 11 is made of a magnetic material such as iron in order to have a function as a yoke, and is formed in a pipe shape having a shape suitable for cooling while maintaining mechanical strength. For the permanent magnet 21, for example, a neodymium magnet having high performance as a magnet is used. In particular, the dimensions of the permanent magnet 21 in the magnetic pole axis direction must all be the same. As the magnet case 22, a nonmagnetic material such as an aluminum alloy is used.

  A liquid such as oil or a gas such as air is circulated in the hollow portion of the center core 11 through the bracket 33 so that the coil 12 can be cooled from the inside thereof.

  Next, the structure of the stator 10 in the linear motor having the above structure will be described in more detail.

  FIG. 3 is a cross-sectional view illustrating a schematic configuration of the stator according to the first embodiment, and FIG. 4 is a perspective view illustrating a schematic structure of the stator according to the first embodiment. FIG. 5 is a perspective view showing one of a plurality of bobbins arranged on the stator.

  3 to 5, the stator 10 includes a coil 12 formed by winding a wire with an insulating coating around the bobbin 14 and a center made of a magnetic material such as iron penetrating the center of the bobbin 14. A core 11 is provided. Since the linear motor in the present embodiment is a three-phase drive type, a coil set composed of three coils of a U-phase coil 12a, a V-phase coil 12b, and a W-phase coil 12c is used as one unit. The current waveform flowing in the V-phase coil 12b has a phase difference of 120 ° with respect to the current waveform flowing in the U-phase coil 12a, and the current waveform flowing in the W-phase coil 12c is 120 ° with respect to the current waveform flowing in the V-phase coil 12b. It is driven to have a phase difference of These coil sets are mounted around the center core 11 along the axial direction (two sets are shown in FIG. 4), and those coil groups are made of a non-magnetic material (stainless steel or the like) indicated by phantom lines in FIG. It is covered with the pipe 13 which becomes. Note that the bobbin of the U-phase coil 12a, the bobbin of the V-phase coil 12b, and the bobbin of the W-phase coil 12c are arranged so as to be shifted by 120 ° in the rotation direction around the center core 11, respectively.

  On the outer peripheral surface of the center core 11, D cut surfaces 11a, 11b, and 11c are formed at intervals of 120 °. Further, on the inner peripheral surface of the bobbin 14, D-shaped thick portions 14a, 14b, and 14c spaced by 120 ° are formed along the outer peripheral shape of the center core 11. The three thick portions 14a, 14b and 14c formed on the bobbin 14 are respectively provided with a U-phase wiring portion 15 for wiring the lead wire of the U-phase coil and a lead wire for the V-phase coil. One of the V-phase wiring portion 16 and the W-phase wiring portion 17 for wiring the lead wire of the W-phase coil is formed. Further, three holes are formed in each phase wiring portion, and each of the U-phase first wiring hole 15a, the U-phase second wiring hole 15b, the U-phase third wiring hole 15c, the V-phase first wiring hole 16a, A V-phase second wiring hole 16b, a V-phase second wiring hole 16c, a W-phase first wiring hole 17a, a W-phase second wiring hole 17b, and a W-phase third wiring hole 17c are formed. Further, on the flange 14d of each bobbin 14, the lead wire of the coil 12 is connected to the coil wiring portions (coil wiring holes) 15, 16 at positions corresponding to the D-shaped thick portion as shown in FIG. , 17 is formed in the notch 14e. 5 shows the bobbin of the U-phase coil for convenience of explanation, the bobbin of the U-phase coil 12a, the bobbin of the V-phase coil 12b, and the bobbin of the W-phase coil 12c rotate around the center core 11, respectively. Since the V-phase coil is arranged so as to be shifted by 120 ° in the direction, the coil wiring portion (coil wiring hole) corresponding to the notch 14e of the bobbin 14 becomes the V-phase wiring portion 16 and the W-phase coil. Only the coil wiring part (coil wiring hole) corresponding to the notch 14e of the bobbin 14 becomes the W-phase wiring part 17, and the shape of the bobbin 14 is common for U phase, V phase, and W phase. It is the shape.

  FIG. 6 is an explanatory diagram showing a lead wire wiring diagram of each phase coil 12a, 12b, 12c according to the first embodiment and a relationship between each phase coil 12a, 12b, 12c and a lead wire hole.

  6A shows the relationship between the U-phase coil 12a and the lead wire part 15 (U-phase first wiring hole 15a, U-phase second wiring hole 15b, U-phase third wiring hole 15c). Indicates the relationship between the V-phase coil 12b and the lead wire wiring portion 16 (V-phase first wiring hole 16a, V-phase second wiring hole 16b, V-phase third wiring hole 16c), and C in FIG. 12c shows the relationship between the lead wire portion 17c and the lead wire portion 17 (W-phase first wire hole 17a, W-phase second wire hole 17b, W-phase third wire hole 17c). In FIG. 6, symbol S indicates the start of winding of each coil 12, and symbol E indicates the end of winding of each coil 12.

  The lead wires of the coils 12 are appropriately distributed and wired in the lead wire wiring holes of the bobbin 14. In addition, about the three-phase connection method of U phase, V phase, and W phase, the star connection which is a general connection method is used. Since the star connection is already well known, a description thereof will be omitted. Further, the wiring member of the present invention is not limited to use for star connection, but can be used for other connection methods such as delta connection.

  As shown in FIG. 6A, the winding start S of the U-phase coil U1 of the first coil set is wired in the U-phase third wiring hole 15c of the first bobbin 14-1 toward the left in the drawing. The winding end E of the U-phase coil U1 is wired in the U-phase first wiring hole 15a of the second bobbin 14-2 toward the right in the figure, and the U-phase first wiring hole of the third bobbin 14-3. Passing through 15a, the wiring hole is changed by the fourth bobbin 14-4 and passes through the U-phase second wiring hole 15b. Then, when it passes through the U-phase second wiring hole 15b, it is connected to the lead wire E at the winding end E of the U-phase coil U2 by soldering or the like, and the connection portion 80 is connected to the fifth bobbin 14-5 attached after the connection. It passes through the U-phase second wiring hole 15b.

  The winding start S of the U-phase coil U2 is wired to the right in the figure in the U-phase third wiring hole 15c of the fifth bobbin 14-5, and the U-phase third wiring hole 15c of the sixth bobbin 14-6. And the wiring hole is changed by the seventh bobbin 14-7 and passes through the U-phase second wiring hole 15b. Then, after passing through the U-phase second wiring hole 15b, the lead wire of the winding start S of the U-phase coil U3 is connected to the lead wire by soldering or the like, and the connection portion 82 is connected to the U of the eighth bobbin 14-8 attached after the connection. It is passed through the phase second wiring hole 15b.

  The winding end E of the U-phase coil U3 is wired rightward in the drawing to the U-phase first wiring hole 15a of the eighth bobbin 14-8, and the U-phase first wiring hole 15a of the ninth bobbin 14-9. The wiring hole is changed by the tenth bobbin 14-10 and passes through the U-phase second wiring hole 15b. Then, after passing through the U-phase second wiring hole 15b, the winding end E of the U-phase coil U4 is connected by soldering or the like, and the connecting portion 84 is connected to the U-phase second of the eleventh bobbin 14-11 attached after the connection. It is passed through the wiring hole 15b.

  The winding start S of the U-phase coil U4 is wired in the U-phase third wiring hole 15c of the eleventh bobbin 14-11 toward the right in the figure, and the U-phase third wiring hole of the twelfth bobbin 14-2. 15c is routed outside and connected to the U phase of the control driver 38.

  The relationship between the V-phase coil 12b of FIG. 6B and the lead wire wiring hole 16 and the relationship between the W-phase coil 12c of FIG. 6C and the lead wire wiring hole 17 are the same as those of the U-phase coil of FIG. Since this is the same as the case, the description is omitted.

  The lead wire from the winding start S of the U-phase coil U1 in FIG. 6A, the lead wire from the winding end E of the V-phase coil V1 in FIG. 6B, and the winding start S of the W-phase coil W1 in FIG. The lead wire from the cable passes through each wiring hole of the first bobbin 14-1 and is wired outside to connect three lead wires to form a star connection. 2 is fixed by passing a three-phase driving current from the winding start S of the U-phase coil U4, the winding end E of the V-phase coil V4, and the winding start S of the W-phase coil W4 using the control driver 38. Driven by the action of the magnetic field generated by the child 10.

(Second Embodiment)
FIG. 7 is a cross-sectional view illustrating a schematic configuration of the stator according to the second embodiment. Similar to the first embodiment, the second embodiment is a three-phase drive type linear motor.

  The three thick portions 54a, 54b, 54c formed on the bobbin 54 are respectively provided with a U-phase wiring portion 55 for wiring the lead wire of the U-phase coil and a lead wire for the V-phase coil. A V-phase wiring portion 56 and a W-phase wiring portion 57 for wiring the lead wire of the W-phase coil are formed. Furthermore, a first wiring space, a second wiring space, and a third wiring space are formed in each phase wiring portion, respectively, and a U-phase first wiring space 55a, a U-phase second wiring space 55b, and a U-phase third. Wiring space 55c, V-phase first wiring space 56a, V-phase second wiring space 56b, V-phase third wiring space 56c, W-phase first wiring space 57a, W-phase second wiring space 57b, W-phase third wiring A space 57c is formed. The wiring space of each phase is a space opened to the center core 11 side. However, when the lead wires from the coils 12 of each phase are wired in the first wiring space, the second wiring space, and the third wiring space, respectively, the lead wires and the center core 11 are not in contact with each other. In this embodiment, the opening width L1 of the wiring space of each phase is made smaller than the lead wire outer diameter D1, thereby preventing the lead wire wired in the wiring space from contacting the center core 11. The lead wires from the respective phase coils 12 are wired in the same manner as in the first embodiment.

(Third embodiment)
FIG. 8 is a cross-sectional view illustrating a schematic configuration of the stator according to the third embodiment. Similar to the first and second embodiments, the third embodiment is a three-phase drive type linear motor.

  The three thick portions 64a, 64b, 64c formed on the bobbin 64 are respectively provided with a U-phase wiring portion 65 for wiring the lead wire of the U-phase coil and a lead wire for the V-phase coil. A V-phase wiring portion 66 and a W-phase wiring portion 67 for wiring the lead wire of the W-phase coil are formed. Further, three wiring grooves are formed in the wiring portions of the respective phases. The U-phase first wiring groove 65a, the U-phase second wiring groove 65b, the U-phase third wiring groove 65c, and the V-phase first wiring groove, respectively. 66a, a V-phase second wiring groove 66b, a V-phase third wiring groove 66c, a W-phase first wiring groove 67a, a W-phase second wiring groove 67b, and a W-phase third wiring groove 67c. The lead lines from the coils 12 of each phase are wired in the same manner as in the first embodiment. In this state, since the lead wire from the coil 12 of each phase wired in the wiring groove and the center core 11 are in contact with each other, in this embodiment, a spacer made of a nonconductive synthetic resin is provided between the bobbin 64 and the center core 11. 61 is inserted. This prevents the lead wire wired in each phase wiring groove from contacting the center core 11.

(Fourth embodiment)
FIG. 9 is a cross-sectional view illustrating a schematic configuration of the stator according to the fourth embodiment. Similar to the first to third embodiments, the fourth embodiment is a three-phase drive type linear motor.

  The three thick portions 74a, 74b, 74c formed on the bobbin 74 are respectively provided with a U-phase wiring hole 75 for wiring a U-phase coil lead wire and a V-phase coil lead wire. A V-phase wiring hole 76 and a W-phase wiring hole 77 for wiring the lead wire of the W-phase coil are formed. Further, although the first wiring space, the second wiring space, and the third wiring space are formed in each phase wiring hole, each is not formed as an independent hole, and is formed as a small gap as shown in FIG. Connected and formed as one hole. However, when the lead wires from the respective phase coils 12 are wired in the first wiring space, the second wiring space, and the third wiring space, the lead wires in the other wiring spaces are not in contact with each other. . In this embodiment, the slit width L2 connecting the first wiring space, the second wiring space, and the third wiring space is made smaller than the lead wire outer diameter D2, thereby preventing the lead wires from contacting each other in the wiring hole. is doing. The lead wires from the respective phase coils 12 are wired in the same manner as in the first embodiment.

  The bobbin of the present invention is not used only for a three-phase drive type linear motor, but may be used for a two-phase or four-phase or more linear motor. You may comprise so that a needle | mover may move on a circular arc or arbitrary curves instead of a linear motion. An electromagnetic drive device other than a linear motor may be used.

  Further, the shape formed on the center core is not limited to the D-cut surface, and may be a groove shape or the like. Furthermore, the shape of the center core is not limited to the shaft shape, and may be a flat plate shape or a polygonal column shape. Thus, the bobbin shape and the lead wire storage portion matched with the shape may be formed.

  The bobbin shape and the wiring space are not limited to the through hole and groove shape described in the above embodiment, and each phase wiring portion may be divided into two.

  Moreover, it is not necessary to divide a wiring part, and what kind of shape may be sufficient if it is a shape which prevents the contact of the leader lines in wiring parts other than a connection.

  Also, if the wiring portions of each phase are formed so as to be rotationally symmetric with respect to the central axis of the bobbin, the coils of each phase such as U phase, V phase, and W phase can be shared as components having a common structure. Can reduce the kind of.

  As described above, according to the above-described embodiment, a space for wiring storage is provided in the bobbin around which the coil is wound, and the lead wire from the coil is stored in the space by wiring from the center core and the coil. It is possible to insulate the lead wire from the lead wire easily and inexpensively and to facilitate the wiring and connection work of the lead wire.

It is the figure which showed schematic structure of the linear motor common to each embodiment of this invention. It is sectional drawing which shows schematic structure of the linear motor common to each embodiment of this invention. It is sectional drawing which shows schematic structure of the stator which concerns on 1st Embodiment. It is a perspective view which shows schematic structure of the stator which concerns on 1st Embodiment. It is the perspective view which extracted and showed one of the some bobbins arrange | positioned at the stator. It is explanatory drawing which shows the wiring diagram of the lead wire of each phase coil which concerns on 1st Embodiment, and the relationship between each phase coil and a lead wire wiring hole. It is sectional drawing which shows schematic structure of the stator which concerns on 2nd Embodiment. It is sectional drawing which shows schematic structure of the stator which concerns on 3rd Embodiment. It is sectional drawing which shows schematic structure of the stator which concerns on 4th Embodiment. It is explanatory drawing of a structure of the conventional linear motor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Stator 11 Center core 12 Coil 13 Pipe 14 Bobbin 15 U phase wiring part 16 V phase wiring part 17 W phase wiring part 20 Movable element 21 Permanent magnet 22 Magnet case

Claims (10)

A stator comprising a plurality of electromagnetic coils formed by winding winding around a bobbin and continuously arranged, and a center core made of a magnetic material that penetrates the central part of the plurality of bobbins of the plurality of electromagnetic coils. When,
A plurality of permanent magnets that receive the action of magnetic flux from the stator, and a mover provided so as to be capable of reciprocating along the stator;
The bobbin is provided with a storage space for storing a lead wire from the winding between the winding and the center core.   The plurality of electromagnetic coils include at least two sets of coil groups connected in series, and the bobbin is provided with an independent storage space for each of the coil groups. The linear motor according to claim 1.   The linear motor according to claim 1, wherein the storage space includes an independent storage portion for each of the lead wires so that the lead wires do not contact each other in the same storage space.   The linear motor according to claim 3, wherein the storage portions adjacent to each other in the storage space are connected by a slit, and the width of the slit is smaller than the outer diameter of the lead wire.   The linear motor according to claim 1, wherein a connection portion in which lead wires from the electromagnetic coil are connected to each other is stored in the storage space.   The linear motor according to claim 1, wherein the storage space includes a through hole formed in the bobbin.   An insertion member made of an insulating material inserted between the bobbin and the center core; and the storage space is a space formed by a recess formed in the bobbin and the insertion member. The linear motor according to claim 1.   2. The linear motor according to claim 1, wherein the storage space has an opening that opens toward the center core, and the width of the opening is smaller than the outer diameter of the lead wire.   The linear motor according to claim 1, wherein the bobbin has a thick portion that partially separates the winding from the center core, and the storage space is provided in the thick portion.   The center core has a chamfered portion or a groove formed extending in the longitudinal direction of the center core, and the thick portion of the bobbin is formed in a shape corresponding to the chamfered portion or the groove. The linear motor according to claim 9.

Images