JPH0265654A - Plate type linear pulse motor - Google Patents

Abstract

PURPOSE:To fix a mover in any position firmly without power consumption by fixing the mover by pressure in a plate type linear pulse motor used for a magnetic head drive, etc., by the use of the attracting force by the bias magnetic flux in non-exciting state of coils. CONSTITUTION:A locking member 3 composed of a magnetic substance is coupled with a stator 15. With this locking member 3 a mover 1 is pressed by the attracting force of a permanent magnet 13 when driving coils 5a to 5d are in non-exciting state. This pressing is performed by the magnetic force of the permanent magnet 13 and no power consumption is required. When a current flows in any of driving coils 5a to 5d upon start of the motor, the flux generated by this current passes parallel to the permanent magnet 13 and the locking member 3. As a result, the flux causing attractive force is negated and the pressurization released. The mover 1 can therefore be moved. In this way, by driving the driving coils 5a to 5d one after another, the mover 1 is caused to move by 1/4 P each.

Description

DETAILED DESCRIPTION OF THE INVENTION (Al Industrial Field of Application) The present invention relates to a linear pulse motor, and more particularly to a flat linear pulse motor applied to a head drive of a magnetic head for writing in a floppy disk of a word processor.

(b1 Summary of the Invention In the flat linear pulse motor according to the present invention, a locking member made of a magnetic material is provided on the stator side, and the movable part is pressed and fixed by using the attractive force of the bias magnetic flux in the non-excited state of the coil. In addition, this attractive force can be weakened when the coil is energized.This allows the mover to be firmly positioned and fixed without power consumption, and is strong against shock and vibration. There is no need to provide additional members, and the moving weight can be reduced.

(C1 Prior Art A conventional flat linear pulse motor typically has a stator and a mover in which a plurality of mutually opposing magnetic pole teeth are formed, and one of the magnetic poles of the stator and a mover It is controlled so that the magnetic pole teeth face each other directly.By exciting the drive coils provided on each magnetic pole tooth of the stator in a predetermined order, the combination of the magnetic pole teeth that face each other moves, and the mover moves by 1/4.
Move one pitch at a time. Here, a permanent magnet is installed to generate a bias magnetic flux so that the mover does not move freely even when the drive coil is not excited, and to form a magnetic closed loop via the magnetic pole teeth of the stator and the magnetic pole teeth of the mover. (See Japanese Patent Laid-Open No. 62-64252, etc.). In other words, in such a linear pulse smoke, in a non-excited state where the drive coil is not energized, the force acting between the magnetic pole teeth of the mover and stator magnetized by the bias magnetic flux generated from the permanent magnet (this is The movable element is stopped and fixed by the cogging force (referred to as cogging force).

+d1 Problems to be Solved by the Invention However, since this cogging force is not very strong, when an external force such as a shock or vibration is applied in a non-excited state, there is a risk that the mover moves and its stopping position changes.

Therefore, if this flat linear pulse motor is used to drive a floppy disk head and the head is mounted on a movable element, the head will suddenly move and the head will not be able to operate normally (read/write). Without,
In some cases, this could lead to damage to the linear pulse smoke or head.

On the other hand, if an attempt is made to firmly fix the movable element, it is necessary to increase the attraction force by passing current through one of the drive coils, which has the disadvantage of increasing power consumption.

SUMMARY OF THE INVENTION An object of the present invention is to provide a flat linear pulse smoker that has a relatively simple configuration and can firmly fix a mover at an arbitrary position without consuming power.

(Means for Solving Problem e1) This invention has a stator having a plurality of magnetic pole teeth, a plurality of magnetic pole teeth facing the magnetic pole teeth of this stator, and is movably supported on the stator. a permanent magnet provided in the stator and forming a closed loop of bias magnetic flux via the magnetic pole teeth of the stator and the magnetic pole teeth of the mover that face each other; and a permanent magnet provided in each magnetic pole tooth of the stator. a magnetic body having a plurality of drive coils which are sequentially excited to generate a magnetic flux having the same polarity as the closed loop of the bias magnetic flux when the mover is moved, and when the drive coil is not excited, the bias Bypassing a part of the magnetic flux and pressing the mover by being attracted by the permanent magnet, and when the drive coil is excited, forming a part of the closed loop of the exciting magnetic flux in parallel with the permanent magnet. and a locking member that is reset by the elastic body when the suction is released.

(f1 action) In the flat linear pulse motor of the present invention, a locking member made of a magnetic material is connected to the stator, and when the drive coil is not energized, this locking member presses the mover by the attractive force of the permanent magnet. This pressing prevents the mover from shifting its position with the stator.This pressing is performed by the magnetic force of the permanent magnet, so there is no power consumption.

When the motor is driven and a current is applied to one of the drive coils, the magnetic flux caused by this current passes through the permanent magnet and the lock member in parallel, so the magnetic flux that was the attractive force is canceled out and the pressure is released. The movable element can be moved. It is similar to the conventional flat linear pulse motor that the drive coils are sequentially driven to move the movable element 1/4P at a time.

(gl Embodiment FIGS. 1 to 8 are diagrams for explaining a flat linear pulse motor which is a first embodiment of the present invention.

Of these, FIGS. 1 to 5 are diagrams for explaining the structure, and FIG. 1 is a perspective view of the flat linear pulse motor, showing the movable element in an exploded manner. FIGS. 2 and 3 are cross-sectional views of the flat linear pulse motor with the mover and locking member assembled. FIG. 4 is an exploded perspective view of the flat linear pulse motor. FIG. 5 is a perspective view of a flat magnetic pole tooth.

The stator 15 includes a base 11. This base 11
A rectangular hole is drilled in the center of the hole, and the upper surfaces of both sides thereof serve as roller drive surfaces (rail surfaces). Two yokes 12 and two permanent magnets 13 made of magnetic material are located within the square expansion of the base 11. A pair of left and right yokes 12 are fixed together using adhesive, for example, with a rectangular bar-shaped permanent magnet 13 sandwiched in the center, and these are attached to the base 11.
It is fixed from the bottom surface to the front and rear edges of the square hole. There is a gap between the left and right edges of the square hole and the yoke 12. Two protrusions 12a are formed on the yoke 12, and magnetic pole teeth 10a, 10b, 1 are provided on the upper surface of these protrusions 12a.
0c and 10d are formed by x-7 drilling or cutting. The permanent magnet 13 has N on both sides in contact with the yoke 12.

It has a magnetic pole of S.

The magnetic pole teeth 10a to 10d are constructed by alternately forming protrusions and grooves at a fixed pitch P, as shown in an enlarged view in FIG. As will be described later, the name "magnetic pole tooth" is used because an N or S pole appears on the protrusion due to the permanent magnet 13.

However, it is also possible to use magnetic pole teeth that are most magnetized and become permanent magnets. The magnetic pole teeth ioa and IOC have the same pitch and the same phase, and the same applies to the magnetic pole teeth 10b and 10d. Magnetic pole tooth 10a
and 10b are formed with the same pitch and with the phase shifted by 1/2 pitch. Projection 12a and magnetic pole teeth 10a-1
Drive coils 5a+5b, 5c, and 5d each wound around the spool 4 are provided around 0d.

A spring frame 2 having substantially the same shape as the base 11 is fixed to the lower surface of the base 11 . This preload spring frame 2 serves both as a motor mounting portion and as a stop for removing the movable element. Furthermore, a wiring board 14 for the drive coils 5a to 5d is fixed to the lower surface of the preload spring frame 2. This wiring board 14 also has a frame-like shape like the base 11. A motor origin position detection sensor 25 and a sensor wiring board 26 are fixed to the upper surface of the preload spring frame 2.

A traveling reference guide 7a is fixed to one side of the base 11 by screws or adhesive. The inner surface of this guide 7a has convex stripes (
It is at right angles to the direction of the concave groove. A preload guide 7b is provided on the other side of the base 11 so as to be movable within a small range in the lateral direction. A preload spring 2a cut and raised from the outer periphery of the preload spring frame 2 urges the preload guide 7b inward.

Between these guides 7a and preload guides 7b, there is a movable element l.
A traveling support mechanism 6 is provided. The base 11 has a small hole in the center thereof, and the roller shaft 6b is housed in the hole and is rotatably supported.

The mover 1 is formed from a plate-shaped magnetic material, and has two rows of magnetic pole teeth 1a and lb formed on its lower surface.

These magnetic pole teeth 1a, lb are also formed with the above-mentioned convex and concave grooves alternately, and the pitch thereof is such that the magnetic pole phase difference is 10a to 10.
It is the same as the pitch P of d. In addition, 6fli teeth 1a and 1
b are attached with the phase shifted by 1/4 pift.

Further, a light shielding plate 17 is fixed to the upper surface of the movable element l.

This light shielding plate 17 is connected to the motor origin position detection sensor 25.
The purpose is to detect the position by blocking the light.

Such a movable element 1 is housed in a retainer 6A and is movably supported by a roller shaft 6b.The vertical roller axis 6b contacts the side surface of the movable element 1 and the guides 7a, 7b, and the horizontal side The roller shaft 6b is located between the lower surface of the movable element I and the upper surface of the base 11 and is in contact with them. The magnetic pole teeth 1a of the mover 1 are connected to the magnetic pole teeth 10a and 1. In Ob, the magnetic pole tooth 1b faces the magnetic pole teeth 10c and 10d with a constant interval.

The locking member 3 includes a base 3a made of a magnetic material and a convex portion 3b projecting upward from the center of the base 3a. Note that the convex portion 3b may be formed of a magnetic material. The locking member 3 is fixed to the upper central surface of a leaf spring 16, and the leaf spring 16 is fixed at both ends to the lower surface of the front and rear ends of the base 11 by screws or other fixing means. As will be described later, the locking member 3 resists the force of the leaf spring 16 and locks the permanent magnet 1.
3, and the base 3a is in contact with the back surface of the yoke 12.

Further, the locking member 3 has a convex portion 3b as shown in FIG. 4(B).
The upper surface may be formed into an uneven shape. In this case, if uneven portions are also provided on the facing surface of the movable element 1, the fixed state will be made stronger by fitting and fixing these parts.

Next, the operation of such a flat linear pulse motor will be explained in the sixth section.
This will be explained with reference to the figures. FIG. 6 shows the magnetic pole teeth 1a of the mover 1.
, lb and the magnetic pole teeth 10a to lOd of the stator 15 in a certain state. The drive method for this flat linear pulse motor is unipolar drive. Permanent magnet 1
3, the bias magnetic flux due to magnetic pole teeth 1a, ib, 10a-1
0d, and magnetic poles as shown in FIG. 6 appear on these protrusions.

First, in a state where the magnetic pole teeth 10a and 1a are shifted by 1/4 pitch, the drive coil 5a corresponding to the magnetic pole tooth 10a is
A current is applied to generate magnetic flux in the same direction as the bias magnetic flux in the magnetic pole teeth 10a. Then, the magnetic pole tooth 10a most strongly attracts the Efi pole @1a of the mover 1, and the mover 1 moves by 1/4 pitch, resulting in a state in which the protrusions of the magnetic pole teeth 1a and 10a (different 10C, 10d) are shifted by 174 pitches. become.

Next, the power supply to the drive coil 5a is stopped, and the drive coil 5c is
A current is applied to generate magnetic flux in a direction that strengthens the bias magnetic flux of the permanent magnet 13 in the magnetic pole tooth 10C. Then, the magnetic pole tooth 10c pulls the movable element 1 most strongly, and the movable element 1 moves until it becomes stable with both magnetic pole teeth 1b and 10c facing each other. Similarly, if the coils 5b and 5d are energized in this order, the mover will move 1/4 pitch at a time.

When neither drive coil is energized, permanent magnet 1
3, the magnetic poles are finally moved by the attractive force between the magnetic poles generated in the magnetic pole teeth 1a, lb, and 10a to 10d, and are held in a stable positional relationship (for example, the positional relationship as shown in FIG. 6). At this time, the force acting on the mover 1 is a cogging force.

Next, the locking operation by the locking member 3 and the like will be explained. FIG. 7 shows a state in which the movable element I is locked, and FIG. 8 shows a state in which the lock is released and the movable element I moves as described above. These drawings show a part of FIG. 2 in an enlarged manner, but the cross-sectional position is different from that in FIG. 2. That is, for convenience of explanation, drive coils 5a and 5 are used instead of drive coils 5b and 5d.
C is illustrated, and magnetic pole teeth 10 are shown in place of magnetic pole teeth 10C and 10d.
a, IOc is illustrated. Also, the locking member is the base 3a.
Only the convex portion 3b is shown and the convex portion 3b is omitted. In this description, the "lock member" refers to the base portion 3a.

In FIG. 7, when no drive current is flowing through any of the drive coils 53 to 5d, the bias magnetic flux Φ of the permanent magnet 13 changes from yoke 12 to magnetic pole teeth 10a and 10# to magnetic pole tooth 1a to mover I to Magnetic pole teeth lb- [Pole teeth 10c, 10d
- forming a closed loop through the yoke 12; As a result, a magnetic pole appears on the magnetic pole tooth as described above, and a cogging force is exerted.

Furthermore, the leakage magnetic fluxes Φ and L of the bias magnetic flux Φ3 pass through the lock member 3a and resist the restoring force of the spring 16.
is attracted to the yoke 2 on both sides of the permanent magnet 13, and the convex portion 3
b presses the movable element 1. In addition to the cogging force described above, this pressing force of the convex portion 3b acts, so that the movable element 1 is strongly fixed. Furthermore, since no current is flowing at this time, the mover can be completely fixed without consuming power.

The state when moving the movable element 1 will be explained with reference to FIG. Bias magnetic flux Φ is passed through the drive coil 5a through current.
, and the magnetic flux Φ in the same direction. When generated, this magnetic flux Φ is distributed to the magnetic pole tooth 10a, the magnetic pole tooth 1a, the mover 1. It passes through the magnetic pole tooth 1b, the magnetic pole tooth 10C, the yoke 12, the lock member 3a, and the yoke 12. This magnetic flux Φ. is in the opposite direction to the leakage magnetic flux Φ1 due to the permanent magnet 13 in the locking member 3a, the attraction force of the locking member 3a is weakened, and the restoring force of the leaf spring 16 separates the locking member from the yoke 12, thereby releasing the lock. At this time, by energizing the drive coil 5a, the mover l becomes 1
The movement of /4 pitch is as described above.

The above occurs in the same way when current is passed through the drive coils 5b, 5c, and 5d.

Here, if the attraction force acting between the locking member 3a and the yoke 12 weakens and warps, it means that the lock is released even if the protrusion 3b does not necessarily separate from the movable element 1. for example,
By appropriately setting the restoring force of the leaf spring 16, the convex portion 3
The movable element 1 can be moved with b in contact with the movable element 1, and in this case, an appropriate frictional load is applied, so that the stop time of the movable element 1 can be shortened.

FIG. 9 shows a flat linear pulse motor which is a second embodiment of the present invention. In the first embodiment, the permanent magnet 13
are provided in the moving direction of the movable element 1, and the N and S poles are provided in the moving direction of the movable element 1.
However, in this embodiment, the permanent magnet 13 is provided in a direction perpendicular to the moving direction of the movable element 1 to form N and S poles in the moving direction of the movable element 1. A yoke 12 is arranged before and after this permanent magnet 12.

The bias magnetic flux of the permanent magnet 13 is the yoke 12 - magnetic pole tooth t
oa, 1oc - magnetic pole teeth 1a, lb of mover - magnetic pole teeth 10
b, 10d - flows through the yoke 12 in the same direction as the moving direction of the mover 1;

In the linear pulse smoker having such a configuration, the locking member 3a is provided long in a direction perpendicular to the moving direction of the movable element 1, and performs a locking action by being attracted to the yoke 12. The spring 16 is fixed to the lower surface of the preload spring frame 2. The locking operation and the unlocking operation are the same as in the first embodiment described above.

This linear pulse motor also operates in the same manner as in the first embodiment, but it is preferable that the phases of the magnetic pole teeth of the mover and stator are as follows.

Mover: Magnetic pole teeth 1a-1b: Same phase Stator: Magnetic pole teeth 10a-10c: 1/2P magnetic pole teeth 10a-10b
2+1/4P Magnetic pole teeth 10a-10d Knee 1/4P Note that the drive coils are excited by coils 5a and 5b.

Perform steps 5c and 5d in this order.

FIGS. 10 and 11 further show a flat linear pulse motor according to a third embodiment of the present invention. 1st
0 shows a perspective view, and FIG. 11 shows a longitudinal sectional view. 1 above. The same parts in the configuration as in the second embodiment are given the same numbers and the explanation will be omitted. In this example, the temporary spring (
A magnetic locking member 3 is fixed to the central lower end of the elastic body 16, and both ends of the plate bar 216 are bent upward and a pressing rubber 18 is provided on the upper surface thereof. This leaf spring 16 is used as the base 1
Place it from above between the magnetic pole teeth 10a, 10b and 10c, 10d in the opening of No.1. By placing the locking member 3 in this manner, the locking member 3 is attracted to the yoke 12, both ends of the plate spring 16 move upward, and the pressing rubber I8 presses the movable element 1. This allows the mover 1 to be fixed.

In this way, the height of the locking mechanism including the locking member 3 will not affect the height of the motor, and furthermore, since the pressing force is increased by the lever principle using the base 11 as a fulcrum, it is possible to fix the motor more firmly. can.

12, 13 and 14 are diagrams further showing a flat linear pulse motor which is a fourth embodiment of the present invention. FIG. 12 is a perspective view, FIG. 13 is a cross-sectional view, and FIG. 14 is an exploded perspective view. In this embodiment, the above 1. The same parts in the configuration as in the second embodiment are given the same numbers and the explanation will be omitted.

In this embodiment, the retainer 6A is formed by being divided into left and right parts, and a cut-and-raised part is formed in each of the left and right retainers 6A. The mover 1 is connected to these retainers 6
It is housed in A and is supported so as to be freely movable via a sphere 6c and a roller shaft 6b. A pressed rail 20 having a U-shaped cross section is fixed to the center of the lower surface of the movable element 1 along the moving direction. The sphere 6c is connected to the side surface of the mover 1 and the guide 7a.
7b, and the roller shaft 6b is in contact with the lower surface of the mover I and the base 1.
It is located between and in contact with the upper surface of 1. The magnetic pole teeth 1a of the mover 1 face the magnetic pole teeth toa and 10b at a constant interval, and the magnetic pole teeth 1a and the magnetic pole teeth 10c and 10d face at a constant interval. Note that the magnetic pole teeth 10a on the stator side
, 10b, IQc, and 10d are manufactured integrally as shown in FIG. 14, and are cut after being fixed to the yoke I2.

By doing so, accurate pinch alignment can be achieved.

The locking member 3 made of a magnetic material is fixed to the lower surface of the center of the temporary spring 16, and the plate spring 16 is fixed at both ends to the F foot formed on the upper surface of the center of the front and rear ends of the base 11 by screws or other fixing means. It is fixed to the portion 11a. Lock member 3. The temporary spring 16 faces the yoke 12 (permanent magnet 13) with the pressed rail 20 in between. Normally, it is attracted to the yoke 12 with the pressed rail 20 sandwiched in between.
By fixing the pressed rail 20, the movable element 1 is locked to the stator 15. The unlocking operation is the same as in the previous embodiment. That is, when the attractive force of the permanent magnet 13 is released, the locking member 3 moves upward due to the restoring force of the leaf spring 16, and the pressure on the pressed rail 20 is released.

FIGS. 15 and 16 further show a flat linear pulse motor according to a fifth embodiment of the present invention. 1st
Figure 5 is an exploded perspective view of only a part of the stator.
Figure 6 is a cross-sectional view of the entire structure. In this embodiment as well, the same parts in the configuration as in the first embodiment are given the same numbers and the explanation thereof will be omitted.

In this embodiment, a plate-shaped permanent magnet 13 is used, and the north and south poles are alternated on the upper and lower surfaces of the plate-shaped permanent magnet 13 with the central boundary 'ia 13 a as the boundary. The boundary 113a corresponds to the position where the "square rod-shaped permanent magnet 13" is provided in the first embodiment. A bank yoke 17 is fixed to the lower surface of the permanent magnet 13 to form a magnetic flux path through the permanent magnet 13.

Also in this embodiment, the pressed rail 20 is fixed at the lower center of the movable element 1, and the locking member 3 fixed to the plate spring 16 is attracted to the vicinity of the center of the yoke 12, so that the pressed rail 20 20 is fixed.

17, 18, and 19 further show a flat linear pulse motor according to a sixth embodiment of the present invention, and FIG. 17 is an assembled perspective view showing only the movable element thereof; FIG. 18 shows a cross-sectional view thereof, and FIG. 49 shows an exploded perspective view thereof. In this embodiment as well, the same parts as in the first embodiment are given the same numbers and their explanations are omitted. In this embodiment, the yoke 12 provided in contact with the permanent magnet 13 is divided into four parts. and each yoke 1
2 is formed with a protrusion 12a extending in the moving direction of the movable element 1, and coils 5a to 5d are provided here. The axial direction of the coils 5a to 5d coincides with the moving direction of the movable element 1. The permanent magnet 13 and the yoke 2, which are fixed together, are fixed by a frame 18 made of a magnetic material. The frame body 18, the coils 5a and 5d, the front and rear yokes 19, and the reference guide 7a on the left side in the drawing are fixed integrally. A guide 7b is provided on the right side so as to be movable laterally, a retainer 6A is disposed between the guides 7a and 7b, and the movable element 1 is movably supported by the retainer 6A. The preload spring 8 has holes 1.9 formed in the yoke 19 at both ends thereof.
a, the guide 7b and one retainer 6A
Press.

The linear pulse motor of this embodiment is characterized in that it can be made thin because the thickness of the coils 5a to 5d does not affect the thickness of the motor.

The locking member 3 is formed in the shape of a rod that extends over the front and rear yokes 19 with a slight interval therebetween. The leg portions 3a face the front and rear yokes 19. Further, a pressing member 3c for pressing the movable element 1 is fixed to the upper surface of the central portion thereof toward the central portion of the motor. This locking member 3 is attached to the upper center surface of the spring 2. The spring 2 is fixed to the side end of the yoke 19. The leg portions 3a are attracted to the side portions 19a of the front and rear yokes 19, so that the pressing member 3c presses the movable element 1 and fixes the movable element 1. In this embodiment as well, as shown in FIG. 17, the directions of the bias magnetic flux Φ caused by the permanent magnet 13 passing through the mouth/mouth member 3 and the magnetic flux Φ caused by the coils 53 to 5d are opposite to each other.

Further, the two locking members 3 may be provided at two locations on both sides of the yoke 19.

(h) Effects of the Invention As described above, according to the flat linear pulse motor of the present invention, when no current flows through the drive coil, the locking member provided on the stator presses the mover by the bias magnetic flux of the permanent magnet. By doing so, the movable element can be locked without consuming power. This makes it possible to construct a linear pulse smoke that is resistant to external forces, that is, shocks and vibrations, without consuming power. Therefore, by applying this linear pulse motor to a magnetic head drive, the normal operation of the head can be performed using short waves, and there is no fear that the motor or head will be damaged by external force.

Furthermore, by providing the locking member on the stator side, the weight of the movable element does not increase, and the operating speed does not decrease.

[Brief explanation of the drawing]

1 to 8 show a flat linear pulse motor which is a first embodiment of the present invention, FIG. 1 is a partially exploded perspective view, and FIGS. 2 and 3 are assembled. FIG. 4 is an enlarged cross-sectional view for explaining an exploded perspective view. 9i is a partially exploded perspective view of a flat linear pulse motor which is a second embodiment of the invention. FIGS. 10 and 11 are a flat plate linear pulse motor which is a third embodiment of the invention. Fig. 10 is a partially exploded perspective view of the linear pulse motor, and Fig. 11 is a vertical cross-sectional view. Fig. 12 and 13 show a fourth embodiment of the present invention. 12 is a partially exploded perspective view of the flat linear pulse motor, FIG. 13 is a cross-sectional view of the assembled state, and FIG. 14 is an exploded perspective view. Fig. 16 shows a flat linear pulse motor according to a fifth embodiment of the present invention, Fig. 15 is an exploded perspective view showing the mover removed, and Fig. 16 is a cross-sectional view of the assembled state. 19 to 19 show a flat linear pulse motor according to a sixth embodiment of the present invention, FIG. 17 is a partially exploded perspective view of the motor, and FIG. 18 is a cross-sectional view of the assembled state. , FIG. 19 is an exploded perspective view.Mover, a, Ib, 10a=10d-magnetic pole tooth, -lock member, a to 5d-drive coil, ■-base, 2-yoke, 3-permanent magnet, 6 - Leaf spring (elastic body).

Claims (1)

[Claims] (1) A stator having a plurality of magnetic pole teeth, and a plurality of magnetic pole teeth facing the magnetic pole teeth of this stator,
and a movable element movably supported by the stator; and a permanent magnet provided in the stator and forming a closed loop of bias magnetic flux via the magnetic pole teeth of the stator and the magnetic pole teeth of the movable element, which face each other. , a plurality of drive coils provided on each magnetic pole tooth of the stator and sequentially excited to generate a magnetic flux having the same polarity as the closed loop of the bias magnetic flux when the movable element is moved; A magnetic body supported by an elastic body that is fixed to each stator, and when the drive coil is not excited, it bypasses a part of the bias magnetic flux and presses the movable element by being attracted to a permanent magnet. and a locking member that, when the drive coil is excited, forms a part of the closed loop of the exciting magnetic flux in parallel with the permanent magnet so that the attraction is released and returned by the elastic body. Features a flat linear pulse motor.