JPH0965637A - Linear motor and method for controlling it - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a linear motor which does not require the conduction of its motor coil when the motor is locked, can be released from a locked state when the motor coil is conducted, and has excellent responsiveness and a method for controlling the motor by which the motor can be positioned and controlled accurately at a high speed. SOLUTION: In a linear motor 1, a mobile piece is released from a locking section 24 formed in a center yoke 22 by conducting a current circuit 33 formed on the mobile piece and, at the same time, a moving coil section 2 is moved linearly by conducting a coil 13 and, when the section 2 moves to a desired position, the mobile piece is again locked by interrupting the conduction of the current circuit 33 and coil 13.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear motor, and more particularly to a linear motor which can fix a rotor without energizing a motor coil and release the rotor by reenergizing.

[0002]

2. Description of the Related Art Some vehicle door mirrors are constructed so that the angle of the mirror can be changed by operating a switch provided in the driver's seat to adjust the view behind the vehicle on the mirror. Japanese Unexamined Patent Publication No. 59-140143 discloses "a mirror driving device such as a fender mirror" having the above-mentioned function.

The outline will be described below with reference to FIGS. 14 to 18. As shown in FIG. 14, the fender mirror driving device 71 includes a support pipe 72 having a hollow portion, a power cord 73, and a cup-shaped fender mirror driving device body 7.
4, a fixed base plate 75 fixed to the bottom of the main body 74 by screws 76, a spherical bearing 77 provided in the center of the front surface of the fixed base plate 75, and a fender mirror support column 78.
Etc., a spherical portion 79 provided at one end of the fender mirror support column 78 is rotatably supported by a spherical bearing 77.

The other end of the fender mirror support column 78 is fixed to a substantially central portion of the rear surface of the fender mirror support base 85 made of plastic, and the fender mirror 86 is attached to the front surface of the support base 85 with an adhesive. Fixed. Linear actuators 80 and 81 are fixed to the fixed base plate 75 by fixing members 82 and 84. The linear actuator 80 is for rotating the fender mirror 86 in the horizontal direction, and the linear actuator 81 is for rotating the fender mirror 86 in the vertical direction.

Therefore, the linear actuator 80 is arranged on the fixed base 75 in the horizontal direction, and the linear actuator 81 is arranged in the vertical direction. This linear actuator 80,
Reference numeral 81 denotes a stator in which a magnetic cylinder 89 is provided outside an N-pole and S-pole cylindrical field magnet 88, and a magnetic ball 9
The movable voice coil 90, which is formed by winding a number of turns around the outer periphery of the coil 2, is linearly slidably inserted into the hollow portion of the field magnet 88. One end of a flexible belt 87 such as a string is fixed to both ends of the movable voice coil 90, and the other end of the flexible belt 87 is fixed to a fender mirror support base 85.

Further, as shown in FIG. 15, both ends of the flexible belt 87 of the linear actuator 80 are fixed to points R and T on the back surface of the support base 85, and both ends of the flexible belt 87 of the linear actuator 81 are connected to S points. And may be fixed to the point U. Further, as shown in FIG. 16, the voice coil 9 of the linear actuator 80 is connected via a terminal 91.
If a current having a magnitude in an appropriate direction is applied to 0, the voice coil 90 can be reciprocated in the arrow W direction.

The fender mirror driving device 71 having the above-mentioned configuration
In, for example, if a current having a magnitude in an appropriate direction is applied to the movable voice coil 90 of the linear actuator 80,
The movable voice coil 90 can be reciprocated, and the fender mirror 86 can be reciprocally swung via the flexible belt 87. Therefore, by appropriately controlling the driving of the linear actuators 80 and 81, the fender mirror 86 can be adjusted and set to any angle in the vertical and horizontal directions.

Japanese Unexamined Patent Publication No. 57-118946 also discloses an example of "a fender mirror adjusting device for an automobile". The outline will be described below with reference to FIGS. 17 and 18. As shown in FIG. 17, the fender mirror 1
01 is fixed to the back side of the support substrate 102, and fitting recesses 103a-1, 103b-1, 103 are provided at substantially the center thereof.
protruding substrate 103a, 103b, 103c having c-1
Is fixed.

As shown in FIG. 18, a vertical drive linear motor mechanism 104 drives the fender mirror 101 to rotate in the vertical direction, and includes a stator 105 and a mover 10.
6 is provided. The horizontal driving linear motor mechanism 107 is for driving the fender mirror 101 to rotate in the horizontal direction, and includes a stator 108 and a mover 109.

As shown in FIG. 18, the stators 105 and 108 are yoke bodies 110 and 111 formed in the shape of a rectangular frame in cross section by using an iron plate or the like having a function of closing the magnetic path of the magnet.
The moving elements 106 and 109 can be moved in and out from the opening end. Yoke body 110, 1
The drive coils 112 and 113 are fixed to the inner surfaces 110a and 111a of 11 at appropriate intervals, and the cavity portions 112a and 113 are
Magnetic sensitive elements 114 and 115 such as Hall elements for detecting the S pole and the N pole are arranged at a.

The movers 106 and 109 are magnets 11 magnetized by alternately magnetizing S poles and N poles at appropriate intervals in the longitudinal direction.
6, 117 and magnet supports 118, 119, and the recesses 10 are formed at one end of the supports 118, 119.
3a-1 and 103b-1 are spheres 11 that are rotatably fitted.
8a and 119a are formed. Therefore, the magnet supports 118 and 119 reciprocate by passing a current in a suitable direction and magnitude to the drive coils 112 and 113,
The angle of the mirror 101 can be adjusted.

Further, Japanese Patent Laid-Open No. 4-201749 discloses an example of "rear monitoring mirror device".
The outline will be described below with reference to FIG. 19. The rear monitoring mirror 121 is rotated by a motor 122 in the left-right direction about an axis in the vertical direction to adjust the angle. The rear-viewing mirror 121 is controlled by the control circuit 123 that controls the rotation of the motor 122 so that the angle is adjusted quickly when the direction of the vehicle changes quickly, and the angle is adjusted accordingly when the direction of the vehicle changes slowly. Adjustments are also made slowly.

The speed of the angle change of the rear monitoring mirror 121 is determined by the voltage applied to the motor 122 or the number of pulses, and the voltage and the number of pulses are output from the control circuit 123. The control circuit 123 includes the rear monitoring mirror 12
Whether or not the angle adjustment No. 1 is automatically performed can be selected by the automatic / manual changeover switch 124. The control circuit 123 includes a steering wheel turning angle detecting means 12
The steering wheel turning angle signal 126 from 5 indicates the vehicle speed detecting means 12
7, a vehicle speed signal 128 is supplied, and an acceleration sensor 129 supplies an acceleration signal 130.

Steering wheel turning angle signal 126, vehicle speed signal 12
8. The acceleration signal 130 is used to calculate the direction of the vehicle, and the control circuit 123 has a function of always calculating the direction of the vehicle based on these signals. Then, with respect to the obtained direction of the vehicle, the rear monitoring mirror 121 generates a voltage that changes the direction to the side opposite to the direction of the vehicle, and by applying this voltage to the motor 122, the rear monitoring mirror 121 changes its direction. Rotate so that it always faces backward with respect to the traveling direction.

[0015]

However, in the mirror drive device disclosed in Japanese Patent Laid-Open No. 59-140143, the linear actuator (linear motor) has a small stall torque and is very easy to move. Therefore, when adjusting the mirror angle position of a car, the external momentum of inertia such as the moment of inertia that accompanies the running condition of the car such as sudden acceleration and sudden stop, and the moment of inertia that occurs when the mirror itself moves (when adjusting the angular position) Depending on the action, the original position of the mirror may shift,
There is a problem that the mirror itself vibrates.

Further, in the above structure, after the angular position of the mirror is adjusted, the position of the movable voice coil 90 cannot be locked, and it is necessary to always keep the power on.
If the power continues to be applied, problems such as waste of power consumption and heat generation occur. Further, even if the linear motor is always energized to keep the angle adjustment position of the mirror while the vehicle is running, the angle adjustment position cannot be kept when the vehicle is parked on a slope or the like and the power is cut off (key off). There's a problem.

In the fender mirror adjusting device disclosed in the above-mentioned Japanese Patent Laid-Open No. 57-118946, in order to obtain a sufficient thrust, the magnets 116 and 117 and the drive coil 1 are used.
It is necessary to increase the number of 12, 113, and it cannot be increased without sufficient space in the longitudinal direction. Moreover, if the number of magnets and drive coils is increased, the linear motor becomes large. Further, although the mirror can be turned back and forth, it is difficult to control the position for stopping the mirror at a specific position. Further, since the stopping torque of the linear motor is extremely small, it is difficult to fix the position of the mirror surface of the mirror when the power is not supplied.

The rear monitoring mirror device disclosed in Japanese Unexamined Patent Publication No. 4-201749 can adjust the angle of the mirror in accordance with the running state of the vehicle, but the rotation speed of the mirror is not high, In addition to requiring a long time to switch the mirror surface, it was not possible to ensure safety during the switching. An object of the present invention is to provide a linear motor that does not require energization to the motor coil when locked and can release the lock by energization and has excellent responsiveness. Another object of the present invention is to
It is an object of the present invention to provide a linear motor control method capable of performing high-speed and accurate positioning control.

[0019]

The above object according to the present invention is achieved by the linear motor and the control method thereof described in 1) to 5) below. 1) Between a permanent magnet and a center yoke, and a magnetic circuit having a pair of outer yokes provided with permanent magnets on inner surfaces facing each other and a center yoke arranged with a predetermined gap from the permanent magnets. Of the movable coil part that reciprocates linearly in the gap by energizing the coil that moves in the gap, and the movable coil part moves integrally with the movable coil part and is locked by the locking part formed on the side surface of the center yoke when no power is supplied. Then, the linear motor is configured by a stopper portion having a locking claw for temporarily releasing the locking with the locking portion by energizing the current circuit.

2) In the linear motor described in the item 1), there is provided a position sensor section for detecting the moving position of the movable coil section by a scale plate which moves integrally with the movable coil section.

3) In the linear motors described in 1) and 2) above, the energization control for the coil 13 and the current circuit 33 is performed in the control circuit portion 46 integrally attached to the outer yokes 21a, 21b. Also, a control circuit 48 for performing position detection control by the position sensor unit 5 is installed.

4) The movable coil portion is moved to a desired position at a high speed by a detection signal which detects a state of a device to which the linear motor is applied and a position detection signal which detects a moving position of the movable coil portion corresponding to the rotor of the linear motor. And a linear motor control method for accurate positioning control.

5) In the method of controlling a linear motor according to the item 4), corresponding to various sensors for obtaining a detection signal for setting the driving condition of the linear motor and the detection signals supplied from the various sensors. The mirror control controller drives the linear motor, and determines the driving status of the linear motor based on the position detection signal obtained from the position sensor unit assembled in the linear motor.

According to the linear motor having the above-mentioned structure according to the present invention, when the coil is not energized, the locking claw formed at the tip of the movable piece is locked by the locking portion formed on the center yoke. Is locked. On the other hand, when the current circuit formed in the coil and the movable piece is energized, the engagement between the movable piece and the engagement portion is temporarily released, and the movable coil portion moves. Further, according to the method of controlling the linear motor having the above-mentioned configuration according to the present invention, not only the detection signal for detecting the usage state of the device to which the linear motor is applied but also the position supplied from the position detection sensor unit provided in the linear motor is used. Positioning control of the linear motor is performed by the detection signal.

[0025]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a linear motor and a control method thereof according to the present invention will be described in detail below with reference to FIGS. In the description of the present embodiment, the configuration of the linear motor, the lock action and the lock release action when the linear motor is driven, and the control method will be described in this order.

As shown in FIG. 1, a linear motor 1 according to the present embodiment has a movable coil portion 2 configured to be movable in the vertical direction, a magnetic circuit portion 3 provided below the movable coil portion 2, The magnetic circuit section 3 is composed of a linear guide section 4 and a position sensor section 5 provided on the side surface of the magnetic circuit section 3, a lead wire connecting section 6 and the like. A pair of stoppers 7 are provided on both sides of the movable coil unit 2 so as to be vertically movable together with the movable coil unit 2.

The movable coil unit 2 has a flat plate-shaped substrate 11 and a cylindrical bobbin 12 provided in the lower center of the substrate 11 substantially in the center thereof.
And a coil 13 wound around the bobbin 12 and a ball joint 14 for supporting a mirror, which will be described later, in an adjustable angle.
And a support shaft 15 and the like. The coil 13 is the substrate 1
A connector 16 fixed to one end of the connector 1 is energizable, and the connector 16 is connected to a device-side connector 62 via a lead wire 61.

The magnetic circuit section 3 has a pair of outer yokes 21a and 21b arranged opposite to each other, a center yoke 22 provided at the center, and permanent magnets 23a and 23b provided on the inner side surfaces of the pair of outer yokes 21a and 21b. It has and. As shown in FIG. 2, the pair of outer yokes 21a and 21b and the center yoke 22 are formed in an E-shaped cross section, and the permanent magnets 23a and
A gap is formed between 23b and the center yoke 22 so that the bobbin 12 and the coil 13 forming the movable coil unit 2 can be moved up and down. This center yoke 2
Sawtooth-shaped locking portions 24 are formed on the lower portions of both end surfaces of the second member 2. The locking portion 24 is related to the stopper portion 7, and will be described later together with the stopper portion 7.

The linear guide portion 4 is composed of a slit 27 formed in the longitudinal direction of the fixing member 26 and a plate-like guide member 28 fixed to the substrate 11 and moving up and down in the slit 27. The position sensor unit 5 includes the movable coil unit 2
For detecting the vertical movement position of the
6 and a scale plate 29 which is fixed to the substrate 11 and moves up and down in the slit 28.

The stopper portion 7 is for fixing the movable coil portion 2 to a desired position without energizing the coil 13. The stopper portion 7 is provided with locking claw portions 32a, on the lower ends of the movable plates 31a, 31b provided inside the bobbin 12.
32b is provided, and a current circuit 33 is formed on the outer surface as shown in FIG.

Next, the driving action and the stopper action of the linear motor 1 will be described. The magnetic flux generated from the permanent magnets 23a and 23b is generated by the coil 1 as shown by an arrow A in FIG.
Heading to side 3. When the current circuit 33 is energized in the direction of arrow B, a force is generated in the direction of arrow C in FIG. 4 according to Fleming's left-hand rule. As a result, at the beginning,
Movable pieces 31a, 31b positioned as shown in FIG.
Moves toward the bobbin 12 side, that is, in the direction of arrow C, and the locking claws 32a and 3 that have been locked to the locking portions 24a and 24b until then.
2b is separated from the locking portions 24a and 24b and unlocked.

As shown in FIG. 3, the center yoke 2
The relationship between the distance E from the central axis of 2 to the end face, the distance F to the current circuit 33, and the distance G to the permanent magnet 23a is always E
It is set so that <F <G. In addition, as shown in FIGS. 1 and 2, the two current circuits 33 are connected in series by the lead wire 34 laid on the upper portion of the substrate 11 and are energized via the connector 16, the lead wire 61, and the connector 62. .

As shown in FIGS. 3 and 4, the locking portions 24a,
When 24b and the locking claws 32a, 32b are unlocked,
The entire movable coil unit 2 can move in the vertical direction. That is, since the coil 13 is wound around the bobbin 12,
The current flowing through the coil 13 and the magnetic flux generated from the permanent magnets 23a and 23b are in an orthogonal relationship. Therefore, the coil 13
When energized, the entire movable coil portion 2 moves vertically while being guided by the linear guide portion 4 (see FIG. 1) according to Fleming's left-hand rule.

At this time, as shown in FIG.
The movement amount of is detected by the position sensor unit 5. The position sensor unit 5 may have a configuration in which the scale formed on the scale plate 29 is optically read or magnetically read. Then, the position sensor unit 5 detects that the movable coil unit 2 has moved to a desired position in the vertical direction, and cuts off the current supplied to the coil 13 and the current circuit 33. As a result, as shown in FIG. 4, the force urging the movable pieces 31a and 31b in the direction of arrow C disappears, and the movable pieces 31a and 31b return to the center yoke 22 side. Therefore, the locking claws 32a and 32b are locked again in the locking portion 2.
The movable coil unit 2 is locked to the movable coil unit 2 as a whole so as to be immovable.

In the state where the entire movable coil portion 2 is locked at the desired position, the movable coil portion 2 is locked by the locking portion 2.
4a, 24b and the locking claws 32a, 32b are mechanically locked, so that the coil 13 and the current circuit 33
It is not necessary to energize either of them. Therefore, unlike the conventional linear motor, it is not necessary to energize for positioning, and the movable coil portion does not move when the power is cut off.
Problems such as power consumption and heat generation due to energization can be solved at once.

Next, as an application example of the above linear motor, a mirror driving device mounted on a fender mirror of an automobile will be described in detail with reference to FIGS. As shown in FIG. 5, the actuator stay 42 is fitted in the bowl-shaped mirror cover 41. 2 for the actuator stay 42
A concave storage portion 43 for storing one linear motor 1 and a center support column 44 for rotatably supporting a substantially central portion of a mirror stay 45 described later are provided. The two linear motors 1 are stored in the storage portion 43 while being fixed to the control circuit portion 46, and the configuration and the like will be described with reference to FIG. 6 and subsequent figures. The mirror stay 45 supports the mirror 47, and the ball joint 14 of the linear motor 1 is rotatably supported by the rear surface of the mirror stay 45.

As shown in FIG. 6, at the stage of incorporating the linear motor 1 into the mirror driving device, the flat plate-shaped control circuit portion 46 is fixed to the lower portion of the linear motor 1, and the connector 62 is fitted and fixed to the upper surface thereof. A control circuit 48 is incorporated in the control circuit unit 46 as shown in the partially cutout portion. The control circuit 48 supplies and shuts off power to the coil 13 and the current circuit 33, and further performs position detection by the position sensor unit 5, and is connected to the connector 62 and the position sensor unit 5 in the control circuit unit 46. Has been done.

When the linear motor 1 is incorporated in the mirror driving device as shown in FIGS. 7 and 8, the mirror support 47 rotatably supports the substantially central portion of the mirror 47 through the mirror stay 45. The ball joint 14a of the first linear motor 1a is rotatably supported at a predetermined position in the horizontal direction from the position supported by the center support 44, and the ball joint of the second linear motor 1b is provided at the predetermined position in the vertical direction. It is rotatably supported by 14b.

That is, the rear side of the mirror 47 is supported at three points via the mirror stay 45. However, the center support 4
Although the height of 4 is constant, the other two supporting positions are height-controlled by the linear motors 1a and 1b. Therefore,
The angle of the mirror 47 can be freely adjusted by the linear motors 1a and 1b in the vertical and horizontal directions with reference to the support height of the center column 44.

For example, the height of the ball joint 14a of the first linear motor 1a disposed beside the center support 44 is controlled to be equal to the height of the center support 44, and the ball joint 14b of the second linear motor 1b is controlled. It is assumed that the height of is controlled to be higher than the height of the center support column 44. In this case, as for the angle of the mirror 47, as shown in FIG. 8, the lower part projects at an angle θ, that is, an angle corresponding to the height position of the second linear motor 1b.

On the other hand, as shown in FIG. 9, ball joints 14a, 14 of the first and second linear motors 1a, 1b.
When the height b is controlled to be equal to the height of the center support column 44, the mirror 47 is supported at three points at the same height, and therefore is positioned almost vertically.

Further, as shown in FIG.
When the ball joint 14b of the second linear motor 1b is set lower than the height of 4, the lower part of the mirror 47 is retracted by the angle -θ. The angle adjustment example described above shows the vertical direction of the mirror 47 as an example.
The angle adjustment in the lateral direction can be similarly performed.

Next, the structure and operation of the control circuit for adjusting the angle of the mirror will be described in detail with reference to FIGS. 11 to 13. As shown in FIG. 11, the control circuit 48 includes a CPU
A mirror control controller 51 composed of
The mirror control control section 51 includes a speed sensor 53, a steering sensor 54 for detecting the steering angle amount of the steering wheel, a turn sensor 55 for detecting the switching of the left and right mirrors, and a shift. Detection signals are supplied from the shift position sensor 56 that detects the position of the lever, that is, R, P, N, D, 2, L, etc. in the AT vehicle, and further from the position sensor unit 5.

Next, as shown in FIGS. 12 and 13, the operation of the control circuit 48 will be sequentially described with reference to the flowcharts. When the operation of the control circuit 48 is started, the mode select switch 52 is operated to select automatic or manual. When the angle of the mirror 47 is automatically adjusted, the initialization is performed first, and then the shift lever of the vehicle is operated as shown in step S1. The position of the shift lever is the shift position sensor 5 as described in FIG.
6, and the detection signal is supplied to the mirror control controller 51.

For example, when the shift lever is set to "R", the mirror control controller 51 unconditionally adjusts the angles of the mirrors 47 provided on both sides of the vehicle so that the mirrors 47, for example, near the rear tires can be visually recognized. To do. That is, when the shift lever is set to "R", both mirrors 47 are driven to the lower setting position as shown in step S2 (see FIG. 10). Next, in step S3, it is determined whether or not the angle has been adjusted to the set position. This determination is made based on the detection signal supplied from the position sensor unit 5.

If the angle has been adjusted to the set position, the shift lever operation shown in step S5 is executed. If the angle is still set to "R", the standby state shown in step S4 is entered and "R" is set. Is set to a value other than "," both mirrors 47 are returned to the normal position in step S6, and then it is determined in step S7 whether or not they have been returned to the normal position.

The determination in step S7 is made on the basis of the detection signal supplied from the position sensor 5. If not restored, the operation proceeds to step S6, and if it is determined that it is restored, the procedure returns to step S1. To move to the next lever operation. Next, the shift lever is D, 2, L
If either of the above is set, the operation shifts to the operation of the block B1 or B2 in response to the left / right switching of the turn lamp shown in step S11. Note that blocks B1 and B2
The internal operation will be described with reference to FIG.

Following the switching of the turn lamp to the left, the left mirror 47 is driven to the outer set position in step S12. In step S13, it is determined whether or not the driving has been performed up to the set position. This determination is made by the detection signal supplied from the position sensor 5. If the set position is confirmed, the process proceeds to step S14, and the left mirror 47 is held at the outer set position for a fixed time, for example, about 1.5 seconds. If it is determined in step S13 that the drive has not been driven to the set position, the process proceeds to step S12. In this way, the driver can confirm the safety of the surroundings by automatically turning the left mirror 47 outward for a certain period of time.

Next, in step S15, the left mirror 4
7 is returned to the normal position, and after confirming the return in step S16, the vehicle travels. When the vehicle is running,
The traveling speed is detected by the speed sensor 53, and, for example, the mirror drive mode is different when the speed is 30 km or more and when it is 30 km or less. That is, 30 per hour
If the distance is less than km, the left mirror 4 in step S18.
7 is moved to the left or right from the outside set position according to the rudder angle. The amount of steering angle is detected by the steering sensor 54 and is related to the operation of step S18 as shown in step S19.

In step S20, it is determined that the turn lamp has been turned on. If the turn lamp is turned on, the process moves to step S21 to drive the left mirror 47 to the normal position. Next, in step S22, it is detected whether or not it has returned to the normal position, and after confirmation, the process returns to step S1. Note that step S17
When it is determined that the traveling speed is 30 km or more,
In step S23, the end of lighting of the turn lamp is detected, and when it is determined that the lighting has ended, the process returns to step S1.

When the turn lamp is switched to the right in step S11, the process moves to block B2, which controls the right mirror 47 in the same manner as the left mirror 47. Therefore, the illustration and description of the operation procedure of the block B2 are omitted.

[0052]

As described above, in the linear motor according to the present invention, by energizing the current circuit formed in the movable piece, the engagement between the engaging portion formed in the center yoke and the movable piece is released. The coil is energized to move the movable coil portion linearly, and when the coil is moved to a desired position, the current circuit and the coil are de-energized and re-locked. Therefore, once locked, it is not necessary to energize the coil until it is moved again, if necessary.
It is possible to reduce power consumption and prevent adverse effects on other devices due to heat generation. Moreover, since the locking action is surely performed and the structure is simple, the size can be reduced.

Further, in the linear motor control method according to the present invention, the position of the linear motor can be detected as well as the detection signal for detecting the use condition of the device using the linear motor, for example, the vehicle fender mirror driving device. Since the control is also performed corresponding to the detected position detection signal, the positioning control of the linear motor can be speeded up and ensured.

[Brief description of drawings]

FIG. 1 is a partially cutaway perspective view showing a configuration of a linear motor that is an embodiment of the present invention.

FIG. 2 is a cross-sectional view showing the configuration of the linear motor shown in FIG.

3 is an enlarged cross-sectional view of a main part showing the configuration of the linear motor in FIG.

FIG. 4 is another cross-sectional view showing the configuration of the linear motor shown in FIG.

FIG. 5 is an exploded perspective view showing an application example of a linear motor.

FIG. 6 is a perspective view of the linear motor in FIG.

FIG. 7 is a plan view of the linear motor shown in FIG.

FIG. 8 is a D-D cross-sectional view showing one form of angle adjustment of the mirror.

FIG. 9 is a cross-sectional view showing another mode of adjusting the angle of the mirror.

FIG. 10 is a cross-sectional view showing still another mode of adjusting the angle of the mirror.

FIG. 11 is a block diagram showing a configuration of a mirror control device.

FIG. 12 is a flowchart illustrating an operation of the mirror control device.

13 is a flowchart illustrating an operation of the left mirror control device in FIG.

FIG. 14 is an exploded perspective view showing an example of a conventional mirror driving device.

FIG. 15 is a perspective view of a main part showing a configuration of a conventional mirror driving device.

16 is a cross-sectional view of the mirror driving device in FIG.

FIG. 17 is an exploded perspective view showing another example of a conventional mirror driving device.

18 is a cross-sectional view of the main parts showing the configuration of the mirror driving device in FIG.

FIG. 19 is a circuit diagram showing an example of a conventional mirror control circuit.

[Explanation of symbols]

 1 linear motor 2 movable coil part 3 magnetic circuit part 4 linear guide part 5 position sensor part 7 stopper part 11 substrate 12 bobbin 13 coils 21a, 21b outer yoke 22 center yoke 23a, 23b permanent magnet 24 locking part 31a, 31b movable piece 33 current circuit 47 mirror 48 control circuit

Claims (5)

[Claims] 1. A magnetic circuit comprising: a pair of outer yokes having permanent magnets provided on inner surfaces facing each other; and a center yoke disposed with a predetermined gap from the permanent magnets.
A movable coil portion that linearly reciprocates in the gap by energizing a coil that moves in the gap between the permanent magnet and the center yoke, and a movable coil portion that moves integrally with the movable coil portion and is de-energized. It is composed of a stopper part which is locked to a locking part formed on the side surface of the center yoke and has a locking claw for temporarily releasing the locking with the locking part by energizing a current circuit. A linear motor characterized by that. 2. The linear motor according to claim 1, further comprising a position sensor unit that detects a moving position of the movable coil unit by a scale plate that moves integrally with the movable coil unit. 3. A control circuit unit integrally mounted on the outer yoke, wherein a control circuit for controlling energization of the coil and the current circuit and position detection control by the position sensor unit is incorporated. The linear motor according to claim 1 or 2, wherein 4. The movable coil unit is moved to a desired position by a detection signal detecting a state of a device to which the linear motor is applied and a position detection signal detecting a moving position of a movable coil unit corresponding to a rotor of the linear motor. A linear motor control method for high-speed and accurate positioning control. 5. Various sensors for obtaining a detection signal for setting a driving condition of the linear motor, and driving the linear motor in response to the detection signals supplied from the various sensors and mounting the linear motor on the linear motor. 5. The linear motor control method according to claim 4, further comprising: a mirror control control unit that determines a driving status of the linear motor based on the position detection signal obtained from the attached position sensor unit.