JPWO2020121509A1 - Linear motor - Google Patents

Abstract

In the linear motor of the present invention, the magnetic regions of the north and south poles are spirally and alternately arranged so that the magnetic regions (21 and 22) of the north and south poles are alternately arranged in the rotation axis direction. A rotor (20) having an outer peripheral surface, a rotor (60) connected to the rotor (20) and rotationally driving the rotor (20), and a rotor (20) facing the outer peripheral surface are provided. A drive that includes an iron core (50) having a toothed portion and a winding (11) wound around the iron core, and moves in the rotation axis direction of the rotor (20) by switching the energization of the winding (11). A guide member (10) that guides the armature (10) and the armature (10) to move in the rotation axis direction, and restricts the armature (10) from moving in the circumferential direction of the rotor (20). 70) and.

Description

The present invention relates to a linear motor.

In recent years, linear motors have been used as transport devices at production sites such as factories.

In a linear armature, for example, a male-side magnetic screw in which a band-shaped N-pole and S-pole magnetic bands are spirally magnetized with respect to a rod made of a ferromagnetic material and a male-side magnetic screw are not in contact with each other. A motor having an armature having a salient pole formed in the spiral shape of a magnetized band magnetized on the rod and fitted in a state is provided, the rod is fixed, and the armature is placed in the axial direction of the rod. Some armatures generate thrust by a rotating magnetic field generated by energizing the coils of each phase wound around the armature by slidably supporting the armature (see Patent Document 1).

Japanese Unexamined Patent Publication No. 10-257751

Direct-acting electric motors used at production sites and the like are required to have high speeds for the purpose of improving productivity. Even in a linear motor having a conventional configuration, it is conceivable to further increase the speed by optimizing the armature, for example, by increasing the number of windings of windings and increasing the number of teeth. Of course, there is a possibility that a certain effect can be obtained even with such measures. However, when the speed cannot be sufficiently increased only by the optimization in the conventional configuration due to the increase in the drive load due to the increase in the weight of the armature and the increase in the loss (heat generation) due to the increase in the copper loss and the iron loss. was there.

The present invention is for solving the above-mentioned problems, and an object of the present invention is to provide a linear motor capable of high-speed movement.

The linear armature according to the present invention has an outer peripheral surface in which the magnetic regions of the north and south poles are spirally and alternately arranged so that the magnetic regions of the north and south poles are alternately arranged in the direction of the rotation axis. A rotor to be provided, a rotor connected to the rotor to rotate the rotor, an iron core having a teeth portion provided facing the outer peripheral surface of the rotor, and a winding wound around the iron core. , The driven armature that moves in the direction of the rotation axis of the rotor by switching the energization of the winding, and the armature that guides the armature to move in the direction of the rotation axis, and the armature moves in the circumferential direction of the rotor. It is equipped with a guide member that regulates the number of parts.

In the linear motor of the present invention, a rotor provided with a spiral magnetic region is rotationally driven by the rotor. Therefore, the armature can obtain the driving force in the rotation axis direction by the rotation of the rotating machine in addition to the driving force in the rotation axis direction by switching the energization of the winding provided in the armature. Therefore, in the linear motor of the present invention, it is possible to speed up the movement of the armature.

It is a perspective view of the linear electric motor which concerns on Embodiment 1 of this invention. It is a perspective view of the rotor which concerns on Embodiment 1 of this invention. It is a perspective view of the armature which concerns on Embodiment 1 of this invention. It is a perspective view of the laminated body used for the iron core of the armature which concerns on Embodiment 1 of this invention. It is a perspective view of the yoke part which concerns on Embodiment 1 of this invention. It is a top view of the tooth part which concerns on Embodiment 1 of this invention. It is a perspective view which shows the state of the manufacturing process of the armature which concerns on Embodiment 1 of this invention. It is a perspective view which shows the state of the manufacturing process of the armature which concerns on Embodiment 1 of this invention. It is a schematic diagram which shows the arrangement of the teeth part and the rotor which concerns on Embodiment 1 of this invention. It is a perspective view which shows the state of the manufacturing process of the armature which concerns on Embodiment 1 of this invention. It is a perspective view of the part used for the armature which concerns on Embodiment 1 of this invention. It is a perspective view which shows the state of the manufacturing process of the armature which concerns on Embodiment 1 of this invention. It is a perspective view of the armature which concerns on Embodiment 1 of this invention. It is a schematic diagram of the armature and the rotor which concerns on Embodiment 1 of this invention. It is a schematic diagram which shows the operation of the rotor which concerns on Embodiment 1 of this invention. It is a block diagram which shows the control of the linear electric motor which concerns on Embodiment 1 of this invention. It is a perspective view of the laminated body used for the iron core of the armature which concerns on Embodiment 2 of this invention. It is a side view of the laminated body used for the iron core of the armature which concerns on Embodiment 2 of this invention. It is a perspective view which shows the state of the manufacturing process of the armature which concerns on Embodiment 2 of this invention. It is a perspective view which shows the state of the manufacturing process of the armature which concerns on Embodiment 2 of this invention. It is a perspective view which shows the state of the manufacturing process of the armature which concerns on Embodiment 2 of this invention. It is a perspective view which shows the state of the manufacturing process of the armature which concerns on Embodiment 2 of this invention. It is a perspective view of the armature which concerns on Embodiment 2 of this invention. It is a top view of the armature which concerns on Embodiment 2 of this invention. It is a perspective view of the armature which concerns on Embodiment 1 of this invention. It is a schematic diagram which shows the arrangement of the armature and the rotor which concerns on Embodiment 2 of this invention.

Hereinafter, the electric motor (linear electric motor) according to the embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.

Embodiment 1.
FIG. 1 is a perspective view of an electric motor according to a first embodiment of the present invention. The electric motor includes a rotor 20, an armature 10, and a rotor 60. The rotor 20 is rotatably supported by the end plate 40. The armature 10 is fixed to the frame 30 and is arranged so as to surround the outer peripheral surface of the rotor 20 from both sides. A shaft (guide member) 70 that regulates the moving direction of the armature 10 is fixed to the end plate 40 in parallel with the rotor 20. The frame 30 includes a sliding portion with respect to the shaft 70, and when the frame 30 moves along the shaft 70, the armature 10 moves in the axial direction of the rotor 20. The shaft 70 regulates the armature 10 from moving in the circumferential direction of the rotor 20. The rotary machine 60 is fixed to the end plate 40, and the drive shaft of the rotary machine 60 is connected to the rotor 20. The rotary machine 60 is driven by a signal from the outside, and can rotationally drive the cylindrical rotor 20. Further, a rotation position sensor for detecting the rotation position of the rotation shaft is built in the rotation machine 60.

FIG. 2 is a perspective view of the rotor 20 according to the first embodiment. On the outer peripheral surface of the rotor 20, the magnetic regions 21 of the north pole and the magnetic regions 22 of the south pole are spirally arranged so as to be alternately arranged in the rotation axis direction. The method of forming the magnetic regions 21 and 22 is not particularly limited. For example, it can be formed by alternately winding a long sheet whose front surface side is magnetized to the N pole and a long sheet whose front surface side is magnetized to the S pole around a cylindrical member. The magnetic regions 21 and 22 may be formed by arranging and fixing the permanent magnets created by dividing them side by side.

FIG. 3 is a perspective view of the armature 10 according to the first embodiment. FIG. 4 is a perspective view of the laminated body 57 of thin plates, and FIG. 5 is a perspective view of the yoke portion 51. A tooth portion 52 is formed on the laminated body 57. The iron core 50 of the armature 10 is composed of a laminated body 57 and a yoke portion 51. The laminated body 57 and the yoke portion 51 each have a structure in which thin plates of electrical steel sheets are laminated, and the laminated thin plates are integrated by laminated caulking, welding, adhesion, or the like. A brim portion 53 projecting in the circumferential direction is formed on the surface side of the teeth portion 52 of the laminated body 57 facing the rotor 20. The surface of the teeth portion 52 facing the rotor 20 due to the brim portion 53 has a shape that is asymmetrical in the circumferential direction of the rotor 20. The shape of the tooth portion 52 is not limited to the shape in which the brim portion 53 is provided on only one side, and as shown in FIG. 6, the brim portions 53 are formed on both sides, and the lengths of the brim portions 53 on both sides are different from each other. It may have such a shape. Further, the laminated body 57 is formed with a frame portion 54 for fitting with the yoke portion 51. In the area of the frame portion 54 opposite to the brim portion 53, an open portion 58 at which the frame portion 54 is interrupted is provided. The open portion 58 can block the path of the eddy current generated by the magnetic flux flowing through the yoke portion 51, reduce the energy loss, and lead to higher efficiency of the electric motor.

The surface side of the teeth portion 52 facing the rotor 20 is asymmetrically formed in the circumferential direction by the brim portion 53. The winding 11 is applied to the teeth portion 52 as shown in FIG. 8 in a state where the teeth portions 52 are overlapped so that the extending direction of the brim portion 53 is reversed as shown in FIG. By stacking the teeth portions 52 so that the directions of the brim portions 53 are reversed, when the teeth portions 52 are arranged so as to face the rotor 20 as shown in FIG. 9, the facing surface of the teeth portion 52 with the rotor 20 Is arranged along the arrangement (inclination) of the magnetic regions 21 and 22 arranged in a spiral shape. As a result, the iron core 50 can efficiently receive the magnetic field of the rotor 20, which leads to higher efficiency of the electric motor.

As shown in FIG. 10, the laminated body 57 having the winding 11 wound on the tooth portion 52 is positioned by the plate 55 made of an insulating material (resin) inserted into the frame portion 54. In this state, the armature 10 is integrated as shown in FIG. 12 by inserting the yoke portion 51 through the frame portion 54. In this integrated state, the laminating direction of the thin magnetic steel sheet of the laminated body 57 and the laminating direction of the thin magnetic steel sheet of the yoke portion 51 are different from each other by 90 degrees. Each tooth portion 52 is magnetically connected by a yoke portion 51, and this structure can reduce the generation of eddy currents in the yoke portion 51, and can realize an armature 10 having low heat generation and high energy efficiency. .. As shown in FIG. 11, the plate 55 is periodically provided with protrusions (protrusions) 551, and the distance between the teeth portions 52 is determined by the protrusions 551. The integrated armature 10 may be hardened with a varnish or a potting material in order to strengthen the bond between the laminated body 57 and the yoke portion 51.

The two armatures 10 are connected by a frame 30 as shown in FIG. The frame 30 is joined to the yoke portion 51 of the armature 10. The method of joining the frame 30 and the yoke portion 51 may be welding or adhesion. A bearing 31 is provided on the frame 30. The armature 10 is installed in the electric motor so that the shaft 70 fixed to the end plate 40 passes through the bearing 31. With this configuration, the armature 10 has a structure that moves in parallel with the rotor 20. Further, the frame 30 is provided with a position sensor 32. The position sensor 32 is attached to the frame 30 via a bearing 31. The position sensor 32 detects the position of the armature 10 in the rotation axis direction of the rotor 20 by optically reading the scale pattern provided on the shaft 70, and outputs the position information of the armature 10 as a detection signal. .. Although the position sensor 32 is provided on the armature 10 on the movable side here, the position sensor 32 may be provided on the fixed side, for example, the housing of an electric motor (not shown).

FIG. 14 is a schematic view showing a state in which two armatures 10 are arranged so as to face the rotor 20. A pair of magnetic poles (magnetic regions) of N pole and S pole are arranged so as to face each other of the three-phase teeth of U, V, and W. When one cycle of the magnetic poles of the rotor 20 in the rotation axis direction is expressed as 360 degrees (electrical angle), the pitch of the adjacent magnetic poles of the rotor 20 is 180 degrees, and the pitch of the adjacent teeth is 120 degrees. .. Further, the teeth portions 52 which are arranged so as to face each other are arranged so as to be out of phase by a minute angle (electrical angle) in the rotation axis direction of the rotor 20. In FIG. 13, the two armatures 10 arranged so as to face each other are arranged at positions where the phases of the rotor 20 with respect to the magnetic poles are offset by 30 degrees in terms of electrical angle. By shifting the phase in this way, the cogging torque generated between the armature 10 and the rotor 20 can be reduced, and the position accuracy can be improved.

Next, the action of the rotor 20 will be described with reference to FIG. FIG. 15 is a side view of the rotor 20. As described above, the magnetic regions 21 of the N pole and the magnetic regions 22 of the S pole are spirally arranged on the outer peripheral surface of the rotor 20 so as to alternate. When viewed on a plane passing through the rotation axis of the rotor 20, when the rotor 20 is rotated, the position of the magnetic region moves in the axial direction of the rotor 20 as shown in FIG. Therefore, for the armature 10 arranged to face the rotor 20 in a state where the movement in the rotation direction is restricted by the shaft 70, the magnetic regions 21 and 22 of the north and south poles move in the axial direction. Works in the same way as. For example, considering the case where the magnetic field excited by the teeth portion 52 is constant, the rotor 20 is balanced and stopped at a specific phase with respect to the magnetic regions 21 and 22 of the rotor 20, but the rotor 20 is stopped in this state. When rotated, the axial driving force of the rotor 20 is applied to the armature 10 by the substantial movement of the magnetic regions 21 and 22 described above. Further, if the direction in which the rotor 20 is rotated is reversed, the direction of the driving force applied to the armature 10 is also reversed. The amount of rotation of the rotor 20 and the amount of substantial movement of the magnetic regions 21 and 22 are in a proportional relationship. Therefore, in the electric motor according to the first embodiment of the present invention, by controlling the rotation of the rotor 20 via the rotor 60, it is possible to generate a driving force for moving the armature 10 in an arbitrary direction in the axial direction. it can. Further, if the rotor 20 is rotated at a constant speed while the magnetic field excited by the teeth portion 52 is constant, the armature 10 can be moved at a constant speed in the direction of the rotation axis. In this state, the armature can be moved. By controlling the energization of the armature 10, the armature 10 can be moved faster than when the energization of the armature 10 is controlled with the rotor 20 fixed.

FIG. 16 is a schematic view showing a control system for an electric motor according to a first embodiment of the present invention. The armature 10 is arranged along the rotor 20, and the drive shaft of the rotor 60 is connected to the rotor 20. Here, the drive shaft of the rotor 60 and the rotor 20 are arranged coaxially and directly connected, but are connected via a transmission mechanism such as being connected via a belt and a pulley. May be good. The control device 901 includes a position command value regarding the control target position of the armature 10 input from an external device, position information indicating the position of the armature 10 from the position sensor 32, and a rotation position built in the rotor 60. Rotational position information indicating the rotational position of the rotor 20 from the sensor 61 and is input. The control device 901 generates and supplies control signals for the inverter 902 and the inverter 903 in order to move the armature 10 in the direction in which the difference becomes 0 based on the difference between the position command value and the position of the armature 10. The inverter 902 generates a drive signal for the rotating machine 60 based on the control signal supplied from the control device 901. Further, the inverter 903 generates a drive signal for the armature 10 based on the control signal supplied from the control device 901. When generating the control signals to the inverter 902 and the inverter 903, the control amount (speed) for moving the armature 10 is calculated based on the difference value between the position command value and the position of the armature 10 and its change. Then, the control amount may be allocated to the armature 10 and the rotary machine 60, which are two power sources. As a method of calculating the control amount before allocation, a general method may be used, for example, PID control may be used. The control signal supplied to the inverter 902 may be created based on the control amount assigned to the rotary machine 60 and the rotation position information from the rotation position sensor 61. Further, the control signal supplied to the inverter 903 may be created based on the position information from the armature 10, the position sensor 32, and the rotation position information from the rotation position sensor 61. Here, since the rotor 20 rotates, the relative positions of the magnetic regions 21 and 22 formed on the rotor 20 and the armature change, so that the rotation position information is taken into consideration and a control signal is generated. There is a need. Since this electric motor includes two power sources for driving the armature 10, it is possible to increase the maximum value of the control amount (increase the maximum speed). The control amount may be allocated at a ratio according to the drive performance of the armature 10 and the rotary machine 60. However, when high-speed movement is not required, the driving force of both the armature 10 and the rotating machine 60 may not be used, but only one driving force may be used. For example, the drive signal (energized phase) of the armature 10 may be fixed, only the rotation of the rotating machine 60 may be controlled, and the armature 10 may be controlled to move to the target position. Alternatively, the rotation position of the rotating machine 60 may be fixed, the energization of the armature 10 may be controlled, and the armature 10 may be moved. When fixing the rotation position of the rotary machine 60, it is preferable to use feedback control (servo lock) using the rotation position information. The servo lock enables the rotation shaft to be securely fixed, and the position control of the armature 10 becomes easy. Further, the control method may be switched according to the difference between the position command value and the position of the armature 10. For example, when the difference is larger than the predetermined threshold, the armature 10 is moved by using the driving force of both the armature 10 and the rotating machine 60, and when the difference is equal to or less than the threshold, the rotating machine 60 is used. The electric motor may be controlled so that the rotation position of the armature 10 is fixed and the armature 10 is moved to the target position by the driving force of the armature 10. It is necessary to switch the control parameters as appropriate, but by controlling in this way, it is possible to move at high speed to improve responsiveness when the difference is large, and to control by moving only the armature 10 when the difference is small. Can be simplified. Further, in this case, the control of the rotor 60 may be a control that only switches the rotation direction of the rotor 20 according to the positive or negative of the difference between the position command value and the position of the armature 10.

Embodiment 2.
The electric motor according to the second embodiment of the present invention will be described. The electric motor according to the second embodiment has a different structure of the iron core 50 constituting the armature 10 than the electric motor according to the first embodiment. The configuration other than the armature 10 is the same as that of the electric motor according to the first embodiment, and the description thereof will be omitted.

FIG. 17 is a perspective view of a set of thin plate laminated bodies 56 constituting the iron core 50, and FIG. 18 is a top view of the laminated body 56. The laminated body 56 is formed by laminating thin plates of electrical steel sheets. The laminated body 56 has a U-shape in which two tooth portions 52 formed so as to face the outer peripheral surface of the rotor from 180 degree different directions bypass the region where the rotor 20 is arranged. It has a structure in which it is connected by a (U-shaped) yoke portion 51. The yoke portion 51 magnetically connects the two tooth portions 52. Further, a brim portion 53 is formed on the tip end side (the side facing the rotor 20) of the teeth portion 52. The brim portion 53 of the two tooth portions 52 is formed so as to extend in the same direction, here toward the yoke portion 51. Further, as shown in FIG. 18, the two tooth portions 52 are shaped to face each other at different positions, which are offset from each other in the stacking direction of the thin plates (the direction of the rotation axis after assembly).

The laminated body 56 is sequentially rotated by 180 degrees around the rotation axis so that the positions of the yoke portions 51 are staggered, and the tooth portions 52 of the adjacent laminated bodies 56 are arranged so as to be in contact with each other. Then, windings 11 are applied to the teeth portions 52 arranged so as to be in contact with each other and connected to each other. The brim portions 53 of the teeth portions 52 arranged adjacent to each other extend in the circumferential direction of the rotor 20 in opposite directions to each other. The effect of arranging the brim portion 53 is the same as that of the first embodiment. FIG. 19 shows a state in which the two laminated bodies 56 are arranged, and FIG. 20 shows a state in which the winding 11 is applied to the teeth portions 52 arranged so as to be in contact with each other. After the two laminated bodies 56 are connected, the third laminated body 56 is arranged as shown in FIG. 21, and the teeth portion 52 is wound with the winding 11 as shown in FIG. 22. By repeating the step of arranging the laminated body 56 and the step of applying the winding 11, the iron core 50 is assembled as shown in FIG. 23. FIG. 23 is a perspective view of the iron core 50, and FIG. 24 is a top view of the iron core 50. As shown in FIG. 24, when the armatures 10 are assembled, the facing tooth portions 52 are arranged alternately. By attaching the frame 30 to the iron core 50, the armature 10 of FIG. 25 is completed. A spacer is inserted between the adjacent laminated bodies 56. FIG. 26 shows a state in which the armature 10 is arranged so as to face the rotor 20. In FIG. 26, although the yoke portion 51 is not shown, U-phase, V-phase, and W-phase windings 11 are wound around the teeth portion 52 in the order in which they are connected by the yoke portion 51. Although not shown, a group of teeth portions 52 facing toward the rotor 20 (a group of teeth portions 52 arranged on the left side of FIG. 26) by adjusting the bending amount of the yoke portion 51 of the laminated body 56. It is possible to shift the phase of the rotor 20 with respect to the magnetic poles for each group of the teeth portions 52 arranged on the right side. For example, the yoke portion 51 connecting the teeth portions 52 arranged on the right side to the teeth portions 52 arranged on the left side in FIG. 26 is bent so as to deviate by 30 degrees in the rotation axis direction of the rotor 20. The yoke portion 51 connecting the teeth portions 52 arranged on the left side to the teeth portions 52 arranged on the left side is bent so as to deviate by 90 degrees in the rotation axis direction of the rotor 20. Use the one. It is necessary to use two types of laminated bodies 56 having different bending amounts of the yoke portion 51, but with such a configuration, the phase of the rotor 20 with respect to the magnetic region can be shifted between the two groups, and the armature 10 and the armature 10 The cogging torque generated between the rotor 20 and the rotor 20 can be reduced, and the position accuracy can be improved.

In the armature 10 having this configuration, since the laminated body 56 in which the teeth portion 52 and the yoke portion 51 are integrated with the iron core 50 is used, the armature 50 is configured as compared with the armature 10 of the first embodiment. The number of parts can be reduced. Further, since the yoke portion 51 has a structure surrounding the rotor 20, the magnetic flux generated by the rotor 20 is guided into the yoke portion 51, and the leakage of the magnetic flux to the outside of the armature 10 can be reduced.

In the electric motors of the first and second embodiments, the teeth portions 52 are arranged so as to be aligned in two directions on both sides of the rotor 20, but the arrangement of the teeth portions 52 is not limited thereto. For example, the teeth portions 52 may be arranged only in one radial direction of the rotor 20, or the teeth portions 52 may be arranged in four radial directions of the rotor 20. In either case, it is possible to increase the moving speed of the armature 10 by using both the driving force of the armature 10 and the driving force of the rotation of the rotating machine 60.

10 armature, 11 windings, 20 rotors, 21 magnetic region, 22 magnetic region, 30 frame, 31 bearing, 32 position sensor, 40 end plate, 50 iron core, 51 yoke part, 52 teeth part, 53 brim part, 54 Frame part, 55 plate, 551 protrusion, 56 laminated body, 57 laminated body, 58 open part, 60 rotating machine, 61 rotating position sensor, 70 shaft, 80 spacer, 901 controller, 902 inverter, 903 inverter.

The linear armature according to the present invention has an outer peripheral surface in which the magnetic regions of the north and south poles are spirally and alternately arranged so that the magnetic regions of the north and south poles are alternately arranged in the direction of the rotation axis. A rotor to be provided, a rotor connected to the rotor to rotate the rotor, an iron core having a teeth portion provided facing the outer peripheral surface of the rotor, and a three-phase winding wound around the iron core. The armature is driven to move in the direction of the rotation axis of the rotor by switching the energization of the three-phase windings, and the armature is guided to move in the direction of the rotation axis, and the armature is the rotor. It is provided with a guide member that regulates the movement of the armature in the circumferential direction.

The linear motor according to the present invention has an outer peripheral surface in which the magnetic regions of the north and south poles are spirally and alternately arranged so that the magnetic regions of the north and south poles are alternately arranged in the direction of the rotation axis. A rotor to be provided, a rotor connected to the rotor to rotate the rotor, an iron core having a teeth portion provided facing the outer peripheral surface of the rotor, and a three-phase winding wound around the iron core. The armature is driven to move in the direction of the rotation axis of the rotor by switching the energization of the three-phase windings, and the armature is guided to move in the direction of the rotation axis, and the armature is the rotor. Based on the guide member that regulates the movement of the motor in the circumferential direction, the position command value of the armature, the first position information indicating the rotation position of the armature, and the second position information indicating the rotation position of the rotor. The control amount for moving the child in the rotation axis direction is calculated, the calculated control amount is allocated, the first control amount is output to the first inverter, and the second control amount is output to the second inverter. A control device, a first inverter that drives the rotor based on a first control amount input from the control device, and a three-phase winding of an armature based on a second control amount input from the control device. It is equipped with a second inverter that drives the wire to be energized .

Claims (5)

A rotor having an outer peripheral surface in which the magnetic regions of the N pole and the S pole are spirally arranged so that the magnetic regions of the N pole and the S pole are alternately arranged in the rotation axis direction.
A rotor connected to the rotor and rotationally driving the rotor,
An armature having an iron core having a teeth portion provided so as to face the outer peripheral surface of the rotor and a winding wound around the iron core, and driven in the rotation axis direction by energization of the winding. When,
A guide member that guides the armature to move in the rotation axis direction and regulates the armature to move in the circumferential direction of the rotor.
A linear motor characterized by being equipped with. The iron core is formed by laminating a plurality of thin plates, and each of the plurality of thin plates is the tip of the teeth portion and the portion forming the facing surface of the rotor with the outer peripheral surface is the rotation. The plurality of iron cores are formed so as to have an asymmetrical shape in the circumferential direction of the child so that the facing surface of the tooth portion with the rotor follows the arrangement of the magnetic regions of the N pole and the S pole. The linear motor according to claim 1, wherein the thin plates are laminated in different directions. The iron core includes a yoke portion that magnetically connects a plurality of the teeth portions arranged in the direction of the rotation axis, and the teeth portion and the yoke portion are formed by laminating thin plates, and the teeth portion is formed. The linear motor according to claim 1, wherein the stacking direction of the thin plates constituting the above and the stacking direction of the thin plates constituting the yoke portion are different by 90 degrees. The thin plate constituting the teeth portion has a frame portion through which the yoke portion is inserted, and the frame portion includes an open portion in which the frame portion is interrupted around the yoke portion in a state where the yoke portion is inserted. The linear motor according to claim 3, wherein the linear motor is characterized by the above. The iron core is a yoke that connects a pair of teeth portions facing the outer peripheral surface of the rotor from different directions by 180 degrees at different positions in the rotation axis direction, and a yoke that bypasses the rotor and connects the pair of teeth portions. A plurality of thin plate laminates including the portions are provided, and the plurality of laminates are alternately rotated by 180 degrees about the rotation axis of the rotor, and the teeth portions of the adjacent laminates are connected to each other. The linear motor according to claim 1, wherein the linear motors are overlapped and connected.

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