201136107 六、發明說明： 【發明所屬之技術領域】 本發明係關於一種用於產生一線性運動之線性馬達。 【先前技術】 一般而言’線性馬達具有一種結構，其係於驅動器與 靜子之間彼此相對的一直線上產生推力。永久磁鐵型線性 馬達的組成方式為：將固定的磁鐵安排於驅動器及靜子的 其中一者，並施加交流多相電源於其中另一者，以在馬達 及靜子之間產生電磁力以作為推力。 習知線性馬達所具有的結構係為旋轉馬達被展開並排 列成一直線’而因此在電樞心的凸極與永久磁鐵之間產生 一強磁引力，使系統精確度降低。 為了解決這些問題’本發明的發明人提供一種具有一 新結構之圓柱型線性馬達（於2009年9月25日申請之美 國專利申請號10-2009-0090806)。此圓柱型線性馬達具有 消除在電樞心凸極與永久磁鐵間的強磁引力之結構。 在美國專利申請號10_20〇9·0〇9〇8〇6專利中所揭露之 動圈式圓柱型線性馬達，其中，對應於定子之第二構件（永 久磁鐵部件）的兩端藉由兩固定座固定，且對應於驅動^ 之第一構件係連結至移動台，並根據導軌及滑塊之導件直 線地移動。然而’當構成用於遠距離傳送之線性馬達 僅有長的第二構件（永久磁鐵部件）之兩端被固定，因此 第二構件由於永久磁鐵的負載而必須被彎曲。據此， v置 201136107 解決此問題的方法是必要的。 一般而言，第二構件的橫截面必須增加來達成面積慣 性矩（當一彎曲力施加於材料時，材料抵抗變形之特性） 增加的結構。然而，如此增加了線性馬達的尺寸，因此在 滿足特定條件下系統的構成會有所限制。 用於遠距離傳送之線性馬達通常使用平板型線性馬 達，其係具有被展開並排列成一直線之旋轉馬達，以達到 將第二構件部份橫截面（相對於第二構件沿長度方向上之 整個橫截面）置於地上、或以預定間隔支撐第二構件之結 構。 然而，在平板型線性馬達中，在電樞心的凸極與永久 磁鐵之間由於平板型馬達的結構而產生一強磁引力，使得 系統精確度降低。此外，用於維持預定間隙的支撐機構嚴 重地磨損。 【發明内容】 本發明之一態樣係提供一線性馬達，其用於減緩平板 型線性馬達之磁引力問題，並防止第二構件由於構成第二 構件之永久磁鐵的負載而彎曲，以使其適合遠距離傳送。 在本發明之一態樣中，一種線性馬達，其包含：一第 一構件，其係包含電樞模組；一第二構件，其係包含永久 磁鐵模組；以及一支撐機構；其中，每一個電樞模組具有 至少二個凸極以及線圈，該等凸極從一弧形磁體向該第二 構件凸出，該等線圈纏繞該等凸極，並且有一單相電流流 201136107 過，每一個永久磁鐵模組具有永久磁鐵，其數量與包含於 每一個電樞模組内的凸極之數量相同，具有一預定相位差 的電流被施加於該電樞模組，使得根據一行進磁場之一推 力在一單元中產生，該單元係由排列在移動方向的s電樞 模組及P (P係為2的倍數）永久磁鐵模組所組成，以及對 應於該第一構件及該第二構件其中一者的一靜子，其係被 固定至該支撐機構，使得對應至該第一構件及該第二構件 的其中另一者的一驅動器藉由該推力被移動。 在每一個電樞模組中，該線圈可纏繞該等凸極，使得 一任意凸極的極性與兩相鄰凸極相異。 在每一個永久磁鐵模組中的永久磁鐵可被安排成使一 任意永久磁鐵的極性與兩相鄰永久磁鐵相異。 在每一個永久磁鐵模組中的永久磁鐵可被固定至該永 久磁鐵模組之一磁體的一表面，或嵌入該永久磁鐵模組之 磁體中。 相鄰的永久磁鐵模組藉由一預定距離或利用一非磁體 插置於該永久磁鐵模組之間可使彼此分開。 每一個電樞模組之磁體可至少為軸對稱。每一個電樞 模組之磁體具有下列至少其中一者：一圓形弧形的形狀、 對應多邊形環的一部分之一多邊形弧形的形狀、一不同多 邊形弧形組合的形狀、以及一圓形弧形與至少一個多邊形 弧形組合的形狀。 每一個電樞模組之凸極係可至少軸對稱地排列在該磁 體上。每一個電樞模組之凸極係可在垂直及水平方向上排 6 201136107 列成點對稱或軸對稱。 母個電樞模組之磁體可具有環繞該第二構件之-弧 形。 §第構件之永久磁鐵模組係可與在移動方向上延伸 之一内管道及-外管道的至少其中一者結合。 該永久磁鐵模組中的每一個永久磁鐵之極性係可與移 動方向上相_二個永久磁鐵相異。 該第一構件或該第二構件的長度係可大於該單元的長 度，其中該單元係由該s電樞模組及該p永久磁鐵模組所 組成。 該s係可藉由決定該預定相位差之一常數的倍數來決 疋’並且S係可為等於及大於3的奇數^該常數係可為3， 並且（S，P)可對應至（3,2)、（3,4)、（9,8)以及（9,1 〇)的其中之 一。假如該常數為3，S為9，以及具有120。之相位差的三201136107 VI. Description of the Invention: [Technical Field] The present invention relates to a linear motor for generating a linear motion. [Prior Art] In general, a linear motor has a structure that generates a thrust on a line that is opposite to each other between a driver and a stator. The permanent magnet type linear motor is composed of one in which a fixed magnet is arranged in one of a driver and a stator, and an alternating current multi-phase power source is applied to the other to generate an electromagnetic force between the motor and the stator as a thrust. Conventional linear motors have a structure in which the rotary motor is deployed and aligned in a straight line' and thus produces a strong magnetic attraction between the salient poles of the armature core and the permanent magnets, which reduces the accuracy of the system. In order to solve these problems, the inventors of the present invention have provided a cylindrical linear motor having a new structure (U.S. Patent Application No. 10-2009-0090806, filed on Sep. 25, 2009). This cylindrical linear motor has a structure that eliminates the strong magnetic attraction between the armature core and the permanent magnet. A moving coil type cylindrical linear motor disclosed in U.S. Patent Application No. 10-20,9,0,9,8,6, wherein the two ends of the second member (permanent magnet member) corresponding to the stator are fixed by two The seat is fixed, and the first member corresponding to the drive is coupled to the mobile station, and linearly moves according to the guide of the guide rail and the slider. However, when the linear motor constituting the long-distance transmission has only the long second member (permanent magnet member) fixed at both ends, the second member must be bent due to the load of the permanent magnet. Accordingly, v set 201136107 to solve this problem is necessary. In general, the cross-section of the second member must be increased to achieve an increased structure of the area inertia moment (the material resists deformation when a bending force is applied to the material). However, this increases the size of the linear motor, so the composition of the system can be limited if certain conditions are met. Linear motors for long-distance transmission typically use a flat-plate type linear motor having a rotary motor that is unfolded and aligned in a straight line to achieve a cross-section of the second member portion (relative to the length of the second member relative to the entire length) The cross-section) is placed on the ground or supports the structure of the second member at predetermined intervals. However, in the flat type linear motor, a strong magnetic attraction force is generated between the salient pole of the armature core and the permanent magnet due to the structure of the flat type motor, so that the accuracy of the system is lowered. Further, the support mechanism for maintaining the predetermined gap is severely worn. SUMMARY OF THE INVENTION One aspect of the present invention provides a linear motor for relieving the magnetic attraction problem of a flat type linear motor and preventing the second member from being bent due to the load of the permanent magnet constituting the second member, so that Suitable for long distance transmission. In one aspect of the invention, a linear motor includes: a first member including an armature module; a second member including a permanent magnet module; and a support mechanism; wherein each An armature module has at least two salient poles and coils protruding from an arcuate magnet to the second member, the coils being wound around the salient poles, and having a single phase current flow 201136107 A permanent magnet module has permanent magnets in the same number as the salient poles included in each armature module, and a current having a predetermined phase difference is applied to the armature module such that a traveling magnetic field is used. A thrust is generated in a unit consisting of an s armature module arranged in a moving direction and a P (P system is a multiple of 2) permanent magnet module, and corresponding to the first member and the second A stator of one of the members is secured to the support mechanism such that a driver corresponding to the other of the first member and the second member is moved by the thrust. In each armature module, the coil can be wound around the salient poles such that the polarity of an arbitrary salient pole is different from that of two adjacent salient poles. The permanent magnets in each of the permanent magnet modules can be arranged such that the polarity of an arbitrary permanent magnet is different from that of two adjacent permanent magnets. A permanent magnet in each of the permanent magnet modules may be fixed to a surface of one of the magnets of the permanent magnet module or embedded in a magnet of the permanent magnet module. Adjacent permanent magnet modules can be separated from one another by a predetermined distance or by interposing a non-magnet between the permanent magnet modules. The magnets of each armature module can be at least axisymmetric. The magnet of each armature module has at least one of the following: a circular arc shape, a polygonal curved shape corresponding to a portion of the polygonal ring, a shape of a different polygonal arc combination, and a circular arc A shape that combines with at least one polygonal arc. The salient poles of each armature module can be arranged at least axially symmetrically on the magnet. The salient poles of each armature module can be arranged in point and symmetry in the vertical and horizontal directions. The magnet of the female armature module may have an arc surrounding the second member. The permanent magnet module of the first member may be combined with at least one of a pipe and an outer pipe extending in one of the moving directions. The polarity of each of the permanent magnets in the permanent magnet module can be different from the two permanent magnets in the moving direction. The length of the first member or the second member may be greater than the length of the unit, wherein the unit is composed of the s armature module and the p permanent magnet module. The s can be determined by determining a multiple of one of the constants of the predetermined phase difference and the S system can be an odd number equal to or greater than 3, the constant can be 3, and (S, P) can correspond to (3) One of 2), (3, 4), (9, 8), and (9, 1 〇). Suppose the constant is 3, S is 9, and has 120. Phase difference of three
電流係分別為U、V及W，UVWUVWUVW或UuUVvVWwW 係可分別施加於九個連續的電樞模組（在此，小寫字母表 示其相位與以大寫表示的電流相反）。 每一個電樞模組的磁體可具有一分層的形式。 該線性馬達可進一步包含一導引機構，當該等凸極及 與其對應之該等永久磁鐵在該等凸極與該等永久磁鐵之間 維持預疋間隙時，該導引機構引導該驅動器移動。 該導引機構可包含導軌以及滾輪或滑塊，該導軌係可 設置於該靜子錢支撐舖，且該等滾輪讀塊係可設置 於該驅動器。該導引機構係可至少為轴對稱地排列。該導 201136107 引機構中至少一個組件係可排列於相鄰的凸極之間。 無線圈的輔助凸極係可分別形成於每一個電樞模組的 磁體之兩鈿。每一個永久磁鐵模組内之辅助永久磁鐵係可 成形於對應該等辅助凸極之位置。 該靜子係可由複數個部件構成，且排列於該驅動器移 動方向上之該等部件係透過結合工具而可被固定於該支撐 機構。 根據本發明具體實施例之線性馬達可防止在平板型線· 性馬達中之導件由於頻繁產生之磁引力而磨損，並且即使 ： 為小尺寸之線性馬達’仍可獲得大容量的推力或高傳送速 率。此外，線性馬達之組件係可被模組化，因此線性馬達 可容易地被組裝及修改成各種形式。 再者，根據本發明之線性馬達可防止第二構件由於負 載而彎曲，並用於遠距離之傳送。 【實施方式】 以下將參照所附圖示詳述本發明之具體實施例。 ， 雖然根據本說明書之線性馬達中的電植模組及永久磁， 鐵模組之檢截面不同於美國專利申請號1〇_細刪刪6 中所揭露之線性馬達的電拖模組及永久磁鐵模組，然根據 本說明書之線性馬達的驅動原理與該專利所揭露之線性馬 、驅動原理相同’因此，在此將先描述美國專利申請號 1〇侧9養_6中所揭露之圓柱型線性馬達的結構及驅 8 201136107 美國專利申請號10_2〇〇9-0090806中所揭露的圓柱型 線性馬達包含一第一構件、一第二構件以及一支撐機構。 第1圖及第2圖分別說明内磁式線性馬達之電樞模組及永 久磁鐵模組’其中，對應於第二構件之永久磁鐵係設置於 内部’且對應於第一構件之電樞係排列於外部。 參照第1圖，第一構件包含電樞模組10，其係於移動 方向排列成一直線。每一個電樞模組1〇具有環形磁心1、 至少四個由磁心1沿徑向凸出的凸極2及纏繞凸極2的線 圈3°在此，環形並不限於圓形環形，其可包含形成閉合電 路之方形及八邊形的環形。 參照第2圖，第二構件包含永久磁鐵模組20，其係以 預定的間距排列。每一個永久磁鐵模組20包含形成在圓周 方向的永久磁鐵4。在此，凸極2的數量與永久磁鐵4的數 Ϊ相同。 電流施加於每一個電樞模組1 〇的線圈3，使凸極2與 環繞凸極2的線圈3中形成行進磁場。在此，至少一個電 抱模組10的線圈3連同一電流可被提供，該電流具有的相 位與提供給其他電樞模組10之線圈的電流相位相異，使得 由於電磁極心（其形成於凸極2的末端）與永久磁鐵4 (相 對應於電磁磁心）之間的吸引力及排斥力而產生移動推力 支撐機構利用第一構件及第二構件的其中之一作為靜子， 利用其中另一者作為驅動器並連結至靜子，使得當維持電 掩模組10之凸極2及永久磁鐵模組20之永久磁鐵4之間 的預定間隙時，允許驅動器及靜子相對移動。 201136107 在每一個電樞模組1〇中 rt, ^ LU F1 ^ 的相鄰凸極2之電磁極極性係 與彼此不冋，使得高密 在度磁通量連續地在凸極 2及相對應 凸極2的永久磁鐵4之p弓 ... 间'々丨L動。假如電樞模組1〇具有四凸 極2 ’例如線圈3可缠妞 〇 i a ο. %凸極2 ’使得當單相電流流過線圈 3時’從預疋參考點順時針排 列的第一凸極及第三凸極具有 相同極性，以及從預定參考點順時針排列的第二凸極及第 四凸極具有相同極性。 舉例來說，如第1圖所示，從第一凸極或第三凸極發 出的磁通量通過了對應於第一凸極或第三凸極的第一永久 磁鐵或第三永久磁鐵、永久磁輕5、第二永久磁鐵及第四永 久磁鐵，並施加於第二凸極及第四凸極，再通過磁心1然 後施加於第一凸極及第三凸極’以形成磁通量封閉迴路。 此外，可藉由當改變纏繞方向時’將有單相電流流過的線 圈3纏繞電樞模組10的凸極2周圍，來增進電樞模組10 的組裝效率。線圈3w條線將彼此連結。 當線性馬達應用在驅動器的運動速度不高、施加於線 圈3的電源頻料高的W時，雜馬達可被製造為不分 層之磁心！。據此減少了—成本，並達到大量生產具有耐 久性高的線性馬達。當線性馬達需要尚傳送速率時’需於 線圈3施加高頻率的電渙。據此’磁心1以分層的形式製 造，因此可減少磁心1中的織及磁滞損耗。 如第2圖所示，在聲，個水久磁鐵模組20中’永久磁 鐵4的數量與電樞模組1〇之凸極2的數量相同，換言之， 偶數並相等或多於四個的永久磁鐵4’以環形排列並固定至 201136107 磁軛5，磁輛5係為鐵磁體，使得相鄰的永久磁鐵4具有相 異極性。在此，永久磁鐵4被磁化於中心方向（即為徑向）， 使得由具有線圈3圍繞的凸極2放射出之磁通量通過分別 與凸極2相對應的永久磁鐵4而被施加至磁輛5，或由永久 磁鐵4放射出之磁通量被施加至分別對應於永久磁鐵4的 凸極2。換&之，永久磁鐵4被磁化成外侧N極/内側s極 或外侧S極/内侧。永久磁鐵4在垂直於產生推力（驅 動器的移動方向）的徑向方向形成磁場，而因此增進了磁 電路之效能。 如第2圖中所示，相鄰永久磁鐵模組20A及永久磁鐵 模組20B彼此分開，並在兩永久磁鐵模組2〇A及永久磁鐵 模組20B之間具有預定間距，或在兩永久磁鐵模組2〇A及 % 水久磁鐵模組20B之間插置非磁性的間隔件6，使得設置 成在環向彼此相對的兩永久磁鐵4具有相異的極性。例如， 永久磁鐵模組20A包含永久磁鐵4從環向的參考點依照 ’S’N，S極的順序排列’而與永久磁鐵模組2〇a相鄰的永 久磁鐵模組20B包含永久磁鐵4,從參考點依照s，N，S,N極 的項序排列’末端靜子7可排列於第二構件的兩端。 ι第3圖說明根據至少兩個電樞模組10及至少兩個如第 圖及第2圖中所示的永久磁鐵模組20之組合產生直線推 的基本原理，並顯示第1圖中沿A-A，的一斷面視圖。 在第3圖中，U、V及W代表凸極2，其係基於第1 置、冤樞模組10U、10V及10W環向設置於相同的位 ，並排列於移動方向，而S&N表示所排列的永久磁鐵 11 201136107 4面向凸極u、乂及w。 由於單相電流施加於每一個電框模組10的線圈3，如 上參照第1圖所述’因此-組有三個電樞模、组1GU、10V 及1〇W可施加三相電流。換言之，具有彼此相差120。相位 的電流分別施加於電樞模組1〇u、1〇v及i〇w之線圈。 如第3圖所示’當永久磁鐵S及N交替排列於移動方 向的極距為r ( 1/2週期，18〇。）時，三個電樞模組lou、 10V及10W以對應於2/3 τ (120。）的間距排列。 當具有一峰值的AC電流流過以正(+)方向纏繞在永久 磁鐵S及Ν之間凸極ν的線圈時，使得凸極ν成為Ν極， 具有相當於（峰值/7Ϊ)量值的AC電流流過以負（-)方向纏 繞凸極U及W的線圈時，使得凸極υ及w成為S極。據 此’在相當於Ν極的凸極ν與永久磁鐵s極之間產生一吸 引力，而在凸極V與永久磁鐵ν之間產生一排斥力，以使 得永久磁鐵向右移動。雖然永久磁鐵S及Ν與成為S極的 凸極U及W之間會分別產生排斥力及吸引力，根據磁力小 於相當於Ν極之凸極ν的磁力，吸引力及排斥力互相抵 消’因此凸極U及W不會影響永久磁鐵的移動。 永久磁鐵以2/3極距移動，因此凸極w被設置於永久 磁鐵S及Ν之間。在此狀態下’當相位超前12〇。的電流流 過各凸極的線圈，且具有峰值的電流流過以正方向纏繞凸 極W的線圈時，凸極W成為Ν極。此外，具有相當於（峰 值/万）量值的AC電流流過以負方向纏繞凸極υ及V的線 圈，使得凸極U及V成為S極。據此，相當於Ν極的凸極 12 201136107 w與水久磁鐵s之間產生一吸引力，且凸極w與永久磁鐵 N之間產生一排斥力，以使得永久磁鐵向右移動。成為$ 極的凸極U及W在永久磁鐵S及N上分別產生了排斥力 及吸引力，其磁力小於相當於之凸極V的磁力。然而， 吸引力與排斥力係互相抵消。 重複如述之操作以使永久磁鐵向右移動。換言之，施 加於電樞模組之三相電流在凸極中產生行進磁場，因而產 生將磁鐵向右移動的推力。 雖然在假設中已經描述了線圈以相同方向纏繞凸極 υ、V及w，然而線圈可以相反方向纏繞相鄰於電樞模組 之凸極該電樞模組係彼此相對。換言之，線圈可以相同 方向纏繞凸極U及V，且凸極V線圈的纏繞方向可以與凸 極U及W線圈的纏繞方向相反。即使在此情況中，仍可施 加具有不同相位的電流來產生推力，以㈣永久磁鐵於相 同的方向。 在理想情況中’用於移動永久磁鐵的推力係正比於凸 極與永久磁鐵接觸部分的總表面積、制於移動方向之電 樞模組1G的數量、施加於線圈的電流量值、纏繞凸極的線 圈匝數以及每一個永久磁鐵的磁力量值。 第3圖的第一個示例顯示三相電樞模組及二極永久磁 鐵的基本組合’而第3圖的第二範例顯示三相電樞模組及 四極水久磁鐵的組合。此兩範織生推力的基本原理相 同。此外’三相電插模組及八極永久磁鐵模組的組合亦可 13 201136107 換言之’推力的產生係以電柩模組的s數罝（對應於 馬達常數的倍數）以及永久磁鐵模組的P數量（對應於2 (N及S極）的倍數）之組合為基礎。在此，假如電樞模 組以三相電源驅動，則馬達常數為3 ;假如電樞模組以五相 電源驅動，則馬達常數為5。通常使用等於或大於3之奇數 的馬達常數，並藉由馬達常數來決定每一個電樞模組之線 圈所施加的電流相位差。 在此，當S與P的最小公倍數增加時，推力中的波動 減少。此外，當繞組因數S/P比值變得接近1時，磁電路 的對稱效率增加。表1顯示在三相馬達的情況中，電樞模 組與永久磁鐵模組的組合。九電樞模組與八或十永久磁鐵 的組合在效率及波動方面是有利的。 [表1] 電樞模組數量 永久磁鐵模組數量 3 2 4 6 4 8 9 6 8 10 12 12 8 10 14 16 S電極模組面向P永久磁鐵模組之區域具有在電柩模 組與永久磁鐵模組之間的一空隙，當該區域的長度（在移 動方向的長度）係參照為馬達的單位長度時，只有當由多 數的電樞模組所組成之第一構件及由多數的永久磁鐵模組 所組成之第二構件的其中之一大於該單位長度時，才可確 保能產生移動驅動器之推力的有效長度。換言之，只有當 201136107 第構件與第二構件重疊部分之長度大於 ，的數量等於或大於s，或永久磁鐵模組=電 或大於m用於產生推力之有效距離=，於 力可與重㈣分之長度紅比增加。 確保’且推 ^達可被二相電源驅動，在此情況下，假如 相位差之二相電流流過兩個 此相隔W2時，用;^魅、… f電拖模組彼 f胁㈣水久磁齡-財向的推力 圖及第2圖所示之線性馬達的組件以横截面看來 此由每一個電樞及每-個永久磁鐵所造 # 之產生被消除，而在用於引導驅動器直線運動 的導件上不會產生外力，因此可延長導件的壽命/運動 β雖然第1圖中所示之電樞模組1G的磁心1為圓形，但 疋磁心1可以是具有點對稱或軸對稱的多邊形例如六角 形、八角形及十邊形之形狀。此外，如第4圖所示磁心！ :具有用於穩料勢的矩形形狀，以及在矩形磁心丄的角 落可形成通孔，用來促進相鄰電樞模組1G的組合。 β雖然第1圖中所示之電樞模組10的磁心、1為圓形，但 是磁心1可以是具有點對稱或㈣稱的多邊形，例如六角 形、八角形及十邊形之形狀。此外，如第4圖所示，磁心i 可具有用於穩定姿勢的矩形形狀，以及在矩形磁心1的角 落可形成通孔’用來促進相鄰電減組1G的組合。 第1、2及3圖顯示四槽馬達，其具有形成於圓周方向 的四凸極。在大容量高速馬達的情況中，其需要大量的磁 15 201136107 通量及ί的截面積，則馬達可修正為具有人個凸極的八槽 馬達二當増加凸極的截面積以提高流過電樞模組之磁通量 、 寺磁通直流過的核心之尺寸也徑向地增加，以提 Γ7焉達的截面積。在此情;兄中，假如增加凸極的數量而不 是增加每一個凸極的截面積，當保持核心之厚度時，可提 高磁通量的數量，因此有利於減少馬達尺寸及增加推力。 而第1、2及3圖說明内磁式線性馬達，其中，由電樞 模組組成之第—構件係排列於外部，且由永久磁鐵模組組 成之第二構件係設置於内部，第4圖說明外部永久磁鐵式 線性馬達之實施方式，其中，電樞模組係排列於内部，且 永久磁鐵模組係設置於外部。 雖然外部永久磁鐵式線性馬達不同於内部永久磁鐵式 線性馬達為：外部永久顧植性料之純餘磁心沿 徑向凸出至外圓周，及對應於凸極之永久磁鐵係固定於磁 輛之内部，但外部永久磁鐵式線性馬達具有與内部永久磁 鐵式線性馬達相同的操作原理。 雖然第1圖及第4圖說明了實施方式，其係沿移動方 向上依照UVW，UVW及UVW _序施加三相電流於電 樞模組10 ’但該二相電流可被依照Uuu，VvV及WwW的 順序施加於電樞模組10。在此，小寫表示其電流相位與以 大寫表不的電流相位相反。 由於第一構件（鐵磁性的物質與核心材料相同）係由 未被連結的獨立電樞模組組成，假如提供給電樞模組的電 源相同時，具有相同量值的獨立磁通量分別流過各自的電 201136107 樞模組。據此，透過電樞模組所產生的推力偏差小，以使 推力的波動減小。磁通量透過電樞模組的凸極可均勻分 布，而不會被集中在特定的凸極，因此即使電枢模組的核 心具有小截面積，大量的磁通量仍可流通。此外，由於獨 立磁電路之磁通量在每一個電樞模組中流通，因此沒有磁 通量在與驅動器移動方向的相同方向流動，且磁通量只在 垂直於驅動器移動方向的方向上產生，因此與推力不相關 的滲漏磁通量可被減少，且可增進馬達的效能。 美國專利申請號10-2009-0090806中所揭露之線性馬 達係以電樞模組用環形圍繞永久磁鐵模組的形式所構成。 在動圈式馬達的情況中，第二構件之兩端均被固定。據此， 線性馬達可被應用於在短程部份中需要高精確度之傳送裝 置。然而，當線性馬達應用於具有長的第二構件之遠距離 傳送裝置時，第二構件由於永久磁鐵的負載而可能被彎曲。 據此，本發明提出一種線性馬達，其係使用美國專利 申請號10-2009-0090806中所揭露之線性馬達的操作原 理，並具有一改良橫截面（以垂直於移動方向之平面為基 準的橫截面），即電樞模組及永久磁鐵模組之改良橫截面， 以便將沿移動方向上所有的第二構件置於地面，或以預定 間隔固定該第二構件於地面。 第5圖說明根據本發明具體實施例之線性馬達。 如第1、2及3圖所示，根據本發明具體實施例之線性 馬達可包含：一第一構件，其具有沿移動方向上排列成一 直線的複數電枢模組；一第二構件，其具有沿移動方向上 17 201136107 以預定間隔排列的複數永久磁鐵模組；以及一支撐結構。 第二構件及支撐結構可整合為一體。 如第5圖所示，根據本發明具體實施例之電柩模組10 係由複數凸極以軸向對稱（以B-B’線為基準）排列的方式 組成，且複數凸極由弧形或C型磁心向永久磁鐵模組凸 出，以及線圈環繞該等凸極，其係不同於第1圖所示之具 有封閉電路的ί哀形磁心。 該弧形形狀可為圓形的一部分或多邊形封閉迴路（例 如：六角形，八角形或十邊形環形）的一部分之圓形孤形。 此外，該磁心可具有對應於複數多邊形弧之組合或一多邊 形弧與一圓形弧之組合的形狀。在此，該磁心可具有至少 一軸對稱的形狀。 基於永久磁鐵模組的中心將該等凸極以點對稱排列， 對於消除在凸極與永久磁鐵間產生之磁引力是有利的。假 如該等凸極點對稱排列困難時，以該等凸極在水平方向（基 於Β-Β’線）為轴對稱、且在垂直方向（基於Β-Β’線之垂直 線）為軸對稱的排列凸極是有利的。 在永久磁鐵模組中，與凸極數量相同、並有線圈圍繞 的永久磁鐵分別面向對應於該等永久磁鐵之凸極。 由永久磁鐵模組所組成之第二構件可在移動方向上整 個被固定於支撐機構（基座30)，或以預定間隔固定於支撐 機構。如第5圖所示，作為用於固定第二構件的支撐之基 座30可透過複數固定螺栓31被固定於地上，該等固定螺 栓31係沿移動方向安排於第二構件左側及右侧。 201136107 第6圖係說明根據本發明另一具體實施例之線性馬 的橫截面。 第5圖所示之電樞模組及永久磁鐵模組係為基本的模 式，其中，線圈環繞所有的凸極。如第6圖左側部份所示: 在圓周方向上最遠離C型磁心的中心之凸極P1(或p4)產 生只流向靠近C型磁心的中心之凸極P2 (或P3)磁通量， 換言之，凸極P1 (或P4)只在一個方向上形成磁通量的封 閉迴路，因此大量的磁通量無法流過。 據此，如第6圖右側部份所示，無線圈的輔助凸極p〇 及辅助凸極P5可形成於電輸模組中c型磁心的兩端，以及 對應該輔助凸極之辅助永久磁鐵8可形成於永久磁鐵模組 中（輔助凸極式模式），以便在兩方向上形成磁通量之封閉 迴路，即使是在有線圈環繞其之凸極中的凸極P1 (或P4) (圓周方向上最遠離C型磁心中心的凸極）中。在此，永 久磁鐵模組中的輔助永久磁鐵8可省略。 第一構件可包含一滚輪32且第二構件可包含一導軌 33 ’用以當第一構件之凸極及對應該等凸極的第二構件之 永久磁鐵維持其之間的預定間隙時，使第一構件可於移動 方向移動。在此’複數滾輪及複數導軌可對於B_B，線以軸 向對稱形式形成。滚輪32形成於電樞模組中的相鄰凸極之 間’且導轨33形成於永久磁鐵模組中的相鄰永久磁鐵之間。 如第7圖所示，一階台34可被設置於電樞模組U，V 及W之一群組，並作為一傳送裝置。 第8圖係說明施加於電樞模組1〇u、10V、10W的連 19 201136107 接電源之示例方法。 U相電樞模組包含C型磁體及複數凸極（第$圖中顯 示4個凸極m、U2、U3&U4)，該複數凸極由〇型磁體 向第二構件凸出，並具有同相電流流過且分別纏繞該等凸 極之線圈U卜U2、U3及U4。V相及W相電樞模組具有 與U相電樞模組相同之結構。 每一個電樞模組中的線圈連接方法可根據設計規格來 選擇串聯連接、並聯連接或串並聯連接。 線圈可纏繞電框模組之凸極，用以當具有同相電流流 經凸極的線圈時，使彼此相鄰之凸極具有互相相反之極性。 舉例而言，假如線圈U1及U3係順時針纏繞，線圈 U2及U4可逆時針纏繞。除此之外，以相同方向纏繞線圈 m、U2、U3及U4並連接導線而使得相鄰凸極具有不同極 性係可能的。 第9圖說明組裝本發明之線性馬達中第二構件之示例 方法。 水久磁鐵模組2GA及永久磁鐵模組施係週期性地排 列’使得對應永久磁鐵模組2GA及永久磁鐵模組細之兩 個永久磁鐵具有列極性，並可於相鄰永久磁鐵模組之間 排列有_件6’以維持—預定間距於相鄰永久磁鐵模组 20A、20B 之間。 ' 水久磁鐵模組20及間隔件可排列於外管道2ι，或可將 内管道22嵌入永久磁鐵模組2〇及間隔件6中，以簡化組 裝過程及保護永久磁鐵。只有—個或兩個内管遒U及外管 201136107 道21可被使用。内管道22及外管道21可利用非磁性材料 形成。此外，内管道22及外管道21可利用弱磁性材料形 成，以減少波動。 參照第10圖，永久磁鐵模組之永久磁鐵4可被固定於 磁軛之表面，或嵌入磁軛中。可形成一永久磁鐵保護蓋9， 用以保護固定於磁輊表面之永久磁鐵4。 第11圖係說明具有不同數量的凸極之電樞模組。 美國專利申請號10-2009-0090806所揭露的圓柱型線 性馬達中，凸極係點對稱地排列於環狀之電樞模組，以消 除凸極與永久磁鐵之間產生的磁性引力。據此，電樞模組 需要具有至少四個且為偶數之凸極。 然而，在本發明中，線性馬達係使用具有軸對稱結構 之C型電柩模組，用以當由複數永久磁鐵模組所組成之第 二構件變長時，防止第二構件彎曲。 據此，凸極可排列於C型電樞模組中，使得凸極對C 型面向下的開口部份具有垂直地軸對稱。此外，如第11圖 所示，至少兩個凸極或奇數個凸極可被排列。 當數量為奇數之凸極排列於電柩模組中時，除了一個 凸極以外，偶數個凸極盡量排列成使該偶數個凸極具有水 平軸對稱及垂直軸對稱。 此外，當數量為奇數之凸極排列於電樞模組中時，除 了一個凸極以外，偶數個凸極可排列成垂直地轴對稱，以 消除互相吸引彼此之磁引力的左及右分量（一個凸極被排 列於不會產生側向磁引力的位置，如第11圖所示）。此外， 21 201136107 極以外’該偶數個凸杨盡量排列成，可根據該 禹數個凸極所產生之-磁推力的垂直分量（產生於凸極與 相對该凸極的永久磁鐵之間） 女手h η來极該—個凸極所產生只 有垂直分量之磁推力。 鐵的纏繞該凸極的線_數及對應該凸極之永久磁 與凸極的位置相同’皆可被控制成用以消除產生 ;° ”對應該凸極之永久磁鐵之間的磁引力。 第12圖說明具有導弓丨機構的線性馬達之實施方式，該 係用於使第一構件可在移動方向上=動。 所示之導引機構係由滾輪32及導軌33組成。除了 κ輪2及導軌之外’導弓丨機構亦可彻導軌及滑塊… 2第12圖，電樞模組之c型磁體係延伸至接近支撐 座處到另—側最遠離c型形狀之中心，以及 夕道&構之;袞輪32係②置於磁體延伸之末端。對應滚輪32 之導軌33係排列在第二構件上。滾輪 32亦排列於c型磁 之中、’且導軌33係被定位設置成對應排列於C型磁體 中心之滾輪32。 電榷模組M 間—預定間距時’間隔件11可具有類似 1。中的滾輪=截置面二狀，並且包含排列成對應電樞模组 動。σ避汾 夏之滾輪32 ’使得第一構件可順暢地移 隔侔A ^輪32排列在播置於相鄰電框模組10之間的間 V:，而未設置滚輪％於獅…亦是可能的。 第23圖說物/機構之另一實施方式。 22 201136107 少、第13圖，滾輪32係分別排 心及兩末端，對應c型磁體％中心 料體36之中 被=疋於第二構件，且對應排列於c型磁體之導軌33 32或滑塊35的導執％被設置 體36❺端之滾輪 參照第1⑴3圖，由電拖模組牙構弟成二構:的基座上。 伸至另—側最遠離C型形狀中心的凸極，料36可被延 或滑塊35。降士卜夕々k ° 以支撐滾輪32 可被延伸至另^外」:V同於構成電枢模組之磁想的材料 輪32或滑塊Vc型形狀中心的凸極，以繼 滾機構之另—實施方式。參照第“圖， 予杌33係排列於c型磁體 33係排列於c型磁體 且4塊35及導執 係設=支禮第二構件之基座上。C型磁體外部之導軌33 滑二圖所示，構成導引機構之滾崎 成導引機構之導執3以作用為驅動器的第一構件，並且構 或固設於固定第可固設於用以作用為靜子的第二構件 以線性馬達之橹 件之基座。此外，將導引機構排列成 為軸對稱係有利的。（即垂直線性馬達之移動方向）而言 實施方式。構^固疋由複數個部件構成的第二構件42之 並藉由使用例如構件42的部件可被制在移動方向， 使第二構件4疋螺检31的結合工具較於基座30,以 固定於永久磁鐵^在7方向上延伸。固定螺栓31可被 ' ，或固定於插置在相鄰永久磁鐵模組 23 201136107 之間的間隔件。 第16圖係說明具有模製式（mold type)第一構件的線性 馬達之實施方式。參照第16圖，當第一構件係由電樞模組 10U、10V& 1〇w組成時，第一構件可藉由以下方式形成： 將具有孔洞之間隔件11排列於相鄰電樞模組1〇υ、ι〇ν及 10W之間以維持相鄰電樞模組1〇u、1〇v及1〇w間的預定 間隙、在每一個電樞模組10U、lov及10w之磁心中形成 預定數量之孔洞、透過使用貫穿螺栓37來組裝電樞模組 ίου ιον與及間隔件11、以及使用非磁性材料模製 成型組裝結構。據此，可防止電樞模組之磁心或線圈暴露 於外部。 ' 第17圖說明具有彎曲部之第二構件42的彎曲驅動式 馬達之實施方式。參照第Π圖，彎曲的第二構件42及直 線的第二構件42可被組合而構成軌道，而馬達之驅動器（第 一構件41)將移動穿越於各種形狀（例如圓形、橢圓形等） 之軌道。此外’兩個或更多的第一構件41可設置於軌道上， 以構成多驅動器之驅動式馬達。 雖然第5圖至第17圖說明第二構件固定於基座30並 將第構件作用為驅動器的實施方式’然本發明係不限於 此。換a之，第一構件可被固定於基座3〇並可將第二構件 作用為驅動器。 此外’第5圖至第17圖顯示其中之電樞模組環繞永久 磁鐵模組的内磁式馬達，其係相似第1、2及3圖中所示之 線性馬達。然而’本發明並不限於此，而可適用於其中之 24 201136107 永久磁鐵模組環繞電枢模組的外磁式馬達，其係相似第4 圖中所示之線性馬達。即使在此情況中，第二構件可被固 定於基座30，使得第一構件作用為驅動器，或者，第一構 件可被固定於基座30，以使第二構件作用為驅動器。 第5圖至第17圖所示之線性馬達的驅動原理係相似於 參照第1、2、3及4圖所述之線性馬達，以使得參照於第卜 2、3及4圖所解釋之驅動原理可適用於第5圖至第17圖所 示之線性馬達。 第18圖說明用於驅動本發明之線性馬達的伺服系統之 組態。在第18圖中，除了線性馬達以外的組件係對應至傳 統線性馬達的組件。 參照第18圖，該伺服系統可包含：一驅動放大器52， 用於產生施加於該線性馬達之電流；一電流感測器56，用 於感測從該驅動放大器52提供至該線性馬達之電流；一線 性感測器57，用於感測該線性馬達之驅動器的位置或移動 速度；以及一控制器55，用以根據一控制指令來控制該驅 動放大器，該控制指令係基於該電流感測器56及/或該線 性感測器57所偵測之信號。該驅動放大器52可包含：一 轉換器53，用於將交流電源轉換成直流電源；以及一反相 器54，用於產生驅動馬達所需之電流。 反相器54可產生適合本發明之線性馬達的驅動方法之 電源，例如，二相交流電、三相交流電、二相整流電流、 以及三相整流電流，並且將所產生之電源施加於線性馬達 之電樞模組。反相器54可根據控制器的指令改變電流的振 25 201136107 幅及頻率，來調整驅動器的位置與速度，以及移動驅動器 的推力。 雖然本發明已參照其特定具體實施例顯示並說明，然 熟習此項技術者將可了解’其中之形式及細節可做各種改 變而不悖離以下該等申請專利範圍所定義之本發明的精 神與範嘴。 【圖式簡單說明】 第1圖係說明内磁式線性馬達的電樞模組之實施方 式，其中，對應於第二構件之永久磁鐵係設置在内部，且 對應於第一構件之電樞係排列於外部。 第2圖係說明内磁式線性馬達的永久磁鐵模組之實施 方式。 第3圖係說明根據第〗圖所示之電樞模組及第2圖所 不之永久磁鐵模組的組合所產生一線性推力之基本原理。 第4圖係說明外磁式線性馬達。 第5圖係說明根據本發明具體實施例之線性馬達。 第6圖顯示根據本發明另一具體實施例之線性馬達的 橫截面。 第7圖係說明具有一階台的傳送裝置之實施方式該 階台係設置於由電樞模組U，V及W所組成的第一構件上。 第8圖係說明施加於電樞模組的連接電源之示例方法。 第9圖係說明組裝線性馬達的第二構件之示例方法。 第10圖係說明線性馬達的永久磁鐵模組之實施方式。 26 201136107 第11圖係說明具有不同數量之凸極的電樞模組之實施 方式。 第12圖係說明具有導引機構的線性馬達之實施方式， 該導引機構係用於使第一構件在移動方向上可平穩^移 動。 第13圖係說明具有導引機構的線性馬達之另一實施方 式。 第14圖係說明具有導引機構的線性馬達之又—a 式。 實 第15圖係說明固定由複數個部件構成的第二 施方式。 —t件之 式 第16圖係說明模製式(mold type)第一構件之 實施方 說明具有㈣部之第二構件的彎曲驅動式馬 達之實施方式 服系統 第18圖係說明用於驅動本發明之線性 之組態。 W 、Ξ 【主要元件符號說明】 1 磁心 2 凸極 3 線圈 4 永久磁鐵 5 磁輛 27 201136107 6 間隔件 7 靜子 8 輔助永久磁鐵 9 保護蓋 10 電樞模組 11 間隔件 10U 電樞模組 10V 電樞模組 10W 電樞模組 20 永久磁鐵模組 20A 永久磁鐵模組 20B 永久磁鐵模組 21 外管道 22 内管道 30 基座 31 固定螺栓 32 滚輪 33 導軌 34 階台 35 滑塊 36 磁體 37 貫穿螺栓 41 第一構件 42 第二構件 201136107 51 電源供應Is 52 驅動放大器 53 轉換器 54 反相器 55 控制器 56 電流感測器 57 線性感測器The current systems are U, V, and W, respectively, and UVWUVWUVW or UuUVvVWwW can be applied to nine consecutive armature modules (here, the lowercase alphabet indicates that its phase is opposite to the current in uppercase). The magnets of each armature module can have a layered form. The linear motor may further include a guiding mechanism for guiding the driver to move when the salient poles and the corresponding permanent magnets maintain a pre-clamping gap between the salient poles and the permanent magnets . The guide mechanism can include a rail and a roller or slider that can be disposed on the stator support and the roller readers can be disposed on the driver. The guiding mechanism can be arranged at least in an axisymmetric manner. At least one component of the guiding mechanism of the 201136107 can be arranged between adjacent salient poles. A coilless auxiliary salient pole can be formed in each of the two magnets of each armature module. The auxiliary permanent magnets in each of the permanent magnet modules can be formed at positions corresponding to the auxiliary salient poles. The stator can be constructed of a plurality of components, and the components arranged in the direction of movement of the actuator can be fixed to the support mechanism by means of a bonding tool. The linear motor according to the embodiment of the present invention can prevent the guide member in the flat type linear motor from being worn due to the frequently generated magnetic attraction force, and even if it is a small-sized linear motor, a large-capacity thrust or high can be obtained. Transfer rate. In addition, the components of the linear motor can be modularized, so the linear motor can be easily assembled and modified into various forms. Further, the linear motor according to the present invention can prevent the second member from being bent due to the load and used for long distance transmission. [Embodiment] Hereinafter, specific embodiments of the present invention will be described in detail with reference to the accompanying drawings. Although the electro-planting module and the permanent magnet in the linear motor according to the present specification, the cross-section of the iron module is different from that of the linear motor disclosed in U.S. Patent Application Serial No. The magnet module, however, the driving principle of the linear motor according to the present specification is the same as that of the linear horse and the driving principle disclosed in the patent. Therefore, the cylinder disclosed in the U.S. Patent Application No. 1 The structure of a linear motor and the drive of the present invention disclosed in US Patent Application No. 10-2-9-0090806 includes a first member, a second member and a support mechanism. 1 and 2 respectively illustrate an armature module and a permanent magnet module of an inner magnetic linear motor, wherein a permanent magnet corresponding to the second member is disposed inside and corresponds to an armature of the first member Arranged outside. Referring to Fig. 1, the first member includes an armature module 10 which is arranged in a line in a moving direction. Each of the armature modules 1 has an annular core 1, at least four salient poles 2 projecting radially from the core 1 and coils 3 wound around the salient poles 2, wherein the ring is not limited to a circular ring shape, Contains a square and octagonal ring that forms a closed circuit. Referring to Fig. 2, the second member includes permanent magnet modules 20 which are arranged at a predetermined pitch. Each of the permanent magnet modules 20 includes a permanent magnet 4 formed in the circumferential direction. Here, the number of the salient poles 2 is the same as the number of the permanent magnets 4. A current is applied to the coil 3 of each of the armature modules 1 to form a traveling magnetic field in the salient pole 2 and the coil 3 surrounding the salient pole 2. Here, at least one coil 3 of the electric holding module 10 can be supplied with the same current, which has a phase different from that of the current supplied to the coils of the other armature modules 10, so that the electromagnetic core is formed a moving thrust support mechanism is generated by the attraction force and the repulsive force between the end of the salient pole 2 and the permanent magnet 4 (corresponding to the electromagnetic core), and one of the first member and the second member is used as a stator, and the other is utilized. One acts as a driver and is coupled to the stator such that when the predetermined gap between the salient pole 2 of the electrical mask set 10 and the permanent magnet 4 of the permanent magnet module 20 is maintained, the driver and the stator are allowed to move relative to each other. 201136107 In each armature module 1〇, the polar poles of adjacent salient poles 2 of rt, ^ LU F1 ^ are not in contact with each other, so that the high-density magnetic flux continuously in the salient pole 2 and the corresponding salient pole 2 The permanent magnet 4 of the p bow ... between the '々丨L move. If the armature module 1 〇 has four salient poles 2 ' for example, the coil 3 can be wrapped around the 〇 ο ο. % salient pole 2 ' so that when a single-phase current flows through the coil 3 'the first clockwise arrangement from the pre-turn reference point The salient pole and the third salient pole have the same polarity, and the second salient pole and the fourth salient pole arranged clockwise from the predetermined reference point have the same polarity. For example, as shown in FIG. 1, the magnetic flux emitted from the first salient pole or the third salient pole passes through the first permanent magnet or the third permanent magnet corresponding to the first salient pole or the third salient pole, and the permanent magnet The light 5, the second permanent magnet and the fourth permanent magnet are applied to the second salient pole and the fourth salient pole, and then passed through the core 1 and then applied to the first salient pole and the third salient pole ' to form a magnetic flux closed loop. Further, the assembly efficiency of the armature module 10 can be improved by winding the coil 3 through which the single-phase current flows around the salient pole 2 of the armature module 10 when the winding direction is changed. The coil 3w lines will be connected to each other. When the linear motor is applied to a drive W that is not moving at a high speed and is applied to the power supply of the coil 3, the hybrid motor can be manufactured as a non-layered core! . This reduces the cost and achieves mass production of a linear motor with high durability. When the linear motor requires a still transfer rate, it is necessary to apply a high frequency of power to the coil 3. According to this, the core 1 is manufactured in a layered manner, so that the weaving and hysteresis loss in the core 1 can be reduced. As shown in Fig. 2, in the sound, the permanent magnet module 20, the number of the permanent magnets 4 is the same as the number of the salient poles 2 of the armature module 1〇, in other words, the even numbers are equal or more than four. The permanent magnets 4' are arranged in a ring shape and fixed to the 201136107 yoke 5, and the magnetic vehicles 5 are ferromagnetic so that the adjacent permanent magnets 4 have different polarities. Here, the permanent magnet 4 is magnetized in the center direction (that is, in the radial direction) such that the magnetic flux radiated from the salient pole 2 surrounded by the coil 3 is applied to the magnetic vehicle through the permanent magnets 4 respectively corresponding to the salient poles 2 5, or the magnetic flux radiated from the permanent magnet 4 is applied to the salient poles 2 respectively corresponding to the permanent magnets 4. In the case of &, the permanent magnet 4 is magnetized to the outer N pole / inner s pole or the outer S pole / inner side. The permanent magnet 4 forms a magnetic field in a radial direction perpendicular to the generated thrust (the moving direction of the drive), thereby enhancing the performance of the magnetic circuit. As shown in FIG. 2, the adjacent permanent magnet module 20A and the permanent magnet module 20B are separated from each other, and have a predetermined interval between the two permanent magnet modules 2A and the permanent magnet module 20B, or in two permanent The non-magnetic spacers 6 are interposed between the magnet modules 2A and the % permanent magnet modules 20B such that the two permanent magnets 4 disposed opposite each other in the ring direction have different polarities. For example, the permanent magnet module 20A includes the permanent magnets 4 from the reference point of the ring direction in the order of 'S'N, S poles' and the permanent magnet module 20B adjacent to the permanent magnet module 2A includes the permanent magnets 4, Arranged from the reference point in accordance with the order of the s, N, S, and N poles, the end stator 7 can be arranged at both ends of the second member. FIG. 3 illustrates the basic principle of generating a linear push according to a combination of at least two armature modules 10 and at least two permanent magnet modules 20 as shown in FIG. 2 and FIG. 2, and showing the edge in FIG. A cross-sectional view of the AA. In Fig. 3, U, V and W represent salient poles 2, which are arranged in the same position in the circumferential direction based on the first, pivotal modules 10U, 10V and 10W, and arranged in the moving direction, and S&N It indicates that the arranged permanent magnets 11 201136107 4 face the salient poles u, 乂 and w. Since a single-phase current is applied to the coil 3 of each of the electric frame modules 10, as described above with reference to Fig. 1, a group of three armature modules, groups 1GU, 10V and 1〇W can apply three-phase currents. In other words, there is a difference of 120 from each other. The phase currents are applied to the coils of the armature modules 1〇u, 1〇v, and i〇w, respectively. As shown in Fig. 3, when the pole distances of the permanent magnets S and N alternately arranged in the moving direction are r (1/2 cycle, 18 〇.), the three armature modules lou, 10V, and 10W correspond to 2 The spacing of /3 τ (120.) is arranged. When an AC current having a peak flows through a coil wound in a positive (+) direction between the salient poles ν between the permanent magnets S and Ν, the salient poles ν become dipoles having a magnitude equivalent to (peak / 7 Ϊ). When the AC current flows through the coils of the salient poles U and W in the negative (-) direction, the salient poles w and w become the S poles. Accordingly, an attraction force is generated between the salient pole ν corresponding to the drain and the s pole of the permanent magnet, and a repulsive force is generated between the salient pole V and the permanent magnet ν to move the permanent magnet to the right. When the permanent magnets S and Ν and the salient poles U and W which become the S poles respectively generate repulsive force and attractive force, the attraction force and the repulsive force cancel each other according to the magnetic force smaller than the magnetic force corresponding to the salient pole ν of the drain pole. The salient poles U and W do not affect the movement of the permanent magnet. The permanent magnet moves at a 2/3 pole pitch, so the salient pole w is disposed between the permanent magnet S and the crucible. In this state, 'when the phase is ahead of 12〇. When a current flows through the coils of the salient poles, and a current having a peak flows through the coil wound in the positive direction W, the salient pole W becomes a drain. Further, an AC current having a magnitude corresponding to (peak value / 10,000) flows through the coil in which the salient poles υ and V are wound in the negative direction, so that the salient poles U and V become the S pole. Accordingly, an attractive force is generated between the salient pole 12 201136107 w corresponding to the drain and the water permanent magnet s, and a repulsive force is generated between the salient pole w and the permanent magnet N to move the permanent magnet to the right. The salient poles U and W which become the poles generate repulsive force and attractive force on the permanent magnets S and N, respectively, and their magnetic force is smaller than the magnetic force corresponding to the salient pole V. However, attractiveness and repulsive force cancel each other out. Repeat the operation as described to move the permanent magnet to the right. In other words, the three-phase current applied to the armature module generates a traveling magnetic field in the salient poles, thereby generating a thrust that moves the magnet to the right. Although it has been described in the hypothesis that the coils are wound with the salient poles V, V and w in the same direction, the coils may be wound in opposite directions adjacent to the salient poles of the armature module, the armature module being opposed to each other. In other words, the coils may be wound with the salient poles U and V in the same direction, and the winding direction of the salient pole V coil may be opposite to the winding direction of the salient poles U and W coils. Even in this case, currents having different phases can be applied to generate thrust, with (iv) permanent magnets in the same direction. In an ideal case, the thrust for moving the permanent magnet is proportional to the total surface area of the contact portion of the salient pole and the permanent magnet, the number of armature modules 1G made in the moving direction, the amount of current applied to the coil, and the winding salient pole. The number of turns of the coil and the value of the magnetic force of each permanent magnet. The first example of Fig. 3 shows a basic combination of a three-phase armature module and a two-pole permanent magnet, and the second example of Fig. 3 shows a combination of a three-phase armature module and a quadrupole permanent magnet. The basic principle of the two vane weaving thrust is the same. In addition, the combination of the three-phase electric plug module and the eight-pole permanent magnet module can also be 13 201136107. In other words, the thrust is generated by the number of sputum modules (corresponding to a multiple of the motor constant) and the permanent magnet module. The number of P (corresponding to a combination of 2 (N and S poles)) is based on a combination. Here, if the armature module is driven by a three-phase power source, the motor constant is 3; if the armature module is driven by a five-phase power source, the motor constant is 5. A motor constant equal to or greater than 3 is usually used, and the motor constant is used to determine the phase difference of the current applied by the coil of each armature module. Here, when the least common multiple of S and P is increased, the fluctuation in the thrust is reduced. Further, when the winding factor S/P ratio becomes close to 1, the symmetry efficiency of the magnetic circuit increases. Table 1 shows the combination of the armature module and the permanent magnet module in the case of a three-phase motor. The combination of a nine armature module and eight or ten permanent magnets is advantageous in terms of efficiency and fluctuations. [Table 1] Number of armature modules Number of permanent magnet modules 3 2 4 6 4 8 9 6 8 10 12 12 8 10 14 16 S-electrode module facing the P permanent magnet module has an electric module and permanent A gap between the magnet modules, when the length of the region (the length in the moving direction) is referred to as the unit length of the motor, only when the first member consists of a majority of the armature modules and the majority of the permanent When one of the second members of the magnet module is larger than the unit length, the effective length of the thrust of the mobile drive can be ensured. In other words, only when the length of the overlap of the first member and the second member of 201136107 is greater than, the number is equal to or greater than s, or the permanent magnet module = electric or greater than m is used to generate the effective distance of the thrust =, the force can be equal to the weight (four) The length red ratio increases. Make sure that 'and push can be driven by the two-phase power supply. In this case, if the two-phase current of the phase difference flows through the two separated W2, use ^; charm, ... f electric drag module and other threats (four) water The thrust diagram of the long-term age-finance and the assembly of the linear motor shown in Fig. 2 are eliminated in cross section by the generation of each armature and each permanent magnet, and are used for guiding The external force is not generated on the guide for linear movement of the driver, so the life/motion of the guide can be prolonged. Although the core 1 of the armature module 1G shown in Fig. 1 is circular, the core 1 can have a point. Symmetrical or axisymmetric polygons such as hexagonal, octagonal, and decagon shapes. In addition, the magnetic core shown in Figure 4! : A rectangular shape for stabilizing the potential, and a through hole at the corner of the rectangular core can be formed to promote the combination of the adjacent armature modules 1G. Although the core of the armature module 10 shown in Fig. 1 and 1 are circular, the core 1 may have a point symmetrical or (four) scale, such as a hexagonal shape, an octagonal shape, and a decagon shape. Further, as shown in Fig. 4, the core i may have a rectangular shape for stabilizing the posture, and a corner hole may be formed at the corner of the rectangular core 1 for promoting the combination of the adjacent groups 1G. Figures 1, 2 and 3 show a four-slot motor having four salient poles formed in the circumferential direction. In the case of a large-capacity high-speed motor, which requires a large amount of magnetic 15 201136107 flux and ί cross-sectional area, the motor can be modified to have a salient pole with an eight-slot motor. The magnetic flux of the armature module and the size of the core of the temple flux are also increased radially to increase the cross-sectional area of the 焉7焉. In this case, if the number of salient poles is increased instead of increasing the cross-sectional area of each salient pole, the amount of magnetic flux can be increased while maintaining the thickness of the core, thereby contributing to reducing the size of the motor and increasing the thrust. The first, second and third figures illustrate the inner magnetic linear motor, wherein the first component consisting of the armature module is arranged outside, and the second component consisting of the permanent magnet module is arranged inside, the fourth The figure illustrates an embodiment of an external permanent magnet linear motor in which the armature modules are arranged inside and the permanent magnet modules are disposed outside. Although the external permanent magnet linear motor is different from the internal permanent magnet linear motor, the pure residual core of the external permanent implant material protrudes radially to the outer circumference, and the permanent magnet corresponding to the salient pole is fixed to the magnetic vehicle. Internal, but external permanent magnet linear motors have the same operating principle as internal permanent magnet linear motors. Although FIGS. 1 and 4 illustrate an embodiment, three-phase current is applied to the armature module 10' in the moving direction according to UVW, UVW and UVW_, but the two-phase current can be in accordance with Uuu, VvV and The order of WwW is applied to the armature module 10. Here, lowercase means that its current phase is opposite to the phase of the current in uppercase. Since the first member (the ferromagnetic substance is the same as the core material) is composed of independent armature modules that are not connected, if the power supply to the armature module is the same, independent magnetic fluxes having the same magnitude flow through the respective ones. Electric 201136107 pivot module. Accordingly, the thrust deviation generated by the armature module is small to reduce the fluctuation of the thrust. The magnetic flux can be evenly distributed through the salient poles of the armature module without being concentrated on a specific salient pole. Therefore, even if the core of the armature module has a small cross-sectional area, a large amount of magnetic flux can be circulated. In addition, since the magnetic flux of the independent magnetic circuit circulates in each armature module, no magnetic flux flows in the same direction as the moving direction of the driver, and the magnetic flux is generated only in a direction perpendicular to the moving direction of the driver, and thus is not related to the thrust. The leakage flux can be reduced and the performance of the motor can be improved. The linear motor disclosed in U.S. Patent Application No. 10-2009-0090806 is constructed in the form of an armature module surrounded by a permanent magnet module. In the case of a moving coil motor, both ends of the second member are fixed. Accordingly, the linear motor can be applied to a conveying device that requires high precision in the short-range portion. However, when the linear motor is applied to a long-distance conveying device having a long second member, the second member may be bent due to the load of the permanent magnet. Accordingly, the present invention is directed to a linear motor that utilizes the principle of operation of a linear motor as disclosed in U.S. Patent Application Serial No. 10-2009-0090, 806, and which has an improved cross-section (cross-reference to a plane perpendicular to the direction of movement). The cross section) is an improved cross section of the armature module and the permanent magnet module to place all of the second members in the moving direction on the ground or to fix the second member to the ground at predetermined intervals. Figure 5 illustrates a linear motor in accordance with an embodiment of the present invention. As shown in Figures 1, 2 and 3, a linear motor according to an embodiment of the present invention may comprise: a first member having a plurality of armature modules aligned in a moving direction; a second member; a plurality of permanent magnet modules arranged at predetermined intervals in the direction of movement 17 201136107; and a support structure. The second member and the support structure can be integrated into one. As shown in FIG. 5, the power module 10 according to an embodiment of the present invention is composed of a plurality of salient poles arranged in an axial symmetry (based on the B-B' line), and the plurality of salient poles are curved. Or the C-shaped core protrudes toward the permanent magnet module, and the coil surrounds the salient poles, which is different from the embossed core having a closed circuit as shown in FIG. The arcuate shape may be a circular orphaned portion of a portion of a circle or a portion of a polygonal closed loop (e.g., a hexagonal, octagonal or decagonal ring). Further, the core may have a shape corresponding to a combination of a plurality of polygonal arcs or a combination of a polygonal arc and a circular arc. Here, the core may have at least one axisymmetric shape. The salient poles are arranged in point symmetry based on the center of the permanent magnet module, which is advantageous for eliminating the magnetic attraction generated between the salient pole and the permanent magnet. If the convex poles are arranged symmetrically, the axes are symmetric in the horizontal direction (based on the Β-Β' line) and in the vertical direction (based on the vertical line of the Β-Β' line). Salient poles are advantageous. In the permanent magnet module, the permanent magnets having the same number of salient poles and surrounded by coils face the salient poles corresponding to the permanent magnets, respectively. The second member composed of the permanent magnet module may be fixed to the support mechanism (base 30) as a whole in the moving direction, or may be fixed to the support mechanism at a predetermined interval. As shown in Fig. 5, the base 30 as a support for fixing the second member is fixed to the ground through a plurality of fixing bolts 31 which are arranged on the left and right sides of the second member in the moving direction. 201136107 Figure 6 illustrates a cross section of a linear horse in accordance with another embodiment of the present invention. The armature module and the permanent magnet module shown in Fig. 5 are in a basic mode in which the coil surrounds all the salient poles. As shown in the left part of Fig. 6: The salient pole P1 (or p4) farthest from the center of the C-type core in the circumferential direction generates a magnetic flux that flows only to the salient pole P2 (or P3) near the center of the C-type core, in other words, The salient pole P1 (or P4) forms a closed loop of magnetic flux only in one direction, so a large amount of magnetic flux cannot flow. Accordingly, as shown in the right part of FIG. 6, the coilless auxiliary salient pole p〇 and the auxiliary salient pole P5 can be formed at both ends of the c-type core in the power transmission module, and the auxiliary permanent corresponding to the salient pole The magnet 8 can be formed in the permanent magnet module (auxiliary salient mode) to form a closed loop of magnetic flux in both directions, even in the salient pole P1 (or P4) in the salient pole with the coil around it (circumference In the salient pole farthest from the center of the C-shaped core in the direction). Here, the auxiliary permanent magnet 8 in the permanent magnet module can be omitted. The first member may include a roller 32 and the second member may include a guide rail 33' for maintaining a predetermined gap therebetween between the salient pole of the first member and the permanent magnet of the second member corresponding to the salient pole The first member is movable in the moving direction. Here, the plurality of rollers and the plurality of guide rails may be formed in an axially symmetrical form with respect to B_B. A roller 32 is formed between adjacent salient poles in the armature module and a guide rail 33 is formed between adjacent permanent magnets in the permanent magnet module. As shown in Fig. 7, the first stage 34 can be disposed in one of the armature modules U, V and W and function as a transmitting device. Fig. 8 is a view showing an exemplary method of connecting the power supply to the armature module 1〇u, 10V, 10W. The U-phase armature module includes a C-type magnet and a plurality of salient poles (four salient poles m, U2, U3 & U4 are shown in Fig.), and the plurality of salient poles protrude from the 〇-shaped magnet toward the second member and have The in-phase current flows through and wraps the coils U, U2, U3, and U4 of the salient poles, respectively. The V-phase and W-phase armature modules have the same structure as the U-phase armature module. The coil connection method in each armature module can be selected as a series connection, a parallel connection or a series-parallel connection according to design specifications. The coil can be wound around the salient pole of the electric frame module to make the salient poles adjacent to each other have mutually opposite polarities when the coils having the in-phase current flowing through the salient poles. For example, if coils U1 and U3 are wound clockwise, coils U2 and U4 can be wound counterclockwise. In addition to this, it is possible to wind the coils m, U2, U3, and U4 in the same direction and connect the wires so that adjacent salient poles have different polarities. Figure 9 illustrates an exemplary method of assembling a second member of the linear motor of the present invention. The water-long magnet module 2GA and the permanent magnet module are periodically arranged to make the two permanent magnets corresponding to the permanent magnet module 2GA and the permanent magnet module have column polarity and can be adjacent to the permanent magnet module. The _ pieces 6' are arranged to maintain a predetermined distance between the adjacent permanent magnet modules 20A, 20B. The water-long magnet module 20 and the spacers may be arranged in the outer pipe 2, or the inner pipe 22 may be embedded in the permanent magnet module 2 and the spacer 6 to simplify the assembly process and protect the permanent magnet. Only one or two inner tubes U and outer tubes 201136107 channels 21 can be used. The inner pipe 22 and the outer pipe 21 can be formed using a non-magnetic material. Further, the inner duct 22 and the outer duct 21 may be formed using a weak magnetic material to reduce fluctuations. Referring to Fig. 10, the permanent magnet 4 of the permanent magnet module can be fixed to the surface of the yoke or embedded in the yoke. A permanent magnet protective cover 9 can be formed to protect the permanent magnet 4 fixed to the surface of the magnetic disk. Figure 11 illustrates an armature module having a different number of salient poles. In the cylindrical linear motor disclosed in U.S. Patent Application No. 10-2009-0090806, the salient poles are arranged point-symmetrically in the annular armature module to eliminate the magnetic attraction generated between the salient pole and the permanent magnet. Accordingly, the armature module needs to have at least four and an even number of salient poles. However, in the present invention, the linear motor uses a C-type electric power module having an axisymmetric structure for preventing the second member from being bent when the second member composed of the plurality of permanent magnet modules is lengthened. Accordingly, the salient poles can be arranged in the C-type armature module such that the salient poles are vertically axisymmetric with respect to the C-shaped downward facing opening portion. Further, as shown in Fig. 11, at least two salient poles or an odd number of salient poles may be arranged. When the odd-numbered salient poles are arranged in the electro-mechanical module, in addition to one salient pole, the even-numbered salient poles are arranged as much as possible so that the even-numbered salient poles have horizontal axis symmetry and vertical axis symmetry. In addition, when an odd number of salient poles are arranged in the armature module, in addition to one salient pole, an even number of salient poles may be arranged to be vertically axisymmetric to eliminate left and right components that attract each other's magnetic attraction force (one The salient poles are arranged at positions where lateral magnetic attraction is not generated, as shown in Fig. 11). In addition, 21 201136107 outside the pole 'the even number of convex yangs are arranged as much as possible, according to the 垂直 a number of salient poles - the vertical component of the magnetic thrust (generated between the salient pole and the permanent magnet opposite the salient pole) The hand h η comes to the extreme - the salient pole produces a magnetic thrust with only a vertical component. The winding of the iron with the line_number of the salient pole and the position of the permanent magnet and the salient pole corresponding to the salient pole can be controlled to eliminate the occurrence; °" corresponds to the magnetic attraction between the permanent magnets of the salient pole. Figure 12 illustrates an embodiment of a linear motor having a guide bow mechanism for enabling the first member to be movable in the direction of movement. The illustrated guide mechanism is comprised of a roller 32 and a guide rail 33. 2 and the guide rail outside the guide rail can also be used for the guide rail and the slider... 212, the c-type magnetic system of the armature module extends to the center of the c-shaped shape close to the support seat to the other side. And the yoke & the cymbal 32 is placed at the end of the magnet extension. The guide 33 of the corresponding roller 32 is arranged on the second member. The roller 32 is also arranged in the c-type magnetic, and the guide 33 is The roller 32 is positioned to correspond to the center of the C-shaped magnet. The spacing between the electrical module M and the predetermined spacing can be similar to 1. The roller in the middle = the cutting surface is two-shaped, and is arranged to correspond to electricity. The pivoting module moves. σ avoids the summer roller 32' so that the first member can be smoothly It is also possible that the barrier A^ wheels 32 are arranged in the room V: between the adjacent frame modules 10, and the roller is not provided in the lions. Fig. 23 shows another embodiment of the object/mechanism. 22 201136107 少,第13图, the roller 32 is respectively arranged in the center and the two ends, corresponding to the c-type magnet % center material body 36 is = 疋 in the second member, and correspondingly arranged on the guide rail 33 32 or slip of the c-type magnet The guide % of the block 35 is referenced to the first (1) 3 figure by the wheel of the set body 36, and is formed on the base of the electric structure by the electric drag module. The convex pole extending to the center of the C-shape is extended to the other side. The material 36 can be extended or the slider 35. The lowering of the shovel k ° to support the roller 32 can be extended to the other side: V is the same as the magnetic material wheel 32 or the slider Vc constituting the armature module The salient pole of the shape center, in another embodiment of the roller mechanism. Referring to the figure "Fig., the 杌 33 series are arranged in the c-type magnet 33, which is arranged on the pedestal of the c-type magnet and the four pieces 35 and the guide yoke = the second member of the ritual. The outer guide 33 of the C-type magnet slides two. As shown, the guide 3 of the guiding mechanism of the guiding mechanism acts as a first member of the driver, and is fixed or fixed to the second member for fixing as a stator. The base of the element of the linear motor. In addition, it is advantageous to arrange the guiding mechanism into an axisymmetric system (ie, the moving direction of the vertical linear motor). The second member is composed of a plurality of components. The combination of 42 can be made in the moving direction by using a member such as the member 42, so that the bonding tool of the second member 4 is screwed 31 to the base 30 to be fixed to the permanent magnet in the direction of 7. The fixing bolt 31 may be ' or fixed to a spacer interposed between adjacent permanent magnet modules 23 201136107. Fig. 16 is a view showing an embodiment of a linear motor having a first member of a mold type. Figure 16, when the first component is made up of armature modules 10U, 10V&a When the composition of mp; 1〇w is formed, the first member can be formed by arranging the spacer 11 having the hole between the adjacent armature modules 1〇υ, ι〇ν and 10W to maintain the adjacent armature. A predetermined gap between the modules 1〇u, 1〇v, and 1〇w, a predetermined number of holes are formed in the cores of each of the armature modules 10U, lov, and 10w, and the armature module is assembled by using the through bolts 37. Ίου ιον and spacer 11 and a molded assembly structure using a non-magnetic material. Accordingly, the core or coil of the armature module can be prevented from being exposed to the outside. FIG. 17 illustrates the second member 42 having the bent portion. The embodiment of the curved drive motor. Referring to the second figure, the curved second member 42 and the linear second member 42 can be combined to form a track, and the motor driver (first member 41) will move through various shapes. Orbits of (for example, circular, elliptical, etc.) Further, 'two or more first members 41 may be disposed on the rail to constitute a multi-driver drive motor. Although FIGS. 5 to 17 illustrate the second The member is fixed to the base 30 and acts on the first member The embodiment of the drive is 'the invention' is not limited thereto. Alternatively, the first member may be fixed to the base 3 and the second member may be acted as a driver. Further, 'Fig. 5 to 17 show therein The armature module surrounds the inner magnetic motor of the permanent magnet module, which is similar to the linear motor shown in Figures 1, 2 and 3. However, the invention is not limited thereto and can be applied to 24 201136107 permanent The magnet module surrounds the outer magnetic motor of the armature module, which is similar to the linear motor shown in Fig. 4. Even in this case, the second member can be fixed to the base 30 such that the first member functions as The driver, or the first member, can be secured to the base 30 such that the second member acts as a driver. The driving principle of the linear motor shown in Figures 5 to 17 is similar to the linear motor described with reference to Figures 1, 2, 3 and 4, so that the drive explained with reference to Figures 2, 3 and 4 The principle can be applied to the linear motor shown in Figures 5 to 17. Figure 18 illustrates the configuration of a servo system for driving the linear motor of the present invention. In Fig. 18, components other than the linear motor correspond to components of the conventional linear motor. Referring to FIG. 18, the servo system may include: a driver amplifier 52 for generating a current applied to the linear motor; and a current sensor 56 for sensing a current supplied from the driver amplifier 52 to the linear motor. a line sensor 57 for sensing the position or moving speed of the driver of the linear motor; and a controller 55 for controlling the driver amplifier according to a control command based on the current sensor 56 and/or the signal detected by the line sensor 57. The driver amplifier 52 can include a converter 53 for converting AC power to a DC power source, and an inverter 54 for generating a current required to drive the motor. The inverter 54 can generate a power source suitable for the driving method of the linear motor of the present invention, for example, two-phase alternating current, three-phase alternating current, two-phase rectified current, and three-phase rectified current, and applies the generated power to the linear motor. Armature module. The inverter 54 can change the amplitude and frequency of the current according to the command of the controller to adjust the position and speed of the drive and the thrust of the mobile drive. Although the present invention has been shown and described with respect to the specific embodiments thereof, it will be understood by those skilled in the art With the mouth of the van. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an embodiment of an armature module of an internal magnetic linear motor in which a permanent magnet corresponding to a second member is disposed inside and corresponds to an armature of the first member. Arranged outside. Fig. 2 is a view showing the implementation of the permanent magnet module of the inner magnetic linear motor. Fig. 3 is a diagram showing the basic principle of generating a linear thrust according to the combination of the armature module shown in Fig. 1 and the permanent magnet module shown in Fig. 2. Figure 4 illustrates an external magnetic linear motor. Figure 5 illustrates a linear motor in accordance with an embodiment of the present invention. Figure 6 shows a cross section of a linear motor in accordance with another embodiment of the present invention. Fig. 7 is a view showing an embodiment of a conveyor having a first stage which is disposed on a first member composed of armature modules U, V and W. Figure 8 illustrates an exemplary method of connecting a power supply to an armature module. Figure 9 is an illustration of an exemplary method of assembling a second member of a linear motor. Fig. 10 is a view showing an embodiment of a permanent magnet module of a linear motor. 26 201136107 Figure 11 illustrates the implementation of an armature module with different numbers of salient poles. Fig. 12 is a view showing an embodiment of a linear motor having a guiding mechanism for smoothly moving the first member in the moving direction. Fig. 13 is a view showing another embodiment of a linear motor having a guiding mechanism. Figure 14 is a diagram showing the linear motor of the guide mechanism. Fig. 15 is a view showing a second embodiment in which a plurality of components are fixed. - Figure 16 is a diagram illustrating the implementation of the first member of the mold type. The embodiment of the curved drive motor having the second member of the (four) portion is shown in Fig. 18. The linear configuration of the invention. W, Ξ [Description of main components] 1 Core 2 Salient 3 Coil 4 Permanent magnet 5 Magnetic 27 201136107 6 Spacer 7 Static 8 Auxiliary permanent magnet 9 Protective cover 10 Armature module 11 Spacer 10U Armature module 10V Armature module 10W armature module 20 permanent magnet module 20A permanent magnet module 20B permanent magnet module 21 outer pipe 22 inner pipe 30 base 31 fixing bolt 32 roller 33 guide rail 34 step 35 slider 36 magnet 37 through Bolt 41 First member 42 Second member 201136107 51 Power supply Is 52 Drive amplifier 53 Converter 54 Inverter 55 Controller 56 Current sensor 57 Line sensor