WO2007040009A1 - リニア同期モータ及びリニアモータアクチュエータ - Google Patents
リニア同期モータ及びリニアモータアクチュエータ Download PDFInfo
- Publication number
- WO2007040009A1 WO2007040009A1 PCT/JP2006/317520 JP2006317520W WO2007040009A1 WO 2007040009 A1 WO2007040009 A1 WO 2007040009A1 JP 2006317520 W JP2006317520 W JP 2006317520W WO 2007040009 A1 WO2007040009 A1 WO 2007040009A1
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- WIPO (PCT)
- Prior art keywords
- phase
- teeth
- core member
- tooth
- alternating current
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
Definitions
- the present invention relates to a linear motor that is used as a driving means in a linear guide portion of, for example, a general conveyance machine or a machine tool, and applies a thrust or a braking force to a linearly guided movable body.
- the present invention relates to an improvement of a linear synchronous motor in which an alternating current is applied to a coil wound around a core member and a magnetic attraction force generated between the core member and a magnet is used as a thrust.
- a so-called linear motor actuator using a linear motor as a thrust generation source is known.
- the movable body is reciprocally supported on a fixed portion such as a bed using a pair of linear guides, and a stator constituting the linear motor and
- a mover is attached to a fixed part and a movable body so as to face each other (Japanese Patent Laid-Open No. 10-290560, etc.).
- a linear guide track rail is disposed on the fixed portion, and a linear motor stator is attached in parallel to the track rail, while a linear guide slider and a linear motor move on the movable body.
- the movable body side slider is mounted on the track rail so that the movable body can be reciprocated on the fixed portion, and the fixed portion side stator and the movable body side movable element face each other. Let's do it.
- linear motors There are various types of linear motors due to differences in their drive systems.
- Typical examples of linear motors include so-called linear synchronous motors that are used by applying a plurality of phases of alternating current to the coils (special characteristics). No. 2003-070226, JP-A-8-205514, etc.).
- This linear synchronous motor includes a stator magnet in which N poles and S poles are alternately arranged in a straight line to generate a field, and movement along the arrangement direction of the magnetic poles of the stator magnet when the alternating current is applied. And a magnetic attraction force or magnetic field between the moving magnetic field generated by the moving element and the field generated by the stator magnet. A repulsive force is generated, which causes a thrust to move the mover and the stator magnet relative to each other!
- the former is advantageous in terms of force generation thrust in which there is a type including a core member formed of a ferromagnetic body such as iron and a type not including it.
- a core member is provided with teeth whose number is a natural number multiple of the number of phases of the alternating current so as to face the stator magnet.
- the coil is wound around these teeth, and when the coil is energized, each tooth becomes an electromagnet, and a magnetic attractive force or a magnetic repulsive force is generated between each magnetic pole constituting the stator magnet.
- a three-phase AC current is formed with three alternating current forces of phase u, phase V, and phase w that are 120 degrees apart.
- Patent Document 1 Japanese Patent Laid-Open No. 10-290560
- Patent Document 2 Japanese Patent Laid-Open No. 2003-070226
- Patent Document 3 JP-A-8-205514
- the magnitude of the magnetic attractive force acting between the teeth of the core member and the magnetic poles of the stator magnet varies depending on the magnetic flux density passing through the powerful teeth, and the higher the magnetic flux density, Magnetic attraction is increased. Therefore, if the magnetic flux density that normally passes through each tooth of the core member is uniform, uniform thrust is generated when alternating currents of U phase, V phase, and W phase with different phases are applied to a series of teeth. The answer that results.
- the present invention has been made in view of such problems, and the object of the present invention is to provide an AC current composed of a plurality of phases when each coil is energized by each phase. It is an object of the present invention to provide a regenerative synchronous motor capable of making the generated thrust uniform and thereby making thrust fluctuation as small as possible.
- the linear synchronous motor of the present invention that achieves the above object includes a first member in which N poles and S poles are alternately arranged linearly to generate a field, and keeps a gap between the first member and the first member. And a second member that generates a moving magnetic field along the arrangement direction of the magnetic poles when energized with a plurality of phases of alternating current and exerts a thrust on the first member. It has been done.
- the second member includes a core member in which a number of teeth that is a natural number multiple of the number of phases of the alternating current is arranged, wound around each tooth of the core member, and the alternating current One of the phases is composed of a coil that is energized. Of the plurality of teeth provided on the core member, at least one tip of the tooth corresponding to the phase of the alternating current applied to the coil wound around the teeth on both ends of the core member is the remaining tooth. It protrudes toward the first member from the tip.
- a three-phase alternating current (u-phase, V-phase, w-phase) will be described as an example.
- the coil wound on the other tooth is u-phase force.
- the coil wound on the other tooth is energized in the w-phase.
- the tip of the tooth around which the V-phase coil is wound is separated from the tip of the tooth around which the U-phase and W-phase coils are wound, and the u-phase and w-phase coils are separated from each other.
- the tip of the wound tooth protrudes from the tip of the tooth where the V-phase coil is wound toward the first member.
- the first member may be a stator or a mover. If the first member is a stator, the second member is a mover, and if the first member is a mover, the second member is a stator. However, since the second member is provided with a coil and generates a moving magnetic field, if the second member is a stator, the core member and the coil member are covered over the stroke range of the first member that is the stator. It is necessary to provide it, and the assembly of the second member becomes troublesome. Therefore, it is preferable to use the first member as a stator in view of facilitating the assembly of the second member.
- FIG. 1 is a perspective view showing a first embodiment of a linear motor actuator to which a linear synchronous motor of the present invention is applied.
- FIG. 2 is a longitudinal sectional view of the linear motor actuator shown in FIG. 1 cut along a direction perpendicular to the longitudinal direction of the track rail.
- FIG. 3 is a cross-sectional plan view showing a ball infinite circuit in the linear motor actuator shown in FIG. 1.
- FIG. 4 A plan view showing a spacer belt used in the linear motor actuator shown in FIG.
- FIG. 5 is a side view showing a spacer belt used in the linear motor actuator shown in FIG.
- FIG. 6 is a longitudinal cross-sectional view of the linear motor actuator shown in FIG. 1 in which a moving element and a stator magnet are cut along the longitudinal direction of the track rail.
- FIG. 7 is a diagram schematically showing the state of the magnetic flux ⁇ passing through each tooth of the core member.
- FIG. 8 is a plan view showing another example of the arrangement form of the stator magnets on the track rail.
- FIG. 9 is a schematic view showing another embodiment of a linear motor actuator to which the linear synchronous motor of the present invention is applied.
- FIG. 1 shows an example of a linear motor actuator equipped with a linear synchronous motor of the present invention.
- the linear motor actuator includes a track rail 1 formed in a channel shape, a movable body to be controlled, and a table structure 3 that moves along the track rail 1 and the track.
- a stator magnet 4 disposed on the rail 1; and a movable element 5 mounted on the table structure 3 and constituting a linear synchronous motor together with the stator magnet 4.
- the table structure 3 can be propelled along the track rail 1 by exciting the coil of the mover 5 mounted on the structure 3 and stopped at a predetermined position.
- the track rail 1 has a fixed base portion 10 attached to a fixed portion such as a bed by a bolt (not shown), and has a pair of side wall portions 11 and 11 rising from the fixed base portion 10.
- a space surrounded by the fixed base portion 10 and the side wall portion 11 is a groove-shaped guide passage 12.
- the table structure 3 reciprocates along the guide passage 12.
- a ball rolling groove 13 is formed, and this ball rolling groove 13 is formed along the longitudinal direction of the track rail 1! Speak.
- the table structure 3 includes a pair of sliders 3a and 3b which are arranged in the guide passage of the track rail and freely reciprocate in the guide passage, and the sliders 3a and 3b.
- the coupling top plate 3c is connected to each other at a predetermined interval.
- the joint top plate 3c is formed in a substantially rectangular shape with the long side aligned with the longitudinal direction of the track rail 1, and a slider positioned in the guide passage 12 of the track rail 1 at both ends in the longitudinal direction.
- the coupling top plate 3c itself is mounted on the sliders 3a and 3b and is located outside the guide passage 12 of the track rail 1 while the 3a and 3b are fixed respectively.
- the movable element 5 is provided between a pair of sliders 3a and 3b fixed to the coupling top plate 3c. The movable element 5 is suspended from the coupling top plate 3c to guide the track rail 1. Located in aisle 12.
- FIG. 2 shows a cross-sectional view of the track rail 1 and the sliders 3a and 3b.
- the sliders 3a and 3b are formed in a substantially rectangular shape and are disposed in the guide passage 12 of the track rail 1, but at least a part protrudes from the guide passage 12 of the track rail 1 to the outside.
- a mounting surface 33 of the coupling top plate 3c is formed on the top surface located above the upper end of the side wall portion 11 of 1.
- the sliders 3a and 3b are provided with a total of four infinite circulation paths in which the balls 6 circulate, left and right, for a total of four lines. Correspondingly.
- FIG. 3 is a plan view showing a ball infinite circulation path of the slider.
- Each of the sliders 3a and 3b includes a bearing race 34 that also has a metal blocking force, and a pair of synthetic resin end caps 35 that are fixed to both front and rear end surfaces of the bearing race 34 with respect to the moving direction of the slider 3.
- Each infinite circulation path includes a load rolling groove 36 formed on the outer surface of the bearing race 34, a ball return hole 37 formed in the bearing race 34 in parallel with the load rolling groove 36, and the end cap.
- a U-shaped direction change path 38 formed in 35, while a large number of balls 6 are loaded, and the ball rolling groove 13 of the track rail 1 and the load rolling groove 36 of the bearing race 34 It is configured to roll between.
- the ball 6 that has finished rolling in the load rolling groove 36 is in the direction of one end cap 35.
- the ball return hole 37 rolls in an unloaded state, and further rolls on the direction changing path 38 of the other end cap 35, so that the bearing race again. It circulates to 34 load rolling grooves 36. If the unloaded ball 6 rolls through the ball return hole 37, the inner peripheral surface of the ball return hole 37 and the ball 6 come into contact with each other, and noise is generated.
- the peripheral surface is covered with synthetic resin.
- the balls 6 are arranged at a predetermined interval on a flexible spacer belt 7 formed of a synthetic resin, and together with the spacer belt 7, a slider 3a , 3b is incorporated into each infinite circuit.
- the spacer belt 7 is provided with a spacer 70 so as to separate adjacent balls from each other, and prevent the balls 6 from contacting each other while circulating in the infinite circulation path.
- an accommodation hole for the ball 6 is formed between the pair of front and rear spacers 70, and the ball 6 is accommodated therein.
- the sliders 3a and 3b configured as described above are disposed in the guide passage 12 of the track rail 1 so as to be sandwiched between the pair of side walls 11 and 11 of the track rail 1 via the balls 6.
- the ball 6 rolls in the ball rolling groove 13 of the track rail 1 so that it can freely reciprocate along the longitudinal direction of the track rail 1! / .
- the track rail 1 is formed in a channel shape so as to surround the guide passage 12, the table structure 3 is also guided by the pair of sliders 3a and 3b. Therefore, the track rail 1 has high rigidity and can reciprocate the table structure 3 along the track rail 1 with high accuracy.
- stator magnet 4 is disposed on the fixed base 10 of the track rail 1 and faces the guide passage 12 in which the sliders 3a and 3b reciprocate.
- the strong fixed base 10 functions as a yoke of the stator magnet 4.
- Each stator magnet 4 is made of a permanent magnet, and N poles and S poles are alternately arranged at a predetermined pitch along the longitudinal direction of the track rail 1.
- These stator magnets 4 must be arranged in parallel with the moving direction of the sliders 3a and 3b in the guide passage 12 of the track rail 1, and therefore, the ball rolling on the fixed base 10 of the track rail 1 is performed.
- a concave groove 14 is formed in parallel with the groove 13, and the field magnet 4 is fixed to the track rail 1 so as to fit into the concave groove 14.
- FIG. 6 is a longitudinal sectional view showing the positional relationship between the moving element 5 attached to the table structure and the stator magnet 4 along the longitudinal direction of the track rail 1.
- the moving element 5 includes a core member 50 fixed to the joint top plate 3c with a bolt 39 and a coil 51 wound around the core member 50.
- the core member 50 is formed with a plurality of slots at a predetermined pitch along the longitudinal direction of the track rail 1, and is formed in a comb-like shape as a whole.
- the armature core 50 has twelve teeth 52 with slots formed in the front and rear, and the coil 51 is wound around each tooth 52 of the core member 50 so as to fill each slot. For these twelve teeth 52, the coil 51 has (u, u, u
- Each tooth 52 has the same width and thickness.
- the applied current to the coil 51 wound in the three phases is determined based on the detection signal of the position detection device 8 attached to the outside of the track rail 1 (see FIG. 2).
- a linear scale 80 in which a ladder pattern is repeatedly drawn at a predetermined pitch is fixed to the outer surface of the side wall 11 of the track rail 1, while the linear scale 80 of the linear scale 80 is attached to the coupling top 3 c of the table structure 3.
- Encoder 81 for optically reading the ladder pattern is fixed.
- Variable frequency The controller that controls several power supplies grasps the current position and current speed of Slider 3 based on the output signal of the powerful encoder 81, and responds to the difference between the target position and current position, and the difference between the set speed and current speed. Then, an alternating current is supplied to the coil 51 of each phase while changing the frequency of the three-phase alternating current.
- v-phase teeth 4 teeth in which the v-phase coil is wound are used.
- U is formed slightly shorter than the teeth around which the u-phase and w-phase coils are wound (hereinafter referred to as “u-phase teeth” and “w-phase teeth”). It is farther from the stator magnet than the u-phase teeth and w-phase teeth. In other words, the u-phase teeth and the w-phase teeth protrude toward the stator magnet 4 rather than the V-phase teeth.
- FIG. 7 schematically shows the state of the magnetic flux ⁇ passing through each tooth 52 of the core member 50 with arrows.
- the core member 50 has six teeth. Except for the two teeth (u, w) located at both ends of the core member 50, the other four teeth (V, w, u, V)
- the teeth are provided, for example, the magnetic flux ⁇ passing through the teeth of the W phase
- the number of passing magnetic flux ⁇ is smaller.
- the core member 50 is a ferromagnetic body, and therefore, the teeth and the stator magnet 4 provided in the core member 50 are not affected.
- a magnetic attraction force acts between and the core member 50 moves in the direction in which the stator magnets 4 are arranged.
- the magnetic attraction force fluctuates due to the correlation. This is the so-called cogging torque.
- cogging torque As described above, comparing all u-phase teeth (u, u) and all w-phase teeth (w, w), they are of the same number.
- V-phase teeth are the U-phase teeth (U, U) and the W-phase teeth.
- the thrust of the moving element 5 also varies periodically due to the variation of the cogging torque.
- the magnetic flux ⁇ is less likely to pass through the V-phase teeth.
- the teeth of each phase are considered as a group, they pass through the u-phase teeth (u, u), the V-phase teeth (V, V), and the w-phase teeth (w, w), respectively.
- the number of magnetic fluxes ⁇ can be made substantially uniform, and the fluctuation of thrust and cogging torque according to the V phase period can be suppressed as much as possible.
- ⁇ is the number of magnetic fluxes that pass through the other four teeth (V, w, u, V)
- the force is also ⁇ + ⁇
- the total number of magnetic flux passing through the V-phase teeth (V, V) is ⁇ + ⁇ (> ⁇
- the total number of magnetic fluxes passing through the phase teeth (V, V) is ⁇ + ⁇ . At least, ⁇ + ⁇ >
- V , V Since the number of magnetic fluxes passing through each tooth of the core member 50 is affected by the width and thickness of each tooth, the tip shape, the slot spacing, etc., a specific V-phase tooth (V , V) is experimentally determined
- each phase It is not necessary to apply to all teeth belonging to. As described above, if the total number of magnetic fluxes that pass through the teeth of each phase is approximately equal, fluctuations in thrust according to the period of the V phase can be suppressed. For example, only specific teeth of the V phase can be shortened, Alternatively, the total number of magnetic fluxes can be adjusted even if only specific teeth of the u-phase and w-phase are formed long.
- FIG. 7 illustrates the force described when six teeth are formed on the core member 50. The same applies to the case where twelve teeth 52 are formed as shown in FIG.
- the core member of the mover has teeth that are a natural number times the number of phases n of the alternating current. If the phases of the alternating current corresponding to the two teeth located at both ends of the core member are xl and xn, the tips of the teeth corresponding to the other phases (X 1, X 2,. Stator mug than the tip of the two teeth
- FIG. 8 shows another example of the arrangement of the stator magnets 4 on the fixed base 10 of the track rail 1.
- the north and south poles of the stator magnet 4 are simply arranged alternately along the longitudinal direction of the track rail 1, and the boundary between these north and south poles is It was parallel to the width direction (left and right direction in FIG. 2).
- the boundary between these north and south poles is It was parallel to the width direction (left and right direction in FIG. 2).
- the north and south poles of the stator magnet 4 are formed as parallelograms, and the boundaries between these north and south poles are inclined with respect to the width direction of the track rail 1. Configured. That is, when the tooth 52 of the core member 50 advances in the longitudinal direction of the track rail 1, the magnetic pole of the stator magnet 4 facing the tooth 52 suddenly changes from the N pole to the S pole! Instead of changing to the N pole, it is configured to change gradually.
- the magnetic force due to the correlation between the arrangement pitch of the stator magnet 4 and the arrangement pitch of the teeth of the core member 50 when the boundary of each magnetic pole is inclined with respect to the width direction of the track rail 1 It is possible to reduce the fluctuation of the force, that is, the fluctuation of the cogging torque, and the ripple of the thrust of the moving element 5 can be reduced.
- FIG. 9 shows another embodiment of a linear motor actuator constructed using the linear synchronous motor of the present invention.
- the linear motor actuator includes a base portion 106 mounted on a fixed portion 107 such as a bed of a mechanical device, and a biaxial linear guide device 104 disposed in parallel with each other on the base portion 106.
- the linear guide device 104 also includes a movable table 103 that is movably provided on the base portion, and a linear synchronous motor 100 that is provided between the base portion 107 and the movable table 103.
- the linear guide device 104 includes a track rail 108 fixed to the base portion 106 and a slide member 105 fixed to the movable table 103 and reciprocally movable along the track rail 108.
- the linear synchronous motor 100 includes a mover 101 and a stator magnet 102.
- the stator magnet 102 is arranged on the base portion 106 along the moving direction of the movable table 103, while the mover 101 is It is suspended from the movable table 103 so as to maintain a gap with the stator magnet 102. Yes.
- the structure of the mover 101 is exactly the same as that of the mover 5 shown in FIG.
- the thrust according to the period of the V phase of the AC current is adjusted by adjusting the tooth length of the core member of the moving element 101 as described above. Fluctuation and cogging 'Torque fluctuation can be suppressed as much as possible.
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- Electromagnetism (AREA)
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- Linear Motors (AREA)
Abstract
Description
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/088,829 US7888827B2 (en) | 2005-09-30 | 2006-09-05 | Linear synchronous motor and linear motor actuator |
DE112006002589T DE112006002589T5 (de) | 2005-09-30 | 2006-09-05 | Linearer Synchronmotor und Linearmotor-Stellglied |
JP2007538671A JP4993609B2 (ja) | 2005-09-30 | 2006-09-05 | リニア同期モータ及びリニアモータアクチュエータ |
CN2006800361874A CN101278467B (zh) | 2005-09-30 | 2006-09-05 | 线性同步电动机以及线性电动机促动器 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005288030 | 2005-09-30 | ||
JP2005-288030 | 2005-09-30 |
Publications (1)
Publication Number | Publication Date |
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WO2007040009A1 true WO2007040009A1 (ja) | 2007-04-12 |
Family
ID=37906053
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/317520 WO2007040009A1 (ja) | 2005-09-30 | 2006-09-05 | リニア同期モータ及びリニアモータアクチュエータ |
Country Status (5)
Country | Link |
---|---|
US (1) | US7888827B2 (ja) |
JP (1) | JP4993609B2 (ja) |
CN (1) | CN101278467B (ja) |
DE (1) | DE112006002589T5 (ja) |
WO (1) | WO2007040009A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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US9379599B2 (en) | 2012-03-29 | 2016-06-28 | Sanyo Denki Co., Ltd. | Tubular linear motor |
CN106516620A (zh) * | 2016-12-26 | 2017-03-22 | 贵阳普天物流技术有限公司 | 一种环形分拣机的驱动方法及装置 |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
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JP5015290B2 (ja) * | 2010-06-16 | 2012-08-29 | Thk株式会社 | リニアモータ |
JP5509049B2 (ja) * | 2010-11-30 | 2014-06-04 | Thk株式会社 | 磁気エンコーダ、アクチュエータ |
US20130033125A1 (en) * | 2011-08-03 | 2013-02-07 | Kabushiki Kaisha Yaskawa Denki | Linear motor armature and linear motor |
JP5418558B2 (ja) * | 2011-08-23 | 2014-02-19 | 株式会社安川電機 | リニアモータの固定子およびリニアモータ |
JP6156716B2 (ja) * | 2012-08-21 | 2017-07-05 | シンフォニアテクノロジー株式会社 | 搬送装置 |
CN105006940A (zh) * | 2015-07-22 | 2015-10-28 | 北京顿一科技有限公司 | 直线运动线性模组及应用该模组的位置控制伺服系统 |
WO2018003062A1 (ja) * | 2016-06-30 | 2018-01-04 | ヤマハ発動機株式会社 | リニアモータ、ヘッドユニット、表面実装機および単軸ロボット |
ES2883248T3 (es) * | 2016-11-11 | 2021-12-07 | Agie Charmilles Sa | Motor de eje lineal |
US10381958B2 (en) * | 2017-09-28 | 2019-08-13 | Rockwell Automation Technologies, Inc. | Method and apparatus for commutation of drive coils in a linear drive system with independent movers |
DE102017130724A1 (de) * | 2017-12-20 | 2019-06-27 | Physik Instrumente (Pi) Gmbh & Co. Kg | Elektromotor |
WO2019126727A1 (en) * | 2017-12-22 | 2019-06-27 | Mcdonald Harley C | Variable torque linear motor/generator/transmission |
CN112187008B (zh) * | 2020-08-28 | 2022-03-29 | 瑞声科技(南京)有限公司 | 气隙可调直线电机 |
CN115967309B (zh) * | 2022-12-16 | 2024-10-01 | 哈尔滨工业大学 | 一种基于独立绕组结构的动磁式多相永磁同步直线电机 |
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US6949846B2 (en) * | 2003-08-29 | 2005-09-27 | Sanyo Denki Co., Ltd. | Linear motor with reduced cogging force |
EP1655824B1 (de) * | 2004-11-08 | 2008-04-09 | Etel S.A. | Linearmotor mit Segmentstator |
ITUD20040231A1 (it) * | 2004-12-14 | 2005-03-14 | Gisulfo Baccini | Motore lineare |
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2006
- 2006-09-05 WO PCT/JP2006/317520 patent/WO2007040009A1/ja active Application Filing
- 2006-09-05 JP JP2007538671A patent/JP4993609B2/ja active Active
- 2006-09-05 CN CN2006800361874A patent/CN101278467B/zh active Active
- 2006-09-05 DE DE112006002589T patent/DE112006002589T5/de active Pending
- 2006-09-05 US US12/088,829 patent/US7888827B2/en active Active
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JPH03270670A (ja) * | 1990-03-16 | 1991-12-02 | Hitachi Metals Ltd | リニアモータ |
JPH0799767A (ja) * | 1993-09-24 | 1995-04-11 | Moriyama Kogyo Kk | リニアモータ |
JP2002374665A (ja) * | 2001-06-14 | 2002-12-26 | Yaskawa Electric Corp | リニアモータ |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9379599B2 (en) | 2012-03-29 | 2016-06-28 | Sanyo Denki Co., Ltd. | Tubular linear motor |
EP2645551A3 (en) * | 2012-03-29 | 2017-10-18 | Sanyo Denki Co., Ltd. | Tubular linear motor |
CN106516620A (zh) * | 2016-12-26 | 2017-03-22 | 贵阳普天物流技术有限公司 | 一种环形分拣机的驱动方法及装置 |
Also Published As
Publication number | Publication date |
---|---|
US7888827B2 (en) | 2011-02-15 |
JP4993609B2 (ja) | 2012-08-08 |
CN101278467A (zh) | 2008-10-01 |
JPWO2007040009A1 (ja) | 2009-04-16 |
DE112006002589T5 (de) | 2008-08-14 |
US20090127939A1 (en) | 2009-05-21 |
CN101278467B (zh) | 2010-09-01 |
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