Linear motor and linear motor control system

{
  "publication_number": "US11290040B2",
  "country": "US",
  "kind": "B2",
  "title": "Linear motor and linear motor control system",
  "abstract": "A linear motor according to an exemplary embodiment of the present invention includes a frame having a bottom and two sidewalls and extending in a longitudinal direction, multiple coil modules repeatedly disposed on the bottom in the longitudinal direction and configured to constitute a stator, a mover disposed on the two sidewalls in a width direction intersecting the longitudinal direction, the mover being movable in the longitudinal direction, thrust magnets mounted at a lower side of the mover and selectively corresponding to the multiple coil modules, and a Hall switching board mounted on an inner surface of one of the two sidewalls and having first Hall sensors (switching Hall sensors) operated by a magnetic field corresponding to the thrust magnets so that a driver controls phase conversion of the multiple coil modules.",
  "claims": [
    "1. A linear motor comprising: a frame having a bottom and two sidewalls and extending in a longitudinal direction; multiple coil modules repeatedly disposed on the bottom in the longitudinal direction and configured to constitute a stator; a mover disposed on the two sidewalls in a width direction intersecting the longitudinal direction, the mover being movable in the longitudinal direction; thrust magnets mounted at a lower side of the mover and selectively corresponding to the multiple coil modules; a Hall switching board mounted on an inner surface of one of the two sidewalls and having first Hall sensors operated by a magnetic field corresponding to the thrust magnets so that a driver controls phase conversion of the multiple coil modules; an absolute position measurement board having second Hall sensors provided on one of the two sidewalls; and position measurement magnets mounted at the lower side of the mover and configured to produce a magnetic field corresponding to the second Hall sensors, wherein: corresponding to a unit coil module pitch Pt set between three coil modules of the multiple coil modules disposed in the longitudinal direction, two adjacent thrust magnets of the thrust magnets having the same size are formed in the longitudinal direction, and a pitch Pm between the two adjacent thrust magnets is set as ½ of the unit coil module pitch Pt (Pm=Pt/2).",
    "2. The linear motor of claim 1, wherein: the mover has outer walls facing outer surfaces of the two sidewalls at both ends in the width direction, an encoder head is provided on the outer surface of one of the two sidewalls, and an encoder scale facing the encoder head is provided on one of the outer walls.",
    "3. The linear motor of claim 1, wherein: a first pitch P 1 between the first Hall sensors provided on the Hall switching board is set as ⅓ of the unit coil module pitch Pt (P 1 =Pt/3).",
    "4. The linear motor of claim 3, wherein: the two position measurement magnets having the same size are provided in the longitudinal direction, and a pitch Pp between the two adjacent position measurement magnets is set as ⅓ of the unit coil module pitch Pt (Pp=Pt/3).",
    "5. The linear motor of claim 4, wherein: a second pitch P 2 between the second Hall sensors provided on the absolute position measurement board is set as ⅓ of the unit coil module pitch Pt (P 2 =Pt/3).",
    "6. A linear motor comprising: a frame having a bottom and two sidewalls and extending in a longitudinal direction; multiple coil modules repeatedly disposed on the bottom in the longitudinal direction and configured to constitute a stator; a mover disposed on the two sidewalls in a width direction intersecting the longitudinal direction, the mover being movable in the longitudinal direction; thrust magnets mounted at a lower side of the mover and selectively corresponding to the multiple coil modules; a Hall switching board mounted on an inner surface of one of the two sidewalls and having first Hall sensors operated by a magnetic field corresponding to the thrust magnets so that a driver controls phase conversion of the multiple coil modules; an absolute position measurement board having second Hall sensors provided on one of the two sidewalls; and position measurement magnets mounted at the lower side of the mover and configured to produce a magnetic field corresponding to the second Hall sensors, wherein: corresponding to a unit coil module pitch Pt set between three coil modules of the multiple coil modules disposed in the longitudinal direction, the thrust magnets comprise a first magnet having a first length in the longitudinal direction, and second and third magnets each having a second length which is ½ of the first length, and a pitch Pm 2 between two adjacent thrust magnets of the first, second, and third magnets is set as ½ of the unit coil module pitch Pt (Pm 2 =Pt/2).",
    "7. The linear motor of claim 6, wherein: the position measurement magnets comprise a first position magnet having a first length in the longitudinal direction, and second and third position magnets having a second length which is ½ of the first length, and a pitch Pp 2 of the two adjacent position measurement magnets is set as ⅓ of the unit coil module pitch Pt (Pp 2 =Pt/3).",
    "8. The linear motor of claim 7, wherein: a twenty-second pitch P 22 between the second Hall sensors provided on the absolute position measurement board is set as ⅓ of the unit coil module pitch Pt (P 22 =Pt/3).",
    "9. A linear motor control system comprising: multiple coil modules configured to constitute a stator; a driver configured to operate the multiple coil modules; a first Hall sensor configured to input a switching signal to the driver to generate a phase conversion signal for a coil module of the multiple coil modules with a magnetic field set by an interaction with a thrust magnet provided on a mover; an encoder provided in a partial section between the stator and the mover; a second Hall sensor configured to generate a position signal for the mover with a magnetic field set by an interaction with a position measurement magnet provided on the mover; and a control unit configured to apply the encoder signal and the position signal to the driver, wherein the driver is configured to control the multiple coil modules based on a signal applied from the control unit and the switching signal applied from the first Hall sensor, wherein, corresponding to a unit coil module pitch Pt set between three coil modules of the multiple coil modules disposed in a longitudinal direction, two adjacent thrust magnets having the same size are formed in the longitudinal direction, and a pitch Pm between the two adjacent thrust magnets is set as ½ of the unit coil module pitch Pt (Pm=Pt/2).",
    "10. A linear motor control system comprising: multiple coil modules configured to constitute a stator; a driver configured to operate the multiple coil modules; a first Hall sensor configured to input a switching signal to the driver to generate a phase conversion signal for a coil module of the multiple coil modules with a magnetic field set by an interaction with a thrust magnet provided on a mover; an encoder provided in a partial section between the stator and the mover; a second Hall sensor configured to generate a position signal for the mover with a magnetic field set by an interaction with a position measurement magnet provided on the mover; and a control unit configured to apply the encoder signal and the position signal to the driver, wherein the driver is configured to control the multiple coil modules based on a signal applied from the control unit and the switching signal applied from the first Hall sensor, wherein, corresponding to a unit coil module pitch Pt set between three coil modules of the multiple coil modules disposed in a longitudinal direction, the thrust magnet comprises a first magnet having a first length in the longitudinal direction, and second and third magnets each having a second length which is ½ of the first length, and a pitch Pm 2 between two adjacent thrust magnets of the first, second, and third magnets is set as ½ of the unit coil module pitch Pt (Pm 2 =Pt/2)."
  ],
  "description_excerpt": "The present invention relates to a linear motor and a linear motor control system, and more particularly, to a linear motor that does not require a controlling cable at a mover configured to move on a stator provided on a frame, and a linear motor control system.\n\nIn general, as a device enabling a working robot or the like to precisely move reciprocally, a linear motor is widely used in various fields. The linear motor may obtain rectilinear force directly in response to an electrical input and thus not require a separate power conversion device for converting a rotational motion into a rectilinear motion. In addition, the linear motor rectilinearly moves in a contactless movement manner, thereby enabling a high-speed operation and a constant-speed operation and implementing a downsized system.\n\nFor example, the linear motor includes a rectilinearly formed frame, stator magnets repeatedly provided in a longitudinal direction of the frame, guide rails disposed at lateral sides of the stator magnets and provided in the longitudinal direction of the frame, a block disposed on the guide rails, a mover supported on the block, and mover coil modules mounted on the mover and disposed selectively corresponding to the stator magnets. The mover coil modules are connected through a cable. Because the linear motor has the cable used to control the mover coil modules, a movement distance or a movement pattern of the mover on the frame are restricted.",
  "cpc": [
    "H02P 7/025",
    "H02K 11/215",
    "H02K 11/30",
    "H02K 2211/03",
    "H02K 2213/03",
    "H02K 41/031",
    "H02K 41/0356",
    "H02P 25/06",
    "H02P 25/064",
    "H02P 6/15"
  ],
  "ipc": [
    "H02K 11/215",
    "H02K 41/035",
    "H02P 7/025",
    "H02K 41/03",
    "H02P 6/16"
  ],
  "assignees": [
    "Korea Institute of Machinery and Materials KIMM"
  ],
  "inventors": [
    "Hyunchang KIM",
    "Dongwoo Kang",
    "Kwang-Young Kim"
  ],
  "filing_date": "2019-11-15",
  "publication_date": "2022-03-29",
  "grant_date": "2022-03-29",
  "priority_date": "2018-11-15",
  "application_number": "US-201916684951-A",
  "family_id": "70726793",
  "cited_by_count": 1,
  "citations": [
    "JPH05284718A",
    "US5854460A",
    "US20020047355A1",
    "US20010054851A1",
    "JP2002010617A",
    "JP2004056892A",
    "KR20060118669A",
    "US20120057140A1",
    "US20130035784A1",
    "US20140033854A1",
    "KR20140085587A",
    "US20150008768A1",
    "US20190113854A1",
    "US20140331888A1",
    "US20170309503A1",
    "US10340163B2",
    "US20190078950A1"
  ]
}