CN102195438B - Method for achieving device for driving object to move in a linear mode and linear motor - Google Patents
Method for achieving device for driving object to move in a linear mode and linear motor Download PDFInfo
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- CN102195438B CN102195438B CN201110130021.1A CN201110130021A CN102195438B CN 102195438 B CN102195438 B CN 102195438B CN 201110130021 A CN201110130021 A CN 201110130021A CN 102195438 B CN102195438 B CN 102195438B
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Abstract
The invention provides a method for achieving a device for driving an object to move in a linear mode and a linear motor, wherein, the linear motor (1) comprises a rotor (12) and a stator (10) for driving the rotor (12) to move along a straight line (A), wherein the rotor (12) is provided with a first friction surface (120); the linear motor (1) also comprises a pressing component (16); the stator (10) and /or the pressing component (16) are/is provided with a second friction surface (14) which is contacted with the first friction surface (120); and the pressing component (16) is used for providing mutual pressure for the first friction surface (120) and the second friction surface (14), and the pressure ensures that friction is generated between the first friction surface (120) and the second friction surface (14), so that the rotor (12) is maintained at the current location. Compared with the prior art of maintaining the rotor position through uninterruptedly applying current, in the invention, the friction is utilized for maintaining the rotor position, so that the energy consumption of the linear motion is saved.
Description
Technical field
The present invention relates to drive the implementation method of the straight-line device of object, and relate to the linear motor based on this method.
Background technology
Focusing is the important ring in picture catching technology, and its main purpose is that image to be caught is focused on image sensor element.In current focusing technology, image sensor element is general keeps fixing, and eyeglass can be moved forward and backward along its optical axis by motor driven, thereby the light inciding with certain orientation on eyeglass is converged on this fixing imageing sensor.Visible, how to drive the movement of eyeglass along optical axis, and how to keep eyeglass in the technical problem that along the position of optical axis is essential solution in focusing.
At portable image-capturing apparatus, for example, in the mobile phone with photographic/camera function, very high to the dimensional requirement of the focus apparatus including eyeglass, focus apparatus should be as much as possible little.So the movement of eyeglass at present is generally driven by small-sized voice coil motor.The basic principle of voice coil motor is by hot-wire coil is placed among magnetic field, thereby produces Lorentz force action in coil, and drive coil moves then.Coil is fixedly connected with by the framework of eyeglass with eyeglass, and magnetic material is arranged along optical axis direction, thereby coil can drive eyeglass to move linearly along optical axis direction.
At present, the structure of focus apparatus generally using is such: elastic construction is set the mover of voice coil motor is connected with base being parallel to optical axis direction, for example use shell fragment to support or spring suspension, the elastic force that this elastic construction produces is parallel with optical axis direction.Voice coil motor drives Lens assembly to overcome this elastic force and moves along optical axis under Current Control.
Summary of the invention
Visible, the shortcoming of prior art comprises: because elastic construction itself has certain length and stretches on eyeglass moving direction, movably distance is shorter to cause eyeglass; And in order to make eyeglass remain on certain position, need to continue to provide electric current to impose on the elastic force of Lens assembly with balance elastic construction to voice coil motor, cause the power consumption of focus apparatus larger.
At least for solving the object of this technical problem, the invention provides and a kind ofly realize the method that drives object linear motion device, and linear motor based on the method.
According to a first aspect of the invention, a kind of method that drives object linear motion device that realizes is provided, and this device has stator and can be driven the mover of motion along a straight line by described stator, wherein, this mover has the first friction surface, and the method comprises the following steps:
-the second friction surface contacting with described the first friction surface is provided;
-for described the first and second friction surfaces provide mutual pressure, described pressure makes can produce the frictional force that described mover is remained on to its current location between described the first and second friction surfaces;
At least one item during the method is further comprising the steps of:
-described stator drive described mover from static start mobile, make described mover produce vibration, described vibration changes kinetic force of friction into by driving described mover to start from inactive state the stiction that movement need overcome;
-described stator drives described mover to move in the mode of segmentation, and in each section, described mover starts mobile from inactive state, and at least accelerates and slow down, and finally get back to inactive state, and the difference of the displacement of each section of movement is less than certain threshold value.
According to above aspect, in the time that mover is moved to desired position, frictional force is allowed to produce to hold it in this position, keeps thereby do not need to be continuously applied power.And, in a kind of situation, make mover produce vibratory drive mover and change kinetic force of friction into from the stiction that starts movement and need overcome, can reduce like this and drive mover to move required power, save the energy consumption of this device; In another kind of situation, each section of movement of mover be all from static setting in motion and get back to inactive state, and the difference that every section moves is less than certain threshold value, and this makes it possible to more accurate and as one man controls the movement of mover.
According to one preferred embodiment, described device comprises linear motor, described stator and mover comprise respectively in magnet and coil one and another, the described vibrative step of described mover that makes comprises: the electric current that passes to variation to described coil, to produce active force described mover, that change, thereby make described mover in described rectilinear direction, produce vibration.Present embodiment realizes easier, can produce with comparalive ease vibration.
According to another preferred embodiment, described in, provide the step of pressure to comprise that use elastomeric element provides this pressure.Use elastomeric element to provide the benefit of pressure to be that elastomeric element is subject to external environment, the impact that such as humidity, temperature etc. change is less, makes elastic force in the whole designed life of this device, substantially to remain constant, thereby makes the method more stable.
According to a second aspect of the invention, the purposes of above method is for control the movement of eyeglass along lens light axis in focusing.The dimensional requirement of focusing mechanism is very little, and friction surface is mainly leaned in the realization of above method, and friction surface can be arranged along eyeglass moving range, does not take more spaces, meets the requirement that size is little.
Above method can more specifically be applied at present more widely in linear motor, according to a third aspect of the present invention, a kind of linear motor is provided, comprise mover and the stator for driving described mover to move along rectilinear direction, it is characterized in that, described mover has the first friction surface, and this motor also comprises:
-press member;
Described stator and/or described press member have the second friction surface contacting with described the first friction surface;
Described press member is used to described the first and second friction surfaces that mutual pressure is provided, and described pressure makes can produce the frictional force that described mover is remained on to its current location between described the first and second friction surfaces.
According to above aspect, in the time that mover is moved to desired position, frictional force is allowed to produce to hold it in this position, with respect to existing, need to be continuously applied electric current generate offset shell fragment power with keep rotor position, this aspect does not need to be continuously applied electric current, thereby has greatly saved the energy consumption of linear motor.
One preferred embodiment in, described press member comprises elastomeric element, in perpendicular at least one direction of described rectilinear direction, the first friction surface contact that the second friction surface that described elastomeric element is relative is relative with described mover, and provide mutual pressure for every pair of first and second friction surfaces that contact.This preferred embodiment in, adopt clamping mode produce frictional force, more stable.
One preferred embodiment in, described press member comprises elastomeric element, described elastomeric element is made up of electromagnetic shielding material, with the perpendicular cross section of described rectilinear direction on closed surround described stator and described mover, and at least in the moving range of described mover, extend along described rectilinear direction.This preferred embodiment in, good electromagnetic wave shielding is provided, avoid linear motor to produce electromagnetic interference to other device.
According to a fourth aspect of the present invention, provide a kind of focusing module, having comprised: eyeglass; According to the linear motor described in third aspect of the present invention, the mover of this linear motor is fixedly connected with described eyeglass, and the rectilinear direction that mover moves is consistent with the optical axis of described eyeglass.In aspect this, provide based on focusing module method of the present invention and linear motor, integrated.
According to a fifth aspect of the present invention, provide a kind of picture catching module, comprised imageing sensor; Focusing module according to the present invention described in the 4th aspect, for eyeglass is moved along optical axis, so that the light of injecting eyeglass is focused to described imageing sensor.In aspect this, provide picture catching module including imageing sensor, integrated.
According to a sixth aspect of the invention, provide a kind of electronic equipment with image capture function, comprised the picture catching module described in the 5th aspect according to the present invention.
Other advantage of the present invention will be described below, or explanation by below and being understood by those skilled in the art.
Accompanying drawing explanation
Fig. 1 is the cross-sectional view of the picture catching module of the linear motor with good grounds one aspect of the invention;
Fig. 2 is an exemplary plot for drive the drive current that mover stepping moves at linear motor.
In accompanying drawing, same or analogous Reference numeral represents same or analogous steps characteristic or parts (module) feature.
Embodiment
Drive the method for object linear motion device to be described below in conjunction with the drive current shown in the picture catching module shown in Fig. 1 and Fig. 2 to linear motor according to the present invention and realization.
As shown in Figure 1, linear motor 1 comprises mover 12 and the stator 10 for driving mover 12 to move along straight line A direction, and mover 12 has the first friction surface 120, and this motor 1 also comprises:
-press member 16;
Fig. 1 is perpendicular to the cross-sectional view of the picture catching module of straight line A direction, and straight line A is vertical with paper, and along extending with both direction outside paper in paper.
In the time being applied in focusing module, mover 12 and the eyeglass L of this linear motor 1 are fixed together, and the straight line A direction that mover 12 moves is consistent with the optical axis of eyeglass L.In this focusing module is applied in picture catching module time, imageing sensor S is perpendicular to the optical axis of eyeglass L, be disposed aligned with eyeglass L, thereby accepts the image of eyeglass L focusing.This picture catching module can be installed in the electronic equipment with image capture function, for example, in mobile phone.
With respect to linear motor existing, that employing elastic force fixes rotor position, according to the present invention, the linear motor of above aspect adopts frictional force to fix rotor position, has some advantages below:
The first, save elastomeric element flexible in rectilinear direction, thereby in rectilinear direction, saved space, and larger mover moving range is also provided.Especially, in the time being applied in focusing module, reduce the size of the optical axis direction of focusing module, made it thinner, and larger eyeglass moving range can be provided, be conducive to focusing.
The second, move and arrive behind target location at mover, if mover (and with parts, for example eyeglass) there is movement tendency, for example linear motor is rocked, and under the effect of the frictional force that mover produces at pressure, is maintained at target location, and without continuing to provide electric energy.With respect to existing, need to be continuously applied electric energy and produce the linear motor balancing each other with the elastic force of elastomeric element, the minimizing power consumption that linear motor provided by the invention can be to a great extent.
One preferred embodiment in, press member 16 is elastomeric element, its applied pressure is elastic force.The advantage of this execution mode is, elastomeric element is subject to external environment, and the impact that such as humidity, temperature etc. change is less.Therefore, the elastic force that elastomeric element applies can substantially remain constant in the whole life-span of this linear motor, and this has improved the stability of linear motor.
As shown in Figure 1, the surrounding outer surface of mover 12 all has the first friction surface 120 (left and right sides does not illustrate with Reference numeral), 16 two pairs of the second relative friction surfaces 14 of elastomeric element (a pair of of the left and right sides do not illustrate with Reference numeral) respectively first friction surface 120 relative with 12 two pairs of movers contact, for every pair of first friction surface 120 contacting and the second friction surface 14 provide mutual pressure.This preferred embodiment in, adopt from the mode of outside surrounding clamping and produce frictional force, more stable.Be appreciated that the present invention is not limited to this execution mode, first, also can be singly from up and down or left and right sides clamping mover; Secondly, elastomeric element needn't necessarily relatively arrange in pairs, can use elastomeric element in a side, and use general rigid element at opposite side.
One preferred embodiment in, as shown in Figure 1, elastomeric element 16 with the perpendicular section S of straight line A direction on surround mover 12, and each the second friction surface 14 is towards mover 12 indents with clamping mover 12, in the gap of stator 10 between mover 12 and elastomeric element 16.This execution mode provides a kind of compact linear motor structure.
Further preferably, elastomeric element 16 is made up of electromagnetic shielding material, along at least (not shown in figure 1) extension in the moving range of mover 12 and/or in the shared scope of stator 10 of straight line A direction.This preferred embodiment in, elastomeric element gets up mover and/or stator surrounding, and good electromagnetic wave shielding is provided, and avoids linear motor to produce electromagnetic interference to other device.
Be appreciated that, the present invention is not limited to this execution mode, and the first friction surface 120 can be positioned at the inner side of mover 12, and elastomeric element 16 also can be positioned at the inside of mover 12, and second friction surface 14 in each elastomeric element 16 outsides is towards mover 12 toward evagination, to fix mover 12.
In the above embodiment, be positioned in press member 16 as example take the second friction surface 14, present invention is described.Be appreciated that the present invention is not limited to this, the second friction surface 14 also can be positioned on stator 10, or is present on press member 16 and stator 10 simultaneously.
Above the structure according to linear motor of the present invention is described in detail, this linear motor is carried out to straight-line execution mode below and be described.
According to one preferred embodiment, stator 10 for drive mover 12 start from inactive state mobile, make mover 12 produce vibration, vibration drives mover 12 to start from inactive state the stiction that movement need overcome stator 10 to change kinetic force of friction into.
Further, according to the principle of linear motor, stator 10 and mover 12 comprise respectively in magnet and coil one and another, this linear motor 1 also comprises circuit, for the electric current of variation is provided to coil, to produce stator 10 to active force mover 12, that change, thereby make mover 12 produce vibration in straight line A direction.
The principle of this technical scheme is, mover 12 is generally a non-rigid body, and vibration can make the trend of mover 12 accumulation motions, thereby changes kinetic force of friction into by driving mover 12 to start from inactive state the stiction that movement need overcome.The advantage of this scheme is, first, has reduced mover 12 is started to mobile required actuating force from inactive state, thereby reduced power consumption; Secondly, if first need to overcome stiction, actuating force will be larger so, and only need to overcome kinetic force of friction after mover 12 starts to move, but this larger actuating force still, in effect, can make the more difficult control of mover 12, and in the present embodiment, drive mover to start to move identical with the frictional force that starts to need mobile to overcome from inactive state, constant actuating force just can be suitable for.It should be noted that, vibration described here comprises the situation that the position of mover moves forward and backward practically around a central point, also comprise that mover has the trend moving forward and backward, for example be applied in the power changing (power that direction changes, but or the power of the constant size variation of direction) thus mobile trend there is, but there is no the real situation of getting up that moves.
According to another preferred embodiment, stator 10 drives mover 12 to move in the mode of segmentation, in each section, mover 12 starts mobile from inactive state, and at least accelerate and slow down, finally get back to inactive state, and the difference of the displacement of each section of movement is less than certain threshold value.
Particularly, in linear motor, drive current can example as shown in Figure 2, it was t1 square wave (duty ratio is t1/t2) forms by multiple duration of t2 interval time.In whole process, first mover starts to accelerate from inactive state, then slows down, and finally gets back to inactive state.The zero level that the high level that each time span of drive current is t1 and time span are afterwards t2 forms one-period, each section moving corresponding to mover 12 segmentations.Like this, mover 12 each section of movement are all from static setting in motion and get back to inactive state, and every section moves equally in fact, for example, be 10 microns; In reality, very difficult assurance is equal utterly, and general every section moves difference and is less than certain threshold value, for example 5 microns.This can be compared accurately the movement of mover and as one man controls, and is particularly conducive under the application scenarios that precision is very high, for example, focus in module.Will be understood that, drive current described above is only for example purposes, other are any can make mover segment movement, in each section, first start to accelerate from inactive state, then slow down, finally get back to inactive state, and each section of essentially identical drive current of moving displacement all belongs to category of the present invention.
Be appreciated that, in focusing technology, the process of whole focusing is generally such: control eyeglass rectilinear movement, in moving process, image definition is detected, determine corresponding lens position determining behind high definition place, and control eyeglass and return back to relevant position.These steps are not that the present invention pays close attention to, and what the present invention mainly paid close attention to is maintenance and the mobile concrete mode of controlling the position of eyeglass in rectilinear movement process.
Be used for focusing module as example describes in detail this linear motor take linear motor according to the present invention above, be appreciated that application of the present invention is not limited to this, other any linear motors applicable occasion the present invention can both be suitable for.
Inventive concept of the present invention is not restricted to realize linear motor, but for realizing the method for the straight-line device of any driving object, this device has stator 10 and can be driven the mover 12 of motion along a straight line by stator 10, wherein, this mover has the first friction surface 120, and the method comprises the following steps:
-the second friction surface 14 contacting with the first friction surface 120 is provided;
-for described the first friction surface 120 and the second friction surface 14 provide mutual pressure, pressure makes can produce the frictional force that mover 12 is remained on to its current location between the first friction surface 120 and the second friction surface 14;
At least one item during the method is further comprising the steps of:
-stator 10 drive mover 12 from static start mobile, make mover 12 produce vibration, vibration changes kinetic force of friction into by driving mover 12 to start from inactive state the stiction that movement need overcome;
-stator 10 drives mover 12 to move in the mode of segmentation, and in each section, mover 12 starts mobile from inactive state, and at least accelerates and slow down, and finally get back to inactive state, and the difference of the displacement of each section of movement is less than certain threshold value.
Further, device comprises linear motor 1, and stator 10 and mover 12 comprise respectively in magnet and coil one and another, described in the vibrative step of mover 12 is comprised:
-pass to the electric current of variation to described coil, to produce active force mover 12, that change, thereby make mover 12 in rectilinear direction, produce vibration.
Further, described in, provide the step of pressure to comprise that use elastomeric element 16 provides this pressure.
Further, described in, provide the step of described the second friction surface 14 to comprise:
-the second friction surface 14 is provided on stator 10; And/or
-the second friction surface 14 is provided on elastomeric element 16.
In an example, the purposes of the method is for control the movement of eyeglass along lens light axis in focusing.
Although illustrate in detail and described the present invention in accompanying drawing and aforesaid description, should think that this is illustrated and describes is illustrative and exemplary, rather than restrictive; The invention is not restricted to above-mentioned execution mode.
The those skilled in the art of those the art can, by research specification, disclosed content and accompanying drawing and appending claims, understand and implement other changes of the execution mode to disclosing.In practical application of the present invention, a part may execute claims the function of middle quoted multiple technical characterictics, and for example press member 16 can be passed through same parts with stator 10, and for example one has the magnet that has covered elastomeric material and realizes.In the claims, word " comprises " element and the step of not getting rid of other, and wording " one " is not got rid of plural number.Any Reference numeral in claim should not be construed as the restriction to scope.
Claims (16)
1. one kind drives the implementation method of object linear motion device, this driving object linear motion device has stator (10) and can be driven along a straight line by described stator (10) mover (12) of (A) motion, wherein, this mover has the first friction surface (120), and the method comprises the following steps:
-the second friction surface contacting with described the first friction surface (120) (14) is provided;
-described stator (10) drive described mover (12) start mobile after and described mover (12) during in inactive state, for providing mutual pressure, described pressure, described the first and second friction surfaces (120,14) make can produce the frictional force for described mover (12) being remained on to its current location between described the first and second friction surfaces (120,14);
At least one item during the method is further comprising the steps of:
-drive described mover (12) to start movement from static at described stator (10), make described mover (12) produce vibration, described vibration changes kinetic force of friction into by driving described mover (12) to start from inactive state the stiction that movement need overcome;
-described stator (10) drives described mover (12) to move in the mode of segmentation, in each section, described mover (12) starts mobile from inactive state, and at least accelerate and slow down, finally get back to inactive state, and the difference of the displacement of each section of movement is less than certain threshold value.
2. method according to claim 1, it is characterized in that, described driving object linear motion device comprises linear motor (1), this linear motor (1) comprises described stator (10) and described mover (12), described stator (10) and mover (12) comprise respectively in magnet and coil one and another, described in the vibrative step of described mover (12) is comprised:
-pass to the electric current of variation to described coil, to produce active force described mover (12), that change, thereby make described mover (12) in described rectilinear direction, produce vibration.
3. method according to claim 1 and 2, is characterized in that, described in provide the step of pressure to comprise to use elastomeric element (16) that this pressure is provided.
4. method according to claim 3, described in provide the step of described the second friction surface (14) to comprise:
-described the second friction surface (14) is provided on described stator (10); And/or
-described the second friction surface (14) is provided on described elastomeric element (16).
5. according to the purposes of the method described in any one in claim 1 to 4, this purposes is for control the movement of eyeglass along lens light axis in focusing.
6. a linear motor (1), comprise mover (12) and the stator (10) for driving described mover (12) to move along straight line (A) direction, it is characterized in that, described mover (12) has the first friction surface (120), and this motor (1) also comprises:
-press member (16);
Described stator (10) and/or described press member (16) have the second friction surface (14) contacting with described the first friction surface (120);
Described press member (16) is when driving described mover (12) when motion and described mover (12) static at described stator (10), for providing mutual pressure, described pressure, described the first and second friction surfaces (120,14) make can produce the frictional force for described mover (12) being remained on to its current location between described the first and second friction surfaces (120,14).
7. linear motor according to claim 6 (1), it is characterized in that, described stator (10) is for driving described mover (12) to start from inactive state to move, make described mover (12) produce vibration, described vibration drives described mover (12) to start from inactive state the stiction that movement need overcome described stator (10) to change kinetic force of friction into.
8. linear motor according to claim 7 (1), it is characterized in that, described stator (10) and mover (12) comprise respectively in magnet and coil one and another, and this linear motor (1) also comprises:
-circuit, for the electric current of variation is provided to described coil, to produce described stator (10) to active force described mover (12), that change, thereby makes described mover (12) produce vibration in described rectilinear direction.
9. according to the linear motor described in any one in claim 6 to 8 (1), it is characterized in that, described stator (10) drives described mover (12) to move in the mode of segmentation, in each section, described mover (12) starts mobile from inactive state, and at least accelerate and slow down, finally get back to inactive state, and the difference of the displacement of each section of movement is less than certain threshold value.
10. linear motor according to claim 6 (1), is characterized in that, described press member (16) comprises elastomeric element.
11. linear motors according to claim 10 (1), it is characterized in that, in perpendicular at least one direction of described rectilinear direction, the second friction surface on described elastomeric element (16), relative (14) and the first friction surface on described mover, relative (120) contact, and provide mutual pressure for every pair of first and second friction surfaces that contact (120,14).
12. linear motors according to claim 11 (1), it is characterized in that, described elastomeric element (16) with the upper described mover (12) that surrounds in the perpendicular cross section (P) of described straight line (A) direction, and each the second friction surface (14) is protruding to clamp described mover (12) towards described mover (12)
Described stator (10) is arranged in the gap between described mover (12) and described elastomeric element (16).
13. linear motors according to claim 12 (1), it is characterized in that, described elastomeric element (16) is made up of electromagnetic shielding material, at described cross section (P) upper closed described stator (10) and the described mover (12) of surrounding, and along at least extension in the moving range of described mover (12) and/or the shared scope of described stator (10) of described rectilinear direction.
14. 1 kinds of focusing modules, is characterized in that, comprising:
-eyeglass (L);
-according to the linear motor described in any one in claim 6 to 13 (1), its mover (12) is fixedly connected with described eyeglass (L), and straight line (A) direction that mover (12) moves is consistent with the optical axis of described eyeglass (L).
15. 1 kinds of picture catching modules, is characterized in that, comprise
-imageing sensor (S);
-focusing module according to claim 14, for eyeglass (L) is moved along optical axis, so that the light of injecting eyeglass is focused to described imageing sensor.
16. 1 kinds have the electronic equipment of image capture function, it is characterized in that, comprise picture catching module according to claim 15.
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| CN201110130021.1A CN102195438B (en) | 2011-05-18 | 2011-05-18 | Method for achieving device for driving object to move in a linear mode and linear motor |
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| CN201110130021.1A CN102195438B (en) | 2011-05-18 | 2011-05-18 | Method for achieving device for driving object to move in a linear mode and linear motor |
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| CN103076707B (en) * | 2013-01-16 | 2016-08-03 | 格科微电子（上海）有限公司 | Implementation method, module and the portable equipment of photographic head module lens barrel step motion |
| CN104976987B (en) * | 2015-07-10 | 2019-01-15 | 四川金码科技有限公司 | One kind overcomes hydrostatic level stiction to mention high-precision device and method |
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| SU418941A1 (en) * | 1972-03-07 | 1974-03-05 | ELECTROMECHANICAL DEVICE | |
| SU1156205A1 (en) * | 1983-09-26 | 1985-05-15 | Проектно-Конструкторское Бюро "Пунтукас" | Linear induction motor |
| JP3220559B2 (en) * | 1993-04-27 | 2001-10-22 | オリエンタルモーター株式会社 | Linear pulse motor |
| CN1546805A (en) * | 2003-12-05 | 2004-11-17 | 燎 贾 | Static pressing and excitation pile-sinking method |
| KR100582746B1 (en) * | 2003-12-19 | 2006-05-23 | 주식회사 하이소닉 | Imaging Device |
| KR20080035676A (en) * | 2005-08-08 | 2008-04-23 | 코닌클리케 필립스 일렉트로닉스 엔.브이. | Drive system for driving a movable part and disk drive unit comprising such drive system |
| KR101092819B1 (en) * | 2006-04-11 | 2011-12-12 | 코니카 미놀타 옵토 인코포레이티드 | Drive device |
| CN201091059Y (en) * | 2006-12-21 | 2008-07-23 | 马善振 | Permanent magnetism linear motor for well |
| DE102008053646A1 (en) * | 2008-10-29 | 2010-05-06 | Minebea Co., Ltd. | Linear drive with shock compensation |
| CN202059308U (en) * | 2011-05-18 | 2011-11-30 | 格科微电子（上海）有限公司 | Linear motor, focusing module group, image capture module group and electronic equipment |
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