阅读说明：本技术 线性电动机和电梯 (Linear motor and elevator ) 是由 T.哈卡拉 T.科霍宁 M.明基宁 于 2020-09-11 设计创作，主要内容包括：在本文中介绍线性电动机(10)和电梯(100)。线性电动机(10)包括定子(20)和适于沿定子(20)移动的动子(15),其中一个(20、15)包括沿纵向方向(Z)成排(24)布置的非磁芯线圈(25)。此外,定子(20)和动子(15)中的另一个包括在纵向方向(Z)上布置在至少两个相邻排(27)的永磁体(28)中,其中,永磁体(27)的排隔开一个或多个间隙,间隙尺寸设定为接收线圈(24)的排。更进一步,永磁体(27)的排中的至少一排可以以Halbach阵列(40)的形式布置。电梯(100)可以包括电梯井道(30)和布置成由线性电动机(10)在电梯井道(30)中移动的电梯轿厢(5)。(A linear motor (10) and an elevator (100) are described herein. The linear motor (10) comprises a stator (20) and a mover (15) adapted to move along the stator (20), wherein one (20, 15) comprises non-magnetic core coils (25) arranged in rows (24) along a longitudinal direction (Z). Furthermore, the other of the stator (20) and the mover (15) comprises permanent magnets (28) arranged in at least two adjacent rows (27) in the longitudinal direction (Z), wherein the rows of permanent magnets (27) are separated by one or more gaps, the gap being dimensioned to receive the rows of coils (24). Further, at least one of the rows of permanent magnets (27) may be arranged in the form of a Halbach array (40). The elevator (100) may comprise an elevator hoistway (30) and an elevator car (5) arranged to be moved in the elevator hoistway (30) by a linear electric motor (10).)

1. A linear motor (10) comprising:

a stator (20) and a mover (15) adapted to move along the stator (20);

wherein one of the stator (20) and the mover (15) comprises a plurality of non-magnetic core coils (25), such as air-core coils, arranged in at least one row of coils (24) in a longitudinal direction (Z) of said one of the stator (20) and the mover (15); and is

Wherein the other of the stator (20) and the mover (15) comprises permanent magnets (28) arranged in at least two adjacent rows of permanent magnets (27) in a longitudinal direction (Z) of the other of the stator (20) and the mover (15), wherein the adjacent rows of permanent magnets (27) are separated by a gap sized to receive at least one row of coils (24); and is

Wherein at least one of the adjacent rows of permanent magnets (27) is at least partially or completely arranged in the form of a Halbach array comprising a Strong Side (SS) and a Weak Side (WS), the Strong Side (SS) facing the at least one row of coils (24).

2. Linear motor (10) according to claim 1, wherein at least two rows of adjacent rows of permanent magnets (27) are at least partially or completely arranged in the form of a Halbach array comprising a Strong Side (SS) and a Weak Side (WS), the Strong Side (SS) facing the at least one row of coils (24).

3. Linear electric motor (10) according to claim 1 or 2, wherein said plurality of non-magnetic core coils (25) are arranged in at least two adjacent rows of coils (24) in a longitudinal direction (Z) of said one of the stator (20) and mover (15), the rows (24) being separated by a second gap;

wherein the permanent magnets (28) are arranged in at least three adjacent rows of permanent magnets (27) in the longitudinal direction (Z) of the other of the stator (20) and the mover (15), wherein the adjacent rows of permanent magnets (27) are each separated by a gap dimensioned to receive at least two adjacent rows of coils (24), wherein two of the adjacent rows of permanent magnets (27) are the outermost rows and at least one of the adjacent rows of permanent magnets (27) is the middle row; and is

Wherein one or both of the outermost rows are arranged in the form of a Halbach array comprising a Strong Side (SS) and a Weak Side (WS), each of the Strong Sides (SS) facing one of the at least two rows of coils (24).

4. A linear motor (10) according to claim 3, wherein in at least one intermediate row the permanent magnets (28) are arranged in turns with reversed poles in the direction of the motor normal (N) and the poles of the permanent magnets (28) are aligned with the poles of the permanent magnets (28) of the outermost row.

5. Linear motor (10) according to claim 2, comprising two adjacent groups of coils (24) of one row and two adjacent rows of permanent magnets (27).

6. Linear motor (10) according to any of the preceding claims, wherein the permanent magnets (28) in adjacent rows (27) are arranged in turns with reversed poles in the direction of the motor normal (N) and the poles of the permanent magnets (27) of adjacent rows are aligned with each other.

7. The linear motor (10) according to any one of the preceding claims, wherein the coil Openings (OP) of the plurality of non-magnetic core coils (25) are in the direction of the motor normal (N) to provide a main flux in a lateral direction of the stator (20).

8. The linear motor (10) according to any one of the preceding claims, wherein the non-magnetic core coil (25) is manufactured by additive manufacturing.

9. Linear motor (10) according to any of the preceding claims, wherein the non-magnetic core coil (25) is tilted with respect to a perpendicular direction perpendicular to both the longitudinal direction (Z) and the motor normal (N), such as with respect to the first direction (X).

10. Linear motor (10) according to any of the preceding claims, wherein the stator (20) comprises a plurality of air-core coils arranged in two adjacent rows (24) separated by a gap in the longitudinal direction (Z) of the stator (20), and wherein the mover (15) comprises permanent magnets (28) arranged in three adjacent rows (27), three adjacent rows (27) separated by two gaps, the two gaps being dimensioned to receive the air-core coils.

11. An elevator (100) comprising an elevator hoistway (30) and an elevator car (5) adapted to move in the elevator hoistway (30), wherein the elevator (100) comprises a linear electric motor (10) according to any of the preceding claims.

12. Elevator (100) according to claim 11, wherein the elevator hoistway (30) is equipped with a charging station (201) comprising at least one second coil (26) and a power stage (210) for modulating the at least one second coil (26);

wherein the at least one second coil (26) is arranged adjacent to the at least one non-magnetic core coil (25), e.g. an air core coil, to face the at least one non-magnetic core coil (25) when the elevator car (5) is in the charging station (201), wherein the non-magnetic core coil (25) is optionally arranged to the mover (15);

wherein the power stage (210) is configured to modulate the at least one second coil (26) when the elevator car (5) is located at the charging station (201).

13. Elevator (100) according to claim 11 or 12, wherein the elevator hoistway (30) is equipped with a direction change position (300) comprising at least one third coil (310) arranged to be aligned with the plurality of non-magnetic core coils (25) of one of the stator (20) and the mover (15) when the elevator car (5) is in the direction change position (300), thereby enabling wireless power transmission between the non-magnetic core coils (25) and the at least one third coil (310), and with equipment comprising an actuator (320) configured to change the direction of movement of the elevator car (5).

14. A linear motor (10) comprising:

a stator (20) and a mover (15) adapted to move along the stator (20);

wherein one of the stator and the mover comprises a plurality of non-magnetic core coils, such as air-core coils, arranged in at least one row of coils in a longitudinal direction of the one of the stator and the mover; and is

Wherein the other of the stator and the mover comprises permanent magnets arranged in at least two adjacent rows of permanent magnets in a longitudinal direction of the other of the stator and the mover, wherein the adjacent rows of permanent magnets are separated by a gap sized to receive at least one row of coils; and is

Wherein the non-magnetic core coil is manufactured by additive manufacturing.

15. A linear motor (10) comprising:

a stator and a mover adapted to move along the stator;

wherein one of the stator and the mover comprises a plurality of non-magnetic core coils, such as air-core coils, arranged in at least one row of coils in a longitudinal direction of the one of the stator and the mover; and is

Wherein the other of the stator and the mover comprises permanent magnets arranged in at least two adjacent rows of permanent magnets in a longitudinal direction of the other of the stator and the mover, wherein the adjacent rows of permanent magnets are separated by a gap sized to receive at least one row of coils; and is

Wherein the non-core coil is tilted with respect to a vertical direction perpendicular to both the longitudinal direction and the motor normal direction.

16. An elevator (100) comprising a linear motor, the linear motor comprising:

a stator and a mover adapted to move along the stator;

wherein one of the stator and the mover comprises a plurality of non-magnetic core coils, such as air-core coils, arranged in at least one row of coils in a longitudinal direction of the one of the stator and the mover; and is

Wherein the other of the stator and the mover comprises permanent magnets arranged in at least two adjacent rows of permanent magnets in a longitudinal direction of the other of the stator and the mover, wherein the adjacent rows of permanent magnets are separated by a gap sized to receive at least one row of coils; and is

Wherein the elevator comprises at least one second coil (26), optionally a set of second non-magnetic core coils, arranged to said one of the stator and the mover, e.g. arranged to be located on or below the level of the one or more landing levels (19), arranged to be aligned with the plurality of non-magnetic core coils (25) of the one of the stator (20) and the mover (15) at one or more charging stations (201) to enable wireless power transfer between the non-magnetic core coils (25) and said at least one second coil (26), wherein optionally the second coil is identical to the non-magnetic core coils (25).

17. An elevator (100) comprising a linear motor, the linear motor comprising:

a stator and a mover adapted to move along the stator;

wherein one of the stator and the mover comprises a plurality of non-magnetic core coils, such as air-core coils, arranged in at least one row of coils in a longitudinal direction of the one of the stator and the mover; and is

Wherein the other of the stator and the mover comprises permanent magnets arranged in at least two adjacent rows of permanent magnets in a longitudinal direction of the other of the stator and the mover, wherein the adjacent rows of permanent magnets are separated by a gap sized to receive at least one row of coils; and is

Wherein the elevator comprises a set of third non-magnetic core coils (26) arranged to one of the stator and the mover, arranged to be in a direction change position (300) and arranged to be aligned with the plurality of non-magnetic core coils (25) of one of the stator (20) and the mover (15) such that wireless power transfer between the non-magnetic core coils (25) and the third non-magnetic core coils (26) is possible, wherein optionally the second non-magnetic core coils are identical to the non-magnetic core coils (25), wherein the elevator further comprises a device comprising an actuator (320) in the direction change position (300), the actuator being configured to change the direction of movement of the elevator car (5).

Technical Field

The present invention generally relates to elevators. In particular, but not exclusively, the invention relates to a linear motor for an elevator, for a conveyor such as an escalator, for a travelator or for an inclined elevator.

Background

Elevators with linear motors arranged to move an elevator car in an elevator hoistway are known. In a known solution, the stator of a linear motor comprises a coil with a magnetic core.

One disadvantage in known attempts is that the stator becomes very heavy and expensive due to the many magnetic core materials therein. In addition, the stator has a complicated structure due to the magnetic core in the coil. This is particularly problematic in elevators having long elevator hoistways, e.g. in high-rise buildings. Furthermore, the magnetic core causes lateral forces in the motor, which must be compensated for. Therefore, there is still a need to develop a linear motor for an elevator.

Disclosure of Invention

The invention aims to provide a linear motor and an elevator. Another object of the invention is a linear motor and an elevator that alleviate at least some of the disadvantages of the known elevator.

The object of the invention is achieved by a linear motor and an elevator as defined by the respective independent claims.

According to a first aspect, a linear motor is provided. The linear motor comprises a stator and a mover adapted to move along the stator. One of the stator and the mover includes a plurality of non-magnetic core coils, e.g., air-core coils, arranged in at least one row of coils in a longitudinal direction of the one of the stator and the mover. Furthermore, the other of the stator and the mover comprises permanent magnets arranged in at least two adjacent rows of permanent magnets in a longitudinal direction of the other of the stator and the mover, wherein the adjacent rows of permanent magnets are separated by a gap, the gap being dimensioned for receiving at least one row of coils.

It will be appreciated that the gap must be dimensioned such that it enables the permanent magnet row and the coil row to move relative to each other. Thus, in various embodiments, there is an air gap between the rows.

Alternatively, at least one row of adjacent rows of permanent magnets may be arranged, such as at least partially or substantially completely, in the form of a Halbach array comprising a strong side and a weak side, wherein the strong side is arranged to face the at least one row of coils.

A Halbach array refers herein to an arrangement of permanent magnets that enhances the magnetic field on one side of the array (i.e. the strong side) while cancelling the magnetic field to near zero on the other side (i.e. the weak side), or at least produces a lower magnetic field relative to the strong side. The strong and weak sides are preferably opposite sides of the array.

In some embodiments, at least two rows of adjacent rows of permanent magnets may be arranged in the form of a Halbach array comprising a strong side and a weak side, wherein the strong side is arranged to face at least one row of coils. Furthermore, the poles in adjacent rows of permanent magnets may be aligned with respect to each other.

In some embodiments, the linear motor may comprise at least two adjacent sets of one row of coils and two adjacent rows of permanent magnets. Thus, the linear motor may comprise, for example, two adjacent rows of coils, each sandwiched between two rows of permanent magnets, one, two or even all of which may be arranged partially or completely in the form of a Halbach array.

In various embodiments, the plurality of non-magnetic core coils are arranged in at least two adjacent rows of coils in a longitudinal direction of one of the stator and the mover, wherein the arrangement is spaced apart by a second gap. Furthermore, the permanent magnets may be arranged in at least three adjacent rows of permanent magnets in the longitudinal direction of the other of the stator and the mover, wherein the permanent magnets of adjacent rows are separated by gaps, respectively, the gaps being dimensioned for receiving coils of at least two adjacent rows. Thus, two of the adjacent rows of permanent magnets are the outermost rows, and at least one of the adjacent rows of permanent magnets is the middle row. Furthermore, one or both of the outermost rows may be arranged in the form of an albach array comprising a strong side and a weak side, each of the strong sides may be arranged to face one of the at least two rows of coils. Preferably, the poles in adjacent rows of permanent magnets may be aligned with respect to each other.

In some embodiments, the at least one intermediate row of permanent magnets may comprise two portions separated by a support portion of ferromagnetic material in a direction along the motor normal N. The poles of the two parts are arranged to align. Thus, the two portions may substantially sandwich the support portion.

The second gap must also be dimensioned such that it enables the permanent magnet row and the coil row to move relative to each other. Thus, in various embodiments, there is an air gap between the rows.

In addition, in at least one intermediate row, permanent magnets (which may not be typical of the Halbach array form, for example) may be arranged in turns with reversed poles in the direction of the motor normal, with the poles of the permanent magnets aligned with the poles of the outermost row of permanent magnets.

In various embodiments, the coil openings of the plurality of non-magnetic core coils, or in particular the surface normals thereof, may be arranged along or facing the motor normal direction to provide a main flux in a transverse direction of the stator.

Alternatively or additionally, the permanent magnets in adjacent rows 27 may be arranged in turns with reversed poles in the direction of the motor normal, and the poles of the adjacent rows of permanent magnets are aligned with respect to each other.

In various embodiments, non-magnetic core coils have been manufactured by additive manufacturing.

In some embodiments, the non-magnetic core coil may be tilted with respect to a vertical direction perpendicular to both the longitudinal direction and the motor normal, e.g., the non-magnetic core coil is tilted with respect to the first direction.

In various embodiments, the stator may comprise a plurality of air-core coils arranged in two adjacent rows spaced apart in a longitudinal direction of the stator, and wherein the mover may comprise permanent magnets arranged in three adjacent rows, the three adjacent rows being separated by two gaps sized to receive the air-core coils.

According to a second aspect, an elevator is provided. The elevator may comprise an elevator hoistway and an elevator car adapted to move in the elevator hoistway, wherein the elevator comprises a linear electric motor according to the first aspect.

In various embodiments, the elevator hoistway may be equipped with a charging station that includes at least one second coil and a power stage for modulating the at least one second coil. The at least one or more second coils may be arranged adjacent to the at least one non-magnetic core coil, e.g. an air core coil, to face the at least one non-magnetic core coil when the elevator car is located at the charging station. The non-magnetic core coil is optionally arranged to the mover. Further, the power stage is configured to modulate the at least one second coil when the elevator car is located at the charging station to wirelessly transfer power between, for example, from the at least one second coil to the non-magnetic core coil.

Alternatively or additionally, the elevator hoistway may be equipped with a direction change position comprising at least one third coil arranged to align with the plurality of non-magnetic core coils of one of the stator and the mover when the elevator car is in the direction change position, thereby enabling wireless power transfer between the non-magnetic core coils and the at least one third coil. The elevator hoistway may also include an apparatus configured to change an actuator (320) of a direction of motion of the elevator car. Thereby, power can be provided between them, in particular from the non-magnetic core coil via the third coil to the actuator.

The invention provides a linear motor and an elevator. The invention provides advantages over known solutions in that the stator or mover becomes lighter and less costly due to having coils with non-magnetic cores, e.g. air-core coils. Furthermore, the use of a non-magnetic core reduces the amount of lateral forces in the motor.

Furthermore, in some preferred embodiments, by using a Halbach array, a higher thrust density per magnet material can be achieved compared to known solutions that do not use a Halbach array. By using a Halbach array, thinner magnets can be used to generate the same force as compared to conventional permanent magnets.

Various other advantages will become apparent to the skilled person based on the following detailed description.

The expression "plurality" may refer to any positive integer starting from two (2), i.e. at least two.

The terms "first," "second," and "third" are used herein to distinguish one element from another, and do not particularly prioritize or rank them, if not explicitly stated otherwise.

The exemplary embodiments of the invention presented herein should not be construed as limiting the applicability of the appended claims. The verb "to comprise" is used herein as an open limitation that does not exclude the presence of features that are also not stated. The features recited in the dependent claims may be freely combined with each other, unless explicitly stated otherwise.

The novel features believed characteristic of the invention are set forth in the appended claims. The invention itself, however, both as to its construction and its method of operation, together with additional objects and advantages thereof, will be best understood from the following description of specific embodiments when read in connection with the accompanying drawings.

Drawings

In the drawings, some embodiments of the invention are shown by way of example and not limitation.

Fig. 1 schematically shows an elevator according to an embodiment of the invention.

Fig. 2A and 2B schematically show a linear motor according to an embodiment of the present invention.

Fig. 3A and 3B schematically show a linear motor according to an embodiment of the present invention.

Figures 4A-4D schematically illustrate Halbach arrays according to some embodiments of the present invention.

Fig. 5 schematically shows a linear motor according to an embodiment of the present invention.

Fig. 6 schematically shows a linear motor and a wireless charging device according to an embodiment of the present invention.

Fig. 7 schematically shows an elevator according to an embodiment of the invention.

Detailed Description

Fig. 1 schematically shows an elevator 100 according to an embodiment of the invention. The elevator 100 may preferably comprise a linear motor 10 arranged for moving one or more elevator cars 5 in an elevator hoistway 30 of the elevator 100. The linear motor 10 comprises a stator 20 and a mover 15 adapted to move along the stator 20. Additionally, the stator 20 may have a support portion 22 for attaching the stator 20 to a structure of the elevator hoistway 30 (e.g., to a wall thereof).

The elevator 100 may comprise a plurality of landing levels 19, e.g. with landing doors, and one or more elevator cars 5 may be arranged to serve a plurality of landing levels 19.

However, even though in fig. 1 an elevator 100 is shown in which the elevator car 5 is arranged to move vertically, various embodiments of the invention may alternatively be implemented in a conveyor such as an escalator, in a travelator or in an inclined elevator, or in a multi-car elevator having various vertical and horizontal paths along which one or more elevator cars 5 are arranged to move.

In various embodiments, the linear motor 10 may include one stator 20 or a plurality of stators 20. Furthermore, there may be one mover 15, or preferably a plurality of movers 15, arranged to be coupled to the elevator car 10 to move the elevator car 10 along the one or more stators 20. Details of the linear motor 10 according to some embodiments of the present invention will be described below.

The elevator 100 may also comprise an elevator control unit 1000. For example, as shown in fig. 1, the elevator control unit 1000 may preferably be at least communicatively and optionally electrically coupled to the various components and subsystems of the elevator 100. The elevator control unit 1000 may further comprise one or more processors, one or more memories, and possibly one or more user interface units, the memories being volatile or non-transitory, for storing computer program code and portions of any data values. The mentioned elements may be communicatively coupled to each other by, for example, an internal bus.

The processor of the elevator control unit 1000 may be configured to perform various tasks related to the operation of the elevator 100. The method can be implemented by arranging a processor to execute at least a part of the computer program code stored in the memory, so that the processor as well as the elevator control unit 1000 performs the tasks related to the operation of the elevator 100. Thus, the processor is arranged to access the memory and retrieve any information therefrom and store any information therein. For the sake of clarity, a processor here refers to any unit suitable for handling information and the operation of the elevator safety control unit 1000 as well as other tasks. The operation can also be implemented using a microcontroller solution with embedded software. Similarly, the memory is not limited to only a certain type of memory, but any type of memory suitable for storing the described information may be used in the context of the present invention.

In fig. 1, one or more movers have been coupled to the elevator car 5 to move the elevator car 5 along the stator 20 and thus along the elevator hoistway 30. The one or more movers 15 can be arranged to include non-magnetic core coils, such as air core coils. Further, one or more stators 20 may include permanent magnets disposed thereto. Further, the elevator car 10 may comprise an electrical converter unit 12, e.g. comprising a frequency converter or an inverter, for controlling the operation of the mover 15, e.g. injecting and controlling a current in the coils of one or more movers 15, thereby controlling the movement of the elevator car 5 along the one or more stators 20. Further, the elevator car 5 may comprise an electrical energy storage 14, such as one or more batteries and/or supercapacitors. The electrical energy storage 14 may be connected to the electrical converter unit 12, for example to an intermediate circuit of a frequency converter, to an input of a frequency converter, or to an input of an inverter. The electrical energy storage 14 can advantageously be designed as the main power source for moving the elevator car 5.

Alternatively, one or more of the stators 20 may comprise non-magnetic core coils, such as air core coils. Further, the mover 20 may include a permanent magnet disposed thereto. In this case, the non-magnetic core coil may be controlled by one or more electrical converters arranged to the elevator hoistway.

The one or more movers 15 can be arranged to the rear wall of the car 5, i.e. providing a rucksack elevator car, or alternatively the one or more movers 15 can be arranged to one or more side walls of the elevator car 5.

Alternatively, the elevator 100 may comprise one or more guide rails (not shown), and the elevator car 5 may be provided with guide shoes (not shown), e.g. sliding shoes or rotating guide rollers, arranged to control the lateral movement of the elevator car 5, i.e. the movement in the first X and/or second Y direction (e.g. the second direction Y is shown in fig. 2A). The guide rail/guide shoe may be known to those skilled in the art.

In various embodiments of the invention, there may or may not be a counterweight coupled with the elevator car 5.

Fig. 2A and 2B schematically show a linear motor 10 according to an embodiment of the present invention. One of the stator 20 and the mover 15 comprises a plurality of non-magnetic core coils 25, e.g. air core coils, arranged in at least one row of coils 24, preferably in at least two rows of coils 24, in a longitudinal direction of the one of the stator 20 and the mover 15. In fig. 2A, the coil 25 is preferably arranged to the mover 15, the mover 15 being further coupled to the elevator car 5. The coil 25 may be coupled to the coil support 23 and, optionally, further to the elevator car 5. By having coils with non-magnetic cores, such as air-core coils, the stator 20 or the mover 15 becomes lighter and less costly with respect to known solutions. Furthermore, the use of a non-magnetic core reduces the amount of lateral forces in the motor 10.

The coil openings of the plurality of non-core coils 25 may preferably be arranged in the direction of the motor normal N to provide a main flux in a transverse direction of the stator 2 (substantially in the second direction Y in fig. 2A and 2B).

The first direction X is preferably substantially perpendicular with respect to both the longitudinal direction Z and the second direction Y.

Furthermore, in fig. 2A and 2B, the other of the stator 20 and the mover 15 comprises permanent magnets 28, which permanent magnets 28 are arranged in at least two adjacent rows of permanent magnets 27 in the longitudinal direction Z of the other of the stator 20 and the mover 15, wherein the adjacent rows of permanent magnets 27, preferably at least four rows of permanent magnets 27 according to the number of rows of coils 24, are separated by gaps, which are dimensioned for receiving at least one row of coils 24. The permanent magnets 28 may be coupled to a coil support 29 and, optionally, further coupled to an elevator car 30. As can be seen in fig. 2A and 2B, each row of coils 24 is sandwiched between two rows of permanent magnets 27. Thus, the stator 20 or the mover 15 may comprise, for example, one or two adjacent groups of one row of coils 24 and two adjacent rows of permanent magnets 27.

Preferably, the permanent magnets 28 in adjacent rows 27 may be arranged in turns having reversed poles in the direction of the motor normal N, and the poles of adjacent rows of permanent magnets 27 are aligned with each other. In the non-limiting example of fig. 2B, sequentially reversed magnetic poles are shown by arrows 35. Further, the poles of each of the adjacent rows of permanent magnets 27 may be aligned with respect to each other.

Accordingly, the linear motor 10 may be operated by injecting an alternating current into the plurality of non-core coils 25, which generate an electromagnetic coupling or traveling magnetic field with the permanent magnets 28, thereby enabling the stator 20 and the mover 15 to move relative to each other as is well known. Known control methods, such as vector or field oriented control, may be utilized.

Furthermore, in various embodiments, at least one row, preferably at least two rows of permanent magnets 27 may be arranged at least partially or substantially completely in the form of a Halbach array comprising a strong side and a weak side, the strong side facing the at least one row of coils 24.

Fig. 3A and 3B schematically show a linear motor 10 according to an embodiment of the present invention. One of the stator 20 and the mover 15 may include a plurality of non-magnetic core coils 25, such as air-core coils, arranged in at least two rows of coils 24 in a longitudinal direction Z of the one of the stator 20 and the mover 15; rows 24 are separated by gaps. In fig. 3A, the coil 25 is preferably arranged to the mover 15, the mover 15 being further coupled to the elevator car 5. The coil 25 may be coupled to the coil support 23 and, optionally, further to the elevator car 5. By having coils with non-magnetic cores, such as air-core coils, the stator 20 or the mover 15 becomes lighter and less costly with respect to known solutions. Furthermore, the use of a non-magnetic core reduces the amount of lateral forces in the motor 10.

The coil openings of the plurality of non-core coils 25 may preferably be arranged in the direction of the motor normal N to provide a main flux in a transverse direction of the stator 2 (substantially in the second direction Y in fig. 3A and 3B).

Furthermore, in fig. 3A and 3B, the other of the stator 20 and the mover 15 comprises permanent magnets 28, which permanent magnets 28 are arranged in at least three adjacent rows of permanent magnets 27 in the longitudinal direction Z of the other of the stator 20 and the mover 15, wherein the adjacent rows of permanent magnets 27 are separated by gaps, respectively, which gaps are dimensioned for receiving at least two rows of coils 24. The permanent magnets 28 may be coupled to a coil support 29 and, optionally, further coupled to an elevator car 30. As shown in fig. 3A and 3B, the permanent magnets 28 are arranged in at least three adjacent rows of permanent magnets 27 in the longitudinal direction Z of the other of the stator 20 and the mover 15, wherein the permanent magnets 27 of adjacent rows are respectively separated by gaps sized for receiving the coils 24 of at least two adjacent rows. Further, as can be seen from fig. 3A and 3B, two rows of the permanent magnets 27 of adjacent rows are the outermost rows, and at least one row of the permanent magnets 27 of adjacent rows is the middle row. In at least one intermediate row, the permanent magnets 28 may be arranged in turns having reversed poles in the direction of the motor normal N, and the poles of the permanent magnets 28 may be aligned with the poles of the outermost row of permanent magnets 28.

In some embodiments, at least one intermediate row of permanent magnets 28 may comprise two portions separated by a support portion of ferromagnetic material in a direction along the motor normal N. The poles of the two parts are arranged to align.

Preferably, the permanent magnets 28 in adjacent rows 27 may be arranged in turns having reversed poles in the direction of the motor normal N, and the poles of adjacent rows of permanent magnets 27 are aligned with each other. In the non-limiting example of fig. 2B, sequentially reversed magnetic poles are shown by arrows 35.

Accordingly, the linear motor 10 may be operated by injecting an alternating current into the plurality of non-core coils 25, which generate an electromagnetic coupling or traveling magnetic field with the permanent magnets 28, thereby enabling the stator 20 and the mover 15 to move relative to each other as is well known. Known control methods, such as vector or field oriented control, may be utilized.

Furthermore, in various embodiments, at least the outermost row of permanent magnets 27 may be arranged in the form of a Halbach array comprising a strong side and a weak side, the strong side facing one of the at least two rows of coils 24.

Figures 4A-4D schematically illustrate a Halbach array 40 according to some embodiments of the present invention. As mentioned above, the Halbach array 40 may be comprised in at least one row of permanent magnets 27. A portion of a row of non-magnetic core coils 24 has been illustrated in fig. 4A-4D to illustrate the orientation of the Halbach array 40 relative to the row of coils 24 in accordance with various embodiments of the present invention.

Figure 4A schematically illustrates a Halbach array 40 as part of a linear motor according to an embodiment of the present invention. In fig. 4A, a row of permanent magnets 27 is arranged in the form of a Halbach array comprising a strong side SS and a weak side WS, wherein the strong side SS is arranged facing the at least one row of coils 24. The poles of the rows of permanent magnets 27 in the form of a Halbach array are arranged in alignment with the poles of the rows of permanent magnets 27 on opposite sides of at least one row of coils 24.

Figure 4B schematically illustrates a Halbach array 40 as part of a linear motor according to an embodiment of the present invention. In fig. 4B, two rows of permanent magnets 27 are arranged in the form of a Halbach array comprising a strong side SS and a weak side WS, wherein the strong side SS is arranged facing the at least one row of coils 24. The poles of the rows of permanent magnets 27 in the form of a Halbach array are arranged in alignment with each other.

Figure 4C schematically illustrates a Halbach array 40 as part of a linear motor according to an embodiment of the present invention. In fig. 4C, two rows of the three rows of permanent magnets 27, i.e., the outermost row of the permanent magnets 27, are arranged in the form of a Halbach array including a strong side SS and a weak side WS, wherein each strong side SS is arranged to face one row of the at least one row of coils 24. The poles of the rows of permanent magnets 27 in the form of a Halbach array are arranged in alignment with each other. Furthermore, one of the three rows of permanent magnets 27, the middle row, may be arranged in turns having inverted poles in the direction of the motor normal N, with the poles of the middle row 27 aligned with the poles of the outermost row 27. Thus, fig. 4C shows an example of a linear motor 10, the linear motor 10 including two adjacent rows of non-magnetic core coils 24 separated by a gap.

Figure 4D schematically illustrates a Halbach array 40 as part of a linear motor according to an embodiment of the present invention. In fig. 4D, each of the four rows of permanent magnets 27 is arranged in the form of a Halbach array comprising a strong side SS and a weak side WS, wherein each strong side SS is arranged to face one of the at least one row of coils 24. The poles of the rows of permanent magnets 27 in the form of a Halbach array are aligned with one another relative to a row of coils 24, that is, the poles of the rows of permanent magnets 28 sandwich a row of coils 24. Thus, fig. 4D illustrates another example of a linear motor 10, the linear motor 10 including two adjacent rows of non-magnetic core coils 24 separated by a gap.

With respect to fig. 4A-4D, a higher thrust density per magnet material can be achieved compared to known solutions that do not use Halbach arrays. This is particularly advantageous if the stator 20 has poles made of permanent magnets, since the total magnetic material consumption can be reduced. Alternatively, a permanent magnet pole structure may be used in the mover 15, i.e. in a reversed solution, where permanent magnet poles are provided in the mover 15 and non-magnetic core coils 28 (e.g. air-core coils) are provided in the stator 20. By using the Halbach array 40, thinner magnets can be used to generate the same force as compared to conventional permanent magnets.

However, if permanent magnets 28 in the form of Halbach arrays 40 are being used, it may not be necessary to use a structure according to any of fig. 4A-4D in the elevator 100 of fig. 1.

Furthermore, the structure shown in fig. 4D may be particularly useful in the linear motor 10 of fig. 2A and 2B if a permanent magnet 28 in the form of a Halbach array 40 is being used.

Still further, the configuration shown in fig. 4C may be particularly useful in the linear motor 10 of fig. 3A and 3B if a permanent magnet 28 in the form of a Halbach array 40 is being used.

In various embodiments, the non-magnetic core coil 25 may be manufactured by additive manufacturing, for example by 3D printing, in a linear motor 10 with or without a Halbach array 40. This provides advantages because space-saving machines can be manufactured by additive manufacturing of the coil, the construction is simpler and thermal optimization of the coil 25 can be further facilitated.

By 3D printing conductive material (e.g. copper) and insulating material (e.g. between turns of a coil) a solid structure can be manufactured that can carry the load without the need for additional reinforcement structures. In conventional coils, in order to obtain tight radii in the inner curve, it is necessary to use a small diameter wire. This challenge can be overcome with 3D printing. 3D printing may more efficiently utilize space because the distance between coils and the center hole may be minimized and coil ends may be shortened. 3D printing can also use larger cross-sectional areas of conductive material (e.g., copper) and change the cross-section so that the loss profile can be optimized.

Fig. 5 schematically illustrates a linear motor 10, or at least a portion thereof, according to an embodiment of the invention. In fig. 5, a row of permanent magnets 27 is shown behind a row of non-magnetic core coils 24. It should be understood that there may be another row of permanent magnets 27 arranged to sandwich one row of coils 24, or the motor 10 may include two or more rows of coils 24, such as described above with respect to fig. 2A-4D. Further, the row of permanent magnets 27 may, but need not, include a Halbach array 40 or array 40.

With regard to fig. 5, the coil 25 is arranged inclined with respect to the first direction X (see arrow 25D) such that the guiding force will be minimized, i.e. the force required for guiding the element, e.g. in connection with one or more guide rails. In embodiments in which the mover 15 is arranged to the elevator car 5 in order to provide a backpack type elevator car (the mover 15 is arranged to the rear wall of the elevator car 5), the weight generates a guiding force that may affect ride comfort. By arranging the coil 25 obliquely, a force component reducing the guiding force can be generated. The inclination may be at least 5 degrees, preferably at least 10 degrees, or even at least 15 or 20 degrees. The advantage of inclining the coils 25 is thus that guide rails and/or related elements can be manufactured which can withstand or generate less force to guide the elevator car 5. This may require, for example, the use of cheaper and/or lighter materials. Also, by reducing the required guiding force, the ride comfort can be increased. Furthermore, some coil openings OP are shown in fig. 5, which may comprise air or non-magnetic core material.

Fig. 6 schematically shows a linear motor 10 and a wireless charging device 200 according to an embodiment of the present invention. The elevator 100 may be as shown in fig. 1 and described with respect to fig. 1. The linear motor 10 may, but need not, have a Halbach array 40 or array 40 and/or 3D print coils 25 and/or tilt coils as described and illustrated above with respect to and/or in fig. 2A-5.

In fig. 6, one of the stator 20 and the mover 15 may comprise a plurality of non-magnetic core coils 25, e.g. air-core coils, arranged in at least one row of coils 24 in the longitudinal direction Z of the one of the stator 20 and the mover 15. Furthermore, the other of the stator 20 and the mover 15 may comprise permanent magnets 28, which permanent magnets 28 are arranged in at least two adjacent rows of permanent magnets 27 in the longitudinal direction Z of the other of the stator 20 and the mover 15, wherein the adjacent rows of permanent magnets 27 are separated by a gap, which gap is dimensioned for receiving at least one row of coils 24. Furthermore, some coil openings OP are shown in fig. 6, in particular with respect to the non-magnetic core coil 25. In some cases, the second coil 26 may include a core material in the coil opening OP.

Further, the other one of the stator 20 and the mover 15 includes permanent magnets 28 arranged in at least two adjacent rows of permanent magnets 27, and at least one second coil 26 may be further included in the wireless charging device 200. In some embodiments, at least one or more of the second coils 26 may be non-magnetic core coils similar to one of the stator 20 and the mover 15, such as air core coils, which are second non-magnetic core coils.

The one or more coils 26 may preferably be arranged to align with the plurality of non-magnetic core coils 25 of one of the stator 20 and the mover 15 at one or more charging stations 201, thereby enabling wireless power transfer between the non-magnetic core coils 25 and the one or more second (optionally non-magnetic core) coils 26. The wireless charging device 200 provides an advantage in that a separate charging coil does not need to be provided for the one of the stator 20 and the mover 15 including the plurality of non-magnetic core coils 25, which saves space and saves cost.

In one embodiment, the mover 15 is provided with a non-magnetic core coil 25 and the stator 20 is provided with a permanent magnet. The charging station 201 includes one or more second (optionally non-magnetic core) coils and a charger including a power stage 210 coupled to the one or more second coils 26 (e.g., a solid state switch disposed in an H-bridge). The one or more second coils 26 may be located outside the outermost row of permanent magnets such that the outermost row of permanent magnets is disposed in the gap between the one or more second coils 26 and the non-magnetic core coils 25 of the mover 15 when the elevator car 5 has stopped to the charging station 201. In this position, the one or more second coils 26 and the non-magnetic core coil 25 are aligned such that an inductive coupling may be established between the non-magnetic core coil 25 and the one or more second coils 26. Thus, power can be supplied to the energy storage 14 of the elevator car 5 through the anti-parallel connected diodes of the electrical converter unit 12 by modulating one or more second windings 26 with the power stage 210 of the charger.

In various embodiments, one or more charging stations 201 may be arranged to be located above or below the level of one or more platform levels 19.

Fig. 7 schematically shows an elevator 100 according to an embodiment of the invention. It is to be noted that the elevator 100 shown and described in connection with fig. 1 may be part of an elevator 100 as shown in fig. 7, and that the elevator 100 of fig. 7 may comprise a linear motor 5 as shown and described in fig. 2A-6. Thus, the linear motor 5 may have a Halbach array 40 or array 40 and/or a 3D printed coil 25, and/or a tilted coil and/or a wireless charging device 200, but is not required.

In fig. 7, the elevator 100 preferably includes at least two landing levels 19 with landing level doors or openings therein. Doors may also be included in the elevator car 5. Although two horizontally separated groups, or "columns," are shown in fig. 7 as vertically aligned landing levels 19, there may be only one column, or more than two columns, e.g., three columns, as in conventional elevators.

With respect to the elevator hoistway 30, a substantially enclosed volume may be defined, for example, in which the elevator car 5 is adapted and configured to move. The wall may be, for example, concrete, metal or at least partially glass or any combination thereof. The elevator hoistway 30 herein refers generally to any structure or path along which the elevator car 5 is configured to move.

As can be seen in fig. 7, one or more elevator cars 5 may move vertically and/or horizontally along an elevator hoistway 30 depending on the direction of the stator 20. According to an embodiment similar in this regard to one of fig. 7, one or more elevator cars 5 may be configured to move along multiple vertical stators 20 and/or horizontal stators 20, e.g., where two stators are as shown in fig. 7. The stator 20 is part of a linear motor of the elevator 100 for moving one or more elevator cars 5 in an elevator hoistway 30. The stator beam 16 may preferably be arranged in a fixed manner, i.e. fixed in relation to the elevator hoistway 13, e.g. by a support part 22 fixed in relation to the wall of the hoistway, which support part 22 may be arranged rotatable at the position 300 of change of direction of the elevator car 5. Fig. 7 shows eight direction change positions 300 in which the direction of movement of the elevator car 5 can be changed.

In a similar manner as described above in connection with fig. 6, the direction change position 300 may comprise at least one third coil 310 in combination with the other of the stator 20 and the mover 15, said mover 15 comprising permanent magnets 28 arranged in at least two adjacent rows of permanent magnets 27. The at least one third coil 310 may optionally be arranged similar to one of the stator 20 and the mover 15 with respect to the non-magnetic core coil 25 (e.g., an air-core coil), or similar to one or more second coils 26 in fig. 6. The one or more third (optionally non-magnetic core) coils 310 are preferably arranged to align with the plurality of non-magnetic core coils 25 of one of the stator 20 and the mover 15 at the direction change position 300, thereby enabling wireless power transfer between the non-magnetic core coils 25 and the one or more third coils 310. The direction change position 300 provides the advantage that no separate wireless power transmission coil needs to be provided for the one of the stator 20 and the mover 15 comprising the plurality of non-magnetic core coils 25, which saves space and costs. In various embodiments, the electrical energy storage 14 may be used to operate the device at the change of direction position 300 via the electrical converter unit 12.

In some embodiments, the apparatus at the direction change position 300 may include, for example, one or more actuators 320, the actuators 320 configured to rotate one or more stators 20 from one position to another to change the direction of movement of the elevator car 5. According to one example, the elevator car 5 can be moved in the vertical direction to the direction change position 300 and then stopped at position 300. Subsequently, the one or more actuators 320 may be arranged to rotate while rotating the one or more movers 15 of the elevator car 5 substantially simultaneously. The one or more actuators 320 may operate by providing power between the non-magnetic core coil 25 and one or more third (optionally non-magnetic core) coils 310 of the linear motor 10 at the direction change position 300.

In one embodiment, the mover 15 is provided with the non-magnetic core coil 25, and the stator 20 is provided with the permanent magnet, and the actuator 320 is provided with an additional power transmitting coil, such as the third coil 310. When the elevator car 5 is in the direction change position 300, the power transfer coil is aligned with the non-magnetic core coil 25. In this position 300 an inductive coupling is established between the non-magnetic core coil 25 and the additional power transmission coil, and electrical energy can be supplied to the actuator 320 from the energy storage 14 of the elevator car 5 by modulating the non-magnetic core coil 25 with the electrical converter unit 12.

By way of non-limiting example, the linear motor 10 comprises a stator 20 and a mover 15 adapted to move along the stator 20. One of the stator 20 and the mover 15, e.g. the mover 15, comprises a plurality of non-magnetic core coils 25, e.g. air-core coils, which are arranged in at least one row of coils 24 in a longitudinal direction Z of the one of the stator 20 and the mover 15. The other of the stator 20 and the mover 15, e.g. the stator 20, may comprise permanent magnets 28, which permanent magnets 28 are arranged in at least two adjacent rows of permanent magnets 27 in the longitudinal direction Z of the other of the stator 20 and the mover 15, wherein the adjacent rows of permanent magnets 27 are separated by a gap, which gap is dimensioned for receiving at least one row of coils 24. The non-magnetic core coil 25 has advantageously been manufactured by additive manufacturing, e.g. by 3D printing, which provides the advantage that the additive manufactured coil enables the manufacture of space saving machinery, a simpler structure, and which further facilitates thermal optimization of the coil 25.

In the case of another non-limiting example, the linear motor 10 comprises a stator 20 and a mover 15 adapted to move along the stator 20. One of the stator 20 and the mover 15, e.g. the mover 15, comprises a plurality of non-magnetic core coils 25, e.g. air-core coils, which are arranged in at least one row of coils 24 in a longitudinal direction Z of the one of the stator 20 and the mover 15. The other of the stator 20 and the mover 15, e.g. the stator 20, may comprise permanent magnets 28, which permanent magnets 28 are arranged in at least two adjacent rows of permanent magnets 27 in the longitudinal direction Z of the other of the stator 20 and the mover 15, wherein the adjacent rows of permanent magnets 27 are separated by a gap, which gap is dimensioned for receiving at least one row of coils 24. The non-magnetic core coil 25 may advantageously be tilted with respect to a vertical direction perpendicular to the longitudinal direction Z and the direction of the motor normal N, which in some cases is the first direction X. The advantage of the tilting coils 25 is thus that guide rails and/or related elements can be manufactured which can withstand or generate less force to guide the elevator car 5. This may require, for example, the use of cheaper and/or lighter materials. Also, by reducing the required guiding force, the ride comfort can be increased.

In the case of yet another non-limiting example, the elevator 100 may comprise a linear motor 10 comprising a stator 20 and a mover 15 adapted to move along the stator 20. One of the stator 20 and the mover 15, e.g. the mover 15, may comprise a plurality of non-magnetic core coils 25, e.g. air-core coils, arranged in at least one row of coils 24 in the longitudinal direction Z of the one of the stator 20 and the mover 15. The other of the stator 20 and the mover 15, e.g. the stator 20, may comprise permanent magnets 28, which permanent magnets 28 are arranged in at least two adjacent rows of permanent magnets 27 in the longitudinal direction Z of the other of the stator 20 and the mover 15, wherein the adjacent rows of permanent magnets 27 are separated by a gap, which gap is dimensioned for receiving at least one row of coils 24. Further, the elevator 100 of this example may include at least one second coil 26, optionally a set of second non-magnetic core coils 26, arranged to one of the stator 20 and the mover 15. For example, the at least one second coil 26 may be arranged to be located above or below the level of one or more terrace layers 19. The at least one second coil 26 may preferably be arranged to be aligned with the plurality of non-magnetic core coils 25 of one of the stator 20 and the mover 15 at one or more charging stations 201, thereby enabling wireless power transfer between the non-magnetic core coils 25 and the at least one second coil 26. However, it is not necessary that the second coil 26 be identical to the non-magnetic core coil 25. The wireless charging device 200 provides an advantage in that a separate charging coil does not need to be provided for the one of the stator 20 and the mover 15 including the plurality of non-magnetic core coils 25, which saves space and saves cost.

In the case of yet another non-limiting example, the elevator 100 may comprise a linear motor 10 comprising a stator 20 and a mover 15 adapted to move along the stator 20. One of the stator 20 and the mover 15, e.g. the stator 20, comprises a plurality of non-magnetic core coils 25, e.g. air-cored coils, which are arranged in at least one row of coils 24 in a longitudinal direction Z of the one of the stator 20 and the mover 15. The other one of the stator 20 and the mover 15, e.g. the mover 15, may comprise permanent magnets 28, which permanent magnets 28 are arranged in at least two adjacent rows of permanent magnets 27 in the longitudinal direction Z of the other one of the stator 20 and the mover 15, wherein the adjacent rows of permanent magnets 27 are separated by a gap, which gap is dimensioned for receiving at least one row of coils 24.

Further, the elevator 100 of yet another example may include a set of third (optionally, non-core) coils 310 disposed to one of the stator 20 and the mover 15, disposed on the direction change position 300 and disposed in alignment with the plurality of non-core coils 25 of the one of the stator 20 and the mover 15 to enable wireless power transfer between the non-core coils 25 and the third coils 310. Optionally, the third coil 310 is identical to the non-magnetic core coil 25. The elevator 100 may further comprise a device comprising an actuator 320 at the direction change position 300 configured to change the direction of movement of the elevator car 5. The direction change position 300 provides the advantage that no separate wireless power transmission coil needs to be provided for the one of the stator 20 and the mover 15 comprising the plurality of non-magnetic core coils 25, which saves space and costs.