Actuation module and linear motor

Abstract

The invention relates to the technical field of linear motors, and discloses an actuating module and a linear motor, the actuating module comprises a movable assembly and a fixed assembly, and the movable assembly comprises a coil movably arranged along a first direction; the fixing assembly comprises at least two magnet yoke structures and at least two magnets, each magnet yoke structure extends in the first direction, every two adjacent magnet yoke structures are oppositely arranged in a spaced mode, the two magnets are arranged between the two adjacent magnet yoke structures and arranged at the two opposite ends of the magnet yoke structures in the first direction, the magnetic field directions of the two magnets are the same, and the magnetic field directions of the two magnets are the same. Therefore, the magnetic flux lines circulate at the two ends of the magnets in the first direction, a magnetic dense area is formed between the two magnets, one magnet yoke structure is sleeved with the coil, and at least one part of the coil is arranged in the magnetic dense area. According to the linear motor, the occupied space of the linear motor in the radial direction can be reduced, and therefore the peripheral size can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of linear motors, and particularly to an actuation module and a linear motor. Background Art

[0002] In the prior art, linear motors are often applied in electronic devices. For example, lenses in precision photographic devices often use linear motors to drive the movement of lenses to achieve the autofocus function of the lenses. Among them, linear motors can be mainly divided into two categories; the first category uses a combination structure of traditional mechanical structures such as a stepper motor and a lead screw motor, but the assembly process of this structure is relatively complex, and it will occupy more radial space due to its large size; the second category uses a voice coil motor structure, and the layout of multiple magnets therein is usually arranged along the radial direction of the voice coil motor structure, so it will also occupy more radial space, thus affecting the outer dimensions of the linear motor. Summary of the Invention

[0003] Aiming at the deficiencies in the above prior art, the purpose of the present invention is to provide an actuation module and a linear motor, aiming to reduce the space occupied by the linear motor in the radial direction, so as to achieve the reduction of the outer dimensions.

[0004] To achieve the above purpose, the present invention provides an actuation module for a linear motor, including:

[0005] The actuation module includes:

[0006] A movable component, including a coil that can be movably arranged along a first direction; and

[0007] A fixed component, including at least two yoke structures and at least two magnets. Each of the yoke structures extends along the first direction, and adjacent two yoke structures are arranged at intervals relative to each other. The two magnets are arranged between the adjacent two yoke structures and are respectively arranged at opposite ends of the yoke structures in the first direction. Moreover, the magnetic field directions of the two magnets are the same, so that the magnetic flux lines circulate at both ends of the magnets in the first direction, and a magnetic concentration area is formed between the two magnets. The coil is sleeved on one of the yoke structures and at least a part of it is arranged in the magnetic concentration area.

[0008] In an embodiment, the fixed component includes a first yoke structure and a second yoke structure arranged in sequence in a direction perpendicular to the first direction;

[0009] At least one of the opposite side surfaces of the first yoke structure in the direction perpendicular to the first direction is a plane. The coil is sleeved on the first yoke structure and is adapted to the shape of the first yoke structure.

[0010] In one embodiment, one of the first yoke structure and the second yoke structure is provided with a convex portion and / or a first convex surface, and the other of the first yoke structure and the second yoke structure is provided with a concave portion and / or a first concave surface. The facing surfaces of the first yoke structure and the second yoke structure are arranged opposite to each other and at an equal distance interval.

[0011] In one embodiment, the second yoke structure includes a main body portion and two connecting portions. The two connecting portions are respectively arranged at opposite ends of the main body portion in the first direction. A magnet is provided between each connecting portion and the first yoke structure. A partial surface of the main body portion facing the first yoke structure is concave. The perpendicular distance from the main body portion to the first yoke structure in a direction perpendicular to the first direction gradually increases from the center of the main body portion to both ends.

[0012] In one embodiment, the fixing assembly further includes a third yoke structure, and the third yoke structure is spaced apart from the side of the first yoke structure away from the second yoke structure.

[0013] Define two magnets provided between two adjacent yoke structures as a group. The fixing assembly includes two groups of magnets. One group of magnets is provided between the first yoke structure and the second yoke structure, and the other group of magnets is provided between the second yoke structure and the third yoke structure. The magnetic field directions of the two groups of magnets are opposite.

[0014] In one embodiment, the side surface of the second yoke structure away from the first yoke structure is a second convex surface.

[0015] And / or, the side surface of the third yoke structure away from the first yoke structure is a second concave surface.

[0016] The present invention also provides a linear motor, including an induction module and the actuation module described in any one of the foregoing items. The induction module includes:

[0017] An induction component, including at least one magnetic grating and at least one induction magnet. At least one magnetic grating and at least one induction magnet are both located on the periphery of the movable component; and

[0018] A detection component, including a circuit board and at least two magnetic field sensors. The circuit board is arranged on the movable component. At least two magnetic field sensors are spaced apart on the circuit board and are respectively arranged corresponding to at least one magnetic grating and at least one induction magnet.

[0019] In one embodiment, the movable component includes a movable seat, and the linear motor further includes:

[0020] A base, the movable seat is movably arranged on one side of the base, and the fixing component is arranged on the base and is located on the peripheral side of the movable seat; and

[0021] An induction module, including an induction component and a detection component, the induction component is arranged on the base and is located on the peripheral side of the movable seat, and the detection component is arranged on the movable seat and is arranged opposite to the induction component.

[0022] In an embodiment, the circuit board includes:

[0023] A first fixing part, arranged on the movable seat, and two of the magnetic field sensors are arranged at intervals on the first fixing part;

[0024] A second fixing part, arranged on the base and arranged at intervals from the first fixing part; and

[0025] A movable part, connected between the first fixing part and the second fixing part, the movable part has a path center line, and the length of the path center line is greater than the length of the movement stroke of the movable seat in the first direction.

[0026] In an embodiment, the first fixing part includes a top plate and a side plate which are bent and connected, the top plate and the side plate are respectively arranged on the top surface and the outer peripheral surface of the movable seat, and two of the magnetic field sensors are arranged at intervals on the side plate;

[0027] And / or, the movable part includes at least two connecting segments, the two connecting segments are arranged at intervals on the peripheral side of the movable seat, and are bent and connected between adjacent two connecting segments.

[0028] The embodiments of the present invention provide an actuating module and a linear motor. Compared with the prior art, the beneficial effects are as follows:

[0029] The actuation module of the embodiment of the present invention includes a movable component and a fixed component. The movable component includes a coil, and the coil is movably arranged relative to the fixed component along a first direction. The fixed component includes at least two yoke structures and at least two magnets with the same magnetic field direction. Each yoke structure extends along the first direction, and adjacent two yoke structures are arranged at intervals relative to each other. At least two magnets are connected between adjacent two yoke structures and are respectively arranged at opposite ends of the yoke structure in the first direction, so as to form a magnetic field concentration area between the two magnets. The coil of the movable component is sleeved on one of the yoke structures and at least a part thereof is arranged in the magnetic field concentration area. With such an arrangement, when the coil is energized, a magnetic field can be generated and an electromagnetic force can be generated between the coil and the magnets, so that the electromagnetic force can push the coil to move in the first direction, thereby realizing the driving of the movable component in the first direction. Since in the embodiment of the present invention, at least two magnets in the fixed component are respectively arranged at opposite ends of the yoke structure in the first direction, the occupied space in the radial direction of the linear motor can be reduced, and thus the reduction of the outer dimensions can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic structural diagram of the linear motor according to the first embodiment of the present invention;

[0031] Figure 2 is the present invention Figure 1 a schematic structural diagram of the actuation module therein;

[0032] Figure 3 is the present invention Figure 2 an exploded view of the actuation module therein;

[0033] Figure 4 is the present invention Figure 1 a schematic structural diagram of the detection component of the linear motor therein;

[0034] Figure 5 is a schematic structural diagram of the actuation module according to the second embodiment of the present invention;

[0035] Figure 6 is the present invention Figure 5 an exploded view of the actuation module therein;

[0036] Figure 7 is a schematic structural diagram of the actuation module according to the third embodiment of the present invention;

[0037] Figure 8 is the present invention Figure 7 a side view of the actuation module therein;

[0038] Figure 9 is a schematic structural diagram of the linear motor according to the fourth embodiment of the present invention;

[0039] Figure 10is the present invention Figure 9 The enlarged partial structure view of location A in it;

[0040] Figure 11 is the present invention Figure 9 The structural schematic view of the actuation module in it;

[0041] Figure 12 is the present invention Figure 10 The exploded view of the actuation module in it;

[0042] Figure 13 is the exploded view of the actuation module according to the fifth embodiment of the present invention.

[0043] In the figure, 100, linear motor; 10, base; 20, actuation module; 21, movable component; 211, movable seat; 212, coil; 22, fixed component; 221, first yoke structure; 2211, convex portion; 222, second yoke structure; 2221, main body portion; 2222, connecting portion; 2223, concave portion; 223, third yoke structure; 224, magnet; 30, induction module; 31, induction component; 311, magnetic grating; 312, induction magnet; 32, detection component; 321, circuit board; 3211, first fixing portion; 3211a, top plate; 3211b, side plate; 3212, second fixing portion; 3213, movable portion; 3213a, connecting section; 322, magnetic field sensor; 200, lens. Detailed implementation manners

[0044] The following will further describe in detail the detailed implementation manners of the present invention in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0045] It should be understood that in the present invention, terms such as "front" and "rear" are used to describe various information, but this information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, "front" information can also be called "rear" information, and "rear" information can also be called "front" information.

[0046] Such as Figures 1 to 13As shown in the figure, an actuation module 20 of a linear motor 100 according to an embodiment of the present invention, the actuation module 20 includes a movable component 21 and a fixed component 22; the movable component 21 includes a coil 212 that is movably arranged along a first direction; the fixed component 22 includes at least two yoke structures and at least two magnets 224 with the same magnetic field direction, each yoke structure extends along the first direction, adjacent two yoke structures are arranged at intervals relative to each other, at least two magnets 224 are connected between the adjacent two yoke structures and are respectively arranged at opposite ends of the yoke structures in the first direction, so that a magnetic field concentration area is formed between the two magnets 224, and the coil 212 is sleeved on one of the yoke structures and at least a part of it is arranged in the magnetic field concentration area.

[0047] Among them, the magnet 224 can be set as a magnetic stone, the shape of the magnetic stone is a cuboid, and its edges can be provided with rounded corners or chamfers. Compared with setting the magnetic stone as a special shape, by setting the magnetic stone in a conventional shape, on the one hand, it is convenient for its assembly and cooperation with the yoke structure, and on the other hand, it can avoid wasting excess raw materials during the processing of the magnetic stone, which is beneficial to reducing the processing cost of the magnet 224.

[0048] In a feasible implementation manner, the linear motor 100 can be specifically applied to an autofocus lens. The autofocus lens has a lens 200, the optical axis of the lens 200 is parallel to the first direction, and the movable component 21 of the actuation module 20 includes a movable seat 211 for placing the lens 200. At this time, the coil 212 of the movable component 21 and the fixed component 22 are both arranged on the periphery of the movable seat 211, and the fixed component 22 can drive the coil 212 to move along the first direction, so as to drive the movable seat 211 and the lens 200 to move along the optical axis of the lens 200 through the coil 212, thereby realizing the autofocus adjustment function of the autofocus lens.

[0049] In some embodiments, the included angle between the magnetic field directions of the two magnets 224 and the first direction is greater than 70°, which can be regarded as the magnetic field directions of the magnets 224 being substantially perpendicular to the first direction; the included angle between the magnetic field directions of the two magnets 224 is less than 20°, which can be regarded as the magnetic field directions of the two magnets 224 being substantially the same. With such a setting, when the coil 212 is energized, it can generate a magnetic field and generate an electromagnetic force with the magnets 224, and the electromagnetic force can push the coil 212 to move in the first direction. It can be understood that by making the magnetic field directions of the two magnets 224 substantially perpendicular to the first direction, a magnetic field dense area can be formed between the two magnets, and the magnetic force lines in this area are densely arranged, which is beneficial to generating a sufficiently large electromagnetic force after the coil 212 is energized. Thus, the linear motor 100 only needs to be provided with a single or a small number of actuation modules 20 to push a larger load to move. Further, the direction of the magnetic force lines in the magnetic field dense area is substantially parallel to the radial direction of the lens 200, so that the direction of the current passing through the coil can be substantially perpendicular to the magnetic field direction in the magnetic field dense area, which is beneficial to improving the electromagnetic force efficiency.

[0050] It can be understood that in the embodiments of the present invention, since the two magnets 224 in the fixing component 22 are respectively arranged at opposite ends of the yoke structure along the first direction, the occupied space in the radial direction of the linear motor 100 can be reduced, so that the reduction of the outer dimensions of the linear motor 100 can be realized, and further, it is beneficial to reduce the outer dimensions of the electronic device applying the linear motor 100. And this setting method is also beneficial to leaving more layout space for the yoke structure in the radial direction of the linear motor 100, which is beneficial to increasing the magnetic field intensity passing through the coil 212, and further beneficial to increasing the electromagnetic force received by the coil 212 and reducing the power consumption of the linear motor 100.

[0051] It should be noted that in this embodiment, the movable component 21 of the linear motor 100 may further include a movable seat 211 for placing the component to be driven. The movable seat 211 has a central axis parallel to the first direction, and the coil 212 and the fixing component 22 are arranged on the periphery of the movable seat 211. At this time, by driving a coil 212 to move in the first direction by a fixing component 22, the movable seat 211 and the component to be driven assembled on the movable seat 211 can be driven to move in the first direction. In other embodiments, the present invention may also be provided with a plurality of coils 212 along the circumferential direction of the movable seat 211, and a plurality of fixing components 22 are arranged along the circumferential direction of the movable seat 211, and each fixing component 22 is arranged corresponding to a coil 212, so that a plurality of coils 212 can be synchronously driven to move relative to a plurality of fixing components 22 in the first direction respectively, so as to cooperatively drive the movable seat 211 and the component to be driven thereon to move in the first direction. The specific implementation manner can be set according to actual needs and will not be limited herein.

[0052] Such as Figures 1 to 3As shown, the fixing component 22 of the embodiment of the present invention includes a first yoke structure 221 and a second yoke structure 222 arranged in sequence in a direction perpendicular to the first direction; at least one of the opposite side surfaces of the first yoke structure 221 in the direction perpendicular to the first direction is a plane, and the coil 212 is sleeved on the first yoke structure 221 and is adapted to the shape of the first yoke structure 221.

[0053] Among them, by making the coil 212 adapted to the shape of the first yoke structure 221, a good fit between the coil 212 and the first yoke structure 221 can be achieved, so that the coil 212 can move along the extending direction of the first yoke structure 221 under the push of electromagnetic force. By making at least one of the opposite side surfaces of the first yoke structure 221 in the direction perpendicular to the first direction be a plane, at least one yoke structure and the relative surface of the coil 212 in the fixing component 22 can be arranged in a plane, so as to ensure the cooperation stability between the coil 212 and the fixing component 22.

[0054] As Figure 5 and Figure 6 As shown, one of the first yoke structure 221 and the second yoke structure 222 of the embodiment of the present invention is provided with a convex portion 2211 and / or a first convex surface, and the other of the first yoke structure 221 and the second yoke structure 222 is provided with a concave portion 2223 and / or a first concave surface. The opposite surfaces of the first yoke structure 221 and the second yoke structure 222 are arranged opposite to each other and at an equal distance interval.

[0055] In this embodiment, local regions on the opposite surfaces of the first yoke structure 221 and the second yoke structure 222 are respectively provided with a convex structure and a concave structure to respectively form a relatively arranged convex portion 2211 and a concave portion 2223, and the convex structure and the concave structure respectively have an arc convex surface and an arc concave surface. Alternatively, the opposite surfaces of the first yoke structure 221 and the second yoke structure 222 can also be a first convex surface and a first concave surface respectively, and the first convex surface and the first concave surface are respectively an arc convex surface and an arc concave surface. Among them, the centers of the arc convex surface and the arc concave surface can both be located on the central axis of the movable seat 211, so as to be adapted to the cylindrical structures of components such as the movable seat 211.

[0056] As Figure 7 and Figure 8As shown, the second yoke structure 222 of the embodiment of the present invention includes a main body portion 2221 and two connecting portions 2222. The two connecting portions 2222 are respectively arranged at opposite ends of the main body portion 2221 in the first direction. A magnet 224 is provided between each connecting portion 2222 and the first yoke structure 221. A partial surface of the main body portion 2221 facing the first yoke structure 221 is concavely arranged. The vertical distance from the main body portion 2221 to the first yoke structure 221 in the direction perpendicular to the first direction gradually increases from the center of the main body portion 2221 to both ends.

[0057] It should be noted that since the electromagnetic force received by the coil 212 is non-linear when the coil 212 approaches any one of the magnets 224 from the center distance between the two magnets 224. In this embodiment, by providing transition surfaces inclined to the first direction on the two end portions of the main body portion 2221, the thickness of the two end portions in the radial direction of the movable seat 211 can be thinned, so that the vertical distance from the main body portion 2221 to the first yoke structure 221 gradually increases from the center of the main body portion 2221 to both ends. Specifically, as Figure 8 shown, define the vertical distance from the center of the main body portion 2221 to the first yoke structure 221 as Q, and define the vertical distance from any one end of the main body portion 2221 to the first yoke structure 221 as W. Then it satisfies: W > Q. By setting like this, the magnetic flux uniformity between the vertical distance W from any one end of the main body portion 2221 to the first yoke structure 221 can be improved, so that after the coil 212 is energized, the linearity of the magnitude of the electromagnetic force received by the coil 212 within its stroke range can be enhanced.

[0058] As Figures 11 to 13 shown, the fixing component 22 of the embodiment of the present invention further includes a third yoke structure 223. The third yoke structure 223 is arranged at an interval on the side of the first yoke structure 221 away from the second yoke structure; define the two magnets 224 arranged between two adjacent yoke structures as a group. The fixing component 22 includes two groups of magnets 224. One group of magnets 224 is arranged between the first yoke structure 221 and the second yoke structure 222, and the other group of magnets 224 is arranged between the second yoke structure 222 and the third yoke structure 223. The magnetic field directions of the two groups of magnets 224 are opposite.

[0059] As Figure 5 and Figure 6 as well as Figure 13 shown, the side surface of the second yoke structure 222 of the embodiment of the present invention away from the first yoke structure 221 is a second convex surface.

[0060] Specifically, the second yoke structure 222 is disposed on a side of the first yoke structure 221 away from the movable seat 211. A side surface of the second yoke structure 222 away from the movable seat 211 is a second convex surface, and the second convex surface is an arc convex surface. The center of the arc convex surface may be located on the central axis of the movable seat 211. With such a setting, it is convenient for the second yoke structure 222 to be adapted to the shape of the inner wall surface of the peripheral structure of the linear motor 100, so as to facilitate a more compact fit between the two, thereby being beneficial to reducing the occupied space of the linear motor 100 in its radial direction.

[0061] As Figure 13 shown, a side surface of the third yoke structure 223 of the embodiment of the present invention away from the first yoke structure 221 is a second concave surface.

[0062] Specifically, the third yoke structure 223 is disposed on a side of the first yoke structure 221 facing the movable seat 211. A side surface of the third yoke structure 223 facing the movable seat 211 is a second concave surface, and the second convex surface is an arc concave surface. The center of the arc concave surface may be located on the central axis of the movable seat 211. With such a setting, the third yoke structure 223 can be adapted to the shape of the outer peripheral surface of the movable seat 211, so that the arc space inside the linear motor can be effectively utilized, which is beneficial to reducing the outer dimensions of the linear motor.

[0063] The present invention also provides a linear motor 100. The linear motor 100 includes at least one actuation module 20. The specific structure of the actuation module refers to the above embodiments. Since the autofocus lens adopts all the technical solutions of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one. Among them, the linear motor 100 of the present invention can be applied to an autofocus lens or a wearable electronic device, etc., which is not limited here.

[0064] Furthermore, the linear motor of the present invention further includes a movable seat 211, a base 10, and a sensing module 30. The movable seat 211 can be used to place a lens 200 or other components to be driven; the movable seat 211 is movably disposed on one side of the base 10, and a fixing component 22 is disposed on the base 10 and is located on the periphery of the movable seat 211; the sensing module 30 includes a sensing component 31 and a detection component 32. The sensing component 31 is disposed on the base 10 and is located on the periphery of the movable seat 211, and the detection component 32 is disposed on the movable seat 211 and is disposed opposite to the sensing component 31.

[0065] In some embodiments, the base 10 can serve as the mounting base of the linear motor 100, and it has a cylindrical shape arranged around the first direction. The movable seat 211 is disposed on one side of the base 10, and an installation groove is provided on the side facing away from the base 10 for placing the lens 200 or other components to be driven. The movable seat 211 can move synchronously with the coil 212 in the first direction to drive the components to be driven placed thereon to move toward or away from the base 10 in the first direction. To improve the movement stability of the movable seat 211, guide rods can be provided on the base 10, and guide holes can be provided on the movable seat 211. The guide rods extend in the first direction and pass through the guide holes, thereby improving the cooperation stability between the movable seat 211 and the fixed seat, enabling the movable seat 211 to drive the lens 200 to move stably in the first direction.

[0066] As Figures 9 to 10 shown, the linear motor 100 of the embodiment of the present invention further includes an induction module 30. The induction module 30 includes an induction component 31 and a detection component 32. The induction component 31 includes a magnetic grating 311 and an induction magnet 312. The magnetic grating 311 and the induction magnet 312 are both arranged at intervals on the base 10 and are located on the peripheral side of the movable seat 211. The detection component 32 includes a circuit board 321 and two magnetic field sensors 322. The circuit board 321 is disposed on the movable seat 211, and the two magnetic field sensors 322 are arranged at intervals on the circuit board 321 and are respectively arranged corresponding to the magnetic grating 311 and the induction magnet 312.

[0067] Among them, the magnetic grating 311 can be formed by arranging a plurality of magnets 224 in sequence in the first direction, and the two poles of adjacent two magnets 224 are arranged in reverse. The magnetic field distribution of the magnetic grating 311 is periodic. The induction magnet 312 is formed by arranging two magnets 224 in sequence in the first direction, and the two poles of adjacent two magnets 224 are arranged in reverse. The magnetic field sensor 322 can be a magnetoresistive sensor or a Hall magnetic sensor. With such a setting, the selection of the magnetic field sensor 322 can be wide, which is beneficial to reducing the material cost of the induction module 30.

[0068] It can be understood that by arranging one of the magnetic field sensors 322 corresponding to a magnetic grating 311 and the other magnetic field sensor 322 corresponding to an induction magnet 312, when the movable component 21 moves in the first direction, the two magnetic field sensors 322 can move in the first direction relative to the magnetic grating 311 and the induction magnet 312 on the base 10 along with the movable component 21. At this time, one of the magnetic field sensors 322 can determine the position of the movable component 21 within the full stroke range between the initial position and the end position according to the change in the magnetic field intensity at the induction magnet 312, and the other magnetic field sensor 322 can divide its full stroke range into multiple sub-intervals according to the multiple periodically changing magnetic fields with opposite polarities at the magnetic grating 311 to achieve precise control of the displacement of the movable component 21. Therefore, the induction module 30 of the present invention can monitor the relative position between the movable component 21 and the housing in real time, ensuring high-precision control and fast response of the linear motor 100.

[0069] As Figure 4 and Figure 10 shown, the circuit board 321 of the embodiment of the present invention includes a first fixing portion 3211, a second fixing portion 3212, and a movable portion 3213. The first fixing portion 3211 is disposed on the movable seat 211, and the two magnetic field sensors 322 are spaced apart and disposed on the first fixing portion 3211; the second fixing portion 3212 is disposed on the base 10 and is spaced apart from the first fixing portion 3211; the movable portion 3213 is connected between the first fixing portion 3211 and the second fixing portion 3212, and the movable portion 3213 has a path center line, and the length of the path center line is greater than the length of the movement stroke of the movable seat 211 in the first direction.

[0070] Among them, the circuit board 321 can be used to provide functions for functional components such as the magnetic field sensor 322 in the linear motor 100 and implement signal control functions for the linear motor 100. The movable portion 3213 and its center line can be in an irregular shape. Define the center line of the movable portion 3213 as the path center line of the movable portion 3213. By making the length of the path center line greater than the length of the movement stroke of the movable seat 211 in the first direction, when the movable component 21 moves relative to the fixed component 22 and the base 10, it can be avoided that the movable portion 3213 of the circuit board 321 undergoes excessive movement and is pulled by the first fixing portion 3211 or the second fixing portion 3212, reducing the elastic coefficient of the movable portion 3213.

[0071] In some embodiments, the movable portion 3213 can be arranged as a strip-shaped flexible circuit board, and the flexible circuit board and the circuit boards at the first fixing portion 3211 and the second fixing portion 3212 can be integrally arranged; or, in other embodiments, the movable portion 3213 can also be arranged as a connecting cable for electrically connecting between the first fixing portion 3211 and the second fixing portion 3212, which is not limited herein.

[0072] As Figure 10 shown, the first fixing portion 3211 of the embodiment of the present invention includes a top plate 3211a and a side plate 3211b that are bent and connected. The top plate 3211a and the side plate 3211b are respectively disposed on the top surface and the outer peripheral surface of the movable seat 211, and two magnetic field sensors 322 are spaced apart and disposed on the side plate 3211b. With such a setting, the two magnetic field sensors 322 can be located on the outer peripheral surface of the movable seat 211 and directly opposite to the magnetic grating 311 and the induction magnet 312 disposed on the periphery of the movable seat 211, so as to facilitate ensuring the detection effect of the induction module 30.

[0073] As Figure 4 and Figure 10 shown, the movable portion 3213 of the embodiment of the present invention includes at least two connecting segments 3213a, and the two connecting segments 3213a are spaced apart and disposed on the periphery of the movable seat 211, and are bent and connected between adjacent two connecting segments 3213a. With such a setting, the movable portion 3213 can be in a bent shape, which is beneficial to better utilize the internal space of the linear motor 100. Among them, the two connecting segments 3213a of the movable portion 3213 can be arranged at intervals in the radial direction of the movable seat 211, or can be arranged at intervals along the first direction, which is not limited herein.

[0074] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and replacements can still be made, and these improvements and replacements should also be regarded as the protection scope of the present invention.

Claims

1. An actuation module of a linear motor, characterized in that: include: A movable component, comprising a coil movably arranged along a first direction; and A fixed component includes at least two yoke structures and at least two magnets, each of the yoke structures is extended along a first direction, two adjacent yoke structures are relatively spaced apart, two magnets are arranged between the two adjacent yoke structures, and are respectively arranged at opposite ends of the yoke structures in the first direction, and the magnetic field directions of the two magnets are the same, so that the magnetic flux lines circulate at both ends of the magnets in the first direction, and a magnetic concentration area is formed between the two magnets, and the coil is sleeved on one of the yoke structures, and at least a part of it is arranged in the magnetic concentration area.

2. The actuation module of the linear motor according to claim 1, characterized in that: The fixing assembly includes a first yoke structure and a second yoke structure arranged in sequence in a direction perpendicular to the first direction; At least one of the two opposite side surfaces of the first yoke structure in a direction perpendicular to the first direction is a plane, and the coil is sleeved on the first yoke structure and matched with the shape of the first yoke structure.

3. The actuation module of the linear motor according to claim 2, characterized in that: One of the first yoke structure and the second yoke structure is provided with a protrusion and / or a first convex surface, and the other of the first yoke structure and the second yoke structure is provided with a recessed portion and / or a first concave surface. The facing surfaces of the first yoke structure and the second yoke structure are arranged opposite to each other and are equidistantly spaced.

4. The actuating module of the linear motor according to claim 2, characterized in that: The second yoke structure includes a main body and two connecting parts, the two connecting parts are arranged at opposite ends of the main body in the first direction, a magnet is arranged between each connecting part and the first yoke structure, the partial surface of the main body facing the first yoke structure is concave, and the vertical distance from the main body to the first yoke structure in a direction perpendicular to the first direction gradually increases from the center of the main body to both ends.

5. The actuation module of the linear motor according to claim 2, characterized in that: The fixing assembly further includes a third yoke structure, wherein the third yoke structure is spaced apart from a side of the first yoke structure away from the second yoke structure; Two magnets disposed between two adjacent yoke structures are defined as a group, and the fixed component includes two groups of magnets, one group of magnets is disposed between the first yoke structure and the second yoke structure, and the other group of magnets is disposed between the second yoke structure and the third yoke structure, and the magnetic fields of the two groups of magnets are in opposite directions.

6. The actuation module of the linear motor according to claim 5, characterized in that: The side of the second magnetic yoke structure away from the first magnetic yoke structure is a second convex surface; And / or, a side surface of the third magnetic yoke structure away from the first magnetic yoke structure is a second concave surface.

7. A linear motor, characterized in that: The invention comprises a sensing module and an actuation module according to any one of claims 1 to 6, wherein the sensing module comprises: an induction component, comprising at least one magnetic grid and at least one induction magnet, wherein at least one of the magnetic grids and at least one of the induction magnets are both located on the peripheral side of the movable component; and The detection component includes a circuit board and at least two magnetic field sensors. The circuit board is arranged on the movable component. The at least two magnetic field sensors are arranged on the circuit board at intervals and correspond to at least one magnetic grid and at least one induction magnet respectively.

8. The linear motor according to claim 7, characterized in that: The movable assembly includes a movable seat, and the linear motor also includes: A base, wherein the movable base is movably disposed on one side of the base, and the fixing assembly is disposed on the base and is located on a peripheral side of the movable base; and The sensing module comprises a sensing component and a detection component. The sensing component is arranged on the base and located on the peripheral side of the movable seat. The detection component is arranged on the movable seat and is arranged opposite to the sensing component.

9. The linear motor according to claim 8, characterized in that: The circuit board comprises: A first fixing part, disposed on the movable seat, and two magnetic field sensors are spaced apart from each other on the first fixing part; A second fixing portion, disposed on the base and spaced apart from the first fixing portion; and The movable part is connected between the first fixed part and the second fixed part, and the movable part has a path center line, and the length of the path center line is greater than the length of the movable stroke of the movable seat in the first direction.

10. The linear motor according to claim 9, characterized in that: The first fixing portion comprises a top plate and a side plate connected by bending, the top plate and the side plate are respectively arranged on the top surface and the outer peripheral surface of the movable seat, and the two magnetic field sensors are arranged at intervals on the side plate; And / or, the movable portion includes at least two connecting segments, the two connecting segments are arranged at intervals on the circumference of the movable seat, and two adjacent connecting segments are bent and connected.

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