Subminiature linear rotating motor and assembly process thereof

Abstract

The invention discloses a subminiature linear rotating motor and an assembling process thereof, the subminiature linear rotating motor comprises a shell and a cover plate, the cover plate is detachably connected with the shell, a lifting area, an output area, a lifting drive, an output main body, a control assembly, a gas circuit structure and a linkage assembly are arranged in the shell, the lifting area is communicated with the output area, and an output hole is formed in the shell in a penetrating manner; the output hole is connected with the output area, the lifting drive is located in the lifting area, the output body is located in the output area, the output end is opposite to the output hole, the linkage assembly is located between the lifting drive and the output body and connected with the lifting drive and the output body, and the gas circuit structure extends to the inner wall of the shell from the output end of the output body. The control assembly is located on one side of the lifting drive and linkage assembly and connected with the lifting drive and the output body. Reasonable layout is carried out in the shell, and the linkage assembly is arranged between the linear driving part and the rotary driving and output part, so that mutual interference of internal parts is reduced, and the precision is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of multifunctional miniaturized ZR motors, and in particular relates to an ultra-small linear rotary motor and an assembly process thereof. Background Art

[0002] A linear-rotary motor is a motor capable of providing both linear and rotary motion. The design concept of this motor integrates two distinct motion modes into a single motor unit, making mechanical systems more compact and efficient while simplifying control system design. These motors play a vital role in automated control systems in numerous fields, including precision manufacturing, semiconductor processing, medical equipment, and aerospace.

[0003] Currently, with the advancement of technology and the development of application fields, more and more application scenarios require equipment with higher integration and compactness. However, existing linear rotary motors have the following problems: Small linear rotary motors have single functions and limited application scope; The multifunctional linear rotary motor increases in size due to the addition of functional modules, making it difficult to install in small spaces. Existing small linear rotary motors are driven by voice coil motors. However, as the size is reduced, the distance between components becomes smaller, and the voice coil motor has a large magnetic force. The leaked magnetic force can affect adjacent components, resulting in poor accuracy.

[0004] Therefore, we need to design an ultra-small linear rotary motor and its assembly process to solve these problems. Summary of the Invention

[0005] The problem to be solved by the present invention is to provide an ultra-small linear rotary motor and an assembly process thereof.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: A subminiature linear rotary motor comprises a shell and a cover plate, the cover plate being detachably connected to the shell, the shell being provided with a lifting area, an output area, a lifting drive, an output body, a control assembly, an air path structure and a linkage assembly, the lifting area being in communication with the output area, an output hole being provided through the shell, the output hole being connected to the output area, the lifting drive being located in the lifting area, the output body being located in the output area, and the output end being opposite to the output hole, the linkage assembly being located between the lifting drive and the output body, and being respectively connected to the lifting drive and the output body, the air path structure extending from the output end of the output body to the inner wall of the shell, the control assembly being located on one side of the lifting drive and the linkage assembly, and being respectively connected to the lifting drive and the output body.

[0007] Preferably, the output body includes a fixed part and a moving part that cooperate with each other, the fixed part includes an upper bearing member and a lower bearing member that can be assembled with each other, the upper bearing member is provided with an upper assembly cavity, the lower bearing member is provided with a lower assembly cavity and a stabilizing tube, the stabilizing tube is communicated with the lower assembly cavity, support rings are provided in both the upper assembly cavity and the lower assembly cavity, and a rotating motor stator is provided between the two support rings; the moving part includes an output shaft, a rotating motor rotor and a stabilizing bearing are fixedly mounted on the output shaft, the rotating motor rotor is located in the rotating motor stator and cooperates with the rotating motor stator, and the stabilizing bearing is located in the stabilizing tube and connected to the stabilizing tube.

[0008] With such a setting, the cooperation of the upper and lower assembly cavities can provide space for the installation of the rotating motor, the support ring can position and support the installation of the rotating motor, and the cooperation of the stabilizing tube and the stabilizing bearing provides stable support for the output shaft to prevent the output shaft from swinging when it rotates.

[0009] Preferably, the air path structure includes an air guide cavity, an air suction hole and a first air duct, the first air duct is arranged on the outer shell, the air guide cavity is opened on the inner wall of the upper assembly cavity, two sealed bearings are fixedly arranged in the air guide cavity, and the two sealed bearings are mounted on the output shaft, a second air duct is arranged on the side wall of the air guide cavity between the two sealed bearings, the second air duct is connected to the first air duct through a connecting pipe, the air suction hole is located on the end face of one end of the output shaft, and a connecting hole is also provided on the output shaft between the two sealed bearings, and the connecting hole is connected to the air suction hole.

[0010] Such a setting expands the function of the motor, enables the ultra-small linear rotary motor to have the ability to control airflow output, and increases the application range of the motor.

[0011] Preferably, the lifting drive includes a telescopic motor stator fixedly arranged in the housing, the telescopic motor stator is matched with a telescopic motor mover, and the housing is also provided with an assembly groove matching the telescopic motor stator.

[0012] With such an arrangement, the assembly slot can be utilized to facilitate the installation of the stator of the linear motor.

[0013] Preferably, the linkage assembly includes a mounting base fixedly provided on the outer shell, a telescopic slide rail fixedly provided on the mounting base, a telescopic slider slidingly provided on the telescopic slide rail, a connecting frame and a transmission frame fixedly provided on the telescopic slider, the transmission frame is connected to the telescopic motor mover, and the connecting frame is connected to the upper bearing member.

[0014] Such an arrangement can provide stable power transmission and support for the extension and contraction of the output body.

[0015] Preferably, the control component includes a main control board, a sub-control board lifting control unit and a rotation control unit. The main control board is fixedly arranged on the shell, and a slot is fixedly arranged on the main control board. A fixing slot is provided on the shell on one side of the slot, and the fixing slot matches the slot. The sub-control board is connected to the output body through a fixing frame, and the main control board and the sub-control board are connected through a cable. The lifting control unit and the telescopic motor stator are connected to the main control board, and the rotation control unit and the rotating motor stator are connected to the sub-control board.

[0016] With this arrangement, the control board can be installed to facilitate control of the output state of the motor.

[0017] Preferably, the lifting control unit includes a lifting sensor and a lifting head, the lifting sensor is fixedly connected to the shell through a mounting bracket, the lifting head is fixed on the output body and cooperates with the lifting sensor; the rotation control unit includes a rotation sensor and a rotating magnetic head, the rotation sensor is connected to the output body through a stabilizing bracket, the rotating magnetic head is fixedly arranged at the other end of the output shaft through a rotating seat, and cooperates with the rotation sensor.

[0018] This arrangement can accurately monitor the extension and retraction distance and position of the motor as well as the rotation speed and state, thereby improving the control accuracy of the motor.

[0019] Preferably, a limit frame, a wire management frame and an anti-falling device are also provided in the shell. The connecting pipe passes through the limit frame to limit the connecting pipe. The cable passes through the wire management frame to limit the cable. The anti-falling device includes a tension spring. One end of the tension spring is connected to the shell through an upper pull frame, and the other end is connected to the output body through a lower pull frame.

[0020] Such an arrangement can limit the movement range of a portion of the moving parts inside the motor, thereby avoiding obstruction to the movement of the output body.

[0021] Preferably, a dust seal is fixedly mounted on the output shaft, the dust seal is located inside the free end of the stabilizing tube and fixedly connected to the inner wall of the stabilizing tube, and the outer diameter of the stabilizing tube does not exceed the inner diameter of the output hole.

[0022] Such a setting can reduce the impact of the environment on the motor and extend the service life of the motor.

[0023] The assembly process of the ultra-small linear rotary motor includes the following steps: S1. Assemble the output body, fix the rotation control unit, lifting head and lower pull-down frame on the output body, and connect one end of the tension spring to the lower pull-down frame; S2. Align the slots on the main control board with the fixing slots on the housing, then connect the main control board to the housing. Assemble the telescopic slider and telescopic rail outside the housing, then secure the telescopic rail to the mounting base, and finally secure the mounting bracket to the corresponding position inside the housing. S3. Connect the transmission frame and the telescopic motor mover, and install the output body into the housing. During installation, first pass the output shaft through the output hole, then connect the other end of the tension spring to the upper pull frame, and then align the connecting frame and the transmission frame and connect them to the telescopic slider; S4. Insert the telescopic motor stator from the assembly slot, ensure that the telescopic motor mover and the telescopic motor stator are well matched, then connect the telescopic motor stator to the housing, and seal the joint between the assembly slot and the telescopic motor stator; S5. Fix the cable management rack into the housing, then use the cable to connect the main control board and the sub-control board. Then install the sub-control board on the fixing rack, install the fixing rack on the output body, and finally hang the cable on the cable management rack. S6. Fix the support block into the housing, then fix the limiting frame through the support block and the housing, pass the flexible connecting pipe through the limiting frame, connect one end to the first air channel, and connect the other end to the second air channel.

[0024] S7. Debug and ensure that the motor output shaft is flush with the bottom of the housing after retraction. Finally, install the cover onto the housing and seal it.

[0025] The advantages and positive effects of the present invention are: 1. The present invention adopts a linear motor to replace the voice coil motor, thereby reducing magnetic leakage while meeting the output power requirement.

[0026] 2. The present invention arranges the linkage assembly between the linear drive part and the rotary drive and output part through reasonable layout in the housing, thereby reducing the influence of the magnetic leakage of the linear drive motor on adjacent components and improving the accuracy.

[0027] 3. The present invention replaces the modular stacking design of the transmission by setting a linkage cavity on the rotating part and setting an air path on the output shaft, thereby increasing the function while reducing the volume and having a wider range of applications.

[0028] 4. The present invention can gather the cables by providing a cable management rack to prevent them from getting stuck between moving parts and causing damage.

[0029] 5. The present invention limits the position of the flexible connecting pipe by a limiting frame. The flexible connecting pipe can realize the connection between the moving parts, and the limiting frame can prevent the flexible connecting pipe from being stuck between the moving parts and damaged due to position change after the pressure increases. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the cooperation between the telescopic motor mover and the assembly slot of the present invention; Figure 3 It is a schematic diagram of the internal installation structure of the housing of the present invention; Figure 4 It is a schematic diagram of the connection structure and relative position relationship between the various components of the present invention; Figure 5 This is a schematic diagram of the output body, linkage assembly and lifting drive connection structure of the present invention; Figure 6 It is a schematic structural diagram of the upper bearing member of the present invention; Figure 7 It is a schematic structural diagram of the lower bearing member of the present invention; Figure 8 It is a schematic diagram of the internal structure of the housing of the present invention; Figure 9 It is a schematic diagram of the cross-sectional structure of the output body of the present invention; Figure 10 This is a schematic diagram of the installation structure of the mounting base, telescopic slide rail and connecting frame of the present invention; Figure 11 It is an assembly process flow chart of the present invention.

[0032] The following are the descriptions of the reference numerals: 1. Housing; 2. Mounting seat; 3. Positioning bar; 4. Output hole; 5. Fixing slot; 6. First air duct; 7. Assembly slot; 8. Cover plate; 9. Telescopic motor stator; 10. Telescopic motor mover; 11. Transmission frame; 12. Telescopic slide rail; 13. Telescopic slider; 14. Limiting frame; 15. Connecting pipe; 16. Support block; 17. Cable management rack; 18. Main control board; 19. Slot; 20. Sub-control board; 21. Cable arrangement; 22. Fixing frame; 23. Lower bearing member; 24. Stabilizing tube; 25. Lower assembly cavity; 26. Connecting frame; 27 , upper bearing member; 28, upper assembly cavity; 29, air guide cavity; 30, second air duct; 31, output shaft; 32, air suction hole; 33, connecting hole; 34, sealed bearing; 35, rotating motor stator; 36, rotating motor rotor; 37, upper pull frame; 38, lower pull frame; 39, tension spring; 40, lifting head; 41, lifting sensor; 42, mounting frame; 43, rotating head; 44, rotating seat; 45, rotating sensor; 46, stabilizing frame; 47, air joint; 48, support ring; 49, stabilizing bearing; 50, dust seal. DETAILED DESCRIPTION

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0034] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0035] The present invention will be further described below with reference to the accompanying drawings: Example 1: Figures 1-10As shown, an ultra-small linear rotary motor includes a shell 1 and a cover plate 8, which is detachably connected to the shell 1. A lifting area, an output area, a lifting drive, an output body, a control component, an air path structure and a linkage component are provided in the shell 1. The lifting area is connected to the output area. An output hole 4 is provided through the shell 1, and the output hole 4 is connected to the output area. The lifting drive is located in the lifting area, the output body is located in the output area, and the output end is opposite to the output hole 4. The linkage component is located between the lifting drive and the output body, and is respectively connected to the lifting drive and the output body. The air path structure extends from the output end of the output body to the inner wall of the shell 1. The control component is located on one side of the lifting drive and the linkage component, and is respectively connected to the lifting drive and the output body.

[0036] like Figure 6 、 Figure 7 and Figure 9 As shown, the output body includes a fixed part and a moving part that cooperate with each other. The fixed part includes an upper bearing member 27 and a lower bearing member 23 that can be assembled with each other. The upper bearing member 27 is provided with an upper assembly cavity 28, and the lower bearing member 23 is provided with a lower assembly cavity 25 and a stabilizing tube 24. The stabilizing tube 24 is connected to the lower assembly cavity 25. Support rings 48 are provided in the upper assembly cavity 28 and the lower assembly cavity 25, and a rotating motor stator 35 is provided between the two support rings 48; the moving part includes an output shaft 31, and a rotating motor rotor 36 and a stabilizing bearing 49 are fixedly mounted on the output shaft 31. The rotating motor rotor 36 is located in the rotating motor stator 35 and cooperates with the rotating motor stator 35. The stabilizing bearing 49 is located in the stabilizing tube 24 and is connected to the stabilizing tube 24.

[0037] Specifically, a dust seal 50 is fixedly mounted on the output shaft 31 . The dust seal 50 is located inside the free end of the stabilizing tube 24 and is fixedly connected to the inner wall of the stabilizing tube 24 . The outer diameter of the stabilizing tube 24 does not exceed the inner diameter of the output hole 4 .

[0038] like Figure 3 and Figure 7 As shown, the air path structure includes an air guide cavity 29, an air intake hole 32 and a first air channel 6. The first air channel 6 is arranged on the outer shell 1. The air guide cavity 29 is opened on the inner wall of the upper assembly cavity 28. Two sealed bearings 34 are fixedly arranged in the air guide cavity 29, and the two sealed bearings 34 are mounted on the output shaft 31. Such an arrangement can support the output shaft 31 by the two sealed bearings 34, and can also seal the air guide cavity 29. A second air channel 30 is provided on the side wall of the air guide cavity 29 between the two sealed bearings 34. The second air channel 30 is connected to the first air channel 6 through a connecting pipe 15, which ensures the smooth flow of the air path. The air intake hole 32 is located on the end face of one end of the output shaft 31. A connecting hole 33 is also provided on the output shaft 31 between the two sealed bearings 34, and the connecting hole 33 is communicated with the air intake hole 32.

[0039] like Figure 4 、 Figure 5 and Figure 10 As shown, the lifting drive includes a telescopic motor stator 9 fixedly arranged in the housing 1, and a telescopic motor mover 10 is provided on the telescopic motor stator 9. The housing 1 is also provided with an assembly groove 7 that matches the telescopic motor stator 9.

[0040] Specifically, the linkage assembly includes a mounting base 2 fixedly provided on the outer shell 1, a telescopic slide rail 12 fixedly provided on the mounting base 2, a telescopic slider 13 slidingly provided on the telescopic slide rail 12, a connecting frame 26 and a transmission frame 11 fixedly provided on the telescopic slider 13, the transmission frame 11 is connected to the telescopic motor mover 10, and the connecting frame 26 is connected to the upper bearing member 27.

[0041] Among them, a positioning bar 3 is also provided on the mounting seat 2, which can ensure that the extension direction of the telescopic slide rail 12 is parallel to the axis of the output hole 4 after installation, so as to avoid the stabilizing tube 24 and the output port from getting stuck when the motor is performing linear output.

[0042] like Figure 3 and Figure 4 As shown, the control component includes a main control board 18, a sub-control board 20, a lifting control unit and a rotation control unit. The main control board 18 is fixedly set on the shell 1, and a slot 19 is fixedly set on the main control board 18. A fixing slot 5 is set on the shell 1 on one side of the slot 19, and the fixing slot 5 matches the slot 19. The sub-control board 20 is connected to the output body through a fixing frame 22, and the main control board 18 and the sub-control board 20 are connected through a cable 21. The lifting control unit and the telescopic motor stator 9 are connected to the main control board 18, and the rotation control unit and the rotating motor stator 35 are connected to the sub-control board 20.

[0043] Specifically, the lifting control unit includes a lifting sensor 41 and a lifting head 40. The lifting sensor 41 is fixedly connected to the shell 1 through the mounting bracket 42. The lifting head 40 is fixed on the output body and cooperates with the lifting sensor 41. The rotation control unit includes a rotation sensor 45 and a rotation head 43. The rotation sensor 45 is connected to the output body through the stabilizing bracket 46. The rotation head 43 is fixedly set at the other end of the output shaft 31 through the rotating seat 44 and cooperates with the rotation sensor 45.

[0044] Specifically, a limit frame 14, a wire management frame 17 and an anti-fall device are also provided in the shell 1. The connecting pipe 15 passes through the limit frame 14 to limit the connecting pipe 15. The cable 21 passes through the wire management frame 17 to limit the cable 21. The anti-fall device includes a tension spring 39. One end of the tension spring 39 is connected to the shell 1 through the upper pull frame 37, and the other end is connected to the output body through the lower pull frame 38.

[0045] like Figure 11As shown, when assembling, the output body needs to be assembled first, the rotation control unit, the lifting head 40 and the lower pull frame 38 are fixed to the output body, and one end of the tension spring 39 is connected to the lower pull frame 38; Secondly, align the slot 19 on the main control board 18 with the fixing slot 5 on the shell 1, and then connect the main control board 18 to the shell 1, assemble the telescopic slider 13 and the telescopic slide rail 12 outside the shell 1, and then fix the telescopic slide rail 12 to the mounting seat 2, and then fix the mounting frame 42 to the corresponding position in the shell 1; then, connect the transmission frame 11 and the telescopic motor mover 10, and install the output body into the shell 1. During installation, first pass the output shaft 31 through the output hole 4, and then connect the other end of the tension spring 39 to the upper pull frame 37, and then align the connecting frame 26 and the transmission frame 11 and connect them to the telescopic slider 13; then insert the telescopic motor stator 9 from the assembly slot 7, ensure that the telescopic motor mover 10 and the telescopic motor stator 9 are well matched, and then connect the telescopic motor stator 9 to the shell 1, and seal the joint between the assembly slot 7 and the telescopic motor stator 9; Then, fix the cable management rack 17 into the housing 1, and then use the cable 21 to connect the main control board 18 and the sub-control board 20, then install the sub-control board 20 on the fixing bracket 22, install the fixing bracket 22 on the output body, and finally hang the cable 21 on the cable management rack 17; Finally, the support block 16 is fixed into the shell 1, and then the limit frame 14 is fixed through the support block 16 and the shell 1, and the flexible connecting tube 15 is passed through the limit frame 14 and connected to the first air channel 6 at one end and the second air channel 30 at the other end.

[0046] After the internal structure of the housing 1 is assembled, the motor is debugged to ensure that the motor output shaft 31 is flush with the bottom of the housing 1 after being retracted. Finally, the cover plate 8 is installed on the housing 1 and sealed to complete the assembly of the motor.

[0047] The working process of this embodiment is as follows: the motor is in a reset state before working. In the reset state, the tension spring 39 is shortened, and the output body is pulled up by the upper pull frame 37 and the lower pull frame 38 so that the end of the output shaft 31 on the output body remains flush with the housing 1, and then the wire is inserted into the socket to turn on the motor power.

[0048] When it is necessary to control the extension and retraction of the output shaft 31 of the motor, power is supplied to the main control board 18 and the auxiliary control board through the socket. After the power of the main control board 18 and the auxiliary control board is turned on, power is supplied to the telescopic motor stator 9. After the telescopic motor stator 9 is energized, the telescopic motor mover 10 is driven to move along the slide groove on the telescopic motor stator 9. When the telescopic motor mover 10 moves, the telescopic slider 13 is driven to move along the telescopic slide rail 12 through the transmission frame 11. When the telescopic slide rail 12 moves, the output body is driven to move through the connecting frame 26. After the output body, the output shaft 31 is driven to extend to the outside of the housing 1, and the telescopic The motor mover 10 will stop after moving to the extreme position, and the output shaft 31 will also stop moving. If the output shaft 31 needs to be retracted into the shell 1, the main control board 18 and the sub-control board will control the telescopic motor mover 10 to move in the opposite direction, and the output shaft 31 will move toward the inside of the shell 1 driven by the output body. When the output body moves, it will also drive the lifting head 40 to move at the same time. When the lifting head 40 moves, it will be detected by the lifting sensor 41, and the signal will be sent to the main control board 18 and the sub-control board to realize accurate monitoring and control of the linear movement distance and position of the motor.

[0049] When it is necessary to control the rotation of the output shaft 31 of the motor, power is supplied to the rotating motor stator 35 through the main control board 18 and the sub-control board. After the rotating motor stator 35 is energized, a magnetic field is generated to drive the rotating motor rotor 36 to rotate. After the rotating motor rotor 36 rotates, it drives the output shaft 31 to rotate. If it is necessary to change the rotation direction of the output shaft 31, the main control board 18 and the sub-control board can be used to change the direction of the current delivered to the rotating motor stator 35 to change the direction of the magnetic field inside the rotating motor stator 35, so as to make the rotating motor rotor 36 rotate in the opposite direction. When the output shaft 31 rotates, the rotating magnetic head 43 is driven to rotate through the rotating seat 44. When the rotating magnetic head 43 rotates, it will be detected by the rotation sensor 45, and the signal will be sent to the main control board 18 and the sub-control board to realize accurate monitoring and control of the rotation state and rotation speed of the output shaft 31.

[0050] When the output shaft 31 needs to be controlled to extend and rotate simultaneously, power is supplied to the linear motor and the rotary motor simultaneously through the main control board 18 and the auxiliary control board, so that the output shaft 31 can rotate while extending and retracting, realizing simultaneous linear and rotary output.

[0051] The above is a detailed description of an embodiment of the present invention. However, the content described is only a preferred embodiment of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. An ultra-small linear rotary motor, comprising a housing (1) and a cover plate (8), wherein the cover plate (8) is detachably connected to the housing (1), and is characterized in that: The shell (1) is provided with a lifting area, an output area, a lifting drive, an output body, a control component, an air path structure and a linkage component. The lifting area is communicated with the output area. An output hole (4) is provided through the shell (1), and the output hole (4) is connected to the output area. The lifting drive is located in the lifting area. The output body is located in the output area, and the output end is opposite to the output hole (4). The linkage component is located between the lifting drive and the output body, and is respectively connected to the lifting drive and the output body. The air path structure extends from the output end of the output body to the inner wall of the shell (1). The control component is located on one side of the lifting drive and the linkage component, and is respectively connected to the lifting drive and the output body.

2. The ultra-small linear rotary motor according to claim 1, characterized in that: The output body comprises a fixed portion and a moving portion that cooperate with each other, the fixed portion comprises an upper bearing member (27) and a lower bearing member (23) that can be assembled with each other, the upper bearing member (27) is provided with an upper assembly cavity (28), the lower bearing member (23) is provided with a lower assembly cavity (25) and a stabilizing tube (24), the stabilizing tube (24) is connected to the lower assembly cavity (25), and the upper assembly cavity (28) and the lower assembly cavity (25) are both provided with a support ring (48 ), a rotating motor stator (35) is arranged between the two support rings (48); the moving part includes an output shaft (31), a rotating motor rotor (36) and a stabilizing bearing (49) are fixedly mounted on the output shaft (31), the rotating motor rotor (36) is located in the rotating motor stator (35), and cooperates with the rotating motor stator (35), and the stabilizing bearing (49) is located in the stabilizing tube (24) and is connected to the stabilizing tube (24).

3. The ultra-small linear rotary motor according to claim 2, characterized in that: The air path structure includes an air guide cavity (29), an air intake hole (32) and a first air channel (6), wherein the first air channel (6) is arranged on the housing (1), and the air guide cavity (29) is opened on the inner wall of the upper assembly cavity (28). Two sealed bearings (34) are fixedly arranged in the air guide cavity (29), and the two sealed bearings (34) are sleeved on the output shaft (31). A second air channel (30) is arranged on the side wall of the air guide cavity (29) between the two sealed bearings (34), and the second air channel (30) is connected to the first air channel (6) through a connecting pipe (15). The air intake hole (32) is located on the end face of one end of the output shaft (31), and a connecting hole (33) is also arranged on the output shaft (31) between the two sealed bearings (34), and the connecting hole (33) is connected to the air intake hole (32).

4. The ultra-small linear rotary motor according to claim 3, characterized in that: The lifting drive comprises a telescopic motor stator fixedly arranged in the housing (1), a telescopic motor mover is provided on the telescopic motor stator, and the housing (1) is also provided with an assembly slot (7) matching the telescopic motor stator.

5. The ultra-small linear rotary motor according to claim 4, characterized in that: The linkage assembly comprises a mounting seat (2) fixedly arranged on the housing (1), a telescopic slide rail (12) fixedly arranged on the mounting seat (2), a telescopic slider (13) slidably arranged on the telescopic slide rail (12), a connecting frame (26) and a transmission frame (11) fixedly arranged on the telescopic slider (13), the transmission frame (11) being connected to the telescopic motor mover, and the connecting frame (26) being connected to the upper bearing member (27).

6. The ultra-small linear rotary motor according to claim 4, characterized in that: The control assembly comprises a main control board (18), a sub-control board (20), a lifting control unit and a rotation control unit. The main control board (18) is fixedly arranged on the housing (1), and a slot (19) is fixedly arranged on the main control board (18). A fixing slot (5) is arranged on the housing (1) on one side of the slot (19), and the fixing slot (5) matches the slot (19). The sub-control board (20) is connected to the output body through a fixing frame (22), and the main control board (18) and the sub-control board (20) are connected through a cable (21). The lifting control unit and the telescopic motor stator are connected to the main control board (18), and the rotation control unit and the rotating motor stator (35) are connected to the sub-control board (20).

7. The ultra-small linear rotary motor according to claim 6, characterized in that: The lifting control unit includes a lifting sensor (41) and a lifting magnetic head (40), wherein the lifting sensor (41) is fixedly connected to the housing (1) via a mounting frame (42), and the lifting magnetic head (40) is fixed on the output body and cooperates with the lifting sensor (41); the rotation control unit includes a rotation sensor (45) and a rotation magnetic head (43), wherein the rotation sensor (45) is connected to the output body via a stabilizing frame (46), and the rotation magnetic head (43) is fixedly arranged at the other end of the output shaft (31) via a rotating seat (44), and cooperates with the rotation sensor (45).

8. The ultra-small linear rotary motor according to claim 6, characterized in that: The housing (1) is also provided with a limit frame (14), a wire management frame (17) and an anti-falling device. The connecting tube (15) passes through the limit frame (14) to limit the connecting tube (15). The cable (21) passes through the wire management frame (17) to limit the cable (21). The anti-falling device includes a tension spring (39). One end of the tension spring (39) is connected to the housing (1) through an upper pull frame (37), and the other end is connected to the output body through a lower pull frame (38).

9. The ultra-small linear rotary motor according to claim 6, characterized in that: A dust seal (50) is also fixedly mounted on the output shaft (31). The dust seal (50) is located inside the free end of the stabilizing tube (24) and is fixedly connected to the inner wall of the stabilizing tube (24). The outer diameter of the stabilizing tube (24) does not exceed the inner diameter of the output hole (4).

10. The assembly process of the ultra-small linear rotary motor according to any one of claims 5 to 9, characterized in that: The following steps are involved: S1. Assemble the output body, fix the rotation control unit, lifting head and lower pull-down frame on the output body, and connect one end of the tension spring to the lower pull-down frame; S2. Align the slots on the main control board with the fixing slots on the housing, then connect the main control board to the housing. Assemble the telescopic slider and telescopic rail outside the housing, then secure the telescopic rail to the mounting base, and finally secure the mounting bracket to the corresponding position inside the housing. S3. Connect the transmission frame and the telescopic motor mover, and install the output body into the housing. During installation, first pass the output shaft through the output hole, then connect the other end of the tension spring to the upper pull frame, and then align the connecting frame and the transmission frame and connect them to the telescopic slider; S4. Insert the telescopic motor stator from the assembly slot, ensure that the telescopic motor mover and the telescopic motor stator are well matched, then connect the telescopic motor stator to the housing, and seal the joint between the assembly slot and the telescopic motor stator; S5. Fix the cable management rack into the housing, then use the cable to connect the main control board and the sub-control board. Then install the sub-control board on the fixing rack, install the fixing rack on the output body, and finally hang the cable on the cable management rack. S5. Fix the support block into the housing, then fix the limit frame through the support block and the housing, pass the flexible connecting tube through the limit frame, connect one end to the first air channel, and connect the other end to the second air channel; S6. Debug to ensure that the motor output shaft is flush with the bottom of the housing after retraction. Finally, install the cover onto the housing and seal it.

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