Single-phase slotless double-magnetic-ring cylindrical linear actuator

Abstract

The invention discloses a single-phase slotless double-magnet-ring cylindrical linear actuator which comprises a stator assembly and a rotor assembly which are coaxially arranged. The stator assembly comprises a stator winding, and the stator winding comprises a first coil and a second coil which are connected in series; the rotor assembly comprises a rotor magnetic ring, the rotor magnetic ring comprises a first magnetic ring and a second magnetic ring which are sequentially and fixedly connected in the axial direction, the first magnetic ring and the second magnetic ring are both magnetized in the axial direction, and the magnetizing directions of the first magnetic ring and the second magnetic ring are opposite; an air gap is formed between the stator assembly and the rotor assembly; after the stator winding is electrified, the first coil and the second coil generate driving magnetic fields in opposite directions and form acting force to drive the mover assembly to do reciprocating rectilinear motion in the axial direction. Compared with the prior art, the permanent magnetic actuator has the advantages of a slotless motor, magnetic field leakage is reduced or avoided through the double-coil and double-magnetic-ring structure, and the power density of the actuator is effectively improved; a single-phase winding structure is adopted, a matched control algorithm is simple, and miniaturization integration and low-cost popularization of products are facilitated.

Description

Technical Field

[0001] This invention belongs to the technical field of cylindrical linear motors, and particularly relates to a single-phase slotless double magnetic ring cylindrical linear actuator. Background Technology

[0002] There is a significant demand for linear motion drives in the industrial sector. Traditional solutions typically employ rotary actuators in conjunction with mechanical transmission mechanisms such as ball screws to convert rotary motion into linear motion output through mechanical conversion. However, these solutions suffer from inherent drawbacks such as long transmission chains, large mechanical backlash, and high energy losses. In contrast, linear actuators can directly output linear motion without the need for additional mechanical conversion structures, significantly improving the overall transmission efficiency of the system. Compared to common flat-plate linear actuators, cylindrical linear actuators possess three core advantages: First, cylindrical linear actuators utilize a coaxially symmetrical coil winding design, effectively reducing the lateral end effect of the actuator and significantly improving the magnetic energy utilization rate of the windings; second, the shaft of the mover assembly can be made of low-cost non-magnetic materials, significantly reducing the overall manufacturing cost while ensuring structural strength; third, the mover assembly generates almost no radial force during actuator operation, greatly reducing the stress load on the supporting bearings and thus extending the actuator's service life.

[0003] In existing technologies, cylindrical linear actuators are mostly slotted structures. The slotted structure occupies valuable stator mounting space, significantly reducing slot fill factor. This restricts winding arrangement, leading to insufficient ampere-turns and difficulty in increasing air gap flux density, thus limiting thrust output from the electromagnetic source. Simultaneously, the slotting effect induces periodic reluctance losses, consuming effective electromagnetic power and further reducing power utilization.

[0004] As can be seen from the above, the existing cylindrical linear actuators have the disadvantage of low power density.

[0005] Therefore, it is necessary to provide a new single-phase slotless double magnetic ring cylindrical linear actuator to solve the above-mentioned technical problems. Summary of the Invention

[0006] (a) Technical problems to be solved Based on this, the present invention provides a single-phase slotless double magnetic ring cylindrical linear actuator to solve the technical problem of low power density in existing slotless cylindrical linear actuators.

[0007] (II) Technical Solution To address the aforementioned technical problems, this invention proposes a single-phase slotless double-magnetic-ring cylindrical linear actuator, comprising a stator assembly and a mover assembly arranged coaxially. The stator assembly includes a stator winding, which comprises a first coil and a second coil connected in series. The mover assembly includes a mover magnetic ring, which comprises a first magnetic ring and a second magnetic ring fixedly connected axially. Both the first and second magnetic rings are axially magnetized, and their magnetization directions are opposite. An air gap exists between the stator assembly and the mover assembly. When the stator winding is energized, the first and second coils generate driving magnetic fields in opposite directions and form a force, driving the mover assembly to perform reciprocating linear motion along the axial direction.

[0008] Preferably, the stator assembly further includes a magnetic shielding ring and a housing; the first coil, the second coil, and the magnetic shielding ring are coaxially arranged, the first coil and the second coil are respectively bonded and fixed to both sides of the magnetic shielding ring, and the three together form an integral coil shielding ring assembly. The coil shielding ring assembly is fixed to the inner wall of the housing. The first coil and the second coil are both solenoids wound with insulated wires along a spiral, and both have multi-layer structures; the outer wall of the magnetic shielding ring is also provided with a wiring notch for the series connection of the first coil and the second coil.

[0009] Preferably, the mover assembly further includes a first guide ring and a second guide ring coaxially arranged with the mover magnetic ring; one end of the first guide ring is fixedly connected to the end face of the first magnetic ring away from the second magnetic ring; one end of the second guide ring is fixedly connected to the end face of the second magnetic ring away from the first magnetic ring; an output shaft is fixedly connected to the end of the second guide ring away from the second magnetic ring; the housing is generally cylindrical with openings at both ends, and the single-phase slotless double magnetic ring cylindrical linear actuator further includes a first end cover and a second end cover, the first end cover and the second end cover are respectively fixedly covered at the openings at both ends of the housing, the output shaft passes through the second end cover and is slidably connected to the second end cover; the other end of the first guide ring is fixedly connected to an arc-shaped guide extension post, the arc-shaped guide extension post passes through the first end cover and is slidably connected to the first end cover.

[0010] Preferably, the housing, the first end cover, and the second end cover together form a receiving cavity. The single-phase slotless double-magnetic-ring cylindrical linear actuator further includes a limiting rod located within the receiving cavity. The mover assembly also includes a mover yoke. The first magnetic ring and the second magnetic ring are respectively fixedly installed on both axial sides of the mover yoke, and both the first and second magnetic rings are coaxially arranged with the mover yoke. One end of the limiting rod is fixed to the first end cover, and the other end face of the limiting rod is a rod end limiting surface, which faces the mover yoke to limit the stroke of the mover assembly moving towards the first end cover. The first guide ring is away from the first magnetic ring. One end face is the first retraction surface. The inner wall of the first end cap is provided with a recessed limiting groove. The distance between the rod end limiting surface and the mover yoke is H1, and the distance between the first retraction surface and the bottom of the limiting groove is H2, where H1=H2. The first retraction surface is positioned directly opposite the limiting groove and is used together with the rod end limiting surface to restrict the stroke of the mover assembly towards the first end cap. The end face of the second guide ring away from the second magnetic ring is the protruding limiting surface. The second guide ring is completely housed in the receiving cavity, and the protruding limiting surface faces the inner wall of the second end cap to restrict the stroke of the mover assembly towards the second end cap.

[0011] Preferably, a linear bearing is provided between the output shaft and the second end cover, the linear bearing is fixedly embedded in the second end cover, and the output shaft is slidably connected to the second end cover through the linear bearing; the central axis of the limiting rod coincides with the central axis of the moving part assembly, and the output shaft and the arc-shaped guide protrusion post are respectively located on both sides of the central axis of the moving part assembly.

[0012] Preferably, the first guide ring is a cylindrical ring coaxial with the first magnetic ring, and the sliding contact surface between the arc-shaped guide protrusion and the first end cap includes at least one arc surface coaxial with the first guide ring.

[0013] Preferably, the first guide ring and the arc-shaped guide extension post are integral structures. The cross-section of the arc-shaped guide extension post is a trapezoidal shape with both the upper and lower sides being arc-shaped. The upper side of the cross-section of the arc-shaped guide extension post is coaxial with the first guide ring, and the diameter of the upper side is the same as the inner diameter of the first guide ring. The lower side of the cross-section of the arc-shaped guide extension post is coaxial with the first guide ring, and the diameter of the lower side is the same as the outer diameter of the first guide ring.

[0014] Preferably, the stator assembly further includes a stator yoke disposed between the housing and the coil spacer assembly. The stator yoke is generally a hollow ring, and its inner and outer sidewalls are respectively bonded and fixed to the coil spacer assembly and the housing. A raised annular limiting block is provided in the middle of the inner wall of the stator yoke, and the axial ends of the annular limiting block abut against the first coil and the second coil, respectively. The outer sidewall of the magnetic shielding ring fits against the inner sidewall of the annular limiting block. The stator assembly also includes a first positioning retaining ring, a second positioning retaining ring, and a first copper... The first and second positioning retaining rings are coaxially centered with the housing and respectively fixed to the inner wall of the housing. The first and second positioning retaining rings are respectively located at both ends of the stator yoke. The first copper ring surrounds the first guide ring, and the first positioning retaining ring surrounds the first copper ring. The first positioning retaining ring and the first copper ring are coaxial. The second copper ring surrounds the second guide ring, and the second positioning retaining ring surrounds the second copper ring. The second positioning retaining ring and the second copper ring are coaxial.

[0015] Preferably, the first coil includes an output section, and the first positioning retaining ring is provided with an output hole, through which the output section passes. The single-phase slotless double magnetic ring cylindrical linear actuator further includes a linear encoder mounted on the arc-shaped guide extension column, the linear encoder being located outside the receiving cavity; the linear encoder and the output section are connected to the same ground; the moving magnetic ring is made of neodymium iron boron or ferrite; the moving magnetic yoke is a hollow structure, and the moving magnetic yoke is made of soft iron, silicon steel sheet, or soft magnetic alloy.

[0016] Preferably, the first end cover and the second end cover are detachably and fixedly connected to the housing via threaded connectors. The outer diameters of the first guide ring, the first magnetic ring, the mover yoke, the second magnetic ring, and the second guide ring are equal. The single-phase slotless double magnetic ring cylindrical linear actuator also includes a guide rod. One end of the guide rod is fixed to the outer side of the first end cover, and the distance from the other end of the guide rod to the outer side of the first end cover is P1. The distance from the end of the arc-shaped guide protrusion away from the first magnetic ring to the outer side of the first end cover is P2, where P1 > P2. The first guide ring also has a recessed positioning hole on the side away from the first magnetic ring, and the positioning hole is aligned with the axial center of the output shaft.

[0017] Preferably, the moving yoke has a second retraction surface at the middle of the end away from the second magnetic ring, and the rod end limiting surface is oriented toward the second retraction surface. The first guide ring, the moving yoke, and the second guide ring are all integrally annular. The second retraction surface is an annular plane coaxial with the moving yoke. The inner diameter of the first guide ring is D1, the outer and inner diameters of the second retraction surface are D2 and D3, respectively, and the inner diameter of the moving yoke is D4, wherein D1 > D2 > D3, and D3 = D4.

[0018] Preferably, the outer ends of the moving magnetic yoke are respectively provided with a first shoulder ring groove and a second shoulder ring groove, and the first magnetic ring and the second magnetic ring are respectively sleeved in the first shoulder ring groove and the second shoulder ring groove; the end of the first guide ring near the moving magnetic yoke is also sleeved in the first shoulder ring groove and abuts against the first magnetic ring, and the first guide ring is also abutted and fixed against the end face of the moving magnetic yoke away from the second magnetic ring; the end of the second guide ring near the moving magnetic yoke is also sleeved in the second shoulder ring groove and abuts against the second magnetic ring.

[0019] (III) Beneficial Effects Compared with existing technologies, the single-phase slotless double-magnetic-ring cylindrical linear actuator of the present invention has the following advantages: the stator winding adopts a double-coil series structure and a multi-layer winding form, which is composed of multiple layers of wound coils, eliminating the stator slot structure design. The winding can be directly bonded and fixed coaxially to the magnetic structure or the housing; the mover adopts a double-magnetic-ring structure, with both magnetic rings being axially magnetized and having opposite magnetic field directions. When current is applied to the winding, the two coils generate opposite magnetic fields, forming a magnetic interaction with the mover magnetic ring, causing the mover assembly to be subjected to axial magnetic pull and achieve reciprocating linear motion, effectively improving the power density of the actuator. In addition, the actuator adopts a single-phase winding structure, which simplifies the control method. Motion control can be achieved simply by changing the energizing sequence of the windings. The design and implementation difficulty of the control algorithm is greatly reduced, which is conducive to the miniaturization and low-cost promotion of the product. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of the single-phase slotless double magnetic ring cylindrical linear actuator in Embodiment 1 of the present invention. Figure 2 This is a schematic diagram of the stator assembly in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the structure of the first coil and the second coil in this invention; Figure 4 This is a three-dimensional schematic diagram of the moving part assembly in this invention; Figure 5 This is a front view schematic diagram of the moving part component in this invention; Figure 6 This is a left-side view of the moving part assembly in this invention; Figure 7 This is a schematic diagram of the cross-sectional shape of the arc-shaped guide column in this invention; Figure 8 This is a three-dimensional schematic diagram of the mover magnetic yoke in this invention; Figure 9 This is a schematic diagram illustrating the removal of the mover assembly from the stator assembly in this invention. Figure 10 This is a schematic diagram of the overall structure of the single-phase slotless double magnetic ring cylindrical linear actuator in Embodiment 2 of the present invention. Figure 11 This is a physical image of the single-phase slotless double magnetic ring cylindrical linear actuator of Embodiment 1 of the present invention; Figure 12 This is a physical diagram of removing the mover assembly from the stator assembly in this invention.

[0022] Explanation of reference numerals in the attached figures: 10. First end cover; 20. Stator assembly; 30. Mover assembly; 40. Second end cover; 50. Linear bearing; 60. Limiting rod; 70. Guide rod; 80. Receiving cavity; 101. Limiting groove; 201. Housing; 202. Stator yoke; 203. Stator winding; 204. First positioning retaining ring; 205. First copper ring; 206. Magnetic isolation ring; 207. Second positioning retaining ring; 208. Second copper ring; 301. Moving element magnetic ring; 302. Moving element magnetic yoke; 303. Output shaft; 304. First guide ring; 305. Second guide ring; 306. Extending post with arc-shaped guide; 601. Rod end limiting surface; 2031, First coil; 2032, Second coil; 2041, Cable exit hole; 2061. Missing wiring slot; 3011, First magnetic ring; 3012, Second magnetic ring; 3021, Second retraction surface; 3022, First shoulder ring groove; 3023, Second shoulder ring groove; 3041, Positioning hole; 3042, First retraction surface; 3051. Extend the limiting surface; 3061. Top; 3062. Bottom; 3063. Left; 3064. Right; 20311, Outgoing segment. Detailed Implementation

[0023] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0024] The following is in conjunction with the appendix Figure 1-12 The single-phase slotless double magnetic ring cylindrical linear actuator of the present invention will be further described. Example 1

[0025] Please refer to this carefully. Figure 1-9 This invention discloses a single-phase slotless double-magnetic-ring cylindrical linear actuator, comprising a stator assembly 20 and a mover assembly 30 coaxially arranged; the stator assembly 20 includes a stator winding 203, which includes a first coil 2031 and a second coil 2032 connected in series; the mover assembly 30 includes a mover magnetic ring 301, which includes a first magnetic ring 3011 and a second magnetic ring 3012 fixedly connected in sequence along the axial direction, both the first magnetic ring 3011 and the second magnetic ring 3012 being axially magnetized, and their magnetization directions being opposite; there is an air gap between the stator assembly 20 and the mover assembly 30; after the stator winding 203 is energized, the first coil 2031 and the second coil 2032 generate driving magnetic fields in opposite directions and form a force, driving the mover assembly 30 to perform reciprocating linear motion along the axial direction.

[0026] In this invention, the stator winding 203 has a slotless structure, which can be directly coaxially bonded to the magnetic structure. This process is simple, resulting in high slot fill factor, fewer end windings, no magnetic reluctance, low thrust pulsation, and low noise. It can also increase the inductance value and improve the frequency response. Furthermore, the slotless structure facilitates the lightweight design of the actuator, reducing its overall weight and further increasing power density.

[0027] The stator winding 203 includes a first coil 2031 and a second coil 2032, which is a double-coil structure. Both the first coil 2031 and the second coil 2032 are helical structures used to generate a magnetic field. According to Faraday's law and Ampere's circuital law, the first coil 2031 and the second coil 2032 are arranged symmetrically along the axial direction. When current in the same direction is passed through them in series, a magnetic field will be formed around them.

[0028] The moving magnetic ring 301 includes a first magnetic ring 3011 and a second magnetic ring 3012, which is a double magnetic ring structure, and the two magnetic rings are magnetized in opposite directions.

[0029] An air gap is maintained between the stator assembly 20 and the mover assembly 30 to ensure that the mover assembly 30 can perform smooth linear motion.

[0030] After the stator assembly 20 is powered on, the driving magnetic field generated by the stator double coils and the permanent magnet magnetic field of the mover double magnetic ring are precisely coupled at the air gap: the superimposed magnetic field of the double coils effectively enhances the magnetic flux density of the air gap, while the closed loop of the double magnetic ring limits the main flow path of the magnetic field. The synergistic effect of the two makes the magnetic field energy concentrated on the mover drive, which greatly reduces the energy loss caused by magnetic field leakage.

[0031] According to Faraday's law and Ampere's circuital law, when current flows through a coil, a magnetic field (driving magnetic field) is generated around it. Due to the interaction of the magnetic fields of the stator winding 203 and the mover magnetic ring 301, an axial magnetic pull is generated, driving the mover assembly 30 to produce displacement. When the magnetic pull on the mover assembly 30 is zero, the mover assembly 30 stops moving. At this time, changing the direction of the current flowing through the winding will make the mover assembly 30 move linearly in the opposite direction.

[0032] As can be seen from the above, the dual-coil and dual-magnetic-ring structure adopted in this invention significantly improves the power density of the actuator. Compared with three-phase actuators, this invention is a single-phase actuator, which has simple power supply requirements and lower cost. During the actuator's movement, only commutation is needed to change the direction of movement, and the control algorithm is simple.

[0033] Compared with existing technologies, this invention not only has the advantages of slotless motors, but also reduces or avoids magnetic field leakage through a double coil and double magnetic ring structure, effectively improving the power density of the actuator; it adopts a single-phase winding structure and has a simple matching control algorithm, which is conducive to the miniaturization and low-cost promotion of the product.

[0034] According to a specific embodiment of the present invention, the stator assembly 20 further includes a magnetic isolation ring 206 and a housing 201; the first coil 2031, the second coil 2032, and the magnetic isolation ring 206 are coaxially arranged, the first coil 2031 and the second coil 2032 are respectively bonded and fixed to both sides of the magnetic isolation ring 206, and the three together form an integral coil isolation ring assembly. The first coil 2031 and the second coil 2032 are both solenoids wound with insulated wires along a spiral, and both are multi-layered structures; the outer wall of the magnetic isolation ring 206 is also provided with a spacer for the first coil 2031 2032 2032 2032 2033 2036 ... The stator assembly 20 also includes a stator yoke 202 located between the housing 201 and the coil spacer assembly. The stator yoke 202 is a hollow ring. The inner and outer walls of the stator yoke 202 are bonded and fixed to the coil spacer assembly and the housing 201, respectively. A raised annular limiting block is provided in the middle of the inner wall of the stator yoke 202. The two axial ends of the annular limiting block abut against the first coil 2031 and the second coil 2032, respectively. The outer wall of the magnetic shielding ring 206 is attached to the inner wall of the annular limiting block.

[0035] In this embodiment, a stator yoke 202 is added between the housing 201 and the coil spacer assembly. The coil spacer assembly is now fixedly connected to the housing 203 via the stator yoke 202. The annular limiting block is used to accurately position the first coil 2031 and the second coil 2032. During assembly, the stator yoke 202 serves as the installation and positioning foundation for the first coil 2031, the second coil 2032, and the magnetic shielding ring 206, which helps to improve the coaxiality of the first coil 2031, the second coil 2032, and the magnetic shielding ring 206, as well as the stability after installation.

[0036] The stator yoke 202 is coaxially bonded to the housing 201, and is used to fix the stator winding 203 and other components. The magnetic isolation ring 206 is coaxially bonded to both ends of the first coil 2031 and the second coil 2032, which can reduce electromagnetic interference between the two coils. Both the first coil 2031 and the second coil 2032 are multi-layer winding structures, specifically: insulated wires are spirally wound in layers along the axial direction, each layer of coil has the same winding direction and the same number of turns, and the wires between layers are tightly attached; the multi-layer coils are coaxially stacked to form an integral columnar structure, the outer diameter of which is adapted to the inner diameter of the stator yoke 202, and is bonded and fixed to the inner sidewall of the stator yoke 202. This multi-layer structure can make fuller use of the axial space within the stator yoke 202. Compared with a single-layer coil, the number of wire turns can be increased in the same installation space, which not only further improves the slot fill factor, but also increases the air gap magnetic flux density, which is conducive to further improving the power density.

[0037] When an electric current flows through the solenoid, a strong magnetic field is generated, attracting or repelling the mover assembly 30, causing it to move linearly within the solenoid. The reciprocating movement of the mover assembly 30 can directly drive the target component, and the magnetism can be turned on or off as needed by energizing or de-energizing it, which also helps to instantly convert electrical energy into mechanical force.

[0038] According to a specific embodiment of the present invention, the mover assembly 30 further includes a first guide ring 304 and a second guide ring 305 coaxially disposed with the mover magnetic ring 301; one end of the first guide ring 304 is fixedly connected to the end face of the first magnetic ring 3011 away from the second magnetic ring 3012; one end of the second guide ring 305 is fixedly connected to the end face of the second magnetic ring 3012 away from the first magnetic ring 3011; an output shaft 303 is fixedly connected to any position of the second guide ring 305 away from the end face of the second magnetic ring 3012. The housing 201 is a cylindrical shape with openings at both ends. The single-phase slotless double magnetic ring cylindrical linear actuator also includes a first end cover 10 and a second end cover 40. The first end cover 10 and the second end cover 40 are respectively fixedly covered at the openings at both ends of the housing 201. The output shaft 303 passes through the second end cover 40 and is slidably connected to the second end cover 40. The other end of the first guide ring 304 is fixedly connected to an arc-shaped guide extension post 306. The arc-shaped guide extension post 306 passes through the first end cover 10 and is slidably connected to the first end cover 10.

[0039] In this embodiment, the first end cover 10 and the second end cover 40 respectively cover the openings at both ends of the housing 201, preventing dust, moisture and other impurities from entering, protecting the internal components of the housing 201, extending the service life of the actuator, and ensuring its efficient operation. The first end cover 10 and the second end cover 40 also serve as supports and guides for the mover assembly 30. The output shaft 303 and the arc-shaped guide extension post 306 at both ends of the mover assembly 30 are slidably connected to the second end cover 40 and the first end cover 10, respectively. The arc-shaped guide extension post 306 can prevent the mover assembly 30 from deviating from the axis, ensuring that the mover assembly 30 performs precise reciprocating linear motion along the axis.

[0040] It should also be noted that, using the solution of this invention, the installation position of the output shaft 303 is highly flexible. It can be coaxially arranged with the mover assembly 30, or eccentrically arranged, or even installed at any position on the end face of the second guide ring 305 away from the second magnetic ring 3012. This allows for flexible avoidance of components in the usage scenario, greatly expanding the scope of application of this invention. Furthermore, when the output shaft 303 is coaxially arranged with the mover assembly 30, both the output shaft 303 and the arc-shaped guide extension post 306 can prevent the mover assembly 30 from deviating from the axis. When the output shaft 303 is eccentrically arranged with the mover assembly 30, at least the arc-shaped guide extension post 306 can prevent the mover assembly 30 from deviating from the axis, ensuring that the mover assembly 30 accurately performs reciprocating linear motion along the axis.

[0041] According to a specific embodiment of the present invention, the housing 201, the first end cover 10, and the second end cover 40 together form a receiving cavity 80. The single-phase slotless double magnetic ring cylindrical linear actuator also includes a limiting rod 60 located within the receiving cavity 80. The mover assembly 30 also includes a mover yoke 302. The first magnetic ring 3011 and the second magnetic ring 3012 are coaxially fixed on both sides of the axial direction of the mover yoke 302, and both the first magnetic ring 3011 and the second magnetic ring 3012 are coaxially arranged with the mover yoke 302. One end of the limiting rod 60 is fixed to the first end cover 10, and the other end face of the limiting rod 60 is a rod end limiting surface 601, which faces the mover yoke 302 and is used to limit the stroke of the mover assembly 30 moving towards the first end cover 10. The first guide ring 304 is away from the first magnetic ring. One end face of 3011 is the first retraction surface 3042. The inner wall of the first end cover 10 is provided with a recessed limiting groove 101. The distance between the rod end limiting surface 601 and the mover yoke 302 is H1, and the distance between the first retraction surface 3042 and the bottom of the limiting groove 101 is H2, where H1=H2. The first retraction surface 3042 is set directly opposite the limiting groove 101 and is used together with the rod end limiting surface 601 to limit the stroke of the mover assembly 30 moving towards the first end cover 10. The end face of the second guide ring 305 away from the second magnetic ring 3012 is the protruding limiting surface 3051. The second guide ring 305 is completely housed in the receiving cavity 80, and the protruding limiting surface 3051 faces the inner wall of the second end cover 40 to limit the stroke of the mover assembly 30 moving towards the second end cover 40.

[0042] If a limit switch or sensor is used to control the stroke of the moving part 30 when it reciprocates in a linear motion, the reliability will be reduced and the overall manufacturing cost of the present invention will be increased.

[0043] In this embodiment, a limiting rod 60 is provided at the first end cover 10. When the mover assembly 30 moves to the position of the limiting rod 60, it can reverse its movement. The structure is simple, the cost is low, and the control is simple and highly accurate. Furthermore, one end face of the first guide ring 304 is used as another retraction limiting surface, which, together with the limiting rod 60, limits the retraction direction of the mover assembly 30. This can compensate for the problem caused by the small contact area between the mover yoke 302 and the limiting rod 60 during limiting due to the hollow structure, achieving smooth limiting and avoiding excessive local force that could lead to component wear. In addition, the end faces of the second guide ring 305 are used as limiting surfaces, which, in conjunction with the second end cover 40, can complete the limiting of the extension direction of the mover assembly 30 without the need for additional limiting structures. This expands the function of existing components and helps to further improve the integration of the device.

[0044] According to a specific embodiment of the present invention, a linear bearing 50 is provided between the output shaft 303 and the second end cover 40. The linear bearing 50 is fixedly embedded in the second end cover 40, and the output shaft 303 is slidably connected to the second end cover 40 through the linear bearing 50. The central axis of the limiting rod 60 coincides with the central axis of the moving part assembly 30, and the output shaft 303 and the arc-shaped guide extension post 306 are respectively located on both sides of the central axis of the moving part assembly 30.

[0045] In this embodiment, the limiting rod 60 is positioned directly opposite the moving yoke 302, with their central axes coinciding. When the limiting rod 60 limits the moving assembly 30, it acts at the center of the moving yoke 302, preventing the moving assembly 30 from tilting and further ensuring its sliding accuracy. The output shaft 303 and the arc-shaped guide extension post 306 are symmetrically distributed along the central axis of the moving assembly 30, resulting in a uniformly distributed guiding force centered on the axis. This balanced force and symmetrical cancellation of sliding friction significantly improve the sliding stability and smoothness of the moving assembly 30. The linear bearing 50 employs a low-friction coefficient rolling friction structure, which significantly reduces motion resistance compared to direct sliding contact, further enhancing the smoothness of the moving assembly 30's sliding and reducing wear.

[0046] It should also be noted that in this invention, a linear bearing 50 is provided only at one end of the mover assembly 30, and a curved guide post 306 is provided on the other side. Compared with the traditional structure that uses linear bearings on both sides, one less linear bearing is used. Moreover, the structure of combining the linear bearing 50 and the curved guide post 306 in this invention has many advantages. First, the curved guide post 306 can realize the linear guidance function of the linear bearing 50, and the curved guide post 306 also has the function of anti-eccentric guidance. In addition, the curved guide post 306 and the output shaft 303 extend out at both ends. The output shaft 303 provides linear drive power, and the curved guide post 306 facilitates the installation of the linear encoder during use, which is conducive to improving control accuracy.

[0047] The structure of this embodiment ensures that when the mover assembly 30 is coaxially limited, the force it experiences is evenly distributed along the axis, preventing eccentric torque and avoiding affecting its accuracy in linear motion. Furthermore, the arc-shaped guide post 306 penetrates the first end cover 10 and slides within it, while the output shaft 303 slides with the second end cover 40 via a linear bearing 50, forming a double-support structure with symmetrical guidance at both ends. This highly integrates the guiding capabilities of the mover assembly 30. Simultaneously, the symmetrical layout along the central axis allows for spatial avoidance of moving parts, preventing interference and ensuring balanced forces. This effectively avoids accuracy loss due to force offset during sliding, further guaranteeing the linear motion accuracy and long-term operational stability of the actuator.

[0048] According to a specific embodiment of the present invention, the first guide ring 304 is a cylindrical ring coaxial with the first magnetic ring 3011, and the sliding contact surface between the arc-shaped guide protrusion post 306 and the first end cap 10 includes at least one arc surface coaxial with the first guide ring 304.

[0049] In this embodiment, the first guide ring 304 adopts a cylindrical ring structure coaxial with the first magnetic ring 3011, and its central axis coincides with the overall central axis of the moving part assembly 30, providing a coaxial reference for the arc-shaped guide extension post 306. The sliding contact surface between the arc-shaped guide extension post 306 and the first end cover 10 is provided with at least one coaxial arc surface. The anti-eccentricity principle of this design is as follows: the center of the arc surface is collinear with the central axis of the moving part assembly 30, forming a "centering guide" structure. When the moving part assembly 30 moves axially, the mating surface between the arc surface and the first end cover 10 will generate a circumferential constraint force. If the moving part assembly 30 shows an eccentricity tendency (i.e., tilting away from the central axis) due to uneven force or installation error, the contact point of the arc surface will shift, thereby generating a reverse radial correction force, pulling the moving part assembly 30 back to the central axis position. Compared to planar contact or non-coaxial curved surface contact, the coaxial arc surface contact method can achieve circumferential uniform constraint within the angle range included by the arc surface. Regardless of the direction of eccentricity of the mover assembly 30, an instantaneous corrective force can be generated through the contact of the arc surface, avoiding wobbling or displacement caused by the gap between the arc-shaped guide post 306 and the first end cover 10. At the same time, the cylindrical annular first guide ring 304 works in conjunction with the arc-shaped guide structure to ensure that the movement trajectory of the arc-shaped guide post 306 is always based on the central axis of the mover assembly 30, further blocking the eccentricity transmission path and ensuring that the mover assembly 30 performs high-precision reciprocating linear motion along the axial direction, effectively reducing thrust pulsation and mechanical wear caused by guide eccentricity.

[0050] According to a specific embodiment of the present invention, the first guide ring 304 and the arc-shaped guide extension post 306 are integral structures. The cross-section of the arc-shaped guide extension post 306 is a trapezoidal shape with both the upper side 3061 and the lower side 3062 being arc-shaped. The upper side 3061 of the cross-section of the arc-shaped guide extension post 306 is coaxial with the first guide ring 304, and the diameter of the upper side 3061 is the same as the inner diameter of the first guide ring 304. The lower side 3062 of the cross-section of the arc-shaped guide extension post 306 is coaxial with the first guide ring 304, and the diameter of the lower side 3062 is the same as the outer diameter of the first guide ring 304.

[0051] In this embodiment, the first guide ring 304 and the arc-shaped guide protrusion post 306 are integrally molded. Specifically, the processing method is as follows: using a complete long cylindrical ring as the base material, the complete cylindrical ring structure is retained along its axial direction near the second magnetic ring as the first guide ring 304. The area away from the second magnetic ring is partially removed, and the left section is also partially removed, specifically removing most of the solid material from the upper part of the left section, retaining only the "trapezoidal" protrusion extending along the axial direction of the long cylindrical ring as the arc-shaped guide protrusion post 306. (See attached...) Figure 7 As shown, the specific structure of this type of trapezoidal cross section is as follows: the two opposite sides in the horizontal direction (left side 3063 and right side 3064) are symmetrical straight lines, and the two opposite sides in the vertical direction (upper side 3061 and lower side 3062) are concentric circular arcs coaxial with the first guide ring 304. The diameter of the upper circular arc is exactly the same as the inner diameter of the first guide ring 304, and the diameter of the lower circular arc is exactly the same as the outer diameter of the first guide ring 304, forming a symmetrical trapezoidal profile of "concentric upper and lower circular arcs and straight lines on both sides".

[0052] The core advantages of this one-piece molded structure are: compared to a spliced ​​structure, it avoids force offset caused by assembly gaps, resulting in more stable overall mechanical properties. It can effectively withstand the axial thrust and radial constraint forces during the reciprocating motion of the mover assembly 30, reducing the risk of deformation after long-term operation. Simultaneously, the trapezoidal cross-section design combines guiding accuracy and spatial adaptability: the upper and lower concentric arc edges remain coaxial with the first guide ring 304, continuing the "centering guidance" function and ensuring that the curved guide extension column 306 always fits the central axis during sliding, preventing eccentricity; the straight edges on both sides achieve spatial avoidance, preventing interference with the limit rod 60, and simplifying unnecessary materials, further optimizing the lightweight design of the mover assembly 30. Furthermore, the one-piece manufacturing process eliminates the need for additional connecting components, simplifying the production process while ensuring the coaxiality accuracy of the first guide ring 304 and the curved guide extension column 306, providing a structural foundation for the high-precision reciprocating motion of the mover assembly 30.

[0053] According to a specific embodiment of the present invention, the stator assembly 20 further includes a first positioning retaining ring 204, a second positioning retaining ring 207, a first copper ring 205, and a second copper ring 208 housed within a receiving cavity 80; the first positioning retaining ring 204 and the second positioning retaining ring 207 are both coaxially centered with the housing 201 and are respectively fixed to the inner wall of the housing 201, and the first positioning retaining ring 204 and the second positioning retaining ring 207 are respectively disposed at both ends of the stator yoke 202; the first copper ring 205 is disposed around the first guide ring 304, and the first positioning retaining ring 204 is disposed around the first copper ring 205, and the first positioning retaining ring 204 and the first copper ring 205 are coaxially disposed; the second copper ring 208 is disposed around the second guide ring 305, and the second positioning retaining ring 207 is disposed around the second copper ring 208, and the second positioning retaining ring 207 and the second copper ring 208 are coaxially disposed.

[0054] In this embodiment, the two ends of the stator yoke 202 also provide axial positioning bases for the first positioning retaining ring 204 and the second positioning retaining ring 207, which can improve the accuracy and stability of the position of the first positioning retaining ring 204 and the second positioning retaining ring 207.

[0055] A first positioning retaining ring 204 and a second positioning retaining ring 207 are provided at both ends of the stator yoke 202. The first positioning retaining ring 204 and the second positioning retaining ring 207 are coaxially fixedly connected to the housing 201. The first coil 2031 and the first positioning retaining ring 204 and the second coil 2032 and the second positioning retaining ring 207 are both potted to achieve overall fixation of the stator winding 203 and improve its structural stability.

[0056] The structure in which the first copper ring 205 is coaxial with the first positioning retaining ring 204 and surrounds the first guide ring 304, and the second copper ring 208 is coaxial with the second positioning retaining ring 207 and surrounds the second guide ring 305, allows the first copper ring 205 and the second copper ring 208 to absorb the static electricity generated by the stator winding 203, reducing interference to the actuator, and improving the accuracy of the operating data collected by the subsequent supporting sensors.

[0057] According to a specific embodiment of the present invention, the first coil 2031 includes a lead-out section 20311, and the first positioning retaining ring 204 is provided with a lead-out hole 2041. The lead-out section 20311 passes through the lead-out hole 2041. The single-phase slotless double magnetic ring cylindrical linear actuator also includes a linear encoder (not shown in the figure) mounted on the arc-shaped guide extension post 306. The linear encoder is located outside the receiving cavity 80. The linear encoder and the lead-out section 20311 are connected to the same ground.

[0058] In this embodiment, the use of this structure can effectively reduce common-mode interference and differential-mode interference, and improve control accuracy.

[0059] According to a specific embodiment of the present invention, the moving magnetic ring 301 is made of neodymium iron boron or ferrite; the moving magnetic yoke 302 is a hollow structure and is made of soft iron or silicon steel sheet or soft magnetic alloy.

[0060] In this embodiment, the mover yoke 302 can effectively constrain the leakage magnetic flux of the mover magnetic ring 301. Its hollow structure reduces the overall mass of the mover, thereby improving the power density of the actuator.

[0061] According to a specific embodiment of the present invention, the first end cover 10 and the second end cover 40 are detachably and fixedly connected to the housing 201 by threaded connectors, and the outer diameters of the first guide ring 304, the first magnetic ring 3011, the mover yoke 302, the second magnetic ring 3012, and the second guide ring 305 are equal.

[0062] In this embodiment, since the first guide ring 304, the first magnetic ring 3011, the mover yoke 302, the second magnetic ring 3012, and the second guide ring 305 are coaxial and have the same outer diameter, the outer contour of the mover assembly 30 is a regular cylindrical shape. By removing the first end cover 10 or the second end cover 40, the entire power assembly can be easily extracted, realizing the separation of the mover assembly 30 and the stator assembly 20. This facilitates replacement, subsequent maintenance and repair, extends the service life of the invention, and reduces the cost of use.

[0063] More specifically, the inner cavity of the housing 201 is a cylindrical cavity, and the housing 201 can be cylindrical or rectangular in shape. It is preferably rectangular, which facilitates the installation of threaded connectors at the corners, so as to realize the detachable connection between the housing 201 and the first end cover 10 and the second end cover 40.

[0064] According to a specific embodiment of the present invention, the single-phase slotless double magnetic ring cylindrical linear actuator further includes a guide rod 70. One end of the guide rod 70 is fixed to the outer side of the first end cover 10, and the distance from the other end of the guide rod 70 to the outer side of the first end cover 10 is P1. The distance from the end of the arc-shaped guide extension post 306 away from the first magnetic ring 3011 to the outer side of the first end cover 10 is P2, where P1 > P2.

[0065] In this embodiment, the guide rod 70 adopts a structure that extends out of the first guide ring 304, which can effectively avoid collision and interference with the surrounding structure during the movement of the mover, ensure the smoothness of the reciprocating motion of the mover, protect the components from damage, and improve the operational stability and service life of the actuator.

[0066] According to a specific embodiment of the present invention, the first guide ring 304 is further provided with a recessed positioning hole 3041 on the side away from the first magnetic ring 3011. The positioning hole 3041 is aligned with the axial center of the output shaft 303, and the shape of the positioning hole 3041 matches the shape of the output shaft 303, for positioning the position of the output shaft 303.

[0067] In this embodiment, the center of the positioning hole 3041 is used as a reference to ensure that the output shaft 303 is precisely aligned with the positioning hole 3041. The linear encoder is installed in a staggered manner to avoid the positioning structure.

[0068] According to a specific embodiment of the present invention, the moving yoke 302 has a second retraction surface 3021 at the middle of the end away from the second magnetic ring 3012, and the rod end limiting surface 601 is arranged facing the second retraction surface 3021. The first guide ring 304, the moving yoke 302, and the second guide ring 305 are all integrally annular. The second retraction surface 3021 is an annular plane coaxial with the moving yoke 302. The inner diameter of the first guide ring 304 is D1, the outer and inner diameters of the second retraction surface 3021 are D2 and D3, respectively, and the inner diameter of the moving yoke 302 is D4, wherein D1 > D2 > D3, and D3 = D4.

[0069] In this embodiment, during use, a limiting rod 60 is fixed inside the first end cover 10, with the limiting rod 60 facing the second retraction surface 3021. By appropriately setting the distance between the limiting rod 60 and the second retraction surface 3021, it can be ensured that when the output shaft 303 retracts, the first retraction surface 3042 abuts against the inner side of the first end cover 10, while the limiting rod 60 abuts against the second retraction surface 3021. This forms two retraction limiting structures, further improving the stability of the limiting. Due to the presence of the arc-shaped guide protrusion post 306, the first retraction surface 3042 is not a complete ring. Adding the second retraction surface 3021 increases the area of ​​the total retraction surface, reducing the area difference between the protrusion limiting surface 3051 and the total retraction surface. This improves the consistency of force during the limiting at both ends of the moving submodule, thereby improving the balance of the bidirectional movement of the moving submodule. D1>D2>D3, D3=D4. This diameter setting ensures that the limiting rod 60 can pass through the first guide ring 304 and act on the moving magnetic yoke 302; and the moving magnetic yoke 302 still retains the hollow structure that is conducive to improving power density, resulting in good overall performance.

[0070] According to a specific embodiment of the present invention, the outer ends of the moving magnetic yoke 302 are respectively provided with a first shoulder ring groove 3022 and a second shoulder ring groove 3023. The first magnetic ring 3011 and the second magnetic ring 3012 are respectively sleeved in the first shoulder ring groove 3022 and the second shoulder ring groove 3023. The end of the first guide ring 304 near the moving magnetic yoke 302 is also sleeved in the first shoulder ring groove 3022 and abuts against the first magnetic ring 3011. The first guide ring 304 is also abutted and fixed against the end face of the moving magnetic yoke 302 away from the second magnetic ring 3012. The end of the second guide ring 305 near the moving magnetic yoke 302 is also sleeved in the second shoulder ring groove 3023 and abuts against the second magnetic ring 3012.

[0071] In this embodiment, the first magnetic ring 3011 and the second magnetic ring 3012 are respectively sleeved in the first shoulder ring groove 3022 and the second shoulder ring groove 3023. The mover magnetic yoke 302 wraps around the mover magnetic ring 301 from the radial outside and the axial direction, while keeping the inner magnetic working surface of the mover magnetic ring 301 facing the stator exposed. This greatly reduces magnetic leakage from the magnetic ring to the non-working area, improves magnetic energy utilization, and adapts to the power requirements of high power density cylindrical motors.

[0072] It should be noted that the present invention also includes a drive control circuit, which is known to those skilled in the art. In addition, the material selection and bonding operations mentioned in the present invention are all well-known technologies and will not be described in detail here. Example 2

[0073] Please refer to this carefully. Figure 10 This invention discloses a single-phase slotless double-magnetic-ring cylindrical linear actuator, comprising a stator assembly 20 and a mover assembly 30 coaxially arranged; the stator assembly 20 includes a stator winding 203, which includes a first coil 2031 and a second coil 2032 connected in series; the mover assembly 30 includes a mover magnetic ring 301, which includes a first magnetic ring 3011 and a second magnetic ring 3012 fixedly connected in sequence along the axial direction, both the first magnetic ring 3011 and the second magnetic ring 3012 being axially magnetized, and their magnetization directions being opposite; there is an air gap between the stator assembly 20 and the mover assembly 30; after the stator winding 203 is energized, the first coil 2031 and the second coil 2032 generate driving magnetic fields in opposite directions and form a force, driving the mover assembly 30 to perform reciprocating linear motion along the axial direction.

[0074] The stator assembly 20 also includes a magnetic shielding ring 206 and a housing 201; the first coil 2031, the second coil 2032 and the magnetic shielding ring 206 are coaxially arranged, the first coil 2031 and the second coil 2032 are respectively bonded and fixed to both sides of the magnetic shielding ring 206, and the three together form an integral coil shielding ring assembly. The coil shielding ring assembly is fixed to the inner wall of the housing 201. The first coil 2031 and the second coil 2032 are both solenoids made of insulated wire wound along a spiral line, and both are multi-layered structures; the outer wall of the magnetic shielding ring 206 is also provided with a wiring notch 2061 for the series connection of the first coil 2031 and the second coil 2032.

[0075] It should be noted that: the structure of Embodiment 2 is basically the same as that of Embodiment 1. The difference is that the stator yoke 202 is removed in Embodiment 2. The first coil 2031 and the second coil 2032 are directly bonded and fixed to the inner wall of the housing 201. This can avoid the stator yoke 202 occupying the slot space, which is conducive to further improving the slot fill factor and providing power density. However, it also does not have the technical effect brought by the stator yoke 202 mentioned in Embodiment 1.

[0076] In practice, the solution in Implementation Example 1 or Implementation Example 2 can be selected according to the specific requirements.

[0077] Figure 11 and Figure 12 This is a physical image of the single-phase slotless double-magnetic-ring cylindrical linear actuator in Embodiment 1 of the present invention. Figure 12 It can be seen that after removing the end cover, the stator assembly 20 can be pulled out as a whole from the stator assembly 20, which is convenient for disassembly and assembly.

[0078] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components; and they can also refer to a "transmission connection," that is, a power connection through various suitable methods such as belt drive, gear drive, or sprocket drive. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A single-phase slotless double-magnetic-ring cylindrical linear actuator, characterized in that, The device includes a stator assembly and a mover assembly arranged coaxially. The stator assembly includes a stator winding, which includes a first coil and a second coil connected in series. The mover assembly includes a mover magnetic ring, which includes a first magnetic ring and a second magnetic ring fixedly connected in sequence along the axial direction. Both the first magnetic ring and the second magnetic ring are axially magnetized, and their magnetization directions are opposite. There is an air gap between the stator assembly and the mover assembly. When the stator winding is energized, the first coil and the second coil generate driving magnetic fields in opposite directions and form a force that drives the mover assembly to perform reciprocating linear motion along the axial direction.

2. The single-phase slotless double-magnetic-ring cylindrical linear actuator according to claim 1, characterized in that, The stator assembly also includes a magnetic shielding ring and a housing; the first coil, the second coil, and the magnetic shielding ring are coaxially arranged, the first coil and the second coil are respectively bonded and fixed to both sides of the magnetic shielding ring, and the three together form an integral coil shielding ring assembly. The coil shielding ring assembly is fixed to the inner wall of the housing. The first coil and the second coil are both solenoids made of insulated wire wound along a spiral, and both are multi-layered structures; the outer wall of the magnetic shielding ring is also provided with a wiring notch for the series connection of the first coil and the second coil.

3. The single-phase slotless double-magnetic-ring cylindrical linear actuator according to claim 2, characterized in that, The mover assembly further includes a first guide ring and a second guide ring coaxially arranged with the mover magnetic ring; one end of the first guide ring is fixedly connected to the end face of the first magnetic ring away from the second magnetic ring; one end of the second guide ring is fixedly connected to the end face of the second magnetic ring away from the first magnetic ring; an output shaft is fixedly connected to the end of the second guide ring away from the second magnetic ring; the housing is generally cylindrical with openings at both ends, and the single-phase slotless double magnetic ring cylindrical linear actuator further includes a first end cover and a second end cover, the first end cover and the second end cover are respectively fixedly covered at the openings at both ends of the housing, the output shaft passes through the second end cover and is slidably connected to the second end cover; the other end of the first guide ring is fixedly connected to an arc-shaped guide extension post, the arc-shaped guide extension post passes through the first end cover and is slidably connected to the first end cover.

4. The single-phase slotless double-magnetic-ring cylindrical linear actuator according to claim 3, characterized in that, The housing, the first end cover, and the second end cover together form a receiving cavity. The single-phase slotless double-magnetic-ring cylindrical linear actuator also includes a limiting rod located within the receiving cavity. The mover assembly also includes a mover yoke. The first and second magnetic rings are respectively fixedly installed on both axial sides of the mover yoke, and both the first and second magnetic rings are coaxially arranged with the mover yoke. One end of the limiting rod is fixed to the first end cover, and the other end face of the limiting rod is a rod end limiting surface, which faces the mover yoke and is used to limit the stroke of the mover assembly moving towards the first end cover. The first guide ring is located away from the first magnetic ring. The first retraction surface is the inner wall of the first end cap, which has a recessed limiting groove. The distance between the rod end limiting surface and the mover yoke is H1, and the distance between the first retraction surface and the bottom of the limiting groove is H2, where H1=H2. The first retraction surface is positioned directly opposite the limiting groove and is used together with the rod end limiting surface to restrict the movement of the mover assembly toward the first end cap. The end face of the second guide ring away from the second magnetic ring is an extension limiting surface. The second guide ring is completely housed within the housing cavity, and the extension limiting surface faces the inner wall of the second end cap to restrict the movement of the mover assembly toward the second end cap.

5. The single-phase slotless double-magnetic-ring cylindrical linear actuator according to claim 4, characterized in that, A linear bearing is provided between the output shaft and the second end cover. The linear bearing is fixedly embedded in the second end cover. The output shaft is slidably connected to the second end cover through the linear bearing. The central axis of the limiting rod coincides with the central axis of the moving part assembly. The output shaft and the arc-shaped guide extension post are located on both sides of the central axis of the moving part assembly.

6. The single-phase slotless double-magnetic-ring cylindrical linear actuator according to claim 5, characterized in that, The first guide ring is a cylindrical ring coaxial with the first magnetic ring. The sliding contact surface between the arc-shaped guide extension post and the first end cap includes at least one arc surface coaxial with the first guide ring. The first guide ring and the arc-shaped guide extension post are an integral structure. The cross-section of the arc-shaped guide extension post is a trapezoidal shape with both the upper and lower sides being arc-shaped. The upper side of the cross-section of the arc-shaped guide extension post is coaxial with the first guide ring, and the diameter of the upper side is the same as the inner diameter of the first guide ring. The lower side of the cross-section of the arc-shaped guide extension post is coaxial with the first guide ring, and the diameter of the lower side is the same as the outer diameter of the first guide ring.

7. The single-phase slotless double-magnetic-ring cylindrical linear actuator according to claim 6, characterized in that, The stator assembly further includes a stator yoke disposed between the housing and the coil spacer assembly. The stator yoke is integrally hollow and annular. The inner and outer walls of the stator yoke are respectively bonded and fixed to the coil spacer assembly and the housing. A protruding annular limiting block is provided in the middle of the inner wall of the stator yoke. The axial ends of the annular limiting block abut against the first coil and the second coil, respectively. The outer wall of the magnetic isolation ring fits against the inner wall of the annular limiting block. The stator assembly also includes a first positioning retaining ring, a second positioning retaining ring, a first copper ring, and a... housed within the housing cavity. The second copper ring; the first positioning retaining ring and the second positioning retaining ring are both coaxially centered with the housing and are respectively fixed to the inner wall of the housing, the first positioning retaining ring and the second positioning retaining ring are respectively disposed at both ends of the stator yoke; the first copper ring surrounds the first guide ring and the first positioning retaining ring surrounds the first copper ring, the first positioning retaining ring and the first copper ring are coaxial; the second copper ring surrounds the second guide ring and the second positioning retaining ring surrounds the second copper ring, the second positioning retaining ring and the second copper ring are coaxial.

8. The single-phase slotless double-magnetic-ring cylindrical linear actuator according to claim 7, characterized in that, The first coil includes a lead-out section, and the first positioning retaining ring is provided with a lead-out hole. The lead-out section passes through the lead-out hole. The single-phase slotless double magnetic ring cylindrical linear actuator also includes a linear encoder mounted on the arc-shaped guide extension column. The linear encoder is located outside the receiving cavity. The linear encoder and the lead-out section are connected to the same ground. The moving magnetic ring is made of neodymium iron boron or ferrite. The moving magnetic yoke has a hollow structure and is made of soft iron, silicon steel sheet or soft magnetic alloy.

9. The single-phase slotless double-magnetic-ring cylindrical linear actuator according to claim 8, characterized in that, The first end cover and the second end cover are detachably and fixedly connected to the housing via threaded connectors. The outer diameters of the first guide ring, the first magnetic ring, the mover yoke, the second magnetic ring, and the second guide ring are equal. The single-phase slotless double magnetic ring cylindrical linear actuator also includes a guide rod. One end of the guide rod is fixed to the outer side of the first end cover, and the distance from the other end of the guide rod to the outer side of the first end cover is P1. The distance from the end of the arc-shaped guide protrusion away from the first magnetic ring to the outer side of the first end cover is P2, where P1 > P2. The first guide ring also has a recessed positioning hole on the side away from the first magnetic ring, and the positioning hole is aligned with the axial center of the output shaft.

10. The single-phase slotless double-magnetic-ring cylindrical linear actuator according to claim 9, characterized in that, The moving yoke has a second retraction surface at the center of the end furthest from the second magnetic ring. The rod end limiting surface faces the second retraction surface. The first guide ring, the moving yoke, and the second guide ring are all integrally annular. The second retraction surface is an annular plane coaxial with the moving yoke. The inner diameter of the first guide ring is D1, the outer and inner diameters of the second retraction surface are D2 and D3, respectively, and the inner diameter of the moving yoke is D4, where D1 > D2 > D3, and D3 = D4. The outer ends of the moving magnetic yoke are respectively provided with a first shoulder ring groove and a second shoulder ring groove. The first magnetic ring and the second magnetic ring are respectively sleeved in the first shoulder ring groove and the second shoulder ring groove. The end of the first guide ring near the moving magnetic yoke is also sleeved in the first shoulder ring groove and abuts against the first magnetic ring. The first guide ring is also abutted and fixed against the end face of the moving magnetic yoke away from the second magnetic ring. The end of the second guide ring near the moving magnetic yoke is also sleeved in the second shoulder ring groove and abuts against the second magnetic ring.

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