Multi-rotor coupled high-frequency reciprocating motor and its phase compensation drive method

Abstract

This invention relates to a multi-rotor coupled high-frequency reciprocating motor. The stator assembly is fixed inside a housing, and an outer rotor assembly and an inner rotor assembly are simultaneously assembled within the stator assembly. When the stator assembly is energized, it generates a magnetic field that simultaneously acts on the magnets on both the outer and inner rotor assemblies, causing them to rotate synchronously and output power through a transmission sleeve and a main shaft, respectively. The main shaft passes through the interior of the outer rotor assembly and extends from the front end of the housing along with the transmission sleeve. This invention forms a spatially coupled architecture where a single stator simultaneously drives multiple rotors, achieving torque multiplication within a small volume and eliminating lateral shaft offset caused by unilateral force at its physical source. Combined with "pre-positioning start" and "closed-loop phase compensation" in the control system, it completely solves the problems of frictional thermal runaway, structural fracture, and heavy-load power attenuation under high-frequency, high-power operation, achieving zero power output attenuation and a significant extension of the equipment's ultimate service life.

Description

Technical Field

[0001] This invention relates to the field of micro drive equipment technology, and in particular to high-frequency reciprocating motors. Background Technology

[0002] Currently, high-frequency reciprocating motors on the market face the following severe physical and control bottlenecks when dealing with high frequency and high power output: Dynamic imbalance and spindle damage: The unilateral inertial force generated by high-frequency reciprocating can easily cause micro-bending of the spindle, leading to "steering" or fatigue fracture of the shaft system.

[0003] End face sintering and stress fracture: The instantaneous high temperature generated by high linear velocity friction can cause conventional polymer bearings (such as single PEEK) to melt, and the traditional radial space cannot provide a sufficiently large flange area to distribute the axial heavy load pressure.

[0004] Resonance offset and power attenuation under heavy load: When a reciprocating motor without mechanical springs is subjected to external variable loads (such as heavy pressure from the user), the mechanical resonance point will shift; if the drive signal does not have adaptive tracking capability, the electromagnetic force will do negative work, causing a sudden drop in amplitude and severe loss of synchronization.

[0005] Mechanical impact caused by eccentric start: When the motor stops, the rotor position is random. If a high-frequency alternating signal is directly input to start the oscillation, it is very easy to cause a serious unilateral impact. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-rotor coupled high-frequency reciprocating motor and its phase compensation driving method, which effectively solves the above-mentioned technical problems.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A multi-rotor coupled high-frequency reciprocating motor has the following characteristics: shell, A stator assembly, fixed inside the housing and capable of generating a magnetic field by passing electricity, has a through central hole; An outer rotor assembly is assembled inside a housing and has a first main body with an attached magnet and a transmission sleeve axially connected to the first main body. The first main body extends into the central hole of the stator assembly. The transmission sleeve extends from the front end of the housing, and the outer rotor assembly obtains mounting support through the connection between the transmission sleeve and the housing. A first limiting wing is provided on the transmission sleeve, and the first limiting wing cooperates with a first limiting groove preset on the front end of the housing. The inner rotor assembly is assembled inside the housing and has a main shaft and a second body connected to the main shaft and equipped with a magnet. One end of the main shaft passes through the interior of the outer rotor assembly and extends from the front end of the housing, while the other end of the main shaft is connected to the rear end of the housing and can rotate relative to it. A second limiting wing is provided on the main shaft, which works in conjunction with a pre-set second limiting groove on the rear end of the housing. The second body extends into the central hole of the stator assembly and is installed in a staggered manner relative to the first body, so that the second body and the first body rotate together around the center line of the main shaft. Both the second body and the first body are rotationally symmetrical bodies designed symmetrically about the center line of the main shaft. When the stator assembly is energized, it generates a magnetic field that acts on the magnets on the outer rotor assembly and the inner rotor assembly, causing the outer rotor assembly and the inner rotor assembly to rotate synchronously and output power through the transmission sleeve and the main shaft respectively.

[0008] The above scheme is further described in that the first body and the second body are axially close to each other in the central hole of the stator assembly, and the first body has a first horn portion extending to the outer periphery of the second body, and the second body has a second horn portion extending to the outer periphery of the first body; the corresponding magnets are respectively arranged along the length direction of the first horn portion and the second horn portion.

[0009] The above scheme is further improved by having the outer diameter of the first ram's horn portion be the same as the outer diameter of the second ram's horn portion, so that the first body and the second body are axially combined to form a fused rotating system.

[0010] The above scheme is further described in that the first ram's horn portion and the second ram's horn portion are arranged alternately around the center line of the main shaft in the central hole of the stator assembly, and the number of the first ram's horn portion and the second ram's horn portion is designed according to actual needs.

[0011] The above solution is further described in that the outer shell has a barrel body and a front end cover and a rear end cover respectively assembled at the front and rear ends of the barrel body. The barrel body and the rear end cover clamp and fix the stator assembly, and the barrel body and the front end cover together support the extension of the transmission sleeve.

[0012] The above-mentioned solution is further described as follows: the front end of the barrel body has a first flange and an inner boss. The first flange extends outward from the outer periphery of the barrel body, while the inner boss protrudes inward from the inner peripheral wall of the barrel body, and a first support block is provided on the inner boss; the rear end cover has a second flange and a plug head, and a second support block is provided on the plug head; the rear end cover is assembled to the rear end of the barrel body and the first flange and the second flange are connected by a first bolt, so that the rear end cover is fixed together with the barrel body, and the plug head is embedded in the rear end of the barrel body, so that the second support block and the first support block cooperate to support the two ends of the stator assembly.

[0013] The above solution further includes a forward-protruding positioning ring at the front end of the barrel body, which is used to assemble with the front cover. The front cover has a U-shaped cross section and is fixed to the barrel body by a second bolt. A through hole adapted to the extension of the transmission sleeve is left in the inner center of the front cover, and the periphery of the through hole is supported by a bearing pad on a pre-set shoulder on the transmission sleeve.

[0014] The above scheme is further described as follows: the inner end of the transmission sleeve is connected to the first main body, and a first bushing is embedded between the outer periphery of the transmission sleeve and the barrel body, while the inside of the transmission sleeve is connected to the main shaft by a second bushing, and the main shaft is connected to the rear end cover by a third bushing.

[0015] A further aspect of the above solution is that the inner wall of the barrel is provided with an axially extending positioning rib, which is fitted and connected to a groove on the outer periphery of the stator assembly to limit the rotation of the stator assembly.

[0016] This invention also provides a phase compensation drive method for a high-frequency reciprocating motor, realizing closed-loop phase compensation and resonance tracking for dynamic loads. This method is used to control the aforementioned high-frequency reciprocating motor. In the initial stage of motor startup, the drive module first injects a constant DC signal into the stator winding; then, using electromagnetic torque, it forcibly pulls and locks the randomly eccentric rotor assembly to the physically centered zero-degree position; after confirming centering, the control unit smoothly switches to a high-frequency alternating signal for frequency sweep oscillation, and executes the following closed-loop logic during motor operation: S1. Phase sampling: By detecting the back electromotive force or current characteristics in the stator coil, the current real physical and mechanical phase of the rotor is extracted in real time. S2. Phase difference calculation: The extracted real mechanical phase is compared with the phase of the PWM signal output by the current drive module in real time to calculate the phase difference; S3, Adaptive Compensation: When the spindle is subjected to external variable loads that cause phase delay, the control unit automatically advances / delays the PWM trigger angle or fine-tunes the drive frequency in the next drive cycle according to the phase difference. S4 Resonance Locking: By continuously cycling through the above S1-S3 steps, the electromagnetic drive frequency is forcibly locked in real time at the optimal mechanical resonance point under the current load.

[0017] This invention includes a stator assembly and at least two rotor assemblies that are magnetically coupled to the stator, forming a spatial coupling architecture in which a single stator simultaneously drives multiple rotors. This achieves torque multiplication in a small volume, and with the center line of the power output shaft as the origin, it is distributed in an Nth-order rotational symmetry pattern. This ensures that during high-frequency alternating switching, the electromagnetic thrust and mechanical rotational inertia cancel each other out in the symmetrical quadrant, achieving centroid centering under extreme working conditions and cutting off the lateral displacement of the main shaft caused by unilateral force from the physical source.

[0018] Employing a nested double-bearing load-bearing and off-site support layout, the transmission sleeve of the outer rotor assembly is mounted on the front end of the outer shell via a first polymer support interface; the main shaft of the inner rotor assembly extends out along with the transmission sleeve after passing through the outer rotor assembly, with the other end of the main shaft resting against and supported on a second polymer support interface at the rear end of the outer shell. This significantly lengthens the shaft support lever arm, and the radial shear force applied from the outside is preferentially absorbed by the transmission sleeve and the outer shell, ensuring that the core main shaft is always protected by the "double shell," guaranteeing absolute coaxiality precision.

[0019] Between the bidirectional contact surfaces of the dynamic rotating component and the static bearing component, an isolation layer with an extremely low coefficient of friction (PTFE gasket, bushing) is embedded. The high-strength isolation layer is specially designed to withstand the axial pressure brought by high power and absorb the end-face friction shear heat generated by high-frequency reciprocating motion. This "dynamic-static isolation" layout completely eliminates the physical hazard of high-temperature sintering of the end face, resulting in zero friction and zero loss during daily operation. In the event of runaway, it provides physical-level limit positioning and soft landing protection.

[0020] This invention completely solves the problems of frictional thermal runaway, structural fracture, and heavy-load power attenuation under high-frequency and high-power operation by using "cross-symmetric centroid control", "cross-shell load sharing" and "composite thrust decoupling" in mechanical structure, combined with "pre-positioning start" and "closed-loop phase compensation" in control. It breaks through the physical ceiling of micro motors under the dual limits of high frequency and heavy load, and achieves zero power output attenuation and a significant extension of the equipment's ultimate working life. Attached Figure Description

[0021] Appendix Figure 1 This is a schematic diagram of a preferred embodiment of the present invention; Appendix Figure 2 for Figure 1 Another perspective structural diagram; Appendix Figure 3 for Figure 1 Schematic diagram of the structural breakdown of the embodiment; Appendix Figure 4 , 5 for Figure 1 Cross-sectional views of the internal structure of the embodiment along different cross-sections; Appendix Figure 6 for Figure 1 A schematic diagram of the barrel structure in the embodiment; Appendix Figure 7 for Figure 6 Another perspective structural diagram; Appendix Figure 8 for Figure 1 A schematic diagram of the rear cover structure in the embodiment. Detailed Implementation

[0022] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention.

[0023] It should be noted that in the description of this invention, the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," which indicate directional or positional relationships, are based on the directional or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] See Figure 1 , 2As shown in Figures 3, 4, 5, 6, 7, and 8, this invention relates to a multi-rotor coupled high-frequency reciprocating motor, belonging to the category of micro drive motors, suitable for use under high-frequency oscillation and high-power load conditions. It comprises: a housing 1, a stator assembly 2, an outer rotor assembly 3, and an inner rotor assembly 4. The housing 1 defines the corresponding physical space and provides mounting support. The stator assembly 2 is fixed inside the housing 1 and has corresponding coils to generate a magnetic field when energized. The stator assembly 2 has a through-hole 21. The outer rotor assembly 3 is assembled inside the housing and has a first body 31 with an attached magnet and a transmission sleeve 32 axially connected to the first body 31. The first body 31 extends into the through-hole 21 of the stator assembly 2. The transmission sleeve 32 extends from the front end of the housing 1 to achieve power output and can be used to connect to corresponding actuators. In this embodiment, the outer rotor assembly 3 is supported by the connection between the transmission sleeve 32 and the outer shell 1, enabling the outer rotor assembly 3 to maintain a stable posture and rotate relative to the outer shell. A first limiting wing 321 is provided on the transmission sleeve 32, which works in conjunction with a first limiting groove 14 pre-set on the front end of the outer shell 1 to achieve reciprocating rotation of the outer rotor assembly 3 within a certain range. The inner rotor assembly 4 is assembled inside the outer shell and has a main shaft 41 and a second body 42 connected to the main shaft and equipped with a magnet. One end of the main shaft 41 passes through the interior of the outer rotor assembly 3 and extends from the front end of the outer shell 1, while the other end of the main shaft 41 is connected to the rear end of the outer shell 1 and can rotate relative to it. A second limiting wing 411 is provided on the main shaft 41, which works in conjunction with a second limiting groove 15 pre-set on the rear end of the outer shell 1, thereby limiting the reciprocating rotation of the inner rotor assembly 4 within a certain range. The design of the first limiting groove 14 and the second limiting groove 15 not only determines the rotation range of the outer rotor assembly 3 and the inner rotor assembly 4, but also provides a reference, facilitating subsequent control and determining the zero-degree position of the physical center of the reciprocating rotation. The second body 42 extends into the central hole 21 of the stator assembly 2 and is installed in a staggered manner relative to the first body 31, so that the second body 42 and the first body 31 rotate together around the center line of the main shaft, and both the second body 42 and the first body 31 are rotationally symmetrical bodies designed symmetrically about the center line of the main shaft. During operation, the stator assembly 2 generates a magnetic field after being energized, which simultaneously acts on the magnets on the outer rotor assembly 3 and the inner rotor assembly 4, causing the outer rotor assembly 3 and the inner rotor assembly 4 to rotate synchronously and output power through the transmission sleeve 32 and the main shaft 41 respectively, so that the transmission sleeve 32 and the main shaft 41 can drive the actuator to work. The actuator can be directly installed on the transmission sleeve 32 and / or the main shaft 41 to realize the operation of one or more actuators.

[0025] This invention comprises a stator assembly and two rotor assemblies magnetically coupled to the stator, forming a spatial coupling architecture in which a single stator simultaneously drives multiple rotors, achieving torque multiplication in a small volume; and the magnets, coils and physical limiting units are distributed in N-order rotational symmetry (N≥2) (such as a cross-symmetric layout) in radial space with the center line of the power output main shaft as the origin, ensuring that during high-frequency alternating switching, the electromagnetic thrust and mechanical rotational inertia cancel each other out in the symmetrical quadrant, achieving centroid centering under extreme working conditions, and cutting off the lateral displacement of the main shaft caused by unilateral force from the physical source.

[0026] In this embodiment, the first body 31 and the second body 42 are axially brought closer together in the central hole 21 of the stator assembly 2, and an isolation pad 8 is added near the joint for support, resulting in an axially stacked assembly. Both the first body 31 and the second body 42 are Y-shaped. The first body 31 has a first horn portion 311 extending to the outer periphery of the second body 42, and the second body 42 has a second horn portion 421 extending to the outer periphery of the first body 31. Furthermore, the first horn portion 311 and the second horn portion 421 are alternately arranged around the centerline of the main shaft in the central hole 21 of the stator assembly 2, and the outer diameter of the first horn portion 311 is the same as the outer diameter of the second horn portion 421. This allows the first body 31 and the second body 42 to form a fused rotating system after axial assembly, resulting in a compact and efficient torque multiplication within a small volume, and smoother rotation. In this embodiment, there are two first ram's horn portions 311 and two second ram's horn portions 421. Of course, the number can be increased as needed in practice, which is not limited here. The corresponding magnets are respectively arranged along the length direction of the first ram's horn portions 311 and the second ram's horn portions 421 so as to better couple with the stator assembly.

[0027] In this embodiment, the outer casing 1 has a barrel body 11 and a front end cap 12 and a rear end cap 13 respectively assembled at the front and rear ends of the barrel body. The barrel body 11 and the rear end cap 13 clamp and fix the stator assembly 2, and the barrel body 11 and the front end cap 12 together support the extension of the transmission sleeve 32. Further, the front end of the barrel body 11 has a first flange portion 111 and an inner boss 112. The first flange portion 111 protrudes outward from the outer periphery of the barrel body 11, while the inner boss 112 protrudes inward from the inner peripheral wall of the barrel body 11, and a first support block 113 is provided on the inner boss 112. The first support blocks 113 are arranged at annular intervals. The rear end cap 13 has a second flange portion 131 and a plug head 132. The plug head 132 is annular, and a second support block 133 is provided on the plug head 132. The second support blocks 133 are arranged at annular intervals. The rear end cap 13 is assembled to the rear end of the barrel body 11 and connected to the first flange portion 111 and the second flange portion 131 by the first bolt 51, thus fixing the rear end cap 13 to the barrel body 11. The plug head 132 is embedded in the rear end of the barrel body 11, so that the second support block 133 cooperates with the first support block 113 to support the two ends of the stator assembly 2. This structural design greatly facilitates the manufacturing and assembly of the outer shell 1, obtains a better physical limiting structure, can effectively fix the stator assembly 2, and can help the stator assembly 2 dissipate heat and extend its service life. In this embodiment, the inner wall of the barrel body 11 is provided with an axially extending positioning rib 115, which engages with the groove 22 on the outer periphery of the stator assembly 2, providing rotational limitation for the stator assembly 2 and improving assembly stability.

[0028] The front end of the barrel body 11 also has a forward-protruding positioning ring platform 114, which is used to be assembled with the front end cover 12. The front end cover 12 has a U-shaped cross section. The front end cover 12 and the barrel body 11 are connected and fixed by a second bolt 52. A through hole adapted to the extension of the transmission sleeve 32 is left in the inner center of the front end cover 12. The periphery of the through hole is supported by a bearing pad 7 on a pre-set shoulder 322 on the transmission sleeve 32. The bearing pad 7 can be a PTFE polytetrafluoroethylene gasket, which has an extremely low coefficient of friction, can bear and rotate relative to the transmission sleeve 32, and facilitates the pushing of the outer rotor assembly when the front end cover 12 is assembled, increasing the assemblability and ensuring the smooth rotation of the outer rotor assembly.

[0029] In this embodiment, the inner end of the transmission sleeve 32 is combined and connected with the first main body 31. After being separately manufactured and then combined, the manufacturing process is optimized and the manufacturing cost is reduced. A first shaft sleeve 61 is embedded between the outer circumference of the transmission sleeve 32 and the barrel body 11, and a second shaft sleeve 62 is connected between the inside of the transmission sleeve 32 and the main shaft 41. A third shaft sleeve 63 is connected between the main shaft 41 and the rear end cover 13. The first shaft sleeve 61, the second shaft sleeve 62 and the third shaft sleeve 63 not only provide rotational support, but also give axial assembly limits, improving the assembly stability and reliability. The second limiting wing on the main shaft and the flexible buffer block (silicone part) on the inner wall of the rear end cover maintain a small safety gap (fully suspended and not in contact) under the normal working state of the motor; only when subjected to extreme impact or out-of-control conditions, the second limiting wing contacts the buffer block, with zero friction and zero loss during daily operation; it provides physical-level ultimate positioning and soft landing protection under out-of-control conditions.

[0030] In this embodiment, both the first limiting wing 321 and the second limiting wing 411 are in the shape of a Chinese character "zhong", having symmetrically protruding wing parts and being respectively embedded in the first limiting groove 14 and the second limiting groove 15. The first limiting groove 14 and the second limiting groove 15 are formed by pin shafts protruding from the corresponding parts of the outer shell, providing a rotational space. Further, the first limiting wing 321 and the second limiting wing 411 are respectively assembled on the transmission sleeve 32 and the main shaft 41 in a sleeved manner, and the wing parts of the first limiting wing 321 and the second limiting wing 411 are arranged in the same direction, forming front and rear positioning and limits on the axis of the main shaft. During operation, according to the set rotation angle, the wing parts of the first limiting wing 321 and the second limiting wing 411 respectively swing back and forth in the first limiting groove 14 and the second limiting groove 15, but do not hit the side walls of the first limiting groove 14 and the second limiting groove 15.

[0031] The present invention also proposes a phase compensation driving method for the high-frequency reciprocating motor, which realizes closed-loop phase compensation and resonance tracking of dynamic loads. This method is used to control the above high-frequency reciprocating motor. At the initial stage of the motor startup, the driving module first injects a constant DC signal into the coil on the stator assembly; uses electromagnetic torque to forcibly pull and lock the randomly eccentric rotor assembly to the physical center zero position. The side walls of the first limiting groove 14 and the second limiting groove 15 give a physical reference to facilitate the inner and outer rotor assemblies to find the right position; after confirming the centering, the control unit then smoothly cuts in a high-frequency alternating signal for frequency sweeping and starting oscillation, and executes the following closed-loop logic during the operation of the motor: S1. Phase sampling: By detecting the back electromotive force or current characteristics in the stator coil, the real physical and mechanical phase of the rotor is extracted in real time; S2. Phase difference calculation: The real mechanical phase extracted is compared with the phase of the PWM signal output by the current driving module in real time, and the phase difference is calculated; S3, Adaptive Compensation: When the spindle is subjected to external variable loads that cause phase delay, the control unit automatically advances / delays the PWM trigger angle or fine-tunes the drive frequency in the next drive cycle according to the phase difference. S4 Resonance Locking: By continuously cycling through the above S1-S3 steps, the electromagnetic drive frequency is forcibly locked in real time at the optimal mechanical resonance point under the current load.

[0032] Through the above drive control, even if the rotor position is random when the motor stops or is offset by external force when the assembly is executed, it can still ensure that the motor starts to vibrate after being centered, prevent unilateral impact, protect the motor, and extend its service life.

[0033] This invention comprises a stator assembly and at least two rotor assemblies magnetically coupled to the stator, forming a spatial coupling architecture where a single stator simultaneously drives multiple rotors. This achieves torque multiplication within a small volume. It employs a nested double-bearing load and off-site support layout. The transmission sleeve of the outer rotor assembly is mounted on the front end of the outer casing via a first polymer support interface. The main shaft of the inner rotor assembly extends out along with the transmission sleeve after passing through the outer rotor assembly. The other end of the main shaft rests against and is supported on a second polymer support interface at the rear end of the outer casing. This significantly lengthens the shaft support arm, allowing the transmission sleeve and outer casing to preferentially absorb radial shear forces applied externally. This ensures the core main shaft is always protected by the "double outer casing," guaranteeing absolute coaxiality accuracy. During operation, the main shaft's centerline serves as the origin, exhibiting an Nth-order rotational symmetry distribution. This ensures that during high-frequency alternating switching, the electromagnetic thrust and mechanical rotational inertia cancel each other out within the symmetrical quadrant, achieving centroid centering under extreme conditions and eliminating lateral shaft offset caused by unilateral force at the physical source.

[0034] In a preferred embodiment of the present invention, the "self-balancing load" layout based on a single stator and dual rotors is applied, for example, to handheld cleaning devices such as electric toothbrushes and facial cleansing devices. The dual-output structure of the present invention can be configured with asymmetrical functional division: Working output end: The transmission sleeve 32 of the outer rotor assembly 3 extends from the front end and is directly connected to external loads such as toothbrush heads or facial cleansing heads to perform high-frequency reciprocating cleaning actions; Self-balancing vibration damping end: The main shaft 41 of the inner rotor assembly 4 extends out to the rear end cover and can be equipped with a counterweight of a specific mass, or use its own rotational inertia as a dynamic balancing unit. This is very useful in small products and is highly practical.

[0035] This invention also embeds an isolation layer (PTFE gasket, bushing) with an extremely low coefficient of friction between the bidirectional contact end faces of the dynamic rotating component and the static bearing component; the high-strength isolation layer is specially designed to withstand the axial pressure brought by high power and absorb the end face friction shear heat generated by high frequency reciprocating. This "dynamic-static isolation" layout completely eliminates the physical hidden danger of high-temperature sintering of the end face, resulting in zero friction and zero loss during daily operation; and provides physical-level limit positioning and soft landing protection in the event of runaway.

[0036] This invention completely solves the problems of frictional thermal runaway, structural fracture, and heavy-load power attenuation under high-frequency and high-power operation by using "cross-symmetric centroid control", "cross-shell load sharing" and "composite thrust decoupling" in mechanical structure, combined with "pre-positioning start" and "closed-loop phase compensation" in control. It breaks through the physical ceiling of micro motors under the dual limits of high frequency and heavy load, and achieves zero power output attenuation and a significant extension of the equipment's ultimate working life.

[0037] While preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention should not be limited to structures and operations that are exactly the same as those described above and shown in the drawings. Those skilled in the art can make many equivalent improvements and variations to the above embodiments through logical analysis, reasoning, or limited experiments without departing from the concept and scope of the present invention, but all such improvements and variations should fall within the scope of protection claimed by the present invention.

Claims

1. A high-frequency reciprocating motor with multi-rotor coupling, characterized in that, have: Outer shell (1), The stator assembly (2) is fixed inside the housing (1) and can generate a magnetic field by passing electricity through it. The stator assembly (2) has a through hole (21). An outer rotor assembly (3) is assembled inside a housing and has a first body (31) with an attached magnet and a transmission sleeve (32) axially connected to the first body (31). The first body (31) extends into the central hole (21) of the stator assembly (2). The transmission sleeve (32) extends from the front end of the housing (1), and the outer rotor assembly (3) obtains mounting support through the connection between the transmission sleeve (32) and the housing (1). A first limiting wing (321) is provided on the transmission sleeve (32), and the first limiting wing (321) cooperates with a first limiting groove (14) preset on the front end of the housing (1). The inner rotor assembly (4) is assembled inside the outer casing and has a main shaft (41) and a second body (42) connected to the main shaft and attached with a magnet. One end of the main shaft (41) passes through the interior of the outer rotor assembly (3) and extends out from the front end of the outer casing (1), while the other end of the main shaft (41) is connected to the rear end of the outer casing (1) and can rotate relative to it. A second limiting wing (411) is provided on the main shaft (41), which works in conjunction with a second limiting groove (15) preset on the rear end of the outer casing (1). The second body (42) extends into the central hole (21) of the stator assembly (2) and is installed in a staggered manner relative to the first body (31), so that the second body (42) and the first body (31) rotate together around the center line of the main shaft. The second body (42) and the first body (31) are both rotationally symmetrical bodies designed symmetrically about the center line of the main shaft. When the stator assembly (2) is energized, it generates a magnetic field that acts on the magnets on the outer rotor assembly (3) and the inner rotor assembly (4), causing the outer rotor assembly (3) and the inner rotor assembly (4) to rotate synchronously and output power through the transmission sleeve (32) and the main shaft (41) respectively.

2. The multi-rotor coupled high-frequency reciprocating motor according to claim 1, characterized in that, The first body (31) and the second body (42) are axially close together in the central hole (21) of the stator assembly (2), and the first body (31) has a first horn portion (311) extending to the outer periphery of the second body (42), and the second body (42) has a second horn portion (421) extending to the outer periphery of the first body (31); the corresponding magnets are respectively arranged along the length direction of the first horn portion (311) and the second horn portion (421).

3. The multi-rotor coupled high-frequency reciprocating motor according to claim 2, characterized in that, The outer diameter of the first ram's horn (311) is the same as the outer diameter of the second ram's horn (421), so that the first body (31) and the second body (42) are axially combined to form a fused rotating system.

4. The multi-rotor coupled high-frequency reciprocating motor according to claim 2 or 3, characterized in that, The first ram's horn portion (311) and the second ram's horn portion (421) are arranged alternately around the center line of the main shaft in the central hole (21) of the stator assembly (2).

5. The multi-rotor coupled high-frequency reciprocating motor according to claim 1, characterized in that, The outer shell (1) has a barrel body (11) and a front end cap (12) and a rear end cap (13) respectively assembled at the front and rear ends of the barrel body. The barrel body (11) and the rear end cap (13) clamp and fix the stator assembly (2). The barrel body (11) and the front end cap (12) together support the extension of the transmission sleeve (32).

6. The multi-rotor coupled high-frequency reciprocating motor according to claim 5, characterized in that, The front end of the barrel body (11) has a first flange (111) and an inner boss (112). The first flange (111) extends outward from the outer periphery of the barrel body (11), while the inner boss (112) protrudes inward from the inner peripheral wall of the barrel body (11), and a first support block (113) is provided on the inner boss (112). The rear end cover (13) has a second flange (131) and a plug head (132), and a second support block (133) is provided on the plug head (132). The rear end cover (13) is assembled to the rear end of the barrel body (11) and the first flange (111) and the second flange (131) are connected by a first bolt (51) to fix the rear end cover (13) to the barrel body (11), while the plug head (132) is embedded in the rear end of the barrel body (11), so that the second support block (133) and the first support block (113) cooperate to support the two ends of the stator assembly (2).

7. The multi-rotor coupled high-frequency reciprocating motor according to claim 6, characterized in that, The front end of the barrel body (11) also has a forward-protruding positioning ring platform (114), which is used to be assembled with the front end cover (12). The front end cover (12) has a U-shaped cross section. The front end cover (12) and the barrel body (11) are connected and fixed by a second bolt (52). A through hole adapted to the extension of the transmission sleeve (32) is left in the inner middle of the front end cover (12), and the periphery of the through hole is supported by a bearing pad (7) on a pre-set shoulder (322) on the transmission sleeve (32).

8. The multi-rotor coupled high-frequency reciprocating motor according to claim 5, characterized in that, The inner end of the transmission sleeve (32) is connected to the first body (31), and a first bushing (61) is embedded between the outer periphery of the transmission sleeve (32) and the barrel body (11). A second bushing (62) is connected between the inside of the transmission sleeve (32) and the main shaft (41), and a third bushing (63) is connected between the main shaft (41) and the rear end cover (13).

9. The multi-rotor coupled high-frequency reciprocating motor according to claim 5, characterized in that, The inner wall of the barrel body (11) is provided with an axially extending positioning rib (115), which is engaged with the groove (22) on the outer periphery of the stator assembly (2) to limit the rotation of the stator assembly.

10. A phase compensation driving method for a high-frequency reciprocating motor, characterized in that, This method is used to control the high-frequency reciprocating motor of any one of claims 1 to 9. In the initial stage of motor start-up, the drive module first injects a constant DC signal into the stator winding; the randomly eccentric rotor assembly is forcibly pulled and locked to the physically centered zero-degree position using electromagnetic torque; after confirming the centering, the control unit smoothly switches to a high-frequency alternating signal for frequency sweep oscillation, and executes the following closed-loop logic during motor operation: S1. Phase sampling: By detecting the back electromotive force or current characteristics in the stator coil, the current real physical and mechanical phase of the rotor is extracted in real time. S2. Phase difference calculation: The extracted real mechanical phase is compared with the phase of the PWM signal output by the current drive module in real time to calculate the phase difference; S3, Adaptive Compensation: When the spindle is subjected to external variable loads that cause phase delay, the control unit automatically advances / delays the PWM trigger angle or fine-tunes the drive frequency in the next drive cycle according to the phase difference. S4 Resonance Locking: By continuously cycling through the above S1-S3 steps, the electromagnetic drive frequency is forcibly locked in real time at the optimal mechanical resonance point under the current load.

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