Magnetic dynamic vcm motor with magnetic spring function and working method

Abstract

This invention relates to a magnetically driven VCM motor with a magnetic spring function and its operating method, belonging to the technical field of motors. It employs a structure where the coil is stationary and a permanent magnet serves as the mover, with a magnetically conductive ring integrated at the end of the coil to form a magnetic coupling with the mover. This solves the problems of easy wear and poor heat dissipation of the leads in traditional moving-coil motors, and utilizes the magnetic spring effect to achieve safe repositioning of the mover when power is lost. The invention features a compact structure, improving reliability and safety.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and in particular to a magnetically driven VCM motor with a magnetic spring function and its operating method. Background Technology

[0002] With the development of motor technology, voice coil motors (VCMs) based on the Lorentz force principle have emerged. They have the characteristics of fast dynamic response and high positioning accuracy, which in turn has led to the development of drive methods and devices represented by moving coil structures.

[0003] In related technologies, permanent magnets are commonly used to form the stator to generate a constant magnetic field, and energized coils act as movers in the magnetic field to drive functions such as lens focusing and precise positioning.

[0004] However, the aforementioned moving-coil structure and related devices have the following problems: First, the moving coil lead wire is prone to dragging and wear due to high-frequency reciprocating motion, which affects reliability. Also, the heat generated by the coil is difficult to dissipate quickly, which restricts long-term working stability. Second, the power density is limited, making it difficult to meet the high thrust requirements of high-end equipment; Third, there is insufficient safety redundancy. When power is suddenly cut off, the coil loses its electromagnetic constraint and is prone to dangerous displacement due to inertia, which can impact precision loads. Summary of the Invention

[0005] In response to the shortcomings of the existing production technology, the applicant provides a magnetically driven VCM motor with a magnetic spring function and a working method, thereby optimizing the VCM structure into a permanent magnet moving and coil stationary form, while integrating the magnetic spring function to achieve immediate limit after power failure by using magnetic coupling force, thus filling the safety defects of the existing technology.

[0006] The technical solution adopted in this invention is as follows: A magnetically driven VCM motor with a magnetic spring function includes: Magnetic spring assembly, position feedback assembly, force feedback assembly, limit assembly, and support mounting assembly; The magnetic spring assembly includes a mover, a magnetic ring, a coil, a wire frame, and a wire frame mounting base. The coil is fixedly mounted on the wire frame, and the wire frame is fixed to the wire frame mounting base. The magnetic ring is fixedly disposed at the axial end position of the coil. The mover is configured as a permanent magnet and is movably disposed within the range of the magnetic field generated by the coil. The mover is magnetically coupled to the magnetic ring, such that in the power-off state, the mover is constrained and remains in a preset mid-position under the magnetic force of the magnetic ring. The position feedback component includes a sliding block, a magnetic grid mounted on the sliding block, and a reading head corresponding to the magnetic grid. The sliding block is connected to the mover in a transmission manner. The force feedback component includes a force sensor element mounted on the slide and a force sensor configured to output a force feedback signal when the slide moves to contact the force sensor element. The limiting component includes a sensing plate installed on the slide and photoelectric switches disposed at both ends of the slide's travel. The photoelectric switches are configured to trigger a limiting signal when the sensing plate moves to its sensing area. The support mounting components are used to provide a fixed mounting base for each component.

[0007] As a further improvement to the above technical solution: In one embodiment, the device further includes a mover mounting plate and a guide rail slider, wherein the mover is mounted on the mover mounting plate, the mover mounting plate is fixedly connected to the slide block, and the slide block is mounted on the guide rail slider.

[0008] In one embodiment, the force feedback assembly further includes a force sensor mounting component and a force sensor mounting base. The force sensor is mounted on the force sensor mounting component, and the force sensor mounting component and the force sensor mounting base are connected by threads. The position of the force sensor in the direction of movement of the slide can be adjusted by rotating the force sensor mounting component.

[0009] In one embodiment, the magnetic ring is made of a magnetic material and is fixed to the end of the coil.

[0010] In one embodiment, the magnetic ring coil is fixed by one of the following methods: adhesive bonding, snap-fitting, or threaded connection.

[0011] In one embodiment, the support mounting assembly includes a base plate, a mounting base, and a support plate. The mounting base is fixed to the base plate, and the reading head is mounted on the mounting base. The reading head and the magnetic grating are relative to each other through magnetic induction to achieve position feedback of the slide block. The wire frame mounting base is mounted on the support plate.

[0012] In one embodiment, the photoelectric switch is mounted on a fixed mounting base, and the sensing element is fixed to the bottom or side of the slide.

[0013] In one embodiment, the slide is configured to move synchronously with the force sensor element when moving back and forth, and the force sensor element contacts the force sensor to transmit a force feedback signal.

[0014] On the other hand, this application provides a method for operating a magnetically driven VCM motor with a magnetic spring function, including: Magnetic spring limiting procedure: When the motor is de-energized, the moving part automatically moves and stably stops at the axial middle position of the magnetic ring under the magnetic coupling force of the magnetic ring, realizing immediate limiting when the power is off; Position feedback step: The slide moves under the drive of the mover and drives the magnetic grating to move. The reading head detects the relative displacement with the magnetic grating through magnetic induction and outputs a position feedback signal. Force feedback step: When the slide moves, it drives the force sensor on it to move. When the force sensor contacts the position-adjustable force sensor, the force sensor outputs a force feedback signal. Limit triggering step: When the slide moves, it drives the sensing plate to move. When the sensing plate enters the sensing area of ​​the photoelectric switch at both ends of the stroke, a limit signal is triggered to limit the continued movement of the slide.

[0015] In one embodiment, during the force feedback step, the installation position of the force sensor in the direction of movement of the slide block is adjusted to achieve torque feedback triggering at any preset position within the motor's stroke.

[0016] The beneficial effects of this invention are as follows: This invention features a compact structure. By employing a moving magnet structure where the coil is stationary and the permanent magnet is in motion, it eliminates the mechanical drag and bending fatigue on the coil power supply leads during high-speed reciprocating motion, greatly improving the reliability of long-term operation. At the same time, the fixed installation of the coil allows the heat generated to be conducted and dissipated more efficiently through fixed structures such as the wire frame and mounting base, avoiding the accumulation of heat on moving parts, thereby improving the continuous working stability and lifespan of the motor.

[0017] This invention also has the following advantages: This invention adds a magnetic ring to the end of the fixed coil and forms a magnetic circuit coupling with the permanent magnet mover to create a non-contact magnetic spring effect. In the event of a sudden power failure, the magnetic spring can immediately generate a restoring force that pulls the mover back and keeps it stably in the center position, effectively preventing dangerous displacement or falling of the load due to inertia. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention in its assembled state.

[0019] Figure 2 This is a schematic diagram of the overall structure of the present invention in an explosive state.

[0020] Figure 3 for Figure 1 A sectional view.

[0021] Figure 4 for Figure 3 Enlarged schematic diagram of part A.

[0022] Figure 5 This is a schematic diagram of the position feedback structure of the present invention.

[0023] Figure 6 for Figure 5 The schematic diagram shows the structure after the slide and force sensor are hidden.

[0024] Figure 7 for Figure 6 A schematic diagram showing the position of the reading head below the magnetic grating.

[0025] Figure 8 This is a schematic diagram of the limiting structure of the present invention.

[0026] Figure 9 for Figure 8 A schematic diagram of the structure after the slider is removed.

[0027] Figure 10 This is a schematic diagram of the force feedback motion of the present invention.

[0028] The components are as follows: 1. Photoelectric switch; 2. Reading head; 3. Mounting base; 4. Base plate; 5. Magnetic grid; 6. Guide rail slider; 7. Sensing plate; 8. Slide base; 9. Force sensor sensing element; 10. Force sensor mounting base; 11. Force sensor; 12. Force sensor mounting element; 13. Mover mounting plate; 14. Mover; 15. Magnetic ring; 16. Coil; 17. Wire frame; 18. Wire frame mounting base; 19. Support plate. Detailed Implementation

[0029] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0031] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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 communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0032] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0033] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0034] See Figures 1 to 10 This invention provides a magnetically driven VCM motor with a magnetic spring function, which changes the traditional moving-coil VCM's "coil moves, permanent magnet is stationary" structure to a "coil is stationary, permanent magnet moves" moving-magnet structure.

[0035] like Figure 1 and Figure 2 As shown, in some embodiments, the motor of this application is provided with a mounting base by a support mounting assembly, which mainly includes a base plate 4, a mounting seat 3 and a support plate 19; The base plate 4 serves as the base of the device, and the mounting base 3 is fixed on the base plate 4. It is mainly used to install the fixed part in the position feedback and limit assembly. The support plate 19 is also fixed on the base plate 4 and is used to support the magnetic spring assembly.

[0036] like Figure 3 and Figure 4 As shown in the cross-sectional view, in some embodiments, the drive and safety components of the motor are arranged axially, the coil 16 and its related components are fixed, while the mover 14 and its transmission part perform linear reciprocating motion under the guidance of the linear guide rail, thus realizing moving magnet drive.

[0037] In some embodiments, magnetic spring assemblies are used to address the issues of lead wire wear, poor heat dissipation, and lack of power failure protection in traditional VCMs. The magnetic spring assembly mainly includes a mover 14, a magnetic ring 15, a coil 16, a wire frame 17, and a wire frame mounting base 18; The coil 16 is tightly wound or mounted on the wire frame 17, which is then fixed to the wire frame mounting base 18 by bolts or other fasteners. The wire frame mounting base 18 is finally mounted on the support plate 19, thereby firmly fixing the entire coil section to the motor body, forming the stator section. A magnetic ring 15 made of a magnetically conductive material (such as silicon steel sheet) is fixed to the axial end of the coil 16 by means of bonding, snap-fitting or threaded connection; The mover 14 is made of permanent magnet (such as neodymium iron boron), with its N and N poles arranged along the direction of motion.

[0038] The working principle of the magnetic spring assembly is as follows: When a controlled current is applied to coil 16, a magnetic field is generated around it. This magnetic field interacts with the magnetic field of the permanent magnet mover 14, producing a Lorentz force that drives the mover 14 along the axial direction. Figure 3 (Front-back direction) linear motion; Since the coil 16 and the lead wires that power it are completely stationary, the risk of lead wire fatigue and breakage caused by high-frequency reciprocating motion is fundamentally eliminated. Furthermore, fixing the coil makes it easier to conduct and dissipate heat through the wire frame 17, the wire frame mounting base 18, and the support plate 19, thus significantly improving heat dissipation performance.

[0039] In addition, such as Figure 4 As shown in the enlarged schematic diagram of part A, the magnetic ring 15 and the permanent magnet mover 14 form a magnetic circuit coupling system. When the mover 14 deviates from the center position formed by the coil 16 and the magnetic ring 15, the edge of the magnetic ring 15 will cause the magnetic circuit of the mover 14 to be distorted, generating an axial restoring force that pulls the mover 14 back to the center region. This restoring force increases with the increase of the deviation distance, and its characteristics are similar to those of a mechanical spring, hence it is called a magnetic spring.

[0040] When the motor is operating normally with power on, the driving electromagnetic force is much greater than the restoring force of the magnetic spring, thus the mover 14 moves under control. In the event of a sudden power outage, the driving electromagnetic force disappears instantly.

[0041] At this time, no matter where the mover 14 is in the stroke, the restoring force of the magnetic spring will immediately act on the mover 14, so that it quickly and smoothly returns to and stabilizes in the axial center position of the magnetic ring 15 (i.e. the preset safe center position). This process is completely passive and does not require any external energy or control signal, thus achieving intrinsic safety and effectively preventing the load from being impacted or falling due to inertia. In some embodiments, the position feedback component is used to detect the absolute or relative position of the mover 14 (and the load) in real time with high precision; like Figure 5 , Figure 6 and Figure 7 As shown, the position feedback component mainly includes a magnetic grating 5, a reading head 2, a slide block 8, and a guide rail slider 6; Among them, the slide block 8 is the main bearing platform of the moving parts. It is slidably mounted on the base plate 4 through the guide rail slider 6 to achieve linear guidance. The magnetic grating 5 is directly mounted on the slide 8; The reading head 2, as a sensor, is fixedly mounted on the mounting base 3 located on the side of the slide 8, with its sensing surface facing the magnetic grating 5 with a small and constant gap.

[0042] The working principle of the location feedback component is as follows: The slide block 8 and the mover 14 are rigidly connected through the mover mounting plate 13, thereby achieving synchronous movement; When the slide 8 moves the magnetic grating 5, the reading head 2 reads the magnetization scale on the magnetic grating 5 non-contactly through the internal magnetic induction element (such as a Hall sensor or a magnetoresistive sensor), and converts the displacement signal into an electrical signal (such as a digital pulse or analog voltage), thereby outputting a position feedback signal to the control system in real time.

[0043] In some embodiments, the force feedback component is used to detect mechanical contact force at specific points in the motion stroke to achieve overload protection or position calibration; like Figure 5 and Figure 10 As shown, the force feedback assembly includes a force sensor 11, a force sensor sensing element 9, a force sensor mounting element 12, and a force sensor mounting base 10. The force sensor element 9 (e.g., a contact) is fixed to the slide block 8 by screws; Force sensor 11 (e.g., miniature piezoelectric or strain gauge sensor) is mounted on force sensor mounting bracket 12; The force sensor mounting base 10 is fixed on the base plate 4; The force sensor mounting part 12 and the force sensor mounting base 10 are connected by threads.

[0044] The working principle of the force feedback component is as follows: When the slide block 8 moves and moves the power sensor sensing element 9 to contact the probe of the force sensor 11, the contact force is sensed by the force sensor 11 and converted into an electrical signal output as a force feedback signal. The front and rear positions of the force sensor 11 in the direction of movement (axial direction) of the slide block 8 can be adjusted by rotating the force sensor mounting part 12. This means that users can preset one or more trigger positions arbitrarily within the entire mechanical stroke of the motor; when the slide 8 moves to the preset position, the force sensor 9 will contact the force sensor 11 and trigger feedback, realizing the programmable torque sensing and triggering function at any point within the stroke.

[0045] In some embodiments, the limiting component is used to limit the physical limit of the movement of the slide 8 to prevent damage due to overtravel; like Figure 8 and Figure 9 As shown, the limiting component includes a sensing plate 7 and a photoelectric switch 1; The sensing element 7 (usually a metal sheet) is fixed to the bottom or side of the slide block 8 by screws; two photoelectric switches 1 (usually through-beam or reflective) are respectively installed at the extreme positions at both ends of the slide block 8's travel and fixed to the mounting base 3. The working principle of the limit component is as follows: When the slide block 8 moves close to the end of its stroke, the sensing plate 7 fixed on it moves into the optical path sensing area of ​​the corresponding end photoelectric switch 1. Photoelectric switch 1 is immediately triggered, generating an emergency stop or reverse limit signal sent to the motor driver, forcibly stopping the motor movement, thereby providing end-of-stroke protection for the entire system.

[0046] Please continue reading. Figure 2 and Figure 3 The mover 14 is not directly connected to the slide 8, but is first installed on the mover mounting plate 13, and the mover mounting plate 13 is then fixed to the slide 8 by bolts, which facilitates the installation and calibration of the mover 14. In addition, the slide 8 is supported and guided by the linearly arranged guide rail slider 6 to ensure smooth movement.

[0047] As mentioned earlier, the base plate 4, mounting base 3, and support plate 19 constitute the entire frame of the motor. All fixed components (such as reading head 2, photoelectric switch 1, wire frame mounting base 18, force sensor mounting base 10, and guide rail of guide rail slider 6) are directly or indirectly mounted on these structures, ensuring the accuracy and stability of the relative positions between the components.

[0048] In practical applications, the motor operation method of this application is as follows: Magnetic spring limit: This step is a continuous passive safety mechanism. At the moment the motor is powered off, regardless of the motion state of the mover 14 and the slide 8, the magnetic spring assembly is immediately activated. Under the action of the magnetic coupling restoring force generated by the magnetic ring 15, the mover 14 automatically moves to the center position and finally stays stably in the middle position of the coil 16 axis, realizing millisecond-level instant locking after power failure and protecting the load safety.

[0049] Position feedback: During the operation of the motor, the slide 8 moves under the drive of the mover 14; the slide 8 drives the magnetic grating 5 on it to move synchronously; the fixed reading head 2 detects the relative displacement between itself and the magnetic grating 5 in real time through non-contact magnetic induction, and outputs a continuous and high-precision position feedback signal to the upper control system to realize closed-loop position control.

[0050] Force feedback: During the movement, the slide 8 simultaneously moves the force sensor 9; according to application requirements, the position of the force sensor 11 is pre-adjusted via the force sensor mounting 12; when the slide 8 moves to the preset position, the force sensor 9 and the force sensor 11 make mechanical contact; the force sensor 11 detects the contact force and outputs a force feedback signal; this signal can be used to trigger operations such as "stop", "decelerate" or "record current position" to achieve force control or position calibration; Limit trigger (travel protection): During the entire process of motor operation, the slide 8 drives the induction plate 7 to move; if the control system fails or other reasons cause the slide 8 to exceed the normal travel range, the induction plate 7 will enter the sensing area of ​​the photoelectric switch 1 at the end of the travel; the photoelectric switch 1 is triggered, and a hardware-level limit signal is sent, directly cutting off the motor power or triggering an emergency stop to prevent mechanical impact damage.

[0051] In summary, this application, through a moving magnet structure with a stationary coil and a moving permanent magnet, eliminates the mechanical drag and bending fatigue on the coil power supply leads during high-speed reciprocating motion, greatly improving the reliability of long-term operation.

[0052] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0053] The embodiments described above are merely illustrative of implementation methods of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A magnetically driven VCM motor with a magnetic spring function, characterized in that, include: Magnetic spring assembly, position feedback assembly, force feedback assembly, limit assembly, and support mounting assembly; The magnetic spring assembly includes a mover (14), a magnetic ring (15), a coil (16), a wire frame (17), and a wire frame mounting base (18); wherein, the coil (16) is fixedly mounted on the wire frame (17), and the wire frame (17) is fixedly mounted on the wire frame mounting base (18); the magnetic ring (15) is fixedly disposed at the axial end position of the coil (16); the mover (14) is configured as a permanent magnet and is movably disposed within the range of the magnetic field generated by the coil (16), and the mover (14) is magnetically coupled to the magnetic ring (15), so that in the power-off state, the mover (14) is constrained and stays in a preset mid-position under the magnetic force of the magnetic ring (15); The position feedback component includes a sliding block (8), a magnetic grid (5) mounted on the sliding block (8), and a reading head (2) corresponding to the magnetic grid (5). The sliding block (8) is connected to the mover (14) in a transmission manner. The force feedback assembly includes a force sensor (9) mounted on the slide (8) and a force sensor (11), the force sensor (11) being configured to output a force feedback signal when the slide (8) moves to contact the force sensor (9); The limiting component includes a sensing plate (7) installed on the slide (8) and photoelectric switches (1) disposed at both ends of the travel of the slide (8). The photoelectric switches (1) are configured to trigger a limiting signal when the sensing plate (7) moves to its sensing area. The support mounting components are used to provide a fixed mounting base for each component.

2. The magnetically driven VCM motor with magnetic spring function according to claim 1, characterized in that, It also includes a mover mounting plate (13) and a guide rail slider (6), wherein the mover (14) is mounted on the mover mounting plate (13), the mover mounting plate (13) is fixedly connected to the slide (8), and the slide (8) is mounted on the guide rail slider (6).

3. The magnetically driven VCM motor with magnetic spring function according to claim 1, characterized in that, The force feedback assembly also includes a force sensor mounting part (12) and a force sensor mounting base (10). The force sensor (11) is mounted on the force sensor mounting part (12). The force sensor mounting part (12) and the force sensor mounting base (10) are connected by threads. The position of the force sensor (11) in the direction of movement of the slide (8) can be adjusted by rotating the force sensor mounting part (12).

4. The magnetically driven VCM motor with magnetic spring function according to claim 1, characterized in that, The magnetic ring (15) is made of magnetic material and is fixed at the end of the coil (16).

5. The magnetically driven VCM motor with magnetic spring function according to claim 4, characterized in that, The magnetic ring (15) and coil (16) are fixed by one of the following methods: adhesive bonding, snap-fitting, or threaded connection.

6. The magnetically driven VCM motor with magnetic spring function according to claim 1, characterized in that, The support mounting assembly includes a base plate (4), a mounting base (3) and a support plate (19). The mounting base (3) is fixed on the base plate (4). The reading head (2) is mounted on the mounting base (3). The reading head (2) and the magnetic grid (5) are relative to each other through magnetic induction to realize the position feedback of the slide (8). The wire frame mounting base (18) is mounted on the support plate (19).

7. The magnetically driven VCM motor with magnetic spring function according to claim 1, characterized in that, The photoelectric switch (1) is mounted on a fixed mounting base (3), and the sensing sheet (7) is fixed to the bottom or side of the slide (8).

8. The magnetically driven VCM motor with magnetic spring function according to claim 1, characterized in that, The slide (8) is configured to drive the force sensor (9) to move synchronously when it moves back and forth, and the force sensor (9) contacts the force sensor (11) to transmit force feedback signals.

9. A method for operating a magnetically driven VCM motor with a magnetic spring function as described in any one of claims 1 to 8, characterized in that, include: Magnetic spring limiting step: When the motor is de-energized, the mover (14) automatically moves and stably stops at the axial middle position of the magnetic ring (15) under the magnetic coupling force of the magnetic ring (15), realizing immediate limiting when the power is off; Position feedback step: The slide (8) moves under the drive of the mover (14) and drives the magnetic grating (5) to move. The reading head (2) detects the relative displacement with the magnetic grating (5) through magnetic induction and outputs a position feedback signal. Force feedback step: When the slide (8) moves, it drives the force sensor (9) on it to move. When the force sensor (9) contacts the force sensor (11) whose position is adjustable, the force sensor (11) outputs a force feedback signal. Limit triggering step: When the slide (8) moves, it drives the sensing plate (7) to move. When the sensing plate (7) enters the sensing area of ​​the photoelectric switch (1) at both ends of the stroke, a limit signal is triggered to limit the continued movement of the slide (8).

10. The operating method of the magnetically driven VCM motor with magnetic spring function according to claim 9, characterized in that, In the force feedback step, by adjusting the installation position of the force sensor (11) in the direction of movement of the slide (8), torque feedback triggering can be achieved at any preset position within the motor's stroke.

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