Magnetic levitation vertical galvanometer

Abstract

The application belongs to the technical field of driving motor and provides a magnetic suspension vertical oscillation motor, which comprises a fixed unit and a moving unit moving relative to the fixed unit, the moving unit comprises an excitation assembly and an upper fixed assembly surrounding the excitation assembly, the fixed unit comprises an armature assembly and a lower fixed assembly for fixing the armature assembly, the excitation assembly is used for generating a constant magnetic field in a working air gap, the armature assembly is at least partially located in the working air gap, the armature assembly is used for generating a driving force by interacting with the excitation assembly after passing through an electric current, and the upper fixed assembly and the lower fixed assembly are both provided with magnetic pieces, and the magnetic poles of the two are oppositely arranged to generate a mutual repulsion force. The application integrates a guide limiting and magnetic suspension structure in the motor, and thus has the beneficial effects of compact structure, small volume, small running friction and the like.

Description

Technical Field

[0001] This invention relates to the field of drive motor technology, and more specifically, to a magnetically levitated vertical pulsating motor. Background Technology

[0002] A vertical pulsating motor is an actuator that uses electromagnetic force to drive a load to reciprocate vertically. Because it can generate regular vertical vibration output, it is widely used in fitness equipment, rehabilitation equipment, massage instruments, and other fields. Traditional vertical pulsating motors mostly adopt a moving coil or moving magnet topology. Their basic working principle is that the interaction of electromagnetic fields between the moving unit and the stationary unit generates axial driving force. To ensure the accuracy of the moving unit's direction of motion and limit its stroke range, such motors usually rely on independent mechanical guiding and limiting structures. The guiding function is often achieved by precision mechanical components such as linear guides, ball bearing guides, and guide sleeves to constrain the degrees of freedom of the moving unit and ensure it moves along a predetermined vertical trajectory. The limiting and rebound functions are mostly achieved using elastic elements such as springs to limit the maximum stroke and provide a restoring force.

[0003] Because existing vertical rhythm motors lack integrated guiding and limiting functions, they must rely on externally set guiding and limiting structures, leading to the following three technical drawbacks. First, the guiding and limiting structures are independent of the motor body, resulting in a bulky overall structure. Independently set guide rails, guide posts, and elastic limiting components require additional radial or axial space outside the motor housing, making it difficult to effectively compress the overall size of the motor and thus limiting its integrated application in portable or compact rhythm devices. Second, the assembly process between independent components requires additional connectors (such as brackets, screws, and locating pins) and strict coaxiality and parallelism calibration procedures, increasing structural complexity and significantly raising manufacturing costs and assembly difficulty. Third, the independent guide posts and limiting devices inevitably have mechanical contact interfaces during movement, such as sliding friction between the guide post and guide sleeve, and collision contact between the limiting block and moving parts. These mechanical contacts not only introduce unavoidable frictional losses, reducing the system's electromechanical conversion efficiency, but also generate frictional heat, which exacerbates the internal temperature rise of the motor, affecting long-term reliability and lifespan. Summary of the Invention

[0004] The purpose of this invention is to provide a magnetic levitation vertical rhythm motor, which aims to solve the problems of bulky overall structure, difficulty in miniaturization, high assembly complexity, friction loss and heat generation during operation caused by the reliance on external independent guiding and limiting mechanisms in existing vertical motors.

[0005] To address the aforementioned technical problems, this invention provides a magnetically levitated vertical pulsating motor, comprising a fixed unit and a motion unit that moves relative to the fixed unit. The motion unit includes an excitation assembly and an upper fixed assembly surrounding the excitation assembly. The fixed unit includes an armature assembly and a lower fixed assembly for fixing the armature assembly. The excitation assembly generates a constant magnetic field in the working air gap. The armature assembly is at least partially located within the working air gap. The armature assembly interacts with the excitation assembly to generate a driving force after current is applied. Both the upper and lower fixed assemblies are equipped with magnetic components, and their magnetic poles are arranged opposite each other to generate a mutual repulsive force.

[0006] Furthermore, the excitation assembly includes an outer magnetic yoke, an inner magnetic yoke, and at least one first magnetic element disposed on the outer magnetic yoke. A working air gap is formed between the inner magnetic yoke and the first magnetic element to cooperate with the armature assembly, and a constant magnetic field is generated in the air gap.

[0007] Furthermore, the armature assembly includes a magnetic conductor and a coil wound on the magnetic conductor. The magnetic conductor and the coil are at least partially located within the working air gap. When current is applied to the coil, it interacts with the excitation assembly to generate a driving force, causing the moving unit to move away from or closer to the stationary unit.

[0008] Furthermore, the upper fixing assembly includes an upper cover plate and an upper outer shell disposed on the cover plate and surrounded by side walls, wherein at least one second magnetic element is disposed on the upper outer shell. The lower fixing assembly includes a lower cover plate and a lower outer shell disposed on the lower cover plate and surrounded by side walls, wherein at least one third magnetic element is disposed on the lower outer shell, and a gap is provided between the second magnetic element and the third magnetic element.

[0009] Furthermore, the magnetic conductor has a hollow structure formed by the sidewalls, with at least one first through hole at the end near the lower cover plate, and a first groove for winding the coil provided at the part away from the lower cover plate.

[0010] Furthermore, the lower cover plate is provided with at least one guide element and at least one elastic element. The guide element is used to restrict the moving unit to move only along the axial direction of the guide element. The elastic element is used to provide a repulsive force between the moving unit and the fixed unit and to restrict the moving unit from detaching from the fixed unit. One end of the guide element is provided with a connecting hole for fixing.

[0011] Furthermore, the upper outer shell includes an upper outer shell body, the upper end of which has a second groove for placing a second magnetic component and a second hole for a guide element to pass through, the gap between the second magnetic components corresponds to the second hole, and the lower outer shell includes a lower outer shell body, the upper end of which has a third groove for placing a third magnetic component and a third hole for fixing a guide element, the gap between the third magnetic components corresponds to the third hole.

[0012] Furthermore, the outer magnetic yoke is provided with a fourth hole through which the elastic element passes. The two ends of the elastic element are fixed to the upper cover plate and the lower cover plate respectively, which is used to prevent the upper cover plate from detaching from the lower cover plate.

[0013] Furthermore, the lower cover plate includes a cover plate body, the bottom of which is provided with a third groove and a fifth hole for the wire harness to pass through. The third groove and the fifth hole are connected. A heat dissipation device is provided between the lower cover plate and the magnetic conductor. The heat dissipation device generates negative pressure by rotating to dissipate the heat generated after the armature assembly is energized in a timely manner.

[0014] Furthermore, the coil may be at least two sub-coils, which are electrically connected in parallel or series.

[0015] Compared with the prior art, this invention patent has the following technical effects: (1) The motor integrates a guide and limit structure, which is compact and small in size: By integrating the guide and limit function into the motor, there is no need for external independent linear guides, ball guides, guide sleeves and springs and other mechanical parts, which significantly reduces the radial and axial dimensions of the motor, making the overall structure more compact and easy to integrate into portable or compact rhythm devices; at the same time, it eliminates external connecting parts and complex calibration procedures, reducing assembly difficulty and manufacturing costs.

[0016] (2) Adopting magnetic levitation technology, the running friction is small: the moving unit and the fixed unit achieve non-contact levitation support through the same pole repulsion force generated by the relatively arranged magnetic components, and move smoothly along the axis under the constraint of the guiding and limiting elements. This completely eliminates the sliding friction and mechanical collision present in the traditional guiding structure, thereby greatly reducing friction loss and running noise, reducing the heat accumulation caused by friction, and improving the electromechanical conversion efficiency and the long-term reliability of the system.

[0017] (3) The guiding and driving functions work together to improve motion accuracy and lifespan: The guiding and limiting elements are integrated inside the motor and serve as axial constraints and stroke protection for the motion unit, preventing the motion unit from deviating or detaching, ensuring the uniformity of the working air gap, enhancing the stability of the electromagnetic force, and extending the service life of the motor. Attached Figure Description

[0018] Referring to the accompanying drawings, the disclosure of this invention will become more readily understood. It will be readily understood by those skilled in the art that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. Wherein: Figure 1 A perspective view of a magnetically levitated vertical rhythmic motor according to an embodiment of the present invention is shown. Figure 2 A partial perspective view of a magnetically levitated vertical pulsating motor according to an embodiment of the present invention is shown; Figure 3 A perspective view of a magnetic levitation vertical rhythmic motor motion unit according to an embodiment of the present invention is shown; Figure 4 A perspective view of a magnetic levitation vertical rhythm motor fixing unit according to an embodiment of the present invention is shown; Figure 5 A perspective view of an excitation assembly for a magnetically levitated vertical rhythmic motor according to an embodiment of the present invention is shown; Figure 6 A perspective view of a fixing assembly on a magnetically levitated vertical pulsating motor according to an embodiment of the present invention is shown; Figure 7 A perspective view of a magnetic levitation vertical rhythm motor excitation assembly and an upper cover plate according to an embodiment of the present invention is shown; Figure 8 A perspective view of a magnetic levitation vertical pulsating motor armature assembly according to an embodiment of the present invention is shown; Figure 9 A perspective view of a lower fixing assembly of a magnetic levitation vertical rhythmic motor according to an embodiment of the present invention is shown; Figure 10 A perspective view of a magnetically levitated vertical pulsating motor conductor and a lower cover plate according to an embodiment of the present invention is shown; Figure 11 A perspective view of the upper housing of a magnetic levitation vertical rhythmic motor according to an embodiment of the present invention is shown; Figure 12 A perspective view of the lower housing of a magnetic levitation vertical rhythmic motor according to an embodiment of the present invention is shown; Figure 13 A perspective view of an excitation assembly, a top cover, and a heat dissipation device for a magnetically levitated vertical rhythmic motor according to an embodiment of the present invention is shown. Figure 14 A perspective view of a dual-coil excitation assembly for a magnetically levitated vertical rhythmic motor according to an embodiment of the present invention is shown; Figure 15 A perspective view of a three-coil excitation assembly for a magnetically levitated vertical rhythmic motor according to an embodiment of the present invention is shown; Reference numerals: Fixed unit 20, Moving unit 10, Excitation assembly 101, Upper fixed assembly 102, Armature assembly 201, Lower fixed assembly 202, Outer yoke 1011, Inner yoke 1012, First magnetic element 1013, Upper cover plate 1021, Upper outer shell 1022, Second magnetic element 1023, Magnetic conductor 2011, Coil 2012, Air gap 1014, Lower cover plate 2021, Lower outer shell 2022, Third magnetic element Component 2023, guide element 203, elastic element 204, first through hole 20111, first groove 20112, upper outer shell body 10221, second groove 10222, second hole 10223, lower outer shell body 20221, third groove 20222, third hole 20223, fourth hole 10111, cover plate body 20211, third groove 20212, fifth hole 20213, heat dissipation device 205. Detailed Implementation

[0019] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this utility model and should not be construed as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0020] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. They are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive. Example 1

[0021] refer to Figure 1-4 This embodiment provides a magnetically levitated vertical pulsating motor, including a fixed unit 20 and a motion unit 10 that moves relative to the fixed unit 20. The motion unit 10 includes an excitation assembly 101 and an upper fixed assembly 102 surrounding the excitation assembly 101. The fixed unit 20 includes an armature assembly 201 and a lower fixed assembly 202 for fixing the armature assembly 201. The excitation assembly 101 generates a constant magnetic field in the working air gap. The armature assembly 201 is at least partially located within the working air gap. When current is applied to the armature assembly 201, it interacts with the excitation assembly 101 to generate a driving force. Both the upper and lower fixed assemblies 102 are equipped with magnetic components, and their magnetic poles are arranged opposite each other to generate a repulsive force. In use, when the fixed unit 20 is energized, it forms a repulsive force with the motion unit 10, causing the motion unit 10 to move closer to or further away from the fixed unit 10.

[0022] Continue to refer to Figure 5-9 The excitation assembly 101 includes an outer magnetic yoke 1011, an inner magnetic yoke 1012, and at least one first magnetic element 1013 disposed on the outer magnetic yoke 1011. The first magnetic element 1013 is preferably a permanent magnet, and its magnetization direction can be set to radial or axial as needed. The inner magnetic yoke 1012 is coaxially arranged with the outer magnetic yoke 1011, forming a working air gap 1014 that cooperates with the armature assembly 201. A uniformly distributed constant magnetic field is generated within the working air gap 1014. The armature assembly 201 is at least partially located within the working air gap 1014. The armature assembly 201 includes a magnetic conductor 2011 and a coil 2012 wound on the magnetic conductor 2011. The magnetic conductor 2011 is made of a magnetically conductive material (such as electrical pure iron or silicon steel sheet), and its overall structure is a hollow structure surrounded by sidewalls. The upper fixing assembly 102 includes an upper cover plate 1021 and an upper outer shell 1022 formed by sidewalls surrounding the cover plate 1021. At least one second magnetic element 1023 is disposed on the upper outer shell 1022. The lower fixing assembly 202 includes a lower cover plate 2021 and a lower outer shell 2022 formed by sidewalls surrounding the lower cover plate 2021. At least one third magnetic element 2023 is disposed on the lower outer shell 2022. A gap is provided between the second magnetic element 1023 and the third magnetic element 2023. Both the second magnetic element 1023 and the third magnetic element 2023 are preferably permanent magnets, and their magnetic poles are arranged opposite each other, i.e., opposite ends have the same magnetic poles (e.g., N pole to N pole, or S pole to S pole), thereby generating a mutually repulsive magnetic force between the moving unit 10 and the fixing unit 20, achieving axial magnetic levitation support.

[0023] Preferably, the first magnetic element 1013, the second magnetic element 1023, and the third magnetic element 2023 are arranged in a Halbach array to enhance the magnetic flux density in the working air gap and reduce magnetic leakage. A Halbach array is a special arrangement of permanent magnets that, by combining permanent magnets with different magnetization directions (such as alternating radial and tangential magnetization) in a specific order, can generate a unique unilateral magnetic field effect—the magnetic field on one side of the array is significantly enhanced, while the magnetic field on the other side cancels each other out and is almost zero. Utilizing this principle, the Halbach array can generate the strongest directional magnetic field with the least amount of permanent magnet material, significantly improving the utilization efficiency of the permanent magnets.

[0024] In this embodiment, the first magnetic element 1013 in the excitation assembly 101 is constructed into a cylindrical magnetic ring using a Halebeck array, concentrating the magnetic field lines on one side of the working air gap 1014. This effectively enhances the air gap magnetic flux density amplitude in the working air gap 1014, achieving better sinusoidal distribution characteristics, reducing magnetic field fluctuations, and improving the motor's output torque and operational stability. Simultaneously, the second magnetic element 1023 in the upper fixing assembly 102 and the third magnetic element 2023 in the lower fixing assembly 202, arranged in a Halebeck array, generate stronger repulsive forces on their opposing surfaces, achieving more stable magnetic levitation support. Compared to traditional radial or parallel magnet arrangements, the Halebeck array results in higher utilization of permanent magnets and generates a stronger effective magnetic field with the same amount of permanent magnet material, thereby reducing the motor's size and weight. Furthermore, the excellent self-shielding characteristics of the Halebeck array reduce external magnetic leakage, lower electromagnetic interference to surrounding electronic components, and improve the motor's electromagnetic compatibility performance.

[0025] In use, the magnetically levitated vertical rhythmic motor is installed in the rhythmic device, and a current of a preset direction and magnitude is passed through the coil 2012. The coil 2012, as a current-carrying conductor, is situated within the constant magnetic field generated by the excitation assembly 101 in the working air gap 1014. According to Ampere's law (left-hand rule), the current-carrying coil 2012 experiences a Lorentz force along the axial direction. Since the armature assembly 201 is fixed to the lower fixed assembly 202 and remains stationary, this electromagnetic reaction force drives the excitation assembly 101 and the upper fixed assembly 102, which is fixedly connected to it, to move axially relative to the fixed unit 20. Changing the current direction allows the motion unit 10 to move towards or away from the fixed unit 20; by passing alternating current or pulsed current, the motion unit 10 performs regular reciprocating rhythmic movements along the vertical direction.

[0026] Continue to refer to Figure 10 The magnetic conductor 2011 has at least one first through hole 20111 at one end near the lower cover plate 2021, which is used for the coil lead or heat dissipation airflow to pass through. The portion of the magnetic conductor 2011 away from the lower cover plate 2021 is provided with a first groove 20112 for accommodating and fixing the coil 2012. After an alternating or direct current pulse is applied to the coil 2012, it interacts with the constant magnetic field generated by the excitation assembly 101, generating a Lorentz force along the axial direction, thereby driving the moving unit 10 away from or towards the fixed unit 20.

[0027] Continue to refer to Figure 11The upper outer shell 1022 includes an upper outer shell body 10221. The upper end of the upper outer shell body 10221 has a second groove 10222 for placing a second magnetic element 1023 and a second hole 10223 for a guide element 203 to pass through. The gap between the second magnetic elements 1023 corresponds to the second hole 10223. The lower outer shell 2022 includes a lower outer shell body 20221. The upper end of the lower outer shell body 20221 has a third groove 20222 for placing a third magnetic element 2023 and a third hole 20223 for fixing the guide element 203. The gap between the third magnetic elements 2023 corresponds to the third hole 20223. The guide element 203 passes through the gap between the second and third magnetic elements 1023.

[0028] To achieve precise guidance of the motion unit 10 and prevent its accidental disengagement, this embodiment provides at least one guide element 203 and at least one elastic element 204 on the lower cover plate 2021. The guide element 203 restricts the motion unit 10 to move only along the axial direction of the guide element 203, and the elastic element 204 provides a repulsive force between the motion unit 10 and the fixed unit 20, and restricts the motion unit 10 from disengaging from the fixed unit 20. The guide element 203 extends axially and passes through the second hole 10223 on the upper outer casing 1022, thereby restricting the outer magnetic yoke 1011 to translate only along the axial direction of the guide element 203, and constraining the circumferential degree of freedom. One end of the guide element 203 has a connecting hole for fixing, and a fastener passes through the lower cover plate 2021 to lock the guide element. The connecting hole can be a threaded hole. Furthermore, the guide element 203 can be a guide post, or a linear bearing, or any element that can restrict the motion unit 10 to move along the axis. It should be noted that the above definitions of the connecting hole and the guide element 203 are merely illustrative examples. Any structure that can achieve the above functions without creative design is included within the protection scope of this invention.

[0029] The elastic element 204 passes through the fourth hole 10111 on the outer magnetic yoke 1011. Both ends of the elastic element 204 are fixed to the upper cover plate 1021 and the lower cover plate 2021, respectively, to prevent the upper cover plate 1021 from detaching from the lower cover plate 2021. On the other hand, the elastic element 204 can compensate for the repulsive force between the fixed unit 20 and the moving unit 10, allowing the moving unit 10 to rebound stably after compression. The upper cover plate 1021 and the lower cover plate 2021 are respectively provided with connecting holes for fixing the elastic element 204. Fasteners pass through the connecting holes to fix the elastic element 204. For illustration, the present invention uses a screw and washer method to fix the elastic element 204. The diameter of the washer is set between the inner and outer diameters of the elastic element 204, preferably slightly smaller than the outer diameter of the elastic element 204. The screw passes through the inside of the elastic element 204, and the elastic element 204 is fixed to the upper cover plate 1021 and the lower cover plate 2021 through the washer. Furthermore, the elastic element 204 can also be fixed by a spring seat. Similarly, the above-described fixing methods are merely illustrative, and any structure that achieves the above function without being inventive is included within the scope of protection of this invention.

[0030] The number of guide elements 203 and elastic elements 204 is two or more, preferably four, and they are evenly distributed along the circumferential direction to ensure that the motion unit 10 is subjected to uniform force and moves smoothly.

[0031] Continue to refer to Figure 12 To effectively reduce the temperature rise of the motor during long-term operation, a heat dissipation device 205 is provided between the lower cover plate 2021 and the magnetic conductor 2011 in this embodiment. This heat dissipation device 205 is preferably a miniature axial flow fan or a centrifugal fan, which generates negative pressure through rotation, forcing air to flow across the surfaces of the coil 2012 and the magnetic conductor 2011, and dissipating heat through the first through hole 20111 on the magnetic conductor 2011 and the through hole on the lower cover plate 2021. Specifically, the lower cover plate 2021 includes a cover plate body 20211, and the bottom of the cover plate body 20211 is provided with a third groove 20212 for the wire harness to pass through and a second through hole 20213. The third groove 20212 and the second through hole 20213 are interconnected. The lead wire of the coil 2012 and the power line of the heat dissipation device 204 can be led out to the outside of the motor through the first through hole 20111, the second through hole 20213 and the third groove 20212, thereby achieving neat wire harness management and avoiding interference between cables and moving parts. Example 2

[0032] like Figure 13As shown, the coil wound on the magnetic conductor 2011 becomes two independent wire bundles, forming a dual-coil structure. The two coils are electrically connected through parallel or series connections, and other designs are the same as in Embodiment 1. The purpose of this design is twofold: firstly, to flexibly adjust the total resistance and inductance parameters of the coils through parallel or series connections to adapt to the voltage and current characteristics of different drive power supplies, thereby optimizing the electromagnetic thrust output of the motor; secondly, the dual-coil structure disperses the heat source, avoiding heat concentration in a single coil, which improves heat dissipation and reduces temperature rise; simultaneously, when one sub-coil experiences an open-circuit fault, the other sub-coil can still maintain the basic operation of the motor, improving the system's redundancy reliability and operational fault tolerance. Furthermore, the independent wire bundle leads at both ends simplify internal wiring and facilitate diverse electrical connections with external drive circuits. Example 3

[0033] like Figure 13 As shown, the coil wound on the magnetic conductor 2011 is transformed into three independent wire bundles, forming a three-coil structure. The two coils are electrically connected through parallel or series connections. Other design aspects are the same as in Embodiment 1. The purpose of this design is to divide the coil into three independent wire bundles, forming a three-coil structure, and to adopt parallel or series electrical connections. On the one hand, segmented control can be achieved, that is, based on the real-time position of the motion unit 10 in the vertical direction, one or more sub-coil segments can be selectively energized, thereby effectively increasing the effective working stroke of the motor within a limited axial space. On the other hand, segmented control can optimize the distribution of electromagnetic thrust along the stroke, avoiding thrust fluctuations caused by end effects, so that the motion unit obtains a smooth and continuous driving force throughout the entire stroke range, thereby achieving a substantial increase in the vertical rhythmic stroke of the motor. At the same time, the three-coil structure also allows for flexible matching of the voltage and current requirements of the drive power supply through different series and parallel combinations, further improving the speed regulation performance and load adaptability of the motor.

[0034] It should be noted that the dual-coil motor and the triple-coil motor are merely illustrative examples of this invention. In the absence of creative design, four-coil and more coil motors are all within the protection scope of this invention.

[0035] In summary, the specific implementation of the technical solution of the present invention is as follows: When a current in a specific direction is applied to the coil 2012 of the motor, according to the left-hand rule, the current-carrying coil experiences an upward Ampere force in the constant magnetic field of the working air gap 1014. This force drives the excitation assembly 101 and the upper fixed assembly 102 fixedly connected thereto to move upward together. During this process, the repulsive force between the second magnetic element 1023 of the upper fixed assembly 102 and the third magnetic element 2023 of the lower fixed assembly 202 provides non-contact suspension support, reducing motion resistance. The guide element 203 constrains the motion direction of the motion unit 10, making it strictly reciprocate along the vertical axis. When the motion unit 10 needs to descend, the current direction can be changed or the current can be cut off, and the motion unit 10 moves downward under the action of its own gravity and magnetic levitation restoring force. When the motion unit 10 moves to the lower limit position, the elastic element 204 absorbs the impact; when it moves to the upper limit position, the elastic element 204 prevents it from disengaging. By periodically changing the current direction or pulse width in the coil 2012, continuous vertical rhythmic output can be achieved.

[0036] The specific embodiments described above are merely for the purpose of more clearly illustrating the principles of the present invention, wherein the various components are clearly shown or described to make the principles of the present invention easier to understand. Various modifications or variations can be easily made to the present invention by those skilled in the art without departing from the scope of the invention. Therefore, it should be understood that all such modifications or variations should be included within the patent protection scope of the present invention.

Claims

1. A magnetically levitated vertical rhythmic motor, comprising a fixed unit (20) and a motion unit (10) that moves relative to the fixed unit (20), characterized in that, The motion unit (10) includes an excitation assembly (101) and an upper fixing assembly (102) surrounding the excitation assembly (101). The fixing unit (20) includes an armature assembly (201) and a lower fixing assembly (202) for fixing the armature assembly (201). The excitation assembly (101) is used to generate a constant magnetic field in the working air gap. The armature assembly (201) is at least partially located in the working air gap. The armature assembly (201) is used to interact with the excitation assembly (101) to generate a driving force after current is applied. Both the upper fixing assembly (102) and the lower fixing assembly (202) are provided with magnetic components, and their magnetic poles are arranged opposite each other to generate a mutual repulsive force.

2. The magnetic levitation vertical rhythmic motor according to claim 1, characterized in that, The excitation assembly (101) includes an outer magnetic yoke (1011), an inner magnetic yoke (1012), and at least one first magnetic element (1013) disposed on the outer magnetic yoke (1011). A working air gap (1014) is formed between the inner magnetic yoke (1012) and the first magnetic element (1013) to cooperate with the armature assembly (201). A constant magnetic field is generated in the air gap (1014).

3. The magnetic levitation vertical rhythmic motor according to claim 1, characterized in that, The armature assembly (201) includes a magnetic conductor (2011) and a coil (2012) wound on the magnetic conductor (2011). The magnetic conductor (2011) and the coil (2012) are at least partially located within the working air gap (1014). When current is passed through the coil (2012), it interacts with the excitation assembly (101) to generate a driving force, causing the moving unit (10) to move away from or closer to the stationary unit (20).

4. A magnetic levitation vertical rhythmic motor according to claim 1, characterized in that, The upper fixing assembly (102) includes an upper cover plate (1021) and an upper outer shell (1022) formed by side walls on the cover plate (1021). The upper outer shell (1022) is provided with at least one second magnetic element (1023). The lower fixing assembly (202) includes a lower cover plate (2021) and a lower outer shell (2022) formed by side walls on the lower cover plate (2021). The lower outer shell (2022) is provided with at least one third magnetic element (2023). A gap is provided between the second magnetic element (1023) and the third magnetic element (2023).

5. A magnetic levitation vertical rhythmic motor according to claim 3, characterized in that, The magnetic conductor (2011) is a hollow structure formed by the sidewalls. At least one first through hole (20111) is provided at the end near the lower cover plate (2021), and a first groove (20112) for winding the coil (2012) is provided at the part away from the lower cover plate (2021).

6. A magnetic levitation vertical rhythmic motor according to claim 4, characterized in that, The lower cover plate (2021) is provided with at least one guide element (203) and at least one elastic element (204). The guide element (203) is used to restrict the motion unit (10) to move only along the axial direction of the guide element (203). The elastic element (204) is used to provide a repulsive force between the motion unit (10) and the fixed unit (20) and to restrict the motion unit (10) from detaching from the fixed unit (20). One end of the guide element (203) is provided with a connecting hole for fixing.

7. A magnetic levitation vertical rhythmic motor according to claim 4, characterized in that, The upper outer shell (1022) includes an upper outer shell body (10221). The upper outer shell body (10221) has a second groove (10222) for placing a second magnetic component (1023) and a second hole (10223) for the guide element (203) to pass through. The gap between the second magnetic components (1023) corresponds to the second hole (10223). The lower outer shell (2022) includes a lower outer shell body (20221). The upper outer shell body (20221) has a third groove (20222) for placing a third magnetic component (2023) and a third hole (20223) for fixing the guide element (203). The gap between the third magnetic components (2023) corresponds to the third hole (20223).

8. A magnetic levitation vertical rhythmic motor according to claim 2, characterized in that, The outer magnetic yoke (1011) is provided with a fourth hole (10111) through which the elastic element (204) passes. The two ends of the elastic element (204) are fixed to the upper cover plate (1021) and the lower cover plate (2021) respectively, which is used to restrict the upper cover plate (1021) from detaching from the lower cover plate (2021).

9. A magnetic levitation vertical rhythmic motor according to claim 4, characterized in that, The lower cover plate (2021) includes a cover plate body (20211). The bottom of the cover plate body (20211) is provided with a third groove (20212) and a fifth hole (20213) for the wire harness to pass through. The third groove (20212) and the fifth hole (20213) are connected. A heat dissipation device (205) is provided between the lower cover plate (2021) and the magnetic conductor (2011). The heat dissipation device (204) generates negative pressure by rotation to dissipate the heat generated after the armature assembly (201) is energized.

10. A magnetic levitation vertical rhythmic motor according to claim 3, characterized in that, The coil (2012) may be at least two sub-coils, which are electrically connected in parallel or in series.

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