Inverted swing motor and electric device

Abstract

The utility model belongs to the technical field of motors, and particularly relates to an inverted swing motor and an electric device, in the inverted swing motor, a stator mechanism comprises a first coil, a second coil and a first magnet yoke, the first magnet yoke comprises a supporting seat, a first supporting foot and a second supporting foot, the first coil is sleeved on the first supporting foot, and the second coil is sleeved on the second supporting foot. The second coil is sleeved on the second support leg; the first supporting leg and the second supporting leg are symmetrically arranged along a first axis; the magnetic assembly comprises a second magnet yoke and two permanent magnet groups which are arranged on the second magnet yoke at intervals; the swing arm assembly comprises a swing arm frame and a rotating shaft, the rotating shaft is installed on the first axis, the rotating shaft and the first magnet yoke are located on the same side of the magnetic assembly, and the swing arm frame is rotationally installed on the rotating shaft; the stator mechanism is used for driving the magnetic assembly and the swing arm frame to swing around the rotating shaft in a reciprocating mode. According to the utility model, the inverted swing motor is compact in structure, small in occupied space and short in length.

Description

TECHNICAL FIELD

[0001] The utility model belongs to motor technical field, especially, it is related to a kind of inverted swing motor and electric device. BACKGROUND

[0002] Motor is a kind of electromagnetic device to realize the conversion of electric energy according to electromagnetic induction law, it is widely used in various fields, indispensable prime mover in today's society, provides power source for a large number of electric appliances or various machines.Inverted swing motor is a kind of motor that can realize high-frequency swing, it is widely used in electric shaver, electric brush and other equipment.

[0003] The applicant finds that the technology also provides a swing motor (application number: 201610095990.0, patent name: swing motor and electric hair clipper), the swing motor sets the rotating shaft of swing arm away from the front end of stator assembly, and makes the magnetic assembly swing between the rotating shaft and the stator assembly, the length of the swing motor is relatively longer, and the swing motor with relatively longer length is not suitable for application field with shorter length requirement. UTILITY MODEL CONTENT

[0004] The utility model embodiment provides a kind of inverted swing motor and electric device, to solve the technical problems, such as the length of swing motor in prior art is longer.

[0005] An embodiment of the utility model provides an inverted swing motor, comprising a stator mechanism and a rotor mechanism.

[0006] The stator mechanism includes a first coil, a second coil and a first magnetic yoke, the first magnetic yoke includes a support seat and a first leg and a second leg spaced apart connected on the support seat, the first coil is sleeved on the first leg, and the second coil is sleeved on the second leg;The first leg and the second leg are symmetrically arranged along a first axis.

[0007] The rotor mechanism includes a swing arm assembly and a magnetic assembly, the magnetic assembly includes a second magnetic yoke and a first permanent magnet group and a second permanent magnet group spaced apart mounted on the second magnetic yoke, the first permanent magnet group is arranged corresponding to the first leg, and the second permanent magnet group is arranged corresponding to the second leg;The first permanent magnet group includes a first permanent magnet and a second permanent magnet, the second permanent magnet group includes a third permanent magnet and a fourth permanent magnet, the end face polarity of the first permanent magnet and the second permanent magnet corresponding to the first leg is opposite, the end face polarity of the third permanent magnet and the fourth permanent magnet corresponding to the second leg is opposite, and the end face polarity of the first permanent magnet corresponding to the first leg is same with the end face polarity of the fourth permanent magnet corresponding to the second leg.

[0008] The swing arm assembly comprises a swing arm frame and a rotating shaft; the second magnetic yoke is installed on the swing arm frame, the rotating shaft is installed on the first axis, and the rotating shaft and the first magnetic yoke are located on the same side of the magnetic assembly; the swing arm frame is rotatably installed on the rotating shaft; and the stator mechanism is used to drive the magnetic assembly and the swing arm frame to reciprocating swing around the rotating shaft.

[0009] Optionally, the swing arm frame is provided with an inner arm close to one end of the first permanent magnet group and an outer arm away from the other end of the first permanent magnet group, with the inner arm being installed on the second magnetic yoke at an end away from the outer arm; and the inner arm and / or the outer arm is provided with a first force output part.

[0010] Optionally, the swing arm assembly further comprises an output shaft arranged on the swing arm frame, and an axis of the output shaft coincides with an axis of the rotating shaft.

[0011] Optionally, the support base is provided with a protrusion extending towards an end away from the second magnetic yoke, the protrusion is provided with a first shaft hole, the first shaft hole is located on the first axis in an opposite direction of the first and second supporting legs, and the rotating shaft is installed in the first shaft hole.

[0012] Optionally, the inverted swing motor comprises a fixing mechanism, the fixing mechanism comprises a first fixing support and a second fixing support detachably installed on the first fixing support, an internal space is enclosed between the first fixing support and the second fixing support, and the stator mechanism is installed in the internal space.

[0013] The first fixing support is provided with a second shaft hole, the second fixing support is provided with a third shaft hole, and the rotating shaft is installed in the first shaft hole, the second shaft hole and the third shaft hole.

[0014] Optionally, two sides of the protrusion relative to the first shaft hole are respectively provided with a first circular arc surface and a second circular arc surface, the fixing support is provided with a third circular arc surface and a fourth circular arc surface, the first circular arc surface and the third circular arc surface enclose a first circular arc groove, and the second circular arc surface and the fourth circular arc surface enclose a second circular arc groove; the swing arm frame is provided with a third circular arc groove and a fourth circular arc groove, and the inverted swing motor further comprises a first elastic body and a second elastic body, the first elastic body is installed in the first circular arc groove and the third circular arc groove, and the second elastic body is installed in the second circular arc groove and the fourth circular arc groove.

[0015] Optionally, the first elastic body comprises a first cylindrical body, and a plurality of first side grooves are circumferentially and spacedly arranged on a side wall of the first cylindrical body.

[0016] The second elastic body includes a second cylinder, and the sidewall of the second cylinder is provided with a plurality of second side grooves distributed circumferentially.

[0017] Optionally, the first permanent magnet group further includes a fifth permanent magnet mounted on the second yoke, the fifth permanent magnet being located between the first permanent magnet and the second permanent magnet;

[0018] The end face polarity of the fifth permanent magnet facing the first permanent magnet is the same as the end face polarity of the first permanent magnet, and the end face polarity of the fifth permanent magnet facing the second permanent magnet is the same as the end face polarity of the second permanent magnet.

[0019] The second permanent magnet group further includes a sixth permanent magnet mounted on the second yoke, the sixth permanent magnet being located between the third permanent magnet and the fourth permanent magnet;

[0020] The end face polarity of the sixth permanent magnet facing the third permanent magnet is the same as that of the third permanent magnet, and the end face polarity of the sixth permanent magnet facing the fourth permanent magnet is the same as that of the fourth permanent magnet.

[0021] Optionally, the swing arm assembly further includes an outer shaft and an extension link with a slot. The extension link is rotatably mounted on the outer shaft. A first force output part on the outer arm is engaged in the slot. The extension link is provided with a second force output part. The swing arm frame drives the extension link to swing around the outer shaft through the first force output part engaged in the slot.

[0022] Another embodiment of this utility model provides an electric device, including the above-mentioned inverted swing motor; the inverted swing motor includes a fixing mechanism with an internal space, and the stator mechanism is installed in the internal space; the electric device also includes two output brackets, each of the output brackets including a horizontal arm and two vertical arms connected to opposite sides of the horizontal arm, and the opposite ends of the horizontal arm are respectively provided with an output protrusion and a plug-in hole; the swing arm is plugged into the plug-in hole of one of the output brackets;

[0023] The end of the cross arm away from the output protrusion is also provided with a convex cylinder, and the fixing mechanism is provided with a connecting rod shaft;

[0024] The electric device also includes a linkage rod, which has a fourth shaft hole and two waist holes located at opposite ends of the fourth shaft hole; the fourth shaft hole is rotatably sleeved on the linkage shaft, and the convex cylinders on the two output brackets are slidably inserted into the two waist holes respectively.

[0025] The vertical arm has a first fixed step at the end opposite to the horizontal arm, and the fixing mechanism has a second fixed step, with the first fixed step and the second fixed step being attached and connected.

[0026] In this invention, the swing arm assembly includes a swing arm frame and a rotating shaft. The rotating shaft is mounted on the first axis, and the rotating shaft and the first magnetic yoke are located on the same side of the magnetic assembly. The swing arm frame is rotatably mounted on the rotating shaft. The second magnetic yoke is mounted on the swing arm frame. The swing arm frame is located to the side of the first coil and the second coil. The opposite ends of the swing arm frame are respectively connected to the rotating shaft and the second magnetic yoke. The rotating shaft and the first magnetic yoke are arranged on the same side of the magnetic assembly, which greatly reduces the length of the inverted swing motor and improves the compactness of the inverted swing motor. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of an inverted swing motor provided in one embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of an inverted swing motor provided in one embodiment of the present invention;

[0030] Figure 3 This is an exploded structural diagram of an inverted swing motor according to an embodiment of the present invention;

[0031] Figure 4 This is an exploded structural diagram of the first elastic body, the second elastic body, and the moving part mechanism provided in an embodiment of the present invention;

[0032] Figure 5 This is an exploded structural diagram of the fixing mechanism, the first magnetic yoke, and the second magnetic yoke provided in an embodiment of the present invention;

[0033] Figure 6 This is a partial exploded structural diagram of an electric device provided in one embodiment of the present invention;

[0034] Figure 7 This is a cross-sectional view of an electric device provided in an embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of an inverted swing motor provided in one embodiment of the present invention;

[0036] Figure 9 This is a schematic diagram of an inverted swing motor provided in one embodiment of the present invention;

[0037] Figure 10 This is a force curve diagram of an elastic body without side grooves, an elastic body, a spring, and an elastic body with side grooves provided in an embodiment of this utility model.

[0038] The reference numerals in the accompanying drawings are as follows:

[0039] 1. Stator mechanism; 11. First coil; 12. Second coil; 13. First yoke; 131. Support base; 1311. First shaft hole; 1312. Protrusion; 1313. First arc surface; 1314. Second arc surface; 132. First leg; 133. Second leg; 10. First axis; 2. Mover mechanism; 21. Swing arm assembly; 211. Swing arm frame; 2111. Inner arm; 2112. Outer arm; 2113. First force output part; 2114. First swing arm frame; 2115. Second swing arm frame; 2116. Third arc groove; 2117. Fourth arc groove; 212. Rotating shaft; 213. Outer shaft body; 214. Extension connecting rod; 2141. Slot; 2142. Second force output part; 215. Output shaft; 22. Magnetic assembly; 221. First permanent magnet group; 2211. First permanent magnet; 2212. Second permanent magnet; 2213. Fifth permanent magnet; 222. Second permanent magnet group; 2221. Third permanent magnet; 2222. Fourth permanent magnet; 2223. Sixth permanent magnet; 223. Second yoke; 3. Fixing mechanism; 31. First fixing bracket; 311. Second shaft hole; 32. Second fixing bracket; 321. Third shaft hole; 33. Connecting rod shaft; 34. Second fixed step; 35. Third arc surface; 36. Fourth arc surface; 4. First elastic body; 41. First side groove; 42. First elastic body stop block; 5. Second elastic body; 51. Second side groove; 52. Second elastic body stop block; 6. Output bracket; 61. Cross arm; 611. Output protrusion; 612. Insertion hole; 613. Protruding cylinder; 62. Vertical arm; 621. First fixed step; 7. Linkage rod; 71. Fourth shaft hole; 72. Waist hole. Detailed Implementation

[0040] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0041] In the description of this utility model, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not 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 this utility model. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0042] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0043] like Figure 1 and Figure 2 As shown, one embodiment of the present invention provides an inverted swing motor, including a stator mechanism 1 and a mover mechanism 2;

[0044] like Figure 8 As shown, the stator mechanism 1 includes a first coil 11, a second coil 12, and a first magnetic yoke 13. The first magnetic yoke 13 includes a support base 131 and a first leg 132 and a second leg 133 spaced apart and connected to the support base 131. The first coil 11 is sleeved on the first leg 132, and the second coil 12 is sleeved on the second leg 133. The first leg 132 and the second leg 133 are symmetrically arranged along the first axis 10. It can be understood that both the first coil 11 and the second coil 12 are composed of a hollow plastic bracket and enameled wire wound on the hollow bracket. The first magnetic yoke 13 is U-shaped and can be formed by stamping and riveting silicon steel sheets. Since the magnetic circuit is similar to a square frame and does not require rotation, the silicon steel sheets can be oriented silicon steel sheets. Oriented silicon steel sheets have low iron loss and high magnetic induction intensity, which can reduce the amount of copper wire used. Preferably, the support base 131, the first leg 132, and the second leg 133 are integrally formed parts.

[0045] like Figures 1 to 3As shown, the moving part mechanism 2 includes a swing arm assembly 21 and a magnetic assembly 22. The magnetic assembly 22 includes a second magnetic yoke 223 and a first permanent magnet group 221 and a second permanent magnet group 222 spaced apart and mounted on the second magnetic yoke 223. The first permanent magnet group 221 is respectively disposed corresponding to the first support leg 132, and the second permanent magnet group 222 is disposed corresponding to the second support leg 133. The first permanent magnet group 221 includes a first permanent magnet 2211 and a second permanent magnet 2212, and the second permanent magnet group 222 includes a third permanent magnet 2221 and a second permanent magnet 2212. The fourth permanent magnet 2222 has the same end face polarity as the first permanent magnet 2211 and the second permanent magnet 2212 corresponding to the first support leg 132. The end face polarities of the third permanent magnet 2221 and the fourth permanent magnet 2222 corresponding to the second support leg 133 are opposite. The end face polarity of the first permanent magnet 2211 corresponding to the first support leg 132 is the same as the end face polarity of the fourth permanent magnet 2222 corresponding to the second support leg 133. It can be understood that the second magnetic yoke 223 is a permanent magnet yoke. End face polarity refers to the polarity of the permanent magnet facing the support leg.

[0046] The swing arm assembly 21 includes a swing arm frame 211 and a rotating shaft 212; the second magnetic yoke 223 is mounted on the swing arm frame 211, the rotating shaft 212 is mounted on the first axis 10, and the rotating shaft 212 and the first magnetic yoke 13 are located on the same side of the magnetic assembly 22; the swing arm frame 211 is rotatably mounted on the rotating shaft 212, and the stator mechanism 1 is used to drive the magnetic assembly 22 and the swing arm frame 211 to reciprocate around the rotating shaft 212. Understandably, the shaft hole for mounting the rotating shaft 212 can be set on the first magnetic yoke, or on a fixed bracket, housing, or other components; the end faces of the first support leg 132 and the second support leg 133 are arc surfaces centered on the rotating shaft 212; the first permanent magnet group 221 and the second permanent magnet group 222 are equidistant from the center of the rotating shaft 212 (i.e., the permanent magnets are distributed on the same circumference, and their end faces are directly opposite the center of the rotating shaft 212); the first coil 11 and the second coil 12 are both located between the rotating shaft 212 and the second magnetic yoke 223.

[0047] In this invention, the swing arm assembly 21 includes a swing arm frame 211 and a rotating shaft 212. The rotating shaft 212 is mounted on the first axis 10, and the rotating shaft 212 and the first magnetic yoke 13 are located on the same side of the magnetic assembly 22. The swing arm frame 211 is rotatably mounted on the rotating shaft 212. The second magnetic yoke 223 is mounted on the swing arm frame 211. The swing arm frame 211 is located to the side of the first coil 11 and the second coil 12. The opposite ends of the swing arm frame 211 are respectively connected to the rotating shaft 212 and the second magnetic yoke 223. The rotating shaft 212 and the first magnetic yoke 13 are arranged on the same side of the magnetic assembly 22, which greatly reduces the length of the inverted swing motor and improves the compactness of the inverted swing motor.

[0048] like Figure 8 The magnetic circuit diagram of the oscillating motor is shown below (the magnetic polarities N and S marked in the diagram are the end face polarities of the permanent magnet corresponding to the yoke legs):

[0049] When the first coil 11 and the second coil 12 are driven by positive and negative pulses, they drive the second magnetic yoke 223 and the swing arm 211 to swing around the rotating shaft 212. Figure 8 The magnetic circuit conversion between the two shown in (a) and (b) is as follows: When the first coil 11 and the second coil 12 are energized, all four permanent magnets will generate torque in the same direction of rotation. If, after energization, the first permanent magnet 2211 and the third permanent magnet 2221 generate magnetic attraction of the same magnitude on the first yoke 13, then the second permanent magnet 2212 and the fourth permanent magnet 2222 generate magnetic repulsion of the same magnitude on the first yoke 13; when energized in the opposite direction, the first permanent magnet 2211 and the third permanent magnet 2221 generate magnetic repulsion of the same magnitude on the first yoke 13, then the second permanent magnet 2212 and the fourth permanent magnet 2222 generate magnetic attraction of the same magnitude on the first yoke 13. That is, during each swing of the second yoke 223 and the swing arm 211, the four permanent magnets are actually subjected to a force that swings in the same direction. The electromagnetic driving force = F1 + F2 + F3 + F4, where F1, F2, F3, and F4 are the forces exerted by the first yoke 13 on the four permanent magnets, respectively. This magnetic circuit design reduces the driving power of the swing motor accordingly.

[0050] Assume the end faces of the first permanent magnet 2211 and the fourth permanent magnet 2222 are N poles, while the end faces of the second permanent magnet 2212 and the third permanent magnet 2221 are S poles. When the first coil 11 and the second coil 12 are energized, the end face of the first leg 132 is the N pole, and the end face of the second leg 133 is the S pole. The N pole of the first leg 132 will attract the S pole of the second permanent magnet 2212 and repel the N pole of the first permanent magnet 2211. Similarly, the S pole of the second leg 133 will attract the N pole of the fourth permanent magnet 2222 and repel the S pole of the third permanent magnet 2221, thus causing the output bracket 6 to complete its first oscillation. Figure 8 As shown in (a).

[0051] When the current direction changes in the first coil 11 and the second coil 12, the end face of the first leg 132 becomes the S pole, and the end face of the second leg 133 becomes the N pole. The S pole of the first leg 132 will repel the S pole of the second permanent magnet 2212 and attract the N pole of the first permanent magnet 2211. Similarly, the N pole of the second leg 133 will repel the N pole of the fourth permanent magnet 2222 and attract the S pole of the third permanent magnet 2221, thus enabling the second yoke 223 and the swing arm 211 to complete their second swing. Figure 8 As shown in (b), return to the initial position of the first swing to complete one round of swing.

[0052] In summary, the first coil 11 and the second coil 12 are connected to alternating pulses, causing alternating magnetic poles to be generated on the end face of the first magnetic yoke 13. This generates attractive and repulsive torques, or repulsive and attractive torques, in the permanent magnet, driving the second magnetic yoke 223 and the swing arm 211 to swing. This, in turn, drives the corresponding mechanical unit to swing via the swing arm 211. Figure 8 The positions of the swing arm 211 shown in (a) and (b) are two positions where the swing arm 211 can be stably positioned. Without the obstruction of an elastic body, the swing arm 211 will return to its original position regardless of whether the coil is energized or de-energized. Figure 8 The location shown in (a) or (b).

[0053] To further explain, the width of the permanent magnet end face can be equal to or slightly smaller than the width of the first leg 132 and the second leg 133, and the permanent magnet yoke is in Figure 8When the two magnetic circuits oscillate between each other (i.e., the legs of the first yoke 13 displace between the corresponding two permanent magnet end faces), the driving current is stable. However, if there is excessive oscillation (i.e., during oscillation, the legs of the first yoke 13 displace to the outside of the corresponding two permanent magnets), the current will increase sharply. Therefore, in the oscillating motor of this application, the oscillation angle of the second yoke 223 must be less than or equal to the angle between the center lines of the two permanent magnet end faces corresponding to the first leg 132 (or the second leg 133) of the first yoke 13 and the angle intersecting at the center of the rotating shaft 212. Figure 8 As shown in (a) and (b), the magnetic channel function of the second magnetic yoke 223 can also be seen, which is indispensable.

[0054] In one embodiment, such as Figure 4 As shown, with the pivot 212 as the dividing point, the end of the swing arm 211 closer to the magnetic component 22 is designated as the inner arm 2111, and the end of the swing arm 211 away from the magnetic component 22 is designated as the outer arm 2112; the end of the inner arm 2111 away from the outer arm 2112 is mounted on the second magnetic yoke 223; a first force output part 2113 is provided on the inner arm 2111 and / or the outer arm 2112. Understandably, the inner arm 2111 is disposed between the magnetic component 22 and the rotating shaft 212, and the rotating shaft 212 is disposed between the inner arm 2111 and the outer arm 2112; the first force output part 2113 can be disposed on the inner arm 2111, or on the outer arm 2112, or both the inner arm 2111 and the outer arm 2112 can be provided with the first force output part 2113; the first force output part 2113 can be two arc-shaped protrusions respectively disposed on opposite sides of the inner arm 2111 and / or the outer arm 2112, as understood, such as Figure 2As shown, multiple sets of arc-shaped protrusions with different dimensions at different distances from the axis of the rotating shaft 212 are provided on the inner arm 2111 and the outer arm 2112. This allows one set of arc-shaped protrusions to be selected as the first force output part 2113 as needed, enabling the inverted swing motor to meet a wider range of applications. In this embodiment, the inner arm 2111 is located to the side of the first coil 11 and the second coil 12. This inverted swing motor is relatively short, compact in structure, and occupies little space. In addition, the outer arm 2112 and / or the inner arm 2111 can drive the actuator to swing back and forth through the first force output part 2113; when the first force output part 2113 is provided on the outer arm 2112, it can be understood that the distance from the first force output part 2113 to the center of the rotating shaft 212 (external force arm) is much smaller than the distance from the arc end face of the support leg of the first magnetic yoke 13 to the center of the rotating shaft 212 (internal force arm). According to the lever principle, the output force of the first force output part 2113 = electromagnetic driving force * (internal force arm / external force arm); and generally (internal force arm / external force arm) is greater than 2, so the inverted swing motor of this application has a large output force.

[0055] In one embodiment, such as Figure 2As shown, the outer arm 2112 is provided with a first force output part 2113; the swing arm assembly 21 also includes an outer shaft 213 and an extension connecting rod 214 with a slot 2141. The outer shaft 213 is disposed on the first axis 10, and the extension connecting rod 214 is rotatably mounted on the outer shaft 213. The first force output part 2113 is engaged in the slot 2141, and the extension connecting rod 214 is provided with a second force output part 2142. The swing arm frame 211 drives the extension connecting rod 214 to reciprocate around the outer shaft 213 through the first force output part 2113 engaged in the slot 2141. It can be understood that the extension connecting rod 214 can be rotatably mounted on the housing through the outer shaft 213. Specifically, the outer arm 2112 and the extension link 214 together constitute the output section of the inverted swing motor. The second force output section 2142 of the extension link 214 has the same swing amplitude as the first force output section 2113 at the end of the outer arm 2112. The extension link 214 connects to an external actuator via the second force output section 2142. Understandably, the swing amplitude of the second force output section 2142 can be changed as needed by altering the lever arm ratio of the extension link 214. In this embodiment, the design of the extension link 214 allows the swing arm frame 211 to connect to actuators at greater distances, improving the applicability and versatility of the inverted swing motor. Furthermore, different lengths of the extension link 214 can be replaced according to the swing amplitude and torque requirements of the actuator, thereby changing the length ratio of the lever arm (the distance between the first force output section 2113 and the center of the rotating shaft 212) of the extension link 214 and the swing arm frame 211.

[0056] In one embodiment, such as Figure 1 As shown, the swing arm assembly 21 further includes an output shaft 215 disposed on the swing arm frame 211, the axis of which coincides with the axis of the rotating shaft 212. Understandably, the output shaft 215 is connected to the side of the swing arm frame 211, and the swing arm frame 211 drives the actuator to reciprocate through the output shaft 215. In this embodiment, by disposing of the output shaft 215 on the side of the swing arm frame 211, the length of the inverted swing motor is further shortened. Furthermore, the output shaft 215 also has a recessed annular groove for easy installation of a waterproof cover; the cut surface on the side wall of the output shaft 215 serves as a force-bearing location, facilitating the installation and fixing of the actuator that swings together with the swing arm frame 211. This structure is an application structure of the swing motor of this application, facilitating the direct installation of the brush head component.

[0057] In one embodiment, such as Figure 5As shown, the support base 131 is provided with a protrusion 1312 extending toward the end opposite to the magnetic component 22. The protrusion 1312 is provided with a first shaft hole 1311. The first shaft hole 1311 is located on the first axis 10 in the opposite direction to the first leg 132 and the second leg 133. The rotating shaft 212 is installed in the first shaft hole 1311. Understandably, the protrusion 1312 is also located on the first axis 10. The first shaft hole 1311 is set on the protrusion 1312, so that the rotating shaft 212 is installed on the first magnetic yoke 13. Since the end faces of the first support 132 and the second support 133 on the first magnetic yoke 13 are arc surfaces with the rotating shaft 212 as the center, the first magnetic yoke 13 and the first shaft hole 1311 can be stamped in one go by a mold, ensuring the precise position of the shaft hole and the arc surface. The first permanent magnet group 221 and the second permanent magnet group 222 are distributed on the same circumference centered on the first shaft hole 1311, thereby ensuring the consistency of the air gap between the first magnetic yoke 13 and the first permanent magnet group 221 and the second permanent magnet group 222. To further explain, the rotating shaft 212 may be fixedly mounted on the first magnetic yoke 13, and the swing arm frame 211 may be rotatably mounted on the rotating shaft 212, or the rotating shaft 212 may be rotatably mounted on the first magnetic yoke 13, and the swing arm frame 211 may be fixedly mounted on the rotating shaft 212.

[0058] In one embodiment, such as Figure 3 As shown, the swing arm frame 211 includes a first swing arm frame 2114 and a second swing arm frame 2115 connected to opposite sides of the second magnetic yoke 223. The opposite ends of the rotating shaft 212 are respectively connected to the first swing arm frame 2114 and the second swing arm frame 2115. A receiving space is provided between the first swing arm frame 2114 and the second swing arm frame 2115, and the stator mechanism 1 is installed in the receiving space. It can be understood that the first swing arm frame 2114 and the second swing arm frame 2115 can be connected from opposite ends to form the swing arm frame 211. Both the first swing arm frame 2114 and the second swing arm frame 2115 include the inner arm 2111 and the outer arm 2112. In this embodiment, the swing arm frame 211 is designed as a separate unit consisting of the first swing arm frame 2114 and the second swing arm frame 2115, which improves the ease of assembling and disassembling the swing motor.

[0059] In one embodiment, such as Figure 1 and Figure 3As shown, the inverted swing motor includes a fixing mechanism 3, which includes a first fixing bracket 31 and a second fixing bracket 32 ​​detachably mounted on the first fixing bracket 31. An internal space is provided between the first fixing bracket 31 and the second fixing bracket 32, and the stator mechanism 1 is installed in the internal space. It can be understood that the first fixing bracket 31 and the second fixing bracket 32 ​​can be detachably mounted by means of a snap-fit ​​structure, a buckle structure, or the like.

[0060] The first fixed bracket 31 is provided with a second shaft hole 311, and the second fixed bracket 32 ​​is provided with a third shaft hole 321. The rotating shaft 212 is installed in the first shaft hole 1311, the second shaft hole 311, and the third shaft hole 321. It can be understood that the middle part of the rotating shaft 212 is inserted into the first shaft hole 1311, the second shaft hole 311, and the third shaft hole 321, and the opposite ends of the rotating shaft 212 are respectively connected to the first swing arm frame 2114 and the second swing arm frame 2115.

[0061] In one embodiment, such as Figures 3 to 5As shown, the protrusion 1312 has a first arc surface 1313 and a second arc surface 1314 on both sides opposite to the first shaft hole 1311. The fixed bracket has a third arc surface 35 and a fourth arc surface 36. The first arc surface 1313 and the third arc surface 35 form a first arc groove, and the second arc surface 1314 and the fourth arc surface 36 form a second arc groove. The swing arm frame 211 has a third arc groove 2116 and a fourth arc groove 2117. The inverted swing motor also includes a first elastic body 4 and a second elastic body 5. The first elastic body 4 is installed in the first arc groove and the third arc groove 2116, and the second elastic body 5 is installed in the second arc groove and the fourth arc groove 2117. Understandably, the first arc groove, the second arc groove, the third arc groove 2116, and the fourth arc groove 2117 can all be semi-arc grooves or parts of semi-arc grooves; a part of the first elastic body 4 is located in the first arc groove, and the other part of the first elastic body 4 is located in the third arc groove 2116; a part of the second elastic body 5 is located in the second arc groove, and the other part of the second elastic body 5 is located in the fourth arc groove 2117; the third arc groove 2116 and the fourth arc groove 2117 on the swing arm 211 are symmetrically distributed about the first axis 10; when the swing arm 211 swings around the pivot 212 located on the first axis 10, the distance between the third arc groove 2116 and the first arc groove changes in the opposite direction to the distance between the fourth arc groove 2117 and the second arc groove; During the swing of the swing arm 211, when the first elastic body 4 is compressed to its limit position, the edge of the third arc groove 2116 should not touch the first arc groove. Correspondingly, the second elastic body 5 is also relaxed to its limit position. Furthermore, the closest distance between the edge of the fourth arc groove 2117 and the second arc groove should be less than the diameter of the second elastic body 5, ensuring that the second elastic body 5 does not detach from the fourth arc groove 2117. Similarly, when the second elastic body 5 is compressed to its limit position, the edge of the fourth arc groove 2117 should not touch the second arc groove. Correspondingly, the first elastic body 4 is also relaxed to its limit position. Furthermore, the closest distance between the edge of the third arc groove 2116 and the first arc groove should be less than the diameter of the first elastic body 4, ensuring that the first elastic body 4 does not detach from the third arc groove 2116.

[0062] Specifically, during the left-right swing of the swing arm 211, the swing arm 211 will compress the first elastic body 4 or the second elastic body 5. When the swing arm 211 has not swung to its limit position, the compression of the first elastic body 4 or the second elastic body 5 is small, thus the reaction force of the first elastic body 4 or the second elastic body 5 is small, and the first elastic body 4 or the second elastic body 5 has little impact on the swing amplitude of the swing arm 211. When the swing arm 211 swings to its limit position, the compression of the first elastic body 4 or the second elastic body 5 increases rapidly, thus the reaction force of the first elastic body 4 or the second elastic body 5 increases rapidly. Therefore, the first elastic body 4 or the second elastic body 5 can prevent the swing arm 211 from overswinging. At the same time, when swinging in the opposite direction, the compressive potential energy of the elastic body (the first elastic body 4 or the second elastic body 5) is released, increasing the swing torque.

[0063] In one embodiment, such as Figure 4 As shown, the first elastic body 4 includes a first cylinder, and the side wall of the first cylinder is provided with a plurality of first side grooves 41 distributed circumferentially. It can be understood that the design of the first side grooves 41 makes the first elastic body 4 have a smaller impact on the swing arm 211 at the middle position of the swing amplitude, and the pressure on the swing arm 211 is also within a suitable range. As a result, the rotating shaft 212 will not exert a large pressure on the bearing sleeved on it, thus extending the service life of the inverted swing motor.

[0064] The second elastic body 5 includes a second cylinder, and the side wall of the second cylinder is provided with a plurality of second side grooves 51 distributed circumferentially. Understandably, the design of the second side grooves 51 makes the influence of the second elastic body 5 on the swing arm 211 at the middle position of the swing amplitude smaller, and the pressure on the swing arm 211 is also within a suitable range. Therefore, the rotating shaft 212 will not exert too much pressure on the bearing sleeved on it, thus extending the service life of the inverted swing motor.

[0065] The reaction force of the elastomer (i.e., the pressure on the swing arm 211) is related to the amount of deformation and the deformation filling space of the elastomer. Due to the presence of multiple side grooves, during the extrusion process, the deformation at the front is small and the deformation filling space is large, so the reaction force is small. At the rear, the deformation increases rapidly and the deformation filling space decreases, so the reaction force increases rapidly. The reaction force curve is non-linear. Compared with an elastomer without side grooves, this reaction force curve is more reasonable, that is, the impact on the swing arm 211 at the middle position of the swing amplitude is smaller, and the pressure on the bearing is not too large.

[0066] To further explain, such as Figure 10The diagram shows the force curves of a spring, a smooth cylindrical elastic body without side grooves, and a plum blossom-shaped columnar elastic body with side grooves during deformation; as shown. Figure 10 100 represents the compression curve of the spring, 200 represents the compression curve of the smooth cylindrical elastomer, and 300 represents the compression curve of the plum blossom-shaped cylindrical elastomer with side grooves. The force of the spring is linear, while the forces of the smooth cylindrical elastomer and the plum blossom-shaped cylindrical elastomer are non-linear. The plum blossom-shaped cylindrical elastomer has a smaller impact on the swing arm at the middle position of the swing amplitude. The pressure at the maximum compression point is between the former two, neither too small nor too large, thus not putting excessive pressure on the bearing.

[0067] In one embodiment, such as Figure 3 and Figure 4 As shown, an elastic body baffle is provided at one end of the swing arm 211 corresponding to the third arc groove 2116 and the fourth arc groove 2117, respectively, to block one end of the first elastic body 4 and the second elastic body 5; at the other end of the first elastic body 4 and the second elastic body 5, a first elastic body block 42 and a second elastic body block 52 can be provided respectively, or they can be replaced by the protrusion of the housing of the application appliance corresponding to the position of the elastic body, to prevent the elastic body from running out of the arc groove when it deforms.

[0068] In one embodiment, such as Figure 9 As shown, the first permanent magnet assembly 221 further includes a fifth permanent magnet 2213 mounted on the second yoke 223. The fifth permanent magnet 2213 is located between the first permanent magnet 2211 and the second permanent magnet 2212. The end face polarity of the fifth permanent magnet 2213 facing the first permanent magnet 2211 is the same as the end face polarity of the first permanent magnet 2211, and the end face polarity of the fifth permanent magnet 2213 facing the second permanent magnet 2212 is the same as the end face polarity of the second permanent magnet 2212. It can be understood that the first permanent magnet 2211, the second permanent magnet 2212, and the fifth permanent magnet 2213 are arranged opposite to the first support leg 132.

[0069] The second permanent magnet assembly 222 further includes a sixth permanent magnet 2223 mounted on the second yoke 223. The sixth permanent magnet 2223 is located between the third permanent magnet 2221 and the fourth permanent magnet 2222. The end face polarity of the sixth permanent magnet 2223 facing the third permanent magnet 2221 is the same as that of the third permanent magnet 2221, and the end face polarity of the sixth permanent magnet 2223 facing the fourth permanent magnet 2222 is the same as that of the fourth permanent magnet 2222. It is understood that the third permanent magnet 2221, the fourth permanent magnet 2222, and the sixth permanent magnet 2223 are arranged opposite to the first support leg 132.

[0070] Understandably, in this embodiment, each permanent magnet group consists of three permanent magnets arranged side by side. In each permanent magnet group, the permanent magnets on both sides have opposite magnetic polarities, and the middle permanent magnet is placed horizontally with its horizontal end face having the same magnetic polarity as the outer end face of the permanent magnets on both sides. The two groups of permanent magnets are centrally symmetrical. The center lines of the three permanent magnets intersect at the center of the rotating shaft 212 (i.e., the three permanent magnets are distributed on the same circumference centered on the rotating shaft 212). The three permanent magnets arranged in this way can concentrate the magnetic lines of force in the direction corresponding to the first support 132 and the second support 133, so that the electromagnetic force generated when the first coil 11 and the second coil 12 are energized is greater. In the direction of the second yoke 223, the magnetic lines of force are reduced, so the second yoke 223, which acts as a magnetic channel, can be thinned accordingly, thus reducing the mass of the mover mechanism 2.

[0071] In this embodiment, each permanent magnet group consists of three permanent magnets arranged side by side, which can be simplified according to their magnetic field characteristics. Figure 8 Electromagnetic motion analysis was performed on the state of each pair of permanent magnets.

[0072] like Figure 6 and Figure 7 As shown, another embodiment of this utility model also provides an electric device, including the above-mentioned inverted swing motor; the inverted swing motor includes a fixing mechanism 3 with an internal space, and the stator mechanism 1 is installed in the internal space; the electric device also includes two output brackets 6, each of the output brackets 6 including a horizontal arm 61 and two elastically bendable vertical arms 62 connected to opposite sides of the horizontal arm 61, the opposite ends of the horizontal arm 61 are respectively provided with an output protrusion 611 and a insertion hole 612; the swing arm frame 211 is inserted into the insertion hole 612 of one of the output brackets 6; it can be understood that the horizontal arm 61 and the vertical arm 62 are integrally formed, and the horizontal arm 61 is perpendicular to the vertical arm 62; the first force output part 2113 on the outer wall of the swing arm frame 211 is inserted into the insertion hole 612. That is, the first force output part 2113 swings, and through the plug hole 612, it drives the vertical arm 62 to bend and deform elastically, thereby driving the horizontal arm 61 to swing. The vertical arm 62 also serves to support the horizontal arm 61.

[0073] The cross arm 61 is provided with a convex cylinder 613 at one end away from the output protrusion 611, and the fixing mechanism 3 is provided with a connecting shaft 33; the electric device also includes a linkage 7, which is provided with a fourth shaft hole 71 and two waist holes 72 located at opposite ends of the fourth shaft hole 71; the fourth shaft hole 71 is rotatably sleeved on the connecting shaft 33, and the convex cylinders 613 on the two output brackets 6 are respectively slidably inserted into the two waist holes 72; it can be understood that the two waist holes 72 are symmetrically distributed about the fourth shaft hole 71 as the axis of symmetry. Specifically, during the swing of the swing arm 211, the swing arm 211 will drive one corresponding output bracket 6 to swing through the first force output part 2113 inserted into the insertion hole 612. This output bracket 6 will drive the other output bracket 6 to swing through the linkage 7. As the linkage 7 rotates around the fourth shaft hole 71 through the linkage shaft 33, the two convex cylinders 613 slide in the two sliding holes respectively, causing the two output brackets 6 to swing in opposite directions. The insertion hole 612 and the convex cylinders 613 are located on the same surface of the output bracket 6, so the output bracket 6 only has holes in two directions. The mold only needs to be pulled from one side, which simplifies the mold manufacturing of the output bracket 6. At the same time, it also simplifies the mold of the fixing mechanism 3 that cooperates with the output bracket 6, and the assembly operation between the output bracket 6 and the fixing mechanism 3 is simple. In another embodiment, the linkage 7 can also be removed to drive only one output bracket 6 to swing, or the two output brackets 6 can be linked together to swing together.

[0074] The vertical arm 62 has a first fixed step 621 at the end opposite to the horizontal arm 61, and the fixing mechanism 3 has a second fixed step 34. The first fixed step 621 and the second fixed step 34 are attached and connected.

[0075] In this invention, one end of the vertical arm 62 is connected to the output bracket 6, and the other end of the vertical arm 62 is connected to the fixing mechanism 3 via the first fixing step 621 and the second fixing step 34. This avoids noise caused by impact due to changes in the gap at the contact point of the vertical arm 62 during the swinging of the output bracket 6, further reducing the noise generated during the operation of the electric device. In addition, the length of the vertical arm 62 is greater than the length from the first force output part 2113 to the center of the rotating shaft 212. Under the same swing amplitude, this makes the swing fluctuation of the output bracket 6 smaller and closer to a straight line.

[0076] The mathematical formula for oscillation and fluctuation is:

[0077] The undulation distance = R * (1 - cosδ), where R is the oscillation radius and δ is half of the oscillation angle.

[0078] The swing angle 2δ = L*180 / R*π, where L is the swing amplitude, R is the swing radius, and π is pi.

[0079] L is a constant value in application, that is, the swing amplitude of the first force output section 2113 is the same as the swing amplitude of the output bracket 6.

[0080] For example, the length from the first force output section 2113 to the center of the rotating shaft 212 is 10mm, the length of the vertical arm of the output bracket is 20mm, and the swing amplitude is 2.7mm. Then the swing angle of the first force output section is 2.7*180 / 10*π=15.47°, and the fluctuation distance is 10*[1-cos(15.47° / 2)]=0.09099mm. The swing angle of the vertical arm of the output bracket is 2.7*180 / 20*π=7.735°, and the fluctuation distance is 20*[1-cos(7.735° / 2)]=0.04555mm. From the data, the fluctuation is reduced by nearly half and is closer to a straight line.

[0081] To further explain, the electric devices include, but are not limited to, electric shavers, electric brushes, etc.

[0082] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.

Claims

1. An inverted swing motor, characterized by, The motor comprises a stator mechanism and a rotor mechanism; The stator mechanism comprises a first coil, a second coil and a first magnetic yoke, the first magnetic yoke comprises a supporting base, a first supporting leg and a second supporting leg which are spaced apart and connected to the supporting base, the first coil is sleeved on the first supporting leg, and the second coil is sleeved on the second supporting leg; the first supporting leg and the second supporting leg are symmetrically arranged along a first axis; The rotor mechanism comprises a swing arm assembly and a magnetic assembly, the magnetic assembly comprises a second magnetic yoke and a first permanent magnet group and a second permanent magnet group which are spaced apart and installed on the second magnetic yoke, the first permanent magnet group is arranged corresponding to the first supporting leg, and the second permanent magnet group is arranged corresponding to the second supporting leg; the first permanent magnet group comprises a first permanent magnet and a second permanent magnet, the second permanent magnet group comprises a third permanent magnet and a fourth permanent magnet, the end faces of the first permanent magnet and the second permanent magnet corresponding to the first supporting leg are opposite in polarity, the end faces of the third permanent magnet and the fourth permanent magnet corresponding to the second supporting leg are opposite in polarity, and the end face of the first permanent magnet corresponding to the first supporting leg is the same in polarity as the end face of the fourth permanent magnet corresponding to the second supporting leg; The swing arm assembly comprises a swing arm frame and a rotating shaft; the second magnetic yoke is installed on the swing arm frame, the rotating shaft is installed on the first axis, and the rotating shaft and the first magnetic yoke are located on the same side of the magnetic assembly; the swing arm frame is rotationally installed on the rotating shaft; the stator mechanism is used for driving the magnetic assembly and the swing arm frame to reciprocatingly swing around the rotating shaft.

2. The inverted swing motor of claim 1, wherein With the rotating shaft as a dividing point, one end of the swing arm frame close to the magnetic assembly is provided as an inner arm, and the other end of the swing arm frame away from the magnetic assembly is provided as an outer arm; the inner arm is installed on the second magnetic yoke at an end away from the outer arm; the inner arm and / or the outer arm is / are provided with a first force output part.

3. The inverted wobble motor of claim 1, wherein The swing arm assembly further comprises an output shaft provided on the swing arm frame, and an axis of the output shaft coincides with an axis of the rotating shaft.

4. The inverted wobble motor of claim 1, wherein The supporting base is provided with a protrusion extending towards an end away from the magnetic assembly, the protrusion is provided with a first shaft hole, the first shaft hole is located on the first axis in an opposite direction of the first supporting leg and the second supporting leg, and the rotating shaft is installed in the first shaft hole.

5. The inverted wobble motor of claim 4, wherein, The inverted swing motor comprises a fixing mechanism, the fixing mechanism comprises a first fixing support and a second fixing support which is detachably installed on the first fixing support, an internal space is surrounded between the first fixing support and the second fixing support, and the stator mechanism is installed in the internal space; The first fixing support is provided with a second shaft hole, the second fixing support is provided with a third shaft hole, and the rotating shaft is installed in the first shaft hole, the second shaft hole and the third shaft hole.

6. The inverted wobble motor of claim 5, wherein, The convex part is respectively provided with a first circular arc surface and a second circular arc surface on two sides of the first shaft hole, the first fixed support is provided with a third circular arc surface and a fourth circular arc surface, the first circular arc surface and the third circular arc surface enclose a first circular arc groove, and the second circular arc surface and the fourth circular arc surface enclose a second circular arc groove; the swing arm support is provided with a third circular arc groove and a fourth circular arc groove, the inverted swing motor further comprises a first elastic body and a second elastic body, the first elastic body is installed in the first circular arc groove and the third circular arc groove, and the second elastic body is installed in the second circular arc groove and the fourth circular arc groove.

7. The inverted wobble motor of claim 6, wherein, The first elastic body comprises a first cylinder, and a plurality of first side grooves are distributed on the side wall of the first cylinder in a circumferential direction. The second elastic body comprises a second cylinder, and a plurality of second side grooves are distributed on the side wall of the second cylinder in a circumferential direction.

8. The inverted pendulum motor according to any one of claims 1 to 7, characterized by The first permanent magnet group further comprises a fifth permanent magnet installed on the second magnetic yoke, and the fifth permanent magnet is located between the first permanent magnet and the second permanent magnet; The end face polarity of the fifth permanent magnet towards the first permanent magnet is the same as the end face polarity of the first permanent magnet, and the end face polarity of the fifth permanent magnet towards the second permanent magnet is the same as the end face polarity of the second permanent magnet; The second permanent magnet group further comprises a sixth permanent magnet installed on the second magnetic yoke, and the sixth permanent magnet is located between the third permanent magnet and the fourth permanent magnet; The end face polarity of the sixth permanent magnet towards the third permanent magnet is the same as the end face polarity of the third permanent magnet, and the end face polarity of the sixth permanent magnet towards the fourth permanent magnet is the same as the end face polarity of the fourth permanent magnet.

9. The inverted wobble motor of claim 2, wherein, The swing arm assembly further comprises an outer shaft body and an extension connecting rod provided with a clamping groove, the outer shaft body is arranged on the first axis, the extension connecting rod is rotatably installed on the outer shaft body, the first force output part on the outer arm is clamped in the clamping groove, and the extension connecting rod is provided with a second force output part; the swing arm support drives the extension connecting rod to swing around the outer shaft body through the first force output part clamped in the clamping groove.

10. An electric device, characterized by The electric device comprises the inverted swing motor, a fixed mechanism provided with an internal space, and a stator mechanism installed in the internal space; the electric device further comprises two output supports, each of the output supports comprises a horizontal arm and two vertical arms connected to opposite sides of the horizontal arm, and opposite ends of the horizontal arm are respectively provided with an output convex part and a plug-in hole; the swing arm support is plugged into the plug-in hole of one of the output supports; The end of the horizontal arm away from the output convex part is further provided with a convex cylinder, and the fixed mechanism is provided with a connecting rod shaft; The electric device further comprises a linkage connecting rod, the linkage connecting rod is provided with a fourth shaft hole and two waist holes located at opposite ends of the fourth shaft hole; the fourth shaft hole is rotatably sleeved on the connecting rod shaft, and the convex cylinders on the two output supports are respectively slidably plugged into the two waist holes. The electric device comprises the inverted swing motor, a fixed mechanism provided with an internal space, and a stator mechanism installed in the internal space; the electric device further comprises two output supports, each of the output supports comprises a horizontal arm and two vertical arms connected to opposite sides of the horizontal arm, and opposite ends of the horizontal arm are respectively provided with an output convex part and a plug-in hole; the swing arm support is plugged into the plug-in hole of one of the output supports; The end of the horizontal arm away from the output convex part is further provided with a convex cylinder, and the fixed mechanism is provided with a connecting rod shaft; The electric device further comprises a linkage connecting rod, the linkage connecting rod is provided with a fourth shaft hole and two waist holes located at opposite ends of the fourth shaft hole; the fourth shaft hole is rotatably sleeved on the connecting rod shaft, and the convex cylinders on the two output supports are respectively slidably plugged into the two waist holes. The vertical arm is provided with a first fixing step at one end away from the horizontal arm, the fixing mechanism is provided with a second fixing step, and the first fixing step is attached to and connected with the second fixing step.

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