CN111082633A

CN111082633A - Linear motor

Info

Publication number: CN111082633A
Application number: CN201811217395.5A
Authority: CN
Inventors: 杨斌堂; 张茂胜
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-10-18
Filing date: 2018-10-18
Publication date: 2020-04-28

Abstract

The present invention provides a linear motor, including: the device comprises a moving piece (1), a first clamping component (91) and a driving component (900); the first clamping assembly (91) comprises a clamping mechanism, wherein the clamping mechanism can switch states among two-way locking, one-way movement and two-way movement, so that the moving part (1) can be locked in two ways, move freely in one way only and move freely in two ways relative to the clamping mechanism in the linear direction; wherein the linear direction is the axial direction of the moving part (1); the first clamping unit (91) is capable of reciprocating in a linear direction under the drive of the drive unit (900). The invention has reasonable structure and easy maintenance. Is a novel linear motor. The invention can realize the switching among the two-way locking state, the one-way motion state and the two-way motion state, thereby realizing that the motion piece can not move in two directions, can move only in one direction and can move in both directions.

Description

Linear motor

Technical Field

The invention relates to the field of motors, in particular to a linear motor.

Background

The linear motor is a linear motor which directly converts electric energy into linear motion mechanical energy. Various clamping mechanisms have been disclosed in the prior art, for example, those skilled in the art can refer to "electromagnetic clamping mechanism and linear driving device, combination thereof" [ application No. 201410387626.2, publication No. CN104167957A ], which discloses an electromagnetic clamping mechanism comprising an electromagnetic body, a permanent magnet body and a deformable body, wherein the magnetic pole of the permanent magnet body is directly contacted with or close to the magnetic pole of the electromagnetic body to form a control magnetic circuit, and the deformable body is rigidly connected with the permanent magnet body; the permanent magnet body moves relative to the electromagnetic body under the drive of the magnetic field of the control magnetic circuit and drives the deformation body to deform, so that clamping locking and releasing are realized. Those skilled in the art can also refer to patent documents such as "electromagnetic-permanent magnet clamping mechanism for linear motor" [ application No. 201020603794.8, publication No. CN201869079U ] and "electromagnetic clamping mechanism and its stick-slip linear motor" [ application No. 201020603955.3, publication No. CN201887641U ] to realize the clamping mechanism, and also refer to "electromagnetic adaptive clamping and clamping device and combined clamping and clamping device" [ application No. 201610038564.3, publication No. CN105527840A ]. For example, based on the "electromagnetic clamping mechanism and linear driving device and combination thereof", a deformable body in the clamping mechanism can be locked tightly against a locked object as an output member, based on the "electromagnetic-permanent magnet clamping mechanism for linear motor", an output rod in the clamping mechanism can be locked tightly against the locked object as the output member, based on the "electromagnetic clamping mechanism and stick-slip linear motor", an output shaft in the clamping mechanism can be locked tightly against the locked object as the output member, and based on the "electromagnetic adaptive clamping device and combined clamping device", a clamping member in the clamping mechanism can be tightened and loosened to tightly clamp and tightly abut against the locked object as the output member to lock. One skilled in the art can also implement a clamping mechanism with a wide to narrow channel with reference to "oscillating long stroke motion device and multi-dimensional motor" [ application No. 201610351263.6, publication No. CN 207321084U ].

Disclosure of Invention

In view of the defects in the prior art, the invention aims to provide a linear motor.

According to the present invention, there is provided a linear motor comprising: a moving member 1, a first clamping assembly 91, a driving assembly 900;

the first clamping assembly 91 comprises a clamping mechanism, wherein the clamping mechanism can switch states among two-way locking, one-way movement and two-way movement, so that the moving part 1 can be locked in two ways, move freely in one way and move freely in two ways in a straight line direction relative to the clamping mechanism; wherein, the linear direction is the axial direction of the moving part 1;

the first clamping assembly 91 is capable of reciprocating in a linear direction under the driving of the driving assembly 900.

Preferably, a second clamping assembly 92 is also included; the second clamping assembly 901 comprises a clamping mechanism, wherein the clamping mechanism can switch states among two-way locking, one-way movement and two-way movement, so that the moving element 1 can be two-way locked, only one-way free movement and two-way free movement in a linear direction relative to the clamping mechanism.

Preferably, the driving assembly 900 includes a first magnet 901, a second magnet 902, a connection elastic member 903;

the connection elastic member 903 is connected between the first and

second magnetors

901 and 902;

the first magnet 901 is fixed relative to the ground, and the second magnet 902 is fastened to the clamping mechanism; alternatively, the moving member 1 is fixed with respect to the ground;

wherein, the first and

second magnetoresistors

901 and 902 are respectively:

-an electromagnet, a permanent magnet;

-a permanent magnet, an electromagnet;

electromagnets, electromagnets.

Preferably, the driving assembly 900 includes a permanent magnet 904, an elastic pad 905, a C-shaped coil 906, a shaft 907, and a lever 908;

the permanent magnet 904 is connected in the notch of the C-shaped coil 906 through an elastic pad 905; and the permanent magnet 904 can rotate around the rotating shaft 907; one end of the permanent magnet 904 is connected to the clamping mechanism through a lever 908.

Preferably, the driving assembly 900 includes:

a pneumatic element 909;

-a hydraulic assembly;

-a thermally expansive material component 910;

-an electromagnetic assembly;

-an electrostatic component;

-a smart material assembly;

-a shape memory alloy material component; or

A linear motor 911.

Preferably, the clamping mechanism comprises a controllable multi-state clamping structure;

the controllable multi-state clamping structure comprises: the device comprises a moving part 1, a guide sleeve 2, a clamping piece 3 and a moving sleeve 4;

the guide sleeve 2 is connected with the moving sleeve 4 in a nested manner, and a regulating chamber 201 is formed in the guide sleeve 2; the moving part 1 passes through the guide hole 202 of the guide sleeve 2 and the adjusting chamber 201, and the clamping piece 3 is positioned in the adjusting chamber 201;

the width of the adjusting chamber 201 in the axial direction of the guide sleeve 2 is changed from wide to narrow, so that a wide end 2011 and a narrow end 2012 are formed; the movement sleeve 4 is positioned on the side of the wide end 2011 of the regulation chamber 201;

the structure of the adjusting chamber 201 can be changed between a two-way locking state, a one-way movement state and a two-way movement state through the relative movement of the guide sleeve 2 and the moving sleeve 4 in the axial direction;

-a two-way deadlocked state: the clamping piece 3 is extruded by the moving piece 1, the adjusting chamber 201 and the moving sleeve 4, so that the moving piece 1 is locked on the guide sleeve 2;

-a bidirectional motion state: at least one of the moving part 1, the cavity wall of the adjusting cavity 201 and the moving sleeve 4 is separated from the clamping piece 3, and the moving part 1 can freely move towards the wide end 2011 and can freely move towards the narrow end 2012;

-a unidirectional motion state: the unidirectional motion state is a critical state of the change between the bidirectional locking state and the bidirectional motion state, in which the moving member 1 can move freely toward the wide end 2011 and is locked toward the narrow end 2012.

Preferably, the guide sleeve 2 is in threaded connection with the movement sleeve 4, the movement sleeve 4 being moved by rotation relative to the guide sleeve 2 in the axial direction.

Preferably, the controllable multi-state clamp structure further comprises: a stopper 5;

the guide sleeve 2 and the moving sleeve 4 are locked by a stop piece 5.

Preferably, the controllable multi-state clamp structure further comprises: a drive mechanism 6;

the sports boot 4 comprises: the sleeve 401, the moving elastic piece 402 and the limiting block 403 are connected in sequence; the sleeve member 401 is relatively fixed with the guide sleeve 2;

in the two-way locking state: the clamping piece 3 is extruded by the moving piece 1, the adjusting chamber 201 and the limiting block 403, the moving piece 1 is locked on the guide sleeve 2, and the moving elastic piece 402 is extruded by the sleeve piece 401 and the limiting block 403 to be in a maximum compression state in the axial direction;

in the one-way motion state: under the driving of the moving part 1, the clip 3 can push the limiting block 403 to approach the sleeve 401 to compress the moving elastic part 402, so that the moving part 1 can overcome the elastic force of the moving elastic part 402 and freely move towards the wide end 2011.

Under the magnetic force, electric force or mechanical force applied by the driving mechanism 6, the stopper 403 can overcome the elastic force of the moving elastic member 402 to approach the sleeve 401, so that the unidirectional moving state is changed to the bidirectional moving state.

Preferably, the drive mechanism 6 is arranged in the guide sleeve 2, in the sleeve 401 or connected between the sleeve 401 and the moving elastic member 402.

Preferably, a pushing elastic piece 203 is connected between the clip piece 3 and the narrow end 2012; the urging elastic member 203 provides the card member 3 with an elastic force to escape from the regulation chamber 201;

the mover 1 moves axially or circumferentially with respect to the guide sleeve 2.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention has reasonable structure and easy maintenance. Is a novel linear motor.

2. The invention can realize the switching among the two-way locking state, the one-way motion state and the two-way motion state, thereby realizing that the motion piece can not move in two directions, can move only in one direction and can move in both directions.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic diagram of the principle of the present invention.

Fig. 2 is a schematic structural diagram of the present invention.

Fig. 3 is a schematic structural diagram of the present invention.

Fig. 4 is a schematic structural diagram of the present invention.

Fig. 5 is a schematic structural diagram of the present invention.

Fig. 6 is a schematic structural diagram of the present invention.

Fig. 7 is a schematic structural diagram of the present invention.

Fig. 8 is a schematic structural diagram of the present invention.

Fig. 9 is a schematic structural diagram of the present invention.

Fig. 10 is a schematic structural diagram of the present invention.

Fig. 11 is a schematic structural diagram of the present invention.

Fig. 12 is a schematic structural diagram of the present invention.

Fig. 13 is a schematic structural diagram of the present invention.

Fig. 14 is a schematic structural diagram of the present invention.

FIG. 15 is a schematic diagram of a clamping mechanism according to the present invention.

Fig. 16 is a schematic structural diagram of the clamping mechanism in the two-way locking state according to the present invention.

FIG. 17 is a schematic diagram of a critical state clamping mechanism according to the present invention.

Fig. 18 is a schematic structural view of the clamping mechanism of the present invention in a two-way movement state.

FIG. 19 is a schematic diagram of a clamping mechanism according to the present invention.

FIG. 20 is a schematic diagram of a clamping mechanism according to the present invention.

FIG. 21 is a schematic diagram of a clamping mechanism according to the present invention.

FIG. 22 is a schematic diagram of a clamping mechanism according to the present invention.

Fig. 23 is a schematic structural view showing one embodiment of the movable member of the clamping mechanism of the present invention rotatable.

FIG. 24 is a schematic diagram of a clamping mechanism in a critical state according to the present invention.

FIG. 25 is a schematic diagram of an embodiment of a clamping mechanism assembly of the present invention.

FIG. 26 is a schematic diagram of another embodiment of a clamping mechanism assembly according to the present invention.

FIG. 27 is a schematic structural diagram of another embodiment of a clamping mechanism assembly in accordance with the present invention.

FIG. 28 is a schematic diagram of a clamping mechanism assembly according to yet another embodiment of the present invention.

The figures show that:

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

Basic embodiment

As shown in fig. 1, there is provided a linear motor according to the present invention, including: a moving member 1, a first clamping assembly 91, a driving assembly 900;

In a preferred embodiment, the linear motor further comprises a second clamping assembly 92; the second clamping assembly 901 comprises a clamping mechanism, wherein the clamping mechanism can switch states among two-way locking, one-way movement and two-way movement, so that the moving element 1 can be two-way locked, only one-way free movement and two-way free movement in a linear direction relative to the clamping mechanism.

Preferred examples of the basic embodiment will be explained below.

Example 1

As shown in fig. 2, the driving assembly 900 includes a first magnet 901, a second magnet 902, and a connection elastic member 903;

the connection elastic member 903 is connected between the first and second magnetors 901 and 902;

the second magnet 902 is securely attached to the clamping mechanism;

the first magnet 901 is fixed with respect to the ground.

The magnetoelectric body includes a magnet and/or a charged body, particularly an electrostatic body.

Example 2

As shown in fig. 3, fig. 3 is a modification of fig. 2.

Step A1: the clamping mechanism is in a one-way motion state, and the moving part 1 can only move rightwards relative to the clamping mechanism but can not move leftwards; the first magnet 901 drives the second magnet 902 to move far, and the second magnet 902 pushes the clamping mechanism to move away from the first magnet 901, at this time, since the moving element 1 can only move right and can not move left, the moving element 1 also moves along with it.

Step A2: then, the first magnet 901 attracts the second magnet 902 to move closer against the elastic force of the connection elastic member 903, and the second magnet 902 pulls the clamping mechanism closer to the first magnet 901, at which time the moving member 1 will remain stationary since the moving member 1 can only move to the right and not to the left.

By repeatedly executing the above steps a1 and a2, the rightward stepping movement of the mover 1 can be realized.

Example 3

Fig. 4 shows a modification of fig. 3. In fig. 4, the moving direction of the moving member 1 allowed by the one-way movement state of the clamping mechanism is reversed.

Step B1: the clamping mechanism is in a one-way motion state, and the moving part 1 can only move leftwards but not rightwards relative to the clamping mechanism; the first magnet 901 drives the second magnet 902 to move far, and the second magnet 902 pushes the clamping mechanism away from the first magnet 901, at this time, since the moving element 1 can only move left and can not move right, the moving element 1 will remain stationary.

Step B2: then, the first magnet 901 attracts the second magnet 902 to move closer against the elastic force of the connection elastic member 903, and the second magnet 902 pulls the clamping mechanism to move closer to the first magnet 901, at this time, since the moving member 1 can only move leftward and cannot move rightward, the moving member 1 also follows the movement.

The above steps B1 and B2 are repeatedly performed, and leftward stepping movement of the mover 1 can be achieved.

Example 4

As shown in fig. 5, fig. 5 is a preferred example of fig. 2. Fig. 5 has a first clamping unit 91 and a second clamping unit 92 which are axially symmetrical.

The first magnet 901 is fixed relative to the ground.

The first and

second electromagnets

901 and 902 are electromagnets and permanent magnets, respectively.

Example 5

As shown in fig. 6, fig. 6 is a modification of fig. 5.

The first magnet 901 is fixed relative to the ground.

The first and

second electromagnets

901 and 902 are permanent magnets and electromagnets, respectively.

Example 6

As shown in fig. 7, fig. 7 is a modification of fig. 5.

The moving element 1 is stationary relative to the ground.

The first and

second electromagnets

901 and 902 are electromagnets and permanent magnets, respectively.

Example 7

As shown in fig. 8, fig. 8 is a modification of fig. 6.

The moving element 1 is stationary relative to the ground.

The first and

second electromagnets

901 and 902 are permanent magnets and electromagnets, respectively.

Example 8

As shown in fig. 9, fig. 9 is a modification of fig. 6.

The first magnet 901 is fixed relative to the ground.

The first magnet 901 and the second magnet 902 are both electromagnets.

Example 9

As shown in fig. 10, fig. 10 is a modification of fig. 9.

The moving element 1 is stationary relative to the ground.

The first magnet 901 and the second magnet 902 are both electromagnets.

Example 10

As shown in fig. 11, the drive assembly 900 includes a pneumatic assembly 909.

The pneumatic element 909 drives the clamping mechanism to reciprocate.

In variations, the pneumatic element 909 may be varied to be a hydraulic element.

Example 11

As shown in fig. 12, the drive assembly 900 includes a thermal expansion material assembly.

The thermal expansion material component drives the clamping mechanism to realize reciprocating motion.

In a variation, the thermal expansion material component may be changed to a shape memory alloy material component.

Example 12

As shown in fig. 13, the drive assembly 900 includes a motor, such as a linear motor 911, and, in turn, a rotary motor.

The linear motor 911 drives the clamping mechanism to reciprocate.

Example 13

As shown in fig. 14, the driving assembly 900 includes a permanent magnet 904, an elastic pad 905, a C-shaped coil 906, a rotation shaft 907, and a lever 908;

A permanent magnet 904 is placed at the notch of the C-shaped coil 906, with the polarity as shown in FIG. 14; an elastic pad 905 is arranged between the C-shaped coil 906 and the permanent magnet 904, when the C-shaped coil 906 is electrified, the permanent magnet 904 rotates around a rotating shaft 907 under the action of electromagnetic field force, the elastic pad 905 is squeezed to generate micro displacement, the lever 908 is used for amplifying to generate larger displacement to drive the right clamping mechanism to move, and the motion of the motion part 1 such as a shaft is realized by controlling the locking state of the left clamping mechanism and the right clamping mechanism.

The clamping mechanism of the present invention will be described in more detail by preferred examples.

Clamping mechanism basic embodiment

According to the present invention there is provided a controllable multi-state clamping structure comprising: the device comprises a moving part 1, a guide sleeve 2, a clamping piece 3 and a moving sleeve 4;

Preferred examples of the basic embodiment will be specifically described below.

Clamping mechanism embodiment 1

As shown in fig. 15, the guide sleeve 2 is screwed to the moving sleeve 4, and the moving sleeve 4 is relatively moved in the axial direction with respect to the guide sleeve 2 by rotation.

The controllable multi-state clamping structure further comprises: a stopper 5; the guide sleeve 2 and the moving sleeve 4 are locked by a stop piece 5.

The mover 1 moves axially relative to the guide sleeve 2.

After the stop 5 is screwed in or out, the moving sleeve 4 can be screwed into or out of the guide sleeve 2 to change the length of the adjustment chamber 201 in the axial direction, so that the width of the wide end 2011 becomes larger or smaller. When the stop piece 5 is screwed or installed, the moving sleeve 4 and the guide sleeve 2 are locked and fixed relatively.

The moving sleeve 4 has a positioning element 7, wherein the positioning element 7 may be a score line or a rib. By observing the position relation between the positioning piece 7 and the end face of the guide sleeve 2, the current state can be identified to be a bidirectional locking state, a unidirectional motion state and a bidirectional motion state.

As shown in fig. 16, the scribed line is located inside the guide sleeve 2 in a two-way locked state, and the clip 3 is a ball which does not have any moving space. As shown in fig. 18, the scribed line is positioned at the outer side of the guide sleeve 2, and the state is a bidirectional movement state, the ball is not blocked, so that the moving member 1 can move bidirectionally; the ball body can be connected with the moving sleeve 4 through magnetic force or a connecting piece, so that the ball body is separated from the guide sleeve 2 and/or the moving part 1, and the clamping piece 3 can realize a bidirectional moving state as long as the clamping piece is separated from any one of the moving part 1, the guide sleeve 2 and the moving sleeve 4. As shown in fig. 17, there is an intermediate critical state during the transition from the double-locking body to the double-movement state, and during the transition from the double-movement body to the double-locking state. In this critical state, the mover 1 can move only toward the wide end 2011 and cannot move toward the narrow end 2012. Preferably, in a critical state, although the moving member 1, the guide sleeve 2 and the moving sleeve 4 are rigid members, the moving member, the guide sleeve 2 and the moving sleeve are still deformed to some extent after being stressed, so that the critical state is realized.

Clamping mechanism embodiment 2

Fig. 19 shows a modification of fig. 15 in fig. 19. In this variation, the positioning member 7 is a sliding slot and a buckle, and is disposed on the moving sleeve 4 and the guiding sleeve 2, respectively, and when the buckle enters the sliding slot, the state is identified as a one-way moving state.

Clamping mechanism embodiment 3

As shown in fig. 20, the controllable multi-state clamp structure further comprises: a drive mechanism 6;

A pushing elastic piece 203 is connected between the clip piece 3 and the narrow end 2012; the urging elastic member 203 provides the card member 3 with an elastic force to escape from the regulation chamber 201.

As shown in fig. 20, in a one-way motion state. When the motion element 1 tends to move towards the narrow end 2012, the ball is blocked by the motion element 1, the guide sleeve 2 and the motion sleeve 4, and the motion element 1 cannot move towards the narrow end 2012. When the moving member 1 moves towards the wide end 2011, under the driving of the moving member 1, the clip 3 can push the limiting block 403 to approach towards the sleeve 401 to compress the moving elastic member 402, so that the moving member 1 can overcome the elastic force of the moving elastic member 402 and move freely towards the wide end 2011.

When the limiting block 403 moves towards the wide end 2011 under the driving of the driving mechanism 6, the ball can be kept away from the contact with the cavity wall of the adjusting cavity 201 of the moving part 1 or the guide sleeve 2, and the state of bidirectional movement is changed. The driving force of the driving mechanism 6 is derived from a magnetic force, or may be a mechanical force in a modified example.

When the moving sleeve 4 moves to the farthest position toward the narrow end 2012, the two-way locking state is entered.

Clamping mechanism embodiment 4

Fig. 21 shows a modification of fig. 20. In fig. 21, the drive mechanism 6 is connected between the sleeve 401 and the moving elastic member 402. The sphere is a permanent magnet or a ferromagnetic body.

Clamping mechanism embodiment 5

Fig. 22 shows a modification of fig. 21. In fig. 22, the driving mechanism 6 includes two magnetophores, which attract each other, so that the magnetophores on the right side in fig. 22 are attracted to push the sphere to move to the left. The spheres may be of a non-magnetic material, such as a plastic or ceramic material.

Clamping mechanism embodiment 6

As shown in fig. 23, fig. 23 is a modification of fig. 15. In fig. 23, the mover 1 moves circumferentially relative to the guide sleeve 2. The movement sleeve 4 is not shown in fig. 23. In the one-way movement state as shown in fig. 23, the mover 1 can be rotated only clockwise and not counterclockwise. As shown in fig. 24, has changed from the unidirectional motion state to the bidirectional motion state.

Clamping mechanism embodiment 7

The invention provides a combination device of a controllable multi-state clamping structure, which comprises a plurality of controllable multi-state clamping structures; of a plurality of said controllable multi-state clamping structures, at least two are arranged opposite to each other in the direction of movement of the moving element 1.

As shown in fig. 25, 26, 27 and 28, the combination can realize a two-way locking state and a two-way moving state, and can realize a one-way moving state in two opposite directions. For example, in fig. 25, 26 and 27, the left unidirectional movement state or the right unidirectional movement state can be realized. Also for example, in fig. 28, a clockwise unidirectional motion or a counterclockwise unidirectional motion state may be achieved.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. A linear motor, comprising: the device comprises a moving piece (1), a first clamping component (91) and a driving component (900);

the first clamping assembly (91) comprises a clamping mechanism, wherein the clamping mechanism can switch states among two-way locking, one-way movement and two-way movement, so that the moving part (1) can be locked in two ways, move freely in one way only and move freely in two ways relative to the clamping mechanism in the linear direction; wherein the linear direction is the axial direction of the moving part (1);

the first clamping unit (91) is capable of reciprocating in a linear direction under the drive of the drive unit (900).

2. A linear motor according to claim 1, further comprising a second clamping assembly (92); the second clamping assembly (901) comprises a clamping mechanism, wherein the clamping mechanism can switch states among two-way locking, one-way movement and two-way movement, so that the moving piece (1) can be in two-way locking, only one-way free movement and two-way free movement relative to the clamping mechanism in the linear direction.

3. A linear motor according to claim 1, characterized in that the drive assembly (900) comprises a first magnet (901), a second magnet (902), a connection spring (903);

the connecting elastic element (903) is connected between the first magnet (901) and the second magnet (902);

the first magnet (901) is fixed relative to the ground, and the second magnet (902) is tightly connected with the clamping mechanism; or the moving part (1) is fixed relative to the ground;

wherein the first and second magnetoresistors (901, 902) are respectively:

-an electromagnet, a permanent magnet;

-a permanent magnet, an electromagnet;

electromagnets, electromagnets.

4. A linear motor according to claim 1, characterized in that the drive assembly (900) comprises a permanent magnet (904), an elastic pad (905), a C-shaped coil (906), a shaft (907), a lever (908);

the permanent magnet (904) is connected in the notch of the C-shaped coil (906) through an elastic pad (905); and the permanent magnet (904) can rotate around the rotating shaft (907); one end of the permanent magnet (904) is connected to the clamping mechanism through a lever (908).

5. A linear motor according to claim 1, characterized in that the drive assembly (900) comprises:

-a pneumatic assembly (909);

-a hydraulic assembly;

-a thermally expansive material component (910);

-an electromagnetic assembly;

-an electrostatic component;

-a smart material assembly;

-a shape memory alloy material component; or

-a linear motor (911).

6. The linear motor of claim 1, wherein the clamping mechanism comprises a controllable multi-state clamping structure;

the controllable multi-state clamping structure comprises: the device comprises a moving part (1), a guide sleeve (2), a clamping part (3) and a moving sleeve (4);

the guide sleeve (2) is connected with the moving sleeve (4) in a nested manner, and a regulating chamber (201) is formed in the guide sleeve (2); the moving piece (1) penetrates through a guide hole (202) of the guide sleeve (2) and the adjusting chamber (201), and the clamping piece (3) is positioned in the adjusting chamber (201);

the width of the adjusting chamber (201) in the axial direction of the guide sleeve (2) is changed from wide to narrow, and a wide end (2011) and a narrow end (2012) are formed; the moving sleeve (4) is positioned on one side of the wide end (2011) of the adjusting chamber (201);

the structure of the adjusting chamber (201) can be changed between a bidirectional locking state, a unidirectional movement state and a bidirectional movement state through the relative movement of the guide sleeve (2) and the movement sleeve (4) in the axial direction;

-a two-way deadlocked state: the clamping piece (3) is extruded by the moving piece (1), the adjusting chamber (201) and the moving sleeve (4), and the moving piece (1) is locked on the guide sleeve (2);

-a bidirectional motion state: at least one component of the moving piece (1), the cavity wall of the adjusting cavity (201) and the moving sleeve (4) is separated from the clamping piece (3), and the moving piece (1) can freely move towards the wide end (2011) and can freely move towards the narrow end (2012);

-a unidirectional motion state: the unidirectional motion state is a critical state changing between a bidirectional locking state and a bidirectional motion state, and in the unidirectional motion state, the motion piece (1) can freely move towards the wide end (2011) and is locked towards the narrow end (2012).

7. A linear motor according to claim 6, characterized in that the guide sleeve (2) is in threaded connection with the moving sleeve (4), the moving sleeve (4) being relatively moved in the axial direction with respect to the guide sleeve (2) by rotation.

8. The linear motor of claim 6, further comprising: a stopper (5);

the guide sleeve (2) and the moving sleeve (4) are locked by a stop piece (5).

9. The linear motor of claim 6, further comprising: a drive mechanism (6);

the sports sleeve (4) comprises: the sleeve piece (401), the moving elastic piece (402) and the limiting block (403) are connected in sequence; the sleeve member (401) and the guide sleeve (2) are relatively fixed;

in the two-way locking state: the clamping piece (3) is extruded by the moving piece (1), the adjusting chamber (201) and the limiting block (403), the moving piece (1) is locked on the guide sleeve (2), and the moving elastic piece (402) is extruded to the maximum compression state by the sleeve piece (401) and the limiting block (403) in the axial direction;

in the one-way motion state: under the drive of the moving piece (1), the clamping piece (3) can push the limiting block (403) to approach the sleeve piece (401) so as to compress the moving elastic piece (402), and therefore the moving piece (1) can overcome the elasticity of the moving elastic piece (402) and freely move towards the wide end (2011) direction.

Under the action of magnetic force, electric force or mechanical force applied by the driving mechanism (6), the limiting block (403) can overcome the elastic force of the moving elastic piece (402) to approach the sleeve piece (401), so that the unidirectional motion state is changed into the bidirectional motion state;

the drive mechanism (6) is arranged in the guide sleeve (2), in the sleeve (401) or connected between the sleeve (401) and the movable elastic part (402).

10. A linear motor according to claim 6, characterized in that a thrust spring (203) is connected between the catch (3) and the narrow end (2012); the thrust elastic piece (203) provides elastic force for the clamping piece (3) to be separated from the adjusting chamber (201);

the moving part (1) moves axially or circumferentially relative to the guide sleeve (2).