CN111313647B

CN111313647B - Linear motor

Info

Publication number: CN111313647B
Application number: CN202010135556.7A
Authority: CN
Inventors: 李子昂; 王尧; 崔志勇
Original assignee: AAC Technologies Pte Ltd
Current assignee: AAC Technologies Pte Ltd
Priority date: 2020-03-02
Filing date: 2020-03-02
Publication date: 2022-07-05
Anticipated expiration: 2040-03-02
Also published as: CN111313647A; WO2021174560A1

Abstract

The invention provides a linear motor, which comprises a vibrator structure and a stator structure, wherein the vibrator structure is provided with a first vibration direction and a second vibration direction which form a first plane, the vibrator structure comprises a magnetic steel assembly, the magnetic steel assembly comprises a cylindrical first magnetic steel and an annular second magnetic steel which are concentrically arranged, a magnetic gap is formed between the two magnetic steels, and the two magnetic steels are magnetized in a direction vertical to the first plane and have opposite magnetizing directions; the stator structure comprises two coil assemblies which are symmetrically arranged on the upper side and the lower side of the magnetic steel assembly along the direction perpendicular to the first plane, and each coil assembly comprises four voice coils which are annularly arranged around the central axis of the first magnetic steel and are spaced from each other. Through the current direction in the different voice coils of control, make magnet steel component obtain the drive power of equidirectional not, drive oscillator structure reciprocating vibration in equidirectional not to realize the multi-direction vibration of this linear motor, bring abundant vibration and experience.

Description

Linear motor

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of double resonance, in particular to a linear motor capable of realizing multidirectional vibration.

[ background of the invention ]

The existing transverse linear motor realizes linear reciprocating motion through the cooperation of electromagnetic force and a spring, but can only realize unidirectional linear motion in the X or Y direction.

With the popularity of the circular screen, the folding screen and the full virtual key scheme, the traditional one-way linear motor is difficult to meet the requirements of users. Vertical screen under the mode of browsing, horizontal screen under the amusement mode, switch on and off and virtual button under the volume all eager the motor and bring different vibration feelings, though current product can realize different vibration effects through motion algorithm, the vibration direction is single.

Therefore, there is a need to provide a new technical solution to realize multi-directional vibration of a linear motor to meet the user's requirements.

[ summary of the invention ]

The invention aims to provide a linear motor, wherein a magnetic circuit system formed by a magnetic steel component in a vibrator structure and a coil component in a stator structure can realize multidirectional vibration of the linear motor.

The technical scheme of the invention is as follows: a linear motor comprises a shell with an accommodating space, a vibrator structure and a stator structure, wherein the vibrator structure and the stator structure are accommodated in the accommodating space, the vibrator structure is provided with a first vibration direction and a second vibration direction, the first vibration direction and the second vibration direction form a first plane, the vibrator structure comprises a magnetic steel assembly, the magnetic steel assembly comprises first magnetic steel in a cylindrical structure and second magnetic steel in an annular structure, the second magnetic steel is arranged around the first magnetic steel and forms a magnetic gap with the first magnetic steel, the central axes of the first magnetic steel and the second magnetic steel are superposed, the first magnetic steel and the second magnetic steel are magnetized in a direction perpendicular to the first plane, and the magnetizing directions of the first magnetic steel and the second magnetic steel are opposite;

the stator structure comprises two coil assemblies which are symmetrically arranged at the upper side and the lower side of the magnetic steel assembly along the direction perpendicular to the first plane, and the coil assemblies comprise four voice coils which are annularly arranged around the central axis of the first magnetic steel and are spaced from each other.

Preferably, coil pack include with the magnetic conductive plate that the casing is connected, center on the central axis ring of first magnet steel is arranged and is fixed and locate being close to of magnetic conductive plate four iron cores, four on magnetic steel pack's the face the voice coil loudspeaker voice coil encloses respectively and establishes on the iron core.

Preferably, the projections of the four iron cores on the shell along the direction perpendicular to the first plane all penetrate through the magnetic gap.

Preferably, four iron cores include the edge two first iron cores that first vibration direction relative interval set up and follow two second iron cores that second vibration direction relative interval set up enclose to establish the long limit of the voice coil on the first iron core with first vibration direction is perpendicular, encloses to establish the long limit of the voice coil on the second iron core with second vibration direction is perpendicular.

Preferably, the first vibration direction and the second vibration direction are perpendicular to each other.

Preferably, the oscillator structure further has a third oscillation direction in the first plane, and an included angle between the third oscillation direction and each of the first oscillation direction and the second oscillation direction is 45 °.

Preferably, the vibrator structure further has a fourth vibration direction in the first plane, and the fourth vibration direction and the third vibration direction are perpendicular to each other.

Preferably, the first magnetic steel is formed by stacking and connecting two first magnetic steels with the same cylindrical structure, the second magnetic steel is formed by stacking and connecting two second magnetic steels with the same annular structure, and the polarities of the first magnetic steel and the second magnetic steel are opposite.

Preferably, the four iron cores are made of SPCD materials, and the magnetic conductive sheets are made of SPCD materials.

Preferably, the oscillator structure still includes the mass block subassembly, the mass block subassembly including have the first quality piece of first through-hole and accept in the magnetic gap and have the second quality piece of second through-hole, the second magnet steel is fixed to be located in the first through-hole, first magnet steel is fixed to be located in the second through-hole.

Preferably, the linear motor further comprises an elastic support assembly accommodated in the accommodating space, the elastic support assembly is arranged between the shell and the vibrator structure, the shell comprises two first shell side walls which are oppositely arranged at intervals and extend along the first vibration direction, the vibrator structure comprises two first vibration side walls which are oppositely arranged at intervals and extend along the second vibration direction, the elastic support assembly comprises a first elastic support piece and a second lower elastic support piece which are arranged from top to bottom along the direction perpendicular to the first plane, the first elastic support piece comprises two first elastic support arms which are oppositely arranged at intervals along the first vibration direction and a second elastic support arm which is connected with the two first elastic support arms, and the two first elastic support arms are respectively connected with the adjacent first vibration side walls, the second elastic supporting arm is connected with the adjacent side wall of the first shell, and the second elastic supporting piece and the first elastic supporting piece are identical in structure.

Preferably, first elastic support arm include with first connecting portion that first vibration lateral wall is connected and certainly being close to of first connecting portion second elastic support arm end is kept away from the first vibration arm that the direction of first vibration lateral wall extends, second elastic support arm include with the second connecting portion that first casing lateral wall is connected and certainly second connecting portion both ends are kept away from respectively two second vibration arms that the direction of first casing lateral wall extends, second vibration arm respectively with adjacent first vibration arm is connected.

Preferably, the linear motor further comprises a limiting block assembly which is contained in the containing space and used for limiting the displacement of the vibrator structure, the limiting block assembly comprises a first limiting block and a second limiting block which are arranged at intervals in the second vibration direction, the first limiting block and the second limiting block are respectively connected with the adjacent first shell side wall, the first limiting block is arranged below the first elastic supporting piece, and the second limiting block is arranged above the second elastic supporting piece.

The invention has the beneficial effects that: in the magnetic circuit system that is formed by magnet steel component and coil pack, through the current direction in the different voice coils of control, make magnet steel component obtain the drive power of equidirectional not, drive oscillator structure reciprocating vibration in equidirectional not to realize the multi-direction vibration of this linear motor, bring abundant vibration and experience.

[ description of the drawings ]

Fig. 1 is a schematic view of an overall structure of a linear motor according to an embodiment of the present invention;

FIG. 2 is a first schematic view of a linear motor according to an embodiment of the present invention;

FIG. 3 is an exploded view of a linear motor according to an embodiment of the present invention;

FIG. 4 is an exploded view of the vibrator structure and the stator structure according to an embodiment of the present invention;

FIG. 5 is a schematic cross-sectional view taken along the line A-A in FIG. 1;

FIG. 6 is a schematic diagram of a second partial structure of a linear motor according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a magnetic steel assembly according to an embodiment of the present invention;

FIG. 8a is a schematic view of the operation of a linear motor vibrating in a first vibration direction according to an embodiment of the present invention;

FIG. 8b is a schematic diagram of the operation of the linear motor vibrating in the second vibration direction according to the embodiment of the present invention;

FIG. 9a is a schematic view of the operation of the linear motor vibrating in a third vibration direction according to the embodiment of the present invention;

fig. 9b is a schematic diagram of the working principle of the linear motor vibrating along the fourth vibration direction according to the embodiment of the present invention.

Reference numerals: 1. a housing; 10. an accommodating space; 11. a cover plate; 12. a base plate; 13. a first housing sidewall; 2. a vibrator structure; 21. a magnetic steel component; 211. a first magnetic steel; 211a and 211b, and first magnetic steel; 212. a second magnetic steel; 212a and 212b and a second magnetic steel; 213. a magnetic gap; 22. a mass block assembly; 221. a first mass block; 222. a second mass block; 223. a first through hole; 224. a second through hole; 23. a first vibrating sidewall; 3. a stator structure; 31. a coil assembly; 311. a magnetic conductive sheet; 312. an iron core; 312a, a first core; 312b, a second core; 313. a voice coil; 313a, a first voice coil; 313b, a second voice coil; 4. an elastic support member; 41. a first elastic support member; 42. a second elastic support; 411. a first resilient support arm; 411a, a first connection portion; 411b, a first vibrating arm; 412. a second resilient support arm; 412a, a second connection portion; 412b, a second vibratory arm; 5. a stop block assembly; 51. a first stopper; 52. a second limiting block; 6. a flexible circuit board FPC; an X direction, a first vibration direction; a Y direction and a second vibration direction; a Z direction perpendicular to the first plane direction; an M direction and a third vibration direction; n direction, fourth vibration direction.

[ detailed description ] embodiments

The invention is further described with reference to the following figures and embodiments.

Referring to fig. 1 to 7, an embodiment of the invention provides a linear motor 100, which includes a housing 1, a vibrator structure 2 and a stator structure 3, where the housing 1 has an accommodating space 10, and both the vibrator structure 2 and the stator structure 3 are accommodated in the accommodating space 10. Wherein the vibrator structure 2 is capable of providing vibrations in at least two directions including a first vibration direction (X-direction as shown in fig. 1-6) and a second vibration direction (Y-direction as shown in fig. 1-4, 6), the first and second vibration directions constituting a first plane (XY-plane as shown in fig. 1-4, 6), the case 1 and the vibrator structure 2 being arranged spaced apart from each other in the first plane.

The vibrator structure 2 includes a magnetic steel assembly 21, the magnetic steel assembly 21 includes a first magnetic steel 211 having a cylindrical structure and a second magnetic steel 212 having an annular structure, the second magnetic steel 212 is disposed around the first magnetic steel 211 and forms a magnetic gap 213 (as shown in fig. 7) with the first magnetic steel 211, and the first magnetic steel 211 coincides with a central axis n of the second magnetic steel 212 (i.e., is concentrically disposed). The first magnetic steel 211 and the second magnetic steel 212 are magnetized in a direction perpendicular to the first plane (the Z direction shown in fig. 1-5), and the magnetizing directions of the first magnetic steel 211 and the second magnetic steel 212 are opposite, for example, the first magnetic steel 211 is magnetized in the positive direction of the Z axis, and the second magnetic steel 212 is magnetized in the negative direction of the Z axis (shown in fig. 8).

The stator structure 3 includes two coil assemblies 31 symmetrically disposed on the upper and lower sides of the magnetic steel assembly 21 along a direction perpendicular to the first plane, and the coil assemblies 31 include four voice coils 313 circumferentially arranged around the central axis n of the first magnetic steel 211 and spaced from each other.

In the magnetic circuit system that is formed by magnet steel assembly 21 and voice coil assembly 31 introduced above, the current direction in every voice coil 313 all can independent control alone, through the current direction in the different voice coil 313 of control to form the magnetic field of equidirectional, according to like polarity repulsion, the principle that opposite polarities attracted, magnet steel assembly 21 can obtain the drive power of equidirectional not, drive oscillator structure 2 reciprocating vibration in the equidirectional not, thereby realize this linear motor 100 multi-direction vibration, bring abundant vibration experience.

Casing 1 includes apron 11 and bottom plate 12 that is on a parallel with the relative interval setting of first plane, in order to make magnetic steel assembly 21 can obtain bigger drive power, promote the vibration, in this embodiment, as shown in fig. 4 and fig. 5, coil pack 31 still includes magnetic conductive sheet 311 who is connected with casing 1 (apron 11 or bottom plate 12), around the central axis n hoop of first magnet steel 211 arrange and fix four iron cores 312 of locating on magnetic conductive sheet 311's the face that is close to magnetic steel assembly 21, four voice coil 313 enclose respectively on each iron core 312. When voice coil 313 circular telegram, through the direction of current among the different voice coil 313 of control, make the iron core 312 that corresponds produce different polarization directions, form the magnetic field of stronger equidirectional to make magnet steel assembly 21 can obtain the drive power of stronger equidirectional, promote the sense of shaking. In addition, the magnetic circuit system formed by the magnetic steel component 21 and the voice coil component 31 is simple in structure and convenient to assemble.

In addition to this embodiment, in other embodiments, the projections of the four iron cores 312 on the housing 1 (the bottom plate 12 or the cover plate 11) along the direction perpendicular to the first plane all pass through the magnetic gap 213.

In the present embodiment, as shown in fig. 4 and 6, the four cores 312 include two first cores 312a disposed at intervals in the first vibration direction, and two second cores 312b disposed at intervals in the second vibration direction, the long side of the first voice coil 313a enclosed on the first cores 312a is perpendicular to the first vibration direction, and the long side of the second voice coil 313b enclosed on the second cores 312b is perpendicular to the second vibration direction. The first vibration direction and the second vibration direction are perpendicular to each other through the arrangement mode.

Referring to fig. 8a, when the vibrator structure 2 moves in the positive direction of the X axis, when the four first voice coils 313a in the first vibration direction are energized, the current directions in the four first voice coils 313a are controlled to induce different polarization directions at the corresponding first iron cores 312a, and according to the principle that like poles repel each other and opposite poles attract each other, the magnetic steel assembly 21 obtains a driving force along the first vibration direction, thereby driving the vibrator structure 2 to vibrate reciprocally in the first vibration direction. Referring to fig. 8b, when the vibrator structure 2 moves in the positive direction of the Y axis, when the four second voice coils 313b in the second vibration direction are energized, the current directions in the four second voice coils 313b are controlled to induce different polarization directions at the corresponding second iron cores 312b, and according to the principle that like poles repel each other and opposite poles attract each other, the magnetic steel assembly 21 obtains a driving force along the second vibration direction, thereby driving the vibrator structure 2 to vibrate reciprocally in the second vibration direction.

In the present embodiment, the vibrator structure 2 can also provide a third vibration direction (M direction as shown in fig. 6 and 9) in the first plane, which is at an angle of 45 ° to both the first and second vibration directions. Referring to fig. 9a, when the transducer structure 2 moves in the positive direction of the M axis, when the first voice coil 313a located on the right side of the X axis and the second voice coil 313b located on the upper side of the Y axis are both energized, different polarization directions are induced at the corresponding first iron core 312a and the corresponding second iron core 312b by controlling the current direction, and according to the principle that like poles repel each other and opposite poles attract each other, the magnetic steel assembly 21 obtains a force F2 in the positive direction of the X axis and a force F1 in the positive direction of the Y axis. The resultant force F total 1 of the F1 and the F2 is the force in the positive direction of the M axis, and the F total 1 drives the vibrator structure 2 to move towards the positive direction of the M axis. In addition to the example shown in fig. 9a, when the first voice coil 313a located on the left of the X axis and the second voice coil 313b located below the Y axis are both energized, different polarization directions are induced at the iron core by controlling the current direction, and according to the principle that like poles repel and opposite poles attract, the magnetic steel assembly 21 obtains a force F4 along the negative direction of the X axis and a force F3 along the negative direction of the Y axis. The resultant force F2 of the F3 and the F4 is a force in the M-axis negative direction, and the F2 drives the vibrator structure 2 to move in the M-axis negative direction.

Further, when the eight voice coils 313 are energized simultaneously, the current directions are controlled to induce different polarization directions at the corresponding iron cores 312, and according to the principle that like poles repel and opposite poles attract, the magnetic steel assembly 21 obtains a force F2+ along the positive direction of the X axis and a force F1+ along the positive direction of the Y axis, or obtains a force F4+ along the negative direction of the X axis and a force F3+ along the negative direction of the Y axis. The resultant force F total 5 of F1+ and F2+ is a force in the positive direction of the M axis, and the resultant force F total 6 of F3+ and F4+ is a force in the negative direction of the M axis. The F assembly 5 drives the vibrator structure 2 to move towards the positive direction of the M axis, and the F assembly 6 drives the vibrator structure 2 to move towards the negative direction of the M axis, so that the vibrator structure 2 can vibrate in a reciprocating manner in a third vibration direction.

In the present embodiment, the vibrator structure 2 can also provide a fourth vibration direction (N direction as shown in fig. 6 and 9) in the first plane, the fourth vibration direction being perpendicular to the third vibration direction. Referring to fig. 9b, when the vibrator structure 2 moves in the positive N direction, when the first voice coil 313a located on the left side of the X axis and the second voice coil 313b located on the upper side of the Y axis are both energized, different polarization directions are induced at the corresponding first iron core 312a and the corresponding second iron core 312b by controlling the current direction, and according to the principle of like-pole repulsion and opposite-pole attraction, the magnetic steel assembly 21 obtains a force F5 along the negative X axis and a force F6 along the positive Y axis. The resultant force F total 3 of F5 and F6 is the force of the positive direction of the N axis, and the F total 3 drives the vibrator structure 2 to move towards the positive direction of the N axis. In addition to the example shown in fig. 9b, when the first voice coil 313a located on the right of the X axis and the second voice coil 313b located below the Y axis are both energized, different polarization directions are induced at the first iron core 312a and the second iron core 312b by controlling the current directions, and according to the principle that like poles repel and opposite poles attract, the magnetic steel assembly 21 obtains a force F8 in the positive direction of the X axis and a force F7 in the negative direction of the Y axis. The resultant force F total 4 of F7 and F8 is the force of N axis negative direction, and F total 3 drives the vibrator structure 2 to move towards N axis negative direction.

Further, when the eight voice coils 313 are energized simultaneously, the current directions are controlled to induce different polarization directions at the corresponding iron cores 312, and according to the principle that like poles repel and opposite poles attract, the magnetic steel assembly 21 obtains a force F5+ along the negative direction of the X axis and a force F6+ along the positive direction of the Y axis, or obtains a force F8+ along the positive direction of the X axis and a force F7+ along the negative direction of the Y axis. The resultant force F total 7 of F5+ and F6+ is a force in the positive direction of the N axis, and the resultant force F total 8 of F8+ and F7+ is a force in the negative direction of the N axis. The F assembly 7 drives the vibrator structure 2 to move towards the positive direction of the N axis, and the F assembly 8 drives the vibrator structure 2 to move towards the negative direction of the N axis, so that the vibrator structure 2 vibrates in a reciprocating manner in the fourth vibration direction.

In this embodiment, as shown in fig. 4 and 5, the first magnetic steel 211 is formed by stacking and connecting two magnetic steels one 211a and 211b with the same cylindrical structure, the second magnetic steel 212 is formed by stacking and connecting two magnetic steels two 212a and 212b with the same annular structure, and the magnetic steels one (211a or 211b) and two magnetic steels (212a or 212b) located on the same side have opposite polarities. For example, as shown in fig. 8 and 9, the first magnetic steel 211a located above is an N pole, the first magnetic steel 211b located below is a second magnetic steel 212a located above is an S pole, and the second magnetic steel 212b located below is an N pole. Through this arrangement, first magnet steel 211 is opposite to second magnet steel 212 in the magnetization direction in the Z direction. In another embodiment, the upper first magnetic steel 211a is set as the S pole, the lower first magnetic steel 211b is set as the N pole, the upper second magnetic steel 212a is set as the N pole, and the lower second magnetic steel 212b is set as the S pole.

Optionally, the four iron cores 312 are made of SPCD material, so as to perform a magnetic gathering function. The magnetic conductive plate 311 is also made of SPCD material, and can play a role in collecting magnetism and protecting the voice coil. Optionally, the iron core 312 and the magnetic conductive sheet 311 are connected by welding.

In this embodiment, as shown in fig. 4 and 5, the vibrator structure 2 further includes a mass assembly 22, the mass assembly 22 includes a first mass 221 having a first through hole 223, and a second mass 222 accommodated in the magnetic gap 213 and having a second through hole 224, the second magnetic steel 212 is fixedly disposed in the first through hole 223, and the first magnetic steel 211 is fixedly disposed in the second through hole 224. Alternatively, after the magnetic steel assembly 21 is embedded in the mass assembly 22, it may be connected to the mass assembly 22 by gluing.

In the present embodiment, as shown in fig. 2,3,5 and 6, the linear motor 100 further includes an elastic support member 4 accommodated in the accommodating space 10, and the elastic support member 4 is disposed between the housing 1 and the vibrator structure 2. The housing 1 further includes two first vibration sidewalls 13 extending along the first vibration direction and disposed at opposite intervals, the first vibration sidewalls 13 connecting the cover plate 11 and the bottom plate 12, and the vibrator structure 2 further includes two first vibration sidewalls 23 extending along the second vibration direction and disposed at opposite intervals (i.e., two oppositely spaced sidewalls of the first mass 221 extending along the second vibration direction). The elastic support assembly 4 includes a first elastic support member 41 and a second lower elastic support member 42 which are arranged from top to bottom along a direction perpendicular to the first plane, the first elastic support member 41 includes two first elastic support arms 411 which are arranged along the first vibration direction at intervals relatively, and a second elastic support arm 412 which connects the two first elastic support arms 411, the two first elastic support arms 411 are respectively connected with the adjacent first vibration side walls 23, the second elastic support arm 412 is connected with the adjacent first shell side wall 13, and the second elastic support member 42 and the first elastic support member 41 have the same structure.

Alternatively, the first elastic supporting member 41 and the second elastic supporting member 42 are integrally formed, and can provide the supporting rigidity required for the vibrator structure 2 to operate in vibration in multiple directions.

Specifically, the first elastic supporting arm 411 includes a first connecting portion 411a connected to the first vibration sidewall 23, and a first vibration arm 411b extending from an end of the first connecting portion 411a close to the second elastic supporting arm 412 in a direction away from the first vibration sidewall 23. The second elastic support arm 412 includes a second connection portion 412a connected to the first housing sidewall 13, and two second vibration-inducing arms 412b extending from two ends of the second connection portion 412a in a direction away from the first housing sidewall 13, respectively, and the second vibration-inducing arms 412b are connected to the adjacent first vibration-inducing arms 411b, respectively.

Alternatively, the connecting position of the first vibration arm 411b and the second vibration arm 412b is located at the corner of the housing 1, which makes full use of the space of the linear motor 100 and facilitates miniaturization of the linear motor 100.

In this embodiment, as shown in fig. 2 and 3, the linear motor 100 further includes a flexible printed circuit FPC6 disposed on the bottom plate 12, and a stopper assembly 5 accommodated in the accommodating space 10 for limiting the displacement of the vibrator structure 2, the stopper assembly 5 includes a first stopper 51 and a second stopper 52 disposed at an interval along the second vibration direction, the two stoppers 51 are respectively connected to the adjacent first casing sidewalls 13, wherein the first stopper 51 is disposed below the first elastic supporting member 41, and the second stopper 52 is disposed above the second elastic supporting member 42.

While the foregoing is directed to embodiments of the present invention, it will be understood by those skilled in the art that various changes may be made without departing from the spirit and scope of the invention.

Claims

1. A linear motor comprises a shell with a containing space, a vibrator structure and a stator structure, wherein the vibrator structure is contained in the containing space, the vibrator structure is provided with a first vibration direction and a second vibration direction, the first vibration direction is an X direction, the second vibration direction is a Y direction, and the first vibration direction and the second vibration direction form a first plane,

the vibrator structure comprises a magnetic steel assembly, the magnetic steel assembly comprises first magnetic steel in a cylindrical structure and second magnetic steel in an annular structure, the second magnetic steel is arranged around the first magnetic steel and forms a magnetic gap with the first magnetic steel, the central axes of the first magnetic steel and the second magnetic steel are superposed, the first magnetic steel and the second magnetic steel magnetize in a direction perpendicular to the first plane, and the magnetizing directions of the first magnetic steel and the second magnetic steel are opposite;

stator structure includes along the perpendicular to first plane direction symmetry sets up two coil pack of both sides about the magnet steel assembly, coil pack includes and centers on the central axis hoop of first magnet steel is arranged and four voice coils at interval each other.

2. The linear motor according to claim 1, wherein the coil assembly further includes a magnetic conductive plate connected to the housing, and four iron cores circumferentially arranged around a central axis of the first magnetic steel and fixedly disposed on a surface of the magnetic conductive plate close to the magnetic steel assembly, and the four voice coils are respectively enclosed on the iron cores.

3. The linear motor of claim 2, wherein the projections of the four cores onto the housing in a direction perpendicular to the first plane all pass through the magnetic gap.

4. The linear motor according to claim 2, wherein the four cores include two first cores disposed at intervals in the first vibration direction, and two second cores disposed at intervals in the second vibration direction, a long side of the voice coil wound around the first cores is perpendicular to the first vibration direction, and a long side of the voice coil wound around the second cores is perpendicular to the second vibration direction.

5. The linear motor of claim 1, wherein the first vibration direction and the second vibration direction are perpendicular to each other.

6. The linear motor of claim 5, wherein the vibrator structure further has a third vibration direction in the first plane, the third vibration direction being at an angle of 45 ° to both the first vibration direction and the second vibration direction.

7. The linear motor of claim 6, wherein the vibrator structure further has a fourth vibration direction in the first plane, the fourth vibration direction and the third vibration direction being perpendicular to each other.

8. The linear motor according to claim 1, wherein the first magnetic steel is formed by stacking and connecting two magnetic steels of the same cylindrical structure, the second magnetic steel is formed by stacking and connecting two magnetic steels of the same annular structure, and the polarities of the first magnetic steel and the second magnetic steel on the same side are opposite.

9. The linear motor of claim 2, wherein the four iron cores are made of SPCD material and the magnetic conductive plate is made of SPCD material.

10. The linear motor according to claim 1, wherein the vibrator structure further comprises a mass block assembly, the mass block assembly comprises a first mass block having a first through hole and a second mass block accommodated in the magnetic gap and having a second through hole, the second magnetic steel is fixedly disposed in the first through hole, and the first magnetic steel is fixedly disposed in the second through hole.

11. The linear motor of claim 1, further comprising an elastic support assembly received in the receiving space, the elastic support assembly being disposed between the housing and the vibrator structure, the housing including two first housing sidewalls extending in the first vibration direction and disposed at an interval, the vibrator structure including two first vibration sidewalls extending in the second vibration direction and disposed at an interval, the elastic support assembly including a first elastic support member and a second elastic support member disposed from top to bottom in a direction perpendicular to the first plane, the first elastic support member including two first elastic support arms disposed at an interval in the first vibration direction and a second elastic support arm connecting the two first elastic support arms, the two first elastic support arms being connected to the adjacent first vibration sidewalls, the second elastic supporting arm is connected with the adjacent side wall of the first shell, and the second elastic supporting piece and the first elastic supporting piece are identical in structure.

12. The linear motor according to claim 11, wherein the first elastic support arm includes a first connection portion connected to the first vibration side wall, and a first vibration force arm extending from a direction of the first connection portion, which is close to the second elastic support arm, in which the second elastic support arm extends in a direction away from the first vibration side wall, the second elastic support arm includes a second connection portion connected to the first casing side wall, and two second vibration force arms extending from directions of the second connection portion, in which both ends of the second connection portion are away from the first casing side wall, respectively, and the second vibration force arms are connected to the adjacent first vibration force arms, respectively.

13. The linear motor according to claim 11, further comprising a stopper assembly received in the receiving space for limiting displacement of the vibrator structure, wherein the stopper assembly comprises a first stopper and a second stopper arranged at intervals along the second vibration direction, the first stopper and the second stopper are respectively connected to adjacent sidewalls of the first housing, the first stopper is disposed below the first elastic support member, and the second stopper is disposed above the second elastic support member.