WO2021174560A1

WO2021174560A1 - Linear motor

Info

Publication number: WO2021174560A1
Application number: PCT/CN2020/078381
Authority: WO
Inventors: 李子昂; 王尧; 崔志勇
Original assignee: 瑞声声学科技(深圳)有限公司; 瑞声科技(新加坡)有限公司
Priority date: 2020-03-02
Filing date: 2020-03-09
Publication date: 2021-09-10
Also published as: CN111313647A; CN111313647B

Abstract

The present application provides a linear motor. The linear motor comprises a vibrator structure and a stator structure, wherein the vibrator structure is provided with a first vibration direction and a second vibration direction that form a first plane, the vibrator structure comprises a magnetic steel assembly, the magnetic steel assembly comprises a piece of cylindrical first magnetic steel and a piece of annular second magnetic steel that are concentrically arranged, a magnetic gap is provided between the two pieces of magnetic steel, the two pieces of magnetic steel are magnetized in a direction perpendicular to the first plane, and the magnetizing directions are opposite; and the stator structure comprises two coil assemblies symmetrically arranged on the upper side and the lower side of the magnetic steel assembly in 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 apart from each other. By controlling the current directions in different voice coils, the magnetic steel assembly obtains driving forces in different directions to drive the vibrator structure to vibrate in a reciprocating manner in different directions, such that multi-direction vibration of the linear motor is realized, and the vibration experience is enriched.

Description

Linear motor

Technical field

This application relates to the technical field of dual resonance, and in particular to a linear motor that can realize multi-directional vibration.

Background technique

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

With the popularity of the ring screen and folding screen + full virtual key scheme, the traditional one-way linear motor may not be able to meet the needs of users. The vertical screen in the browsing mode, the horizontal screen in the entertainment mode, the power on and off and the virtual buttons under the volume all desire different vibration feelings from the motor. Although the existing products can achieve different vibration effects through motion algorithms, the vibration direction is single .

Therefore, it is necessary to provide a new technical solution to realize the multi-directional vibration of the linear motor to meet the needs of users.

technical problem

The purpose of the present application is to provide a linear motor whose magnetic circuit system formed by the magnetic steel component in the vibrator structure and the coil component in the stator structure can realize multi-directional vibration of the linear motor.

Technical solutions

The technical solution of the present application is as follows: a linear motor comprising a housing with a housing space, a vibrator structure and a stator structure housed in the housing space, the vibrator structure having a first vibration direction and a second vibration direction, so The first vibration direction and the second vibration direction constitute a first plane, the vibrator structure includes a magnetic steel component, and the magnetic steel component includes a first magnetic steel in a cylindrical structure and a second magnetic steel in a ring structure The second magnetic steel is arranged around the first magnetic steel and forms a magnetic gap with the first magnetic steel, the central axis of the first magnetic steel and the second magnetic steel coincide, and the first magnetic steel The steel and the second magnet are magnetized in a direction perpendicular to the first plane, and the magnetization directions of the first magnet and the second magnet are opposite;

The stator structure includes two coil assemblies symmetrically arranged on the upper and lower sides of the magnetic steel assembly along a direction perpendicular to the first plane, and the coil assembly includes a ring arranged around the central axis of the first magnetic steel. Four voice coils spaced apart.

Preferably, the coil assembly includes a magnetic conductive sheet connected to the housing, arranged circumferentially around the central axis of the first magnetic steel and fixed on the surface of the magnetic conductive sheet close to the magnetic steel component The four iron cores on the upper part, and the four voice coils are respectively enclosed on each of the iron cores.

Preferably, the projections of the four iron cores on the housing in a direction perpendicular to the first plane all pass through the magnetic gap.

Preferably, the four iron cores include two first iron cores arranged at relatively intervals along the first vibration direction, and two second iron cores arranged at relatively intervals along the second vibration direction, surrounded by The long side of the voice coil on the first iron core is perpendicular to the first vibration direction, and the long side of the voice coil surrounding the second iron core is perpendicular to the second vibration direction.

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

Preferably, the vibrator structure further has a third vibration direction in the first plane, and the angle between the third vibration direction and the first vibration direction and the second vibration 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 magnet is formed by stacking and connecting two magnets with the same cylindrical structure, and the second magnet is formed by stacking and connecting two magnets with the same ring structure. The first magnet and the second magnet have opposite polarities.

Preferably, the four iron cores are made of SPCD material, and the magnetic conductive sheet is made of SPCD material.

Preferably, the vibrator structure further includes a mass assembly, the mass assembly includes a first mass with a first through hole, and a second mass housed in the magnetic gap and with a second through hole, The second magnetic steel is fixedly arranged in the first through hole, and the first magnetic steel is fixedly arranged in the second through hole.

Preferably, the linear motor further includes an elastic support assembly housed in the accommodating space, the elastic support assembly is arranged between the housing and the vibrator structure, and the housing includes an elastic support assembly along the first Two first housing side walls arranged at opposite intervals extending in the direction of vibration, the vibrator structure includes two first housing side walls arranged at opposite intervals extending in the second direction of vibration, and the elastic support assembly includes A first elastic support member and a second lower elastic support member are arranged from top to bottom perpendicular to the first plane direction. An elastic support arm, and a second elastic support arm connecting two of the first elastic support arms, the two first elastic support arms are respectively connected to the adjacent first vibrating side wall, and the second elastic The support arm is connected with the adjacent side wall of the first housing, and the second elastic support has the same structure as the first elastic support.

Preferably, the first elastic support arm includes a first connecting portion connected to the first vibrating side wall, and an end of the first connecting portion close to the second elastic support arm away from the first vibrating A first vibrating arm extending in the direction of the side wall, the second elastic support arm includes a second connecting portion connected with the side wall of the first housing, and a second connecting portion away from both ends of the second connecting portion. Two second vibration arms extending in the direction of the side wall of the first housing, the second vibration arms are respectively connected with the adjacent first vibration arms.

Preferably, the linear motor further includes a limit block assembly accommodated in the accommodation space for limiting the displacement of the vibrator structure, and the limit block assembly includes first The limiting block and the second limiting block, the first limiting block and the second limiting block are respectively connected to the adjacent side wall of the first housing, and the first limiting block is provided in the Below the first elastic support member, the second limiting block is arranged above the second elastic support member.

Beneficial effect

The beneficial effect of the present application is: in the magnetic circuit system formed by the magnetic steel component and the coil component, the magnetic steel component obtains the driving force in different directions by controlling the current direction in the different voice coils, and drives the vibrator structure in different directions The reciprocating vibration realizes the multi-directional vibration of the linear motor and brings a rich vibration experience.

Description of the drawings

FIG. 1 is a schematic diagram of the overall structure of a linear motor according to an embodiment of the application;

FIG. 2 is a schematic diagram 1 of a part of a linear motor according to an embodiment of the application;

3 is a schematic diagram of an exploded structure of a linear motor according to an embodiment of the application;

4 is an exploded structure diagram of a vibrator structure and a stator structure in an embodiment of the application;

Fig. 5 is a schematic cross-sectional structure view along the A-A direction in Fig. 1;

FIG. 6 is a second schematic diagram of a part of the structure of the linear motor according to the embodiment of the application;

FIG. 7 is a schematic diagram of the structure of a magnetic steel component in an embodiment of the application;

FIG. 8a is a schematic diagram of the working principle of the linear motor vibrating along the first vibration direction according to the embodiment of the application; FIG.

8b is a schematic diagram of the working principle of the linear motor vibrating along the second vibration direction according to the embodiment of the application;

9a is a schematic diagram of the working principle of the linear motor vibrating along the third vibration direction according to the embodiment of the application;

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 application.

Reference signs: 1. housing; 10, accommodating space; 11, cover plate; 12, bottom plate; 13, first housing side wall; 2. vibrator structure; 21, magnetic steel component; 211, first magnetic steel; 211a & 211b, magnet one; 212, second magnet; 212a & 212b, magnet two; 213, magnetic gap; 22, mass assembly; 221, first mass; 222, second mass; 223, First through hole; 224, second through hole; 23, first vibrating side wall; 3. stator structure; 31, coil assembly; 311, magnetic sheet; 312, iron core; 312a, first iron core; 312b, Second iron core; 313, voice coil; 313a, first voice coil; 313b, second voice coil; 4. elastic support component; 41, first elastic support; 42, second elastic support; 411, first Elastic support arm; 411a, first connecting part; 411b, first vibrating arm; 412, second elastic supporting arm; 412a, second connecting part; 412b, second vibrating arm; 5. Limiting block assembly; 51 , The first limit block; 52, the second limit block; 6. flexible circuit board FPC; X direction, the first vibration direction; Y direction, the second vibration direction; Z direction, perpendicular to the first plane direction; M direction , Third vibration direction; N direction, fourth vibration direction.

Embodiments of the present invention

The application will be further described below in conjunction with the drawings and implementations.

1-7, an embodiment of the present application provides a linear motor 100, including a housing 1, a vibrator structure 2 and a stator structure 3. The housing 1 has a receiving space 10, and the vibrator structure 2 and the stator structure 3 are both Housed in the containment space 10. Among them, the vibrator structure 2 can provide at least two directions including a first vibration direction (X-direction as shown in Figures 1-6) and a second vibration direction (Y-direction as shown in Figures 1-4 and 6). Vibration, the first vibration direction and the second vibration direction constitute a first plane (the XY plane as shown in Figures 1-4 and 6), and the housing 1 and the vibrator structure 2 are spaced apart from each other in the first plane.

The vibrator structure 2 includes a magnetic steel assembly 21 that includes a first magnetic steel 211 in a cylindrical structure and a second magnetic steel 212 in a ring structure. The second magnetic steel 212 is arranged around the first magnetic steel 211 and is connected to the The first magnetic steel 211 forms a magnetic gap 213 (as shown in FIG. 7 ), and the central axis n of the first magnetic steel 211 and the second magnetic steel 212 coincide (ie, are arranged concentrically). The first magnet 211 and the second magnet 212 are magnetized along a direction perpendicular to the first plane (the Z direction as shown in FIGS. 1-5), and the magnetization directions of the first magnet 211 and the second magnet 212 On the contrary, if the first magnet 211 is magnetized in the positive direction of the Z-axis, the second magnet 212 is magnetized in the negative direction of the Z-axis (as shown in FIG. 8).

The stator structure 3 includes two coil assemblies 31 symmetrically arranged on the upper and lower sides of the magnetic steel assembly 21 along a direction perpendicular to the first plane. A voice coil 313.

In the above-mentioned magnetic circuit system formed by the magnetic steel assembly 21 and the voice coil assembly 31, the direction of current in each voice coil 313 can be independently controlled. By controlling the direction of current in different voice coils 313, different directions can be formed. According to the principle of repulsion of the same sex and attraction of the opposite sex, the magnetic steel assembly 21 will obtain driving force in different directions to drive the vibrator structure 2 to reciprocate in different directions, thereby realizing the multi-directional vibration of the linear motor 100, bringing richness Vibration experience.

The housing 1 includes a cover plate 11 and a bottom plate 12 that are arranged in parallel to the first plane at a relatively spaced interval. In order to enable the magnetic steel assembly 21 to obtain a greater driving force and improve the vibration feeling, in this embodiment, as shown in Figs. 4 and 5 As shown, the coil assembly 31 also includes a magnetic conductive sheet 311 connected to the housing 1 (cover 11 or bottom plate 12), arranged circumferentially around the central axis n of the first magnetic steel 211 and fixed at the vicinity of the magnetic conductive sheet 311 The four iron cores 312 on the surface of the magnetic steel assembly 21 and the four voice coils 313 are respectively enclosed on each iron core 312. When the voice coil 313 is energized, by controlling the direction of current in different voice coils 313, the corresponding iron core 312 produces different polarization directions, forming a stronger magnetic field in different directions, so that the magnetic steel assembly 21 can obtain a stronger The driving force in different directions enhances the vibration feeling. In addition, the magnetic circuit system formed by the magnetic steel assembly 21 and the voice coil assembly 31 has a simple structure and is convenient for assembly.

On the basis of this embodiment, in other embodiments, the projections of the four iron cores 312 on the casing 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 this embodiment, as shown in FIGS. 4 and 6, the four iron cores 312 include two first iron cores 312a arranged at relatively intervals along the first vibration direction, and two first iron cores 312a arranged at relatively intervals along the second vibration direction. The second iron core 312b, the long side of the first voice coil 313a enclosed on the first iron core 312a is perpendicular to the first vibration direction, and the long side of the second voice coil 313b enclosed on the second iron core 312b and The second vibration direction is vertical. Through the above arrangement, the first vibration direction and the second vibration direction are perpendicular to each other.

Please refer to FIG. 8a which shows the situation where the vibrator structure 2 moves in the positive direction of the X axis. When the four first voice coils 313a located in the first vibration direction are energized, the current in the four first voice coils 313a is controlled Direction, so that the corresponding first iron core 312a induces different polarization directions. According to the principle of same sex repulsion and opposite sex attraction, the magnetic steel assembly 21 obtains the driving force along the first vibration direction, thereby driving the vibrator structure 2 in the first vibration direction. Vibrate back and forth in a vibration direction. Please refer to FIG. 8b which shows the situation where 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 in the four second voice coils 313b is controlled. Direction, so that the corresponding second iron core 312b induces different polarization directions. According to the principle of same sex repulsion and opposite sex attraction, the magnetic steel assembly 21 obtains the driving force along the second vibration direction, thereby driving the vibrator structure 2 in the second vibration direction. Reciprocating vibration in two vibration directions.

In this embodiment, the vibrator structure 2 can also provide a third vibration direction in the first plane (the M direction as shown in FIGS. 6 and 9), and the third vibration direction is the same as the first vibration direction and the first vibration direction. The angle between the two vibration directions is 45°. Please refer to Figure 9a which shows the situation where the vibrator structure 2 moves in the positive direction of the M axis. The direction makes the corresponding first iron core 312a and second iron core 312b induce different polarization directions. According to the principle of same sex repulsion and opposite sex attraction, the magnetic steel assembly 21 obtains the force F2 along the positive direction of the X axis and the force along the Y axis. Force F1 in the positive direction of the axis. The resultant force F1 of F1 and F2 is the force in the positive direction of the M axis, and F1 drives the vibrator structure 2 to move in the positive direction of the M axis. In addition to the example shown in Figure 9a, when both the first voice coil 313a located on the left of the X axis and the second voice coil 313b located on the bottom of the Y axis are both energized, different polarizations are induced at the iron core by controlling the direction of the current According to the principle of repulsion of the same sex and attraction of opposite sex, 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 F3 and F4 is the force in the negative direction of the M axis, and F2 drives the vibrator structure 2 to move in the negative direction of the M axis.

Furthermore, when the eight voice coils 313 are energized at the same time, the corresponding iron core 312 induces different polarization directions by controlling the current direction. According to the principle of repulsion of the same sex and attraction of the opposite sex, the magnetic steel assembly 21 obtains an axis along the X axis. The force F2+ in the positive direction and the force F1+ in the positive direction of the Y-axis, or the force F4+ in the negative direction of the X-axis and the force F3+ in the negative direction of the Y-axis are obtained. The resultant force F total 5 of F1+ and F2+ is the force in the positive direction of the M axis, and the resultant force F total 6 of F3+ and F4+ is the force in the negative direction of the M axis. The F total 5 drives the vibrator structure 2 to move in the positive direction of the M axis, and the F total 6 drives the vibrator structure 2 to move in the negative direction of the M axis, thereby realizing the vibrator structure 2 to reciprocate in the third vibration direction.

In this embodiment, the vibrator structure 2 can also provide a fourth vibration direction in the first plane (the N direction as shown in FIGS. 6 and 9), and the fourth vibration direction and the third vibration direction are perpendicular to each other. . Please refer to Figure 9b, which shows the situation where the vibrator structure 2 moves in the positive direction of N. When both the first voice coil 313a on the left of the X axis and the second voice coil 313b on the Y axis are energized, the direction of the current is controlled to make The corresponding first iron core 312a and the second iron core 312b induce different polarization directions. According to the principle of repulsion of same sex and attraction of opposite sex, the magnetic steel assembly 21 obtains the force F5 along the negative direction of the X axis and the positive force along the Y axis. Directional force F6. The resultant force of F5 and F6, F total 3, is the force in the positive direction of the N axis, and F total 3 drives the vibrator structure 2 to move in the positive direction of the N axis. In addition to the example shown in Figure 9b, when the first voice coil 313a located to the right of the X axis and the second voice coil 313b of the Y axis are both energized, the first iron core 312a and the second iron core 312a and the second iron core Different polarization directions are induced at the core 312b. According to the principle of repulsion of the same sex and attraction of opposite sex, the magnetic steel assembly 21 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 F4 of F7 and F8 is the force in the negative direction of the N axis, and F3 drives the vibrator structure 2 to move in the negative direction of the N axis.

Furthermore, when the eight voice coils 313 are energized at the same time, the corresponding iron core 312 induces different polarization directions by controlling the current direction. According to the principle of repulsion of the same sex and attraction of the opposite sex, the magnetic steel assembly 21 obtains an axis along the X axis. The force F5+ in the negative direction and the force F6+ in the positive direction of the Y-axis, or the force F8+ in the positive direction of the X-axis and the force F7+ in the negative direction of the Y-axis are obtained. The resultant force F5+ and F6+ is the force in the positive direction of the N-axis, and the resultant force F8+ and F7+ is the force in the negative direction of the N-axis. The total F 7 drives the vibrator structure 2 to move in the positive direction of the N axis, and the total F 8 drives the vibrator structure 2 to move in the negative direction of the N axis, thereby realizing the vibrator structure 2 to reciprocate in the fourth vibration direction.

In this embodiment, as shown in Figures 4 and 5, the first magnetic steel 211 is formed by stacking and connecting two magnetic steels 211a and 211b with the same cylindrical structure, and the second magnetic steel 212 is formed by two magnetic steels with the same ring structure. The second magnets 212a and 212b are stacked and connected, and the magnets one (211a or 211b) and the second magnets (212a or 212b) on the same side have opposite polarities. For example, as shown in Figures 8 and 9, the magnetic steel one 211a located above is the N pole, the magnetic steel one 211b located below is the S pole, the magnetic steel two 212a located above is the S pole, and the magnetic steel two 212b located below is the S pole. N pole. Through this arrangement, the magnetizing directions of the first magnet 211 and the second magnet 212 in the Z direction are opposite. In other embodiments, the upper magnet one 211a can be set as the S pole, the lower magnet one 211b is set as the N pole, the upper magnet two 212a is set as the N pole, and the lower magnet two 212b is set as the N pole. S pole.

Optionally, the four iron cores 312 are all made of SPCD material, which can play a role of magnetism gathering. The magnetic conductive sheet 311 is also made of SPCD material, which can play a role in concentrating 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 FIGS. 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 is housed in a magnetic gap. A second mass 222 having a second through hole 224 in the 213, the second magnetic steel 212 is fixedly arranged in the first through hole 223, and the first magnetic steel 211 is fixedly arranged in the second through hole 224. Optionally, after the magnetic steel component 21 is embedded in the mass component 22, it can be connected to the mass component 22 by gluing.

In this embodiment, as shown in FIGS. 2, 3, 5, and 6, the linear motor 100 further includes an elastic support assembly 4 housed in the accommodating space 10, and the elastic support assembly 4 is disposed on the housing 1 and the vibrator structure 2. between. The housing 1 further includes two first vibrating side walls 13 arranged at opposite intervals extending along the first vibrating direction. The first vibrating side walls 13 connect the cover plate 11 and the bottom plate 12, and the vibrator structure 2 further includes a second vibration direction. Two extended first vibrating sidewalls 23 arranged at opposite intervals (that is, two oppositely arranged sidewalls of the first mass 221 extending along the second vibration direction). The elastic support assembly 4 includes a first elastic support 41 and a second lower elastic support 42 arranged from top to bottom in a direction perpendicular to the first plane. The first elastic support 41 includes two relatively spaced apart along the first vibration direction. A first elastic support arm 411, and a second elastic support arm 412 connecting the two first elastic support arms 411, the two first elastic support arms 411 are respectively connected to the adjacent first vibrating side wall 23, the second elastic The support arm 412 is connected to the adjacent first housing side wall 13, and the second elastic support 42 has the same structure as the first elastic support 41.

Optionally, the first elastic support 41 and the second elastic support 42 are both integrally formed, which can provide the vibrator structure 2 with support rigidity required for vibration work in multiple directions.

Specifically, the first elastic supporting arm 411 includes a first connecting portion 411a connected to the first vibrating side wall 23, and an end of the first connecting portion 411a close to the second elastic supporting arm 412 and away from the first vibrating side wall 23 The first vibrating force arm 411b extends in the direction of. The second elastic support arm 412 includes a second connecting portion 412a connected to the first housing side wall 13 and two second connecting portions 412a extending away from the first housing side wall 13 from both ends of the second connecting portion 412a. The vibrating arm 412b and the second vibrating arm 412b are respectively connected to the adjacent first vibrating arm 411b.

Optionally, the connection position of the first vibrating arm 411 b and the second vibrating arm 412 b is located at the corner of the housing 1, which fully utilizes the space of the linear motor 100 and facilitates the miniaturization of the linear motor 100.

In this embodiment, as shown in FIGS. 2 and 3, the linear motor 100 further includes a flexible circuit board FPC6 provided on the bottom plate 12, and a limit block accommodated in the accommodation space 10 for limiting the displacement of the vibrator structure 2 Assembly 5, the limit block assembly 5 includes a first limit block 51 and a second limit block 52 spaced apart along the second vibration direction, the two limit blocks 51 are respectively connected to the adjacent first housing side wall 13 Connected, wherein the first limiting block 51 is provided below the first elastic support 41 and the second limiting block 52 is provided above the second elastic support 42.

The above are only the implementation manners of this application. It should be pointed out here that for those of ordinary skill in the art, improvements can be made without departing from the creative concept of this application, but these all belong to this application. The scope of protection. To

Claims

1. A linear motor, comprising a housing having an accommodation space, a vibrator structure and a stator structure accommodated in the accommodation space, the vibrator structure having a first vibration direction and a second vibration direction, the first vibration direction And the second vibration direction constitute a first plane, which is characterized in that:

The vibrator structure includes a magnetic steel component, the magnetic steel component includes a first magnetic steel in a cylindrical structure and a second magnetic steel in a ring structure, and the second magnetic steel is arranged around the first magnetic steel and is connected to the The first magnetic steel forms a magnetic gap, the central axis of the first magnetic steel coincides with the center axis of the second magnetic steel, and the first magnetic steel and the second magnetic steel are in a direction perpendicular to the first plane Magnetizing, the magnetizing directions of the first magnet and the second magnet are opposite;

2. The linear motor according to claim 1, wherein said coil assembly further comprises a magnetic conductive sheet is connected to the housing about the central axis of the first ring of magnets arranged and fixed to disposed There are four iron cores on the surface of the magnetic conductive sheet close to the magnetic steel component, and the four voice coils are respectively enclosed on each of the iron cores.

The linear motor according to claim 2, wherein the projections of the four iron cores on 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 iron cores include two first iron cores arranged at opposite intervals along the first vibration direction, and two first iron cores opposed to each other along the second vibration direction. Two second iron cores are arranged at intervals, the long sides of the voice coil surrounding the first iron core are perpendicular to the first vibration direction, and the length of the voice coil surrounding the second iron core The side 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, and the third vibration direction is the same as the first vibration direction and the first vibration direction. The angles between the second vibration directions are all 45°.

7. The linear motor of claim 6, wherein 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 .

8. The linear motor according to claim 1, wherein the first magnet is formed by a stack of two magnets with the same cylindrical structure, and the second magnet is formed by two magnets with the same ring structure. The two magnets are stacked and connected, and the first magnet and the two magnets on the same side have opposite polarities.

9. The linear motor of claim 2, wherein the four iron cores are made of SPCD material, and the magnetic conductive sheet is made of SPCD material. 10.

10. The linear motor according to claim 1, wherein the vibrator structure further comprises a mass assembly, the mass assembly comprising a first mass with a first through hole, and a first mass contained in the magnetic gap A second mass with a second through hole inside, the second magnetic steel is fixedly arranged in the first through hole, and the first magnetic steel is fixedly arranged in the second through hole.

11. The linear motor according to claim 1, wherein the linear motor further comprises an elastic support assembly housed in the receiving space, the elastic support assembly is provided on the housing and the vibrator structure In between, the housing includes two first housing side walls arranged at opposite intervals extending along the first vibration direction, and the vibrator structure includes two oppositely arranged side walls extending along the second vibration direction. The first vibrating side wall, the elastic support assembly includes a first elastic support and a second lower elastic support arranged from top to bottom along a direction perpendicular to the first plane, and the first elastic support includes Two first elastic support arms arranged at relatively intervals in the first vibration direction, and a second elastic support arm connecting the two first elastic support arms, the two first elastic support arms are respectively connected to adjacent ones The first vibrating side wall is connected, the second elastic support arm is connected to the adjacent side wall of the first housing, and the second elastic support has the same structure as the first elastic support.

12. The linear motor of claim 11, wherein the first elastic support arm includes a first connecting portion connected to the first vibrating side wall, and a first connecting portion close to the first connecting portion. The second elastic support arm end is a first vibrating arm extending away from the first vibrating side wall, and the second elastic support arm includes a second connecting portion connected to the first housing side wall, and Two second vibrating arms extending from both ends of the second connecting portion away from the side walls of the first housing respectively, the second vibrating arms are respectively connected to the adjacent first vibrating arms connect.

13. The linear motor of claim 11, wherein the linear motor further comprises a limit block assembly accommodated in the accommodation space for limiting the displacement of the vibrator structure, the limit block assembly It includes a first limiting block and a second limiting block arranged at intervals along the second vibration direction, the first limiting block and the second limiting block are respectively connected to the adjacent first housing side The walls are connected, the first limiting block is provided below the first elastic support member, and the second limiting block is provided above the second elastic support member.