Moving magnet type linear rotation two-degree-of-freedom motor

The invention relates to a moving magnet type linear rotation two-degree-of-freedom motor. The moving magnet type linear rotation two-degree-of-freedom motor comprises a rotor and a stator. The stator comprises a circular front magnet yoke, a back magnet yoke, a winding support, a front winding and a back winding, wherein one end of the front magnet yoke is connected with one end of the back magnet yoke; the front winding is sleeved on the inner side of the front magnet yoke; and the back winding is sleeved between the outer side of the winding support and the inner side of the back magnet yoke. The rotor comprises a permanent magnet, an iron core, an inner magnet yoke, a magnet isolating seat and a positioning ring, wherein the permanent magnet comprises a front magnet ring, a middle magnet ring and a back magnet ring; and the front magnet ring is sleeved between the inner side of the front winding and the outer side of the iron core. The invention has the advantages that: the rotor can be driven to do rotary motion by the front winding and also can be driven to do linear motion by the back winding, and the two-degree-of-freedom composite motion of the rotary motion and the linear motion can be output by one motor.