Spherical motor

Abstract

The present invention provides a spherical motor comprising a spherical rotor and a spherical shell stator. A plurality of stator teeth are divided into a first stator tooth group and a second stator tooth group symmetrical about the equatorial plane. Each stator tooth has a pole shoe at its free end, and the side of the pole shoe facing the spherical rotor is a spherical arc surface concentric with the outer spherical surface of the spherical rotor. The side of the stator tooth facing away from the equatorial plane is a first side surface, and the side of the stator tooth opposite any adjacent stator tooth is a second side surface. The intersection of the spherical arc surface and the first side surface is a circular arc line. The first side surface, the second side surface, and the spherical arc surface intersect at a first point. A straight line passing through the first point and tangent to the circular arc line is a tangent line. The acute angle formed by the tangent line and the second side surface is γ, with a range of 10°≤γ≤80°. The present invention can reduce the distortion rate and harmonic amplitude of the air gap magnetic flux, thereby reducing the torque pulsation and improving the torque output quality of the motor.

Description

Technical Field

[0001] The invention belongs to the technical field of motor design, and in particular relates to a spherical motor. Background Art

[0002] Traditional rotary motors primarily rotate around an axis, while spherical motors (also known as spherical motors) can rotate with multiple degrees of freedom, meeting the specialized requirements of complex operating conditions. However, due to the structural limitations of these motors, the stator and rotor are difficult to manufacture. The side of the stator pole shoe facing the rotor is often designed to be flat, resulting in an uneven air gap between the stator pole shoe and the rotor, which in turn leads to severe air gap magnetic field distortion and significant air gap magnetic leakage. Summary of the Invention

[0003] Therefore, the present invention provides a spherical motor that can overcome the technical problems of the prior art spherical motors, such as high air gap magnetic field distortion rate and high air gap magnetic flux harmonic amplitude, especially high third harmonic amplitude.

[0004] To solve the above problems, the present invention provides a spherical motor, comprising a spherical rotor and a spherical shell stator mounted on the outside of the spherical rotor. The spherical rotor has a rotating shaft for outputting torque. The outer spherical surface of the spherical rotor has a plurality of permanent magnets, each of which is spaced apart in a circumferential direction around the rotating shaft. The spherical shell stator includes a spherical shell yoke and a plurality of stator teeth on the inner wall of the spherical shell yoke. A plane perpendicular to the rotating shaft and passing through the center of the spherical rotor is defined as an equatorial plane. Some of the plurality of stator teeth are spaced apart around the rotating shaft to form a first stator tooth group, and the remaining stator teeth are spaced apart around the rotating shaft to form a second stator tooth group. The first stator tooth group and the second stator tooth group are symmetrical about the equatorial plane.

[0005] The free end of each stator tooth has a pole shoe, and the side of the pole shoe facing the spherical rotor is a spherical arc surface concentric with the outer spherical surface of the spherical rotor;

[0006] In the first stator tooth group, the side of the stator tooth away from the equatorial plane is a first side surface, the side of the stator tooth opposite to any adjacent stator tooth is a second side surface, the intersection of the spherical arc surface and the first side surface is a circular arc line, the first side surface, the second side surface, and the spherical arc surface intersect at a first point, a straight line passing through the first point and tangent to the circular arc line is a tangent line, and the acute angle formed by the tangent line and the second side surface is γ, and 10°≤γ≤80°.

[0007] In some embodiments, 30°≤γ≤60°; and / or, the permanent magnets are evenly distributed around the rotation axis, and the stator teeth are evenly distributed around the rotation axis.

[0008] In some embodiments, the two second side surfaces of any pole shoe are parallel to each other, and the second side surfaces of any two adjacent pole shoes are parallel to each other.

[0009] In some embodiments, the distance between two adjacent second side surfaces of two adjacent pole shoes is d, and 2.7 mm ≤ d ≤ 3.5 mm.

[0010] In some embodiments, 2.9 mm ≤ d ≤ 3.2 mm.

[0011] In some embodiments, the spherical shell stator is formed by processing a composite soft magnetic material; and / or the minimum distance between the first stator tooth group and the track plane is d2, 4mm≤d2≤5mm.

[0012] In some embodiments, the outer radius of the spherical shell yoke is R1, the inner radius of the spherical shell yoke is R2, 1.05≤R1 / R2≤1.13; and / or, the height of the pole shoe along the axial direction of the rotating shaft is H, the thickness of the pole shoe is d1, 6≤H / d1≤7.

[0013] In some embodiments, 6.5≤H / d1≤6.7.

[0014] In some embodiments, some of the plurality of permanent magnets are spaced apart around the rotating axis to form a first magnet group, and the remaining permanent magnets are spaced apart around the rotating axis to form a second magnet group. The first magnet group and the second magnet group are symmetrical about the equatorial plane, and in each permanent magnet in the first magnet group and the second magnet group, two adjacent permanent magnets have opposite polarities, and two permanent magnets on the same meridian have the same polarity.

[0015] In some embodiments, the angle formed between the central axis of any stator tooth in the first stator tooth group and the rotation axis of the rotating shaft is θ1, the angle formed between the central axis of the permanent magnet and the rotation axis of the rotating shaft is θ2, and 1.1≤θ1 / θ2≤1.5.

[0016] In some embodiments, θ1 = θ2.

[0017] In some embodiments, magnetic steel grooves for respectively embedding each of the permanent magnets are formed on the outer spherical surface of the spherical rotor, the radius of the outer spherical surface of the spherical rotor is R3, the radius of the spherical surface corresponding to the bottom wall of the magnetic steel groove is R4, 1.1≤R4 / R3≤1.15; and / or, each of the permanent magnets is a hexahedral structure.

[0018] In some embodiments, 1.12≤R4 / R3≤1.14.

[0019] In some embodiments, the air gap width between the pole shoe and the spherical rotor is And / or, the magnetization direction of each permanent magnet is radial magnetization.

[0020] The spherical motor provided by the present invention has the following beneficial effects:

[0021] The side of the pole shoe facing the spherical rotor is a spherical arc surface concentric with the outer spherical surface of the spherical rotor, which can reduce the air gap leakage of the motor and improve the torque density of the motor. In addition, the angle between the surface of the pole shoe along both sides of the circumference, that is, the aforementioned second side surface, and the tangent of the aforementioned arc line of the curved surface of the pole shoe is maintained in the range of 10° to 80°. This can reduce the distortion rate and harmonic amplitude (especially the third harmonic amplitude) of the air gap magnetic flux density, thereby achieving the purpose of reducing the torque ripple of the motor and improving the torque output quality.

[0022] By setting the second side surfaces of two adjacent pole shoes in parallel and combining the optimized design of the γ angle mentioned above, the air gap widths at the stator slot openings can be made inconsistent. The use of air gaps of unequal widths can further reduce the distortion rate of the motor air gap magnetic density and improve the torque output quality of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. The drawings described below are merely exemplary. Those skilled in the art can, without inventive effort, derive other implementation drawings based on the provided drawings.

[0024] Figure 1 2 is a schematic diagram (cross-sectional view) of the internal structure of a spherical motor in an embodiment of the present invention;

[0025] Figure 2 yes Figure 1 The structural diagram after omitting the spherical rotor;

[0026] Figure 3 yes Figure 1 Schematic diagram of the three-dimensional structure of the stator teeth and pole shoes;

[0027] Figure 4 yes Figure 1 Schematic diagram of the three-dimensional structure of the spherical rotor (omitted permanent magnet);

[0028] Figure 5 yes Figure 1 A cross section through the equatorial plane;

[0029] Figure 6is the air gap magnetic flux harmonic distortion rate corresponding to the spherical motor of the present invention at different γ angles;

[0030] Figure 7 The corresponding relationship between the harmonics of different orders and the air gap magnetic flux harmonic amplitudes in the spherical motor of the present invention (at different γ angles) and the spherical motor in the prior art;

[0031] Figure 8 ac is the air gap flux density of the spherical motor of the present invention (at different γ angles) and the spherical rotor of the spherical motor in the prior art at different rotation positions.

[0032] The accompanying drawings are:

[0033] 1. Spherical rotor; 11. Rotating shaft; 12. Permanent magnet; 13. Magnetic steel slot;

[0034] 2. Spherical shell stator; 21. Spherical shell yoke; 22. Stator teeth; 23. Pole shoes;

[0035] 3. Base;

[0036] 4. Bearings. DETAILED DESCRIPTION

[0037] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0039] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0040] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0041] See also Figures 1 to 8 As shown, according to an embodiment of the present invention, a spherical motor is provided, comprising a spherical rotor 1 and a spherical shell stator 2 mounted on the outside of the spherical rotor 1. The spherical rotor 1 has a rotating shaft 11 for outputting torque to the outside. The outer spherical surface of the spherical rotor 1 has a plurality of permanent magnets 12, each of which is spaced apart in a circumferential direction around the rotating shaft 11. The spherical shell stator 2 includes a spherical shell yoke 21 and a plurality of stator teeth 22 located on the inner wall of the spherical shell yoke 21. A plane perpendicular to the rotating shaft 11 and passing through the center of the spherical rotor 1 is defined as the equatorial plane (not shown in the figure and not labeled, i.e., Figure 5 , some of the plurality of stator teeth 22 are spaced apart around the rotating shaft 11 to form a first stator tooth group (not labeled in the figure), and the remaining stator teeth 22 are spaced apart around the rotating shaft 11 to form a second stator tooth group (not labeled in the figure), the first stator tooth group and the second stator tooth group are symmetrical about the equatorial plane, and it can be understood that the stator teeth 22 in the first stator tooth group are all on the same isolatitude line, and the stator teeth 22 in the second stator tooth group are also all on the same isolatitude line;

[0042] The free end of each stator tooth 22 has a pole shoe 23, and the side of the pole shoe 23 facing the spherical rotor 1 is a spherical arc surface concentric with the outer spherical surface of the spherical rotor 1;

[0043] In the first stator tooth group, the side of the stator tooth 22 away from the equatorial plane is the first side, and the side of the stator tooth 22 opposite to any adjacent stator tooth 22 is the second side. The intersection of the spherical arc surface and the first side is a circular arc. The first side, the second side and the spherical arc surface intersect at a first point. The straight line passing through the first point and tangent to the circular arc is a tangent. The included angle of the acute angle formed by the tangent and the second side is γ, 10°≤γ≤80°. It can be understood that since the first stator tooth group and the second stator tooth group are symmetrical about the equatorial plane, the above text only optimizes and limits the aforementioned γ angle of any stator tooth 22 in the first stator tooth group.

[0044] In this technical solution, the side of the pole shoe 23 facing the spherical rotor 1 is a spherical arc surface concentric with the outer spherical surface of the spherical rotor 1, which can reduce the air gap leakage of the motor and improve the torque density of the motor. In addition, the angle between the surface of the pole shoe 23 along both sides of the circumference, that is, the aforementioned second side surface, and the tangent of the aforementioned arc line of the curved surface of the pole shoe 23 is maintained in the range of 10° to 80°, which can reduce the distortion rate and harmonic amplitude (especially the third harmonic amplitude) of the air gap magnetic density, thereby achieving the purpose of reducing the torque pulsation of the motor and improving the torque output quality.

[0045] It should be noted that the first stator teeth group and the second stator teeth group are completely symmetrical about the equatorial plane, which can ensure that the motor can achieve movement along different degrees of freedom.

[0046] See Figure 6 As shown in the figure, the distortion rate of the air gap magnetic density first decreases and then increases with the increase of γ. When γ is between 10° and 80°, the distortion rate of the air gap magnetic density is less than 24%, which is at a relatively low level. At the same time, it can be further concluded that when 30°≤γ≤60°, the distortion rate of the air gap magnetic density is less than 21%. At this time, the corresponding sine degree of the air gap magnetic density is also relatively high, which can further reduce the torque pulsation of the motor and improve the torque output quality. It is also worth noting that the lower the harmonic order of the air gap magnetic density, the greater the impact on the sine degree of the air gap magnetic density. Figure 7 As shown, when 30°≤γ≤60°, the technology of the present invention can significantly reduce the amplitude of the third harmonic of the air gap magnetic density and effectively improve the sinusoidality of the air gap magnetic density; see further Figure 8 As shown, when 30°≤γ≤60°, compared with the spherical motor in the prior art, the curve of the air gap magnetic flux is more similar to a sine wave, with fewer mutations, that is, the torque pulsation of the motor is lower and the torque output quality is higher.

[0047] See Figure 5 As shown, in some embodiments, the two second side surfaces of any pole shoe 23 are parallel to each other, and the second side surfaces of any two adjacent pole shoes 23 are parallel to each other.

[0048] In this technical solution, by setting the second side surfaces of the two adjacent pole shoes 23 in parallel and combining the optimized design of the γ angle mentioned above, the air gap widths at the stator slot openings can be made inconsistent. The use of air gaps of unequal widths can further reduce the distortion rate of the motor air gap magnetic density and improve the torque output quality of the motor.

[0049] In some embodiments, the spacing d between two adjacent second side surfaces of two adjacent pole shoes 23 is 2.7 mm ≤ d ≤ 3.5 mm, and more preferably, 2.9 mm ≤ d ≤ 3.2 mm. In this technical solution, controlling the distance between two adjacent pole shoes 23 can improve the motor's torque output capacity and reduce the harmonic content of the air gap flux density. Specifically, any spacing d outside the aforementioned range will increase the motor's air gap magnetic flux leakage. This dimension here is equivalent to the stator slot opening width. Controlling the slot opening width can maintain the motor's torque output capacity at an optimal state.

[0050] The minimum distance d2 between the first stator tooth set and the orbital plane is 4mm≤d2≤5mm. This technical solution ensures a minimum distance between the stator teeth and the XY plane (i.e., the aforementioned equatorial plane), indirectly controlling the curved surface area of ​​the pole shoe 23 and further reducing the motor's air gap magnetic flux leakage. Specifically, if the minimum distance d2 exceeds the aforementioned limit, the rotor's range of motion will be reduced during rotations not centered around the Z axis; if it is below the aforementioned limit, the rotor magnetic flux will be reduced.

[0051] In some embodiments, the spherical shell stator 2 is formed from a composite soft magnetic material. This composite soft magnetic material is a mixture of iron powder and other metal and non-metal materials, resulting in enhanced toughness and improved magnetic properties. This reduces the difficulty of processing the spherical shell stator 2 and increases the motor torque density. The composite soft magnetic material can be, for example, an iron-silicon alloy, a nickel-iron alloy, or a cobalt-titanium alloy. Soft magnetic composite materials exhibit high magnetic permeability, low hysteresis, and excellent mechanical properties. They have high strength, hardness, and toughness, can withstand significant stress and pressure, exhibit excellent corrosion resistance, and offer enhanced machinability. They can be cut, welded, and plastically deformed as needed, enabling them to be manufactured into various shapes.

[0052] See Figure 1 As shown, in some embodiments, the outer radius of the spherical shell yoke 21 is R1, the inner radius of the spherical shell yoke 21 is R2, and 1.05≤R1 / R2≤1.13.

[0053] In this technical solution, ensuring the ratio of the outer diameter to the inner diameter of the spherical shell stator 2 can ensure the mechanical strength of the spherical shell stator 2, improve the stator utilization rate, and enhance the torque density of the motor. Specifically, if it is lower than the aforementioned range, the spherical shell will be easily deformed, and if it is higher than the aforementioned range, the stator will occupy too much space, the available space of the rotor will become smaller, and the magnetic properties of the rotor will be reduced.

[0054] See Figure 2 As shown, the pole shoe 23 is axially aligned with the shaft 11 (i.e. Figure 1 The height of the pole piece 23 (Z axis shown in FIG) is H, and the thickness of the pole piece 23 is d1, 6≤H / d1≤7, preferably, 6.5≤H / d1≤6.7.

[0055] In this technical solution, ensuring the thickness d1 of the pole shoe 23 and the height along the Z axis can effectively utilize the pole shoe 23 and reduce the air gap magnetic leakage of the motor.

[0056] In some embodiments, the permanent magnets 12 are evenly distributed around the rotating shaft 11 , and the stator teeth 22 are evenly distributed around the rotating shaft 11 , which can further reduce the distortion rate of the air gap magnetic flux density.

[0057] In some embodiments, some of the multiple permanent magnets 12 are spaced apart around the rotating shaft 11 to form a first magnet group, and the remaining permanent magnets 12 are spaced apart around the rotating shaft 11 to form a second magnet group. The first magnet group and the second magnet group are symmetrical about the equatorial plane, and in each permanent magnet 12 in the first magnet group and the second magnet group, the polarities of two adjacent permanent magnets 12 are opposite, and the polarities of two permanent magnets 12 on the same meridian are the same.

[0058] In this technical solution, the polarities of two adjacent permanent magnets 12 are ensured to be opposite, which can improve the torque density of the motor and increase the utilization rate of the permanent magnets.

[0059] In some embodiments, the angle formed between the central axis of any stator tooth 22 in the first stator tooth group and the rotation axis of the rotating shaft 11 is θ1, and the angle formed between the central axis of the permanent magnet 12 and the rotation axis of the rotating shaft 11 is θ2, 1.1≤θ1 / θ2≤1.5, preferably, θ1=θ2. It should be noted that the central axis of the stator tooth 22 does not mean that the structure of the pole shoe 23 is a left-right or top-down symmetrical structure. The central axis of the stator tooth 22 is its own geometric center symmetry axis. In a specific embodiment, the stator tooth 22 is cylindrical.

[0060] In this technical solution, the central axis of the stator tooth 22 is ensured to coincide with the axis of the permanent magnet 12, which can improve the quality of the air gap magnetic flux density and reduce the air gap magnetic flux distortion rate.

[0061] In some embodiments, a magnetic steel groove 13 for respectively embedding each of the permanent magnets 12 is formed on the outer spherical surface of the spherical rotor 1. For example, the permanent magnet 12 and the magnetic steel groove 13 can be glued together. The radius of the outer spherical surface of the spherical rotor 1 is R3, and the radius of the spherical surface corresponding to the bottom wall of the magnetic steel groove 13 is R4. 1.1≤R4 / R3≤1.15, preferably, 1.12≤R4 / R3≤1.14. In some embodiments, the spherical rotor 1 can also be a shell structure.

[0062] In this technical solution, the ratio of the inner and outer diameters of the rotor is ensured to be within the aforementioned range, which can improve the utilization rate of the permanent magnet 12 and enhance the torque density of the motor.

[0063] Each of the permanent magnets 12 is a hexahedral structure, that is, the surface of the permanent magnet 12 facing the air gap is a plane, which can reduce the difficulty of processing the permanent magnet 12, and can increase the unevenness of the air gap to a certain extent, thereby reducing the cogging torque.

[0064] In some embodiments, the air gap width between the pole shoe 23 and the spherical rotor 1 is The distance between the curved surface of the pole shoe 23 close to the air gap side (i.e. the aforementioned spherical arc surface) and the spherical rotor 1 affects the harmonics of the main magnetic flux and air gap magnetic density of the motor. Ensuring that the distance is between 2-3 mm can ensure the torque output capacity of the motor and reduce the air gap harmonics.

[0065] In some embodiments, the magnetization direction of each permanent magnet 12 is radial magnetization, that is, the magnetization direction of the permanent magnet 12 is toward the center of the spherical rotor 1 or from the center of the spherical rotor 1 toward the air gap side. Ensuring the magnetization direction of the permanent magnet 12 can further reduce the air gap magnetic flux harmonics.

[0066] It can be understood that the bottom of the spherical shell stator 2 is a base 3, and a bearing 4 is provided between the inner side of the base 3 and the bottom side of the spherical rotor 1. Specifically, a ball bearing can be used. The ball bearing is connected to the spherical rotor 1 through the ball bearing to achieve multi-degree-of-freedom rotation of the spherical rotor 1. In addition, the ball bearing can also play a role in fixing the spherical rotor 1 when the spherical rotor 1 is stationary.

[0067] It is easy for those skilled in the art to understand that, under the premise of no conflict, the advantageous technical features of the above-mentioned methods can be freely combined and superimposed.

[0068] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention. The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and variations without departing from the technical principles of the present invention, and such improvements and variations shall also be considered within the scope of protection of the present invention.

Claims

1. A spherical motor, comprising a spherical rotor (1) and a spherical shell stator (2) mounted on the outer side of the spherical rotor (1), wherein the spherical rotor (1) has a rotating shaft (11) for outputting torque to the outside, and the outer spherical surface of the spherical rotor (1) has a plurality of permanent magnets (12), each of the permanent magnets (12) being arranged at intervals in the circumferential direction around the rotating shaft (11), and the spherical shell stator (2) includes a spherical shell yoke (21) and a plurality of stator teeth (22) on the inner wall of the spherical shell yoke (21), characterized in that: A plane perpendicular to the rotating shaft (11) and passing through the center of the spherical rotor (1) is defined as an equatorial plane, some of the plurality of stator teeth (22) are spaced apart around the rotating shaft (11) to form a first stator tooth group, and the remaining stator teeth (22) are spaced apart around the rotating shaft (11) to form a second stator tooth group, and the first stator tooth group and the second stator tooth group are symmetrical about the equatorial plane; The free end of each stator tooth (22) is provided with a pole shoe (23), and the side of the pole shoe (23) facing the spherical rotor (1) is a spherical arc surface concentric with the outer spherical surface of the spherical rotor (1); In the first stator tooth group, the side of the stator tooth (22) away from the equatorial plane is a first side, the side of the stator tooth (22) opposite to any adjacent stator tooth (22) is a second side, the intersection line of the spherical arc surface and the first side is a circular arc, the first side, the second side and the spherical arc surface intersect at a first point, a straight line passing through the first point and tangent to the circular arc is a tangent, and the acute angle formed by the tangent and the second side is γ, 10°≤γ≤80°.

2. The spherical motor according to claim 1, characterized in that: 30°≤γ≤60°; and / or, each of the permanent magnets (12) is evenly distributed around the rotating shaft (11), and each of the stator teeth (22) is evenly distributed around the rotating shaft (11).

3. The spherical motor according to claim 1 or 2, characterized in that: The two second side surfaces of any one of the pole shoes (23) are parallel to each other, and the second side surfaces of any two adjacent pole shoes (23) are parallel to each other.

4. The spherical motor according to claim 3, characterized in that: The distance between two adjacent second side surfaces of two adjacent pole shoes (23) is d, and 2.7 mm ≤ d ≤ 3.5 mm.

5. The spherical motor according to claim 4, characterized in that: 2.9mm≤d≤3.2mm.

6. The spherical motor according to claim 1, characterized in that: The spherical shell stator (2) is formed by processing a composite soft magnetic material; and / or the minimum distance between the first stator tooth group and the track plane is d2, 4mm≤d2≤5mm.

7. The spherical motor according to claim 1, characterized in that: The outer shell radius of the spherical shell yoke (21) is R1, the inner shell radius of the spherical shell yoke (21) is R2, 1.05≤R1 / R2≤1.13; and / or the height of the pole shoe (23) along the axial direction of the rotating shaft (11) is H, and the thickness of the pole shoe (23) is d1, 6≤H / d1≤7.

8. The spherical motor according to claim 7, characterized in that: 6.5≤H / d1≤6.

7.

9. The spherical motor according to claim 1, characterized in that: Some of the plurality of permanent magnets (12) are spaced apart around the rotation axis (11) to form a first magnetic steel group, and the remaining permanent magnets (12) are spaced apart around the rotation axis (11) to form a second magnetic steel group, the first magnetic steel group and the second magnetic steel group are symmetrical about the equatorial plane, and in each permanent magnet (12) in the first magnetic steel group and the second magnetic steel group, two adjacent permanent magnets (12) have opposite polarities, and two permanent magnets (12) on the same meridian have the same polarity.

10. The spherical motor according to claim 9, characterized in that: The angle formed between the central axis of any stator tooth (22) in the first stator tooth group and the rotation axis of the rotating shaft (11) is θ1, and the angle formed between the central axis of the permanent magnet (12) and the rotation axis of the rotating shaft (11) is θ2, and 1.1≤θ1 / θ2≤1.

5.

11. The spherical motor according to claim 10, characterized in that: θ1=θ2.

12. The spherical motor according to claim 1, characterized in that: The outer spherical surface of the spherical rotor (1) is formed with a magnetic steel groove (13) for respectively embedding each of the permanent magnets (12), the radius of the outer spherical surface of the spherical rotor (1) is R3, the radius of the spherical surface corresponding to the groove bottom wall of the magnetic steel groove (13) is R4, and 1.1≤R4 / R3≤1.15; and / or each of the permanent magnets (12) is a hexahedral structure.

13. The spherical motor according to claim 12, characterized in that: 1.12≤R4 / R3≤1.

14.

14. The spherical motor according to claim 1, characterized in that The air gap width between the pole shoe (23) and the spherical rotor (1) is And / or, the magnetization direction of each permanent magnet (12) is radial magnetization.

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