Permanent magnet spherical driver based on separated winding

Abstract

The invention discloses a permanent magnet spherical driver based on a separated winding, which realizes inclined motion of a rotor through an electromagnetic relation structure formed by an upper magnetic pole, a lower magnetic pole and an inclined winding. The rotating motion of the rotor is realized through an electromagnetic relation structure formed by the middle-layer magnetic poles and the spinning windings; meanwhile, through the arrangement of a first magnetism isolating ring and a second magnetism isolating ring, magnetic fields among the upper-layer magnetic pole, the middle-layer magnetic pole and the lower-layer magnetic pole do not interfere with one another, and multi-degree-of-freedom decoupling tilting motion and rotating motion are achieved; moreover, through the design of the radially bent end windings, the effective parts of the windings, which can act with the permanent magnetic field to generate torque, are closer to the corresponding magnetic poles, and the rest ineffective parts, which do not act with the permanent magnetic field to generate torque, are far away from the magnetic poles. Therefore, magnetic field utilization rate reduction caused by interaction between an excitation magnetic field generated after the invalid parts are electrified and a magnetic field generated by a rotor permanent magnet pole is prevented, torque internal friction is reduced, and output torque and working efficiency are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of motors, and in particular relates to a permanent magnetic spherical driver based on a separate winding. Background Art

[0002] In modern industrial production, in order to maximize the working range and efficiency of automated equipment such as robots, the mechanism is often required to achieve multi-degree-of-freedom rotation in three-dimensional space. The traditional solution is to combine multiple single-axis drive drivers and a large number of connecting rods in series and parallel. This mechanism has inherent defects that are difficult to overcome, such as large size, poor dynamic characteristics, and serious error accumulation. In addition, the weight of a large number of drivers and connecting rods also reduces the working efficiency of the system.

[0003] The spherical drive has two or three rotational degrees of freedom and can rotate around multiple spatial axes of a fixed point. It can overcome the shortcomings of traditional multi-degree-of-freedom motion mechanisms achieved through series and parallel connection. Therefore, this integrated multi-degree-of-freedom spherical drive has broad application potential in industrial robots, high-precision processing and assembly, aerospace equipment, and the automotive industry.

[0004] However, the traditional configuration of the spherical drive uses a permanent magnet and an energized coil to produce multi-degree-of-freedom rotational motion based on the principle of interaction that like charges repel and opposite charges attract. This configuration has serious coupling and mutual interference between the tilting motion and the rotational motion, which reduces the utilization rate of the magnetic field and inevitably produces torque internal friction, affecting the actual output torque and working efficiency of the spherical drive. Summary of the invention

[0005] The problem to be solved by the present invention is to provide a permanent magnetic spherical driver based on a separate winding which can effectively improve the utilization rate of the magnetic field, eliminate the internal friction of the torque and enhance the working efficiency of the system.

[0006] In order to solve the above technical problems, the present invention provides a permanent magnetic spherical driver based on a separate winding, which includes a stator and a rotor;

[0007] The rotor comprises a rotor sphere, an upper magnetic pole, an intermediate magnetic pole and a lower magnetic pole. The rotor sphere is a hollow sphere. The upper magnetic pole is fixed on the northern hemisphere of the rotor sphere in a spherical shell shape, the lower magnetic pole is fixed on the southern hemisphere of the rotor sphere in a spherical shell shape, the intermediate magnetic pole is fixed near the equator of the rotor sphere in a circular ring shape, the upper magnetic pole and the lower magnetic pole are respectively magnetized radially in opposite directions, the intermediate magnetic pole is composed of a plurality of permanent magnets arranged in a circumferential direction, and any two adjacent permanent magnets are respectively magnetized radially in opposite directions; a first magnetic isolation ring is provided between the upper magnetic pole and the intermediate magnetic pole, and a second magnetic isolation ring is provided between the lower magnetic pole and the intermediate magnetic pole;

[0008] The stator comprises a stator housing, an inclined winding and a first spin winding; the inclined winding and the first spin winding are both fixed on the stator housing; there are four inclined windings, which are evenly spaced along the circumferential direction of the equator of the rotor sphere, and two adjacent inclined windings form an angle of 90 degrees with each other, the upper end of the inclined winding is provided with an upper end winding radially bent toward the upper magnetic pole side, and the lower end of the inclined winding is provided with a lower end winding radially bent toward the lower magnetic pole side, and the four upper end windings are all located on the same north latitude line, The four upper end windings are all located on the same south latitude line; the first spin winding is provided with a plurality of permanent magnets whose number is equal to that of the middle layer magnetic poles, and the plurality of first spin windings are evenly distributed along the circumferential direction of the equator of the rotor sphere; the left end of the first spin winding is provided with a first left end winding which is radially bent toward one side of the middle layer magnetic poles, and the right end of the first spin winding is provided with a first right end winding which is radially bent toward one side of the middle layer magnetic poles; in two adjacent first spin windings, the first left end winding and the first right end winding are parallel to each other.

[0009] As a preferred embodiment of the present invention, when the same inclined winding is energized, the direction of the current flowing through the upper end winding is opposite to the direction of the current flowing through the lower end winding; and when the two inclined windings that are 180 degrees apart are energized, the directions of the current flowing through the two upper end windings are opposite on the plane where the north latitude line of the rotor sphere is located, and the directions of the current flowing through the two lower end windings are opposite on the plane where the south latitude line of the rotor sphere is located.

[0010] As a preferred embodiment of the present invention, when the same first spin winding is energized, the direction of the current flowing through the first left end winding is opposite to the direction of the current flowing through the first right end winding; and when two adjacent first spin windings are energized, the directions of the current flowing through the first left end winding and the first right end winding which are adjacent to each other are the same.

[0011] As a preferred embodiment of the present invention, the stator also includes a second spin winding; the second spin winding is fixed on the stator housing; the second spin winding is provided with a plurality of permanent magnets whose number is equal to that of the intermediate layer magnetic poles, and the plurality of second spin windings are evenly distributed in the circumferential direction of the equator of the rotor sphere, the left end of the second spin winding is provided with a second left end winding radially bent toward one side of the intermediate layer magnetic poles, and the right end of the second spin winding is provided with a second right end winding radially bent toward one side of the intermediate layer magnetic poles; in two adjacent second spin windings, the second left end winding and the second right end winding are adjacent to each other; the second spin winding and the first spin winding are arranged in an offset and overlapping manner in the circumferential direction.

[0012] As a preferred embodiment of the present invention, when the same second spin winding is energized, the direction of the current flowing through the second left end winding is opposite to the direction of the current flowing through the second right end winding; and when two adjacent second spin windings are energized, the directions of the current flowing through the second left end winding and the second right end winding which are adjacent to each other are the same.

[0013] As a preferred solution of the present invention, the number of permanent magnets of the intermediate layer magnetic pole is 6, the number of the first spin windings is 6, and the number of the second spin windings is 6.

[0014] As a preferred solution of the present invention, the first magnetic isolation ring and the second magnetic isolation ring are both made of non-magnetic conductive materials.

[0015] As a preferred solution of the present invention, the rotor sphere is made of soft magnetic material.

[0016] As a preferred solution of the present invention, an output shaft is connected to the north pole of the rotor sphere, and the output shaft is made of non-magnetic material.

[0017] As a preferred solution of the present invention, a bull's eye bearing for supporting the rotation of the rotor is installed on the stator housing; a stator bracket for supporting the spin winding and the tilt winding is fixed on the stator housing.

[0018] Compared with the prior art, the permanent magnetic spherical driver based on the separated winding of the present invention has the following beneficial effects:

[0019] The permanent magnetic spherical driver based on the separate winding of the present invention realizes the tilting movement of the rotor through the electromagnetic relationship structure formed by the upper magnetic pole, the lower magnetic pole and the tilted winding; and realizes the rotational movement of the rotor through the electromagnetic relationship structure formed by the middle magnetic pole and the spin winding; that is, the rotor can rotate in any tilting state; at the same time, through the setting of the first magnetic isolation ring and the second magnetic isolation ring, the magnetic fields between the upper magnetic pole, the middle magnetic pole and the lower magnetic pole do not interfere with each other, thereby realizing multi-degree-of-freedom decoupled tilting movement and rotational movement; and, through the radially bent end winding design, the effective parts of the winding that can react with the permanent magnetic field to generate torque can be closer to their corresponding magnetic poles, while the remaining ineffective parts that do not react with the permanent magnetic field to generate torque are away from the magnetic poles, so as to prevent the excitation magnetic field generated by these ineffective parts after power is turned on from interacting with the magnetic field generated by the permanent magnetic poles of the rotor, thereby reducing the magnetic field utilization rate, thereby reducing torque internal friction, and improving output torque and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings of the embodiment are briefly introduced below.

[0021] Figure 1 is a schematic structural diagram of a permanent magnetic spherical driver based on a separate winding provided in an embodiment of the present invention;

[0022] Figure 2 is a cross-sectional view of a permanent magnetic spherical driver based on a separate winding provided by an embodiment of the present invention;

[0023] Figure 3 is a schematic structural diagram of a first spin winding and a second spin winding in an embodiment of the present invention;

[0024] Figure 4 Schematic diagram of the structure of the rotor in the embodiment of the present invention.

[0025] Markings in the figure:

[0026] Rotor 1; rotor sphere 11; upper magnetic pole 12; middle magnetic pole 13; lower magnetic pole 14; first magnetic isolation ring 15; second magnetic isolation ring 16; output shaft 17;

[0027] stator 2; inclined winding 21; upper end winding 211; lower end winding 212; first spin winding 22; first left end winding 221; first right end winding 222; second spin winding 23; second left end winding 231; second right end winding 232. DETAILED DESCRIPTION

[0028] The following will be combined with the 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 described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like used in the present invention to indicate the orientation or position relationship is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0030] like Figures 1 to 4 Shown is a preferred embodiment of the present invention.

[0031] A permanent magnetic spherical drive based on separate windings comprises a rotor 1 and a stator 2.

[0032] The rotor 1 comprises a rotor sphere 11, an upper magnetic pole 12, an intermediate magnetic pole 13 and a lower magnetic pole 14. The rotor sphere 11 is a hollow sphere. The upper magnetic pole 12 is fixed on the northern hemisphere of the rotor sphere 11 in a spherical shell shape, the lower magnetic pole 14 is fixed on the southern hemisphere of the rotor sphere 11 in a spherical shell shape, the intermediate magnetic pole 13 is fixed near the equator of the rotor sphere 11 in a circular ring shape, the upper magnetic pole 12 and the lower magnetic pole 14 are respectively magnetized radially in opposite directions, the intermediate magnetic pole 13 is composed of a plurality of permanent magnets arranged in a circumferential direction, and any two adjacent permanent magnets are respectively magnetized radially in opposite directions; a first magnetic isolation ring 15 is provided between the upper magnetic pole 12 and the intermediate magnetic pole 13, and a second magnetic isolation ring 16 is provided between the lower magnetic pole 14 and the intermediate magnetic pole 13.

[0033] The stator 2 includes a stator housing (not indicated in the figure), an inclined winding 21 and a first spin winding 22; the inclined winding 21 and the first spin winding 22 are both fixed on the stator housing; there are four inclined windings 21, and the four inclined windings 21 are evenly spaced along the circumferential direction of the equator of the rotor sphere 11, and two adjacent inclined windings 21 form an angle of 90 degrees with each other, and the upper end of the inclined winding 21 is provided with an upper end winding 211 radially bent toward the side of the upper magnetic pole 12, and the lower end of the inclined winding 21 is provided with a lower end winding 212 radially bent toward the side of the lower magnetic pole 14, and the four upper end windings 211 are all located at the same north latitude. On the latitude line, the four upper end windings 211 are all located on the same south latitude line; the first spin winding 22 is provided with a plurality of permanent magnets whose number is equal to that of the intermediate layer magnetic pole 13, and the plurality of first spin windings 22 are evenly distributed along the circumferential direction of the equator of the rotor sphere 11, the left end of the first spin winding 22 is provided with a first left end winding 221 which is radially bent toward one side of the intermediate layer magnetic pole 13, and the right end of the first spin winding 22 is provided with a first right end winding 222 which is radially bent toward one side of the intermediate layer magnetic pole 13; in two adjacent first spin windings 22, the first left end winding 221 and the first right end winding 222 are parallel to each other.

[0034] In this embodiment, when the same inclined winding 21 is energized, the direction of the current flowing through the upper end winding 211 is opposite to the direction of the current flowing through the lower end winding 212; and when the two inclined windings 21 that are 180 degrees apart are energized, the directions of the current flowing through the two upper end windings 211 are oppositely arranged on the plane where the north latitude line of the rotor sphere 11 is located, and the directions of the current flowing through the two lower end windings 212 are oppositely arranged on the plane where the south latitude line of the rotor sphere 11 is located. When the same first spin winding 22 is energized, the direction of the current flowing through the first left end winding 221 is opposite to the direction of the current flowing through the first right end winding 222; and when the two adjacent first spin windings 22 are energized, the directions of the current flowing through the first left end winding 221 and the first right end winding 222 that are adjacent to each other are the same.

[0035] According to the permanent magnetic spherical driver based on the separated winding of the embodiment of the present invention, the end windings (i.e., the upper end winding 211 and the lower end winding 212) at the upper and lower ends of the four inclined windings 21 are made into radial bending structures, so that the effective part where the inclined winding 21 can react with the permanent magnetic field to generate torque is closer to the upper magnetic pole 12 located at the northern hemisphere end of the rotor sphere 11 and the lower magnetic pole 14 located at the southern hemisphere end of the rotor sphere 11, and the current directions of the upper end winding 211 and the lower end winding 212 are opposite when energized, so the upper end winding 211 under power interacts with the magnetic field of the upper magnetic pole 12 to generate a torque, and at the same time, the lower end winding 212 under power interacts with the magnetic field of the lower magnetic pole 14 to generate a torque, and these two torques are in the same direction to form a resultant force that can drive the rotor 1 to perform tilting motion. The tilting motion of the rotor 1 specifically includes the following motion forms:

[0036] When the two inclined windings 21 in the X-axis direction with an angle of 180 degrees to each other are energized and the two inclined windings 21 in the Y-axis direction with an angle of 180 degrees to each other are deenergized, the two energized inclined windings 21 can drive the rotor 1 to perform tilting motion around the Y-axis under the combined force generated by their respective electromagnetic forces.

[0037] When the two inclined windings 21 in the X-axis direction with an angle of 180 degrees to each other are powered off, and the two inclined windings 21 in the Y-axis direction with an angle of 180 degrees to each other are powered on, the two powered inclined windings 21 can drive the rotor 1 to perform tilting motion around the X-axis under the combined force generated by their respective electromagnetic forces.

[0038] When the four inclined windings 21 are energized, the four groups of first windings can drive the rotor 1 to perform an inclined motion around any axis passing through the origin (i.e., the center of the sphere) in the four quadrants of the XY plane rectangular coordinate system under the combined force generated by their respective electromagnetic forces.

[0039] At the same time, the permanent magnetic spherical driver based on the separated winding of the embodiment of the present invention makes the end windings at the left and right ends of each first spin winding 22 (i.e., the first left end winding 221 and the first right end winding 222) into a radial bending structure, so that the effective part of the first spin winding 22 that can generate torque with the permanent magnetic field is closer to the middle layer magnetic pole 13 located near the equator of the rotor sphere 11, and the current directions of the first left end winding 221 and the first right end winding 222 in the same first spin winding 22 are opposite when energized. And in the two adjacent first spin windings 22, the directions of the currents flowing through the first left end winding 221 and the first right end winding 222 which are adjacent to each other are the same; therefore, the first left end winding 221 under power-on interacts with the magnetic field of a permanent magnet in the middle layer magnetic pole 13 to generate a torque, and at the same time, the first right end winding 222 under power-on interacts with the magnetic field of the adjacent permanent magnet in the middle layer magnetic pole 13 with the opposite magnetic field direction to generate a torque, and these two torques both form a resultant force in the same direction that can drive the rotor 1 to rotate.

[0040] It can be seen that the permanent magnetic spherical driver based on the separate winding of the embodiment of the present invention realizes the tilting movement of the rotor 1 through the electromagnetic relationship structure formed by the upper magnetic pole 12, the lower magnetic pole 14 and the tilting winding 21; the rotational movement of the rotor 1 is realized through the electromagnetic relationship structure formed by the middle magnetic pole 13 and the spin winding 22; that is, the rotor 1 can rotate in any tilting state; at the same time, through the setting of the first magnetic isolation ring 15 and the second magnetic isolation ring 16, the magnetic fields between the upper magnetic pole 12, the middle magnetic pole 13 and the lower magnetic pole 14 do not interfere with each other, thereby realizing the tilting movement and rotational movement with multi-degree-of-freedom decoupling; and, through the radially bent end winding design, the effective part of the winding that can generate torque with the permanent magnetic field can be closer to its corresponding magnetic pole, while the other invalid parts that do not generate torque with the permanent magnetic field are far away from the magnetic pole, so as to prevent the excitation magnetic field generated by these invalid parts after power is turned on from interacting with the magnetic field generated by the permanent magnetic pole of the rotor 1, thereby reducing the magnetic field utilization rate, thereby reducing the torque internal friction, and improving the output torque and work efficiency.

[0041] It should be noted that the four tilted windings 21 can be powered independently or synchronously powered as a pair of two tilted windings 21 at an angle of 180 degrees. At the same time, the output torque can be adjusted and the tilting motion direction can be switched by controlling the current size and direction of each tilted winding 21.

[0042] The multiple first spin windings 22 can be energized in a symmetrical alternating manner. Taking six first spin windings 22 arranged in a clockwise direction (hereinafter distinguished by "A, B, C, D, E, F" as an example, when the first spin windings A and B are energized, their symmetrical first spin windings D and E are also energized, while the first spin windings C and F are not energized; after one alternating energization, the first spin windings B and C are energized, their symmetrical first spin windings E and F are also energized, while the first spin windings A and D are not energized; after two energizations, the first spin windings C and D are energized, their symmetrical first spin windings F and A are also energized, while the first spin windings B and E are not energized; after three alternating energizations, the first spin windings D and E are energized, their symmetrical first spin windings A and B are also energized, while the first spin windings C and F are not energized; thus, the above-mentioned energization method is cyclically alternated. At the same time, the output torque can be adjusted and the direction of rotational motion can be switched by controlling the current magnitude and direction of each first spin winding 22 .

[0043] Furthermore, considering that when the first spin winding 22 is facing the permanent magnets in the middle layer magnetic pole 13 one by one, the torque generated by the first left end winding 221 and the middle layer magnetic pole 13 and the torque generated by the first right end winding 222 and the middle layer magnetic pole 13 cancel each other out, thereby preventing the rotor 1 from rotating. Therefore, in order to solve this problem, the stator 2 also includes a second spin winding 23; the second spin winding 23 is fixed on the stator housing; the second spin winding 23 is provided with a plurality of permanent magnets whose number is equal to that of the intermediate layer magnetic pole 13, and the plurality of second spin windings 23 are evenly distributed in the circumferential direction of the equator of the rotor sphere 11; the left end of the second spin winding 23 is provided with a second left end winding 231 which is radially bent toward one side of the intermediate layer magnetic pole 13, and the right end of the second spin winding 23 is provided with a second right end winding 232 which is radially bent toward one side of the intermediate layer magnetic pole 13; in two adjacent second spin windings 23, the second left end winding 231 and the second right end winding 232 are adjacent to each other; the second spin winding 23 and the first spin winding 22 are arranged in an offset and overlapping manner in the circumferential direction. In this embodiment, when the same second spin winding 23 is energized, the direction of the current flowing through the second left end winding 231 is opposite to the direction of the current flowing through the second right end winding 232; and when two adjacent second spin windings 23 are energized, the directions of the current flowing through the second left end winding 231 and the second right end winding 232 which are adjacent to each other are the same. Therefore, by making the end windings at the left and right ends of each second spin winding 23 (i.e., the second left end winding 231 and the second right end winding 232) into a radially bent structure, the effective part of the second spin winding 23 that can generate torque with the permanent magnetic field is closer to the middle layer magnetic pole 13 located near the equator of the rotor sphere 11, and the current directions of the second left end winding 231 and the second right end winding 232 in the same second spin winding 23 are opposite when energized, and the directions of the currents flowing through the second left end winding 231 and the second right end winding 232 that are adjacent to each other in the two adjacent inclined windings 21 are the same; therefore, the second left end winding 231 under power interacts with the magnetic field of a permanent magnet in the middle layer magnetic pole 13 to generate a torque, and at the same time, the second right end winding 232 under power interacts with the magnetic field of the adjacent permanent magnet in the middle layer magnetic pole 13 with the opposite magnetic field direction to generate a torque, and these two torques both form a combined force in the same direction that can drive the rotor 1 to rotate. Such a design, on the one hand, enables the system to drive the rotor 1 to rotate through the interaction between the second spin winding 23 and the intermediate layer magnetic pole 13 when the torques of the first spin winding 22 are mutually canceled; on the other hand, the rotor 1 can obtain at least double the rotational torque under the joint action of the first spin winding 22 and the second spin winding 23, which greatly improves the output torque of the spherical drive.

[0044] It should be noted that the plurality of second spin windings 23 may be energized in a symmetrical alternating manner, which is the same as the energizing manner of the first spin winding 22 and will not be described in detail herein.

[0045] Exemplarily, the number of permanent magnets of the intermediate layer magnetic pole 13 is 6, the number of the first spin windings 22 is 6, and the number of the second spin windings 23 is 6.

[0046] Exemplarily, the first magnetic isolation ring 15 and the second magnetic isolation ring 16 are both made of non-magnetic conductive materials to ensure that the magnetic fields between the upper magnetic pole 12 , the middle magnetic pole 13 and the lower magnetic pole 14 do not interfere with each other.

[0047] Exemplarily, the rotor sphere 11 is preferably made of a soft magnetic material with high magnetic permeability to concentrate the external magnetic field that escapes outward and increase the strength of the magnetic field.

[0048] Exemplarily, an output shaft 17 for outputting outward power is connected to the north pole of the rotor sphere 11. In this embodiment, the output shaft is preferably made of non-magnetic material to prevent the upper magnetic pole 12 from leaking magnetic flux outward along the output shaft, which is beneficial to reduce iron loss.

[0049] Exemplarily, a bull's eye bearing (not shown in the figure) is installed on the stator housing, and the bull's eye bearing is used to support the rotation of the rotor 1 and ensure the uniformity of the air gap between the rotor 1 and the stator 2. In this embodiment, the bull's eye bearing is preferably made of non-magnetic material, which is conducive to reducing iron loss.

[0050] Exemplarily, the stator housing is fixed with a stator support (not shown in the figure) for supporting the spin winding 22 and the tilt winding 21. The stator support can be understood as a mechanical support frame for fixing the winding to ensure the stability and reliability of the structure of the drive during operation.

[0051] In the description of the present invention, it should be understood that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" used in the present invention should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] The above disclosure is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention are still within the scope covered by the present invention.

Claims

1. A permanent magnetic spherical drive based on a separate winding, characterized in that: including a stator and a rotor; The rotor comprises a rotor sphere, an upper magnetic pole, an intermediate magnetic pole and a lower magnetic pole. The rotor sphere is a hollow sphere. The upper magnetic pole is fixed on the northern hemisphere of the rotor sphere in a spherical shell shape, the lower magnetic pole is fixed on the southern hemisphere of the rotor sphere in a spherical shell shape, the intermediate magnetic pole is fixed near the equator of the rotor sphere in a circular ring shape, the upper magnetic pole and the lower magnetic pole are respectively magnetized radially in opposite directions, the intermediate magnetic pole is composed of a plurality of permanent magnets arranged in a circumferential direction, and any two adjacent permanent magnets are respectively magnetized radially in opposite directions; a first magnetic isolation ring is provided between the upper magnetic pole and the intermediate magnetic pole, and a second magnetic isolation ring is provided between the lower magnetic pole and the intermediate magnetic pole; The stator comprises a stator housing, an inclined winding and a first spin winding; the inclined winding and the first spin winding are both fixed on the stator housing; there are four inclined windings, which are evenly spaced along the circumferential direction of the equator of the rotor sphere, and two adjacent inclined windings form an angle of 90 degrees with each other, the upper end of the inclined winding is provided with an upper end winding radially bent toward the upper magnetic pole side, and the lower end of the inclined winding is provided with a lower end winding radially bent toward the lower magnetic pole side, and the four upper end windings are all located on the same north latitude line, The four upper end windings are all located on the same south latitude line; the first spin winding is provided with a plurality of permanent magnets whose number is equal to that of the middle layer magnetic poles, and the plurality of first spin windings are evenly distributed along the circumferential direction of the equator of the rotor sphere; the left end of the first spin winding is provided with a first left end winding which is radially bent toward one side of the middle layer magnetic poles, and the right end of the first spin winding is provided with a first right end winding which is radially bent toward one side of the middle layer magnetic poles; in two adjacent first spin windings, the first left end winding and the first right end winding are parallel to each other.

2. The permanent magnetic spherical driver based on separate windings as claimed in claim 1, characterized in that: When the same inclined winding is energized, the direction of the current flowing through the upper end winding is opposite to the direction of the current flowing through the lower end winding; and when the two inclined windings that are 180 degrees apart are energized, the directions of the current flowing through the two upper end windings are opposite on the plane where the north latitude line of the rotor sphere is located, and the directions of the current flowing through the two lower end windings are opposite on the plane where the south latitude line of the rotor sphere is located.

3. The permanent magnetic spherical driver based on separate windings as claimed in claim 1, characterized in that: When the same first spin winding is energized, the direction of the current flowing through the first left end winding is opposite to the direction of the current flowing through the first right end winding; and when two adjacent first spin windings are energized, the directions of the currents flowing through the first left end winding and the first right end winding that are adjacent to each other are the same.

4. The permanent magnetic spherical driver based on separate windings as claimed in claim 3, characterized in that: The stator also includes a second spin winding; the second spin winding is fixed on the stator housing; the second spin winding is provided with a plurality of permanent magnets whose number is equal to that of the intermediate layer magnetic poles, and the plurality of second spin windings are evenly distributed along the circumferential direction of the equator of the rotor sphere; the left end of the second spin winding is provided with a second left end winding which is radially bent toward one side of the intermediate layer magnetic poles, and the right end of the second spin winding is provided with a second right end winding which is radially bent toward one side of the intermediate layer magnetic poles; in two adjacent second spin windings, the second left end winding and the second right end winding are adjacent to each other; the second spin winding and the first spin winding are arranged in an offset and overlapping manner in the circumferential direction.

5. The permanent magnetic spherical driver based on separate windings as claimed in claim 4, characterized in that: When the same second spin winding is energized, the direction of the current flowing through the second left end winding is opposite to the direction of the current flowing through the second right end winding; and when two adjacent second spin windings are energized, the directions of the current flowing through the second left end winding and the second right end winding that are adjacent to each other are the same.

6. The permanent magnetic spherical driver based on separate windings as claimed in claim 4, characterized in that: The number of permanent magnets of the intermediate layer magnetic pole is 6, the number of the first spin windings is 6, and the number of the second spin windings is 6.

7. The permanent magnetic spherical driver based on separate windings as claimed in claim 1, characterized in that: The first magnetic isolation ring and the second magnetic isolation ring are both made of non-magnetic conductive materials.

8. The permanent magnetic spherical driver based on separate windings as claimed in claim 1, characterized in that: The rotor sphere is made of soft magnetic material.

9. The permanent magnetic spherical driver based on separate windings as claimed in claim 1, characterized in that: An output shaft is connected to the north pole of the rotor sphere, and the output shaft is made of non-magnetic material.

10. The permanent magnetic spherical driver based on separate windings as claimed in claim 1, characterized in that: A bull's eye bearing for supporting the rotation of the rotor is installed on the stator housing; a stator bracket for supporting the spin winding and the tilt winding is fixed on the stator housing.

Images