A permanent magnetic spherical drive based on separate windings

Abstract

This invention discloses a permanent magnet spherical actuator based on a split winding. The rotor's tilting motion is achieved through an electromagnetic relationship structure formed by the upper magnetic pole, lower magnetic pole, and tilting winding; the rotor's rotational motion is achieved through an electromagnetic relationship structure formed by the middle magnetic pole and spin winding. Simultaneously, the arrangement of the first and second magnetic isolation rings ensures that the magnetic fields of the upper, middle, and lower magnetic poles do not interfere with each other, achieving multi-degree-of-freedom decoupled tilting and rotational motion. Furthermore, the radially bent end winding design allows the effective parts of the winding that interact with the permanent magnet magnetic field to generate torque to be closer to their corresponding magnetic poles, while the ineffective parts that do not interact with the permanent magnet magnetic field to be farther away from the magnetic poles. This prevents the excitation magnetic field generated by these ineffective parts after energization from interacting with the magnetic field generated by the rotor's permanent magnet poles, thus reducing magnetic field utilization, reducing torque loss, and improving output torque and operating efficiency.

Description

Technical Field

[0001] This invention belongs to the field of motor technology, specifically relating to a permanent magnet spherical driver based on a split winding. Background Technology

[0002] In modern industrial production, to maximize the working range and efficiency of automated equipment such as robots, mechanisms are often required to achieve multi-degree-of-freedom rotational motion in three-dimensional space. The traditional solution is to combine multiple single-axis drives and numerous links in series or parallel. This type of mechanism has inherent drawbacks that are difficult to overcome, such as large size, poor dynamic characteristics, and severe error accumulation. Furthermore, the weight of the numerous drives and links also reduces the system's efficiency.

[0003] Spherical actuators have two or three rotational degrees of freedom and can rotate around multiple spatial axes around a fixed point. They can overcome the shortcomings of traditional multi-degree-of-freedom motion mechanisms achieved through series and parallel connections. Therefore, this integrated multi-degree-of-freedom spherical actuator has broad application potential in fields such as industrial robots, high-precision machining and assembly, aerospace equipment, and the automotive industry.

[0004] However, traditional spherical actuators use permanent magnets and energized coils to generate multi-degree-of-freedom rotational motion based on the principle of like poles repelling and unlike poles attracting. This configuration suffers from severe coupling and mutual interference between tilting motion and rotational motion, which reduces the utilization rate of the magnetic field and inevitably generates torque loss, affecting the actual output torque and working efficiency of the spherical actuator. Summary of the Invention

[0005] The problem to be solved by the present invention is to provide a permanent magnet spherical driver based on split windings that can effectively improve magnetic field utilization, eliminate torque loss and enhance system efficiency.

[0006] To solve the above-mentioned technical problems, the present invention provides a permanent magnet spherical driver based on split windings, which includes a stator and a rotor;

[0007] The rotor includes a rotor sphere, an upper magnetic pole, a middle magnetic pole, and a lower magnetic pole. The rotor sphere is a hollow sphere. The upper magnetic pole is fixed in a shell shape on the northern hemisphere of the rotor sphere, and the lower magnetic pole is fixed in a shell shape on the southern hemisphere of the rotor sphere. The middle magnetic pole is fixed in a ring shape near the equator of the rotor sphere. The upper and lower magnetic poles are magnetized radially in opposite directions. The middle magnetic pole is composed of multiple permanent magnets arranged along the circumference, and any two adjacent permanent magnets are magnetized radially in opposite directions. A first magnetic isolation ring is provided between the upper and middle magnetic poles, and a second magnetic isolation ring is provided between the lower and middle magnetic poles.

[0008] The stator includes a stator housing, tilting windings, and a first spin winding; both the tilting windings and the first spin winding are fixed to the stator housing; there are four tilting windings, which are evenly distributed along the circumference of the rotor sphere at the equator, with adjacent tilting windings forming a 90-degree angle with each other; the upper end of each tilting winding has an upper end winding that is radially bent towards the upper magnetic pole, and the lower end of each tilting winding has a lower end winding that is radially bent towards the lower magnetic pole; all four upper end windings are located on the same latitude line. All four upper end windings are located on the same south latitude line; the first spin winding has multiple windings, and the number of permanent magnets is equal to that of the intermediate layer magnetic pole. The multiple 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 has a first left end winding that is radially bent toward the intermediate layer magnetic pole, and the right end of the first spin winding has a first right end winding that is radially bent toward the intermediate layer magnetic pole. In two adjacent first spin windings, the first left end winding and the first right end winding are adjacent 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 winding is opposite to the direction of the current flowing through the lower winding; and when the two inclined windings forming a 180-degree angle with each other are energized, the directions of the current flowing through the two upper windings are opposite on the plane of the north latitude line of the rotor sphere, and the directions of the current flowing through the two lower windings are opposite on the plane of the south latitude line of the rotor sphere.

[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 direction of the current flowing through the first left end winding and the first right end winding that are adjacent to each other is the same.

[0011] As a preferred embodiment of the present invention, the stator further includes a second spin winding; the second spin winding is fixed on the stator housing; the second spin winding has multiple windings, the number of which is equal to the number of permanent magnets of the intermediate layer magnetic pole; the multiple 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 has a second left end winding that is radially bent toward the intermediate layer magnetic pole; the right end of the second spin winding has a second right end winding that is radially bent toward the intermediate layer magnetic pole; 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 a staggered 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 direction of the current flowing through the adjacent second left end winding and the second right end winding is the same.

[0013] As a preferred embodiment of the present invention, the intermediate layer magnetic pole has 6 permanent magnets, the first spin winding has 6, and the second spin winding has 6.

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

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

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

[0017] As a preferred embodiment of the present invention, a bullseye 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] The permanent magnet spherical driver based on split windings of the present invention has the following advantages compared with the prior art:

[0019] The permanent magnet spherical actuator based on split windings of the present invention achieves the tilting motion of the rotor through the electromagnetic relationship structure formed by the upper magnetic pole, the lower magnetic pole, and the tilting winding; and achieves the rotational motion 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, the setting of the first and second magnetic isolation rings ensures that the magnetic fields between the upper, middle, and lower magnetic poles do not interfere with each other, realizing multi-degree-of-freedom decoupled tilting and rotational motion. Furthermore, through the radially bent end winding design, the effective parts of the winding that can interact with the permanent magnet magnetic field to generate torque are closer to their corresponding magnetic poles, while the ineffective parts that do not interact with the permanent magnet magnetic field to generate torque are far away from the magnetic poles. This prevents the excitation magnetic field generated by these ineffective parts after being energized from interacting with the magnetic field generated by the rotor permanent magnet poles, which would reduce the magnetic field utilization rate, thereby reducing torque loss and improving output torque and working efficiency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.

[0021] Figure 1 This is a schematic diagram of the structure of a permanent magnet spherical driver based on split windings provided in an embodiment of the present invention;

[0022] Figure 2 This is a cross-sectional view of a permanent magnet spherical driver based on split windings provided in an embodiment of the present invention;

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

[0024] Figure 4 This is a schematic diagram of the rotor structure in an embodiment of the present invention.

[0025] Marked in the image:

[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 Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., used to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] like Figures 1 to 4 As shown, this is a preferred embodiment of the present invention.

[0031] A permanent magnet spherical drive based on split windings includes a rotor 1 and a stator 2.

[0032] The rotor 1 includes 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 in a spherical shell shape on the northern hemisphere of the rotor sphere 11, and the lower magnetic pole 14 is fixed in a spherical shell shape on the southern hemisphere of the rotor sphere 11. The intermediate magnetic pole 13 is fixed in a circular ring shape near the equator of the rotor sphere 11. 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 multiple permanent magnets arranged along the circumference, 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 shown in the figure), tilted windings 21, and a first spin winding 22; both the tilted windings 21 and the first spin winding 22 are fixed to the stator housing; there are four tilted windings 21, which are evenly distributed along the circumference of the rotor sphere 11 at the equator, with adjacent tilted windings 21 forming a 90-degree angle with each other. The upper end of each tilted winding 21 has an upper end winding 211 that is radially bent toward the upper magnetic pole 12, and the lower end of each tilted winding 21 has a lower end winding 212 that is radially bent toward the lower magnetic pole 14. All four upper end windings 211 are located at the same latitude. On the latitude line, all four upper end windings 211 are located on the same south latitude line; the first spin winding 22 has multiple windings, and the number of the first spin windings 22 is equal to the number of permanent magnets of the intermediate layer magnetic pole 13. The multiple 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 has a first left end winding 221 that is radially bent toward the intermediate layer magnetic pole 13, and the right end of the first spin winding 22 has a first right end winding 222 that is radially bent toward 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 adjacent to each other.

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

[0035] According to an embodiment of the present invention, the permanent magnet spherical actuator based on split windings utilizes radially bent structures for the end windings (i.e., upper end winding 211 and lower end winding 212) at both ends of the four inclined windings 21. This allows the effective portion of the inclined windings 21 that generates torque through interaction with the permanent magnet magnetic field to be 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. Furthermore, the current directions of the upper end windings 211 and lower end windings 212 when energized are opposite. Therefore, the interaction between the energized upper end winding 211 and the magnetic field of the upper magnetic pole 12 generates a torque, and the interaction between the energized lower end winding 212 and the magnetic field of the lower magnetic pole 14 also generates a torque. These two torques, acting in the same direction, form a resultant force capable of driving the rotor 1 to tilt. The tilting motion of the rotor 1 specifically includes the following motion forms:

[0036] When the two inclined windings 21 that are at a 180-degree angle to each other in the X-axis direction are energized and the two inclined windings 21 that are at a 180-degree angle to each other in the Y-axis direction are de-energized, the two energized inclined windings 21 can drive the rotor 1 to make inclined motion around the Y-axis under the resultant force generated by their respective electromagnetic forces.

[0037] When the two inclined windings 21 that are at a 180-degree angle to each other in the X-axis direction are de-energized, and the two inclined windings 21 that are at a 180-degree angle to each other in the Y-axis direction are energized, the two energized inclined windings 21 can drive the rotor 1 to make inclined motion around the X-axis under the combined force generated by their respective electromagnetic forces.

[0038] When the four tilting windings 21 are energized, the four sets of first windings, under the combined force generated by their respective electromagnetic forces, can drive the rotor 1 to tilt 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.

[0039] Meanwhile, in this embodiment of the permanent magnet spherical actuator based on split windings, the end windings at both ends of each first spin winding 22 (i.e., the first left end winding 221 and the first right end winding 222) are made into radially bent structures. This makes the effective part of the first spin winding 22 that can generate torque by interacting with the permanent magnet magnetic field closer to the intermediate layer magnetic pole 13 located near the equator of the rotor sphere 11. Furthermore, 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. Furthermore, in the two adjacent first spin windings 22, the current flowing through the first left end winding 221 and the first right end winding 222 that are adjacent to each other has the same direction; therefore, when the first left end winding 221 is energized, it interacts with the magnetic field of a permanent magnet in the intermediate layer magnetic pole 13 to generate a torque. At the same time, when the first right end winding 222 is energized, it interacts with the magnetic field of an adjacent permanent magnet in the intermediate layer magnetic pole 13 with opposite magnetic field directions to generate a torque. Both of these torques form a resultant force that can drive the rotor 1 to rotate in the same direction.

[0040] Therefore, the permanent magnet spherical actuator based on split windings in this embodiment of the invention realizes the tilting motion 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; and realizes the rotational motion of the rotor 1 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, realizing multi-degree-of-freedom decoupled tilting motion and rotational motion. Furthermore, through the radially bent end winding design, the effective parts of the winding that can interact with the permanent magnet magnetic field to generate torque can be closer to their corresponding magnetic poles, while the ineffective parts that do not interact with the permanent magnet magnetic field to generate torque are far away from the magnetic poles. This prevents the excitation magnetic field generated by these ineffective parts after being energized from interacting with the magnetic field generated by the permanent magnet poles of the rotor 1, which would reduce the magnetic field utilization rate, thereby reducing torque loss and improving output torque and working efficiency.

[0041] It should be noted that the four tilting windings 21 can be energized independently, or they can be energized synchronously in pairs of two tilting windings 21 that are at a 180-degree angle to each other. Furthermore, the output torque can be adjusted and the tilting motion direction can be switched by controlling the magnitude and direction of the current in each tilting winding 21.

[0042] Multiple first spin windings 22 can be energized in a symmetrical alternating manner. Taking six first spin windings 22 arranged in a clockwise direction as an example (hereinafter referred to as "A, B, C, D, E, F"), when first spin windings A and B are energized, their symmetrical first spin windings D and E are also energized, while first spin windings C and F are not energized. After one alternating energization, first spin windings B and C are energized, and their symmetrical first spin windings E and F are also energized, while first spin windings A and D are not energized. After a second energization, first spin windings C and D are energized, and their symmetrical first spin windings F and A are also energized, while first spin windings B and E are not energized. After a third alternating energization, first spin windings D and E are energized, and their symmetrical first spin windings A and B are also energized, while first spin windings C and F are not energized. This energizing process is repeated cyclically. Meanwhile, the output torque can be adjusted and the rotational motion direction can be switched by controlling the magnitude and direction of the current in each first spin winding 22.

[0043] Furthermore, considering that when the first spin winding 22 and the permanent magnets in the intermediate magnetic pole 13 are directly opposite each other, the torque generated by the first left end winding 221 and the intermediate magnetic pole 13 cancels out the torque generated by the first right end winding 222 and the intermediate magnetic pole 13, thus making it impossible for the rotor 1 to rotate. Therefore, to solve this problem, the stator 2 further includes a second spin winding 23; the second spin winding 23 is fixed on the stator housing; multiple second spin windings 23 are provided, and the number is equal to the number of permanent magnets of the intermediate layer magnetic pole 13. The multiple second spin windings 23 are evenly distributed along 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 that is radially bent toward 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 that is radially bent toward 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 windings 23 and the first spin winding 22 are arranged in a staggered 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 direction of the current flowing through the adjacent second left end winding 231 and second right end winding 232 is the same. Therefore, by making the end windings at both ends of each second spin winding 23 (i.e., the second left end winding 231 and the second right end winding 232) into radially bent structures, the effective part of the second spin winding 23 that can generate torque by interacting with the permanent magnet magnetic field is closer to the intermediate layer magnetic pole 13 located near the equator of the rotor sphere 11. Furthermore, 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 current directions of the two adjacent inclined windings 21 flowing through the adjacent second left end winding 231 and the second right end winding 232 are the same. Thus, the second left end winding 231 under energization interacts with the magnetic field of a permanent magnet in the intermediate layer magnetic pole 13 to generate a torque, and the second right end winding 232 under energization interacts with the magnetic field of an adjacent permanent magnet in the intermediate layer magnetic pole 13 with opposite magnetic field directions to generate a torque. These two torques form a resultant force in the same direction that can drive the rotor 1 to rotate. This design allows the system to drive the rotor 1 to rotate through the interaction between the second spin winding 23 and the intermediate magnetic pole 13 even when the first spin winding 22 is in a state of torque cancellation. On the other hand, the rotor 1 can obtain at least twice the rotational torque under the combined action of the first spin winding 22 and the second spin winding 23, which greatly improves the output torque of the spherical actuator.

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

[0045] For example, the intermediate layer magnetic pole 13 has 6 permanent magnets, the first spin winding 22 has 6, and the second spin winding 23 has 6.

[0046] For example, the first magnetic shielding ring 15 and the second magnetic shielding ring 16 are both made of non-magnetic 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] For example, the rotor sphere 11 is preferably a soft magnetic material with high permeability to concentrate the outwardly dissipating external magnetic field and increase the strength of the magnetic field.

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

[0049] For example, a bullseye bearing (not shown in the figure) is installed on the stator housing. This bullseye bearing supports the rotation of the rotor 1 and ensures the uniformity of the air gap between the rotor 1 and the stator 2. In this embodiment, the bullseye bearing is preferably made of a non-magnetic material, which helps to reduce iron loss.

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

[0051] In the description of this invention, it should be understood that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" used in this invention should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0052] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A permanent magnet spherical actuator based on split windings, characterized in that, Includes stator and rotor; The rotor includes a rotor sphere, an upper magnetic pole, a middle magnetic pole, and a lower magnetic pole. The rotor sphere is a hollow sphere. The upper magnetic pole is fixed in a shell shape on the northern hemisphere of the rotor sphere, and the lower magnetic pole is fixed in a shell shape on the southern hemisphere of the rotor sphere. The middle magnetic pole is fixed in a ring shape near the equator of the rotor sphere. The upper and lower magnetic poles are magnetized radially in opposite directions. The middle magnetic pole is composed of multiple permanent magnets arranged along the circumference, and any two adjacent permanent magnets are magnetized radially in opposite directions. A first magnetic isolation ring is provided between the upper and middle magnetic poles, and a second magnetic isolation ring is provided between the lower and middle magnetic poles. The stator includes a stator housing, tilting windings, and a first spin winding; both the tilting windings and the first spin winding are fixed to the stator housing; there are four tilting windings, which are evenly distributed along the circumference of the rotor sphere at the equator, with adjacent tilting windings forming a 90-degree angle with each other; the upper end of each tilting winding has an upper end winding that is radially bent towards the upper magnetic pole, and the lower end of each tilting winding has a lower end winding that is radially bent towards the lower magnetic pole; all four upper end windings are located on the same latitude line. All four upper end windings are located on the same south latitude line; the first spin winding has multiple windings, and the number of permanent magnets is equal to that of the intermediate layer magnetic pole. The multiple 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 has a first left end winding that is radially bent toward the intermediate layer magnetic pole, and the right end of the first spin winding has a first right end winding that is radially bent toward the intermediate layer magnetic pole. In two adjacent first spin windings, the first left end winding and the first right end winding are adjacent to each other.

2. The permanent magnet spherical actuator based on split windings as described in claim 1, characterized in that, When the same inclined winding is energized, the direction of the current flowing through the upper winding is opposite to the direction of the current flowing through the lower winding; and when the two inclined windings forming a 180-degree angle with each other are energized, the directions of the current flowing through the two upper windings are opposite on the plane of the north latitude line of the rotor sphere, and the directions of the current flowing through the two lower windings are opposite on the plane of the south latitude line of the rotor sphere.

3. The permanent magnet spherical actuator based on split windings as described 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 direction of the current flowing through the adjacent first left end winding and first right end winding is the same.

4. The permanent magnet spherical actuator based on split windings as described in claim 3, characterized in that, The stator further includes a second spin winding; the second spin winding is fixed on the stator housing; the second spin winding has multiple windings, the number of which is equal to the number of permanent magnets of the intermediate layer magnetic pole; the multiple 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 has a second left end winding that is radially bent toward the intermediate layer magnetic pole; the right end of the second spin winding has a second right end winding that is radially bent toward the intermediate layer magnetic pole; 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 a staggered overlapping manner in the circumferential direction.

5. The permanent magnet spherical actuator based on split windings as described 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 direction of the current flowing through the adjacent second left end winding and second right end winding is the same.

6. The permanent magnet spherical actuator based on split windings as described in claim 4, characterized in that, The intermediate layer magnetic pole has 6 permanent magnets, the first spin winding has 6, and the second spin winding has 6.

7. The permanent magnet spherical actuator based on split windings as described in claim 1, characterized in that, Both the first magnetic shielding ring and the second magnetic shielding ring are made of non-magnetic materials.

8. The permanent magnet spherical actuator based on split windings as described in claim 1, characterized in that, The rotor sphere is made of soft magnetic material.

9. The permanent magnet spherical actuator based on split windings as described in claim 1, characterized in that, An output shaft is connected at the north pole position of the rotor sphere, and the output shaft is made of a non-magnetic material.

10. The permanent magnet spherical actuator based on split windings as described in claim 1, characterized in that, The stator housing is equipped with a bullseye bearing for supporting the rotation of the rotor; the stator housing is fixed with a stator bracket for supporting the spin winding and the tilt winding.

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