Multi-rotor permanent magnet torque motor with switchable working modes

Abstract

The invention provides a working mode switchable multi-rotor permanent magnet torque motor, and belongs to the technical field of motors, the working mode switchable multi-rotor permanent magnet torque motor comprises a single-action / linkage switching assembly, a stator assembly and a rotor assembly, the stator assembly and the rotor assembly are both arranged on the outer side of the single-action / linkage switching assembly, the single-action / linkage switching assembly comprises cylindrical double rotating shafts and a linkage bolt, and the linkage bolt is arranged on the outer side of the single-action / linkage switching assembly. The linkage bolt is arranged on the cylindrical double rotating shafts, the stator assembly comprises an assembled stator iron core and an annular winding, the annular winding is arranged on the assembled stator iron core, and the rotor assembly comprises axial and radial mixed double rotors, axial disc type permanent magnets and radial tile-shaped permanent magnets. The axial disc-type permanent magnets and the radial tile-shaped permanent magnets are arranged on the axial and radial hybrid birotors. A double-rotating-shaft structure is adopted, and the double rotating shafts can act independently to output bidirectional torque and can also be connected into a whole through the linkage plug pin to jointly output and superpose large torque.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a multi-rotor permanent magnet torque motor with switchable working modes. Background Art

[0002] Compared with traditional continuously rotating servo motors, permanent magnet torque motors can output large torque at low speeds or even in a stalled state. They have the characteristics of simple structure, high torque density, and simple control strategy. They are widely used in heavy-load actuators such as hydraulic valves, lifting equipment, and robot joints.

[0003] The winding utilization rate of the traditional annular winding permanent magnet torque motor is relatively low. In view of the defect that only one side of the annular winding generates torque, the dual-rotor structure adopted by the existing technical solution still has the problem that the winding end does not generate torque. A four-rotor structure that can fully utilize the four-side conductors of the annular winding is further proposed. However, the existing multi-rotor structure is combined into one by a single shaft, and the rotors cannot operate independently, and can only output unidirectional torque.

[0004] In the existing research field of robot arms, in order to meet the complex movement requirements that human hands cannot complete, multiple motors are often combined into a force arm as joint structures. Although the increase in the number of joints can improve the flexibility of the robot arm, it also makes the multi-joint system have defects such as complex structure, large size, and torque dispersion.

[0005] In view of the low flexibility of traditional permanent magnet torque motors that can only output unidirectional torque and the low torque density of multiple motors combined, how to make a single permanent magnet torque motor have both high flexibility and high torque density, and flexibly switch between the two working modes of outputting bidirectional torque and outputting unidirectional high torque is an urgent problem to be solved. Summary of the invention

[0006] The purpose of the present invention is to provide a multi-rotor permanent magnet torque motor with switchable working modes, which can flexibly switch between two working modes: outputting bidirectional torque and outputting unidirectional large torque, so as to solve the problems of low flexibility of permanent magnet torque motors in the prior art that can only output unidirectional torque and low torque density of a combination of multiple motors.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] A multi-rotor permanent magnet torque motor with switchable working modes comprises a single-acting / linked switching component, a stator component and a rotor component, wherein the stator component and the rotor component are both arranged on the outside of the single-acting / linked switching component, the single-acting / linked switching component comprises a cylindrical double rotating shaft and a linkage latch, wherein the linkage latch is arranged on the cylindrical double rotating shaft, the stator component comprises an assembled stator core and an annular winding, wherein the annular winding is arranged on the assembled stator core, and the rotor component comprises an axial-radial hybrid double rotor, an axial disc permanent magnet and a radial tile-shaped permanent magnet, wherein the axial disc permanent magnet and the radial tile-shaped permanent magnet are both arranged on the axial-radial hybrid double rotor.

[0009] In the single-action mode, the double shafts are respectively connected to the axial-radial hybrid double rotors through bearings, and the double shafts can rotate independently to generate torque in the same direction or opposite direction; when the inner shaft rotates to the linkage position, it can be connected to the outer shaft through the linkage pin to complete the mechanical coupling; the arrangement of the permanent magnets of the rotor assembly changes as the inner shaft rotates, thereby completing the electromagnetic coupling; after completing the mechanical coupling and electromagnetic coupling, the motor can be switched from the single-action mode to the linkage mode. The inner shaft rotates to the single-action position again and the linkage pin pops out to complete the decoupling, and the motor switches from the linkage mode back to the single-action mode. The present invention can flexibly switch between the single-action mode and the linkage mode. In the single-action mode, the motor can be equivalent to two motors that independently output torque on both sides; in the linkage mode, the double shafts connected as one can jointly output large torque in the same direction; the motor has the characteristics of a dual-purpose machine, switchable rotation direction and adjustable torque.

[0010] Furthermore, the cylindrical double rotating shaft comprises a hollow cylindrical outer rotating shaft and a solid cylindrical inner rotating shaft, the outer rotating shaft is sleeved on the inner rotating shaft, and the gap between the rotating shafts is supported by bearings; both the outer rotating shaft and the inner rotating shaft have radially penetrating pin holes.

[0011] Furthermore, a rectangular groove is opened on the right side of the inner shaft in the axial direction, and the groove opening is oriented in the same direction as the inner shaft pin hole; a rectangular groove is opened on the left side of the outer shaft in the axial direction, and the groove opening is oriented in the same direction as the outer shaft pin hole.

[0012] Furthermore, the linkage pin is a long metal structure. In the linkage mode, when the rectangular notches of the two rotating shafts are aligned, the pin holes of the two rotating shafts will also be aligned at the same time. At this time, the linkage pin is inserted to connect the two rotating shafts as a whole, and then jointly output a large torque; in the single-action mode, the linkage pin is popped out, and because there is a bearing support between the two rotating shafts, they can rotate independently without interfering with each other, thereby realizing bidirectional torque output.

[0013] Furthermore, the assembled stator core includes a trapezoidal core and a rectangular core of unequal thickness. The trapezoidal core and the rectangular core are combined to form a four-sided slotted stator core, thereby ensuring that the four-sided conductors of the surrounding winding are all subjected to electromagnetic force to generate torque.

[0014] Furthermore, when winding, the wire can be first wrapped around the rectangular core, and then the rectangular core is bonded to the trapezoidal core, thereby reducing the difficulty of winding. The adopted wrap-around winding is evenly divided into four poles, each pole has a span of 90°, the current polarity passed through the winding between adjacent poles is opposite, and the current polarity passed through the winding between non-adjacent poles is the same.

[0015] Furthermore, it also includes an axially right-side disc-shaped rotor core, which is sleeved on the inner rotating shaft. A disc-shaped permanent magnet is attached to the left surface of the axially right-side disc-shaped rotor core, and is combined with a tile-shaped permanent magnet radially attached to the inner rotating shaft to form an axial-radial hybrid rotor 1. The axial-radial hybrid rotor 1 outputs torque through the inner rotating shaft.

[0016] Furthermore, there are tile-shaped permanent magnets radially attached to the inner side of the hollow cup rotor core, and disc-shaped permanent magnets attached to the right side of the disc-shaped rotor core on the axial left side. The hollow cup rotor core and the disc-shaped rotor core on the axial left side are connected as a whole to form an axial-radial hybrid rotor 2. The axial-radial hybrid rotor 2 is sleeved on the outer rotating shaft and outputs torque through the outer rotating shaft.

[0017] Furthermore, the surface-mounted permanent magnets on the axial-radial hybrid dual rotor can be equivalent to permanent magnet arrays in four regions, the axial left side, the axial right side, the radial inside and the radial outside. The permanent magnet array in each region is evenly divided into four poles. The magnetization directions of the permanent magnets between adjacent poles in the same region are opposite, and the magnetization directions of the permanent magnets between non-adjacent poles are the same.

[0018] Furthermore, according to the angle of the central axis of the permanent magnet array magnetic pole, the positions of the four magnetic poles are defined as 45° pole, 90° pole, 135° pole, and 270° pole. In linkage mode, the relationship between the permanent magnet magnetization directions between the axial left and right sides is: the magnetization directions of the magnetic poles with an angle difference of N1×90° are opposite, and the magnetization directions of the magnetic poles with an angle difference of N2×45° are opposite, where N1 is an even number and N2 is an odd number; the relationship between the permanent magnet magnetization directions between the radial inner and outer sides is similar. In single-action mode, because the axial and radial hybrid dual rotors can rotate independently without interfering with each other, the magnetization direction changes with the angular difference of the dual rotors.

[0019] The present invention has the following beneficial effects due to the adoption of the above technical solution:

[0020] (1) The present invention adopts a dual-shaft structure, which can act independently of each other to output bidirectional torque, or can be connected as a whole through a linkage pin to jointly output a superimposed large torque;

[0021] (2) The rectangular groove on the double rotating shaft can be used as a slot key connection with the load, and can also assist in the alignment of the pin holes on the double rotating shaft. The linkage pin can be flexibly inserted and ejected from the rotating shaft pin hole to achieve single-action / linkage mode switching; when the linkage pin is inserted into the rotating shaft pin hole, the angular difference in the magnetization direction between the permanent magnet arrays in the four areas will be locked, thereby ensuring that the output torque of the double rotating shaft is always in the same direction; when the linkage pin is ejected from the rotating shaft pin hole, the angular difference in the magnetization direction between the permanent magnet arrays in the four areas will change with the angular difference of the double rotating shafts, thereby achieving the output of bidirectional torque of the double rotating shafts. Therefore, the present invention only requires mechanical connection to complete the switching between single-action / linkage mode, and the switching method is flexible, simple, efficient and reliable.

[0022] (3) The present invention adopts an assembled stator core structure, and the assembled stator core includes a trapezoidal core of unequal thickness and a rectangular core. When winding, the conductor can be first wrapped around the rectangular core to form a ring winding, and then the two cores are bonded together to form an assembled stator core. Compared with the traditional one-piece core, the stator structure that is wound first and then assembled is simpler to wind; by assembling two simple shapes of stator cores into a complex whole, the processing cost is lower; the simpler winding method is also a key point to ensure that the conductor can be tightly wound around the stator core and will not scratch the rotor.

[0023] (4) The motor provided by the present invention does not require a complex and redundant intermediate transmission mechanism, can directly output a large torque, and has a simple and compact structure; the torque amplitude of the motor output is approximately proportional to the winding current amplitude, the output torque direction is related to the magnetization direction of the permanent magnet array and the current polarity, and the rotation angle is related to the winding voltage. Therefore, it is only necessary to control the output on the power supply side and lock / unlock the magnetization direction difference between the permanent magnet arrays through mechanical connection, and effective control of the motor can be achieved without complex control strategies. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is an exploded view of the motor assembly components provided by an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of a three-dimensional radial cross-sectional structure of a motor provided by an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of a three-dimensional axial cross-sectional structure of a motor provided by an embodiment of the present invention;

[0027] Figure 4 is a schematic diagram of the axial cross-sectional structure of a motor stator assembly provided by an embodiment of the present invention;

[0028] Figure 5 is a schematic diagram of disassembling a permanent magnet array of a motor provided by an embodiment of the present invention;

[0029] Figure 6is a schematic diagram of the radial magnetic circuit of a motor provided by an embodiment of the present invention;

[0030] Figure 7 It is a schematic diagram of a quarter axial magnetic circuit of a motor provided by an embodiment of the present invention.

[0031] Figure markings, 1-axial right end cover; 2-axial right bearing; 3-axial left end cover; 4-axial left bearing; 5-casing; 6-stator fixing sleeve; 7 stator; 7-1 trapezoidal stator core of unequal thickness; 7-2 rectangular stator core; 7-3 stator annular winding; 8-inner rotating shaft; 9-inner rotating shaft rectangular groove; 10-axial radial hybrid rotor one; 10-1 radial inner surface permanent magnet; 10-2 axial right disc-shaped rotor core; 10-3 axial right surface permanent magnet; 11-outer rotating shaft; 12-outer rotating shaft rectangular groove; 13-outer rotating shaft pin hole; 14-linkage pin; 15-axial radial hybrid rotor core two; 15-1-radial outer surface permanent magnet; 15-2-axial left surface permanent magnet; 16-bearing between double rotating shafts; 17-inner rotating shaft pin hole. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and preferred embodiments. However, it should be noted that many details listed in the specification are only for the purpose of enabling the reader to have a thorough understanding of one or more aspects of the present invention, and these aspects of the present invention can be implemented even without these specific details.

[0033] like Figure 1 As shown, a multi-rotor single-acting linkage switchable permanent magnet torque motor includes a heat dissipation and fixing component, a stator component, a rotor component and a single-acting / linked switching component. The motor structure provided by the present invention can be summarized as a single-stator four-rotor structure, in which the four rotors are combined in pairs, and further evolved into a single-stator dual-axis radial hybrid rotor structure. Through this structural evolution, the motor can be flexibly switched between single-acting / linked modes. In the single-acting mode, the axial-radial hybrid dual rotors can independently output bidirectional torque; in the linked mode, the axial-radial hybrid dual rotors are connected as a whole through the switching component, and can jointly output a large unidirectional torque.

[0034] The heat dissipation and fixing assembly includes an axial right end cover 1, an axial right bearing 2, an axial left end cover 3, an axial left bearing 4, a housing 5, a bearing 16 between the two rotating shafts, and a stator fixing sleeve 6. The axial right end cover and the bearing are sleeved on the inner rotating shaft 8; the axial left end cover and the bearing are sleeved on the outer rotating shaft 11; the housing 5 is arranged between the end covers on both sides; one end of the stator fixing sleeve 6 is sleeved on the outer side of the stator core, and the other side is connected to the axial right end cover 1 as a whole; the bearing 16 between the two rotating shafts is arranged between the inner and outer rotating shafts to ensure that in the single-action mode, the two rotating shafts can rotate independently without interfering with each other.

[0035] The stator assembly includes a trapezoidal stator core 7-1 of unequal thickness, a rectangular stator core 7-2 and a stator annular winding 7-3. The two shapes of stator cores 7-1 and 7-2 are assembled into a stator core with four slots; the stator annular winding 7-3 surrounds the rectangular stator core 7-2.

[0036] The rotor assembly includes an inner rotating shaft 8, a radial inner surface permanent magnet 10-1, an axial right side disc-shaped rotor core 10-2, an axial right side surface permanent magnet 10-3, an outer rotating shaft 11, an axial radial hybrid rotor core 2 15, a radial outer surface permanent magnet 15-1 and an axial left side surface permanent magnet 15-2.

[0037] The radially inner surface permanent magnet 10-1 is attached to the inner rotating shaft 8, and the two are combined to form a radially inner rotor; the axially right surface permanent magnet 10-3 is attached to the axially right disc-shaped rotor core 10-2, and the two are combined to form an axially right rotor; the radially inner rotor and the axially right rotor are combined to form an axial-radial hybrid rotor.

[0038] The radially outer surface permanent magnet 15-1 and the axially left surface permanent magnet 15-2 are both surface-mounted on the axial radial hybrid rotor core 2 15, and the axial radial hybrid rotor core 2 15 is sleeved on the outer rotating shaft 11, and the four are combined to form the axial radial hybrid rotor 2.

[0039] The single-action / linkage switching assembly includes an inner shaft rectangular slot 9, an inner shaft latch hole 17, an outer shaft rectangular slot 12, an outer shaft latch hole 13 and a linkage latch 14. The inner shaft latch hole 17 is a rectangular hole that passes through the inner shaft 8, and the outer shaft latch hole 13 is a rectangular hole that passes through the outer shaft 11; when the inner shaft rectangular slot 9 and the outer shaft rectangular slot 12 are aligned, the inner shaft latch hole 17 and the outer shaft latch hole 13 are also aligned at the same time, and the linkage latch 14 can be inserted into the inner and outer shaft latch holes, so that the inner and outer shafts are mechanically coupled.

[0040] The materials selected for the end cover and the casing in the heat dissipation and fixing assembly are aluminum alloy, and the materials selected for each bearing are high-carbon chromium steel.

[0041] The material selected for the stator core in the stator assembly is silicon steel sheet, and the material selected for the annular winding is round copper wire.

[0042] The material selected for the rotor core in the rotor assembly is silicon steel sheet, the material selected for the permanent magnet is neodymium iron boron permanent magnet material, and the material selected for the rotating shaft is structural steel.

[0043] The material selected for the linkage pin in the single-action / linkage switching assembly is high-strength tungsten steel.

[0044] When in use, the magnetic circuits of the permanent magnet arrays on both sides of the axial direction and the permanent magnet arrays on both sides of the radial direction are closed through the stator and the axial-radial hybrid rotor. After the windings in the four-sided slotted stator core are energized with current, the four-side conductors of the stator windings are all subject to electromagnetic force. Since the stator is connected and fixed to the end cover through a fixed sleeve, the permanent magnet array is subject to a reaction force; since the permanent magnet array is attached to the axial-radial hybrid rotor core, the axial-radial hybrid rotor core can output torque through the rotating shaft. The present invention adopts a dual-shaft structure, combined with a single-acting / linkage switching component, so that the dual shafts can combine to output large unidirectional torques, and can also output bidirectional torques separately.

[0045] Figure 2 It is a schematic diagram of the three-dimensional radial cross-sectional structure of the motor provided by an embodiment of the present invention; a plurality of rectangular heat dissipation teeth are distributed on the casing 5, which increase the heat dissipation area to enhance the heat dissipation capacity of the motor; the stator fixing sleeve 6 is sleeved on the outside of the stator core, which fixes the stator assembly to the axial right end cover 1.

[0046] Figure 3 It is a schematic diagram of the three-dimensional axial cross-sectional structure of the motor provided by an embodiment of the present invention; a plurality of rectangular heat dissipation teeth are distributed on the axial right end cover 1 and the axial left end cover 3, which play a role in increasing the heat dissipation area to enhance the heat dissipation capacity of the motor; the hollow outer shaft 11 is sleeved on the inner shaft 8 through the double shaft bearing 16, at this time, the linkage pin 14 connects the inner and outer shafts into one, and the motor is in linkage mode. The outer shaft rectangular groove 12 and the outer shaft pin hole 13 correspond in position, and the inner shaft rectangular groove 9 and the outer shaft pin hole 17 correspond in position; therefore, when the outer shaft rectangular groove 12 and the inner shaft rectangular groove 9 correspond in position, the motor is in linkage position, and when the two positions are staggered, the motor is in single action position. The inner and outer shaft rectangular grooves play a role in fixing the shaft load and positioning.

[0047] Figure 4 It is a schematic diagram of the axial cross-sectional structure of the motor stator assembly provided by an embodiment of the present invention; the stator core includes two cores of different shapes: a unequal thickness trapezoidal stator core 7-1 and a rectangular parallelepiped stator core 7-2. Since the inner circumference of the stator is shorter than the outer circumference, the unequal thickness trapezoidal shape can meet the requirements of unequal polar arc coefficients of the inner and outer slots; the rectangular parallelepiped shape can meet the requirements of the winding process of tight winding to avoid the phenomenon of sweeping the stator and rotor; the two simple shapes of stator cores are assembled into a complex whole, which can reduce the overall processing difficulty and reduce the manufacturing cost.

[0048] Figure 5It is a disassembly schematic diagram of the permanent magnet array of the motor provided by an embodiment of the present invention; when the motor is in the linkage mode, the angle difference between the inner and outer shafts is fixed to 0, so the magnetization direction difference of each axial and radial permanent magnet array remains fixed. That is, the direction of the resultant force on the stator winding in the synthetic magnetic field of the permanent magnet array is consistent, and a large unidirectional torque can be output together; when the motor is in the single-action mode, due to the pop-up of the linkage pin, the angle difference between the inner and outer shafts is no longer fixed to 0, and the magnetization direction difference of each axial and radial permanent magnet array changes with the change of the dual rotor angle difference. If the axial-radial hybrid permanent magnet array 1 composed of the permanent magnet arrays 10-1 and 10-3 outputs a positive torque, the axial-radial hybrid permanent magnet array 2 composed of the permanent magnet arrays 15-1 and 15-3 can output both a reverse torque and a positive torque.

[0049] Figure 6 It is a schematic diagram of the radial magnetic circuit of the motor provided by an embodiment of the present invention; the direction of the inner adjacent magnetic circuit always keeps alternating counterclockwise and clockwise, and the direction of the outer adjacent magnetic circuit also always keeps alternating counterclockwise and clockwise; in the linkage mode, the directions of the inner and outer adjacent magnetic circuits always keep alternating counterclockwise and clockwise; in the single-action mode, the directions of the inner and outer adjacent magnetic circuits can be flexibly changed according to the requirements of the torque output direction on both sides.

[0050] Figure 7 It is a schematic diagram of a quarter magnetic circuit of the motor axial direction provided by an embodiment of the present invention; the directions of the adjacent magnetic circuits on the upper and lower sides are always kept alternating counterclockwise and clockwise.

[0051] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-rotor permanent magnet torque motor with switchable working modes, characterized in that: The invention comprises a single-acting / linked switching component, a stator component and a rotor component. The stator component and the rotor component are both arranged on the outside of the single-acting / linked switching component. The single-acting / linked switching component comprises a cylindrical double rotating shaft and a linkage latch. The linkage latch is arranged on the cylindrical double rotating shaft. The stator component comprises an assembled stator core and an annular winding. The annular winding is arranged on the assembled stator core. The rotor component comprises an axial-radial hybrid double rotor, an axial disc permanent magnet and a radial tile-shaped permanent magnet. The axial disc permanent magnet and the radial tile-shaped permanent magnet are both arranged on the axial-radial hybrid double rotor.

2. The multi-rotor permanent magnet torque motor with switchable working modes according to claim 1, characterized in that: The cylindrical double rotating shaft comprises a hollow cylindrical outer rotating shaft and a solid cylindrical inner rotating shaft. The outer rotating shaft is sleeved on the inner rotating shaft, and the gap between the rotating shafts is supported by bearings. Both the outer rotating shaft and the inner rotating shaft are provided with radially penetrating pin holes.

3. The multi-rotor permanent magnet torque motor with switchable working modes according to claim 2, characterized in that: The inner shaft is provided with a rectangular groove on the right side of the axis, and the direction of the groove is consistent with the direction of the inner shaft pin hole. The outer shaft is provided with a rectangular groove on the left side of the axis, and the direction of the groove is consistent with the direction of the outer shaft pin hole.

4. The multi-rotor permanent magnet torque motor with switchable working modes according to claim 2, characterized in that: The linkage latch is a long metal structure. In the linkage mode, when the rectangular notches of the two shafts are aligned, the latch holes of the two shafts will also be aligned at the same time. At this time, the linkage latch is inserted to connect the two shafts into one, and then jointly output a large torque; in the single-action mode, the linkage latch pops out, and because there is a bearing support between the two shafts, they can rotate independently without interfering with each other, realizing bidirectional torque output.

5. The multi-rotor permanent magnet torque motor with switchable working modes according to claim 1, characterized in that: The assembled stator core includes a trapezoidal core and a rectangular core of unequal thickness. The trapezoidal core and the rectangular core are combined to form a 4-sided slotted stator core, thereby ensuring that the four-sided conductors of the surrounding winding are all subjected to the electromagnetic force to generate torque.

6. The multi-rotor permanent magnet torque motor with switchable working modes according to claim 5, characterized in that: When winding, the wire can be first wrapped around the rectangular core, and then the rectangular core is glued to the trapezoidal core, thereby reducing the difficulty of winding. The adopted wrap-around winding is evenly divided into four poles, each pole has a span of 90°, the current polarity passed through the winding between adjacent poles is opposite, and the current polarity passed through the winding between non-adjacent poles is the same.

7. The multi-rotor permanent magnet torque motor with switchable working modes according to claim 1, characterized in that: It also includes an axial right-side disc-shaped rotor core, which is sleeved on the inner rotating shaft. A disc-shaped permanent magnet is attached to the left surface of the axial right-side disc-shaped rotor core, and is combined with a tile-shaped permanent magnet radially attached to the inner rotating shaft to form an axial-radial hybrid rotor 1. The axial-radial hybrid rotor 1 outputs torque through the inner rotating shaft.

8. The multi-rotor permanent magnet torque motor with switchable working modes according to claim 7, characterized in that: There are also tile-shaped permanent magnets radially attached to the inner side of the hollow cup rotor core, and disc-shaped permanent magnets attached to the right side of the disc-shaped rotor core on the axial left side. The hollow cup rotor core and the disc-shaped rotor core on the axial left side are connected as a whole to form an axial-radial hybrid rotor 2. The axial-radial hybrid rotor 2 is set on the outer rotating shaft and outputs torque through the outer rotating shaft.

9. The multi-rotor permanent magnet torque motor with switchable working modes according to claim 1, characterized in that: The surface-mounted permanent magnets on the axial-radial hybrid dual rotor can be equivalent to permanent magnet arrays in four regions, the axial left side, the axial right side, the radial inside and the radial outside. The permanent magnet array in each region is evenly divided into four poles. The magnetization directions of the permanent magnets between adjacent poles in the same region are opposite, and the magnetization directions of the permanent magnets between non-adjacent poles are the same.

10. The multi-rotor permanent magnet torque motor with switchable working modes according to claim 9, characterized in that: According to the angle of the central axis of the permanent magnet array magnetic pole, the positions of the four magnetic poles are defined as 45° pole, 90° pole, 135° pole, and 270° pole. In linkage mode, the relationship between the permanent magnet magnetization directions between the axial left and right sides is: the magnetization directions of the magnetic poles with an angle difference of N1×90° are opposite, and the magnetization directions of the magnetic poles with an angle difference of N2×45° are opposite, where N1 is an even number and N2 is an odd number; the relationship between the permanent magnet magnetization directions between the radial inner and outer sides is the same. In single-action mode, because the axial and radial hybrid dual rotors can rotate independently without interfering with each other, the magnetization direction changes with the angular difference of the dual rotors.

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