Flexible motor

Abstract

The invention discloses a flexible motor. The flexible motor comprises a housing; the stator assembly is arranged in the shell; the outer rotating sleeve is rotationally connected into the shell, and a rotor assembly is arranged on the outer side of the outer rotating sleeve; the inner rotating shaft is rotationally connected into the outer rotating sleeve, a first clutch assembly is arranged between the bottom of the inner rotating shaft and the bottom side of the shell, a second clutch assembly is arranged between the inner rotating shaft and the outer rotating sleeve, the top end of the inner rotating shaft upwards extends out of the outer rotating sleeve and the shell, and the top end of the inner rotating shaft is rotationally connected with an output rod along the axis in the horizontal direction; a transmission assembly is arranged between the output rod and the outer rotating sleeve, and when the outer rotating sleeve rotates, the inner rotating shaft can be driven to rotate through the transmission assembly, and through control over the first clutch assembly and the second clutch assembly, the output rod can rotate along the axis of the output rod so as to output power; or the inclination angle can be adjusted according to use requirements so as to achieve the purposes of autorotation, reciprocating swinging or supporting and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a flexible motor. Background Art

[0002] A motor includes a stator and a rotor. When powered on, the rotor can be rotated to output power outward. Currently, the rotor is usually a rigid output shaft, which can only output power outward in a fixed direction, with a relatively single function. And limited by the volume of the motor itself or the environmental space used, it is difficult for the motor to connect and expand more structures. Therefore, there is an urgent need for a more flexible motor. Summary of the Invention

[0003] The purpose of the present invention is to provide a flexible motor to solve one or more technical problems in the prior art, and at least provide a beneficial alternative or create conditions.

[0004] The solution of the present invention to solve its technical problems is as follows: A flexible motor includes: a housing; a stator assembly disposed within the housing; an outer rotating sleeve rotatably connected to the housing about an axis in the up-down direction, with a rotor assembly disposed on the outer side of the outer rotating sleeve; an inner rotating shaft rotatably connected to the outer rotating sleeve about an axis in the up-down direction, with a first clutch assembly disposed between the bottom of the inner rotating shaft and the bottom side of the housing, the first clutch assembly being capable of connecting or disconnecting the inner rotating shaft and the housing from each other, a second clutch assembly being disposed between the inner rotating shaft and the outer rotating sleeve, the second clutch assembly being capable of connecting or disconnecting the inner rotating shaft and the outer rotating sleeve from each other, the top end of the inner rotating shaft extending upward out of the outer rotating sleeve and the housing, the top end of the inner rotating shaft being rotatably connected about an axis in the horizontal direction with an output rod, a transmission assembly being disposed between the output rod and the outer rotating sleeve, and when the outer rotating sleeve rotates, it can drive the inner rotating shaft to rotate through the transmission assembly.

[0005] The technical solution has at least the following beneficial effects: The stator assembly is arranged inside the housing, and the rotor assembly is arranged outside the outer rotating sleeve. Through the interaction between the stator assembly and the rotor assembly, the outer rotating sleeve can be rotated inside the housing. Since a second clutch assembly is arranged between the outer rotating sleeve and the inner rotating shaft, and a first clutch assembly is arranged between the inner rotating shaft and the housing, by changing the states of the first clutch assembly and the second clutch assembly, different output states of the output rod can be formed. Specifically, when the first clutch assembly separates the inner rotating shaft from the housing and the second clutch assembly connects the outer rotating sleeve to the inner rotating shaft, when the rotor assembly drives the outer rotating sleeve to rotate, the inner rotating shaft can be driven to rotate. At this time, since there is no relative rotation between the outer rotating sleeve and the inner rotating shaft, the output rod on the inner rotating shaft will rotate along the axis in the up and down direction following the inner rotating shaft, thereby realizing the self-rotation of the output rod; when the first clutch assembly connects the inner rotating shaft to the housing and the second clutch assembly separates the outer rotating sleeve from the inner rotating shaft, the rotor assembly drives the outer rotating sleeve to rotate. At this time, the inner rotating shaft is relatively fixed inside the housing and does not rotate together with the outer rotating sleeve. Since there is relative rotation between the outer rotating sleeve and the inner rotating shaft, the output rod can be driven to rotate along the axis in the horizontal direction through the transmission assembly, so that the angular orientation of the output rod changes. Thus, through the control of the first clutch assembly and the second clutch assembly, the output rod can rotate along its own axis to output power, or the tilt angle can be adjusted according to the usage requirements for purposes such as self-rotation, reciprocating swing, or support. It is flexible to use and has a wider scope of application.

[0006] As a further improvement of the above technical solution, the first clutch assembly includes a first connecting ring and a first coil. The bottom end of the inner rotating shaft extends downward out of the outer rotating sleeve. The first connecting ring is connected to the outer side of the bottom of the inner rotating shaft extending out of the outer rotating sleeve. A first sealing ring is connected between the bottom side of the first connecting ring and the inner bottom side of the housing. Two first sealing rings are arranged at a radial interval with the first connecting ring. The first connecting ring, the inner bottom side of the housing and the two first sealing rings are filled with a first magnetorheological fluid. The first coil is connected to the outer bottom side of the housing corresponding to the position between the two first sealing rings. There is a gap between the bottom side of the first connecting ring and the inner bottom side of the housing, and the two first sealing rings arranged at a radial interval close the gap in the inner and outer directions, so that a first cavity is formed between the bottom side of the first connecting ring, the inner bottom side of the housing and the two first connecting rings. The first magnetorheological fluid is filled in this first cavity. When the first coil is not energized, the first magnetorheological fluid is in a state of low viscosity and high fluidity, and the first connecting ring is subject to less resistance during rotation, so that the inner rotating shaft can rotate relative to the housing, realizing the separation of the inner rotating shaft and the housing by the first clutch assembly. When the first coil is energized, the first magnetorheological fluid is in a state of high viscosity and low fluidity, restricting the rotation of the first connecting ring in the housing, realizing the connection of the inner rotating shaft and the housing by the first clutch assembly. In this way, the first clutch assembly can realize the connection and separation of the inner rotating shaft and the housing, and has a compact structure and occupies a small space, especially suitable for motors with a small volume.

[0007] As a further improvement of the above technical solution, the bottom side of the first connecting ring is provided with first ribs. The first ribs extend along the radial direction of the first connecting ring, and a plurality of first ribs are arranged at intervals around the first connecting ring. Second ribs are respectively arranged on the inner bottom side of the housing corresponding to the positions of the plurality of first ribs. On the bottom side of the first connecting ring, a first gap for accommodating the first magnetorheological fluid is formed between two adjacent first ribs, and on the inner bottom side of the housing, a second gap for accommodating the first magnetorheological fluid is also formed between two adjacent second ribs. When the first coil is not energized, the first magnetorheological fluid is in a state of low viscosity and high fluidity, which does not affect the rotation of the first connecting ring relative to the housing. When the first coil is energized, the second magnetorheological fluid is in a state of high viscosity and low fluidity. At this time, the first magnetorheological fluid between the first gap and the second gap forms an approximately solidified state, effectively restricting the rotation of the first connecting ring relative to the housing, thereby further improving the reliability when the first connecting ring and the housing are relatively fixed.

[0008] As a further improvement of the above technical solution, a first groove is provided on the outer bottom side of the housing corresponding to the position between the two first sealing rings, and the first coil is disposed in the first groove. The first groove can reduce the thickness of the bottom side of the housing, making the first coil closer to the first magnetorheological fluid, which is beneficial to enhancing the utilization rate of magnetic induction lines when the first coil is energized. Moreover, the first groove can provide a space for accommodating the first coil, making the overall structure more compact.

[0009] As a further improvement of the above technical solution, the second clutch assembly includes a second connecting ring and a second coil. The second connecting ring is connected to the outer side of the outer rotating sleeve. A second sealing ring is connected between the bottom side of the second connecting ring and the top side of the first connecting ring. Two second sealing rings are arranged at intervals along the radial direction of the second connecting ring. The second magnetic rheological fluid is filled between the second connecting ring, the first connecting ring and the two second sealing rings. The second coil is connected to the top side of the second connecting ring corresponding to the position between the two second sealing rings. There is a gap between the bottom side of the second connecting ring and the top side of the first connecting ring, and the gap is closed in the inner and outer directions by two second sealing rings arranged at intervals in the radial direction, so that a second cavity is formed among the bottom side of the second connecting ring, the top side of the first connecting ring and the two second connecting rings. The second magnetic rheological fluid is filled in this second cavity. When the second coil is not energized, the second magnetic rheological fluid is in a state of low viscosity and high fluidity, and the second connecting ring is subjected to less resistance when rotating, so that the outer rotating sleeve can rotate relative to the inner rotating shaft, realizing the separation of the second clutch assembly between the outer rotating sleeve and the inner rotating shaft. When the second coil is energized, the second magnetic rheological fluid is in a state of high viscosity and low fluidity, restricting the rotation of the second connecting ring relative to the first connecting ring, realizing the connection of the second clutch assembly between the outer rotating sleeve and the inner rotating shaft. In this way, the second clutch assembly can realize the connection and separation between the outer rotating sleeve and the inner rotating shaft, and has a compact structure and occupies a small space, especially suitable for motors with a small volume.

[0010] As a further improvement of the above technical solution, a first magnetic isolation ring is connected to the top side of the first connection ring. A third convex rib is provided on the top side of the first magnetic isolation ring. The third convex rib extends along the radial direction of the first magnetic isolation ring. A plurality of the third convex ribs are arranged at intervals around the first magnetic isolation ring. Fourth convex ribs are respectively arranged at positions on the bottom side of the second connection ring corresponding to the plurality of third convex ribs. By connecting a first magnetic isolation ring to the top side of the first connection ring, the influence of the first coil on the first magnetorheological fluid during energization can be effectively reduced by using the first magnetic isolation ring. And a third convex rib is provided on the top side of the first magnetic isolation ring. A third gap capable of accommodating the second magnetorheological fluid is formed between two adjacent third convex ribs. And on the bottom side of the second connection ring, a fourth gap for accommodating the second magnetorheological fluid is also formed between two adjacent fourth convex ribs. When the second coil is not energized, the second magnetorheological fluid is in a state of low viscosity and high fluidity, which does not affect the relative rotation of the second connection ring with respect to the first connection ring, so that the outer rotating sleeve can rotate relative to the inner rotating shaft. When the second coil is energized, the second magnetorheological fluid is in a state of high viscosity and low fluidity. At this time, the second magnetorheological fluid between the third gap and the fourth gap forms an approximately solidified state, effectively restricting the relative rotation of the second connection ring with respect to the first connection ring, thereby further improving the reliability of power transmission from the outer rotating sleeve to the inner rotating shaft.

[0011] As a further improvement of the above technical solution, second grooves are provided at positions on the top side of the second connection ring corresponding to the two second sealing rings. The second coil is located in the second grooves. A second magnetic isolation ring is connected to the top side of the second connection ring. The second magnetic isolation ring covers the top side of the second coil. The second grooves can reduce the thickness of the bottom side of the housing, making the second coil closer to the second magnetorheological fluid, which is beneficial to enhancing the utilization rate of magnetic induction lines when the second coil is energized. And the second grooves can provide a space for accommodating the second coil, making the overall structure more compact. In addition, the second magnetic isolation ring can not only protect the second coil, but also reduce the interference of the magnetic field from above, which is beneficial to improving the utilization rate of magnetic induction lines.

[0012] As a further improvement of the above technical solution, the transmission assembly includes a toothed ring and a gear. The toothed ring is connected to the top end of the outer rotating sleeve. Gears are respectively connected to both sides of the output rod. The two gears are respectively meshed with the toothed ring. When the outer rotating sleeve rotates, power transmission is realized by the meshing of the toothed ring and the gears, and the output rod is driven from both sides of the output rod, so that the output rod rotates along the horizontal axis.

[0013] As a further improvement of the above technical solution, the stator assembly includes a winding coil disposed inside the housing. There are six winding coils arranged around the center of the housing. The six winding coils are arranged inside the housing. Taking two mutually facing winding coils as a working group, during operation, by energizing different working groups, it interacts with the rotor assembly, thereby driving the outer rotating sleeve to rotate or reciprocate within different angular ranges.

[0014] As a further improvement of the above technical solution, the rotor assembly includes permanent magnets disposed outside the outer rotating sleeve. There are four permanent magnets arranged around the outer rotating sleeve, and the magnetic poles of two adjacent permanent magnets are opposite. The four permanent magnets are fixed outside the outer rotating sleeve and rotate inside the housing following the outer rotating sleeve. At this time, it is not necessary to energize the rotor assembly, which can simplify the structure inside the housing. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly describe the drawings required for the description of the embodiments. Obviously, the described drawings are only a part of the embodiments of the present invention, not all embodiments. Those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative efforts.

[0016] Figure 1 is the overall three-dimensional view of the present invention.

[0017] Figure 2 is the overall front view of the present invention.

[0018] Figure 3 is Figure 2 the schematic cross-sectional structure diagram of A-A of

[0019] Figure 4 is Figure 3 the partial enlarged schematic diagram of part B of

[0020] In the drawings: 100 - housing, 210 - stator assembly, 220 - rotor assembly, 300 - outer rotating sleeve, 310 - gear ring, 400 - inner rotating shaft, 410 - output rod, 411 - gear, 510 - first connecting ring, 520 - first coil, 530 - first sealing ring, 540 - first rib, 550 - second rib, 610 - second connecting ring, 620 - second coil, 630 - second sealing ring, 640 - first magnetic isolation ring, 650 - third rib, 660 - fourth rib, 670 - second magnetic isolation ring. Detailed Embodiments

[0021] The concept, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and the drawings, so as to fully understand the purpose, features and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative efforts all fall within the scope of protection of the present invention. In addition, all the connection relationships mentioned in the text do not simply refer to the direct connection of components, but refer to the formation of a more optimal connection structure by adding or reducing connection accessories according to specific implementation situations. The various technical features in the present invention can be combined interactively without conflicting with each other.

[0022] Referring to Figures 1 to 4 , a flexible motor includes: a housing 100; a stator assembly 210 disposed within the housing 100; an outer rotating sleeve 300 rotatably connected to the housing 100 about an axis in the up and down direction, with a rotor assembly 220 disposed on the outer side of the outer rotating sleeve 300; an inner rotating shaft 400 rotatably connected to the outer rotating sleeve 300 about an axis in the up and down direction, and a first clutch assembly is provided between the bottom of the inner rotating shaft 400 and the bottom side of the housing 100, and the first clutch assembly can connect or disconnect the inner rotating shaft 400 and the housing 100 from each other. A second clutch assembly is provided between the inner rotating shaft 400 and the outer rotating sleeve 300, and the second clutch assembly can connect or disconnect the inner rotating shaft 400 and the outer rotating sleeve 300 from each other. The top end of the inner rotating shaft 400 extends upward out of the outer rotating sleeve 300 and the housing 100, and an output rod 410 is rotatably connected to the top end of the inner rotating shaft 400 about an axis in the horizontal direction. A transmission assembly is provided between the output rod 410 and the outer rotating sleeve 300, and when the outer rotating sleeve 300 rotates, it can drive the inner rotating shaft 400 to rotate through the transmission assembly.

[0023] In this flexible motor, the stator assembly 210 is disposed within the housing 100, and the rotor assembly 220 is disposed outside the outer rotating sleeve 300. Through the interaction between the stator assembly 210 and the rotor assembly 220, the outer rotating sleeve 300 can be rotated within the housing 100. Since a second clutch assembly is provided between the outer rotating sleeve 300 and the inner rotating shaft 400, and a first clutch assembly is provided between the inner rotating shaft 400 and the housing 100, by changing the states of the first clutch assembly and the second clutch assembly, different output states of the output rod 410 can be achieved. Specifically, the first clutch assembly separates the inner rotating shaft 400 from the housing 100, and the second clutch assembly connects the outer rotating sleeve 300 to the inner rotating shaft 400. When the rotor assembly 220 drives the outer rotating sleeve 300 to rotate, the inner rotating shaft 400 can be driven to rotate. At this time, since there is no relative rotation between the outer rotating sleeve 300 and the inner rotating shaft 400, the output rod 410 on the inner rotating shaft 400 will rotate along the axis in the vertical direction following the inner rotating shaft 400, thereby realizing the self-rotation of the output rod 410. When the first clutch assembly connects the inner rotating shaft 400 to the housing 100 and the second clutch assembly separates the outer rotating sleeve 300 from the inner rotating shaft 400, the rotor assembly 220 drives the outer rotating sleeve 300 to rotate. At this time, the inner rotating shaft 400 is relatively fixed within the housing 100 and does not rotate together with the outer rotating sleeve 300. Since there is relative rotation between the outer rotating sleeve 300 and the inner rotating shaft 400, the output rod 410 can be driven to rotate along the axis in the horizontal direction through the transmission assembly, causing the angular orientation of the output rod 410 to change. Thus, by controlling the first clutch assembly and the second clutch assembly, the output rod 410 can rotate along its own axis to output power, or the tilt angle can be adjusted according to the usage requirements for purposes such as self-rotation, reciprocating swing, or support. The use is flexible and the applicable range is wider.

[0024] The first clutch assembly mainly realizes the connection or separation between the inner rotating shaft 400 and the outer shell 100, and there are various structural forms. For example, an electromagnetic plug can be used to lock or separate the inner rotating shaft 400 and the outer shell 100 from each other. In order to better simplify the internal structure, in this embodiment, the first clutch assembly includes a first connecting ring 510 and a first coil 520. The bottom end of the inner rotating shaft 400 extends downward out of the outer rotating sleeve 300. The first connecting ring 510 is connected to the outer side of the bottom of the inner rotating shaft 400 extending out of the outer rotating sleeve 300. A first sealing ring 530 is connected between the bottom side of the first connecting ring 510 and the inner bottom side of the outer shell 100. Two first sealing rings 530 are arranged at a radial interval with the first connecting ring 510. A first magnetorheological fluid is filled between the first connecting ring 510, the inner bottom side of the outer shell 100 and the two first sealing rings 530. The first coil 520 is connected to the outer bottom side of the outer shell 100 corresponding to the position between the two first sealing rings 530. There is a gap between the bottom side of the first connecting ring 510 and the inner bottom side of the outer shell 100, and the two first sealing rings 530 arranged at a radial interval seal the gap in the inner and outer directions, so that a first cavity is formed between the bottom side of the first connecting ring 510, the inner bottom side of the outer shell 100 and the two first connecting rings 510. The first magnetorheological fluid is filled in this first cavity. When the first coil 520 is not energized, the first magnetorheological fluid is in a state of low viscosity and high fluidity. The first connecting ring 510 is subjected to less resistance when rotating, so that the inner rotating shaft 400 can rotate relative to the outer shell 100, realizing the separation of the first clutch assembly between the inner rotating shaft 400 and the outer shell 100. When the first coil 520 is energized, the first magnetorheological fluid is in a state of high viscosity and low fluidity, restricting the rotation of the first connecting ring 510 in the outer shell 100, realizing the connection of the first clutch assembly between the inner rotating shaft 400 and the outer shell 100. In this way, the first clutch assembly can realize the connection and separation of the inner rotating shaft 400 and the outer shell 100, and has a compact structure and occupies less space, especially suitable for motors with a small volume.

[0025] In the above embodiment, after the first coil 520 is energized, the high viscosity and low fluidity of the first magnetorheological fluid mainly provide a frictional resistance to the relative movement between the first connecting ring 510 and the bottom case, thereby restricting the relative rotation between the first connecting ring 510 and the bottom case. In order to further improve the tightness of the connection between the first connecting ring 510 and the bottom case, in this embodiment, a first rib 540 is provided on the bottom side of the first connecting ring 510. The first rib 540 extends along the radial direction of the first connecting ring 510. A plurality of the first ribs 540 are arranged at intervals around the first connecting ring 510. Second ribs 550 are respectively provided on the inner bottom side of the outer shell 100 at positions corresponding to the plurality of first ribs 540. At the bottom side of the first connecting ring 510, a first gap for accommodating the first magnetorheological fluid is formed between two adjacent first ribs 540. And at the inner bottom side of the outer shell 100, a second gap for accommodating the first magnetorheological fluid is also formed between two adjacent second ribs 550. When the first coil 520 is not energized, the first magnetorheological fluid is in a state of low viscosity and high fluidity, which does not affect the relative rotation of the first connecting ring 510 relative to the outer shell 100. When the first coil 520 is energized, the second magnetorheological fluid is in a state of high viscosity and low fluidity. At this time, the first magnetorheological fluid between the first gap and the second gap forms an approximately solidified state, effectively restricting the relative rotation of the first connecting ring 510 relative to the outer shell 100, thereby further improving the reliability when the first connecting ring 510 and the outer shell 100 are relatively fixed.

[0026] Further, a first groove is provided on the outer bottom side of the outer shell 100 at a position corresponding to the two first sealing rings 530. The first coil 520 is arranged in the first groove. The first groove can reduce the thickness of the bottom side of the outer shell 100, making the first coil 520 closer to the first magnetorheological fluid, which is beneficial to enhancing the utilization rate of magnetic induction lines when the first coil 520 is energized. And the first groove can provide a space for accommodating the first coil 520, making the overall structure more compact.

[0027] As a specific embodiment of the second clutch assembly, the second clutch assembly includes a second connecting ring 610 and a second coil 620. The second connecting ring 610 is connected to the outer side of the outer rotating sleeve 300. A second sealing ring 630 is connected between the bottom side of the second connecting ring 610 and the top side of the first connecting ring 510. Two second sealing rings 630 are arranged at intervals along the radial direction of the second connecting ring 610. A second magnetorheological fluid is filled between the second connecting ring 610, the first connecting ring 510 and the two second sealing rings 630. The second coil 620 is connected to the top side of the second connecting ring 610 corresponding to the position between the two second sealing rings 630. There is a gap between the bottom side of the second connecting ring 610 and the top side of the first connecting ring 510, and the two second sealing rings 630 arranged at intervals in the radial direction seal the gap in the inner and outer directions, so that a second cavity is formed between the bottom side of the second connecting ring 610, the top side of the first connecting ring 510 and the two second connecting rings 610. The second magnetorheological fluid is filled in this second cavity. When the second coil 620 is not energized, the second magnetorheological fluid is in a state of low viscosity and high fluidity. The second connecting ring 610 is subjected to less resistance when rotating, so that the outer rotating sleeve 300 can rotate relative to the inner rotating shaft 400, realizing the separation of the outer rotating sleeve 300 and the inner rotating shaft 400 by the second clutch assembly. When the second coil 620 is energized, the second magnetorheological fluid is in a state of high viscosity and low fluidity, restricting the rotation of the second connecting ring 610 relative to the first connecting ring 510, realizing the connection of the outer rotating sleeve 300 and the inner rotating shaft 400 by the second clutch assembly. In this way, the second clutch assembly can realize the connection and separation of the outer rotating sleeve 300 and the inner rotating shaft 400, and has a compact structure and small occupied space, especially suitable for motors with small volume.

[0028] Since the second coil 620 on the second connecting ring 610 needs to rotate relative to the inside of the housing 100, in order to energize the second coil 620, a slip ring is arranged on the second connecting ring 610. The slip ring is electrically connected to the second coil 620, and an electrical component for energizing the slip ring can be arranged on the inner bottom side of the housing 100, so as to realize the energization of the second coil 620.

[0029] In order to further improve the reliability of the power transmission of the outer rotating sleeve 300 to the inner rotating shaft 400, in this embodiment, a first magnetic isolation ring 640 is connected to the top side of the first connecting ring 510. A third rib 650 is provided on the top side of the first magnetic isolation ring 640. The third rib 650 extends along the radial direction of the first magnetic isolation ring 640. A plurality of the third ribs 650 are arranged at intervals around the first magnetic isolation ring 640. Fourth ribs 660 are respectively provided at positions corresponding to the plurality of the third ribs 650 on the bottom side of the second connecting ring 610. By connecting the first magnetic isolation ring 640 to the top side of the first connecting ring 510, the first magnetic isolation ring 640 can effectively reduce the influence of the first coil 520 on the first magnetorheological fluid when the first coil 520 is energized. And a third rib 650 is provided on the top side of the first magnetic isolation ring 640. A third gap for accommodating the second magnetorheological fluid is formed between two adjacent third ribs 650. And on the bottom side of the second connecting ring 610, a fourth gap for accommodating the second magnetorheological fluid is also formed between two adjacent fourth ribs 660. When the second coil 620 is not energized, the second magnetorheological fluid is in a state of low viscosity and high fluidity, which does not affect the relative rotation of the second connecting ring 610 with respect to the first connecting ring 510, so that the outer rotating sleeve 300 can rotate relative to the inner rotating shaft 400. When the second coil 620 is energized, the second magnetorheological fluid is in a state of high viscosity and low fluidity. At this time, the second magnetorheological fluid between the third gap and the fourth gap forms an approximately solidified state, effectively restricting the relative rotation of the second connecting ring 610 with respect to the first connecting ring 510, thereby further improving the reliability of transmitting power from the outer rotating sleeve 300 to the inner rotating shaft 400.

[0030] Further, second grooves are provided at positions corresponding to the two second sealing rings 630 on the top side of the second connecting ring 610. The second coil 620 is located in the second grooves. A second magnetic isolation ring 670 is connected to the top side of the second connecting ring 610. The second magnetic isolation ring 670 covers the top side of the second coil 620. The second grooves can reduce the thickness of the bottom side of the housing 100, making the second coil 620 closer to the second magnetorheological fluid, which is beneficial to enhancing the utilization rate of magnetic induction lines when the second coil 620 is energized. And the second grooves can provide a space for accommodating the second coil 620, making the overall structure more compact. In addition, the second magnetic isolation ring 670 can not only protect the second coil 620, but also reduce the interference from the magnetic field above, which is beneficial to improving the utilization rate of magnetic induction lines.

[0031] The transmission assembly is mainly used to transfer the power of the rotation of the outer rotating sleeve 300 to the inner rotating shaft 400, so as to adjust the tilt angle of the output rod 410. In this embodiment, the transmission assembly includes a gear ring 310 and gears 411. The gear ring 310 is connected to the top end of the outer rotating sleeve 300. Gears 411 are respectively connected to both sides of the output rod 410, and the two gears 411 are respectively meshed with the gear ring 310. When the outer rotating sleeve 300 rotates, the meshing of the gear ring 310 and the gears 411 is used to achieve power transmission, and the output rod 410 is driven from both sides of the output rod 410, so that the output rod 410 rotates along the axis in the horizontal direction. In practical applications, the gears 411 can be conical. At this time, the position where the top side of the gear ring 310 meshes with the gears 411 is also correspondingly set to be conical, so as to further improve the stability of the meshing between the gears 411 and the gear ring 310 and the rotation of the inner rotating shaft 400.

[0032] The stator assembly 210 can be a permanent magnet disposed around the inside of the housing 100. At this time, the winding coil needs to be disposed outside the outer rotating sleeve 300. To simplify the structure, in this embodiment, the stator assembly 210 includes a winding coil disposed inside the housing 100, and six winding coils are disposed around the center of the housing 100. The six winding coils are arranged inside the housing 100. Taking two mutually facing winding coils as a working group, during operation, by energizing different working groups, it interacts with the rotor assembly 220, so as to drive the outer rotating sleeve 300 to rotate self or reciprocally rotate within different angular ranges.

[0033] Furthermore, the rotor assembly 220 includes permanent magnets disposed outside the outer rotating sleeve 300. Four permanent magnets are disposed around the outer rotating sleeve 300, and the magnetic properties of two adjacent permanent magnets are opposite. The four permanent magnets are fixed outside the outer rotating sleeve 300 and rotate in the housing 100 following the outer rotating sleeve 300. At this time, it is not necessary to energize the rotor assembly 220, which can simplify the structure inside the housing 100.

[0034] In practical applications, the three working groups formed by the six winding coils are respectively controlled by three MOS transistors. By continuously switching the power supply to two of the three MOS transistors, the outer shaft sleeve is controlled to rotate 360 degrees or reciprocally rotate. In addition, the energizing current of the three MOS transistors can also be controlled to change the torque received by the outer rotating sleeve 300, so as to achieve deflection at any angle. In this way, the deflection at any angle and the reciprocating rotation of the output rod 410 can be controlled.

[0035] In the above embodiments, the flexible motor only has one outer shaft sleeve and one inner rotating shaft 400, forming a form in which an output rod 410 outputs power outward. However, in actual use, the overall structure can be further changed to further enrich the output functions. Specifically, at least three magnetic isolation chambers are provided in the outer shell 100, and stator assemblies 210, outer shaft sleeves and inner rotating shafts 400 are respectively arranged in the at least three magnetic isolation chambers. The output rods 410 at the tops of the at least three inner rotating shafts 400 are respectively connected with a mounting plate through ball hinges. In this embodiment, at least three output rods 410 provide structural support for the mounting plate. For example, there are three magnetic isolation chambers in the outer shell 100, and stator assemblies 210, outer shaft sleeves and inner rotating shafts 400 are respectively arranged in the three magnetic isolation chambers. At this time, three fulcrums are formed at the bottom side of the mounting plate by the three output rods 410, which can provide stable support for the mounting plate. The mounting plate is a platform with an arbitrarily adjustable posture, and different peripheral devices can be fixed on the mounting plate. By controlling the coordinated adjustment of the three output rods 410, the position of the mounting plate can be flexibly adjusted.

[0036] The above has specifically described the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A flexible motor, characterized in that: Comprising: A housing (100); A stator assembly (210) disposed within the housing (100); An outer rotating sleeve (300) rotatably connected within the housing (100) about an axis in the vertical direction, with a rotor assembly (220) disposed on the outer side of the outer rotating sleeve (300); An inner rotating shaft (400) rotatably connected within the outer rotating sleeve (300) about an axis in the vertical direction. A first clutch assembly is provided between the bottom of the inner rotating shaft (400) and the bottom side of the housing (100), and the first clutch assembly can connect or disconnect the inner rotating shaft (400) and the housing (100) from each other. A second clutch assembly is provided between the inner rotating shaft (400) and the outer rotating sleeve (300), and the second clutch assembly can connect or disconnect the inner rotating shaft (400) and the outer rotating sleeve (300) from each other. The top end of the inner rotating shaft (400) extends upward out of the outer rotating sleeve (300) and the housing (100), and an output rod (410) is rotatably connected to the top end of the inner rotating shaft (400) about an axis in the horizontal direction. A transmission assembly is provided between the output rod (410) and the outer rotating sleeve (300), and when the outer rotating sleeve (300) rotates, it can drive the inner rotating shaft (400) to rotate through the transmission assembly.

2. The flexible motor according to claim 1, characterized in that: The first clutch assembly includes a first connecting ring (510) and a first coil (520). The bottom end of the inner rotating shaft (400) extends downward out of the outer rotating sleeve (300). The first connecting ring (510) is connected to the outer side of the bottom of the inner rotating shaft (400) extending out of the outer rotating sleeve (300). A first sealing ring (530) is connected between the bottom side of the first connecting ring (510) and the inner bottom side of the housing (100). There are two first sealing rings (530) arranged at a radial interval from the first connecting ring (510). A first magnetorheological fluid is filled between the first connecting ring (510), the inner bottom side of the housing (100), and the two first sealing rings (530). The first coil (520) is connected to the outer bottom side of the housing (100) at a position corresponding to the space between the two first sealing rings (530).

3. A flexible motor according to claim 2, wherein: The bottom side of the first connecting ring (510) is provided with first ribs (540) extending along the radial direction of the first connecting ring (510). A plurality of first ribs (540) are arranged at intervals around the first connecting ring (510). Second ribs (550) are respectively provided on the inner bottom side of the housing (100) at positions corresponding to the plurality of first ribs (540).

4. A flexible motor according to claim 2, characterized in that: A first groove is provided on the outer bottom side of the housing (100) at a position corresponding to the space between the two first sealing rings (530), and the first coil (520) is disposed within the first groove.

5. A flexible motor according to claim 2, characterized in that: The second clutch assembly includes a second connecting ring (610) and a second coil (620). The second connecting ring (610) is connected to the outer side of the outer rotating sleeve (300). A second sealing ring (630) is connected between the bottom side of the second connecting ring (610) and the top side of the first connecting ring (510). Two second sealing rings (630) are arranged at intervals along the radial direction of the second connecting ring (610). A second magnetorheological fluid is filled between the second connecting ring (610), the first connecting ring (510) and the two second sealing rings (630). The second coil (620) is connected to the top side of the second connecting ring (610) corresponding to the position between the two second sealing rings (630).

6. A flexible motor according to claim 5, characterized in that: The top side of the first connecting ring (510) is connected to a first magnetic isolation ring (640). The top side of the first magnetic isolation ring (640) is provided with third convex ribs (650). The third convex ribs (650) extend along the radial direction of the first magnetic isolation ring (640). A plurality of third convex ribs (650) are arranged at intervals around the first magnetic isolation ring (640). Fourth convex ribs (660) are respectively arranged at the positions of the bottom side of the second connecting ring (610) corresponding to the plurality of third convex ribs (650).

7. A flexible motor according to claim 5, wherein: Second grooves are arranged at the positions of the top side of the second connecting ring (610) corresponding to the two second sealing rings (630). The second coil (620) is located in the second grooves. The top side of the second connecting ring (610) is connected to a second magnetic isolation ring (670). The second magnetic isolation ring (670) covers the top side of the second coil (620).

8. A flexible motor according to claim 1, characterized in that: The transmission assembly includes a gear ring (310) and a gear (411). The gear ring (310) is connected to the top end of the outer rotating sleeve (300). The two sides of the output rod (410) are respectively connected with the gears (411). The two gears (411) are respectively meshed with the gear ring (310).

9. A flexible motor according to claim 1, wherein: The stator assembly (210) includes winding coils arranged on the inner side of the housing (100). Six winding coils are arranged around the center of the housing (100).

10. A flexible motor according to claim 1, characterized in that: The rotor assembly (220) includes permanent magnets arranged on the outer side of the outer rotating sleeve (300). Four permanent magnets are arranged around the outer rotating sleeve (300). The magnetic properties of two adjacent permanent magnets are opposite.

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