A flexible motor

Abstract

The present invention discloses a flexible motor, comprising: a shell; a stator assembly, which is arranged in the shell; an outer rotating sleeve, which is rotatably connected to the shell, and a rotor assembly is arranged on the outside of the outer rotating sleeve; an inner rotating shaft, which is rotatably connected to 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 extends upwardly out of the outer rotating sleeve and the shell, the top end of the inner rotating shaft is rotatably connected to an output rod along the horizontal axis, a transmission assembly is arranged between the output rod and the outer rotating sleeve, and when the outer rotating sleeve rotates, the output rod can be driven to rotate by the transmission assembly. The present invention can control the first clutch assembly and the second clutch assembly to make the output rod rotate along its own axis to output power, or adjust the inclination angle according to usage needs to perform self-rotation, reciprocating swing or support 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 consists of a stator and a rotor. When electricity is applied, the rotor rotates, outputting power. Current rotors are typically rigid output shafts that can only output power in a specific direction. Their functionality is limited, and due to the motor's size or the space in which it is used, they are difficult to connect to and expand into various structures. Therefore, a more flexible motor is urgently needed. Summary of the Invention

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

[0004] The solution of the present invention to solve its technical problems is:

[0005] The cam is secured to the outer casing and is secured to the chassis by a spring that is secured to the chassis with a top end secured to the chassis.

[0006] This technical solution has at least the following beneficial effects: the stator assembly is arranged in the outer shell, 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 in the outer shell. Since a second clutch assembly is provided between the outer rotating sleeve and the inner rotating shaft, and a first clutch assembly is provided between the inner rotating shaft and the outer shell, by changing the states of the first clutch assembly and the second clutch assembly, the output rod can form different output states. Specifically, the first clutch assembly separates the inner rotating shaft and the outer shell, and the second clutch assembly connects the outer rotating sleeve and the inner rotating shaft. When the rotor assembly drives the outer rotating sleeve to rotate, it can drive the inner rotating shaft 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 follow The inner rotating shaft rotates along the axis in the vertical direction, thereby realizing the self-rotation of the output rod; when the first clutch assembly connects the inner rotating shaft and the outer shell, 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 in the outer shell and does not rotate with the outer rotating sleeve. Due to the 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 direction of the output rod changes. In this way, by controlling the first clutch assembly and the second clutch assembly, the output rod can be rotated along its own axis to output power, or the inclination angle can be adjusted according to the needs of use to perform self-rotation, reciprocating swing or support, etc. It is flexible to use and has a wider range of applications.

[0007] 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 downwardly from the outer rotating sleeve, the first connecting ring is connected to the inner rotating shaft and extends outside the bottom 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 outer shell, two first sealing rings are radially spaced apart from the first connecting ring, a first magnetorheological fluid is filled between the first connecting ring, the inner bottom side of the outer shell and the two first sealing rings, and the first coil is connected to the position on the outer bottom side of the outer shell 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 outer shell, and the gap is sealed in the inward and outward directions by two first sealing rings arranged at radial intervals, so that a first cavity is formed between the bottom side of the first connecting ring, the inner bottom side of the outer shell and the two first connecting rings, and the first magnetorheological fluid is filled in this first cavity. When the first coil is not energized, the first magnetorheological fluid is in a low viscosity and high fluidity state, and the first connecting ring encounters less resistance when rotating, so that the inner rotating shaft can rotate relative to the outer shell, so that the first clutch component separates the inner rotating shaft and the outer shell. When the first coil is energized, the first magnetorheological fluid is in a high viscosity and low fluidity state, which limits the rotation of the first connecting ring in the outer shell, so that the first clutch component connects the inner rotating shaft and the outer shell. In this way, the first clutch component can connect and separate the inner rotating shaft and the outer shell, and has a compact structure and occupies less space, and is particularly suitable for motors with smaller volume.

[0008] As a further improvement to the above technical solution, a first rib is provided on the bottom side of the first connecting ring. The first rib extends radially along the first connecting ring, and multiple first ribs are spaced around the first connecting ring. Second ribs are provided on the inner bottom side of the housing at positions corresponding to the multiple first ribs. A first gap capable of accommodating the first magnetorheological fluid is formed between two adjacent first ribs on the bottom side of the first connecting ring, while a second gap capable of accommodating the first magnetorheological fluid is also formed between two adjacent second ribs on the inner bottom side of the housing. When the first coil is de-energized, the first magnetorheological fluid is in a low-viscosity, high-fluidity state, 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 high-viscosity, low-fluidity state. At this time, the first magnetorheological fluid between the first and second gaps becomes nearly solidified, effectively restricting the rotation of the first connecting ring relative to the housing, thereby further improving the reliability of the relative fixation between the first connecting ring and the housing.

[0009] As a further improvement to the above technical solution, a first groove is provided on the outer bottom side of the housing, corresponding to a position between the two first sealing rings, and the first coil is disposed within the first groove. The first groove reduces the thickness of the housing bottom side, bringing the first coil closer to the first magnetorheological fluid, thereby enhancing the utilization rate of the magnetic flux lines when the first coil is energized. The first groove also provides space for the first coil, making the overall structure more compact.

[0010] 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 outside 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 connecting ring, the first connecting ring and the two second sealing rings are filled with a second magnetorheological fluid, and the second coil is connected to the position between the two second sealing rings on the top side of the second connecting ring. 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 sealed in the inward and outward directions by two radially spaced second sealing rings, so that a second cavity is formed between the bottom side of the second connecting ring, the top side of the first connecting ring and the two second connecting rings, and the second cavity is filled with a second magnetorheological fluid. When the second coil is not energized, the second magnetorheological fluid is in a state of low viscosity and high fluidity. The second connecting ring encounters less resistance when rotating, so that the outer rotating sleeve can rotate relative to the inner rotating shaft, so that the second clutch component separates the outer rotating sleeve and the inner rotating shaft from each other. When the second coil is energized, the second magnetorheological fluid is in a state of high viscosity and low fluidity, which limits the second connecting ring from rotating relative to the first connecting ring, so that the second clutch component connects the outer rotating sleeve and the inner rotating shaft. In this way, the second clutch component can connect and separate the outer rotating sleeve and the inner rotating shaft, and has a compact structure and occupies less space, and is particularly suitable for motors with smaller size.

[0011] As a further improvement of the above technical solution, the top side of the first connecting ring is connected to the first magnetic isolation ring, and the top side of the first magnetic isolation ring is provided with a third rib, the third rib extends along the radial direction of the first magnetic isolation ring, and multiple third ribs are arranged at intervals around the first magnetic isolation ring, and fourth ribs are respectively provided on the bottom side of the second connecting ring at positions corresponding to the multiple third ribs. A first magnetic isolation ring is connected to the top side of the first connecting ring. The first magnetic isolation ring can effectively reduce the influence of the first coil on the first magnetorheological fluid when energized. A third rib is provided on the top side of the first magnetic isolation ring. A third gap that can accommodate the second magnetorheological fluid is formed between two adjacent third ribs. A fourth gap that can accommodate the second magnetorheological fluid is also formed between two adjacent fourth ribs on the bottom side of the second connecting ring. When the second coil is not energized, the second magnetorheological fluid is in a low viscosity and high fluidity state, which does not affect the rotation of the second connecting ring relative to the first connecting ring, thereby realizing 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 high viscosity and low fluidity state. At this time, the second magnetorheological fluid between the third gap and the fourth gap forms a state that is almost solidified, effectively limiting the rotation of the second connecting ring relative to the first connecting ring, thereby further improving the reliability of transmitting power from the outer rotating sleeve to the inner rotating shaft.

[0012] As a further improvement to the above technical solution, a second groove is provided on the top side of the second connecting ring, corresponding to the positions of the two second sealing rings. The second coil is positioned within the second groove. A second magnetic shielding ring is connected to the top side of the second connecting ring, and the second magnetic shielding ring covers the top side of the second coil. The second groove reduces the thickness of the bottom side of the housing, bringing the second coil closer to the second magnetorheological fluid, which helps to enhance the utilization rate of the magnetic flux lines when the second coil is energized. The second groove also provides space for the second coil, making the overall structure more compact. In addition, the second magnetic shielding ring protects the second coil while reducing interference from the magnetic field above, which helps to improve the utilization rate of the magnetic flux lines.

[0013] As a further improvement to the above technical solution, the transmission assembly includes a ring gear and gears. The ring gear is connected to the top of the outer rotating sleeve, and the gears are connected to both sides of the output rod, and the two gears mesh with the ring gear. When the outer rotating sleeve rotates, the meshing of the ring gear and the gears realizes power transmission, and the output rod is driven from both sides, causing the output rod to rotate along the horizontal axis.

[0014] As a further improvement to the above technical solution, the stator assembly includes winding coils disposed inside the housing, with six winding coils arranged around the center of the housing. The six winding coils are arranged inside the housing, with two winding coils facing each other forming a working group. During operation, power is supplied to different working groups, interacting with the rotor assembly, thereby driving the outer rotating sleeve to achieve self-rotation or reciprocating rotation within different angular ranges.

[0015] As a further improvement to the above technical solution, the rotor assembly includes four permanent magnets disposed outside the outer rotating sleeve, with adjacent permanent magnets having opposite magnetic properties. The four permanent magnets are fixed to the outer sleeve and rotate with the outer sleeve within the housing. In this case, the rotor assembly does not need to be powered, simplifying the structure within the housing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly describes the drawings required for describing the embodiments. Obviously, the drawings described only illustrate some embodiments of the present invention, not all of them. Those skilled in the art can derive other design solutions and drawings based on these drawings without inventive effort.

[0017] Figure 1 It is an overall three-dimensional diagram of the present invention.

[0018] Figure 2 It is an overall front view of the present invention.

[0019] Figure 3 yes Figure 2 AA cross-sectional structure diagram.

[0020] Figure 4 yes Figure 3 A partial enlarged schematic diagram of part B.

[0021] In the accompanying 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 DESCRIPTION

[0022] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention. In addition, all the connection relationships mentioned in the text do not refer to the direct connection of components, but refer to the fact that a better connection structure can be formed by adding or reducing connecting accessories according to the specific implementation situation. The various technical features in the invention can be combined interactively without conflicting with each other.

[0023] Reference Figures 1 to 4 A flexible motor includes: a housing 100; a stator assembly 210, which is arranged in the housing 100; an outer rotating sleeve 300, which is rotatably connected to the housing 100 along an axis in the vertical direction, and a rotor assembly 220 is arranged on the outside of the outer rotating sleeve 300; an inner rotating shaft 400, which is rotatably connected to the outer rotating sleeve 300 along an axis in the vertical direction, and a first clutch assembly is arranged 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 separate the inner rotating shaft 400 and the housing 100. 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 separate the inner rotating shaft 400 and the outer rotating sleeve 300. The top end of the inner rotating shaft 400 extends upward from the outer rotating sleeve 300 and the outer shell 100. The top end of the inner rotating shaft 400 is connected to an output rod 410 for rotation along the horizontal axis. A transmission assembly is provided between the output rod 410 and the outer rotating sleeve 300. When the outer rotating sleeve 300 rotates, the output rod 410 can be driven to rotate by the transmission assembly.

[0024] In this flexible motor, the stator assembly 210 is arranged in the shell 100, and the rotor assembly 220 is arranged on the outside of 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 in the shell 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 shell 100, by changing the state of the first clutch assembly and the second clutch assembly, the output rod 410 can form different output states. Specifically, the first clutch assembly separates the inner rotating shaft 400 from the shell 100, and the second clutch assembly connects the outer rotating sleeve 300 and the inner rotating shaft 400. When the rotor assembly 220 drives the outer rotating sleeve 300 to rotate, it can also drive the inner rotating shaft 400 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 on the inner rotating shaft 400 is The output rod 410 will rotate along the axis of the inner rotating shaft 400 in the vertical direction, thereby realizing the self-rotation of the output rod 410; when the first clutch assembly connects the inner rotating shaft 400 and the outer shell 100, and the second clutch assembly separates the outer rotating sleeve 300 and 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 in the outer shell 100 and does not rotate with the outer rotating sleeve 300. Due to the relative rotation between the outer rotating sleeve 300 and the inner rotating shaft 400, the transmission assembly can drive the output rod 410 to rotate along the axis of the horizontal direction, so that the angular direction of the output rod 410 changes. In this way, by controlling the first clutch assembly and the second clutch assembly, the output rod 410 can be rotated along its own axis to output power, or the inclination angle can be adjusted according to the needs of use for self-rotation, reciprocating swing or support, etc. It is flexible to use and has a wider range of applications.

[0025] The first clutch assembly mainly realizes the connection or separation between the inner rotating shaft 400 and the outer shell 100, and its structural forms are various. For example, an electromagnetic latch can be used to realize the mutual locking or separation of the inner rotating shaft 400 and the outer shell 100. 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 from the outer rotating sleeve 300. The first connecting ring 510 is connected to the inner rotating shaft 400 and extends outside the bottom 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 radially spaced from the first connecting ring 510. The 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 position between the two first sealing rings 530 on the outer bottom side of the outer shell 100. There is a gap between the bottom side of the first connecting ring 510 and the inner bottom side of the housing 100, and the gap is sealed in the inward and outward directions by two radially spaced first sealing rings 530, so that a first cavity is formed between the bottom side of the first connecting ring 510, the inner bottom side of the housing 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 low viscosity and high fluidity state, and the first connecting ring 510 is subjected to less resistance when rotating, so that the inner rotation The shaft 400 can rotate relative to the outer shell 100, so that the first clutch component can separate the inner rotating shaft 400 and the outer shell 100. When the first coil 520 is energized, the first magnetorheological fluid is in a high viscosity and low fluidity state, which limits the first connecting ring 510 from rotating in the outer shell 100, so that the first clutch component can connect the inner rotating shaft 400 and the outer shell 100. In this way, the first clutch component can connect and separate the inner rotating shaft 400 and the outer shell 100, and has a compact structure and occupies little space, and is particularly suitable for smaller motors.

[0026] In the above embodiment, when the first coil 520 is energized, the high viscosity and low fluidity of the first magnetorheological fluid are mainly used to provide frictional resistance to the relative movement of the first connecting ring 510 and the bottom shell, thereby limiting the relative rotation of the first connecting ring 510 and the bottom shell. In order to further improve the tightness of the connection between the first connecting ring 510 and the bottom shell, in this embodiment, a first rib 540 is provided on the bottom side of the first connecting ring 510, and the first rib 540 extends 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, and second ribs 550 are respectively provided at positions corresponding to the plurality of first ribs 540 on the inner bottom side of the shell 100. On the bottom side of the first connecting ring 510, a first gap capable of accommodating the first magnetorheological fluid is formed between two adjacent first ribs 540, and on the inner bottom side of the shell 100, a second gap capable of 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 low-viscosity, high-fluidity state, which does not affect the rotation of the first connecting ring 510 relative to the shell 100. When the first coil 520 is energized, the second magnetorheological fluid is in a high-viscosity, low-fluidity state. At this time, the first magnetorheological fluid between the first gap and the second gap is in a state that is approximately solidified, effectively limiting the rotation of the first connecting ring 510 relative to the shell 100, thereby further improving the reliability of the first connecting ring 510 when it is relatively fixed to the shell 100.

[0027] Furthermore, a first groove is provided on the outer bottom side of the housing 100, corresponding to the position between the two first sealing rings 530, and the first coil 520 is disposed within the first groove. The first groove reduces the thickness of the bottom side of the housing 100, bringing the first coil 520 closer to the first magnetorheological fluid, which helps to enhance the utilization of magnetic flux lines when the first coil 520 is energized. The first groove also provides space for the first coil 520, making the overall structure more compact.

[0028] 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 outside 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 radial intervals along the second connecting ring 610. The 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 position between the two second sealing rings 630 on the top side of the second connecting ring 610. 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 gap is sealed in the inward and outward directions by two radially spaced second sealing rings 630, 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 cavity is filled with a second magnetorheological fluid. 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 subject to less resistance when rotating, so that the outer rotating sleeve 3 00 can rotate relative to the inner rotating shaft 400, so that the second clutch component can separate the outer rotating sleeve 300 and the inner rotating shaft 400 from each other. When the second coil 620 is energized, the second magnetorheological fluid is in a high viscosity and low fluidity state, which limits the second connecting ring 610 from rotating relative to the first connecting ring 510, so that the second clutch component can connect the outer rotating sleeve 300 and the inner rotating shaft 400 to each other. In this way, the second clutch component can realize the connection and separation of the outer rotating sleeve 300 and the inner rotating shaft 400, and has a compact structure and occupies less space, and is particularly suitable for smaller motors.

[0029] Since the second coil 620 on the second connecting ring 610 needs to rotate relatively within the housing 100, in order to energize the second coil 620, an electric slip ring is provided on the second connecting ring 610, and the electric slip ring is electrically connected to the second coil 620. An electrical component for energizing the electric slip ring can be provided on the inner bottom side of the housing 100, thereby energizing the second coil 620.

[0030] In order to further improve the reliability of power transmission from the outer rotating sleeve 300 to the inner rotating shaft 400, in this embodiment, the top side of the first connecting ring 510 is connected to the first magnetic isolation ring 640, and the top side of the first magnetic isolation ring 640 is provided with a third rib 650, and the third rib 650 extends along the radial direction of the first magnetic isolation ring 640. The third rib 650 is arranged at intervals around the first magnetic isolation ring 640, and the second connecting ring 610 is provided with fourth ribs 660 at the positions corresponding to the multiple third ribs 650. A first magnetic isolation ring 640 is connected 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 power is on. 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. A fourth gap for accommodating the second magnetorheological fluid is also formed between two adjacent fourth ribs 660 on the bottom side of the second connecting ring 610. When the second coil 620 is not powered, the second magnetorheological fluid The magnetorheological fluid is in a state of low viscosity and high fluidity, which does not affect the rotation of the second connecting ring 610 relative to the first connecting ring 510, thereby realizing 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 a state that is approximately solidified, effectively limiting the rotation of the second connecting ring 610 relative 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.

[0031] Furthermore, a second groove is provided on the top side of the second connecting ring 610 at positions corresponding to the two second sealing rings 630. The second coil 620 is located within the second groove. A second magnetic shielding ring 670 is connected to the top side of the second connecting ring 610, and the second magnetic shielding ring 670 covers the top side of the second coil 620. The second groove can reduce the thickness of the bottom side of the housing 100, bringing the second coil 620 closer to the second magnetorheological fluid, which helps to enhance the utilization rate of the magnetic flux lines when the second coil 620 is energized. The second groove also provides space for the second coil 620, making the overall structure more compact. In addition, the second magnetic shielding ring 670 can both protect the second coil 620 and reduce interference from the magnetic field above, which helps to improve the utilization rate of the magnetic flux lines.

[0032] The transmission assembly primarily transmits the rotational power of the outer rotating sleeve 300 to the inner rotating shaft 400, thereby adjusting the tilt angle of the output rod 410. In this embodiment, the transmission assembly includes a ring gear 310 and a gear 411. The ring gear 310 is connected to the top of the outer rotating sleeve 300. Gears 411 are connected to either side of the output rod 410, each meshing with the ring gear 310. When the outer rotating sleeve 300 rotates, the meshing of the ring gear 310 and the gears 411 transmits power from both sides of the output rod 410, causing the output rod 410 to rotate along a horizontal axis. In practice, the gears 411 can be tapered, and the meshing position of the top side of the ring gear 310 and the gears 411 is also tapered. This further enhances the stability of the meshing between the gears 411 and the ring gear 310, as well as the rotation of the inner rotating shaft 400.

[0033] The stator assembly 210 can be a permanent magnet disposed around the housing 100. In this case, the winding coils need to be disposed outside the outer rotating sleeve 300. To simplify the structure, in this embodiment, the stator assembly 210 includes winding coils disposed inside the housing 100, with six winding coils disposed around the center of the housing 100. The six winding coils are arranged inside the housing 100, with two winding coils facing each other forming a working group. During operation, by energizing different working groups, they interact with the rotor assembly 220, thereby driving the outer rotating sleeve 300 to achieve self-rotation or reciprocating rotation within different angular ranges.

[0034] Furthermore, the rotor assembly 220 includes four permanent magnets disposed outside the outer rotating sleeve 300. The four permanent magnets are arranged around the outer rotating sleeve 300, with adjacent permanent magnets having opposite magnetic properties. The four permanent magnets are fixed to the outer rotating sleeve 300 and rotate with the outer rotating sleeve 300 within the housing 100. This eliminates the need for power to the rotor assembly 220, simplifying the structure within the housing 100.

[0035] In actual application, the three working groups formed by the six winding coils are controlled by three MOS transistors respectively. By continuously switching two of the three MOS transistors to be energized, the outer sleeve is controlled to achieve 360-degree rotation or reciprocating rotation. In addition, the current flowing through the three MOS transistors can also be controlled to change the torque applied to the outer rotating sleeve 300, thereby achieving deflection at any angle. In this way, the output rod 410 can be controlled to deflect at any angle and reciprocate.

[0036] In the above embodiment, the flexible motor comprises only an outer sleeve and an inner shaft 400, forming an output rod 410 for outputting power. However, in actual use, the overall structure can be further modified to further enrich the output functions. Specifically, at least three magnetic isolation cavities are provided within the housing 100, each of which houses a stator assembly 210, an outer sleeve, and an inner shaft 400. The output rods 410 at the top of the at least three inner shafts 400 are connected to a mounting plate via a ball joint. In this embodiment, the at least three output rods 410 provide structural support for the mounting plate. For example, the housing 100 has three magnetic isolation cavities, each of which houses a stator assembly 210, an outer sleeve, and an inner shaft 400. In this case, the three output rods 410 form three fulcrums on the bottom side of the mounting plate, providing stable support for the mounting plate. The mounting plate serves as a platform with adjustable posture, allowing various peripheral devices to be fixed to the mounting plate. By controlling the coordinated adjustment of the three output rods 410, the position of the mounting plate can be flexibly adjusted.

[0037] The above specifically describes the preferred embodiments of the present invention, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. 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: include: SHELL(100); a stator assembly (210) disposed in the housing (100); An outer rotating sleeve (300) is rotatably connected to the housing (100) along an axis in the vertical direction, and a rotor assembly (220) is provided on the outside of the outer rotating sleeve (300); The inner rotating shaft (400) is connected to the outer rotating sleeve (300) by rotating along the axis in the up-down direction. A first clutch component is provided between the bottom of the inner rotating shaft (400) and the bottom side of the outer shell (100). The first clutch component can connect or separate the inner rotating shaft (400) and the outer shell (100). A second clutch component is provided between the inner rotating shaft (400) and the outer rotating sleeve (300). The second clutch component can connect or separate the inner rotating shaft (400). 0) is connected to or separated from the outer rotating sleeve (300), the top end of the inner rotating shaft (400) extends upward from the outer rotating sleeve (300) and the outer shell (100), the top end of the inner rotating shaft (400) is connected to an output rod (410) along a horizontal axis, a transmission assembly is provided between the output rod (410) and the outer rotating sleeve (300), and when the outer rotating sleeve (300) rotates, the output rod (410) can be driven to rotate by the transmission assembly; The first clutch assembly separates the inner rotating shaft (400) and the outer shell (100), and the second clutch assembly connects the outer rotating sleeve (300) and 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 follow the inner rotating shaft (400) to rotate along the axis of the vertical direction, thereby realizing the self-rotation of the output rod (410); when the first clutch assembly is engaged, the outer rotating sleeve (300) and the inner rotating shaft (400) are driven to rotate. The inner rotating shaft (400) and the outer shell (100) are connected to each other by the second clutch component. When the outer rotating sleeve (300) and the inner rotating shaft (400) are separated from each other by the second clutch component, the rotor component (220) drives the outer rotating sleeve (300) to rotate. At this time, the inner rotating shaft (400) is relatively fixed in the outer shell (100) and does not rotate with the outer rotating sleeve (300). Due to the 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 horizontal axis through the transmission component, so that the angular direction of the output rod (410) changes.

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 from the outer rotating sleeve (300), the first connecting ring (510) is connected to the inner rotating shaft (400) and extends outside the bottom 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 shell (100), two first sealing rings (530) and the first connecting ring (510) are arranged radially spaced, a first magnetorheological fluid is filled between the first connecting ring (510), the inner bottom side of the shell (100) and the two first sealing rings (530), and the first coil (520) is connected to the position between the two first sealing rings (530) on the outer bottom side of the shell (100).

3. The flexible motor according to claim 2, characterized in that: A first convex rib (540) is provided on the bottom side of the first connecting ring (510), and the first convex rib (540) extends radially along the first connecting ring (510). A plurality of first convex ribs (540) are provided at intervals around the first connecting ring (510), and second convex ribs (550) are provided at positions corresponding to the plurality of first convex ribs (540) on the inner bottom side of the housing (100).

4. The 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 between the two first sealing rings (530), and the first coil (520) is provided in the first groove.

5. The flexible motor according to claim 2, characterized in that: The second clutch assembly includes a second connecting ring (610) and a second coil (620), wherein the second connecting ring (610) is connected to the outside 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), and the second coil (620) is connected to the position between the two second sealing rings (630) on the top side of the second connecting ring (610).

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

7. The flexible motor according to claim 5, characterized in that: A second groove is provided on the top side of the second connecting ring (610) at positions corresponding to the two second sealing rings (630), and the second coil (620) is located in the second groove. A second magnetic isolation ring (670) is connected to the top side of the second connecting ring (610), and the second magnetic isolation ring (670) covers the top side of the second coil (620).

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

9. The flexible motor according to claim 1, characterized in that: The stator assembly (210) comprises a winding coil arranged inside the housing (100), and six winding coils are arranged around the center of the housing (100).

10. The flexible motor according to claim 1, characterized in that: The rotor assembly (220) comprises a permanent magnet arranged outside the outer rotating sleeve (300), four permanent magnets are arranged around the outer rotating sleeve (300), and the magnetic properties of two adjacent permanent magnets are opposite.

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