Permanent magnet spherical driver based on multi-dimensional space winding

Abstract

According to the permanent magnet spherical driver based on the multi-dimensional space winding, a magnetic pole array, a spinning winding and an inclined winding are jointly arranged in the same spherical shell, the spinning winding and the inclined winding are arranged on the inner side and the outer side of the magnetic pole array respectively, the inner space of the spherical shell is fully utilized, the number of the windings can be effectively increased, and the service life of the magnetic pole array is prolonged. The utilization rate of the magnetic field can be greatly improved through reasonable magnetic pole arrangement optimization, and the possibility is provided for multiply improving the output torque of the spherical driver under the same volume; moreover, the magnetic pole array is a common magnetic pole array, so that the original magnetic leakage can be turned into wealth, the utilization rate of the magnetic field is further improved, and the output torque is greatly enhanced; in addition, the electrified spinning winding and the internal magnetic field of the magnetic pole array act to generate a spinning torque, and the electrified inclined winding and the external magnetic field of the magnetic pole array act to generate an inclined torque, namely the spinning torque and the inclined torque act separately, mutual influence is avoided, and coupling is eliminated from the mechanical configuration.

Description

Technical Field

[0001] The present invention belongs to the technical field of motors, and in particular relates to a permanent magnetic spherical driver based on multi-dimensional space windings. Background Art

[0002] As the "muscle" of the robot, the actuator plays a vital role in posture control. To maximize the robot's working range and efficiency, the drive system is often required to achieve multi-degree-of-freedom rotational motion in three-dimensional space. Traditional designs connect multiple single-degree-of-freedom actuators and related connectors in series or parallel. However, this approach based on single-degree-of-freedom actuators has some inherent drawbacks that are difficult to overcome, such as large size, return errors, clumsy motion, and singularities within the workspace. Furthermore, the large number of actuators and the weight of the linkage mechanism place an additional burden on the system, which inevitably increases power loss, a major problem with current traditional drive systems.

[0003] In modern industrial production, maximizing the operating range and efficiency of automated equipment such as robots often requires mechanisms to achieve multi-degree-of-freedom rotational motion within three-dimensional space. Traditional solutions combine multiple single-axis actuators and numerous connecting rods in series or parallel configurations. This mechanism has inherent drawbacks that are difficult to overcome, such as bulk, poor dynamic characteristics, and significant error accumulation. Furthermore, the weight of the numerous actuators and connecting rods reduces system efficiency.

[0004] Spherical actuators can overcome the shortcomings of traditional multi-degree-of-freedom motion mechanisms achieved through series and parallel connections. However, the structural designs of existing spherical actuators are very similar, that is, a uniformly distributed permanent magnet pole array is installed on the rotor surface. The spatial magnetic field excited by it interacts with the coil fixed on the stator surface, thereby generating a three-dimensional torque vector.

[0005] However, traditional ball drives generally have the following disadvantages:

[0006] One issue is low output torque: Traditional spherical drive designs typically arrange permanent magnet poles and energized windings in a spherical configuration, a two-dimensional distribution. Their interaction generates a three-dimensional torque vector. However, this winding arrangement completely wastes internal rotor space, resulting in low space utilization and severely limiting torque gains.

[0007] Second, there is severe coupling between motions in various directions: In traditional spherical drives, when the rotor generates spin torque motion under the action of some coils, it will inevitably affect the torque in the tilt direction, and vice versa, so there is strong coupling in multi-degree-of-freedom motion. Summary of the Invention

[0008] The problem to be solved by the present invention is to provide a permanent magnetic spherical driver based on multi-dimensional space winding, which can effectively improve the utilization rate of the magnetic field and thus increase the output torque.

[0009] In order to solve the above technical problems, the present invention provides a permanent magnetic spherical driver based on multi-dimensional space winding, which includes a base, a spherical shell, a stator part and a rotor part. The stator part and the rotor part are both arranged inside the spherical shell, and the north end and the south end of the spherical shell are both provided with openings; the base is arranged outside the south end of the spherical shell;

[0010] The stator portion includes a magnetic pole array and a magnetic pole bracket. The magnetic pole array is fixedly connected to the spherical shell via the magnetic pole bracket. The magnetic pole array is provided in multiple groups. The multiple groups of magnetic pole arrays are evenly spaced along the equatorial circumference of the spherical shell. The magnetic poles of each group of magnetic pole arrays are arranged in an arc shape along the meridian of the spherical shell. The magnetic field generated by the magnetic pole array is divided into an external magnetic field toward one side of the spherical shell and an internal magnetic field away from the spherical shell.

[0011] The rotor part includes a tilt winding, a spin winding, a first winding bracket, a second winding bracket, a central shaft, a cross-axis universal joint and a ball bearing; the central shaft is coaxial with the earth's axis of the spherical shell, and one end of the central shaft is fixedly connected to the first shaft rod of the cross-axis universal joint, the second shaft rod of the cross-axis universal joint is the output shaft, and extends from the opening of the north end of the spherical shell; the other end of the central shaft extends from the opening of the south end of the spherical shell and is rotatably connected to the base around its own axis; the spin winding is fixedly connected to the central shaft through the second winding bracket, and the coils of the spin winding are equidistant along the equatorial circumference of the spherical shell. The inclined windings are distributed at intervals and are located on the side of the magnetic pole array away from the spherical shell; there are multiple groups of inclined windings, and the multiple groups of inclined windings are equidistantly distributed along the equatorial circumference of the spherical shell, and the inclined windings are movably arranged between the spherical shell and the magnetic pole array along the meridian of the spherical shell, and the inclined windings are opposite to the magnetic pole array one by one; each group of the inclined windings is fixed by a first winding bracket, the first winding bracket is arc-shaped and arranged along the meridian of the spherical shell, one end of the first winding bracket is rotatably connected to the second shaft of the cross-axis universal joint through the ball bearing, and the other end of the first winding bracket is set away from the center axis.

[0012] As a preferred solution of the present invention, the magnetic pole array and the tilt winding are each provided with 8 groups, and the spin winding is provided with 9 groups of coils.

[0013] As a preferred solution of the present invention, the inclined winding is a multi-phase winding.

[0014] As a preferred embodiment of the present invention, each magnetic pole of the magnetic pole array is radially magnetized, the magnetization directions of two adjacent magnetic poles in the same group of the magnetic pole array are opposite, and the magnetization directions of two magnetic poles on the same latitude in two adjacent groups of the magnetic pole array are opposite.

[0015] As a preferred solution of the present invention, the first winding bracket is provided with a slide groove on the side facing the spherical shell, the slide groove is arc-shaped and arranged along the meridian of the spherical shell, and a plurality of bull's eye bearings are installed on the inner side of the spherical shell, and the slide groove is in rolling engagement with at least two of the bull's eye bearings.

[0016] As a preferred solution of the present invention, the base is provided with a sleeve for inserting the central shaft, and an axial limiting structure for limiting the axial movement of the central shaft relative to the sleeve is provided between the central shaft and the sleeve.

[0017] As a preferred solution of the present invention, the sleeve extends into the interior of the spherical shell from an opening at the south end of the spherical shell, and the sleeve is arranged apart from the first winding bracket.

[0018] As a preferred solution of the present invention, the first winding supports are arranged in a circle near the south end of the spherical shell and are connected and fixed together by a fixing ring, and the inner hole diameter of the fixing ring is larger than the outer diameter of the sleeve.

[0019] As a preferred solution of the present invention, the base, the spherical shell, the central shaft and the cross-axis universal joint are all made of non-magnetic materials.

[0020] The permanent magnetic spherical drive based on multi-dimensional space windings according to the embodiment of the present invention has the following beneficial effects compared with the prior art:

[0021] The embodiment of the present invention considers the distribution of its windings and magnetic poles from the perspective of multidimensional space. Specifically, the magnetic pole array, spin winding, and tilt winding are all arranged within the same spherical shell, and the spin winding and tilt winding are respectively arranged on the inner and outer sides of the magnetic pole array. This fully utilizes the internal space of the spherical shell, effectively increasing the number of windings and significantly improving the magnetic field utilization rate through reasonable optimization of the magnetic pole arrangement, thereby providing the possibility of exponentially increasing the output torque of the spherical drive within the same volume. In addition, the magnetic pole array is a shared magnetic pole array, which can recycle the original leakage magnetic flux, thereby improving the magnetic field utilization rate and greatly enhancing the output torque. Furthermore, after energization, the spin winding interacts with the internal magnetic field of the magnetic pole array to generate a spin torque, and the tilt winding interacts with the external magnetic field of the magnetic pole array to generate a tilt torque. In other words, the spin torque and the tilt torque act separately to avoid mutual influence and eliminate coupling from the mechanical configuration. This torque decoupling method separates the three-dimensional magnetic field and the corresponding system structure, which is fundamentally different from traditional algorithm decoupling and has greater practicality.

[0022] It can be seen that the embodiment of the present invention proposes a new design concept of a shared magnetic pole array based on the action mechanism of a multi-degree-of-freedom spherical drive magnetic field, which can effectively improve the utilization rate of the magnetic field and thus increase the output torque; based on this, starting from the essence of spatial mechanism decoupling, an innovative multi-dimensional space winding scheme is proposed, which can effectively realize the separation of rotation and tilt torque, creating favorable conditions for high-precision attitude control. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments are briefly introduced below.

[0024] Figure 1 is an axonometric diagram of a permanent magnetic spherical driver based on multi-dimensional space winding according to an embodiment of the present invention;

[0025] Figure 2 This is an axonometric diagram of a permanent magnetic spherical driver based on multi-dimensional space winding according to an embodiment of the present invention, with the spherical shell hidden;

[0026] Figure 3 This is a cross-sectional perspective view of a permanent magnetic spherical driver based on multi-dimensional space winding according to an embodiment of the present invention, with the spherical shell hidden;

[0027] Figure 4 This is a front view of a permanent magnetic spherical driver based on multi-dimensional space winding according to an embodiment of the present invention;

[0028] Figure 5 It is Figure 4 A cross-sectional view taken along line AA of the structure shown.

[0029] Markings in the figure:

[0030] Base 1; sleeve 11; axial limiting structure 12;

[0031] Spherical shell 2; opening 21;

[0032] stator part 3; magnetic pole array 31; magnetic pole support 32;

[0033] Rotor portion 4; tilt winding 41; spin winding 42; first winding support 43; slide 431; second winding support 44; center shaft 45; cross-axis universal joint 46; first shaft 461; second shaft 462; ball bearing 47; fixing ring 48;

[0034] Bull's eye bearing 5. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" used in the present invention to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] like Figures 1 to 5 Shown is a preferred embodiment of the present invention.

[0038] The permanent magnetic spherical drive based on multi-dimensional space winding includes a base 1, a spherical shell 2, a stator part 3 and a rotor part 4. The stator part 3 and the rotor part 4 are both arranged inside the spherical shell 2, and the north end and the south end of the spherical shell 2 are both provided with openings 21; the base 1 is arranged on the outside of the south end of the spherical shell 2, and the base 1 is usually installed on a robotic arm or other supporting structure by bolts, welding or other fixing methods to ensure the firmness of the system.

[0039] The stator part 3 includes a magnetic pole array 31 and a magnetic pole bracket 32. The magnetic pole array 31 is fixedly connected to the spherical shell 2 through the magnetic pole bracket 32. The magnetic pole array 31 is provided with multiple groups. The multiple groups of magnetic pole arrays 31 are evenly spaced along the equatorial circumference of the spherical shell 2. The magnetic poles of each group of the magnetic pole array 31 are arranged in an arc shape along the meridian of the spherical shell 2; the magnetic field generated by the magnetic pole array 31 is divided into an external magnetic field toward the side of the spherical shell 2 and an internal magnetic field away from the side of the spherical shell 2.

[0040] The rotor part 4 includes a tilt winding 41, a spin winding 42, a first winding bracket 43, a second winding bracket 44, a central axis 45, a cross-axis universal joint 46 and a ball bearing 47; the central axis 45 is coaxial with the earth's axis of the spherical shell 2, and one end of the central axis 45 is fixedly connected to the first shaft 461 of the cross-axis universal joint 46, and the second shaft 462 of the cross-axis universal joint 46 is the output shaft and extends from the opening 21 at the north end of the spherical shell 2; the other end of the central axis 45 extends from the opening 21 at the south end of the spherical shell 2 and is rotatably connected to the base 1 around its own axis; the spin winding 42 is fixedly connected to the central axis 45 through the second winding bracket 44, and each group of coils of the spin winding 42 is along the equatorial circumference of the spherical shell 2 The lines are distributed at equal intervals and are located on the side of the magnetic pole array 31 away from the spherical shell 2; there are multiple groups of inclined windings 41, and the multiple groups of inclined windings 41 are distributed at equal intervals along the equatorial circumference of the spherical shell 2, and the inclined windings 41 are movably arranged between the spherical shell 2 and the magnetic pole array 31 along the meridian of the spherical shell 2, and the inclined windings 41 are opposite to the magnetic pole array 31 one by one; each group of the inclined windings 41 is fixed by a first winding bracket 43, the first winding bracket 43 is arc-shaped and arranged along the meridian of the spherical shell 2, one end of the first winding bracket 43 is rotatably connected to the second shaft 462 of the cross-axis universal joint 46 through the ball bearing 47, and the other end of the first winding bracket 43 is set away from the center axis 45.

[0041] It is understood that the rotor includes the following motion forms:

[0042] The two tilted windings 41 under power and at an angle of 180 degrees to each other interact with the external magnetic field of the magnetic pole array 31 to generate a tilting torque, which can drive the tilted windings 41 and the first winding bracket 43 to tilt around the axis passing through the center of the spherical shell 2. The axis passing through the center of the spherical shell 2 is perpendicular to the plane where the corresponding meridians of the two tilted windings 41 under power and at an angle of 180 degrees to each other are located; since one end of the first winding bracket 43 is connected to the second shaft 462 (i.e., the output shaft) of the cross-axis universal joint 46 through a ball bearing 47, the first winding bracket 43 can drive the output shaft to tilt relative to the center axis 45 when it tilts, and the separation between the first winding bracket 43 and the center axis 45 can prevent the two from interfering when the first winding bracket 43 tilts and rotates relative to the center axis 45.

[0043] The spin winding 42 under power interacts with the external magnetic field of the magnetic pole array 31 to generate a spin torque, which can drive the spin winding 42 and the second winding bracket 44 to rotate around the central axis 45; since the second winding bracket 44 is fixedly connected to the central axis 45, the second winding bracket 44 can drive the central axis 45 to rotate when it rotates, and transmit the rotational power outward through the cross-axis universal joint 46.

[0044] Therefore, according to the embodiment of the present invention, the permanent magnetic spherical driver based on the multi-dimensional space winding considers the distribution of its windings and magnetic poles from the perspective of multi-dimensional space, that is, the magnetic pole array 31, the spin winding 42 and the tilt winding 41 are all arranged in the same spherical shell 2, and the spin winding 42 and the tilt winding 41 are respectively arranged on the inner and outer sides of the magnetic pole array 31, which fully utilizes the internal space of the spherical shell 2, not only effectively increases the number of windings, but also greatly improves the magnetic field utilization rate through reasonable optimization of the magnetic pole arrangement, providing the possibility of increasing the output torque of the spherical driver by multiples under the same volume; and the magnetic pole array Column 31 is a shared magnetic pole array 31, which can turn the original leakage magnetic field into treasure, thereby improving the magnetic field utilization rate and greatly enhancing the output torque; in addition, after being energized, the spin winding 42 interacts with the internal magnetic field of the magnetic pole array 31 to generate a spin torque, and the tilt winding 41 interacts with the external magnetic field of the magnetic pole array 31 to generate a tilt torque, that is, the spin torque and the tilt torque act separately to avoid mutual influence, eliminating the coupling from the mechanical configuration. This torque decoupling method separates the three-dimensional magnetic field and the corresponding system structure, which is essentially different from the traditional algorithm decoupling and has stronger practicality.

[0045] For example, the magnetic pole array 31 and the tilted winding 41 each have eight coils, and the spin winding 42 has nine coils. Thus, by rationally designing the number and layout of the magnetic pole array 31, tilted winding 41, and spin winding 42, optimal coordination between the windings and the magnetic poles is ensured, enabling precise control of the magnetic field and electromagnetic induction, and achieving efficient and stable electromagnetic drive performance.

[0046] Exemplarily, the inclined winding 41 is a multi-phase winding, specifically three-phase, five-phase and double three-phase. The more phases there are, the greater the output torque, but the range of stable deflection will be correspondingly reduced.

[0047] For example, in order to make the magnetic field on the surface of the magnetic pole array 31 uniform, each magnetic pole of the magnetic pole array 31 is radially magnetized (i.e., pointing to the center of the spherical shell 2 or facing away from the center of the spherical shell 2), the magnetization directions of two adjacent magnetic poles in the same group of the magnetic pole array 31 are opposite, and the magnetization directions of two magnetic poles on the same latitude in two adjacent groups of the magnetic pole arrays 31 are opposite.

[0048] Illustratively, the first winding support 43 is provided with a slide groove 431 on the side facing the spherical shell 2. The slide groove 431 is arc-shaped and arranged along the meridian of the spherical shell 2. Multiple bull's eye bearings 5 ​​are mounted on the inner side of the spherical shell 2, and the slide groove 431 engages with at least two of the bull's eye bearings 5 ​​in a rolling manner. The bull's eye bearings 5 ​​are used to support the rotation of the first winding support 43. At the same time, the cooperation between the bull's eye bearings 5 ​​and the slide groove 431 ensures that the first winding support 43 can only rotate along the meridian of the spherical shell 2, ensuring that the tilted winding 41 and the magnetic pole array 31 always maintain a preset spatial relationship, thereby improving the performance and reliability of the device.

[0049] Exemplarily, the base 1 is provided with a sleeve 11 into which the central shaft 45 can be inserted. For assembly, an axial limiting structure 12 is provided between the central shaft 45 and the sleeve 11 to limit axial movement of the central shaft 45 relative to the sleeve 11, so that the central shaft 45 can only rotate relative to the sleeve 11. Furthermore, the sleeve 11 extends into the interior of the spherical shell 2 through an opening 21 at the south end of the spherical shell 2, thereby increasing the length of the fitting section between the sleeve 11 and the central shaft 45 and improving the connection strength between the two. Furthermore, the sleeve 11 is spaced apart from the first winding bracket 43 so that the first winding bracket 43 does not interfere with the sleeve 11 when it tilts and rotates relative to the central shaft 45.

[0050] Exemplarily, the first winding supports 43 are arranged in a circle near the south end of the spherical shell 2 and are connected and fixed together by a fixing ring 48, so that the first winding supports 43 together form an integral spherical frame. Furthermore, the inner diameter of the fixing ring 48 is larger than the outer diameter of the sleeve 11, so that the sleeve 11 and the inner hole of the fixing ring are separated, ensuring that they do not interfere with each other.

[0051] Exemplarily, the base 1 , the spherical shell 2 , the central shaft 45 and the cross-axis universal joint 46 are all made of non-magnetic materials to prevent the magnetic field from spreading outward, thereby reducing magnetic leakage and facilitating reducing iron loss.

[0052] In summary, the embodiment of the present invention proposes a new design concept of a shared magnetic pole array 31 based on the action mechanism of a multi-degree-of-freedom spherical driving magnetic field, which can effectively improve the utilization rate of the magnetic field and thus increase the output torque; based on this, starting from the essence of spatial mechanism decoupling, an innovative multi-dimensional space winding scheme is proposed, which can effectively realize the separation of rotation and tilt torque, creating favorable conditions for high-precision attitude control.

[0053] In the description of the present invention, it should be understood that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" used in the present invention should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0054] The above disclosure is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention are still within the scope covered by the present invention.

Claims

1. A permanent magnetic spherical drive based on multi-dimensional space winding, characterized in that: The invention comprises a base, a spherical shell, a stator part and a rotor part, wherein the stator part and the rotor part are both arranged inside the spherical shell, and the north end and the south end of the spherical shell are both provided with openings; the base is arranged outside the south end of the spherical shell; The stator portion includes a magnetic pole array and a magnetic pole bracket. The magnetic pole array is fixedly connected to the spherical shell via the magnetic pole bracket. The magnetic pole array is provided in multiple groups. The multiple groups of magnetic pole arrays are evenly spaced along the equatorial circumference of the spherical shell. The magnetic poles of each group of magnetic pole arrays are arranged in an arc shape along the meridian of the spherical shell. The magnetic field generated by the magnetic pole array is divided into an external magnetic field toward one side of the spherical shell and an internal magnetic field away from the spherical shell. The rotor part includes a tilt winding, a spin winding, a first winding bracket, a second winding bracket, a central shaft, a cross-axis universal joint and a ball bearing; the central shaft is coaxial with the earth's axis of the spherical shell, and one end of the central shaft is fixedly connected to the first shaft rod of the cross-axis universal joint, the second shaft rod of the cross-axis universal joint is the output shaft, and extends from the opening of the north end of the spherical shell; the other end of the central shaft extends from the opening of the south end of the spherical shell and is rotatably connected to the base around its own axis; the spin winding is fixedly connected to the central shaft through the second winding bracket, and the coils of the spin winding are equidistant along the equatorial circumference of the spherical shell. The inclined windings are distributed at intervals and are located on the side of the magnetic pole array away from the spherical shell; there are multiple groups of inclined windings, and the multiple groups of inclined windings are equidistantly distributed along the equatorial circumference of the spherical shell, and the inclined windings are movably arranged between the spherical shell and the magnetic pole array along the meridian of the spherical shell, and the inclined windings are opposite to the magnetic pole array one by one; each group of the inclined windings is fixed by a first winding bracket, the first winding bracket is arc-shaped and arranged along the meridian of the spherical shell, one end of the first winding bracket is rotatably connected to the second shaft of the cross-axis universal joint through the ball bearing, and the other end of the first winding bracket is set away from the center axis.

2. The permanent magnetic spherical driver based on multi-dimensional space winding according to claim 1, characterized in that: The magnetic pole array and the tilt winding are each provided with 8 groups, and the spin winding is provided with 9 groups of coils.

3. The permanent magnetic spherical driver based on multi-dimensional space winding according to claim 1, characterized in that: The inclined winding is a multi-phase winding.

4. The permanent magnetic spherical driver based on multi-dimensional space winding according to claim 1, characterized in that: Each magnetic pole of the magnetic pole array is magnetized radially, the magnetization directions of two adjacent magnetic poles in the same group of the magnetic pole array are opposite, and the magnetization directions of two magnetic poles on the same latitude in two adjacent groups of the magnetic pole array are opposite.

5. The permanent magnetic spherical driver based on multi-dimensional space winding according to claim 1, characterized in that: The first winding bracket is provided with a slide groove on a side facing the spherical shell. The slide groove is arc-shaped and arranged along the meridian of the spherical shell. A plurality of bull's eye bearings are installed on the inner side of the spherical shell. The slide groove is in rolling engagement with at least two of the bull's eye bearings.

6. The permanent magnetic spherical driver based on multi-dimensional space winding according to claim 1, characterized in that: The base is provided with a sleeve for inserting the central shaft, and an axial limiting structure for limiting the axial movement of the central shaft relative to the sleeve is provided between the central shaft and the sleeve.

7. The permanent magnetic spherical driver based on multi-dimensional space winding according to claim 6, characterized in that: The sleeve extends into the interior of the spherical shell from an opening at the south end of the spherical shell, and the sleeve is spaced apart from the first winding bracket.

8. The permanent magnetic spherical driver based on multi-dimensional space winding according to claim 7, characterized in that: The first winding supports are arranged in a circle on one side close to the south end of the spherical shell and are connected and fixed together by a fixing ring, wherein the inner hole diameter of the fixing ring is larger than the outer diameter of the sleeve.

9. The permanent magnetic spherical driver based on multi-dimensional space winding according to claim 1, characterized in that: The base, the spherical shell, the central shaft and the cross-axis universal joint are all made of non-magnetic materials.

Images