Robot joint induction spherical driver for magnetic suspension auxiliary support

Abstract

The invention discloses a magnetic suspension auxiliary supporting robot joint induction spherical driver, and relates to the technical field of robot joints, the magnetic suspension auxiliary supporting robot joint induction spherical driver comprises a driving assembly, the driving assembly comprises a base, one side of the base is provided with a stator shell, and the stator shell is composed of an upper shell and a lower shell. According to the invention, by arranging the driving assembly, the transverse movement winding iron core and the longitudinal movement winding iron core are matched to drive the rotor core to perform multi-degree-of-freedom movement, so that the driving of required parts is completed; a plurality of transverse motion winding iron cores and longitudinal motion winding iron cores are combined into an inclined motion winding array capable of generating an inclined freedom degree in a winding mode, motion control in the inclined direction can be conveniently achieved, coupling does not exist in motion driving in the mode, complex non-linear coupling interference cannot be generated in motion in all directions, and the motion driving efficiency is improved. The number of coils in each pole domain is equal when the transverse movement winding iron cores are arranged, so that the situation that normal movement is affected by vibration when the rotor core is driven is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of robot joints, and in particular to a robot joint induction ball driver with magnetic suspension auxiliary support. Background Art

[0002] In modern industrial mobile platforms, in order to achieve three-dimensional motion in space, multi-degree-of-freedom drive devices are often required. Traditional multi-degree-of-freedom drives are complex systems composed of multiple single-degree-of-freedom drive motors connected in series / parallel on connecting rods and other complex transmission mechanisms. Such a structure increases the weight, volume and cumulative error of the drive system, making the dynamic characteristics of the system worse. In order to solve these problems, the design concept of a spherical drive was proposed. The spherical drive is a bionic mechanism that imitates human joints, that is, a drive device that can generate multi-degree-of-freedom rotation and tilt motion on a single joint. Therefore, the outstanding advantages of the spherical drive are: First, because the drive has only a single stator and rotor, its structure is very compact, with low weight and redundant inertia. The force is small; secondly, since there is no need to connect complex connecting rods, worms and gear systems like traditional multi-degree-of-freedom drive devices, there is no return error, which greatly improves the output accuracy; in addition, there is no additional power loss caused by the reducer and series / parallel connection mechanism, so the system efficiency can be greatly improved. Therefore, the integrated multi-degree-of-freedom spherical drive has broad application potential in the fields of high-precision production, processing and assembly (including industrial robots, precision machine tools, semiconductor lithography machines / packaging platforms, etc.), aerospace special equipment (including attitude adjustment flywheel systems, space robotic arms, etc.), aviation special equipment (including missile guidance drive systems / UAV perception drive systems, aircraft joystick force sensing systems, etc.) and the automotive industry.

[0003] After searching, the Chinese patent application number 202211252276.X discloses a permanent magnet spherical stepper motor for robot simulation joints, including a hollow rotor sphere made of non-magnetic material. A number of permanent magnet slots are distributed on the hollow rotor sphere according to the principle of approximately equilateral spherical division. A plurality of radially distributed rare earth permanent magnets are installed in the permanent magnet slots, and the north pole of each rare earth permanent magnet points outward from the sphere. The cylindrical stator located outside the hollow rotor sphere is made of non-magnetic material. The cylindrical stator is provided with a hemispherical slot, the center of the slot is located at the center of the cylindrical surface, and is used to place the hollow rotor sphere. The permanent magnet spherical stepper motor for robot simulation joints in the above patent has the following shortcomings: the existing device has the problem of complex motion control, and the problem of severe coupling of torques in different directions will occur during use, making its motion control extremely complex and difficult to use. Summary of the Invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a robot joint induction ball driver with magnetic suspension auxiliary support.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A magnetic levitation assisted support robot joint induction ball driver includes a drive assembly, the drive assembly includes a base, a stator housing is installed on one side of the base, the stator housing is composed of an upper shell and a lower shell, the upper shell and the lower shell are hemispherical in shape, a rotor core is arranged in the stator housing, a support assembly for supporting the rotor core is provided on one side of the stator housing, a plurality of groups of fixing holes are arranged horizontally in the center of the stator housing, a horizontal motion winding core is installed through the fixing holes, a plurality of groups of horizontal motion winding cores are provided, and are arranged circumferentially on the stator housing, a horizontal motion winding coil is provided on one side of the horizontal motion winding core, a plurality of groups of longitudinally opened mounting holes are arranged in a circular pattern on the stator housing, a longitudinal motion winding core is installed through the mounting holes, a longitudinal motion winding coil is provided on one side of the longitudinal motion winding core, and an output rod is connected to the top of the rotor core.

[0007] As a further solution of the present invention: the support assembly includes a support winding core, and the support winding core is provided with several groups. A support winding coil is provided on one side of the support winding core. Several groups of through slots are opened around the stator shell. The support winding core is installed in the through slots opened in the stator shell. A universal ball bearing is embedded and installed on one side of the support winding core. A universal ball is provided at one end of the universal ball bearing. The position and size of the universal ball are adapted to the rotor core.

[0008] As a further solution of the present invention: the rotor core is made of ferromagnetic material, and a copper plating layer is provided on the surface of the rotor core.

[0009] As a further solution of the present invention: a transport box is provided on one side of the stator housing, a box door is rotatably installed on one side of the transport box, several groups of mounting grooves are symmetrically opened on the inner walls of both sides of the transport box, sliders are slidably installed through the mounting grooves, a placement box is installed on one side of the slider, a mounting seat is installed on the top of the placement box, a sealing cover is rotatably installed through the mounting seat, the size of the sealing cover is adapted to the placement box, a limit block is installed on one side of the transport box, two groups of limit blocks are provided, and the other group of limit blocks is installed on the box door, the limit blocks are provided with positioning holes, and fixing pins are provided through the positioning holes. The shape of the fixing pins is U-shaped, and the size of the space in the placement box is adapted to the stator housing.

[0010] As a further solution of the present invention: several groups of partitions are installed on the inner wall of the placement box, several groups of sleeves are installed on one side of the partition, a moving rod is slidably installed in the sleeve, a sliding ring is provided at one end of the moving rod, the size of the sliding ring is adapted to the sleeve, a spring is provided in the sleeve, one end of the spring is fixed to the moving rod, a mounting plate is installed at the end of the moving rod, a clamping frame is installed on one side of the mounting plate, the material of the clamping frame is rubber, the shape and size of the clamping frame are adapted to the stator housing, several groups of sliding sleeves are installed on one side of the partition, a guide rod is slidably installed at one end of the sliding sleeve, and one end of the guide rod is fixed to the mounting plate.

[0011] As a further solution of the present invention: an airbag is installed at the bottom of the sealing cover, and the airbags are provided in several groups. Several groups of micro air pumps are installed at the bottom of the sealing cover, and the micro air pumps are connected to the airbags.

[0012] As a further solution of the present invention: a fixing frame is installed on one side of the placement box, a fixing shaft is installed on the top of the fixing frame, and a limiting frame is rotatably installed through the fixing shaft, and the size and position of the limiting frame are adapted to the sealing cover.

[0013] As a further solution of the present invention: a heat dissipation port is provided on one side of the transport box, a mounting bracket is installed on one side of the transport box, a drive motor is installed on one side of the mounting bracket, an output end of one side of the drive motor is connected to a mounting shaft, one end of the mounting shaft can be rotated to pass through the mounting bracket, a closed baffle is installed on the mounting shaft, and the size and position of the closed baffle are adapted to the heat dissipation port.

[0014] As a further solution of the present invention: universal wheels are installed at the bottom of the transport box, and the universal wheels are arranged in sequence in several groups.

[0015] As a further solution of the present invention: several groups of connecting frames are symmetrically installed on the outer walls of both sides of the transport box, an electric push rod is installed on the top of the connecting frame, the telescopic end of the bottom of the electric push rod can slide through the connecting frame, and a rubber foot pad is installed at the bottom of the electric push rod.

[0016] The beneficial effects of the present invention are:

[0017] 1. By setting up a driving assembly, the rotor core can be driven to move with multiple degrees of freedom by cooperating with the transverse motion winding core and the longitudinal motion winding core, thereby completing the driving of the required components. Multiple transverse motion winding cores and longitudinal motion winding cores are combined in a coiled manner to form a tilted motion winding array that can generate a tilted degree of freedom, and can more conveniently realize motion control in the tilt direction. In this way, there is no coupling in the motion drive, and the motion in each direction will not produce complex nonlinear coupling interference. When the transverse motion winding core is arranged, the number of coils in each pole domain is equal, thereby avoiding the vibration of the rotor core when driving and affecting the normal movement.

[0018] 2. The rotatable universal ball cooperates with the support winding iron core and the support winding coil to generate a suspended auxiliary support electromagnetic force to provide support for the rotor core. At the same time, a spherical uniform magnetic field can be generated on the rotor core to point the electromagnetic force to the center of the sphere without generating additional torque, further improving the output torque and further avoiding the problem of serious coupling.

[0019] 3. Making the rotor core of ferromagnetic material and copper plating its surface can greatly increase its conductivity, avoiding the problem of poor conductivity affecting its normal use.

[0020] 4. Several sets of stator casings can be placed in the space inside the box, which is convenient for large-scale transportation. When placing the stator casing, the installation plate can be controlled to move, so that the two symmetrical clamping frames can be separated. After the two symmetrical clamping frames are separated, it is convenient to put the stator casing in for fixation. After placement, the stator casing can be clamped and fixed by resetting the clamping frames. This avoids damage caused by collision of multiple sets of stator casings during transportation, which can greatly reduce unnecessary losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of a magnetic levitation-assisted support robot joint induction ball-type driver from the main perspective proposed by the present invention;

[0022] Figure 2 This is a schematic structural diagram of the driving portion of a magnetic levitation-assisted support robot joint induction ball-type driver proposed in the present invention;

[0023] Figure 3 This is a schematic structural diagram of the auxiliary drive portion of a magnetic levitation auxiliary support robot joint induction ball-type driver proposed in the present invention;

[0024] Figure 4 This is a schematic structural diagram of the enclosed portion of a magnetic levitation-assisted support robot joint induction ball-type driver proposed in the present invention;

[0025] Figure 5 This is a schematic structural diagram of the moving part of a magnetic levitation-assisted support robot joint induction ball-type driver proposed in the present invention;

[0026] Figure 6 This is a schematic structural diagram of the limiting portion of a magnetic levitation-assisted support robot joint induction ball-type driver proposed in the present invention;

[0027] Figure 7 This is a schematic structural diagram of the protective portion of a magnetic levitation-assisted support robot joint induction ball-type driver proposed in the present invention;

[0028] Figure 8This is a structural schematic diagram of the fixed part of a magnetic levitation-assisted support robot joint induction ball-type driver proposed by the present invention.

[0029] Figure: 1. Output rod; 2. Rotor core; 3. Stator housing; 4. Support winding core; 5. Transverse motion winding core; 6. Base; 7. Longitudinal motion winding core; 8. Transverse motion winding coil; 9. Support winding coil; 10. Longitudinal motion winding coil; 11. Universal ball bearing; 12. Universal ball; 13. Transport box; 14. Mounting frame; 15. Closing baffle; 16. Drive motor; 17. Electric push rod; 18. Connecting frame; 19. Foot pad. 20. Universal wheel; 21. Box door; 22. Limit block; 23. Fixing pin; 24. Mounting slot; 25. Placement box; 26. Slider; 27. Sealing cover; 28. Fixing frame; 29. ​​Fixed shaft; 30. Limiting frame; 31. Mounting shaft; 32. Mounting seat; 33. Partition; 34. Sliding sleeve; 35. Sleeve; 36. Moving rod; 37. Guide rod; 38. Clamping frame; 39. Airbag; 40. Micro air pump; 41. Mounting plate; 42. Spring. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be further described in detail below in conjunction with specific implementation methods.

[0031] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0032] Example 1

[0033] A magnetic levitation assisted support robot joint induction ball drive, such as Figure 1-8 As shown, it includes a drive component, which includes a base 6. A stator housing 3 is installed on one side of the base 6. The stator housing 3 consists of an upper shell and a lower shell. The upper shell and the lower shell are hemispherical. A rotor core 2 is arranged in the stator housing 3. A support component for supporting the rotor core 2 is provided on one side of the stator housing 3. A plurality of fixing holes are arranged in a transverse direction in the center of the stator housing 3. A transverse motion winding core 5 is installed through the fixing holes. The transverse motion winding core 5 is provided with a plurality of groups, which are arranged in a circular manner and installed on the stator housing 3. A transverse motion winding coil 8 is provided on one side of the transverse motion winding core 5. The stator housing 3 is arranged in a circular direction and has a plurality of longitudinal mounting holes. A longitudinal motion winding core 7 is installed through the mounting holes. A longitudinal motion winding coil 10 is provided on one side of the longitudinal motion winding core 7. The top of the rotor core 2 is connected to the output rod 1.

[0034] During use, the base 6 can be used for installation and fixation, and the output rod 1 can be used to connect the components to be driven. A certain gap is set between the rotor core 2 and the longitudinal motion winding coil 10 and the transverse motion winding coil 8. By energizing the transverse motion winding coil 8, the rotor core 2 can be controlled to rotate longitudinally for movement, and by energizing the longitudinal motion winding coil 10, the rotor core 2 can be controlled to rotate. The multi-degree-of-freedom movement of the rotor core 2 can be achieved by synchronously coordinating the longitudinal tilting movement with the rotational movement. Multiple transverse motion winding cores 5 and longitudinal motion winding cores 7 are combined in a coil-type manner to form a tilting motion winding array that can generate a tilting degree of freedom, and can more conveniently achieve motion control in the tilting direction. This method of motion drive does not have coupling, and motion in each direction does not generate complex nonlinear coupling interference. The total output torque of the driver is the linear vector superposition of the winding torque output in each direction. When the transverse motion winding cores 5 are arranged, the number of coils in each pole domain is equal, and all transverse motion winding cores 5 have the same structure, but are staggered by the same angle in the circumferential direction, thereby avoiding the vibration of the rotor core 2 when driving and affecting normal movement.

[0035] The support assembly includes a support winding core 4, which is provided with several groups. A support winding coil 9 is provided on one side of the support winding core 4. Several groups of through slots are opened around the stator housing 3. The support winding core 4 is installed in the through slots opened in the stator housing 3. A universal ball bearing 11 is embedded and installed on one side of the support winding core 4. A universal ball 12 is provided at one end of the universal ball bearing 11. The position and size of the universal ball 12 are adapted to the rotor core 2.

[0036] When in use, the rotor core 2 can be supported by the universal ball 12. By energizing the support winding core 4 and the support winding coil 9, a suspension auxiliary support electromagnetic force can be generated to provide support for the rotor core 2. At the same time, a spherical uniform magnetic field can be generated on the rotor core 2, so that the electromagnetic force is directed to the center of the sphere, without generating additional torque, further improving the output torque, thereby further avoiding the problem of severe coupling.

[0037] In order to increase the conductive effect, such as Figure 1 、 3 As shown, the rotor core 2 is made of ferromagnetic material, and a copper plating layer is provided on the surface of the rotor core 2;

[0038] During use, the rotor core 2 is made of ferromagnetic material and copper-plated on its surface to greatly enhance its electrical conductivity, thus avoiding the problem of poor electrical conductivity that affects its normal use.

[0039] To facilitate the transport of multiple groups, such as Figure 4 、 5As shown in , 6 and 7, a transport box 13 is provided on one side of the stator housing 3, and a box door 21 is rotatably installed on one side of the transport box 13. Several groups of mounting grooves 24 are symmetrically opened on the inner walls on both sides of the transport box 13, and sliders 26 are slidably installed through the mounting grooves 24. A placement box 25 is installed on one side of the slider 26, and a mounting seat 32 is installed on the top of the placement box 25. A sealing cover 27 is rotatably installed through the mounting seat 32. The size of the sealing cover 27 is adapted to the placement box 25. A limit block 22 is installed on one side of the transport box 13. Two groups of limit blocks 22 are provided, and the other group of limit blocks 22 is installed on the box door 21. The limit block 22 is provided with a positioning hole, and a fixing pin 23 is provided through the positioning hole. The shape of the fixing pin 23 is U-shaped, and the size of the space in the placement box 25 is adapted to the stator housing 3;

[0040] When in use, the box door 21 is mounted on the transport box 13 by a hinge, and the box door 21 can be controlled to rotate to open the transport box 13, and the placement box 25 can be pulled out of the transport box 13. After pulling it out, the sealing cover 27 can be controlled to rotate to place the stator housing 3 through the space in the placement box 25. The base 6 contacts the bottom of the placement box 25 to maintain stability. Several groups of stator housings 3 can be placed through the space in the placement box 25, which is convenient for placing a large number of spherical actuators. After placement, the sealing cover 27 can be closed to prevent foreign objects from entering. After pushing the placement box 25 back and closing the box door 21, the two ends of the fixing pin 23 are inserted into the positioning holes of the two groups of limit blocks 22 to complete the limitation, thereby preventing the box door 21 from being accidentally opened and causing the placement box 25 to slip. After placing the stator housing 3, the transport box 13 can be loaded onto a truck. After loading, multiple groups of spherical actuators can be transported, which greatly increases the convenience during transportation.

[0041] In order to secure it during transportation, Figure 7 、 8 As shown, several groups of partitions 33 are installed on the inner wall of the placement box 25, and several groups of sleeves 35 are installed on one side of the partition 33. A moving rod 36 is slidably installed in the sleeve 35, and a sliding ring is provided at one end of the moving rod 36. The size of the sliding ring is adapted to the sleeve 35. A spring 42 is provided in the sleeve 35, and one end of the spring 42 is fixed to the moving rod 36. A mounting plate 41 is installed at the end of the moving rod 36, and a clamping frame 38 is installed on one side of the mounting plate 41. The material of the clamping frame 38 is rubber, and the shape and size of the clamping frame 38 are adapted to the stator housing 3. Several groups of sliding sleeves 34 are installed on one side of the partition 33, and a guide rod 37 is slidably installed on one end of the sliding sleeve 34. One end of the guide rod 37 is fixed to the mounting plate 41.

[0042] When in use, when the stator housing 3 is placed and transported in large quantities, the mounting plate 41 can be controlled to move. The movement of the mounting plate 41 allows the moving rod 36 to overcome the elastic force of the spring 42 and slide in the sleeve 35, thereby separating the two symmetrical groups of clamping frames 38. After the two symmetrical groups of clamping frames 38 are separated, it is convenient to place the stator housing 3 for fixation. After the stator housing 3 is placed, the mounting plate 41 is released, and the elastic force of the spring 42 can be used to control the moving rod 36 to reset, thereby controlling the two symmetrical groups of clamping frames 38 to reassemble. After the stator housing 3 is placed, the stator housing 3 can be clamped and fixed, avoiding damage caused by collision of multiple groups of stator housings 3 during transportation, thereby reducing unnecessary damage. When controlling the movement of the mounting plate 41, the guide rod 37 can slide in the sliding sleeve 34 to limit the movement trajectory, avoiding deviation during movement.

[0043] To protect against turbulence, Figure 7 As shown, an airbag 39 is installed at the bottom of the sealing cover 27, and the airbag 39 is provided in several groups. A plurality of groups of micro air pumps 40 are installed at the bottom of the sealing cover 27, and the micro air pumps 40 are connected to the airbag 39;

[0044] During use, the size and position of the airbag 39 are adapted to the clamping frame 38. When the stator housing 3 is clamped and fixed by the clamping frame 38, the airbag 39 can be expanded by injecting air into the airbag 39 through the micro air pump 40. The expanded airbag 39 contacts the output rod 1 to play a protective role. When the stator 3 is passing through a severely bumpy road section, the airbag 39 can provide a buffer to prevent the output rod 1 from being damaged by the bumps. At the same time, the expanded airbag 39 can play a positioning role.

[0045] In order to prevent the sealing cover 27 from being opened accidentally, Figure 6 As shown, a fixing frame 28 is installed on one side of the placement box 25, and a fixing shaft 29 is installed on the top of the fixing frame 28. A limit frame 30 is rotatably installed through the fixing shaft 29. The size and position of the limit frame 30 are adapted to the sealing cover 27;

[0046] During use, the fixed shaft 29 and the limiting frame 30 are provided with a certain amount of damping to prevent unnecessary rotation. After the sealing cover 27 is closed, the limiting frame 30 is controlled to rotate to clamp the sealing cover 27 and limit and fix it, thereby preventing the sealing cover 27 from being accidentally opened during transportation.

[0047] To avoid excessive internal temperature during transportation, Figure 4 、 6As shown in Figure 7, a heat dissipation vent is provided on one side of the transport box 13, a mounting bracket 14 is installed on one side of the transport box 13, a drive motor 16 is installed on one side of the mounting bracket 14, an output end of one side of the drive motor 16 is connected to a mounting shaft 31, one end of the mounting shaft 31 is rotatable and passes through the mounting bracket 14, a closed baffle 15 is installed on the mounting shaft 31, and the size and position of the closed baffle 15 are adapted to the heat dissipation vent;

[0048] During use, air circulation can be maintained through the heat dissipation vents during transportation, thereby preventing the temperature inside the transport box 13 from being too high. When the road conditions are poor and dusty, the drive motor 16 can be used to start the control of the mounting shaft 31 and the closed baffle 15 to rotate. The closed baffle 15 can be rotated to close the heat dissipation vents of the transport box 13, thereby preventing dust and other impurities and foreign matter from entering. After the poor road conditions are passed, the closed baffle 15 can be controlled to rotate to open the heat dissipation vents for normal heat dissipation.

[0049] To facilitate the movement of locations, Figure 5 As shown, the bottom of the transport box 13 is equipped with universal wheels 20, and the universal wheels 20 are arranged in sequence in several groups;

[0050] When in use, the transport box 13 can be pushed or pulled, and the universal wheels 20 can be rotated to move the device by contacting the ground. The position can be quickly adjusted as needed, and the movement can facilitate loading and transportation.

[0051] Example 2

[0052] To maintain stability, refer to Figure 4 、 5 A magnetic levitation-assisted support robot joint induction ball actuator. Compared with Example 1, this embodiment has the following improvements: a plurality of connecting frames 18 are symmetrically mounted on the outer walls of both sides of the transport box 13. An electric push rod 17 is mounted on the top of the connecting frame 18. The telescopic end of the bottom of the electric push rod 17 can slide through the connecting frame 18. A rubber foot pad 19 is mounted on the bottom of the electric push rod 17.

[0053] During use, after the mobile device completes loading or position adjustment, the electric push rod 17 can be controlled to start. By starting the electric push rod 17, the foot pad 19 can be controlled to fall and prop up the device. After being propped up, the device can be supported to maintain stability and avoid unnecessary displacement caused by the influence of the universal wheel 20.

[0054] The above is only a preferred specific embodiment of the present invention. Parts that do not require creative work such as circuit control and signal control transmission may refer to the existing technology, but the scope of protection of the present invention is not limited to this. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, can make equivalent replacements or changes based on the technical solution and inventive concept of the present invention, which should be covered by the scope of protection of the present invention.

Claims

1. A magnetic levitation-assisted support robot joint induction ball driver, characterized in that: The drive assembly comprises a base (6), a stator housing (3) is mounted on one side of the base (6), the stator housing (3) is composed of an upper housing and a lower housing, the upper housing and the lower housing are hemispherical, a rotor core (2) is arranged in the stator housing (3), a support assembly for supporting the rotor core (2) is arranged on one side of the stator housing (3), a plurality of groups of fixing holes are arranged in a transverse direction at the center of the stator housing (3), a transverse motion winding core (5) is mounted through the fixing holes, a plurality of groups of transverse motion winding cores (5) are arranged and mounted on the stator housing (3) in a circumferential direction, a transverse motion winding coil (8) is arranged on one side of the transverse motion winding core (5), a plurality of groups of longitudinally opened mounting holes are arranged in a circular direction at the stator housing (3), a longitudinal motion winding core (7) is mounted through the mounting holes, a longitudinal motion winding coil (10) is arranged on one side of the longitudinal motion winding core (7), and an output rod (1) is connected to the top of the rotor core (2).

2. The magnetic levitation-assisted support robot joint induction ball driver according to claim 1, characterized in that: The support assembly comprises a support winding core (4), wherein the support winding core (4) is provided with a plurality of groups, a support winding coil (9) is provided on one side of the support winding core (4), a plurality of groups of through slots are provided around the stator housing (3), the support winding core (4) is installed in the through slots provided in the stator housing (3), a universal ball bearing (11) is embedded and installed on one side of the support winding core (4), a universal ball (12) is provided at one end of the universal ball bearing (11), and the position and size of the universal ball (12) are adapted to the rotor core (2).

3. The magnetic levitation-assisted support robot joint induction ball driver according to claim 1, characterized in that: The rotor core (2) is made of ferromagnetic material, and a copper plating layer is provided on the surface of the rotor core (2).

4. The magnetic levitation-assisted support robot joint induction ball driver according to claim 1, characterized in that: A transport box (13) is provided on one side of the stator housing (3), a box door (21) is rotatably installed on one side of the transport box (13), a plurality of groups of mounting grooves (24) are symmetrically opened on the inner walls of both sides of the transport box (13), a slider (26) is slidably installed through the mounting grooves (24), a placement box (25) is installed on one side of the slider (26), a mounting seat (32) is installed on the top of the placement box (25), a sealing cover (27) is rotatably installed through the mounting seat (32), the size of the sealing cover (27) is adapted to the placement box (25), a limiting block (22) is installed on one side of the transport box (13), two groups of limiting blocks (22) are provided, the other group of limiting blocks (22) is installed on the box door (21), a positioning hole is opened on the limiting block (22), a fixing pin (23) is provided through the positioning hole, the shape of the fixing pin (23) is U-shaped, and the size of the space in the placement box (25) is adapted to the stator housing (3).

5. The magnetic levitation-assisted support robot joint induction ball driver according to claim 4, characterized in that: The inner wall of the placement box (25) is installed with a plurality of partitions (33), one side of the partition (33) is installed with a plurality of sleeves (35), a moving rod (36) is slidably installed in the sleeve (35), one end of the moving rod (36) is provided with a sliding ring, the size of the sliding ring is adapted to the sleeve (35), a spring (42) is provided in the sleeve (35), one end of the spring (42) is fixed to the moving rod (36), a mounting plate (41) is installed at the end of the moving rod (36), a clamping frame (38) is installed on one side of the mounting plate (41), the material of the clamping frame (38) is a rubber material, the shape and size of the clamping frame (38) are adapted to the stator housing (3), a plurality of sliding sleeves (34) are installed on one side of the partition (33), one end of the sliding sleeve (34) is slidably installed with a guide rod (37), one end of the guide rod (37) is fixed to the mounting plate (41).

6. The magnetic levitation-assisted support robot joint induction ball driver according to claim 4, characterized in that: An air bag (39) is installed at the bottom of the sealing cover (27), and the air bags (39) are provided in several groups. A plurality of groups of micro air pumps (40) are installed at the bottom of the sealing cover (27), and the micro air pumps (40) are connected to the air bags (39).

7. The magnetic levitation-assisted support robot joint induction ball driver according to claim 4, characterized in that: A fixing frame (28) is installed on one side of the placement box (25), and a fixing shaft (29) is installed on the top of the fixing frame (28). A limiting frame (30) is rotatably installed through the fixing shaft (29), and the size and position of the limiting frame (30) are adapted to the sealing cover (27).

8. The magnetic levitation-assisted support robot joint induction ball driver according to claim 4, characterized in that: A heat dissipation port is provided on one side of the transport box (13), a mounting frame (14) is installed on one side of the transport box (13), a driving motor (16) is installed on one side of the mounting frame (14), an output end of one side of the driving motor (16) is connected to a mounting shaft (31), one end of the mounting shaft (31) is rotatably arranged to penetrate the mounting frame (14), a closed baffle (15) is installed on the mounting shaft (31), and the size and position of the closed baffle (15) are adapted to the heat dissipation port.

9. The magnetic levitation-assisted support robot joint induction ball driver according to claim 4, characterized in that: Universal wheels (20) are installed at the bottom of the transport box (13), and the universal wheels (20) are installed in a plurality of groups arranged in sequence.

10. The magnetic levitation-assisted support robot joint induction ball driver according to claim 4, characterized in that: The outer walls of both sides of the transport box (13) are symmetrically mounted with a plurality of connecting frames (18), the top of the connecting frame (18) is mounted with an electric push rod (17), the telescopic end of the bottom of the electric push rod (17) is slidable through the connecting frame (18), and the bottom of the electric push rod (17) is mounted with a rubber foot pad (19).

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