A multi-pole shoe coil common back iron plate type motor

Abstract

The application discloses a multi-pole shoe coil common back iron plate type motor, which adopts a rotor rotating sleeve in which half-circle N-pole permanent magnets and S-pole permanent magnets are relatively embedded, and the N-pole permanent magnets and the S-pole permanent magnets are connected by a magnetic isolation material to form a complete ring-shaped permanent magnet pair; a pole shoe coaxially arranged on the inner side, a back iron and corresponding coils form an electromagnetic coupling structure; the whole does not need a harmonic reducer and a screw rod transmission mechanism, and eliminates the backlash, gap and friction in a transmission chain, so that the motor directly drives a load; corresponding coils of two adjacent pole shoes are simultaneously supplied with currents of the same polarity, two groups of coils simultaneously generate an attractive force on the half-circle arc permanent magnet pair, so that the center lines of the N-pole permanent magnets and the S-pole permanent magnets are positioned at the middle position between the center points of the two groups of pole shoes; further, the current ratio of the two groups of coils is precisely adjusted; when the current sizes are different, the center lines of the magnets deviate to the pole shoe with the larger current, and the deviation is proportional to the difference between the two groups of currents, so that a nanometer-level fine angular displacement is realized.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and more specifically to a multi-pole shoe coil common back iron disc motor. Background Technology

[0002] Stepper motors are open-loop control elements that convert electrical pulse signals into angular or linear displacement, and are widely used in applications requiring high-precision position control. Traditional stepper motors mainly include three categories: permanent magnet stepper motors, reactive stepper motors, and hybrid stepper motors. Among them, hybrid stepper motors have become the mainstream due to their combination of the advantages of permanent magnet and reactive motors.

[0003] However, existing stepper motor and servo motor technologies still have the following shortcomings: First, the transmission chain is long and the accuracy loss is significant. Traditional robot joint drive solutions usually use a combination of "motor + harmonic reducer" or "motor + lead screw". Harmonic reducers have backlash and flexible deformation, while lead screw drives have friction and backlash. These transmission links inevitably introduce positioning errors, which limit the accuracy of the end effector.

[0004] Second, the structure is not compact enough. Although traditional disc stepper motors have achieved a certain degree of flatness, their stator structure is complex, each phase winding is independently configured, and the magnetic circuits are independent or have coupling interference, making it difficult to further reduce the axial thickness and radial dimensions of the motor.

[0005] Third, the step angle resolution is limited. The step angle of conventional stepper motors is usually a fixed value such as 0.9°, 1.8° or 7.5°. Although a full step can be divided into multiple microsteps through microstepping drive technology, the accuracy improvement space is limited by the number of poles and structure of the motor itself, making it difficult to meet the requirements of nanometer-level positioning accuracy in chip manufacturing, precision surgery and other fields.

[0006] Fourth, it cannot achieve flexible switching between large and small stepping angles. The step angle of existing stepper motors is fixed during the design phase, making it impossible to freely switch between large stepping angles (used for rapid coarse positioning) and extremely small stepping angles (used for precise fine-tuning) on ​​the same motor at the same time. Summary of the Invention

[0007] To solve the above technical problems, the present invention provides a multi-pole shoe coil common-back iron disc motor, including a rotor assembly, a stator assembly, a rotating mechanism, and a base. The rotor assembly is spaced within the base, and the rotor assembly is rotatably connected to the rotating mechanism. The rotating mechanism passes through the stator assembly, and the rear end of the stator assembly is connected to the base. The rotor assembly includes a rotor rotating sleeve, an N-pole permanent magnet, an S-pole permanent magnet, and a magnetic shielding material. The rotating mechanism is fixedly connected to the rotor rotating sleeve. Semi-circular N-pole permanent magnets and S-pole permanent magnets are embedded opposite each other inside the rotor rotating sleeve. The permanent magnet and the S-pole permanent magnet are connected at both ends by a magnetic shielding material; the stator assembly is coaxially arranged inside the N-pole permanent magnet and the S-pole permanent magnet; the stator assembly includes pole shoes, an annular back iron, corresponding coils and connecting rods, the annular back iron is evenly provided with at least three sets of pole shoes along the circumference, and two adjacent pole shoes achieve a small angular displacement by matching the current magnitude; each pole shoe is provided with a corresponding coil, and the corresponding coils do not contact each other; the annular back iron is provided with a connecting rod on the back side, the connecting rod is connected to the base, the annular back iron is provided with a through hole in the center, and a rotating mechanism passes through the through hole.

[0008] Preferably, the rotating mechanism includes a turntable, a rotating shaft, a connecting bracket, and a bearing seat. The outer side of the rotor rotating sleeve is fixedly connected to the turntable through the connecting bracket. A rotating shaft is fixedly provided at the center of the turntable. A bearing seat is provided in the base. One end of the rotating shaft passes through the through hole and is rotatably connected to the bearing seat. The other end of the rotating shaft is adapted to and connected to a mechanical rotating device.

[0009] Preferably, the rotating mechanism includes a turntable, a rotating shaft, a connecting bracket, and a bearing seat. The outer side of the rotor rotating sleeve is fixedly connected to the turntable through the connecting bracket. The rotating shaft is fixedly provided at the center of the turntable. The bearing seat is fixedly provided in the through hole. One end of the rotating shaft is rotatably connected to the bearing seat, and the other end of the rotating shaft is adapted to and connected to a mechanical rotating device.

[0010] Preferably, a magnetic probe is fixed on the base, and the magnetic probe is evenly distributed along the outer periphery of the N-pole permanent magnet or the S-pole permanent magnet.

[0011] Preferably, there are three magnetic probes, which are Hall sensors or magnetoresistive sensors.

[0012] Compared with the prior art, the present invention has the following beneficial effects: (1) This invention employs semi-circular N-pole permanent magnets and S-pole permanent magnets embedded in the rotor rotating sleeve. The two are connected by a magnetic shielding material to form a complete ring-shaped permanent magnet pair. Together with the pole shoes, back iron, and corresponding coils arranged coaxially on the inner side, they form an electromagnetic coupling structure. The whole structure eliminates the need for a harmonic reducer and a lead screw transmission mechanism, thus eliminating backlash, gaps, and friction in the transmission chain and realizing direct drive of the load by the motor. By simultaneously passing current of the same polarity through the corresponding coils of two adjacent pole shoes, the two sets of coils simultaneously generate an attraction force on the semi-circular permanent magnet pair, positioning the center line of the N-pole permanent magnet and the S-pole permanent magnet at the midpoint between the center points of the two sets of pole shoes. Further, the current ratio of the two sets of coils is precisely adjusted. When the current is unequal, the center line of the magnet shifts towards the pole shoe with the larger current. The amount of shift is proportional to the difference between the two sets of currents, thereby achieving nanometer-level precision angular displacement. At the same time, magnetic probes evenly distributed along the outer periphery of the N-pole permanent magnet on the base detect the magnetism at each point in real time, precisely adjust the current polarity, and ensure accurate control of the displacement direction. This invention is applicable to applications requiring extremely high precision, such as chip manufacturing and precision surgery.

[0013] (2) The present invention adopts a disc structure design, with an axial thickness much smaller than the outer diameter, and is an ultra-thin disc. The stator assembly can be embedded in the base, the rotor assembly is a thin disc, and the bearing seat can be located in the base or embedded in the through hole in the center of the annular back iron, further compressing the axial space. The overall structure is extremely compact and suitable for installation inside the robot joint where space is limited.

[0014] (3) In this invention, each pole shoe and the corresponding coil share a ring back iron to form a closed magnetic circuit, which greatly reduces the amount of iron core material used; the rotor rotating sleeve also serves as the back iron of the semi-circular permanent magnet, and only two arc-shaped magnets, N-pole permanent magnet and S-pole permanent magnet, are needed to form a complete rotor magnetic pole, and the amount of permanent magnet used is small; the wedge-shaped grooves at both ends of the magnetic shielding material are adapted and fixed to the wedge-shaped protrusions on both sides of the N-pole permanent magnet and the S-pole permanent magnet, which not only prevents the magnet from flying out under high speed rotation, but also makes the end magnetic lines of force transition smoothly and reduces end magnetic leakage, ensuring that the magnetic lines of force pass through the air gap as much as possible to do work, so that the utilization rate of permanent magnet is maximized, and the same amount of magnet outputs greater torque.

[0015] (4) By selecting pole shoe combinations with different intervals for energizing, the present invention can achieve large step angles for rapid coarse positioning; by controlling the current ratio of adjacent pole shoes, nanometer-level fine angular displacement can be achieved for precise fine adjustment. The same motor can perform both large-step rapid coarse positioning and small-step precise fine adjustment, with highly integrated functions.

[0016] (5) This invention eliminates the inertial delay of the transmission link, and the motor directly drives the load, resulting in a fast response speed. By detecting the magnetism at each point with a magnetic probe and changing the current polarity of the corresponding coil, frequent and smooth switching of rotation angles of less than 180 degrees in both directions can be achieved, which is suitable for the high dynamic working conditions of robot joints. In the stationary state, a DC current is continuously applied to one or more selected sets of corresponding coils, so that the N-pole permanent magnet or S-pole permanent magnet generates a holding torque between the pole shoe and the pole, achieving energized positioning and holding; in the de-energized state, the magnetic attraction between the N-pole permanent magnet or S-pole permanent magnet and the pole shoe can also provide a certain self-locking torque, which is highly safe.

[0017] (6) The bearing housing of the present invention can be disposed in the base or embedded in the back iron through hole; the rotating shaft can extend out as a power output end to connect the load or not extend out as a joint connector; the stator assembly can be fixed on the base or fixed on the joint moving end point, adapting to a variety of application scenarios. Attached Figure Description

[0018] Figure 1 This is an overall radial sectional view of the present invention.

[0019] Figure 2 This is an axial sectional view of Embodiment 1 of the present invention.

[0020] Figure 3 This is an axial sectional view of Embodiment 2 of the present invention. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1 to 3 As shown, a multi-pole shoe coil common back iron disc motor includes a rotor rotating sleeve 110, an N-pole permanent magnet 111, an S-pole permanent magnet 112, a magnetic shielding material 113, a turntable 114, a rotating shaft 115, a connecting bracket 116, a pole shoe 210, an annular back iron 211, a corresponding coil 212, a through hole 213, a connecting rod 214, an air gap 3, a base 400, a bearing seat 420, and a magnetic detection head 510.

[0023] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Example 1

[0025] like Figures 1 to 2 As shown, a multi-pole shoe coil common-back iron disc type stepper servo motor includes a rotor assembly, a stator assembly, a rotating mechanism, and a base 400. The rotor assembly is spaced within the base 400 and is rotatably connected to the rotating mechanism. The rotating mechanism passes through the stator assembly, and the rear end of the stator assembly is connected to the base 400. The servo motor of this invention adopts a disc-type structure design, with an axial thickness much smaller than its outer diameter, exhibiting an ultra-thin disc shape.

[0026] The rotor assembly includes a rotor rotating sleeve 110, an N-pole permanent magnet 111, an S-pole permanent magnet 112, and a magnetic shielding material 113. The rotating mechanism is fixedly connected to the rotor rotating sleeve 110. Semi-circular N-pole permanent magnets 111 and 112 are embedded opposite each other inside the rotor rotating sleeve 110. The two ends of the N-pole permanent magnets 111 and 112 are connected by the magnetic shielding material 113. Both sides of the N-pole permanent magnet 111 or S-pole permanent magnet 112 have wedge-shaped protrusions, and the two ends of the magnetic shielding material 113 have wedge-shaped grooves that fit and fix with the wedge-shaped protrusions. This ensures that the magnets maintain a stable relative position during high-speed rotation and high-frequency forward / reverse switching, further guaranteeing the repeatability of precise angular displacement positioning.

[0027] The stator assembly is coaxially arranged inside the N-pole permanent magnet 111 and the S-pole permanent magnet 112; the rotor rotating sleeve 110 also serves as the back iron for the N-pole permanent magnet 111 and the S-pole permanent magnet 112. Only two arc-shaped magnets, the N-pole permanent magnet 111 and the S-pole permanent magnet 112, are needed to form a complete rotor magnetic pole, and the amount of permanent magnets used is small; the wedge-shaped grooves at both ends of the magnetic shielding material 113 are adapted and fixed to the wedge-shaped protrusions on both sides of the N-pole permanent magnet 111 and the S-pole permanent magnet 112, which not only prevents the magnets from flying out under high-speed rotation (no glue is needed, which is more reliable), but also makes the end magnetic lines of force transition smoothly, reduces end magnetic leakage, and ensures that the magnetic lines of force pass through the air gap 3 as much as possible to do work, so that the utilization rate of permanent magnets reaches the extreme, and the same amount of magnets outputs greater torque.

[0028] The stator assembly includes pole shoes 210, an annular back iron, corresponding coils 212, and connecting rods 214. At least three sets of pole shoes 210 are evenly arranged circumferentially on the annular back iron. Two adjacent pole shoes achieve minute angular displacement by adjusting the current magnitude; in this invention, one set consists of two pole shoes. Each pole shoe 210 has a corresponding coil 212, which do not contact each other. Each pole shoe 210 and its corresponding coil 212 share an annular back iron 211 to form a closed magnetic circuit, significantly reducing the amount of core material used.

[0029] By selecting and energizing different intervals of pole shoes 210, a large step angle can be achieved (with an interval of k pole shoes, the step angle is k+1 times that of adjacent pole shoes), used for rapid coarse positioning; by controlling the current ratio of adjacent pole shoes, nanometer-level precise angular displacement can be achieved, used for fine-tuning. The same motor can perform both large-step rapid coarse positioning and small-step precise fine-tuning, achieving a high degree of functional integration.

[0030] In the stopped state, a direct current is continuously applied to one or more sets of corresponding coils 212, so that the N-pole permanent magnet 111 or S-pole permanent magnet 112 generates a holding torque between the pole shoe 210 and the pole, thus achieving energized positioning and holding. In the de-energized state, the magnetic attraction between the N-pole permanent magnet 111, S-pole permanent magnet 112 and pole shoe 210 can also provide a certain self-locking torque, which is highly safe.

[0031] The annular back iron 211 has a connecting rod 214 on its back side, which is connected to the base 400. The annular back iron has a through hole 213 in the center, and a rotating mechanism is installed inside the through hole 213.

[0032] An air gap 3 is provided between the corresponding coil 212 and the inner side of the N-pole permanent magnet 111 or the S-pole permanent magnet 112. The rotating mechanism includes a turntable 114, a rotating shaft 115, a connecting bracket 116, and a bearing seat 420. The outer side of the rotor rotating sleeve 110 is fixedly connected to the turntable 114 through the connecting bracket 116. The rotating shaft 115 is fixedly mounted at the center of the turntable 114. The bearing seat 420 is provided inside the base 400. One end of the rotating shaft 115 is rotatably connected to the bearing seat 420 through a through hole 213. The other end of the rotating shaft 115 is adapted to be connected to a mechanical rotating device as a power output end.

[0033] A magnetic probe 510 is fixed on the base 400, and the magnetic probes 510 are evenly distributed along the outer periphery of the N-pole permanent magnet 111. There are three magnetic probes 510, and each magnetic probe 510 is a Hall sensor or a magnetoresistive sensor. By detecting the magnetic field at each point using the magnetic probes 510, frequent and smooth switching between rotation angles of less than 180 degrees in both directions can be achieved, which is suitable for the high dynamic conditions of robot joints. The three magnetic probes 510 must be set at equal intervals within half an arc of the N-pole permanent magnet 111 or the S-pole permanent magnet 112. Which pole is energized to the coil, and whether it receives positive or negative voltage, is determined based on the magnetic information detected by the magnetic probes. Example 2

[0034] The difference between this embodiment and Embodiment 1 is that: Figure 3 As shown, the rotating mechanism includes a turntable 114, a rotating shaft 115, a connecting bracket 116, and a bearing seat 420. The outer side of the rotor rotating sleeve 110 is fixedly connected to the turntable 114 through the connecting bracket 116. The rotating shaft 115 is fixedly installed at the center of the turntable 114, and the bearing seat 420 is fixedly installed in the through hole 213. One end of the rotating shaft 115 is rotatably connected to the bearing seat 420, and the other end of the rotating shaft 115 is adapted to be connected to the mechanical rotating device.

[0035] The stator assembly can be embedded in the base 400, the rotor assembly is a thin disc, and the bearing seat 420 can be located in the base 400 (Embodiment 1) or embedded in the through hole 213 in the center of the back iron 211 (Embodiment 2), further compressing the axial space. The overall structure is extremely compact and suitable for installation inside the space-constrained robot joint.

[0036] The working principle of this invention is as follows: The stator assembly has pole shoes 210 and corresponding coils 212 evenly distributed along the circumference, with an included angle of 360° / M between two adjacent pole shoes 210 (M being the number of pole shoes). The rotor assembly consists of a pair of permanent magnets, N-pole permanent magnets 111 and S-pole permanent magnets 112, which rotate under the influence of the magnetic field of the stator assembly.

[0037] In large step mode, energizing every k pole shoe coil units (k≥1) results in a step angular displacement that is (k+1) times that of energizing adjacent pole shoes. For example, when M=12, the distance between adjacent pole shoes is 30°. If energizing every 1 pole shoe, the single step angle is 60°; if energizing every 2 pole shoes, the single step angle is 90°. By selecting different interval distances, angular displacements of different spans can be achieved.

[0038] In nanoscale precision mode, two adjacent pole pieces 210 and their corresponding coils 212 are simultaneously supplied with current of the same polarity as a unit. The centerline of the semi-circular permanent magnet pair is positioned midway between the center points of the two pole pieces 210. When the currents in the two pole piece lines 210 are unequal, the centerlines of the N-pole permanent magnet 111 and the S-pole permanent magnet 112 shift towards the pole piece 210 and its corresponding coil 212 with the larger current. The amount of shift is proportional to the difference between the two currents. By precisely adjusting the current ratio of the two corresponding coils 212, nanoscale precision angular displacement can be achieved, and the direction of displacement can be bidirectionally adjusted by changing the relationship between the magnitudes of the two currents.

[0039] In terms of speed and direction control, the movement speed is controlled by changing the frequency of the driving current. The higher the frequency, the more steps are taken per unit time, and the faster the movement speed. The rotation direction is controlled by changing the current polarity of the corresponding coil 212, enabling frequent switching between forward and reverse rotation angles of less than 180 degrees. In terms of positioning and holding, in the stopped state, a selected set or more sets of corresponding coils 212 are continuously energized with DC current, causing the semi-circular permanent magnet to generate a holding torque between the magnet and the conductive shoe, achieving self-locking when power is off or positioning and holding when power is on.

[0040] Nanoscale precision angular displacement is achieved by controlling the current ratio of adjacent pole shoe coils, enabling the same motor to perform both large-step rapid coarse positioning and small-step precise fine adjustment.

[0041] The rotor rotating sleeve 110 of the present invention has semi-circular N-pole permanent magnets 111 and S-pole permanent magnets 112 embedded in each other. The two are connected by magnetic shielding material 113 to form a complete annular permanent magnet pair. Together with the pole shoe 210, back iron 211 and corresponding coil 212 arranged coaxially on the inner side, they form an electromagnetic coupling structure. The whole structure does not require a harmonic reducer and a lead screw drive mechanism, eliminating backlash, gap and friction in the transmission chain, and realizing direct drive of the motor to the load.

[0042] By simultaneously passing current of the same polarity through the corresponding coils 212 of two adjacent pole shoes 210, the two sets of coils simultaneously exert an attractive force on the semi-circular permanent magnet pair (N-pole permanent magnet 111 and S-pole permanent magnet 112), so that the center line of the N-pole permanent magnet 111 and the S-pole permanent magnet 112 is positioned at the midpoint between the center points of the two sets of pole shoes 210; by further precisely adjusting the current ratio of the two sets of corresponding coils 212, when the current is unequal, the center line of the magnet shifts towards the pole shoe 210 with the larger current, and the amount of shift is proportional to the difference between the two sets of current, thereby achieving nanometer-level precision angular displacement.

[0043] This eliminates backlash, clearance, and friction in the transmission chain, enabling direct motor drive of the load. By simultaneously applying current of the same polarity to the corresponding coils 212 of two adjacent pole shoes 210 and precisely adjusting the ratio of the two currents, the centerlines of the N-pole permanent magnet 111 and the S-pole permanent magnet 112 are shifted towards the side with the larger current. The shift amount is proportional to the current difference, thereby achieving nanometer-level precision angular displacement. This is suitable for applications with extremely high precision requirements, such as chip manufacturing and precision surgery. There is no inertial delay from the transmission link; the motor directly drives the load, resulting in fast response, reliable positioning, and high safety.

[0044] The bearing housing 420 of the present invention can be disposed in the base 400 (Embodiment 1) or embedded in the through hole 213 (Embodiment 2); the rotating shaft 115 can extend out as a power output end to connect the load, or it can not extend out and only serve as a joint connector; the stator assembly can be fixed on the base 400 or fixed on the movable end of the joint, adapting to a variety of application scenarios.

[0045] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any modifications, equivalent changes, improvements, etc., made in accordance with the claims of the present invention shall still fall within the scope of the present invention.

Claims

1. A multi-pole shoe coil common back iron disc type motor, characterized in that: The system includes a rotor assembly, a stator assembly, a rotating mechanism, and a base (400). The base (400) contains a rotor assembly spaced apart from the stator assembly. The rotor assembly is rotatably connected to the rotating mechanism, which passes through the stator assembly. The rear end of the stator assembly is connected to the base (400). The rotor assembly includes a rotor rotating sleeve (110), an N-pole permanent magnet (111), an S-pole permanent magnet (112), and a magnetic shielding material (113). The rotating mechanism is fixedly connected to the rotor rotating sleeve (110). Semi-circular N-pole permanent magnets (111) and S-pole permanent magnets (112) are embedded opposite each other on the inner side of the rotor rotating sleeve (110). The two ends of the N-pole permanent magnets (111) and S-pole permanent magnets (112) are connected by the magnetic shielding material (113). The stator assembly is coaxially arranged inside the magnet (111) and the S-pole permanent magnet (112); the stator assembly includes pole shoes (210), annular back iron (211), corresponding coils (212) and connecting rods (214). The annular back iron (211) is uniformly provided with at least three sets of pole shoes (210) along the circumference. Two adjacent pole shoes achieve a small angular displacement by matching the current magnitude. Each pole shoe (210) is provided with a corresponding coil (212), and the corresponding coils (212) do not contact each other. The annular back iron (211) is provided with a connecting rod (214) on the back side. The connecting rod (214) is connected to the base (400). The annular back iron (211) is provided with a through hole (213) in the center. A rotating mechanism is installed inside the through hole (213).

2. The multi-pole shoe coil common-back iron disc motor according to claim 1, characterized in that: Both sides of the N-pole permanent magnet (111) or S-pole permanent magnet (112) are provided with wedge-shaped protrusions, and both ends of the magnetic shielding material (113) are provided with wedge-shaped grooves, which are adapted and fixed to the wedge-shaped protrusions.

3. A multi-pole shoe coil common-back iron disc motor according to claim 2, characterized in that: The rotating mechanism includes a turntable (114), a rotating shaft (115), a connecting bracket (116), and a bearing seat (420). The outer side of the rotor rotating sleeve (110) is fixedly connected to the turntable (114) through the connecting bracket (116). The rotating shaft (115) is fixedly provided in the center of the turntable (114). The bearing seat (420) is provided in the base (400). One end of the rotating shaft (115) passes through the through hole (213) and is rotatably connected to the bearing seat (420). The other end of the rotating shaft (115) is adapted to be connected to a mechanical rotating device.

4. A multi-pole shoe coil common-back iron disc motor according to claim 2, characterized in that: The rotating mechanism includes a turntable (114), a rotating shaft (115), a connecting bracket (116), and a bearing seat (420). The outer side of the rotor rotating sleeve (110) is fixedly connected to the turntable (114) through the connecting bracket (116). The rotating shaft (115) is fixedly provided at the center of the turntable (114). The bearing seat (420) is fixedly provided in the through hole (213). One end of the rotating shaft (115) is rotatably connected to the bearing seat (420), and the other end of the rotating shaft (115) is adapted to be connected to a mechanical rotating device.

5. A multi-pole shoe coil common-back iron disc motor according to claim 3 or 4, characterized in that: A magnetic probe (510) is fixed on the base (400), and the magnetic probe (510) is evenly distributed along the outer periphery of the N-pole permanent magnet (111) or the S-pole permanent magnet (112).

6. A multi-pole shoe coil common-back iron disc motor according to claim 5, characterized in that: There are three magnetic probes (510), and each magnetic probe (510) is a Hall sensor or a magnetoresistive sensor.

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