A bidirectional high-torque lightweight muscle-like motor

Abstract

This invention relates to the field of electromagnetic drive and linear motor technology, specifically a bidirectional, high-torque, lightweight, muscle-like motor. It includes an upper base and a lower base. The reciprocating lifting structure includes a first column magnet fixed to the inner bottom wall of the lower base, a second column magnet fixed to the inner top wall of the upper base, a magnet assembly fixed between the first and second column magnets, and a coil tube disposed between the upper and lower bases. This bidirectional, high-torque, lightweight, muscle-like motor, by alternately stacking multiple column magnets and soft magnets to form a hierarchical structure similar to the repetitive units of biological muscles, combined with a multi-layered coil winding design of the coil tube, ensures lightweight construction and high torque output. It achieves multiple position hovering control during the rising or falling stroke, and by reverse-currenting in the opposite direction to the rising process, it achieves smooth descent of the coil, effectively overcoming the problem of inconsistent forward and reverse performance in traditional bidirectional motors.

Description

Technical Field

[0001] This invention relates to the field of electromagnetic drive and linear motor technology, specifically to a bidirectional, high-torque, lightweight muscle-type motor. Background Technology

[0002] Muscle-like motors are a new type of motor that mimics the contraction and actuation characteristics of biological muscles. Their core technologies lie in high force density, high dynamic response, and flexible output capabilities similar to muscles. Based on these technical characteristics, these motors have broad application prospects in robotics, medical wearable devices, and microelectromechanical precision drives.

[0003] Currently, traditional motors with bidirectional control capabilities (such as voice coil motors, linear motors, and DC motors using H-bridge drives) have the following drawbacks in practical applications: 1) Linear motors, represented by voice coil motors, generally suffer from low thrust density. At the same time, voice coil motors also have problems such as frictional disturbance and mechanical resonance, which pose challenges to high-precision servo control. In precision motion platforms that need to overcome flexible guiding and restoring forces, the motor drive capability is often insufficient.

[0004] 2) In traditional reciprocating electromagnetic drive devices, the magnitude of the magnetic driving force is inversely proportional to the air gap. In addition, the inductive reactance effect of the excitation coil and the high-frequency resonant fatigue of the spring during power switching result in problems such as small amplitude and low pressure in existing electromagnetic reciprocating drive devices.

[0005] Therefore, given the existing technological shortcomings, it is necessary to design a bidirectional, high-torque, lightweight, muscle-like motor. Summary of the Invention

[0006] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a bidirectional, high-torque, lightweight, muscle-like motor that achieves lightweight and high-torque output, as well as bidirectional symmetrical multi-position hovering control. It solves the problems of low thrust density in traditional voice coil motors and linear motors, and small amplitude, low pressure, and asymmetrical bidirectional performance in traditional electromagnetic reciprocating drive devices.

[0007] (II) Technical Solution To achieve the aforementioned goals of lightweight and high torque output, as well as bidirectional symmetrical multi-position hovering control, the present invention provides the following technical solution: a bidirectional high-torque lightweight muscle-type motor, comprising an upper base and a lower base, wherein a reciprocating lifting structure is provided between the upper base and the lower base; The reciprocating lifting structure includes a first column magnet fixed to the inner bottom wall of the lower base, a second column magnet fixed to the inner top wall of the upper base, a magnet assembly fixed between the first column magnet and the second column magnet, and a coil tube provided between the upper base and the lower base.

[0008] Preferably, the magnet assembly includes a soft magnet one fixed to the top of the first column magnet, a soft magnet two fixed to the bottom of the second column magnet, a third column magnet fixed to the top of the soft magnet one, and a soft magnet three fixed to the top of the third column magnet.

[0009] Preferably, a fourth column magnet is fixed to the top of the soft magnet three, a soft magnet four is fixed to the top of the fourth column magnet, a fifth column magnet is fixed to the top of the soft magnet four, and a soft magnet five is fixed to the top of the fifth column magnet.

[0010] Preferably, a sixth column magnet is fixed to the top of the soft magnet five, a soft magnet six is ​​fixed to the top of the sixth column magnet, a seventh column magnet is fixed to the top of the soft magnet six, and the top of the seventh column magnet is fixed to the soft magnet two.

[0011] Preferably, working gaps are formed on the inner sides of both the upper and lower bases, and the coil tube is centrally positioned inside the working gaps. A first coil layer, a second coil layer, a third coil layer, a fourth coil layer, a fifth coil layer, and a sixth coil layer are wound around the outside of the coil tube.

[0012] (III) Beneficial Effects Compared with the prior art, the present invention provides a bidirectional high-torque lightweight muscle-like motor, which has the following beneficial effects: 1. This bidirectional high-torque lightweight muscle-like motor forms a hierarchical structure similar to the repetitive units of biological muscles by alternately stacking multiple cylindrical magnets and soft magnets. Combined with the multi-layer coil winding design of the coil tube, it ensures that the size is lightweight while generating high torque output. Furthermore, through the alternating arrangement of multiple sets of cylindrical magnets and soft magnets, as well as the segmented drive of the multi-layer coil, the coil tube is always in the effective radial magnetic field region throughout the entire stroke, resulting in more uniform and stable force distribution.

[0013] 2. This bidirectional, high-torque, lightweight, muscle-type motor achieves multiple hovering control positions during the ascending or descending stroke by switching the energization of different coils and adjusting the direction of the energizing current. By reversing the current flow to the opposite direction of the ascending process, the coil can be smoothly lowered. Furthermore, the hovering control during the descending process is completely symmetrical to the ascending process, effectively overcoming the problem of inconsistent forward and reverse performance in traditional bidirectional motors. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the muscle-type motor of the present invention; Figure 2 for Figure 1 Schematic diagram of the middle section; Figure 3 for Figure 1 A sectional view; Figure 4 This is a schematic diagram of the coil tube disassembled structure of the present invention; Figure 5 This is a schematic diagram of the coil distribution position when the circuit is initially unpowered in Example 1; Figure 6 This is a schematic diagram showing the coil distribution after the first energization in Example 2; Figure 7 This is a schematic diagram showing the coil distribution after the second energization in Example 3; Figure 8 This is a schematic diagram of the coil distribution after the third energization in Example 4; Figure 9 This is a schematic diagram showing the coil distribution after the fourth energization in Example 5; Figure 10 This is a schematic diagram showing the coil distribution after the fifth energization in Example 6; Figure 11 This is a schematic diagram of the coil distribution after the sixth energization in Example 7; Figure 12 This is a schematic diagram of the coil distribution after the seventh energization in Example 8; Figure 13 This is a schematic diagram of the coil distribution after the eighth energization in Example 9; Figure 14 This is a schematic diagram showing the initial position distribution of the coil after switching the current direction in Example 10.

[0015] In the diagram: 1. Upper base; 2. Lower base; 3. Reciprocating lifting structure; 301. First column magnet; 302. Second column magnet; 303. Magnet assembly; 303A. Soft magnet one; 303B. Soft magnet two; 303C. Third column magnet; 303D. Soft magnet three; 303E. Fourth column magnet; 303F. Soft magnet four; 303G. Fifth column magnet; 303H. Soft magnet five; 303I. Sixth column magnet; 303J. Soft magnet six; 303K. Seventh column magnet; 304. Coil tube; 3041. First coil layer; 3042. Second coil layer; 3043. Third coil layer; 3044. Fourth coil layer; 3045. Fifth coil layer; 3046. Sixth coil layer; 4. Working gap; 5. Annular disk. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] according to Figure 1 and Figure 2 As shown, the bidirectional high-torque lightweight muscle-type motor includes an upper base 1 and a lower base 2. A reciprocating lifting structure 3 is provided between the upper base 1 and the lower base 2. Both the upper base 1 and the lower base 2 are designed as soft magnets with a U-groove structure and a bottom thickness of 3mm. At this time, the inner height of the upper base 1 and the lower base 2 is not less than 15mm. The bottom of the first column magnet 301 and the top of the second column magnet 302 are magnetically connected and fixed to the interior of the lower base 2 and the upper base 1 respectively by magnetic adhesive. according to Figure 2 and Figure 3 As shown, a working gap 4 is formed between the upper base 1 and the second column magnet 302, and between the lower base 2 and the first column magnet 301. At this time, the distance between the inner edge of the upper base 1 and the second column magnet 302, and the distance between the inner edge of the lower base 2 and the first column magnet 301 are both 3.3mm; while the distance between the soft magnet 303A and the inner edge of the lower base 2, and the distance between the soft magnet 303B and the inner edge of the upper base 1 are both 2.8mm, that is, the effective width of the working gap 4 is 2.8mm.

[0018] according to Figure 2 and Figure 3 As shown, the reciprocating lifting structure 3 includes a first column magnet 301 fixed to the inner bottom wall of the lower base 2, and a second column magnet 302 fixed to the inner top wall of the upper base 1. The heights of both the first column magnet 301 and the second column magnet 302 are designed to be 10mm. A magnet assembly 303 is fixed between the first column magnet 301 and the second column magnet 302. The magnet assembly 303 includes two soft magnetic bodies, 303A and 303B, each 5mm high; a third column magnet 303C, 6mm high; and a third soft magnetic body 303, 3mm high. 03D, consisting of a fourth column magnet 303E with a height of 6mm, a soft magnetic body four 303F with a height of 3mm, a fifth column magnet 303G with a height of 6mm, a soft magnetic body five 303H with a height of 3mm, a sixth column magnet 303I with a height of 6mm, a soft magnetic body six 303J with a height of 3mm, and a seventh column magnet 303K with a height of 6mm. The thickness of the top of the base 1 and the bottom of the lower base 2 are also added, for a total height of 78mm. The dimensions of each magnet and coil can be adjusted according to the actual application scenario. The first magnet 301, the soft magnet 303A, the third magnet 303C, the soft magnet 303D, the fourth magnet 303E, the soft magnet 303F, the fifth magnet 303G, the soft magnet 303H, the sixth magnet 303I, the soft magnet 303J, the seventh magnet 303K, the soft magnet 303B, and the second magnet 302 are magnetically connected and fixed with magnetic adhesive, thus forming a symmetrical coil lifting path. The first magnet 301 has its top as the N pole and its bottom as the S pole; the third magnet 303C has its top as the S pole and its bottom as the N pole; the fourth magnet 303E has its top as the N pole and its bottom as the S pole; the fifth magnet 303G has its top as the S pole and its bottom as the N pole; the sixth magnet 303I has its top as the N pole and its bottom as the S pole; the seventh magnet 303K has its top as the S pole and its bottom as the N pole; and the second magnet 302 has its top as the N pole and its bottom as the S pole. At this point, the fully supplied magnetic field lines assimilate soft magnetic material 303A into an N pole, with its magnetic field lines radially extending along the side of soft magnetic material 303A; assimilate soft magnetic material 303D into an S pole, with its magnetic field lines radially extending along the side of soft magnetic material 303D; assimilate soft magnetic material 403F into an N pole, with its magnetic field lines radially extending along the side of soft magnetic material 403F; assimilate soft magnetic material 503H into an S pole, with its magnetic field lines radially extending along the side of soft magnetic material 503H; assimilate soft magnetic material 603J into an N pole, with its magnetic field lines radially extending along the side of soft magnetic material 603J; and assimilate soft magnetic material 203B into an S pole, with its magnetic field lines radially extending along the side of soft magnetic material 203B.

[0019] according to Figure 2 and Figure 4 As shown, a coil tube 304 is provided between the upper base 1 and the lower base 2. The inner layer of the coil tube 304 is made of a lightweight material that is resistant to high temperature and has high strength. Since working gaps 4 are formed on the inner sides of both the upper base 1 and the lower base 2, the coil tube 304 is positioned in the center inside the working gaps 4 to ensure that the coil tube 304 does not contact the inner walls of the upper base 1 and the lower base 2, or the outer side of the magnet assembly 303, during the lifting and lowering process. A first coil layer 3041 with a height of 6 mm, a second coil layer 3042 with a height of 3 mm, and a third coil layer 304 with a height of 6 mm are wound around the outside of the coil tube 304. 043, a fourth coil layer 3044 with a height of 6mm, a fifth coil layer 3045 with a height of 3mm, and a sixth coil layer 3046 with a height of 6mm. Epoxy glue is brushed onto the outside of each coil layer for insulation protection and curing. An annular disk 5 is bonded and fixed between the third coil layer 3043 and the fourth coil layer 3044 with epoxy glue or strong adhesive. The annular disk 5 consists of two disks with a height of 1.5mm, which is equal to the height of two 1.5mm coils. An external object is then connected to one side of the outer edge of the annular disk 5, and the connected object is driven to perform reciprocating lifting and lowering motion. The second coil layer 3042, the third coil layer 3043, the fourth coil layer 3044, and the fifth coil layer 3045 are all designed with 5 coil turns each, while the first coil layer 3041 and the sixth coil layer 3046 are designed with 6 coil turns each. The even-numbered coil winding method ensures that both ends of the wire are located on the upper side of the coil layer, while the odd-numbered coil winding method ensures that both ends of the wire are located on the upper and lower sides of the coil layer, respectively. This winding method ensures that when the first coil layer 3041, the second coil layer 3042, and the third coil layer 3043 are located inside the lower base 2, or when the fourth coil layer 3044, the fifth coil layer 3045, and the sixth coil layer 3046 are located inside the upper base 1, the coil wire will not contact the inner walls of the upper base 1 and the lower base 2 when it is led out, thus affecting the coil lifting process.

[0020] Example 1 In this embodiment, according to Figure 5 As shown, when initially unpowered, the first coil layer 3041 is located in the inner region of the lower base 2. Since the height of the first column magnet 301 is 10mm and the height of the soft magnetic body 303A is 5mm, the combined height is 15mm. The height of the first coil layer 3041 is 6mm, the height of the second coil layer 3042 is 3mm, and the height of the third coil layer 3043 is 6mm, with a combined height of 15mm. At this time, the third coil layer 3043 is located in the radial magnetic field region induced by the side of the soft magnetic body 303A, the fourth coil layer 3044 is located in the radial magnetic field region introduced by the side of the soft magnetic body 303D, and the sixth coil layer 3046 is located in the radial magnetic field region induced by the side of the soft magnetic body 303F.

[0021] Example 2 In this embodiment, according to Figure 5 The first power-on drive is shown. At this time, the third coil layer 3043 and the sixth coil layer 3046 are supplied with current in the same direction, and the fourth coil layer 3044 is supplied with current in the opposite direction. According to the left-hand rule, the third coil layer 3043, the fourth coil layer 3044 and the sixth coil layer 3046 are all subjected to the resultant upward Ampere force and magnetic field force after being powered on. At this time, the resultant upward force of the three layers ensures that the lift of the coil tube 304 is greater and the thrust generated is stronger.

[0022] according to Figure 6 As shown, at this time, the coil tube 304 rises by 6mm, that is, when the third coil layer 3043, the fourth coil layer 3044 and the sixth coil layer 3046 are separated from the soft magnets at the corresponding positions, in order to ensure that the coil tube 304 as a whole can achieve the first hovering control, the upward thrust must be equal to the downward gravity, that is, the net resultant force = 0 to achieve balance. Since the first coil layer 3041 and the second coil layer 3042 are located in the radial magnetic field region of the soft magnetic material 303A and the fifth coil layer 3045 is located in the radial magnetic field region of the soft magnetic material 303F, it is necessary to cut off the current of the third coil layer 3043, the fourth coil layer 3044 and the sixth coil layer 3046, and to pass a weak current in the opposite direction to the external current applied during the first drive to the first coil layer 3041, the second coil layer 3042 and the fifth coil layer 3045, so as to ensure that the upward net force on the coil is equal to the downward gravity of the coil, so as to achieve the hovering effect of net net force balance.

[0023] Example 3 In this embodiment, according to Figure 6 The second power-on drive is shown in the figure. In order to make the coil tube 304 continue to rise, the current applied to the first coil layer 3041, the second coil layer 3042 and the fifth coil layer 3045 is increased to ensure that the current direction of the first coil layer 3041, the second coil layer 3042 and the fifth coil layer 3045 is the same. according to Figure 7 As shown in the figure, at this time, the coil tube 304 rises by 3mm, that is, the second coil layer 3042 and the fifth coil layer 3045 are separated from the soft magnetic body at the corresponding position. Then, the first coil layer 3041 is in the radial magnetic field region of the soft magnetic body 303A, the third coil layer 3043 is in the radial magnetic field region of the soft magnetic body 303D, the fourth coil layer 3044 is in the radial magnetic field region of the soft magnetic body 303D, and the sixth coil layer 3046 is in the radial magnetic field region of the soft magnetic body 303H. Similarly, in order to achieve the second hovering control of coil tube 304, it is necessary to cut off the current supplied to the second coil layer 3042 and the fifth coil layer 3045, and supply a weak current to the first coil layer 3041, the third coil layer 3043, the fourth coil layer 3044 and the sixth coil layer 3046 in the opposite direction to the external current applied during the second drive, so as to achieve the net resultant force balance hovering effect.

[0024] Example 4 In this embodiment, according to Figure 7 As shown, a third power-on drive is performed. In order to make the coil tube 304 continue to rise, the current applied to the first coil layer 3041, the third coil layer 3043, the fourth coil layer 3044, and the sixth coil layer 3046 is increased. The current direction of the third coil layer 3043 and the sixth coil layer 3046 is opposite to the current direction of the first coil layer 3041 and the fourth coil layer 3044. according to Figure 8As shown in the figure, at this time, the coil tube 304 rises by 6mm, that is, the second coil layer 3042 is in the radial magnetic field region of the soft magnetic body 303D, the fifth coil layer 3045 is in the radial magnetic field region of the soft magnetic body 303H, and no coil stays in the radial magnetic field region of the soft magnetic body 303A. Similarly, in order to achieve the third hovering control of coil tube 304, the current of the first coil layer 3041, the third coil layer 3043, the fourth coil layer 3044 and the sixth coil layer 3046 are cut off, and a weak current opposite to the direction of the external current during the third drive is passed to the second coil layer 3042 and the fifth coil layer 3045 to achieve the net resultant force balance hovering effect.

[0025] Example 5 In this embodiment, according to Figure 8 As shown, the fourth power-on drive is performed. In order to make the coil tube 304 continue to rise, the current applied to the second coil layer 3042 and the fifth coil layer 3045 is increased. The current directions of the second coil layer 3042 and the fifth coil layer 3045 are the same. according to Figure 9 As shown in the figure, at this time, the coil tube 304 rises by 6mm, that is, the lower layer of the first coil layer 3041 is located in the radial magnetic field region of the soft magnetic material 303D, the lower layer of the third coil layer 3043 is located in the radial magnetic field region of the soft magnetic material 403F, the lower layer of the fourth coil layer 3044 is located in the radial magnetic field region of the soft magnetic material 503H, and the lower layer of the sixth coil layer 3046 is located in the radial magnetic field region of the soft magnetic material 603J. To achieve the fourth hovering control, the applied current to the second coil layer 3042 and the fifth coil layer 3045 is cut off, and a weak current with the opposite direction to the applied current during the fourth drive is passed to the first coil layer 3041, the third coil layer 3043, the fourth coil layer 3044 and the sixth coil layer 3046, so as to achieve a net resultant force balance hovering effect.

[0026] Example 6 In this embodiment, according to Figure 9 The fifth power-on drive is performed, increasing the current applied to the first coil layer 3041, the third coil layer 3043, the fourth coil layer 3044 and the sixth coil layer 3046. The current direction of the first coil layer 3041 and the fourth coil layer 3044 is opposite to that of the third coil layer 3043 and the sixth coil layer 3046. according to Figure 10 As shown, the coil tube 304 continues to rise by 3mm. At this time, the second coil layer 3042 is located in the radial magnetic field region of the soft magnetic body 303F, the fifth coil layer 3045 is located in the radial magnetic field region of the soft magnetic body 303J, and there are no coils in the radial magnetic field regions of the soft magnetic body 303A and the soft magnetic body 303D. To achieve the fourth hovering control, the applied current to the first coil layer 3041, the third coil layer 3043, the fourth coil layer 3044 and the sixth coil layer 3046 is cut off, and a weak current opposite to the direction of the applied current during the fifth drive is passed to the second coil layer 3042 and the fifth coil layer 3045, so as to achieve a net resultant force balance hovering effect.

[0027] Example 7 In this embodiment, according to Figure 10 The sixth power-on drive is shown, increasing the applied current to the second coil layer 3042 and the fifth coil layer 3045, with the current directions of the second coil layer 3042 and the fifth coil layer 3045 being the same; according to Figure 11 As shown, the coil tube 304 continues to rise by 6mm. At this time, the lower layer of the first coil layer 3041 reaches the magnetic field region of the soft magnet 303F, the third coil layer 3043 reaches the magnetic field region of the soft magnet 303H, the fourth coil layer 3044 reaches the magnetic field region of the soft magnet 303J, and the sixth coil layer 3046 reaches the magnetic field region of the soft magnet 303B. Then, a weak current with the opposite direction to the external current applied during the sixth drive is passed through the first coil layer 3041, the third coil layer 3043, the fourth coil layer 3044, and the sixth coil layer 3046 to achieve a net resultant force balance hovering effect.

[0028] Example 8 In this embodiment, according to Figure 11 The seventh power-on drive is shown, increasing the applied current to the first coil layer 3041, the third coil layer 3043, the fourth coil layer 3044 and the sixth coil layer 3046. The current direction of the third coil layer 3043 and the fourth coil layer 3044 is opposite to the current direction of the first coil layer 3041 and the sixth coil layer 3046. according to Figure 12 As shown, the coil tube 304 continues to rise by 3mm. At this time, the second coil layer 3042 reaches the magnetic field region of the soft magnet 303H, and the fifth coil layer 3045 and the sixth coil layer 3046 reach the magnetic field region of the soft magnet 303B. Then, a weak current with the opposite direction to the external current applied during the seventh drive is passed through the second coil layer 3042, the fifth coil layer 3045 and the sixth coil layer 3046 to achieve a net resultant force balance hovering effect.

[0029] Example 9 In this embodiment, according to Figure 12 The eighth power-on drive is shown, increasing the applied current to the second coil layer 3042, the fifth coil layer 3045, and the sixth coil layer 3046. The current directions of the second coil layer 3042, the fifth coil layer 3045, and the sixth coil layer 3046 are the same. according to Figure 13 As shown, the coil tube 304 continues to rise by 6mm. At this time, the lower layer of the first coil layer 3041 reaches the magnetic field region of the soft magnet 303H, the third coil layer 3043 reaches the magnetic field region of the soft magnet 303J, and the fourth coil layer 3044 reaches the magnetic field region of the soft magnet 303B. Then, a weak current with the opposite direction to the external current applied during the eighth drive is passed through the first coil layer 3041, the third coil layer 3043, and the fourth coil layer 3044 to achieve a net resultant force balance hovering effect.

[0030] Example 10 In this embodiment, the position of reaching the highest stroke is determined using coil tube 304 in embodiment nine, according to... Figure 14 As shown, a current with the opposite direction to that in Embodiment Nine is passed through the first coil layer 3041, the third coil layer 3043, and the fourth coil layer 3044, at which point the entire coil begins to fall. Similarly, by applying currents in opposite directions during the upward movement of the coil as described in Examples 9 to 2, hovering control at multiple positions can be achieved during the coil's descent.

[0031] In summary, this bidirectional high-torque lightweight muscle-like motor, by alternately stacking multiple cylindrical magnets and soft magnets to form a hierarchical structure similar to the repetitive units of biological muscles, combined with the multi-layer coil winding design of the coil tube 304, ensures that it can generate high torque output while maintaining a lightweight size. Furthermore, through the alternating arrangement of multiple sets of cylindrical magnets and soft magnets, and the segmented drive of the multi-layer coil, the coil tube 304 is always in an effective radial magnetic field region throughout the entire stroke, resulting in a more uniform and stable force distribution. By switching the energization of different coils and adjusting the direction of the energizing current, multiple position hovering control can be achieved during the rising or falling stroke. By reversing the current flow to the opposite direction of the rising process, the coil can be smoothly lowered. The hovering control during the falling process is completely symmetrical with the rising process, effectively overcoming the problem of inconsistent forward and reverse performance of traditional bidirectional motors. Based on its comprehensive advantages such as high torque, lightweight design, and bidirectional precision control, this motor can be widely used in fields such as bionic robots, precision positioning platforms, medical rehabilitation equipment, and micro-nano manipulation.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A bidirectional high-torque lightweight muscle-type motor, comprising an upper base (1) and a lower base (2), characterized in that: A reciprocating lifting structure (3) is provided between the upper base (1) and the lower base (2); The reciprocating lifting structure (3) includes a first column magnet (301) fixed to the inner bottom wall of the lower base (2), a second column magnet (302) fixed to the inner top wall of the upper base (1), a magnet group (303) fixed between the first column magnet (301) and the second column magnet (302), and a coil tube (304) provided between the upper base (1) and the lower base (2).

2. The bidirectional high-torque lightweight muscle-type motor according to claim 1, characterized in that: The magnet assembly (303) includes a soft magnet one (303A) fixed to the top of the first column magnet (301), a soft magnet two (303B) fixed to the bottom of the second column magnet (302), a third column magnet (303C) fixed to the top of the soft magnet one (303A), and a soft magnet three (303D) fixed to the top of the third column magnet (303C).

3. The bidirectional high-torque lightweight muscle-type motor according to claim 2, characterized in that: A fourth column magnet (303E) is fixed on the top of the soft magnet three (303D), a fourth soft magnet (303F) is fixed on the top of the fourth column magnet (303E), a fifth column magnet (303G) is fixed on the top of the soft magnet four (303F), and a fifth soft magnet (303H) is fixed on the top of the fifth column magnet (303G).

4. A bidirectional high-torque lightweight muscle-type motor according to claim 2 or 3, characterized in that: A sixth column magnet (303I) is fixed to the top of the soft magnet five (303H), a soft magnet six (303J) is fixed to the top of the sixth column magnet (303I), a seventh column magnet (303K) is fixed to the top of the soft magnet six (303J), and the top of the seventh column magnet (303K) is fixed to the soft magnet two (303B).

5. The bidirectional high-torque lightweight muscle-type motor according to claim 1, characterized in that: Working gaps (4) are formed on the inner sides of both the upper base (1) and the lower base (2). The coil tube (304) is centrally positioned inside the working gap (4). A first coil layer (3041), a second coil layer (3042), a third coil layer (3043), a fourth coil layer (3044), a fifth coil layer (3045), and a sixth coil layer (3046) are formed by winding the coil tube (304) on its outer side.

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