One-way high-torque lightweight muscle-like motor

Abstract

The application relates to the technical field of electromagnetic driving and linear motors, in particular to a one-way high-torque lightweight muscle-like motor, which comprises a soft magnetic base, a first soft magnet is fixed at the top of a first non-soft magnetic iron, a second soft magnet is fixed at the top of a second non-soft magnetic iron, a third soft magnet is fixed at the top of a third non-soft magnetic iron, a fourth non-soft magnetic iron is fixed at the top of the third soft magnet, and a coil group is arranged on the inner side of the soft magnetic base. The one-way high-torque lightweight muscle-like motor has the advantages that the thrust directions generated by all effective coil layers are directed to the same vertical direction, one-way high-torque output is effectively realized, the overall structure is light and compact through the nested layout of the soft magnetic base and the magnet combination module, the size can be adjusted according to application scenes, lightweight design is realized, the magnetic flux loss is effectively reduced through the formation of a closed magnetic circuit, and the electromagnetic-mechanical energy conversion efficiency is remarkably improved.

Description

Technical Field

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

[0002] Muscle-like motors are a type of biomimetic drive device designed to mimic the driving characteristics of biological muscles, outputting high force density (force per unit mass) and high acceleration linear motion while maintaining a compact size and lightweight design. Furthermore, current research indicates that muscle-like linear permanent magnet motors can achieve force density and efficiency comparable to those of biological muscles.

[0003] Existing motor drive solutions mostly use high-speed motors with high reduction ratio gearboxes to increase output torque. Especially in muscle-driven applications such as bionic robots and wearable devices, relying on high reduction ratio gearboxes will amplify the inertia of moving parts, affecting the motor's reverse driveability and dynamic response, and making it impossible to achieve lightweight design. Furthermore, existing linear permanent magnet motors use a single coil structure, resulting in uneven magnetic field distribution, low electromagnetic-mechanical energy conversion efficiency, and lag in control response.

[0004] Therefore, based on the existing technical shortcomings, a biomimetic unidirectional high-torque lightweight muscle-like motor is proposed, which can be applied to robot joint drive, precision linear motion control and other scenarios. Summary of the Invention

[0005] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a unidirectional high-torque lightweight muscle-type motor, which has the advantages of unidirectional high torque output, lightweight design, and high energy conversion efficiency. It solves the problems of existing motors that rely on high reduction ratio gearboxes, resulting in large inertia of moving parts, poor reverse driveability and dynamic response, difficulty in achieving lightweight design, low energy conversion efficiency, and lag in control response.

[0006] (II) Technical Solution To achieve the aforementioned objectives of unidirectional high torque output, lightweight design, and high energy conversion efficiency, this invention provides the following technical solution: a unidirectional high torque lightweight muscle-type motor, comprising a soft magnetic base, wherein a magnet assembly module is fixed on the inner side of the soft magnetic base; The magnet assembly module includes a first non-soft magnet fixed to the inner side of the soft magnetic base, a first soft magnet fixed on top of the first non-soft magnet, a second non-soft magnet fixed on top of the first soft magnet, a second soft magnet fixed on top of the second non-soft magnet, a third non-soft magnet fixed on top of the second soft magnet, a third soft magnet fixed on top of the third non-soft magnet, a fourth non-soft magnet fixed on top of the third soft magnet, and a coil assembly provided on the inner side of the soft magnetic base.

[0007] Preferably, the inner side of the soft magnetic base has a U-shaped groove structure, and the inner height of the soft magnetic base is not less than the sum of the heights of the first non-soft magnet, the first soft magnet and the second non-soft magnet.

[0008] Preferably, the bottom ends of the first non-soft magnet and the third non-soft magnet are both S poles, and the top ends of the first non-soft magnet and the third non-soft magnet are both N poles. The bottom ends of the second and fourth non-soft magnets are both N poles, and the top ends of the second and fourth non-soft magnets are both S poles.

[0009] Preferably, the soft magnetic base, the first non-soft magnet, the first soft magnet, the second non-soft magnet, the second soft magnet, the third non-soft magnet, the third soft magnet, and the fourth non-soft magnet are magnetically connected in sequence, and magnetic adhesive for shaping and fixing is applied to each magnetic contact surface.

[0010] Preferably, the coil assembly is placed centrally between the soft magnetic base and the first non-soft magnet, and the coil assembly does not contact the inner wall of the soft magnetic base or the outer side of the magnet. The coil assembly includes the innermost sleeve layer, and coil layers one, two, three, four, five, six and seven are sequentially sleeved on the outside of the sleeve layer from bottom to top.

[0011] Preferably, the coil layers one, four, five, six and seven are each configured to have six coil turns, and the coil layers two and three are each configured to have five coil turns.

[0012] (III) Beneficial Effects Compared with the prior art, the present invention provides a unidirectional high-torque lightweight muscle-like motor, which has the following beneficial effects: 1. This unidirectional high-torque lightweight muscle-type motor uses an alternating stacking design of non-soft magnets and soft magnets in the magnet assembly module to form a stable radial magnetic field on the side of the soft magnet. Each coil layer in the coil group corresponds to the radial magnetic field region of different soft magnets. After being energized, the thrust generated by all effective coil layers under the superposition of Ampere force and magnetic field force points to the same vertical direction, effectively achieving unidirectional high-torque output.

[0013] 2. This unidirectional high-torque lightweight muscle-type motor adopts a nested layout of soft magnetic base and magnet combination module, eliminating the need for a complex transmission mechanism. The overall structure is lightweight and the size can be adjusted according to the application scenario to achieve the goal of lightweight design.

[0014] 3. This unidirectional high-torque lightweight muscle-type motor features a U-shaped groove structure for its soft magnetic base. The height of its inner side ensures a closed magnetic field circuit. The soft magnetic body allows all magnetic field lines from the N pole of the non-soft magnet to pass through, and then guides them out along the side of the soft magnetic body, thus forming a closed magnetic circuit. This effectively reduces magnetic flux loss and significantly improves the efficiency of electromagnetic-mechanical energy conversion. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the muscle-type motor structure of the present invention; Figure 2 for Figure 1 Schematic diagram of the central magnet assembly module; Figure 3 for Figure 1 A schematic diagram of the split structure; Figure 4 for Figure 3 Schematic diagram of the split structure of the middle coil assembly; Figure 5 This is a schematic diagram of the through hole in Example 2; Figure 6 This is a schematic diagram showing the distribution of the control panel at the top of the coil in Example 3; Figure 7 This is a schematic diagram of the spring rubber tube structure in Example 3; Figure 8 This is a schematic diagram of the magnet assembly module array arrangement structure in Embodiment 3; Figure 9 This is a schematic diagram showing the distribution of the control panel at the center of the coil in Example 3; Figure 10 This is a schematic diagram of the initial position distribution of the coil group when it is not energized in Example 4; Figure 11 This is a schematic diagram showing the distribution of the coil group's rising position during the first energization in Example 4; Figure 12 This is a schematic diagram showing the distribution of the coil group's rising position during the second energization in Example 4; Figure 13 This is a schematic diagram showing the distribution of the coil group's rising position during the third energization in Example 4; Figure 14 This is a schematic diagram showing the distribution of the coil group's rising position during the fourth energization in Example 4; Figure 15 This is a schematic diagram showing the distribution of the coil group's rising position during the fifth energization in Example 4; Figure 16 This is a schematic diagram showing the position distribution of the coil group during the sixth energization in Example 4.

[0016] In the diagram: 1. Soft magnetic base; 2. Magnet assembly module; 201. First non-soft magnet; 202. First soft magnet; 203. Second non-soft magnet; 204. Second soft magnet; 205. Third non-soft magnet; 206. Third soft magnet; 207. Fourth non-soft magnet; 208. Coil group; 2081. Coil layer one; 2082. Coil layer two; 2083. Coil layer three; 2084. Coil layer four; 2085. Coil layer five; 2086. Coil layer six; 2087. Coil layer seven; 3. Sleeve layer; 4. Working gap; 5. Through hole; 6. Control panel; 7. Spring rubber tube; 8. Magnetic shielding partition; 9. Boss. Detailed Implementation

[0017] 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.

[0018] Combination Figure 1-16 This unidirectional, high-torque, lightweight, muscle-type motor includes a soft magnetic base 1, a magnet assembly module 2 fixed inside the soft magnetic base 1, and a sleeve layer 3 provided at the innermost layer of the coil assembly 208. The sleeve layer 3 can be made of any material that is heat-resistant, lightweight, and high-strength, such as carbon fiber or glass fiber, and is used to wind and shape the coil. A working gap 4 is formed between the soft magnetic base 1 and the first non-soft magnet 201. The coil assembly 208 is placed in the working gap 4. A closed magnetic circuit from the magnet assembly module 2 is formed inside the working gap 4. The coil assembly 208 is located inside the working gap 4 and does not contact the inner wall of the soft magnetic base 1 or the outer side of the magnet. It moves upward by being subjected to Ampere force and magnetic field force in the vertical direction.

[0019] The magnet assembly module 2 includes a first non-soft magnet 201 fixed to the inside of the soft magnetic base 1, with a height of 9mm for the first non-soft magnet 201, a first soft magnet 202 fixed to the top of the first non-soft magnet 201, with a height of 5mm for the first soft magnet 202, and a second non-soft magnet 203 fixed to the top of the first soft magnet 202, with a height of 6mm for the second non-soft magnet 203. With the top of the first non-soft magnet 201 and the bottom of the second non-soft magnet 203 both being N poles, and the inner side of the soft magnetic base 1 being magnetized as the S pole, the magnetic field lines will be vertically led from the N pole along the side of the first soft magnet 202 to the inner side of the soft magnetic base 1, and then return to the bottom of the S pole of the first non-soft magnet 201, thus forming a loop. Therefore, the inner height of the soft magnetic base 1 is set to be no less than the sum of the heights of the first non-soft magnet 201, the first soft magnet 202 and the second non-soft magnet 203, in order to ensure that the magnetic field line loop is closed and to avoid the impact on the overall force of the coil group 208 due to the leakage of magnetic field lines. A second soft magnet 204 is fixed to the top of the second non-soft magnet 203, a third non-soft magnet 205 is fixed to the top of the second soft magnet 204, a third soft magnet 206 is fixed to the top of the third non-soft magnet 205, and a fourth non-soft magnet 207 is fixed to the top of the third soft magnet 206. The first non-soft magnet 201, the first soft magnet 202, the second non-soft magnet 203, the second soft magnet 204, the third non-soft magnet 205, the third soft magnet 206 and the fourth non-soft magnet 207 are magnetically attracted from bottom to top and then fixed with magnetic adhesive. The height of the second soft magnet 204 and the third soft magnet 206 is 3mm, and the height of the third non-soft magnet 205 and the fourth non-soft magnet 207 is 6mm. The diameters of the first soft magnet 202, the second soft magnet 204, and the third soft magnet 206 are all larger than the diameters of the first non-soft magnet 201, the second non-soft magnet 203, the third non-soft magnet 205, and the fourth non-soft magnet 207. This is also to ensure that the magnetic field lines from the N pole of the non-soft magnets are fully passed into the soft magnets and then led out along the side of the soft magnets. Similarly, with the bottom of the fourth non-soft magnet 207 and the top of the third non-soft magnet 205 as the N poles, and the third soft magnet 206 fixed, with the bottom of the third non-soft magnet 205 and the top of the second non-soft magnet 203 as the S poles, and the second soft magnet 204 fixed, the third soft magnet 206 can be magnetized into the N pole, and the second soft magnet 204 can be magnetized into the S pole. The magnetic field lines enter from the N pole, are led out along the side of the third soft magnet 206, and return to the second soft magnet 204, forming a closed magnetic circuit. A coil group 208 is arranged inside the soft magnetic base 1. From bottom to top, coil layer 1 2081, coil layer 2082, coil layer 3 2083, coil layer 4 2084, coil layer 5 2085, coil layer 6 2086 and coil layer 7 2087 are sequentially sleeved on the outside of the sleeve layer 3. The number of turns of coil layer 1 2081, coil layer 4 2084, coil layer 5 2085, coil layer 6 2086 and coil layer 7 2087 is six, that is, an even number of layers; the number of turns of coil layer 2 2082 and coil layer 3 2083 is five, that is, an odd number of layers. Even-numbered turns of enameled copper wire coils ensure that both ends of the conductor are located on the upper layer of the coil, while odd-numbered turns ensure that one end of the conductor is facing down and the other end is facing up. Epoxy glue is applied to the outside of the enameled copper wire coil to achieve insulation and fixation. At the same time, in order to ensure that the upward-leading wire does not contact the inner wall of the soft magnetic base 1 when the lower layer of the coil moves inside the U-shaped soft magnetic base 1, only one layer is reduced in the design of coil layer 2082 and coil layer 3083, that is, the number of turns is 5. The number of turns of coil layer 1 2081, coil layer 4 2084, coil layer 5 2085, coil layer 6 2086 and coil layer 7 2087 can all be 6 layers.

[0020] Example 1 In this embodiment, according to Figure 1 , Figure 3 and Figure 4 As shown, in one of the schemes, the height of the first non-soft magnet 201 is set to 9mm, the height of the first soft magnet 202 is set to 5mm, the height of the second non-soft magnet 203 is set to 6mm, the height of the second soft magnet 204 is set to 3mm, the height of the third non-soft magnet 205 is set to 6mm, the height of the third soft magnet 206 is set to 3mm, and the height of the fourth non-soft magnet 207 is set to 6mm. At this time, the overall height of the magnet combination module 2 is 38mm. The height of coil layer 1 (2081) is set to 6mm, coil layer 2 (2082) to 3mm, coil layer 3 (2083) to 6mm, coil layer 4 (2084) to 3mm, coil layer 5 (2085) to 6mm, coil layer 6 (2086) to 3mm, and coil layer 7 (2087) to 6mm. The dimensions of each magnet and the coil height can be adjusted proportionally according to the actual application. according to Figure 2 As shown, a concave protrusion 9 is designed on the inner bottom wall of the soft magnetic base 1. The height of the protrusion 9 is designed to be 1mm. At this time, the height of the first non-soft magnet 201 with a height of 9mm and the first soft magnet 202 with a height of 5mm is equal to the sum of the heights of coil layer 1 2081, coil layer 2082 and coil layer 3 2083, which is 15mm. This ensures that when the power is off, coil layer 3 2083 is located inside the soft magnetic base 1 and is aligned with the first soft magnet 202 at the same height.

[0021] Example 2 In this embodiment, according to Figure 5 As shown, through holes 5 with a communicating structure can be opened along the axis at the center of the first non-soft magnet 201, the first soft magnet 202, the second non-soft magnet 203, the second soft magnet 204, the third non-soft magnet 205, the third soft magnet 206 and the fourth non-soft magnet 207. When the magnet assembly module 2 operates in a sealed or high-temperature environment, the through holes 5 can be used to achieve heat dissipation; or the through holes 5 can be connected by connectors to improve the overall rigidity of the magnet assembly; or the coil wires can be guided through to facilitate wiring operations.

[0022] Example 3 In this embodiment, according to Figure 6 As shown, when the coil assembly 208 moves upward along the magnet assembly module 2, i.e. when applied to a thrust application scenario, a control disk 6 can be fixed to the top of the coil layer 2087 with epoxy adhesive. The push rod structure is directly or indirectly connected to the control disk 6 through a coupling to achieve the thrust application.

[0023] according to Figure 7 As shown, in the above thrust scenario application, in order to ensure the self-rebound effect after the coil group 208 rises and is de-energized, a flexible spring rubber tube 7 can be glued and fixed to the top of the soft magnetic base 1. The spring rubber tube 7 is fixedly connected to the outer edge of the control disk 6 at the top of the coil layer 2087. When the coil group 208 rises, it causes the spring rubber tube 7 to stretch. At this time, after the coil is de-energized and loses the Ampere force to maintain the rise, the spring rubber tube 7 can retract and cause the coil group 208 to reset. Therefore, the spring rubber tube 7 made of elastic rubber material can ensure that the coil as a whole will not run out of the height range of the fourth non-soft magnet 207.

[0024] according to Figure 8 As shown, taking the thrust scenario application as an example, the magnet assembly module 2, coil group 208 and control disk 6 are arranged in a ring array structure, and a magnetic shielding plate 8 with high magnetic permeability is installed in the array gap to avoid magnetic circuit interference between the magnet assembly module 2 array. Then, by synchronously controlling the coil group 208 to push upward, it can be applied to large thrust scenarios such as mechanical pressing and lifting, or each coil group 208 can be independently controlled to push upward, which can be applied to precision thrust scenarios such as distributed loudspeakers and touch control.

[0025] according to Figure 9 As shown, when applied to lifting drive control scenarios, the coil group 208 and the magnet combination module 2 can be installed in a closed device, that is, the top of the fourth non-soft magnet 207 has no opening structure. The ring structure control disk 6 can be fixed to the outside of the top of the coil layer 2084 by epoxy glue. The control disk 6 can be used to directly or indirectly connect to the moving object to realize the drive control application. At the same time, a spring structure can be added to the outer edge of the soft magnetic base 1, and the top of the spring can be connected to the control disk 6 located in the middle position. In this way, during the deformation of the spring, the kinetic energy is converted into a certain elastic potential energy, which further enhances the high torque thrust effect.

[0026] Example 4 In this embodiment, based on the dimensions of the magnet and coil in Embodiment 1, according to Figure 10 As shown, when initially unpowered, coil layer 1 2081 is located in the region of the first non-soft magnet 201. Since the height of the first non-soft magnet 201 is 9mm and the height of the first soft magnet 202 is 5mm, the combined height after adding the boss 9 is 15mm. Meanwhile, the height of coil layer 1 2081 is 6mm, the height of coil layer 2082 is 3mm, and the height of coil layer 3 2083 is 6mm, with a combined height of 15mm. Therefore, at this time, coil layer 3 2083 is located in the radial magnetic field region induced from the side of the first soft magnet 202, coil layer 5 2085 is located in the radial magnetic field region introduced from the side of the second soft magnet 204, and coil layer 7 2087 is located in the radial magnetic field region induced from the side of the third soft magnet 206. First power-on drive according to Figure 11 As shown, at this time, currents in the same direction are applied to coil layer 3 2083 and coil layer 7 2087 respectively, and currents in the opposite direction are applied to coil layer 5 2085. According to the left-hand rule, after being energized, coil layer 3 2083, coil layer 5 2085 and coil layer 7 2087 are all subjected to the resultant upward Ampere force and magnetic force. At this time, the resultant upward force of the three layers ensures that the lift of coil group 208 is greater and the thrust generated is stronger. When the coil assembly 208 rises by 6mm, that is, when coil layer 3 2083, coil layer 5 2085 and coil layer 7 2087 are separated from the soft magnets at their corresponding positions, in order to ensure that the coil assembly 208 achieves 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 coil layer 1 (2081) and coil layer 2 (2082) are located in the radial magnetic field region of the first soft magnetic body 202, coil layer 4 (2084) is located in the radial magnetic field region of the second soft magnetic body 204, and coil layer 6 (2086) is located in the radial magnetic field region of the third soft magnetic body 206, and the number of turns of coil layer 2 (2082), coil layer 4 (2084), and coil layer 6 (2086) is 5 layers, which is opposite to the winding direction of coil layer 3 (2083), coil layer 5 (2085), and coil layer 7 (2087), it is necessary to cut off the current of coil layer 3 (2083), coil layer 5 (2085), and coil layer 7 (2087), and to pass a weak current in the opposite direction to the external current applied during the first drive to coil layer 1 (2081), coil layer 2 (2082), coil layer 4 (2084), and coil layer 6 (2086) to ensure that the upward net force on the coil is equal to the downward weight of the coil, so as to achieve a hovering effect with net net force balance.

[0027] Second power-on drive according to Figure 12As shown, in order to make the coil group 208 continue to rise, the current applied to coil layer 1 2081, coil layer 2082, coil layer 4 2084 and coil layer 6 2086 is increased. The current direction of coil layer 4 2084 is opposite to the current direction of coil layer 1 2081, coil layer 2082 and coil layer 6 2086. At this time, the coil group 208 rises by 3mm, that is, coil layer 2082, coil layer 4 2084 and coil layer 6 2086 are separated from the soft magnetic body at the corresponding position. Then, coil layer 1 2081 is in the radial magnetic field region of the first soft magnetic body 202, coil layer 3 2083 is in the radial magnetic field region of the second soft magnetic body 204, and coil layer 5 2085 is in the radial magnetic field region of the second soft magnetic body 204. Similarly, in order to achieve the second hovering control of coil group 208, it is necessary to cut off the current supplied to coil layer 2082, coil layer 4 2084 and coil layer 6 2086, and supply a weak current to coil layer 1 2081, coil layer 3 2083 and coil layer 5 2085 in the opposite direction to the external current applied during the second drive, so as to achieve net resultant force balance hovering.

[0028] The third power-on drive is based on Figure 13 As shown, in order to make the coil group 208 continue to rise, the current applied to coil layer 1 2081, coil layer 3 2083 and coil layer 5 2085 is increased. The current direction of coil layer 3 2083 is opposite to the current direction of coil layer 1 2081 and coil layer 5 2085. At this time, the coil group 208 rises by 6mm. That is, coil layer 2 2082 is in the radial magnetic field region of the second soft magnetic body 204, coil layer 4 2084 is in the radial magnetic field region of the third soft magnetic body 206, and no coil stays in the radial magnetic field region of the first soft magnetic body 202. Similarly, in order to achieve the third hovering control of coil group 208, the current of coil layer 1 2081, coil layer 3 2083 and coil layer 5 2085 is cut off, and a weak current opposite to the direction of the external current applied during the third drive is passed to coil layer 2 2082 and coil layer 4 2084 to achieve net resultant force balance hovering.

[0029] The fourth power-on drive is based on Figure 14 As shown, in order to make the coil group 208 continue to rise, the current applied to coil layer 2082 and coil layer 4 2084 is increased. The current direction of coil layer 2082 is opposite to that of coil layer 4 2084. At this time, the coil group 208 rises by 6mm. That is, the lower layer of coil layer 1 2081 is located in the radial magnetic field region of the second soft magnetic body 204, and the lower layer of coil layer 3 2083 is located in the radial magnetic field region of the third soft magnetic body 206. To achieve the fourth hovering control, the applied current to coil layer 2082 and coil layer 4 2084 is cut off, and a weak current opposite to the direction of the applied current during the fourth drive is passed to coil layer 1 2081 and coil layer 3 2083 to achieve net resultant force balance hovering.

[0030] The fifth power-on drive is based on Figure 15 As shown, the current applied to coil layer 1 2081 and coil layer 3 2083 is increased. The current direction of coil layer 1 2081 is opposite to that of coil layer 3 2083. The coil group 208 as a whole continues to rise by 3mm. At this time, coil layer 2082 is in the radial magnetic field region of the third soft magnetic body 206, while no coil stays in the radial magnetic field regions of the first soft magnetic body 202 and the second soft magnetic body 204. To achieve the fourth hovering control, the applied current to coil layer 1 2081 and coil layer 3 2083 is cut off, and a weak current opposite to the direction of the applied current during the fifth drive is introduced into coil layer 2 2082 to achieve net resultant force balance hovering.

[0031] The sixth power-on drive is based on Figure 16 As shown, the applied current to coil layer 2082 is increased, and the coil group 208 as a whole continues to rise by 6mm. At this time, the lower layer of coil layer 2081 reaches the region of the third soft magnet 206. Then, a weak current opposite to the direction of the applied current during the fifth drive is passed to coil layer 2081 to achieve net resultant force balance and hovering.

[0032] In summary, this unidirectional high-torque lightweight muscle-type motor, through the alternating stacking design of non-soft magnets and soft magnets in the magnet assembly module 2, forms a stable radial magnetic field on the side of the soft magnets. Each coil layer in the coil group 208 corresponds to the radial magnetic field region of different soft magnets. After being energized, under the superposition of Ampere force and magnetic field force, the thrust generated by all effective coil layers points to the same vertical direction, effectively achieving unidirectional high-torque output. By adopting a nested layout of soft magnetic base 1 and magnet combination module 2, there is no need for a complex transmission mechanism. The overall structure is lightweight and the size can be adjusted according to the application scenario to achieve the goal of lightweight design. The soft magnetic base 1 is designed with a U-shaped groove structure. Its inner height ensures that the magnetic field line loop is closed. The soft magnetic body allows the magnetic field lines from the N pole of the non-soft magnet to be fully introduced and then led out along the side of the soft magnetic body, thereby forming a closed magnetic circuit. This effectively reduces magnetic flux loss and significantly improves the efficiency of electromagnetic-mechanical energy conversion.

[0033] It should be noted that, in this document, relational terms such as "first" and "second" are used merely 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.

[0034] 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 unidirectional, high-torque, lightweight, muscle-type motor, comprising a soft magnetic base (1), characterized in that: A magnet assembly module (2) is fixed on the inner side of the soft magnetic base (1). The magnet assembly module (2) includes a first non-soft magnet (201) fixed to the inside of the soft magnetic base (1), a first soft magnet (202) fixed on the top of the first non-soft magnet (201), a second non-soft magnet (203) fixed on the top of the first soft magnet (202), a second soft magnet (204) fixed on the top of the second non-soft magnet (203), a third non-soft magnet (205) fixed on the top of the second soft magnet (204), a third soft magnet (206) fixed on the top of the third non-soft magnet (205), a fourth non-soft magnet (207) fixed on the top of the third soft magnet (206), and a coil assembly (208) provided on the inside of the soft magnetic base (1).

2. The unidirectional high-torque lightweight muscle-type motor according to claim 1, characterized in that: The inner side of the soft magnetic base (1) is a U-shaped groove structure, and the inner height of the soft magnetic base (1) is not less than the sum of the heights of the first non-soft magnet (201), the first soft magnet (202) and the second non-soft magnet (203).

3. The unidirectional high-torque lightweight muscle-type motor according to claim 1, characterized in that: The bottom ends of the first non-soft magnet (201) and the third non-soft magnet (205) are both S poles, and the top ends of the first non-soft magnet (201) and the third non-soft magnet (205) are both N poles; The bottom ends of the second non-soft magnet (203) and the fourth non-soft magnet (207) are both N poles, and the top ends of the second non-soft magnet (203) and the fourth non-soft magnet (207) are both S poles.

4. The unidirectional high-torque lightweight muscle-type motor according to claim 1, characterized in that: The soft magnetic base (1), the first non-soft magnet (201), the first soft magnet (202), the second non-soft magnet (203), the second soft magnet (204), the third non-soft magnet (205), the third soft magnet (206) and the fourth non-soft magnet (207) are magnetically connected in sequence, and magnetic adhesive for shaping and fixing is applied to each magnetic contact surface.

5. A unidirectional high-torque lightweight muscle-type motor according to claim 1, characterized in that: The coil assembly (208) is placed in the center between the soft magnetic base (1) and the first non-soft magnet (201). The coil assembly (208) does not contact the inner wall of the soft magnetic base (1) or the outer side of the magnet. The coil assembly (208) includes the innermost sleeve layer (3). From bottom to top, coil layer one (2081), coil layer two (2082), coil layer three (2083), coil layer four (2084), coil layer five (2085), coil layer six (2086) and coil layer seven (2087) are sequentially sleeved on the outside of the sleeve layer (3).

6. A unidirectional high-torque lightweight muscle-type motor according to claim 5, characterized in that: The coil layers 1 (2081), 4 (2084), 5 (2085), 6 (2086) and 7 (2087) are each set to have six coil turns, and the coil layers 2 (2082) and 3 (2083) are each set to have five coil turns.

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