Abstract:
The invention provides a steering hub system driven by a ball joint universal rotary motor, including a hub body and a connection mechanism. The hub body is connected to a vehicle suspension via the connection mechanism. The hub body includes a ball joint universal rotary motor inside; the ball joint universal rotary motor includes a rotatable spherical shell-shaped rotor body having an opening, a spherical stator body disposed within the rotor body and connected to the connection mechanism, a first coil assembly and a second coil assembly both wound on the spherical stator body; when the first coil assembly is energized, the spherical shell-shaped rotor body rotates with respect to a first axis of the spherical stator body, and when the second coil assembly is energized, the spherical shell-shaped rotor body rotates with respect to a second axis of the spherical stator body, the first axis is not identical to the second axis. A sealing block is disposed at the opening of the spherical shell-shaped rotor body. The motor is a self-starting synchronous servo permanent magnet motor having wide range of stepless speed variation, self-steering power and dustproof ability, and the steering of the motor is sensitive, accurate, smooth, reliable, and convenient for operation, and the steering angle is large.

Description:
FIELD OF THE INVENTION 
       [0001]    The invention relates to a steering hub system driven by a ball joint universal rotary motor. 
       BACKGROUND OF THE INVENTION 
       [0002]    All over the world, the researches focusing on the spherical motor cost lots of money and some have been granted a patent certificate, for example, the utility model patent No. CN202085108U. However, limited by the two degrees of freedom of the cross axle, the motor of the patent can only move in two degrees of freedom. 
         [0003]    In existing auto industry, the steering of vehicles often needs the assistance of external force, such as mechanical hydraulic power, electronic hydraulic power, and electric power. However, the steering is often ineffective or inaccurate, and the steering is difficult to control, and the steering angle is small. 
         [0004]    Due to the abovementioned defects, the invention provides a steering hub system driven by a ball joint universal rotary motor, which is a continuation, supplementation, and improvement of a ball joint universal rotary motor, and is also an application of the ball joint universal rotary motor in the auto industry. The objective of the invention is to provide a steerable hub system having self-steering power. 
       SUMMARY OF THE INVENTION 
       [0005]    In view of the above-described problems, it is one objective of the invention to provide a steering hub system driven by a ball joint universal rotary motor. The steering hub system has self-steering power and dustproof ability, and wide range of stepless speed variation, and the steering is sensitive, accurate, steady and smooth, reliable, and convenient for operation, and the steering angle is large. 
         [0006]    To achieve the above objective, the invention provides 
         [0007]    a steering hub system driven by a ball joint universal rotary motor, comprising a hub body and a connection mechanism, the hub body being connected to a vehicle suspension via the connection mechanism. The hub body comprises a ball joint universal rotary motor inside; the ball joint universal rotary motor comprises a rotatable spherical shell-shaped rotor body having an opening, a spherical stator body disposed within the rotor body and connected to the connection mechanism, a first coil assembly and a second coil assembly both wound on the spherical stator body; when the first coil assembly is energized, the spherical shell-shaped rotor body rotates with respect to a first axis of the spherical stator body, and when the second coil assembly is energized, the spherical shell-shaped rotor body rotates with respect to a second axis of the spherical stator body, the first axis is not identical to the second axis. 
         [0008]    A main axle is provided in a position of the first axis and is fixedly connected to the spherical stator body; the main axle extends out of the spherical shell-shaped rotor body from the opening thereof; outer surfaces of the spherical shell-shaped rotor body at two sides of the opening are provided with protective sliding sleeves, respectively; one end of each sliding sleeve close to the opening of the spherical shell-shaped rotor body is provided with a positioning block; a spherical sealing block is disposed between two positioning blocks, and the spherical sealing block is fixedly disposed on a front end of the main axle extending out of the opening of the spherical shell-shaped rotor body. 
         [0009]    Preferably, a seal ring is disposed between the sealing block and each of the positioning blocks. 
         [0010]    Preferably, the spherical shell-shaped rotor body comprises a thin spherical shell-shaped permanent magnet, a magnet yoke, and aluminum alloy protective layer; the permanent magnet is magnetized into a plurality of magnetic poles; the protective sliding sleeves are disposed at an outer surface of the aluminum alloy protective layer. 
         [0011]    The spherical stator body comprises multiple layers of armatures in the shape of spherical segment; each layer of armature comprises an iron core in the shape of spherical segment formed from stacked multiple layers of silicon steel laminations; the multiple layers of armatures are symmetrically distributed with respect to the main axle of the spherical stator body; every two adjacent layers of armatures are provided with a spacer layer therebetween; the multiple layers of armatures and multiple spacer layers comprise taper holes having the same conicity at mounting positions thereof, and lock nuts in the shape of submerged cone are provided to match the taper holes whereby achieving the self-locking fixation and sealing connection of the main axle and the multiple layers of armatures and multiple spacer layers; the lock nuts of the main axle are screwed up via an external screw. 
         [0012]    plurality of winding slots are disposed circumferentially at a periphery of each silicon steel lamination, and an opening of each winding slot is facing outward; 
         [0013]    the iron core of at least one layer of armature is wound with the first coil assembly; the first coil assembly is wound on the iron core of the same layer of armature; 
         [0014]    the iron core of at least another layer of armature is wound with the second coil assembly; the second coil assembly on the layer of armature is electrically connected to another second coil assembly on another layer of armature that is symmetrically distributed with the layer of armature along the main axle. 
         [0015]    Preferably, two sides of the main axle are provided with fixing axles for fixing armatures, respectively; two ends of the fixing axles are located at spacer layers of second layers of armatures at a head end and a tail end of the main axle, respectively; the multiple layers of armatures and multiple spacer layers comprise taper holes having the same conicity at mounting positions thereof, and lock nuts in the shape of submerged cone are provided to match the taper holes whereby achieving the self-locking fixation and sealing connection of the fixing axles and the multiple layers of armatures and multiple spacer layers; the lock nuts of the fixing axles and silicon steel laminations spherical body formed a self-locking to screw up with an external screw of the main axle. 
         [0016]    Preferably, the aluminum alloy protective layer comprises an opening member close to the opening and a closed cover away from the opening; the opening member and the closed cover are fixed via a flange and a bolt, and the protective sliding sleeves are disposed on an outer surface of the opening member. 
         [0017]    Preferably, a number of layers of the armatures are at least 3 and is an odd number; the armature in a middle layer is a self-starting armature; the first coil assembly of the self-starting armature is connected to the corresponding second coil assembly thereof, so that after being energized, the spherical shell-shaped rotor body rotates with respect to the first axis. It is simpler than ordinary synchronous machine which needs a starting dynamo separately. When starting, the spherical shell-shaped rotor body rotates with respect to the Z axis in the XOY plane with other armatures. 
         [0018]    Preferably, the ball joint universal rotary motor is prepared according to following steps: stacking and fixing silicon steel sheets using a numerical control wire electric discharge machining according to diameters of the silicon steel sheets, and processing the silicon steel sheets into coil slots according to design drawings, each armature comprising a plurality of coil slots with different spherical diameters; distributing the coil slots according to layers of the armatures; processing a plurality of coil slots having the same sizes each time until all sizes of coil slots of a half sphere are obtained, and each sphere comprising two coil slots having the same size; preparing coil slots of silicon steel laminations having different spherical diameters; stacking the silicon steel laminations to yield multiple layers of armatures, allowing lock nuts in the shape of submerged cone of the main axle to pass through corresponding taper holes of the armatures and spacer layers whereby achieving the self-locking fixation and sealing connection of the multiple layers of armatures, and screwing up the external screw of the main axle; 
         [0019]    winding the first coil assembly on the coil slot of iron core of each layer of armature, the first coil assembly being wound on the same layer of armature; winding the second coil assembly on the coil slot of iron core of each layer of armature, the second coil assembly on one layer of armature being electrically connected to another second coil assembly on another layer of armature that is symmetrically distributed with the layer of armature along the main axle; securing the spherical stator body within the spherical shell-shaped rotor body. 
         [0020]    Preferably, the step of allowing lock nuts in the shape of submerged cone of the main axle to pass through corresponding taper holes of the armatures and spacer layers whereby achieving the self-locking fixation and sealing connection of the multiple layers of armatures, and screwing up the external screw of the main axle, fine machining outer surfaces of the coil slots of the silicon steel laminations of the armatures so as to make the outer surfaces of the multiple layers of armatures be spherical. 
         [0021]    Preferably, a magnetic-sensing device and a magnetic-sensing Hall device are disposed outside the spherical stator body; the magnetic-sensing device operates to detect magnetic fluxes of the permanent magnet, the first coil assembly, and the second coil assembly after being energized, and the magnetic-sensing Hall device operates to detect a relative position of the spherical shell-shaped rotor body and the spherical stator body so as to ensure the implementation of magnetic balance/magnetic levitation. 
         [0022]    Preferably, a plurality of nonmagnetic ball bearings are disposed between the spherical shell-shaped rotor body and the spherical stator body. 
         [0023]    Preferably, a spherical support is disposed between the spherical shell-shaped rotor body and the spherical stator body, and the ball bearings are uniformly distributed in the spherical support. Additionally, a 3D spherical bearing is formed between the spherical stator body formed by the silicon steel laminations and the permanent magnet, which is a necessary safety precaution and can prevent damages caused by the contact and friction between the permanent magnet and the spherical stator body due to abrupt power failure and the pressure effect. 
         [0024]    Preferably, a brake mechanism is disposed on an outer surface of the spherical shell-shaped rotor body and opposite to the opening, the braking mechanism comprises a right roller support fixed on the spherical shell-shaped rotor body and a bearing seat, a brake is disposed on the right roller support, and a support seat of the brake is disposed on the bearing seat. 
         [0025]    Preferably, there are two kinds of brake mechanisms, drum brake or disc brake can be symmetrically disposed two outsides of the main axle as required. 
         [0026]    Preferably, the connection mechanism comprises a ball basket universal joint connected to output from the main axle, a pull rod sliding sleeve of the ball basket universal joint, an outer universal joint connecting to a chassis and the main axle, a V-shaped lower swing connection rod, and a suspension universal screw; the ball basket universal joint is connected to the main axle via the suspension universal screw. 
         [0027]    Preferably, the hub body comprises a first stabilization mechanism and a second stabilization mechanism which are disposed at two sides of the opening of the spherical shell-shaped rotor body, respectively; the first stabilization mechanism and the second stabilization mechanism each comprise a support base disposed on the spherical shell-shaped rotor body, a left roller support disposed on the support base, a spherical hinge bearing having a sliding button disposed on the left roller support, a sliding pull rod disposed on the spherical hinge bearing having a sliding button, a sliding sleeve disposed on the sliding pull rod, a steering ball-basket universal joint connected to the sliding pull rod, and a swing arm connected to the steering ball-basket universal joint; and the swing arm is disposed on a base via a swing hinge. 
         [0028]    Preferably, a vibration damper is disposed between the first stabilization mechanism and the second stabilization mechanism; the vibration damper comprises a spherical hinge damping bearing disposed on the swing arm of the first stabilization mechanism, a spring hanger connected to the spherical hinge damping bearing, a spherical hinge connecting shaft connected to the spring hanger, a movable rotating ball spindle disposed on the spherical hinge connecting shaft, a movable sliding block disposed on the rotating ball spindle, and a damping spring; the sliding block comprises a fixing surface having a T-shaped groove; the fixing surface is connected to a vehicle body via a fixing screw, and two ends of the damping spring are connected to the swing arms of the first stabilization mechanism and the second stabilization mechanism via damping bearings, respectively. 
         [0029]    Advantages of the invention are summarized as follows. 
         [0030]    The invention provides a steering hub system driven by a ball joint universal rotary motor, which enables the ball joint universal rotary motor to be applied to the steering of auto tires. The rotatable spherical shell-shaped rotor body and the hub body are fixed via the main axle. The system has a simple structure. When the rotary motor is running, the spherical shell-shaped rotor body drives the hub body to rotate, so as to make the hub body have the self-steering power, and ensure the steering of the vehicle is reliable. By adjusting the current magnitude and electrifying time of the rotary motor, the vehicle can be steered from various angles, and the steering is sensitive and the operation is simple. The rotary motor comprises a layer of self-starting armature, which ensures the hub body works reliably. The self-starting synchronous servo permanent magnet motor has wide range of stepless speed variation. The sealing blocks are disposed in the vicinity of the opening of the spherical shell-shaped rotor body, which can prevent the motor from polluting when the hub body is rotating and steering. The steering hub system further comprises a magnetic-sensing device, a magnetic-sensing Hall device, ball bearings, and supports, which greatly improves the mechanical efficiency, and saves the energy consumption. The hub body comprises a connection mechanism, stabilization mechanisms, and a vibration damper, which ensures the vehicle has smooth and reliable steering. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0031]      FIG. 1  is a horizontal cross-section of a steering hub system driven by a ball joint universal rotary motor of the invention; 
           [0032]      FIG. 2  is a front view of a steering hub system driven by a ball joint universal rotary motor of the invention; 
           [0033]      FIG. 3  is a cross-sectional view of a steering hub system driven by a ball joint universal rotary motor of the invention taken from direction A in  FIG. 1 ; 
           [0034]      FIG. 4  is a partial enlarged view of a horizontal cross-section of a ball joint universal rotary motor of the invention; 
           [0035]      FIG. 5  is a schematic diagram of a spherical stator body of the invention; 
           [0036]      FIG. 6  is a schematic diagram of a support of the invention; 
           [0037]      FIG. 7  is a schematic diagram of a main axle of the invention; 
       
    
    
       [0038]    Legends:  11 . Armature;  12 . Spacer layer;  13 . Fixing axle;  14 . Main axle;  15 . Lock nuts of fixing axle;  16 . Lock nuts of main axle;  17 . Hole;  18 . First coil assembly;  19 . Second coil assembly;  20 . Silicon steel lamination of stator;  21 . Magnet yoke;  22 . Permanent magnet;  23 . Opening member;  24 . Closed cover;  25 . Bolt;  26 . Fixing bolt hole;  27 . Hub shell;  28 . Bearing seat of opening member;  31 . Sealing block;  32 . Positioning block;  33 . Protective sliding sleeve;  35 . Seal ring;  41 . Magnetic-sensing device;  42 . Magnetic-sensing Hall device;  51 . Ball bearing;  52 . Support;  61 . Right roller support;  62 . Bearing seat;  63 . Support seat;  64 . Drum brake;  65 . Disc brake;  71 . Outer universal joint connecting to a chassis;  72 . Pull rod sliding sleeve  72  of ball basket universal joint;  73 . Ball basket universal joint connected to output from main axle;  74 . Suspension universal screw;  75 . V-shaped lower swing connection rod;  81 . Base;  82 . Swing hinge;  83 . Swing arm;  84 . Steering ball-basket universal joint;  85 . sliding sleeve;  86 . Sliding pull rod;  87 . Spherical hinge bearing having a sliding button;  88 . Left roller support;  89 . Support base;  91 . Sliding block;  92 . Rotating ball spindle;  93 . Fixing surface;  94 . Fixing screw;  95 . Spherical hinge connecting shaft;  96 . Spring hanger;  97 . Spherical hinge damping bearing;  98 . Spring;  99 . Damping bearing. 
       DETAILED DESCRIPTION OF THE EMBODIMENTS 
       [0039]    For clear understanding of the objectives, features and advantages of the invention, detailed description will be given below in conjunction with accompanying drawings and specific embodiments. 
         [0040]    As shown in  FIGS. 1-4 , the invention provides a steering hub system driven by a ball joint universal rotary motor, comprising a hub body and a connection mechanism. The hub body is connected to a vehicle suspension via the connection mechanism. The hub body comprises a ball joint universal rotary motor inside; the ball joint universal rotary motor comprises a rotatable spherical shell-shaped rotor body having an opening, a spherical stator body disposed within the rotor body and connected to the connection mechanism, a first coil assembly  18  and a second coil assembly  19  both wound on the spherical stator body; when the first coil assembly  18  is energized, the spherical shell-shaped rotor body rotates with respect to a first axis of the spherical stator body, and when the second coil assembly  19  is energized, the spherical shell-shaped rotor body rotates with respect to a second axis of the spherical stator body, the first axis is not identical to the second axis; a main axle  14  is provided in a position of the first axis and is fixedly connected to the spherical stator body; the main axle  14  extends out of the spherical shell-shaped rotor body from the opening thereof. 
         [0041]    Suppose the first axis (the axis of the main axle  14 ) is Z axis, the plane which is vertical to the Z axis and where the center of a circle of the spherical shell-shaped rotor body is located is an XOY plane, when the main axle  14  is fixed, and the spherical shell-shaped rotor body is fixedly connected to the hub body, the first coil assembly  18  is energized, the spherical shell-shaped rotor body rotates with respect to the Z axis. When the second coil assembly  19  is energized, the spherical shell-shaped rotor body is tilted with respect to the Z axis, and thus rotates in the XOZ plane or in the YOZ plane. To ensure the stability and accuracy of the steering of the spherical shell-shaped rotor body, each time the rotary motor rotates at a small angle, by continuously outputting control signals, thus the current is loaded to the first coil assembly  18  or the second coil assembly  19  continuously. As a result, the rotary motor is capable of rotating or steering quickly, and the steering angle can be adjusted by controlling the loading time of the current, thus the rotary motor can rotate in all directions. 
         [0042]    As shown in FIGS. 1 ,  4  and  5 , the spherical stator body comprises multiple layers of armatures  11  in the shape of spherical segment; each layer of armature  11  comprises an iron core in the shape of spherical segment formed from stacked multiple layers of silicon steel laminations. That is to say, each layer of armature  11  comprises a plurality of silicon steel laminations having the same shape and different outer diameters. A plurality of winding slots are disposed circumferentially at the periphery of each silicon steel lamination, and an opening of each winding slot is facing outward. The multiple layers of armatures  11  are symmetrically distributed with respect to the main axle  14  of the spherical stator body; every two adjacent layers of armatures are provided with a spacer layer  12  therebetween; the multiple layers of armatures  11  and multiple spacer layers  12  comprise taper holes having the same conicity at mounting positions thereof, and lock nuts  16  in the shape of submerged cone are provided to match the taper holes whereby achieving the self-locking fixation and sealing connection of the main axle and the multiple layers of armatures and multiple spacer layers; the lock nuts  16  of the fixing axles and silicon steel laminations spherical body formed a self-locking to screw up with an external screw of the main axle  14 . When the diameter of the armature  11  is greater than 100 mm, to ensure the reliable and stable connection of the multiple layers of armatures  11 , fixing axles  13  are often provided. The fixing axles  13  are symmetrically disposed at two sides of the main axle  14 . Two ends of the fixing axles  13  are located at spacer layers  12  of second layers of armatures  11  at a head end and a tail end of the main axle, respectively; the multiple layers of armatures  11  and multiple spacer layers  12  comprise taper holes having the same conicity at mounting positions thereof, and lock nuts  15  in the shape of submerged cone are provided to match the taper holes whereby achieving the self-locking fixation and sealing connection of the fixing axles and the multiple layers of armatures and multiple spacer layers; the lock nuts  15  of the fixing axles  13  are screwed up via an external screw. 
         [0043]    To ensure the universal rotation of the rotary motor, the iron core of at least one layer of armature  11  is wound with the first coil assembly  18 ; the first coil assembly  18  is wound on the iron core of the same layer of armature  11 . 
         [0044]    The iron core of at least another layer of armature  11  is wound with the second coil assembly  19 ; the second coil assembly  19  on the layer of armature  11  is electrically connected to another second coil assembly  19  on another layer of armature  11  that is symmetrically distributed with the layer of armature along the main axle. 
         [0045]    In this example, to ensure the using effect and the sensitivity of the rotary motor, the iron core of each layer of armature  11  is wound with the first coil assembly  18 ; the first coil assembly  18  is wound on the iron core of the same layer of armature  11 . The iron core of each layer of armature  11  is wound with the second coil assembly  19 ; the second coil assembly  19  on the layer of armature  11  is electrically connected to another second coil assembly  19  on another layer of armature  11  that is symmetrically distributed with the layer of armature along the main axle. After the coil assemblies are energized, alternating magnetic field is generated in the same layer of armature  11 , thus driving the spherical shell-shaped rotor body to rotate with respect to the main axle  14 . Because the second coil assembly  19  on each layer of armature  11  is electrically connected to another second coil assembly  19  on another layer of armature  11  that is symmetrically distributed with the layer of armature along the main axle, when the second coil assembly  19  is energized, the spherical shell-shaped rotor body is tilted with respect to the axis of the spherical stator body, thus enabling the spherical shell-shaped rotor body to move in the second degree of freedom. With the alteration of the current magnitude and loading time of the current flowing in the second coil assembly  19 , the tilt angle of the spherical shell-shaped rotor body changes accordingly, and thus the rotary motor rotates at various degrees of freedom, whereby achieving the steering of the vehicle. Without the pull connection rod, the vehicle tire can also be driven through the electric transmission. 
         [0046]    To achieve the self-starting control of the rotary motor, the number of layers of the armatures are at least 3 and is an odd number. In this example, as shown in  FIG. 5 , the layers of armatures  11  are distributed and named as follows: OO, A 1 -A 2 , B 1 -B 2 , C 1 -C 2 , D 1 -D 2 , E 1 -E 2 , where A 1  and A 2  are symmetrically disposed, B 1  and B 2  are symmetrically disposed, C 1  and C 2  are symmetrically disposed, D 1  and D 2  are symmetrically disposed, E 1  and E 2  are symmetrically disposed. The two symmetrical iron cores have the same diameter. The layer OO is an independent central main armature, i.e., the self-starting control armature. The first coil assembly  18  of the self-starting control armature is electrically connected to the corresponding second coil assembly  19 , and after being energized, the spherical shell-shaped rotor body rotates with respect to the first axis. 
         [0047]    Specifically, the ball joint universal rotary motor is prepared according to following steps: stacking and fixing silicon steel sheets using a numerical control wire electric discharge machining according to diameters of the silicon steel sheets, and processing the silicon steel sheets into coil slots according to design drawings, each armature  11  comprising a plurality of coil slots with different spherical diameters; distributing the coil slots according to layers of the armatures  11 ; processing a plurality of coil slots having the same sizes each time until all sizes of coil slots of a half sphere are obtained, and each sphere comprising two coil slots having the same size; preparing coil slots of silicon steel laminations having different spherical diameters; stacking the silicon steel laminations to yield multiple layers of armatures, allowing lock nuts  16  in the shape of submerged cone of the main axle  14  to pass through corresponding taper holes of the armatures  11  and spacer layers  12  whereby achieving the self-locking fixation and sealing connection of the multiple layers of armatures  11 , and screwing up the external screw of the main axle  14 ; fine machining outer surfaces of the coil slots of the silicon steel laminations of the armatures so as to make the outer surfaces of the multiple layers of armatures  11  be spherical; winding the first coil assembly  18  on the coil slot of iron core of each layer of armature, the first coil assembly  18  being wound on the same layer of armature  11 ; winding the second coil assembly  19  on the coil slot of iron core of each layer of armature, the second coil assembly  19  on one layer of armature being electrically connected to another second coil assembly  19  on another layer of armature  11  that is symmetrically distributed with the layer of armature  11  along the main axle; securing the spherical stator body within the spherical shell-shaped rotor body. 
         [0048]    In this example, especially when the diameter of the armature  11  is greater than 100 mm, the fixing axles  13  are provided and symmetrically disposed at two sides of the main axle  14 . Two ends of the fixing axles  13  are located at spacer layers  12  of second layers of armatures  11  at a head end and a tail end of the main axle  14 , respectively. Upon assembling the silicon steel laminations, the layers of armatures  11  OO, A 1 -A 2 , B 1 -B 2 , and C 1 -C 2  and the spacer layers  12  thereof are assembled and fixed via the fixing axles  13 , and then are fixed by the lock nuts in the shape of submerged cone, followed by assembly of the main axle  14  and the layers of armatures  11  D 1 -D 2  and E 1 -E 2 . The main axle  14  and the silicon steel laminations are fixed by the lock nuts  16  in the shape of submerged cone. Thereafter, the outer surfaces of the coil slots of the silicon steel laminations of the armatures  11  are fine machined so as to make the outer surfaces of the multiple layers of armatures  11  be spherical. The spherical outer surfaces of the multiple layers of armatures  11  area favorable to the rotation of the spherical shell-shaped rotor body with respect to the main axle  14  of the spherical stator body. The iron core of each layer of armature is wound with two coil assemblies. The first coil assembly  18  is wound on the coil slots of the iron core of the same layer of armature  11 . In this example, the spherical iron core can be designed to have 36 slots and four poles for winding. 72 coils are wound on the spherical iron core. The first coil is wound between the first and the third slots, the second coil is wound between the second and fourth slots, and the third coil is wound between the third and fifth slots, and so on. That is to say, each coil is wound between two slots with one slot spaced. In addition, the coil wound between the first slot and the third slot is connected to the coil wound between the  13   th  and the  15   th  slots, and so on. The second coil assembly  19  on one layer of armature is electrically connected to another second coil assembly  19  on another layer of armature  11  that is symmetrically distributed with the layer of armature  11  along the main axle. 
         [0049]    It should be noted that, the coil wound between the first and the third slots of the armature  11  of the layer A 1  is not electrically connected to the coil wound between the  13   th  and the  15   th  slots of the armature  11  of the layer A 1 , but electrically connected to the coil wound between the  13   th  and the  15   th  slots of the armature  11  of the layer A 2 . The coil wound between the 4th and the 6th slots of the armature  11  of the layer A 1  is electrically connected to the coil wound between the 16 th  and the 18 th  slots of the armature  11  of the layer A 2 , and so on. That is to say, the coil in each layer of armature  11  is electrically connected to another coil on another layer of armature  11  that is symmetrically distributed with the layer of armature  11  along the main axle. Optionally, the coil can be wound with another mode. For example, the armatures in the layers A 1 , A 2  are only wound with the first coil assembly  18 , and the armatures in the layers B 1 , B 2  are only wound with the second coil assembly  19 . Or, when the second coil assembly  19  in the armatures of the layers A 1 , A 2  is energized, the spherical shell-shaped rotor body rotates in the plane XOZ; when the second coil assembly  19  in the armatures of the layers B 1 , B 2  is energized, the spherical shell-shaped rotor body rotates in the plane YOZ; and when the second coil assembly  19  in the armatures of the layers C 1 , C 2  is energized, the spherical shell-shaped rotor body rotates in a plane which is tilted at 45 degrees with the plane XOZ. Through energizing the second coil assembly  19  in different armatures, the rotary motor can rotate at different directions, thus achieving the three-dimensional rotation in planes X_Y, Z_X, Z_Y. When the spherical iron core has a large diameter, the number of the coil slots can be increased to 36, 48, 64, or 96 slots, and the layer number of the armature  11  is also increased in proportion. 
         [0050]    As shown in  FIGS. 1 and 2 , the spherical shell-shaped rotor body comprises a thin spherical shell-shaped permanent magnet  22 , a magnet yoke  21 , and aluminum alloy protective layer; the permanent magnet  22  is magnetized into a plurality of magnetic poles. The pole pairs of the permanent magnet are designed as needed, which can be 2-4 poles in high speed, and 8-16 poles in other conditions. The magnet yoke  21  can resist the adverse effect and radiation of the magnetic line of force, particularly when the vehicle is running, can shield the interfering signals from outside, thus preventing the influence of the external magnetic field on the rotary motor. The aluminum alloy protective layer comprises an opening member  23  close to the opening and a closed cover  24  away from the opening; the opening member  23  and the closed cover  24  are fixed via a flange and a bolt  25 . A fixing bolt hole  26  is disposed in the middle of the closed cover  24  to fix the closed cover  24  on the hub body. 
         [0051]    As shown in  FIGS. 1, 4 and 7 , the main axle  14  is hollow, and the output end thereof is provided with a hole  17 , which is an inlet and outlet of the lead wire of slot coils of the armature  11 . The control wire passes through the hollow main axle  14  via the hole  17  and enters the junction box of the front/rear axle of the vehicle. 
         [0052]    As shown in  FIGS. 1 and 4 , because the spherical shell-shaped rotor body comprises the opening, to protect the spherical stator body, outer surfaces of the spherical shell-shaped rotor body at two sides of the opening are provided with protective sliding sleeves  33 , respectively; one end of each sliding sleeve  33  close to the opening of the spherical shell-shaped rotor body is provided with a positioning block  32 ; a spherical sealing block  31  is disposed between two positioning blocks  32 , and the spherical sealing block  31  is fixedly disposed on a front end of the main axle  14  extending out of the opening of the spherical shell-shaped rotor body. A seal ring  35  is disposed between the sealing block  31  and each of the positioning blocks  32 . In this example, the protective sliding sleeves  33  are disposed on the sliding slots at the outer surface of the opening member  23 . The spherical sealing block  31  is a spherical shell larger than or equal to 90 degrees. When the spherical shell-shaped rotor body rotates, no opening occurs in the spherical stator body. However, when the spherical shell-shaped rotor body steers, the opening member  23  moves towards the left or the right. At this moment, the positioning blocks  32  pull the protective sliding sleeves  33  to move to the vacancy, thus preventing the dust from entering the spherical stator body. The seal ring  35  also has functions of protection and preventing dust. 
         [0053]    As shown in  FIGS. 1 and 4 , a magnetic-sensing device  41  and a magnetic-sensing Hall device  42  are disposed outside the spherical stator body; the magnetic-sensing device  41  and the magnetic-sensing Hall device  42  both operate to detect magnetic fluxes of the NdFeB permanent magnet  22 , the first coil assembly  18 , and the second coil assembly  19  after being energized. By controlling the voltage and electric quantity, let C/ NdFeB≧or±C/ coil=0, thus generating the phenomenon of magnetic balance-magnetic levitation. The magnetic-sensing Hall device  42  operates to detect a relative position of the spherical shell-shaped rotor body and the spherical stator body. With the help of magnetic levitation technology and without the limitation of degree of freedom, there is no barrier between the spherical stator body and the permanent magnet  22 , the friction factor is the least, thus greatly improving the mechanical efficiency and saving the energy consumption. 
         [0054]    As shown in  FIGS. 1, 4 and 6 , a plurality of nonmagnetic ball bearings  51  are disposed between the spherical shell-shaped rotor body and the spherical stator body. The ball bearings  51  can prevent the direct friction between the spherical stator body and the permanent magnet  22 , but the distribution and transmission of the magnetic line of force are not affected, thus improving the safety. In addition, a spherical support  52  is disposed between the spherical shell-shaped rotor body and the spherical stator body, and the ball bearings  51  is disposed on the support  52 . The support  52  is made of Glass-filled Nylon by injection molding. Different from conventional plain cylindrical bearings, the support is a spherical circle, the upper and lower layers fix the ball bearings  51  and allow the ball bearings  51  to rotate flexibly, a cylinder is provided between the spheres for riveting. 
         [0055]    As shown in  FIGS. 1 and 4 , a brake mechanism is disposed on an outer surface of the spherical shell-shaped rotor body and opposite to the opening, the braking mechanism comprises a right roller support  61  fixed on the spherical shell-shaped rotor body and a bearing seat  62 , a brake  64  is disposed on the right roller support  61 , and a support seat  63  of the brake  64  is disposed on the bearing seat  62 . In this example, two brake mechanisms are provided and symmetrically disposed at two sides of the main axle  14 , thus ensuring the braking effect. Specifically, a drum brake  64  is disposed on the rear wheel, a disc brake  64  is disposed on the front wheel, and the support seat  63  of the brake  64  is a torus. 
         [0056]    As shown in  FIGS. 1 and 2 , the connection mechanism comprises a ball basket universal joint  73  connected to output from the main axle, a pull rod sliding sleeve  72  of the ball basket universal joint, an outer universal joint  71  connecting to a chassis and the main axle, a V-shaped lower swing connection rod  75 , and a suspension universal screw  74 ; the ball basket universal joint  73  is connected to the main axle  14  via the suspension universal screw  74 . 
         [0057]    As shown in  FIGS. 1 and 2 , the hub body comprises a first stabilization mechanism and a second stabilization mechanism which are disposed at two sides of the opening of the spherical shell-shaped rotor body, respectively; the first stabilization mechanism and the second stabilization mechanism each comprise a support base  89  disposed on the spherical shell-shaped rotor body, a left roller support  88  disposed on the support base  89 , a spherical hinge bearing  87  having a sliding button disposed on the left roller support  88 , a sliding pull rod  86  disposed on the spherical hinge bearing  87  having a sliding button, a sliding sleeve  85  disposed on the sliding pull rod  86 , a steering ball-basket universal joint  84  connected to the sliding pull rod  86 , and a swing arm  83  connected to the steering ball-basket universal joint  84 ; and the swing arm  83  is disposed on a base  81  via a swing hinge  82 . The support base  89  is a cylindrical thin-walled structure, and the opening distance of the support base  89  is greater than or equal to 154 mm, so that the rotation of the spherical shell-shaped rotor body causes no disturbance to the main axle  14 . The left roller support  88  is a special product designed as needed, of which the role lies in that, the spherical shell-shaped rotor body is driven to steer by the circumferential magnetic force generated by the armatures  11  such as A 1 -A 2 , B 1 -B 2 , C 1 -C 2 , D 1 -D 2 , E 1 -E 2 , and the steering angle is tentatively 28 degrees, which is determined by the opening degree of the left roller support  88 . The steering of the hub body is not subject to external force, but considering the stability of the hub body, the steering ball-basket universal joint  84 , the sliding sleeve  85 , the sliding pull rod  86 , the spherical hinge bearing  87  having a sliding button, and the swing arm  83  are disposed on the vehicle&#39;s suspension frame to ensure the stability, and meanwhile steer with the steering of the hub body. When the vehicle steers, the spherical shell-shaped rotor body steers along with the hub body, the maximum steering angle of the hub body is 28 degrees, and the maximum displacement distance is 110-132 mm. 
         [0058]    A vibration damper is disposed between the first stabilization mechanism and the second stabilization mechanism; the vibration damper comprises a spherical hinge damping bearing  97  disposed on the swing arm  83  of the first stabilization mechanism, a spring hanger  96  connected to the spherical hinge damping bearing  97 , a spherical hinge connecting shaft  95  connected to the spring hanger  96 , a movable rotating ball spindle  92  disposed on the spherical hinge connecting shaft  95 , a movable sliding block  91  disposed on the rotating ball spindle  92 , and a damping spring  98 ; the sliding block  91  comprises a fixing surface  93  having a T-shaped groove; the fixing surface  93  is connected to a vehicle body via a fixing screw  94 , and two ends of the damping spring  98  are connected to the swing arms  83  of the first stabilization mechanism and the second stabilization mechanism via damping bearings  99 , respectively. The rotary motor has high efficiency, large power, and large steering angle larger than or equal to 28 degrees. According to kinematic theory, the rotary motor has large inertia. To ensure the stability of the vehicle and prevent disturbance, when connecting the suspension frame to the upper cover of the vehicle, the fixing surface  93  having a T-shaped groove is disposed, and the movable rotating ball spindle  92  (the displacement distance is smaller than or equal to 150 mm) is disposed in the fixing surface  93 . The universal movable sliding block  91  (L equal to 100 mm to 150 mm) has buffering and damping functions. 
         [0059]    The vehicle involved in the invention preferably adopts a hybrid power mode, comprising an engine, generator, electronic control module, and four-wheel-drive steering tires. The generator outputs high direct voltage to the motor, the output power is large, which is obviously larger than the power generated by batteries-based pure electric vehicles. In addition, the application of the invention can substitute for the gear box of conventional vehicles, which put forwards a new direction for the research of hybrid power vehicles. 
         [0060]    While particular embodiments of the invention have been shown and described, it will be obvious to those skilled in the art that changes and modifications may be made without departing from the invention in its broader aspects, and therefore, the aim in the appended claims is to cover all such changes and modifications as fall within the true spirit and scope of the invention.