TWI502861B - A ball joint universal rotary motor, a manufacturing method and a working mechanism thereof - Google Patents

Description

Ball joint universal rotary motor structure, manufacturing method, working method and application example thereof

The present invention relates to a ball joint universal rotary motor structure, a manufacturing method thereof, a working method and an application example thereof, relating to the field of motors, and is a state-of-the-art motor, in particular to a three-dimensional ball joint universal rotary motor and a method of manufacturing the same The working method of the motor is suitable for providing the rotating structure of the bionic robot and the rotation of the joint portion with a plurality of degrees of freedom at a pivot point, and the motor can be widely applied to devices that need to rotate for multiple degrees of freedom. , equipment, electrical products and other areas that need to implement three-dimensional motion.

The present invention is based on the contents of pages 8 and 9 of the invention patent application No. 100115399 submitted to the Taiwan Intellectual Property Office on May 3, 2011, and FIG. 21-9b-joints ball-motor-3D-2; FIG. -9b-joints ball-motor-no pump seat structure; Figure 24-joint ball-rotor body; Figure 25-3D SPA-9b-joints ball-motor-no pump seat structure; Figure 26-joint ball-rotor body-3D -110107; Figure 27 is a three-dimensional representation of the permanent magnet; and the update is developed for further substantive examination of the application.

The invention has priority in applying for patents in countries such as the mainland, Macao and the United States.

Most of the electrical products used by modern people are equipped with electric motors. Motors are also widely used in manufacturing and military equipment. The existing electric machines have a stator and a rotor. The rotor shaft is mounted in the rotor and rotates with the rotation of the rotor, and thus outputs power. Since the rotor shaft of the existing motor can only rotate about the axis of the motor, it can be called a plane motor, that is, the movement of the rotor shaft of the motor has only one degree of freedom.

Referring to the first figure, some existing motors have a housing 10 and end caps 11, 12 at the ends of the housing 10. The housing 10 and the end caps 11, 12 enclose a cavity in which the stator 15 and the rotor 18 are mounted. The stator 15 has a stator core 16 and a coil 17 wound around the stator core 16, the rotor 18 being mounted in the stator 15 and rotatable relative to the stator 15, the rotor shaft 19 being mounted in the rotor 18, and with the rotor 18 With the interference fit, the rotor shaft 19 is rotated by the rotor 18 to output power outward.

The stator core 16 is usually formed by stacking a plurality of stator blades of the same shape. Referring to the second figure, the stator punch 20 is stamped from a sheet of steel, which is substantially annular and has a yoke at the outer periphery. 21, and the yoke portion 21 has an annular shape, and the stator punching piece 20 is further provided with a plurality of teeth 22 extending from the yoke portion 21 in the radial direction of the stator punching piece 20 toward the middle portion of the stator punching piece 20, and two adjacent teeth. A winding groove 23 is formed between the coils 22, and the coil is wound around the teeth 22.

Moreover, a hollow inner circular hole 24 is disposed in a middle portion of the stator punching piece 20. After the plurality of stator punching pieces 20 are laminated to form the stator core 16, the inner circular hole 24 of the stator punching piece 20 forms a rotor hole, and the rotor is mounted to the rotor hole. Inside.

The rotor core is also formed by laminating the rotor core. The rotor core can be wound around the rotor coil or cast on the rotor core to form the rotor 18. After the stator coil 17 is energized, the alternating current forms an alternating current in the stator coil 17. The magnetic field, the rotor 18 is rotated by the alternating magnetic field, thereby causing the rotor shaft 19 to rotate. Therefore, the stator 15 is the armature of the motor, which receives electrical energy and generates an alternating magnetic field.

However, existing electrical equipment, industrial equipment, and the like require components to be able to perform multiple degrees of freedom of motion. Since existing motors can only perform one degree of freedom of motion, and cannot meet the application requirements of existing electrical equipment, etc., now do multiple degrees of freedom. The moving equipment is usually driven by a plurality of motors, and each of the motor-driven devices performs a degree of freedom movement, which results in a large number of motors and a large volume, which also leads to high production costs of the equipment.

In addition, once there is a problem in operation of one of the plurality of motors, the operation of the device is affected, the working stability of the device is poor, and the cooperation of the plurality of motors requires precise control of the plurality of motors and control of the system. The requirements are very high, which puts high demands on the control of the equipment.

In view of the above-mentioned shortcomings, the inventor believes that it has the urgent need to make corrections, and that it has been engaged in the design and manufacture of related products for many years, and has always adhered to the excellent design concept, and researched and created the above disadvantages. After continuous efforts, the company finally launched the structure of the ball joint universal rotary motor of the present invention, its manufacturing method, working method and application example, and opened up a brand new motor field with excellent and innovative product structure, which completely made the human industrial economic field complete. A big step across the ground.

SUMMARY OF THE INVENTION A primary object of the present invention is to provide a ball jointed universal rotary motor capable of achieving multiple degrees of freedom movement with one fulcrum.

Another object of the present invention is to provide a method of manufacturing the above described ball joint universal rotary motor.

It is still another object of the present invention to provide a method of operating the above described ball joint universal rotary motor.

In order to achieve the main object of the present invention, the present invention provides a ball joint universal rotary motor a stator body having a spherical shape, the stator body is made of a permanent magnet, the permanent magnet is magnetized to form a plurality of magnetic poles, and the rotor body is located in the stator body, the rotor body has a plurality of armatures, and each layer of the armature has a plurality of layers of steel The rotor core is laminated, and the multi-layer armature is symmetrically arranged on the rotor body in the axial direction. A gap layer is arranged between the adjacent two armatures, and the multi-layer armature and the multi-layer spacer layer are fixedly connected by bolts. Connected to the rotor shaft, and the rotor body is spherical, and the first layer coil is wound around the rotor core of each layer armature, and the first layer coil is wound on the rotor core of the same layer armature, each layer armature A second layer of coils is wound around the rotor core, and a second layer of coils is electrically connected to the second layer of coils of the other armature of the armature of the armature.

It can be seen from the above scheme that the stator body of the ball joint universal rotary electric machine has a spherical shape, and a plurality of armatures are arranged on the rotor body, and the first layer coil of each layer armature is wound around the armature, and the coil is energized after being An alternating magnetic field is formed on one of the armatures to push the rotor body to rotate around the bolt. Since the second coil on each armature is electrically connected to the coil on the other symmetric armature, the second layer of coils is energized. The rotor body is inclined with respect to the axis of the stator body, thereby realizing the movement of the rotor body in the second degree of freedom, and the inclination angle of the rotor body can be changed as the current flowing through the second layer coil and the energization time are changed. In turn, the tilt angle of the rotor body is changed to realize the movement of the motor with a plurality of degrees of freedom with one fulcrum.

In the above bolt, the two ends of the bolt are respectively provided with a conical nut, and the cross-sectional area of the end of the nut near the center of the rotor body is smaller than the cross-sectional area away from the center end of the rotor body, thereby being visible through the bolt and the conical shape The nut fixes the rotor core of the multi-layer armature to the spacer layer, and the two-layer armature located at the outermost layer can be fixed by the conical nut to ensure the multi-layer armature connection of the rotor body is secure.

In addition, in the above stator body, the stator body is provided with a casing outside, and the casing has a yoke and a shielding layer located outside the yoke, and the stator body is magnetically realized by the yoke. The field is shielded, and the mask layer can shield the external interference signal to prevent the external magnetic field from affecting the ball joint universal rotary motor.

In addition, the housing of the stator body is provided with an air inlet, and an air pump component is disposed outside the air inlet, so that the air pump component injects high-pressure air between the stator body and the rotor body, so that the stator body and the rotor body A magnetic gap is formed therebetween to facilitate rotation of the rotor body relative to the stator body.

In addition, the outer casing of the stator body is provided with an annular convex portion near the notch of the stator body, and the convex portion extends on the outer wall of the outer casing along the circumferential direction of the rotor body, visible through the convex portion disposed on the outer casing. Strengthen the strength of the outer casing to prevent the outer casing from being deformed by external force.

In order to achieve another object of the present invention, a method for manufacturing a ball joint universal rotary electric machine provided by the present invention comprises magnetizing a spherical permanent magnet to form a plurality of magnetic poles, forming a stator body, and cutting the steel sheet into a plurality of diameters. Unequal silicon steel sheets, laminated with silicon steel sheets to form a multi-layer armature, bolted through and fixed to the multi-layer armature, and a spacer layer between adjacent two armatures, on the rotor core of each layer of armature Winding the first layer coil, the first layer coil is wound on the rotor core of the same layer armature, and the second layer coil is wound on the rotor core of each layer armature, and the second layer coil is symmetric with the armature of the armature The second layer of the other armature is electrically connected to form a spherical rotor body, and the rotor body is housed in the stator body.

It can be seen from the above that the stator body of the motor is processed into a spherical shape, and the rotor body is processed into a spherical shape, and the alternating magnetic field generated after the first layer coil of each layer of the armature is energized can push the rotor body to rotate around the axis of the bolt. After the second layer of coils is energized, the rotor body can be tilted relative to the axis of the stator body, thereby achieving a plurality of degrees of freedom of operation of the motor at one fulcrum.

According to the above further definition, after the armature is fixed by using a bolt, the armature is The outer surface is finished to make the outer surface of the multilayer armature close to the spherical surface. Therefore, it can be seen that the outer surface of the multilayer armature is processed into a shape close to the spherical surface, which is more favorable for the rotor body to rotate in the stator body, thereby ensuring the rotor. The body rotates smoothly in the stator body.

In order to achieve the above-mentioned further object, the working method of the ball joint universal rotary motor provided by the present invention comprises energizing the first layer coil to rotate the rotor body about the axis of the bolt, and energizing the second layer coil to make the rotor body relative to the stator The axis of the body is rotated obliquely. According to the above scheme, by energizing the first layer coil and the second layer coil, the rotor body can rotate not only about the axis of the bolt but also obliquely with respect to the axis of the stator body. The motor uses a fulcrum to make multiple degrees of freedom of motion.

The invention not only realizes the above-mentioned various purposes, but also creates a new field of application structure in the field of electric motors, and can effectively solve many difficult problems overcome by the prior art.

30‧‧‧stator body

31‧‧‧ Shell

32‧‧ y yoke

33‧‧‧mask layer

35‧‧‧Shell

36‧‧‧Shell

37‧‧‧ board

38‧‧‧through hole

39‧‧‧Semi-cylinder

40‧‧‧ board

41‧‧‧Bump

42‧‧‧Semi-columnar

45‧‧‧air inlet

47‧‧‧Air pump mount

50‧‧‧Air pump components

51‧‧‧air inlet

53‧‧‧Cross shaft locking ring

54‧‧‧ screws

55‧‧‧ convex

56‧‧‧Control signal line tube

58‧‧‧Rotor shaft

60‧‧‧Rotor body

61‧‧‧Rotor core

62‧‧‧矽Steel sheet

63‧‧‧ yoke

64‧‧‧through hole

65‧‧‧Rolling groove

66‧‧‧Positioning holes

68‧‧‧ spacer

70‧‧‧ bolt

71‧‧‧ screw

72‧‧‧through hole

73‧‧‧ nuts

74‧‧‧through hole

75‧‧‧ nuts

76‧‧‧through hole

79‧‧‧Ball-spinning universal rotary motor has pump seat

80‧‧‧ Ball joint universal rotary motor without pump seat

81‧‧‧Base

82‧‧‧ planetary gear mechanism

83‧‧‧ trachea

84‧‧‧Support shaft

85‧‧‧Substrate

90‧‧‧Y seat

101‧‧‧ Shell

102‧‧‧stator body

103‧‧‧Rotor body

104‧‧‧ Armature

105‧‧‧Rotor shaft

106‧‧‧air inlet

[Chinese symbol description]

10‧‧‧shell

11‧‧‧End cover

12‧‧‧End cover

15‧‧‧ Stator

16‧‧‧Standard core

17‧‧‧ coil

18‧‧‧Rotor

19‧‧‧Rotor shaft

20‧‧‧Standard punching

21‧‧‧ yoke

22‧‧‧ teeth

23‧‧‧Rolling groove

24‧‧‧round hole

First picture: Sectional view of the existing motor

Second picture: enlarged structure of a conventional stator punch

Figure 3 is a structural view of the first embodiment of the ball joint universal rotary motor of the present invention

Fourth drawing: exploded view of the first embodiment of the ball joint universal rotary motor of the present invention

Figure 5 is a cross-sectional view showing a first embodiment of the ball joint universal rotary motor of the present invention

Figure 6: Sectional view of the A-A direction in the fifth figure

Figure 7 is a structural exploded view of the stator body and the outer casing of the first embodiment of the ball joint universal rotary motor of the present invention

Figure 8: Structure of the rotor body in the first embodiment of the ball joint universal rotary motor of the present invention Magnified view

Ninth view: enlarged structure of the rotor body in the first embodiment of the ball joint universal rotary motor of the present invention

Tenth figure: enlarged structural view of the bolt and nut in the first embodiment of the ball joint universal rotary motor of the present invention

Eleventh drawing: enlarged structure of a rotor core and a layer of a layer of an armature of a rotor body in the first embodiment of the ball joint universal rotary motor of the present invention

Twelfth view: structural view of another perspective view of the rotor body in the first embodiment of the ball joint universal rotary motor of the present invention

Thirteenth Figure: Structure of a piece of silicon steel sheet in the first embodiment of the ball joint universal rotary motor of the present invention

Figure 14: Development view of the first layer coil wound around an armature of the rotor body in the first embodiment of the ball joint universal rotary motor of the present invention

Fifteenth Figure: Development view of a second layer coil wound on a symmetric two-layer armature of a rotor body in a first embodiment of the ball joint universal rotary motor of the present invention

Figure 16: Schematic diagram of a control circuit of the first embodiment of the ball joint universal rotary motor of the present invention

Figure 17: Schematic diagram of the control circuit of the first layer coil of the armature of the first embodiment of the ball joint universal rotary motor of the present invention

Figure 18: Schematic diagram of the control circuit of the second layer coil of the armature of the first embodiment of the ball joint universal rotary motor of the present invention

Figure 19: Structure diagram of the second embodiment of the ball joint universal rotary motor of the present invention

Figure 20 is a cross-sectional view showing a second embodiment of the ball joint universal rotary motor of the present invention

21: An exploded view of the second embodiment of the ball joint universal rotary motor of the present invention

Twenty-second drawing: First embodiment and second embodiment of the ball joint universal rotary motor of the present invention Display map

Twenty-third drawing: structural drawing of the balanced rotating body of the second embodiment of the ball joint universal rotary motor to which the present invention is applied

Figure 24 is a structural view of a Y-shaped seat of a balanced rotating body of a second embodiment of a ball joint universal rotary motor to which the present invention is applied

Twenty-fifth Figure: Structural view of a base of a balanced swing body of a second embodiment of a ball joint universal rotary motor according to the present invention. The present invention will be further described below with reference to the accompanying drawings and embodiments.

The invention relates to a ball joint universal rotary motor structure, a manufacturing method thereof, a working method and an application example. The ball joint universal rotary motor can be divided into a gas pump component structure (with an air pump) according to a gas supply mode. A structure without an air pump element (airless pump), the structure with the air pump element structure and without the air pump element is described below by two embodiments.

First embodiment (with air pump):

Referring to the third figure, the present embodiment has a substantially spherical-shaped outer casing 31. The rotor body is housed in the outer casing 31, and the rotor body is spherical and can move in multiple directions with respect to the outer casing 31. Therefore, the present invention The motor is different from the planar motor of the transmission. The motor of the present invention can realize a movement with multiple degrees of freedom with one fulcrum, which can be called a three-dimensional motor.

Referring to the fourth and fifth figures, the motor of the present invention has a spherical body-shaped stator body 30 which is made of a permanent magnet and magnetized into a plurality of magnetic poles. In practical applications, the permanent magnet may be magnetized into eight or sixteen poles as needed, and the stator body 30 is not necessarily a complete permanent magnet, and may be spliced by multiple permanent magnets. And each permanent magnet is magnetized into a corresponding magnetic pole, so that the magnetization of the permanent magnet can be conveniently realized, and the manufacture of the stator body 30 is also facilitated.

As shown in the fifth and sixth figures, the plurality of magnetic poles of the stator body 30 are spaced apart in the circumferential direction of different planes, which facilitates the movement of the rotor body in different directions, including rotation about the axis of the rotor body. Or tilt.

The stator body 30 is jacketed with a housing 31. The housing 31 is substantially spherical and includes a yoke 32 made of a magnetically permeable material and a mask layer 33 outside the inner layer. The yoke 32 is located outside the stator body 30. The outer wall of the outer wall of the yoke 32 can be adhered to the inner wall of the yoke 32 by glue or the like, thereby achieving a fixed connection between the stator body 30 and the outer casing 31.

The mask layer 33 is made of a material such as aluminum or aluminum alloy, and is used for masking and absorbing an external magnetic field, thereby preventing an external magnetic field from affecting the rotor body, and also avoiding a magnetic field formed by the rotor body from causing magnetic interference to external devices. The cover layer 33 may be formed on the yoke 32 by overmolding, so that the mask layer 33 is fixedly coupled to the yoke 32.

Referring to the seventh figure, in order to facilitate the manufacture and assembly of the outer casing 31 and the stator body 30, the outer casing 31 and the stator body 30 are composed of two hemispherical-shaped housings 35, 36, and the outer casing 36 is provided at the edge of the casing 36. The rim has a plate body 37 extending outward in the radial direction of the casing 36. The plate body 37 is provided with a plurality of through holes 38, and the upper end of the plate body 37 is provided with a semi-cylindrical body 39.

Correspondingly, the edge of the housing 35 is also provided with a plate body 40. The plate body 40 is provided with a plurality of protrusions 41, and the upper end of the plate body 37 is provided with a semi-cylindrical body 42, the housing 35 and the housing 36. After the docking, the plate body 37 is in abutment with the plate body 40, and the protruding post 41 is inserted into the through hole 38, so that the fixed connection of the housing 35 and the housing 36 is achieved, and the two semi-cylindrical bodies 39, 42 are butted into each other. At the port 45, external air can flow into the outer casing 31 through the air inlet 45.

Referring back to the fourth and fifth figures, an air pump fixing seat 47 is disposed above the air inlet 45, An air pump component 50 is installed in the air pump mount 47. One end of the air pump component 50 is provided with an air inlet 51, and the lower end of the air pump component 50 is in communication with the air inlet 45. After the air flows from the air inlet 51 to the air pump assembly 50, the air passes through The compression of the air pump assembly 50 forms high pressure air and flows from the air inlet 45 into the outer casing 31.

A cross shaft locking ring 53 is further provided above the air pump unit 50 for fixing the air pump element 50 to the outer casing 31, and the cross shaft locking ring 53 is fixed to the air pump fixing base 47 by a plurality of screws 54.

The outer casing 31 is provided with an annular convex portion 55 near the notch of the stator body 30. The convex portion 55 extends in the circumferential direction of the stator body 30 on the outer wall of the outer casing 31. Thus, the outer casing 31 can be added to the stator body 30 through the convex portion 55. The strength at the notch avoids damage to the outer casing 31 and extends the life of the motor.

The stator body 30 is provided with a spherical rotor body 60. Referring to the eighth and ninth drawings, the rotor body 60 has a plurality of armatures, each layer of armature includes a rotor core 61, and the rotor core 61 is laminated by a plurality of layers of silicon steel sheets. A spacer layer 68 is disposed between two adjacent rotor cores 61. The rotor cores 61 of the multilayer armature are symmetrically arranged along the axial direction of the rotor body 60. As shown in FIG. The rotor body 60 of the example has an eight-layer armature, and the rotor cores corresponding to the eight-layer armature are respectively D1, C1, B1, A1, A2, B2, C2, D2, wherein A1 and A2 are symmetrically arranged, and B1 and B2 are symmetrically arranged. C1 and C2 are symmetrically arranged, D1 and D2 are symmetrically arranged, and the two rotor cores which are symmetric with each other are the same in size, and the diameter of the rotor core 61 of the multilayer armature layer gradually decreases from the center to the both ends of the rotor body 60.

Referring to Fig. 11, the diameters of the plurality of silicon steel sheets 62 of the rotor core 61 of each armature are not equal. As can be seen from the twelfth figure, the diameter of the multi-layer steel sheet 62 of the rotor core 61 of each armature is self-rotating. The center of the sub-body 60 gradually decreases toward both sides, so that the rotor body 60 is substantially spherical.

Referring to the thirteenth diagram, each of the silicon steel sheets 62 of the rotor core 61 is substantially annular, and a circular through hole 64 is formed in a middle portion thereof. After the plurality of silicon steel sheets 62 are laminated to form the rotor core 61, the through holes 64 are formed. A bolt hole is formed, and the yoke portion 63 of the silicon steel sheet 62 is located outside the through hole 64. The yoke portion 63 is provided with a plurality of winding grooves 65 along the circumferential direction of the silicon steel sheet 62, and the notches of each of the winding grooves 65 are directed toward each other. Further, the yoke portion 63 is further provided with a plurality of positioning holes 66. After lamination to form the rotor core 61, a pin or the like can be used to pass through the positioning holes 66 to fix the plurality of silicon steel sheets 62.

The spacer layer 68 between the rotor cores 61 on both sides is also laminated by a plurality of silicon steel sheets. The diameter of the silicon steel sheet of the spacer layer 68 is smaller than that of the silicon core 61 of the rotor core 61, and the middle portion of the silicon steel sheet of the spacer layer 68 is also A through hole is provided, but the silicon steel sheet of the spacer layer 68 is not provided with a winding groove, so the coil is not wound around the spacer layer 68.

As can be seen from the eighth figure, the multilayer rotor core 61 and the plurality of spacer layers 68 are fixed by bolts 70. Referring to the tenth diagram, the bolt 70 includes a cylindrical screw 71 having external threads on both outer walls of the screw 71. The middle portion of the screw 71 has a through hole 72 extending through the two ends of the screw 71. The two ends of the screw 71 are respectively provided with a nut 73, 75, and each of the nuts 73 and 75 is conical, and The cross-sectional area of the nuts 73, 75 gradually increases from the center of the rotor body 60, so that the cross-sectional area of the nuts 73, 75 near one end of the rotor body 60 is smaller than the cross-sectional area away from the end of the rotor body 60.

Moreover, the inner walls of each of the nuts 73, 75 are respectively provided with internal threads, and the internal threads are matched with the external threads at both ends of the screw 71, whereby the nuts 73, 75 can be fixed at both ends of the screw 71, and each nut The through holes 74, 76 penetrating the upper and lower surfaces of the nuts 73, 75 are also provided on the 73, 75, so that the bolt 70 has a through hole penetrating both axial surfaces thereof.

The multilayer rotor core 61 of the rotor body 60 and the spacer layer 68 are fixed by bolts 70 having outer tapered nuts 73, 75, and the bolts 70 pass through the rotor core of each armature. 61 and the bolt hole in the middle of the spacer layer 68. Since the two nuts 73, 75 of the bolt 70 are conical, when the rotor body 60 is assembled, the rotor core 61 and the spacer layer 68 of each layer of the armature are fitted outside the screw 71. Thereafter, the nuts 73, 75 are screwed into the two ends of the screw 71, respectively, that is, the multilayer rotor core 61 can be fixed to the bolt 70, and the self-locking of the multilayer rotor core 61 can be realized.

Of course, if the diameter of each layer of the rotor core 61 is large, that is, the area of each layer of the rotor core 61 is large, a plurality of fixed shafts can be used to pass through the multilayer rotor core 61 and the spacer layer 68 to laminate the multilayer rotor core. 61 fixed.

Two layers of coils are wound around the rotor core 61 of each layer of armature, and the first layer of coils are wound in the winding grooves of the rotor core 61 of the same layer armature. Referring to the fourteenth embodiment, the rotor of this embodiment The iron core 61 adopts a winding method of twenty-four slots and eight poles, and a total of 24 coils are wound around the rotor core 61. The first coil is wound between 1 slot and 3 slots, and the second coil is wound around Between 2 slots and 4 slots, the third coil is wound between 3 slots and 5 slots, and so on, that is, each coil is wound between two slots spaced apart by one slot, and is wound around 1 slot The coil between the three slots is wound around the coil between the 13 slots and the 15 slots, and so on, the winding of the first layer coil is the same as that of the conventional conventional asynchronous AC motor.

Thus, when the first layer of coils on the eight-layer armature are energized, the coils of each layer of armature form a rotating magnetic field that rotates relative to the magnetic field of the stator body 30, so that the rotor body 60 rotates relative to the stator body 30, and The rotor body 60 is rotated about the axial direction of the bolt 70. Thus, the eight-layer armature is equivalent to the rotor of eight ordinary planar motors, and the ball joint universal rotary motor operates in the conventional ordinary motor operation mode.

A second layer of coils is also wound around the rotor core 61 of the eight-layer armature. As shown in the fifteenth figure, the second layer of coils wound around the same layer of armature also includes 24 coils, such as The first coil on armature A1 is wound between 1 slot and 3 slots, and the second coil is wound. Between 2 slots and 4 slots, the third coil is wound between 3 slots and 5 slots, and so on, that is, each coil is wound between two slots spaced apart by one slot.

However, the coil between the 1 slot and the 3 slot wound around the armature A1 is not electrically connected to the coil between the 13 slots and the 15 slots on the armature A1, but is similar to the 13 slots on the armature A2. The coils between the 15 slots are electrically connected, and the coils wound between the 4 slots and the 6 slots of the armature A1 are electrically connected to the coils between the 16 slots and the 18 slots on the armature A2, and so on, that is, each layer One coil on the armature is electrically connected to the other coil on the symmetrical armature.

Thus, after energization of the second layer of coils, a rotating magnetic field is formed on the two symmetrical armatures, and the direction of rotation of the magnetic field relative to the stator body 30 is not about the axis of the bolt 70 of the rotor body 60, but rather relative to the rotor. The axis of the stator body 30 of the body 60 is inclined. It is assumed that the axis of the bolt 70 is the Z axis, and the plane perpendicular to the Z axis and the center of the rotor body 60 is the XOY plane. After the first layer coil is energized, the rotor body 60 is wound around the Z. After the shaft is rotated, after the second layer coil is energized, the rotor body 60 is inclined with respect to the Z axis to achieve rotation in the XOZ plane or rotation in the YOZ plane.

Since the second layer of coils on each of the armatures are electrically connected to the second layer of coils on the symmetrical armature, the magnetic fields formed on each layer of the armature are superimposed to create a greater force to propel the rotation of the rotor body 60.

Of course, the winding manner of the coil can be variously changed. For example, only the first layer coil is wound on the armatures A1 and A2, and the second layer coil is wound on the armatures B1 and B2, or the armature A1. When the second layer coil on A2 is energized, the rotor body 60 is rotated in the XOZ plane, and when the second layer coils on the armatures B1 and B2 are energized, the rotor body 60 is rotated in the YOZ plane, and the armatures C1 and C2 are on the armatures C1 and C2. When the second layer coil is energized, the rotor body 60 is rotated in a plane 45° from the XOZ plane, and the ball joint universal rotary motor can be realized in different directions by energizing the second layer coils of different armatures. Turn.

Since the middle portion of the bolt 70 is provided with a through hole, and is opened on each of the spacer layers 68 A through hole extending radially along the rotor core 61, that is, a through hole of the spacer layer 68 is perpendicular to the through hole of the bolt 70, so that the connecting line connecting the different coils can pass through the through hole in the spacer layer 68 and the bolt 70 The through hole and the connecting wire do not fly out on the surface of the rotor body 60, and the connection line is also protected. In addition, the protective layer may be wrapped outside the connecting line, such as wrapping the heat shrinkable tube to avoid damage to the connecting line.

Referring to the fourth and fifth figures, the lower end of the rotor body 60 is provided with a rotor shaft 58. The rotor shaft 58 is fixedly coupled with the bolt 70. When the rotor body 60 rotates, the rotor shaft 58 is rotated, thereby outputting power outward, and A control signal line tube 56 is further disposed under the rotor body 60. The control signal line tube tube 56 is a three-way cylinder body. The power lines and control signal lines of the coils on the rotor body 60 pass through the control signal line tube 56 and the outside. Electrical connection, control chip and other electrical connections.

The control circuit of the first layer coil of each layer armature is as shown in FIG. 16 , and the electrical principle of the control circuit of the first layer coil is as shown in FIG. 17 , and the control chip outputs a control signal such as a pulse to the power tube. The width modulation signal controls the on and off of the power tube, and the external current is loaded onto the first layer coil to realize the forward rotation or the reverse rotation of the rotor body 60 about the Z axis.

The control circuit of the second layer coil of each layer armature is identical to the hardware structure of the control circuit of the first layer coil, and the electrical principle of the control circuit of the second layer coil is as shown in FIG. The tube outputs a control signal to control the forward or reverse rotation of the rotor body 60 in the XOZ plane, or the forward or reverse rotation in the YOZ plane.

Preferably, the ball joint universal rotary motor of the embodiment is a stepping motor, that is, the motor rotates only a small angle each time, and the control signal is continuously output, thereby continuously implementing the first layer coil or the first The two-layer coil is loaded with current, which allows the motor to rotate or rotate rapidly, and the angle of rotation can be based on the time of the loaded current. The length is adjusted so that the motor can rotate in all directions.

When the ball joint universal rotary motor of the embodiment is manufactured, the ball-shaped permanent magnet is first magnetized to form a plurality of magnetic poles, and the number of magnetic poles is determined according to actual conditions. Then, the outer casing of the motor is manufactured, and the outer casing has two layers, and the inner layer is a yoke made of a magnetic material, the outer layer is a mask layer made of metal such as aluminum, and then the stator body is fixed in the outer casing, and the outer wall of the stator body is adhered to the inner wall of the yoke through the glue; , manufacturing a rotor body of the motor, cutting the sheet steel into a plurality of pieces of silicon steel having different diameters, each of the silicon steel sheets has a through hole in the middle thereof, and a plurality of winding grooves are arranged in the circumferential direction of the silicon steel sheet, and then When a plurality of pieces of silicon steel sheets are laminated to form a rotor core, it is necessary to ensure that the diameters of the plurality of silicon steel sheets on the same rotor core are gradually increased or gradually decreased; then, the steel sheets formed by using the steel sheets are cut to form a spacer layer. The sheet has a through hole in the middle of the silicon sheet of the spacer layer, but no winding groove is provided in the circumferential direction, and the diameter of the silicon steel sheet of the spacer layer is smaller than the diameter of the silicon steel sheet of the rotor core, and then the screw is used. Through the multi-layer rotor core and the spacer layer, and screwing the nut into the rotor core, the multi-layer rotor core is fixed; then, the outer surface of the multi-layer rotor core is finished by using an automatic machine tool to make the multilayer electric layer The outer surface of the pivoted rotor core is close to the spherical surface. Then, the coil is wound on the rotor core of each layer of armature, and two layers of coils are wound around each armature. The first layer of coils is wound around the same layer of armature. And a plurality of first layer coils on the same layer of armature are electrically connected. After the second layer coil is wound on the armature, the second layer coil is electrically connected to the second layer coil wound around the other armature of the armature symmetry; finally, the rotor body is loaded into the stator body, The device such as the air pump component is mounted on the outer casing, that is, the manufacture of the ball joint universal rotary motor is completed.

Second embodiment (airless pump):

Referring to the nineteenth to twenty-firstth drawings, the ball joint universal rotary motor without pump seat 80 of the present embodiment has a casing 101, and the casing 101 is composed of two hemispherical casings, and the casing body 101 is provided with the stator body 102. The stator body 102 is magnetized by a permanent magnet, and the permanent magnet is magnetized into a plurality of magnetic poles.

The stator body 102 is provided with a rotor body 103, which is the same as the rotor body of the first embodiment. The rotor body 103 of the present embodiment also has a plurality of armatures 104. Each armature 104 has a rotor core made of a plurality of silicon steel sheets. And the rotor core is wound with two layers of coils, and the coil is wound in the same manner as the first embodiment. The rotor body 103 is provided with a rotor shaft 105, and the top of the ball joint universal rotary motor without pump seat 80 is provided. An air inlet 106, the air inlet 106 can be connected to an external air tube, and high pressure air can flow from the external air tube into the air inlet 106.

It can be seen from the twenty-second figure that the present embodiment is different from the first embodiment in that the air pump assembly is not provided, and therefore the ball joint universal rotary motor of the present invention can be divided into a structure with a gas pump component and a gas pump component. The structure, the ball joint universal rotary motor without the air pump component structure can be applied to the robot as a joint component, and such a structure can be widely applied to the intelligent bionic robot as a joint component, for example, the cervical spine can realize three-dimensional freedom. Rotating, the shoulder joint components can change the condition that two motors are needed in the past. With a ball joint motor, three degrees of freedom space rotation can be realized, which is a real bionic effect. Other joint components, such as lumbar vertebrae, cranial bone parts, thighs, In the wrist part, if the above-mentioned ball hinge motor is used, the same vivid performance is also exhibited. For example, if the joint of the action piece "Transformers" is replaced with a ball joint motor, the effect will be more vivid, lively and lively, and the robot limb is realized. Omni-directional movement.

The ball joint universal rotary motor of the present invention can be applied to various devices, such as a drive motor applied as a joint component on a robot, thereby realizing the omnidirectional movement of the robot limb, or applied to a military firearm device to realize a firearm. diverse Turn.

Referring to the twenty-third to twenty-fifth drawings, the ball joint universal rotary motor without pump seat 80 of the present invention is applied to a balance rotary body having a circular base 81 and a base 81 provided with a planet The gear mechanism 82 has a support shaft 84 disposed on the base 81. The support shaft 84 is fixedly coupled to the rotor shaft 58 of the ball joint universal rotary motor without the pump base 80. Therefore, the ball joint universal rotary motor has no rotor body 60 of the pump base 80. There is no movement relative to the base 81.

A Y-shaped seat 90 is fixedly connected to the outer casing 31 of the ball-spinning universal rotary motor without pump base 80. A base plate 85 is fixed above the Y-shaped seat 90, and a firearm such as a machine gun can be mounted on the base plate 85. In addition, the air pipe 83 is provided. One end is connected to the base 81, and the other end is connected to the air inlet 51 of the air pump unit 50 of the ball joint universal rotary motor without the pump base 80.

When the ball joint universal rotary motor has no pump base 80, since the rotor body 60 is fixed on the support shaft 84, the stator body 30 drives the outer casing 31 to rotate relative to the rotor body 60, thereby driving the substrate 85 to rotate, and thereby rotating with the motive gun or the like. To achieve multiple angles of aiming.

Of course, the ball joint universal rotary motor without pump seat 80 can be applied to a launching device such as a missile, in addition to the installation and fixing of the machine gun.

It can be seen from the above solution that the ball joint universal rotary motor of the present invention can not only rotate around the axis of the bolt, but also can realize the rotation in multiple directions, so it can be called a three-dimensional motor, which can be applied to the robot bionic device and the military equipment setting. On the home appliance, miniaturization of the three-dimensional motion device can be realized.

Of course, the above embodiment is only a preferred embodiment of the present invention, and there may be more changes in practical applications, for example, the motor can be manufactured into a three-phase motor or a single-phase motor according to its actual application; or, in the case of the housing on the stator body No convex portion is provided at the notch; or the number of layers of the armature is not necessarily eight layers, and may be six layers, ten layers, etc. As long as it is an even number of two or more, and the multilayer armature is symmetrically arranged in the axial direction of the rotor body, such a change can also achieve the object of the present invention.

Finally, it should be emphasized that the present invention is not limited to the above embodiments, and variations such as a change in the number of armature layers on the rotor body, a change in the number of silicon steel sheets per armature, and the like are also included in the scope of protection of the present invention.

In summary, the ball joint universal rotary motor of the present invention can not only rotate around the axis of the bolt, but also can realize the rotation of multiple directions (X_Y=360°; X_Z=90~120°; Y_Z=90~120°). Therefore, it can be called a three-dimensional motor. When the invention is novel and inventive, it completely opens up a brand new field of motor branches, and the invention is not seen in any publication, and complies with the provisions of Articles 21 and 22 of the Patent Law.

The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. That is, the equivalent changes and modifications made by the invention in accordance with the scope of the invention are still within the scope of the invention.

31‧‧‧ Shell

47‧‧‧Air pump mount

53‧‧‧Cross shaft locking ring

55‧‧‧ convex

56‧‧‧Control signal line tube

103‧‧‧Rotor body

105‧‧‧Rotor shaft

106‧‧‧air inlet

Claims (9)

A ball joint universal rotary motor structure comprising: a ball-shaped stator body, the stator body being made of a permanent magnet, the permanent magnet being magnetized to form a plurality of magnetic poles; a rotor body located in the stator body, The rotor body is spherical, the rotor body has a plurality of armatures, and each layer of armature has a rotor core formed by laminating a plurality of silicon steel sheets, and an outer edge of each of the silicon steel sheets of the rotor core a plurality of winding grooves are provided, and the notches of each of the winding grooves are disposed outwardly, and the plurality of the armatures are arranged symmetrically on the rotor body in the axial direction, and the diameters of the adjacent two layers of armatures are arranged a spacer layer smaller than a diameter of the rotor core, a plurality of armatures and a plurality of layers of the spacer layer are self-lockingly fixed by bolts having outer tapered nuts, the bolts being coupled to the rotor shaft; at least one layer of the armature a first layer of coils is wound around the rotor core, the first layer of coils is wound on the rotor core of the same layer armature; at least one layer of the armature of the armature is wound around the rotor core There is a second layer of coils, the second layer of coils In another second layer of the armature coil are electrically symmetrical armature connected. The ball-and-spindle universal rotary motor structure according to claim 1, wherein the stator body is provided with a casing, the casing having a yoke and a mask layer located outside the yoke, An outer wall of the stator body is adhered to an inner wall of the yoke. The ball joint universal rotary motor structure according to claim 2, wherein the outer casing is provided with an air inlet, which is a structure of an airless pump, and the structure can be used as a joint component of an intelligent bionic robot. Components can be: cervical vertebrae, shoulder joints, lumbar vertebrae From the bone to the thigh, the wrist, this can fully realize the omnidirectional movement of the robot limb. The ball joint universal rotary motor structure according to claim 3, wherein the air inlet is provided with an air pump assembly. The ball joint universal rotary motor structure according to claim 2, wherein the outer casing is provided with an annular convex portion near the notch of the stator body, and the convex portion is on the outer wall of the outer casing. Extending along the circumferential direction of the stator body. The ball joint universal rotary motor structure according to claim 1, wherein the number of layers of the armature is two or more, and the diameter of the rotor core of the plurality of armatures is from the rotor body The center gradually decreases toward both ends of the rotor body. A method for manufacturing a ball joint universal rotary electric machine, comprising: magnetizing a spherical permanent magnet to form a plurality of magnetic poles to form a stator body; and cutting the silicon steel sheet into a plurality of silicon steel sheets having unequal diameters, The silicon steel sheet is laminated to form a multi-layer armature, and a plurality of the armatures are passed through and fixed by bolts, and two adjacent layers of the armature are provided with a spacer layer, and the plurality of the armatures and the plurality of layers are passed through the two ends. a bolt with an outer tapered nut self-locking fixed connection; a first layer of coil is wound on each of the rotor cores of the armature, and the first layer of coils is wound around the rotor iron of the same layer armature On the core; a second layer of coils is wound on the rotor core of the armature of each layer, and the second layer of coils is electrically connected to a second layer coil of another armature symmetrically located on the armature, a spherical rotor body; the rotor body is loaded into the stator body. The method for manufacturing a ball joint universal rotary electric machine according to claim 7, wherein after the armature is fixed by a bolt, the outer surface of the armature is finished to be processed to make the plurality of layers of the electric The outer surface of the pivot becomes a spherical surface. A working method of a ball joint universal rotary electric machine, the motor having a spherical body shape, the stator body being made of a permanent magnet, the permanent magnet being magnetized to form a plurality of magnetic poles; the stator body is provided with a rotor a body having a plurality of armatures, each of the armatures having a rotor core laminated with a plurality of silicon steel sheets, each of the core sheets of the rotor core having a plurality of windings in a circumferential direction a slot, each slot of the winding slot is disposed outwardly, and the plurality of armatures are axially symmetrically arranged on the rotor body, and the plurality of the armature and the plurality of layers of the spacer pass through the outer tapered snail The bolt of the cap is self-locking and fixedly connected, the bolt is connected to the rotor shaft, and the rotor body is spherical; at least one layer of the rotor core of the armature is wound with a first layer of coils, the first a layer coil is wound on the rotor core of the same layer armature; at least one layer of the armature of the armature is wound with a second layer of coils, and the second layer coil is symmetric with the armature of the armature The second layer of the other armature is electrically connected; The method comprises: the rotor body to the first layer coil is energized the bolt about the rotation axis of the rotor body to the second layer coil is energized obliquely relative to the axis of rotation of the stator body.