CN104104160A - Rotating motors, power units and robotic arms - Google Patents

Rotating motors, power units and robotic arms Download PDF

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Publication number
CN104104160A
CN104104160A CN201410043780.8A CN201410043780A CN104104160A CN 104104160 A CN104104160 A CN 104104160A CN 201410043780 A CN201410043780 A CN 201410043780A CN 104104160 A CN104104160 A CN 104104160A
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axis
stator
rotating
axial direction
iron core
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蔡清雄
许宏成
钟启闻
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Delta Electronics Inc
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Delta Electronics Inc
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Abstract

The invention discloses a rotating motor, a power device and a mechanical arm. The rotating motor comprises a rotor part with a rotating shaft; and at least a stator part, the stator part comprises an iron core and a winding wound on the iron core, wherein the section of the iron core perpendicular to the rotating shaft is provided with a first axial direction tangent to the rotating shaft and a second axial direction intersected with the first axial direction, and the rotor part is arranged on the extension line of the second axial direction. The invention can make the rotating motor and the power device and the mechanical arm using the rotating motor achieve better space utilization rate by changing the shape of the stator part and the relative position between the stator part and the rotor part.

Description

旋转电机、动力装置与机械手臂Rotating motors, power units and robotic arms

技术领域technical field

本发明是有关于一种旋转电机,且特别有关于一种旋转电机、动力装置与机械手臂。The present invention relates to a rotating electrical machine, and particularly relates to a rotating electrical machine, a power device and a mechanical arm.

背景技术Background technique

旋转电机是机电系统中主要的动力来源。图1为一种传统的旋转电机示意图。旋转电机10主要分成转子部20及定子部30。一般转子部20主要包含有磁石22及转轴24,而定子部30主要包含有铁芯32、绕组34。一般铁芯32的外形皆为环形,转子部20位于环形铁芯32中间的空腔处。因此旋转电机10的外壳会是以方型或是圆形为主。Rotating electrical machines are the main source of power in electromechanical systems. Fig. 1 is a schematic diagram of a conventional rotating electrical machine. The rotating electric machine 10 is mainly divided into a rotor portion 20 and a stator portion 30 . Generally, the rotor part 20 mainly includes a magnet 22 and a rotating shaft 24 , while the stator part 30 mainly includes an iron core 32 and a winding 34 . Generally, the shape of the iron core 32 is ring-shaped, and the rotor part 20 is located in the cavity in the middle of the ring-shaped iron core 32 . Therefore, the casing of the rotating electrical machine 10 is mainly square or circular.

但是在机电系统的空间配置中,若是旋转电机的安装空间非方形或是圆形时,在使用上便会受限于旋转电机外形的限制,使得设备空间的利用无法达到最佳化。However, in the space configuration of the electromechanical system, if the installation space of the rotating motor is not square or circular, the use will be limited by the shape of the rotating motor, so that the utilization of equipment space cannot be optimized.

发明内容Contents of the invention

本发明提供了一种旋转电机,用以达到空间利用最佳化的目的。The invention provides a rotating electric machine to achieve the purpose of optimizing space utilization.

本发明的一种实施方式提供了一种旋转电机,包含转子部以及至少一定子部。转子部具有转轴。定子部包含铁芯以及绕设于铁芯的绕组,其中铁芯垂直于转轴的剖面具有与转轴相切的一第一轴向,以及相交于第一轴向的一第二轴向,转子部设置于第二轴向的延伸线上。One embodiment of the present invention provides a rotating electrical machine including a rotor portion and at least a certain stator portion. The rotor unit has a rotating shaft. The stator part includes an iron core and windings wound around the iron core, wherein the cross section of the iron core perpendicular to the rotating shaft has a first axial direction tangent to the rotating shaft and a second axial direction intersecting the first axial direction, and the rotor part It is arranged on the extension line of the second axis.

于一或多个实施例中,剖面的形状可呈矩形或是弧形。In one or more embodiments, the shape of the section can be rectangular or arc.

于一或多个实施例中,定子部的数量为两个,定子部之间的夹角约为180度。In one or more embodiments, there are two stator parts, and the included angle between the stator parts is about 180 degrees.

于一或多个实施例中,定子部的数量为三个,定子部之间的夹角约为120度。于一或多个实施例中,旋转电机还包含一外壳,定子部与转子部位于外壳中。In one or more embodiments, the number of stator parts is three, and the angle between the stator parts is about 120 degrees. In one or more embodiments, the rotating electric machine further includes a casing, and the stator part and the rotor part are located in the casing.

于一或多个实施例中,转子部沿第一轴向的长度小于转子部沿第二轴向的长度。In one or more embodiments, the length of the rotor portion along the first axis is smaller than the length of the rotor portion along the second axis.

于一或多个实施例中,转子部沿第一轴向的长度大于转子部沿第二轴向的长度。In one or more embodiments, the length of the rotor portion along the first axis is greater than the length of the rotor portion along the second axis.

本发明的另一种实施方式提供了一种动力装置,包含多个旋转电机,其中每一旋转电机包含转子部与至少一定子部。转子部具有一转轴。定子部包含铁芯以及绕设于铁芯的绕组,其中定子部垂直于转轴的剖面具有与转轴相切的一第一轴向,以及相交于第一轴向的一第二轴向,转子部设置于第二轴向的延伸线上。Another embodiment of the present invention provides a power device including a plurality of rotating electrical machines, wherein each rotating electrical machine includes a rotor portion and at least a certain stator portion. The rotor part has a rotating shaft. The stator part includes an iron core and windings wound around the iron core, wherein the cross section of the stator part perpendicular to the rotating shaft has a first axial direction tangent to the rotating shaft and a second axial direction intersecting the first axial direction, and the rotor part It is arranged on the extension line of the second axis.

于一或多个实施例中,剖面的形状可呈矩形,旋转电机横向排列。In one or more embodiments, the shape of the section can be rectangular, and the rotating motors are arranged horizontally.

于一或多个实施例中,剖面的形状可呈弧形,旋转电机排列呈环形。In one or more embodiments, the shape of the section can be arc-shaped, and the rotating motors are arranged in a ring shape.

于一或多个实施例中,动力装置还包含壳体,旋转电机设置于壳体中。In one or more embodiments, the power device further includes a casing, and the rotating motor is disposed in the casing.

于一或多个实施例中,转子部沿第一轴向的长度小于转子部沿第二轴向的长度。In one or more embodiments, the length of the rotor portion along the first axis is smaller than the length of the rotor portion along the second axis.

于一或多个实施例中,转子部沿第一轴向的长度大于转子部沿第二轴向的长度。In one or more embodiments, the length of the rotor portion along the first axis is greater than the length of the rotor portion along the second axis.

本发明的再一种实施方式为一种机械手臂,包含串联的多个前述的旋转电机,其中每一旋转电机中的定子部的数量为一个,定子部的剖面呈矩形。Yet another embodiment of the present invention is a mechanical arm comprising a plurality of the aforementioned rotating electrical machines connected in series, wherein each rotating electrical machine has one stator part, and the section of the stator part is rectangular.

于一或多个实施例中,旋转电机的尺寸可以依序递减。In one or more embodiments, the size of the rotating electrical machines may be sequentially decreased.

本发明通过改变定子部的形状以及其与转子部之间的相对位置,便可以使得旋转电机以及应用其的动力装置与机械手臂达到更佳的空间利用率,使得旋转电机以及应用其的动力装置与机械手臂在空间的使用上更为灵活。In the present invention, by changing the shape of the stator part and the relative position between it and the rotor part, it can make the rotating electrical machine and its power device and mechanical arm achieve better space utilization, so that the rotating motor and its power device can It is more flexible in the use of space with the robotic arm.

附图说明Description of drawings

图1为一种传统的旋转电机示意图。Fig. 1 is a schematic diagram of a conventional rotating electrical machine.

图2-3绘示本发明的旋转电机不同实施例的剖面示意图。2-3 are schematic cross-sectional views of different embodiments of the rotating electric machine of the present invention.

图4、5、6分别绘示本发明的旋转电机不同实施例的剖面示意图。4 , 5 , and 6 respectively show cross-sectional schematic diagrams of different embodiments of the rotating electric machine of the present invention.

图7与图8分别绘示本发明的动力装置不同实施例的剖面示意图。7 and 8 are schematic cross-sectional views of different embodiments of the power device of the present invention, respectively.

图9与图10分别为图8的动力装置于不同相位角配置下的力矩输出图。9 and 10 are respectively torque output diagrams of the power plant in FIG. 8 under different phase angle configurations.

图11绘示应用图5的旋转电机的机械手臂一实施例的示意图。FIG. 11 is a schematic diagram of an embodiment of a robot arm using the rotating motor shown in FIG. 5 .

【符号说明】【Symbol Description】

10:旋转电机10: rotating motor

20:转子部20: Rotor part

22:磁石22: magnet

24:转轴24: Shaft

30:定子部30: Stator part

32:铁芯32: iron core

34:绕组34: winding

100:旋转电机100: rotating motor

110:转子部110: rotor part

112:转轴112: Shaft

114:磁石114: magnet

120:定子部120: Stator part

122:铁芯122: iron core

124:绕组124: winding

130:外壳130: shell

200:动力装置200: power unit

210:壳体210: shell

300:机械手臂300: Mechanical Arm

L1:第一轴向L 1 : first axis

L2:第二轴向L 2 : Second axis

具体实施方式Detailed ways

以下将以图式及详细说明清楚说明本发明的精神,任何所属技术领域中具有通常知识的技术人员在了解本发明的较佳实施例后,当可由本发明所教示的技术,加以改变及修饰,其并不脱离本发明的精神与范围。The following will clearly illustrate the spirit of the present invention with drawings and detailed descriptions. After any skilled person in the technical field understands the preferred embodiments of the present invention, he can change and modify it by the technology taught in the present invention. , which does not depart from the spirit and scope of the present invention.

本发明所提出的旋转电机,通过改变定子部的形状以及其与转子部的间的相对位置,便可以使得旋转电机依照设置空间的需求而具有不同的外型,使得空间利用更为灵活。The rotating electric machine proposed by the present invention can make the rotating electric machine have different shapes according to the requirements of the installation space by changing the shape of the stator part and the relative position between it and the rotor part, so that the space utilization is more flexible.

参照图2,其绘示本发明的旋转电机一实施例的剖面示意图。旋转电机100包含有转子部110以及定子部120。转子部110包含有转轴112与多个磁石114,磁石114为极性交错排列地设置于转轴112的表面。本实施例中的定子部120的数量为两个,定子部120分别位于转子部110的相对两侧。Referring to FIG. 2 , it shows a schematic cross-sectional view of an embodiment of the rotating electrical machine of the present invention. The rotating electric machine 100 includes a rotor unit 110 and a stator unit 120 . The rotor part 110 includes a rotating shaft 112 and a plurality of magnets 114 , and the magnets 114 are disposed on the surface of the rotating shaft 112 with polarities staggered. The number of stator parts 120 in this embodiment is two, and the stator parts 120 are respectively located on opposite sides of the rotor part 110 .

定子部120包含有铁芯122以及绕设于铁芯122的绕组124。本实施例中,旋转电机100应用于三相马达,故铁芯122的磁柱与对应的绕组124的数量均为三个。当定子部120的绕组124通电之后,便会产生磁性,通过定子部120与转子部110之间的磁力作用,使得转子部110旋转。The stator part 120 includes an iron core 122 and a winding 124 wound on the iron core 122 . In this embodiment, the rotating electrical machine 100 is applied to a three-phase motor, so the number of magnetic columns of the iron core 122 and the corresponding windings 124 are three. When the winding 124 of the stator part 120 is energized, it will generate magnetism, and the rotor part 110 will rotate through the magnetic force between the stator part 120 and the rotor part 110 .

不同于传统的环形定子部,本实施例中的定子部120的形状不再是中空的环型而是为矩形。具体而言,定子部120的铁芯122于垂直于转轴112的剖面具有一第一轴向L1与一第二轴向L2,第一轴向L1相切于转轴112,亦即第一轴向L1为一条直线,第一轴向L1与转轴112的外缘仅相交于一点,并且第一轴向L1的两端垂直于铁芯122的表面。第二轴向L2则与第一轴向L1相交,第二轴向L2的两端亦大致垂直于铁芯122的表面。于本实施例中,第二轴向L2与第一轴向L1之间大致相互垂直,并且铁芯122沿第一轴向L1的长度小于铁芯122沿第二轴向L2的长度。转子部110则是设置于第二轴向L2的延伸线上。于本实施例中,两定子部120分别位于转子部110的两侧且两定子部120之间的夹角约为180度。此时,两定子部120与转子部110横向排列成为长条形。Different from the traditional annular stator part, the shape of the stator part 120 in this embodiment is not a hollow ring shape but a rectangle. Specifically, the iron core 122 of the stator part 120 has a first axial direction L 1 and a second axial direction L 2 in a section perpendicular to the rotating shaft 112, the first axial direction L 1 is tangent to the rotating shaft 112, that is, the second An axis L 1 is a straight line, the first axis L 1 intersects the outer edge of the rotating shaft 112 at only one point, and both ends of the first axis L 1 are perpendicular to the surface of the iron core 122 . The second axis L 2 intersects the first axis L 1 , and both ends of the second axis L 2 are also substantially perpendicular to the surface of the iron core 122 . In this embodiment, the second axis L2 and the first axis L1 are approximately perpendicular to each other, and the length of the iron core 122 along the first axis L1 is shorter than the length of the iron core 122 along the second axis L2. length. The rotor portion 110 is disposed on the extension line of the second axis L 2 . In this embodiment, the two stator parts 120 are respectively located on two sides of the rotor part 110 and the angle between the two stator parts 120 is about 180 degrees. At this time, the two stator parts 120 and the rotor part 110 are arranged laterally to form an elongated shape.

配合着定子部120与转子部110的设计,旋转电机100还包含有外壳130。因应着长条配置的转子部110与定子部120,外壳130的形状亦为长条形。换言之,本实施例的旋转电机100的外形为长条形,其可以适用于长条状的空间中。Cooperating with the designs of the stator part 120 and the rotor part 110 , the rotating electrical machine 100 further includes a casing 130 . Due to the elongated configuration of the rotor part 110 and the stator part 120 , the shape of the housing 130 is also elongated. In other words, the shape of the rotating electrical machine 100 in this embodiment is elongated, which can be applied in an elongated space.

按照上述原理,通过合适地变化定子部120的形状以及定子部120与转子部110之间的设置关系,便可以得到具有不同外形的旋转电机100,以下将以不同实施例示例说明之。According to the above principles, by appropriately changing the shape of the stator part 120 and the arrangement relationship between the stator part 120 and the rotor part 110 , rotating electrical machines 100 with different shapes can be obtained, and different embodiments will be illustrated below.

参照图3,其绘示本发明的旋转电机另一实施例的剖面示意图。旋转电机100包含有转子部110与定子部120,转子部110具有转轴112,定子部120包含铁芯122以及绕设于铁芯122的绕组124。铁芯122垂直于转轴112的剖面具有第一轴向L1与一第二轴向L2,第二轴向L2则与第一轴向L1相交,转子部110设置于定子部120的第二轴向L2的延伸线上。Referring to FIG. 3 , it shows a schematic cross-sectional view of another embodiment of the rotating electrical machine of the present invention. The rotating electrical machine 100 includes a rotor part 110 and a stator part 120 , the rotor part 110 has a rotating shaft 112 , and the stator part 120 includes an iron core 122 and a winding 124 wound around the iron core 122 . The section of the iron core 122 perpendicular to the rotating shaft 112 has a first axis L 1 and a second axis L 2 , the second axis L 2 intersects the first axis L 1 , and the rotor portion 110 is disposed on the stator portion 120 On the extension line of the second axis L2 .

于本实施例中,两定子部120分别位于转子部110的两侧且两定子部120之间的夹角约为180度,并且铁芯122沿第一轴向L1的长度小于铁芯122沿第二轴向L2的长度。In this embodiment, the two stator parts 120 are respectively located on both sides of the rotor part 110, and the angle between the two stator parts 120 is about 180 degrees, and the length of the iron core 122 along the first axis L1 is smaller than that of the iron core 122 The length along the second axis L2 .

参照图4,其绘示本发明的旋转电机另一实施例的剖面示意图。旋转电机100包含有转子部110与定子部120,转子部110具有转轴112,定子部120包含铁芯122以及绕设于铁芯122的绕组124。铁芯122垂直于转轴112的剖面具有第一轴向L1与一第二轴向L2,第二轴向L2则与第一轴向L1相交,转子部110设置于定子部120的第二轴向L2的延伸线上。Referring to FIG. 4 , it shows a schematic cross-sectional view of another embodiment of the rotating electrical machine of the present invention. The rotating electrical machine 100 includes a rotor part 110 and a stator part 120 , the rotor part 110 has a rotating shaft 112 , and the stator part 120 includes an iron core 122 and a winding 124 wound around the iron core 122 . The section of the iron core 122 perpendicular to the rotating shaft 112 has a first axis L 1 and a second axis L 2 , the second axis L 2 intersects the first axis L 1 , and the rotor portion 110 is disposed on the stator portion 120 On the extension line of the second axis L2 .

本实施例中,定子部120的数量为两个,定子部120垂直于转轴112的剖面形状呈现弧形(或是近似于扇形),两定子部120分别设置于转子部110的两侧,使得两定子部120与位于其间的转子部110共同构成另一个弧形(或是近似于扇形)的结构。In this embodiment, the number of stator parts 120 is two, and the cross-sectional shape of the stator part 120 perpendicular to the rotating shaft 112 is arc-shaped (or approximately fan-shaped), and the two stator parts 120 are respectively arranged on both sides of the rotor part 110, so that The two stator parts 120 and the rotor part 110 therebetween together form another arc-shaped (or nearly fan-shaped) structure.

旋转电机100包含有外壳130,转子部110以及定子部120设置于外壳130之中。外壳130的形状因应转子部110以及定子部120的外形而同样呈现弧形(或是近似于扇形)。The rotary electric machine 100 includes a casing 130 , and the rotor part 110 and the stator part 120 are disposed in the casing 130 . The shape of the housing 130 is also arc-shaped (or approximately fan-shaped) according to the outer shapes of the rotor part 110 and the stator part 120 .

参照图5,其绘示本发明的旋转电机又一实施例的剖面示意图。旋转电机100包含有转子部110与定子部120,转子部110具有转轴112,定子部120包含铁芯122以及绕设于铁芯122的绕组124。铁芯122垂直于转轴112的剖面具有第一轴向L1与一第二轴向L2,第二轴向L2则与第一轴向L1相交,转子部110设置于定子部120的第二轴向L2的延伸线上。Referring to FIG. 5 , it shows a schematic cross-sectional view of another embodiment of the rotating electrical machine of the present invention. The rotating electrical machine 100 includes a rotor part 110 and a stator part 120 , the rotor part 110 has a rotating shaft 112 , and the stator part 120 includes an iron core 122 and a winding 124 wound around the iron core 122 . The section of the iron core 122 perpendicular to the rotating shaft 112 has a first axis L 1 and a second axis L 2 , the second axis L 2 intersects the first axis L 1 , and the rotor portion 110 is disposed on the stator portion 120 On the extension line of the second axis L2 .

本实施例中,定子部120的数量为一个,定子部120垂直于转轴112的剖面形状可以为矩形或是弧形,定子部120配置于转子部110的一侧。外壳130的形状可以为对应的矩形或是弧形。铁芯122沿第一轴向L1的长度可以小于铁芯122沿第二轴向L2的长度。In this embodiment, the number of the stator part 120 is one, and the cross-sectional shape of the stator part 120 perpendicular to the rotating shaft 112 may be rectangular or arc-shaped, and the stator part 120 is disposed on one side of the rotor part 110 . The shape of the housing 130 can be a corresponding rectangle or arc. The length of the iron core 122 along the first axis L 1 may be smaller than the length of the iron core 122 along the second axis L 2 .

参照图6,其绘示本发明的旋转电机又一实施例的剖面示意图。旋转电机100包含有转子部110与定子部120,转子部110具有转轴112,定子部120包含铁芯122以及绕设于铁芯122的绕组124。铁芯122垂直于转轴112的剖面具有第一轴向L1与一第二轴向L2,第二轴向L2则与第一轴向L1相交,转子部110设置于定子部120的第二轴向L2的延伸线上。Referring to FIG. 6 , it shows a schematic cross-sectional view of another embodiment of the rotating electrical machine of the present invention. The rotating electrical machine 100 includes a rotor part 110 and a stator part 120 , the rotor part 110 has a rotating shaft 112 , and the stator part 120 includes an iron core 122 and a winding 124 wound around the iron core 122 . The section of the iron core 122 perpendicular to the rotating shaft 112 has a first axis L 1 and a second axis L 2 , the second axis L 2 intersects the first axis L 1 , and the rotor portion 110 is disposed on the stator portion 120 On the extension line of the second axis L2 .

本实施例中,定子部120垂直于转轴112的剖面的形状呈矩形,定子部120的数量为三个。定子部120为放射状地从转子部110延伸设置,定子部120之间的夹角约为120度。对应于转子部110以及定子部120的外壳130的形状亦为放射状的外形。In this embodiment, the cross section of the stator part 120 perpendicular to the rotating shaft 112 is rectangular in shape, and the number of the stator part 120 is three. The stator parts 120 are radially extended from the rotor part 110 , and the angle between the stator parts 120 is about 120 degrees. The shape of the casing 130 corresponding to the rotor part 110 and the stator part 120 is also a radial shape.

从前述实施例可以得知,本发明所提供的旋转电机100可以配合不同的设置空间需求,改变定子部120的形状以及定子部120与转子部110之间的相对位置,以达到较佳的空间利用率,并且可以使得旋转电机100具有更大的铁芯122与绕组124配置空间,以提供较佳的电机特性。It can be seen from the foregoing embodiments that the rotating electrical machine 100 provided by the present invention can meet different installation space requirements, change the shape of the stator part 120 and the relative position between the stator part 120 and the rotor part 110 to achieve a better space. Utilization efficiency, and can make the rotating electrical machine 100 have a larger configuration space for the iron core 122 and the winding 124, so as to provide better motor characteristics.

本技术领域人员当可以依照实际需求变更定子部的120的形状以及定子部120与转子部110之间的相对位置,而不以前述实施例为限。Those skilled in the art can change the shape of the stator part 120 and the relative position between the stator part 120 and the rotor part 110 according to actual needs, without being limited to the foregoing embodiments.

除此之外,多个前述的旋转电机100还可以并联使用,结合成为较大型的动力装置,以下将以实施例说明之。In addition, a plurality of the aforementioned rotating electrical machines 100 can also be used in parallel to form a larger power device, which will be described below with examples.

参照图7,其绘示本发明的动力装置一实施例的剖面示意图。动力装置200包含有多个如图2所示的旋转电机100,其中每一旋转电机100包含有两定子部120以及一转子部110,铁芯122垂直于转子部110的剖面具有第一轴向L1与一第二轴向L2,第二轴向L2则与第一轴向L1相交,转子部110设置于定子部120的第二轴向L2的延伸线上。Referring to FIG. 7 , it shows a schematic cross-sectional view of an embodiment of the power device of the present invention. The power plant 200 includes a plurality of rotating electrical machines 100 as shown in FIG. 2 , wherein each rotating electrical machine 100 includes two stator parts 120 and a rotor part 110, and the cross section of the iron core 122 perpendicular to the rotor part 110 has a first axial direction L 1 is connected to a second axis L 2 , and the second axis L 2 intersects with the first axis L 1 . The rotor portion 110 is disposed on the extension line of the second axis L 2 of the stator portion 120 .

两定子部120垂直于转轴112的剖面呈矩形,两定子部120分别位于转子部110的两侧。此些旋转电机100可以横向排列,以共同构成长条形的动力装置200。动力装置200包含有壳体210,旋转电机100则是设置于壳体210之中。The cross sections of the two stator parts 120 perpendicular to the rotating shaft 112 are rectangular, and the two stator parts 120 are respectively located on two sides of the rotor part 110 . These rotating electric machines 100 can be arranged horizontally to form a strip-shaped power device 200 together. The power device 200 includes a casing 210 , and the rotating electrical machine 100 is disposed in the casing 210 .

或者,参照图8,其绘示本发明的动力装置另一实施例的剖面示意图。动力装置200中包含有多个如图4所示的旋转电机100,其中每一旋转电机100包含有两定子部120以及一转子部110,铁芯122垂直于转子部110的剖面具有第一轴向L1与一第二轴向L2,第二轴向L2则与第一轴向L1相交,转子部110设置于定子部120的第二轴向L2的延伸线上。两定子部120垂直于转轴112的剖面呈弧形(或近似于扇形),两定子部120分别位于转子部110的两侧。此些旋转电机100可以头尾连续地排列,以共同构成环形的动力装置200。此时动力装置200的壳体210可以为中空的环形,旋转电机100则设置于环形的壳体210内。Alternatively, refer to FIG. 8 , which is a schematic cross-sectional view of another embodiment of the power device of the present invention. The power plant 200 includes a plurality of rotating electrical machines 100 as shown in FIG. 4 , wherein each rotating electrical machine 100 includes two stator parts 120 and a rotor part 110 , and the iron core 122 has a first axis perpendicular to the section of the rotor part 110 The direction L 1 intersects with a second axis L 2 , and the second axis L 2 intersects with the first axis L 1 . The rotor portion 110 is disposed on the extension line of the second axis L 2 of the stator portion 120 . The cross section of the two stator parts 120 perpendicular to the rotating shaft 112 is arc-shaped (or approximately fan-shaped), and the two stator parts 120 are respectively located on two sides of the rotor part 110 . These rotating electric machines 100 can be arranged continuously from head to tail to form a ring-shaped power device 200 together. At this time, the casing 210 of the power device 200 may be hollow and ring-shaped, and the rotating electrical machine 100 is disposed in the ring-shaped casing 210 .

参照图9与图10,其分别为图8的动力装置于不同相位角配置下的力矩输出图。当采用多个旋转电机100组合成如图8所示的动力装置200时,若是未设计旋转电机100之间的相位角,而使得所有的旋转电机100具有相同的相位角时,此时动力装置200的力矩输出图会如图9所示,具有明显的顿动力。Referring to FIG. 9 and FIG. 10 , they are respectively torque output diagrams of the power plant in FIG. 8 under different phase angle configurations. When a plurality of rotating electrical machines 100 are used to form a power plant 200 as shown in FIG. The torque output diagram of 200 will be shown in Figure 9, which has obvious stopping power.

因此,本实施例更进一步地调整各个旋转电机100之间的相位角,使其具有相位角差,用以减少顿动力的产生。具体而言,每一个旋转电机100之间的相位角差为顿动力的循环周期(电气角度)除以并联的旋转电机100的数量。图8的动力装置200通过此相位角调整之后的力矩输出图会如图10所示,不具有明显的顿动力。Therefore, in this embodiment, the phase angles between the rotating electrical machines 100 are further adjusted to have a phase angle difference, so as to reduce the generation of cogging force. Specifically, the phase angle difference between each rotating electric machine 100 is the cycle period (electrical angle) of the cogging force divided by the number of rotating electric machines 100 connected in parallel. The torque output diagram of the power plant 200 in FIG. 8 after the phase angle adjustment is as shown in FIG. 10 , and there is no obvious detent force.

综上所述,多个并联的旋转电机100可再构成另一动力装置200,本技术领域人员当可以依照实际需求变更定子部的120的形状与旋转电机100之间的排列方式,使得空间利用更为灵活,并可以调整旋转电机100之间的相位角,以减少顿动力的现象。To sum up, a plurality of parallel-connected rotating electrical machines 100 can constitute another power plant 200, and those skilled in the art can change the shape of the stator part 120 and the arrangement between the rotating electrical machines 100 according to actual needs, so as to make space utilization It is more flexible, and the phase angle between the rotating electrical machines 100 can be adjusted to reduce the phenomenon of cogging force.

参照图11,其绘示应用图5的旋转电机的机械手臂一实施例的示意图。机械手臂300包含有多个串联的旋转电机100,每一个旋转电机100可用以提供一个轴向的移动,将多个旋转电机100串联之后,便可以使机械手臂300进行预定的移动。Referring to FIG. 11 , it shows a schematic view of an embodiment of a robot arm using the rotating motor shown in FIG. 5 . The robotic arm 300 includes a plurality of rotating motors 100 connected in series, and each rotating motor 100 can provide an axial movement. After connecting the plurality of rotating motors 100 in series, the robotic arm 300 can perform a predetermined movement.

由于每一个旋转电机100只具有一个定子部120以及一转子部110,因此,相较于传统使用环形铁芯的情形,本发明的旋转电机100可以达到轻量化以及节省空间配置的效果。又为了要减轻机械手臂300末端的重量,旋转电机100的尺寸可以从一端至另一端依序递减,使得较为靠近基部的旋转电机100具有较大的尺寸,而较为接近工作部的旋转电机100具有较小的尺寸。Since each rotating electric machine 100 has only one stator portion 120 and one rotor portion 110 , compared with the conventional case of using a ring core, the rotating electric machine 100 of the present invention can achieve the effect of light weight and space-saving configuration. In order to reduce the weight of the end of the mechanical arm 300, the size of the rotating motor 100 can be reduced in order from one end to the other, so that the rotating motor 100 closer to the base has a larger size, and the rotating motor 100 closer to the working part has a larger size. smaller size.

从以上实施例可以得知,通过改变定子部的形状以及其与转子部之间的相对位置,便可以使得旋转电机以及应用其的动力装置与机械手臂达到更佳的空间利用率,使得旋转电机以及应用其的动力装置与机械手臂在空间的使用上更为灵活。As can be seen from the above embodiments, by changing the shape of the stator part and the relative position between it and the rotor part, the rotating electrical machine and the power device and the mechanical arm that apply it can achieve better space utilization, so that the rotating electrical machine And the power device and mechanical arm using it are more flexible in the use of space.

虽然本发明已以实施例公开如上,然其并非用以限定本发明,任何本领域技术人员,在不脱离本发明的精神和范围内,当可作各种的更动与润饰,因此本发明的保护范围当视后附的申请专利范围所界定为准。Although the present invention has been disclosed above with the embodiments, it is not intended to limit the present invention. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the present invention The scope of protection should be defined by the scope of the attached patent application.

Claims (14)

1.一种旋转电机,包含:1. A rotating electric machine, comprising: 一转子部,具有一转轴;以及a rotor portion having a shaft; and 至少一定子部,该定子部包含一铁芯以及绕设于该铁芯的一绕组,其中该铁芯垂直于该转轴的剖面具有与该转轴相切的一第一轴向,以及相交于该第一轴向的一第二轴向,该转子部设置于该第二轴向的延伸线上。At least one stator part, the stator part includes an iron core and a winding wound around the iron core, wherein the cross section of the iron core perpendicular to the rotation axis has a first axial direction tangent to the rotation axis, and intersects with the rotation axis A second axis of the first axis, the rotor part is disposed on an extension line of the second axis. 2.如权利要求1所述的旋转电机,其中该至少一定子部的数量为两个,该些定子部之间的夹角约为180度。2. The rotating electric machine as claimed in claim 1, wherein the at least one stator part is two in number, and the included angle between the stator parts is about 180 degrees. 3.如权利要求1所述的旋转电机,其中该至少一定子部的数量为三个,该些定子部之间的夹角约为120度。3. The rotating electric machine as claimed in claim 1, wherein the number of the at least one stator part is three, and the included angle between the stator parts is about 120 degrees. 4.如权利要求1至3任一所述的旋转电机,其中该剖面的形状呈矩形。4. The rotating electric machine as claimed in any one of claims 1 to 3, wherein the shape of the section is rectangular. 5.如权利要求1所述的旋转电机,其中该剖面的形状呈弧形。5. The rotating electric machine as claimed in claim 1, wherein the shape of the section is arc. 6.如权利要求1所述的旋转电机,其中该转子部沿该第一轴向的长度小于该转子部沿该第二轴向的长度。6. The rotating electric machine according to claim 1, wherein a length of the rotor portion along the first axial direction is smaller than a length of the rotor portion along the second axial direction. 7.如权利要求1所述的旋转电机,其中该转子部沿该第一轴向的长度大于该转子部沿该第二轴向的长度。7. The rotating electric machine according to claim 1, wherein a length of the rotor portion along the first axial direction is greater than a length of the rotor portion along the second axial direction. 8.一种动力装置,包含多个旋转电机,其中每一该些旋转电机包含:8. A power plant comprising a plurality of rotating electrical machines, wherein each of the rotating electrical machines comprises: 一转子部,具有一转轴;以及a rotor portion having a shaft; and 至少一定子部,该定子部包含一铁芯以及绕设于该铁芯的一绕组,其中该定子部垂直于该转轴的剖面具有与该转轴相切的一第一轴向,以及相交于该第一轴向的一第二轴向,该转子部设置于该第二轴向的延伸线上。At least one stator part, the stator part includes an iron core and a winding wound around the iron core, wherein the cross section of the stator part perpendicular to the rotating shaft has a first axial direction tangent to the rotating shaft, and intersects the A second axis of the first axis, the rotor part is disposed on an extension line of the second axis. 9.如权利要求8所述的动力装置,其中该剖面的形状呈矩形,该些旋转电机横向排列。9. The power device according to claim 8, wherein the cross-section is rectangular, and the rotating electrical machines are arranged horizontally. 10.如权利要求8所述的动力装置,其中该剖面的形状呈弧形,该些旋转电机排列呈环形。10. The power device according to claim 8, wherein the cross-section is arc-shaped, and the rotating electrical machines are arranged in a ring. 11.如权利要求8所述的动力装置,其中该转子部沿该第一轴向的长度小于该转子部沿该第二轴向的长度。11. The power device as claimed in claim 8, wherein a length of the rotor portion along the first axial direction is smaller than a length of the rotor portion along the second axial direction. 12.如权利要求8所述的动力装置,其中该转子部沿该第一轴向的长度大于该转子部沿该第二轴向的长度。12. The power device according to claim 8, wherein a length of the rotor portion along the first axial direction is greater than a length of the rotor portion along the second axial direction. 13.一种机械手臂,包含串联的多个如权利要求1所述的旋转电机,其中每一该些旋转电机中的该定子部的数量为一个,每一该些定子部的该剖面呈矩形。13. A mechanical arm, comprising a plurality of rotating electrical machines as claimed in claim 1 connected in series, wherein the number of the stator part in each of the rotating electrical machines is one, and the section of each of the stator parts is rectangular . 14.如权利要求13所述的机械手臂,其中,该些旋转电机的尺寸依序递减。14. The robot arm as claimed in claim 13, wherein the sizes of the rotating motors decrease sequentially.
CN201410043780.8A 2013-04-15 2014-01-29 Rotating motors, power units and robotic arms Pending CN104104160A (en)

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Application publication date: 20141015