563285 A7 B7 五、發明説明（1 ) 〔技術領域〕 本發明係關於用於自動化機器等之狹窄空間內同時能 進行雙軸動作之雙軸一體式馬達。 〔先行技術〕 過去，能進行雙軸動作之一般性馬達係爲只連結2個 的轉動式馬達之構成。當以2個轉動式馬達得到水平方向 (橫方向）的轉動及上下方向（縱方向）的轉動動作時， 如第4圖所示，水平方向驅動馬達3 1與垂直方向驅動馬 達3 2，偏置各別的軸心3 3，3 4而呈垂直交叉連接。 即是在水平方向驅動馬達3 1的轉動軸3 1 a固定L 形狀之連結體3 5的一方端，並且在前述連結體3 5的他 方端固定上下方向驅動馬達3 2，而利用水平方向驅動馬 達3 1往水平方向轉動垂直方向驅動馬達3 2。另外，垂 直方向驅動馬達3 2以雙軸馬達所構成，而在兩側的轉動 軸3 2 a固定〕形狀的輸出體3 6。前述輸出體3 6在中 央部設置輸出軸3 7。 在於此種的構成，經由以水平驅動馬達3 1運轉上下 方向驅動馬達3 2全體而進行水平方向的轉動；經由以上 下方向驅動馬達3 2往上下方向運轉輸出軸3 7而進行上 下方向的轉動。 此外’在日本專利特開昭5 9 - 2 2 2 0 6 9號公報 中提案圓形線性馬達當中置入轉動馬達之馬達構成例；在 曰本專利特開平4 一 2 9 5 5 2號公報中或特開平4 一 本紙張尺度適用中國國家標準（CNS ) Α4規格（210X 297公釐） hII"——— I#! (請先閲讀背面之注意事項再填寫本頁)563285 A7 B7 V. Description of the Invention (1) [Technical Field] The present invention relates to a two-shaft integrated motor capable of simultaneously performing two-shaft operation in a narrow space such as an automated machine. [Advanced technology] Conventionally, a general motor capable of performing two-axis operation has been configured by connecting only two rotary motors. When the horizontal (horizontal) rotation and the vertical (vertical) rotation are obtained with two rotary motors, as shown in FIG. 4, the horizontal driving motor 31 and the vertical driving motor 3 2 The respective axis centers 3 3 and 3 4 are arranged in a vertical cross connection. That is, one end of the L-shaped connecting body 35 is fixed to the rotating shaft 3 1 a of the motor 31 in the horizontal direction, and the vertical driving motor 3 2 is fixed to the other end of the connecting body 35, and the horizontal driving is used. The motor 31 rotates in a horizontal direction and drives the motor 3 2 in a vertical direction. In addition, the vertical drive motor 32 is constituted by a two-shaft motor, and the rotating shafts 3 2 a on both sides are fixed] in the shape of an output body 36. The output body 36 is provided with an output shaft 37 at the center. In this configuration, the horizontal driving motor 31 operates the vertical driving motor 3 2 as a whole to perform horizontal rotation, and the vertical driving motor 32 operates the output shaft 37 to perform vertical rotation via the vertical driving motor 3 2. . In addition, 'Japanese Patent Laid-Open No. 5 9-2 2 2 0 6 9 proposes an example of a motor configuration in which a rotary motor is incorporated in a circular linear motor; in Japanese Patent Laid-Open No. 4-2 9 5 5 2 Zhongkai or kaiping 4 A paper size is applicable to Chinese National Standard (CNS) Α4 size (210X 297 mm) hII " ——— I #! (Please read the precautions on the back before filling this page)
、1T 經濟部智慧財產局員工消費合作社印製 -4- 563285 A7 _B7___ 五、發明説明（2 ) 2 9 5 5 5號公報中提案組合2個圓形線性馬達之馬達構 成例。前者達到水平動作及轉動動作，後者則達到水2P _ 作及垂直動作。 不過此種過去的技術會有以下的問題點。（1 )能進 行雙軸動作之過去的一般性馬達，因水平方向驅動馬達其 轉動軸3 1 a的軸心3 3與水平方向驅動馬達3 2的轉動 軸3 2 a不一致，所以輸出軸3 7的先端可以進行圓筒狀 的曲面動作作爲雙軸合成運動，不過無法進行球面動作。 (2 )因2個馬達3 1 ，3 2爲橫向並排的構成，所 以機械結構變大。 (3)日本專利特開昭59 — 222069號公報中 的馬達構成則是圓形線性馬達以平衡機構的中心位置爲轉 動中心進行水平動作。但是利用位於圓形線性馬達的內側 之轉動馬達，方向能夠從水平改變爲垂直方向，不過輸出 軸在相同平面內；另外輸出軸因在外側圓形線性馬達的外 部，所以無法從水平角度改變輸出軸。另外外形變大。 (4 )此外，日本專利特開平4 一 2 9 5 5 2號公報 ，特開平—4 2 9 5 5 5號公報中的馬達機構，由於是將 2個圓形線性馬達放置在平衡機構上之構成，因而輸出軸 的方向能從水平改變爲垂直方向，不過因各個馬達的定子 在相對向的位置所以內部不能使用，構造上輸出軸成爲2 個馬達的附加件，馬達變大。 〔發明槪要〕 本紙張尺度適用中國國家標準（CNS ) A4規格（21〇><297公釐） ' " -5- ----------- (請先閱讀背面之注意事項再填寫本頁) 訂 經濟部智慧財產局員工消費合作社印製 563285 A7 B7 五、發明説明（3 ) 本發明爲了解決上述的問題，其目的係提供輸出軸會g 進行球面動作之小型的雙軸一體式馬達。 爲了解決上述問題，本發明並不是組合2個通常的幅 射間隙式轉動馬達，而是將2個大小不同的線性馬達之定 子及轉子彎曲成位於相同圓弧中心點的圓弧狀，即是2個 線性馬達的轉子進行轉動運動，各別的轉子呈正交配置， 在設於內側之轉子設置輸出軸。 經由此樣的構成，水平方向移動轉動之軸與縱方向移 動轉動之軸與縱方向移動轉動之軸在相同圓的中心點上一 致且爲正交配列，所以設在內側之輸出軸端可以進行球面 運動。 另外外側線性馬達之轉子其內側的一部分因裝著在內 側線性馬達的定子磁軛內，所以前述轉子形成爲磁路共用 ;構造上成爲小型化。另外因2個馬達的轉動中心可以利 用，所以能夠將轉動馬達或攝影機等安裝在轉動中心部。 如以上所述說過依據本發明，具有以下的效果。 (1 )使2個線性馬達彎曲成圓弧狀在相同中心點爲 一致使其正交，且在水平軸的轉子配置垂直軸的定子及轉 子的軸承部，所以同時驅動2個線性馬達，因而能使其對 輸出軸進行球面動作，並且能形成小型的構成。 (2 )以相同中心點爲基準使2個線性馬達動作，所 以能減輕軟體補値等的運算負擔。 (3 )使垂直軸驅動線性馬達其轉子的中心部爲空洞 ，在其空洞處配置機器，因而不須設定輸出軸其球面動作 本紙張尺度適用中國國家標準（CNS ) A4規格（210Χ：297公釐） ----------- (請先閲讀背面之注意事項再填寫本頁) 訂 經濟部智慧財產局員工消費合作社印製 -6 - 經濟部智慧財產局員工消費合作社印製 563285 A7 B7 五、發明説明（4 ) 的中心點，能更加減少軟體補値等旳運算負擔。 〔圖面之簡單說明〕 第1圖係爲表示本發明的實施例之雙軸一體式馬達的 正面圖。 第2圖係爲第1圖的右側斷面圖。 第3圖係爲從上方直視第2圖的平面圖。 第4圖係爲表示過去技術的斜視圖。 〔符號說明〕 1 水平軸基台 2 上支柱 3 下支柱 4，5 軸承 6 框架 7 支承輔助體 8 水平軸驅動線性馬達 9 定子 10 轉子 11 定子磁軛 1 2，1 3 電磁開關 14 定子繞線 15 A相定子鐵心 16 定子繞線 本紙張尺度適用中國國家標準（CNS ) A4規格（21〇Χ；297公釐） ---：---：--•衣------1T------mw— (請先閲讀背面之注意事項再填寫本頁) 563285 A7 B7 經濟部智慧財產局員工消費合作社印製 五、發明説明（5 ) 17 B相定子鐵心 18 垂直軸驅動線性馬達 19 定子 2 0 轉子 2 1 定子磁軛 2 2，2 3 電磁開關 24 定子繞線 2 5 A相定子鐵心 2 6 定子繞線 2 7 B相定子鐵心 2 8，2 9 軸承 3 0 輸出軸 3 1 水平方向驅動馬達 32 垂直方向驅動馬達 3 3，3 4 軸心 3 5 連結體 3 6 輸出體 3 7 輸出軸 A 支承部 B 水平軸驅動部 C 垂直軸驅動部 D 輸出部 〔實施形態〕 ---------— (請先閲讀背面之注意事項再填寫本頁)Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs of the Ministry of Economic Affairs of the 1T. The former achieves horizontal and rotational motions, while the latter achieves water 2P _ operation and vertical motion. However, this past technology has the following problems. (1) In the past general motors capable of biaxial operation, the axis 3 3 a of the rotating shaft 3 1 a of the horizontal drive motor and the rotation axis 3 2 a of the horizontal drive motor 3 2 do not match, so the output shaft 3 The apex of 7 can perform a cylindrical curved motion as a biaxial synthetic motion, but it cannot perform a spherical motion. (2) Since the two motors 3 1 and 32 are arranged side by side, the mechanical structure becomes large. (3) The motor structure disclosed in Japanese Patent Laid-Open No. Sho 59-222069 is a circular linear motor that moves horizontally with the center position of the balance mechanism as the rotation center. However, with a rotating motor located inside the circular linear motor, the direction can be changed from horizontal to vertical, but the output shafts are in the same plane. In addition, the output shaft cannot be changed from a horizontal angle because the output shaft is outside the external circular linear motor. axis. In addition, the shape becomes larger. (4) In addition, the motor mechanism disclosed in Japanese Patent Laid-Open No. 4 129 5 55 2 and Japanese Patent Laid-Open No. 4 2 9 55 5 is because two circular linear motors are placed on the balance mechanism. Structure, the direction of the output shaft can be changed from horizontal to vertical, but the stator of each motor is in the opposite position, so it cannot be used internally. The output shaft becomes an add-on to the two motors, and the motor becomes larger. [Inventive Summary] This paper size applies the Chinese National Standard (CNS) A4 specification (21〇 > < 297mm) '" -5- ----------- (Please read the back first Please pay attention to this page and fill in this page) Order printed by the Intellectual Property Bureau of the Ministry of Economic Affairs and the Consumer Cooperatives printed 563285 A7 B7 V. Description of the invention (3) In order to solve the above problems, the purpose of the present invention is to provide a small output shaft g that performs spherical motion Two-axis integrated motor. In order to solve the above problems, the present invention does not combine two ordinary radial gap rotary motors, but bends the stator and rotor of two linear motors of different sizes into an arc shape at the center point of the same arc. The rotors of the two linear motors perform a rotational movement, and the respective rotors are arranged orthogonally, and an output shaft is provided on a rotor provided on the inside. With this structure, the axis of horizontal movement and the axis of vertical movement and the axis of vertical movement are aligned at the center point of the same circle and are aligned orthogonally, so the output shaft end provided on the inside can be performed. Spherical motion. In addition, a part of the inner side of the rotor of the outer linear motor is installed in the stator yoke of the inner linear motor, so the rotor is formed as a common magnetic circuit; the structure is reduced in size. In addition, since the rotation center of the two motors can be used, a rotation motor, a camera, etc. can be mounted on the rotation center portion. As described above, the present invention has the following effects. (1) Two linear motors are bent into a circular arc shape at the same center point to make them orthogonal, and a vertical axis stator and a rotor bearing portion are arranged on a horizontal axis rotor. Therefore, two linear motors are driven at the same time. It can make the output shaft perform a spherical operation, and can form a compact structure. (2) Two linear motors are operated based on the same center point, which can reduce the calculation load such as software compensation. (3) Make the center of the rotor of the vertical axis driven linear motor hollow, and configure the machine at the hollow, so there is no need to set the spherical motion of the output shaft. The paper size applies the Chinese National Standard (CNS) A4 specification (210 ×: 297 mm). Li) ----------- (Please read the precautions on the back before filling out this page) Order printed by the Intellectual Property Bureau Employee Consumer Cooperatives of the Ministry of Economy-6-Printed by the Intellectual Property Bureau Employee Consumer Cooperatives of the Ministry of Economic Affairs 563285 A7 B7 5. The central point of the invention description (4) can further reduce the computational burden of software compensation and other operations. [Brief Description of Drawings] Fig. 1 is a front view of a two-shaft integrated motor showing an embodiment of the present invention. Fig. 2 is a right cross-sectional view of Fig. 1. Fig. 3 is a plan view of Fig. 2 viewed directly from above. Fig. 4 is a perspective view showing a conventional technique. [Description of Symbols] 1 Horizontal Abutment 2 Upper Pillar 3 Lower Pillar 4, 5 Bearing 6 Frame 7 Support Auxiliary Body 8 Horizontal Shaft Drive Linear Motor 9 Stator 10 Rotor 11 Stator Yoke 1 2, 1 3 Electromagnetic Switch 14 Stator Winding 15 A-phase stator iron core 16 Stator winding This paper size is applicable to Chinese National Standard (CNS) A4 specification (21〇 ×; 297 mm) ---: ---:-• clothing ------ 1T- ----- mw— (Please read the notes on the back before filling in this page) 563285 A7 B7 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 5. Description of the invention (5) 17 Phase B stator iron core 18 Vertical axis drive linear Motor 19 Stator 2 0 Rotor 2 1 Stator yoke 2 2, 2 3 Electromagnetic switch 24 Stator winding 2 5 A-phase stator core 2 6 Stator winding 2 7 B-phase stator core 2 8, 2 9 Bearing 3 0 Output shaft 3 1 Horizontal direction drive motor 32 Vertical direction drive motor 3 3, 3 4 Shaft center 3 5 Connecting body 3 6 Output body 3 7 Output shaft A support B Horizontal shaft drive portion C Vertical shaft drive portion D Output section [Embodiment]- --------— (Please read the notes on the back before filling this page)
、1T 本紙張尺度適用中國國家標準（CNS ) Α4規格（210X297公釐） -8- 563285 A7 B7 五、發明説明（6 ) 以下，根據圖面說明本發明的實施例。 第1圖係爲表示本發明的實施例之雙軸一體式馬達的 正面圖。第2圖係爲第1圖的右側斷面圖。第3圖係爲從 上方直視第2圖的平面圖。 本發明的雙軸一體式馬達Μ由支承馬達之支承部A， 及水平軸驅動部B，及垂直軸驅動部C，及輸出部D所構 成。以下，說明這些的詳細構造。 首先’前述支承部A係由支承水平軸驅動線性馬達8 之水平軸基台1 ，及安裝於前述水平軸基台的上下方向兩 端部之上支柱2和下支柱3，及介由軸承4，5自由轉動 地安裝於前述上支柱2和下支柱3之八角形狀（並不侷限 於此形狀）的環狀框架6所構成。前述軸承4，5安裝於 框架6其上部和下部的直線部。然而，水平軸基台1直接 支承水平軸驅動線性馬達8，不過也支承前述上支柱2和 下支柱3 ’所以形成爲間接支承垂直軸驅動線性馬達。結 果是支承雙軸一體式馬達Μ全體。當雙軸一體式馬達μ安 裝於未圖示的外部機器時，前述水平軸基台1直接安裝於 外部機器’或是介由支承輔助體7等安裝。 前述水平軸驅動部Β係由步進式驅動所構成之水平軸 驅動線性馬達8及轉子1 〇所形成；前述定子安裝於水平 軸基台1 ’前述轉子1 〇安裝於前述框架6。 前述定子9係將水平方向較長而幾乎形成爲圓弧狀之 定子磁軛安裝於前述水平軸基台1 ;經由電磁開關，將裝 著定子繞線1 4之Α相定子鐵心1 5與裝著定子繞線1 6 本紙張尺度適用中國國家標準（CNS ) Α4規格（210X297公釐） I-Ir——— I# — . (請先閲讀背面之注意事項再填寫本頁)、 1T This paper size applies the Chinese National Standard (CNS) A4 specification (210X297mm) -8- 563285 A7 B7 5. Description of the invention (6) Hereinafter, the embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a front view showing a two-shaft integrated motor according to an embodiment of the present invention. Fig. 2 is a right cross-sectional view of Fig. 1. Figure 3 is a plan view of Figure 2 viewed directly from above. The biaxial integrated motor M of the present invention is composed of a support portion A that supports the motor, a horizontal axis drive portion B, a vertical axis drive portion C, and an output portion D. Hereinafter, these detailed structures will be described. First, the aforementioned support portion A is a horizontal axis abutment 1 that supports a linear motor 8 that drives a horizontal axis, and an upper pillar 2 and a lower pillar 3 mounted on both ends of the horizontal axis abutment in the vertical direction, and a bearing 4 , 5 is rotatably mounted on the octagonal frame 6 (not limited to this shape) of the upper pillar 2 and the lower pillar 3, and is constituted by the ring frame 6. The aforementioned bearings 4, 5 are attached to the upper and lower straight portions of the frame 6. However, the horizontal-axis abutment 1 directly supports the horizontal-axis-driven linear motor 8 but also supports the above-mentioned upper pillar 2 and lower-pillar 3 ', so it is formed to indirectly support the vertical-axis driven linear motor. As a result, the entire biaxial integrated motor M is supported. When the two-shaft integrated motor µ is mounted on an external device (not shown), the horizontal-axis abutment 1 is directly mounted on the external device 'or is mounted via a supporting auxiliary body 7 or the like. The horizontal-axis driving section B is formed by a horizontal-axis driving linear motor 8 and a rotor 10 formed by stepping driving. The stator is mounted on a horizontal-axis abutment 1 ′, and the rotor 10 is mounted on the frame 6. The above-mentioned stator 9 is a stator yoke which is formed in a long horizontal direction and is almost in the shape of an arc. The stator yoke is installed on the above-mentioned horizontal-axis abutment 1; Winding stator winding 1 6 This paper size applies to China National Standard (CNS) Α4 specification (210X297 mm) I-Ir ——— I # —. (Please read the precautions on the back before filling this page)
*1T Ρ. 經濟部智慧財產局員工消費合作社印製 -9 - 563285* 1T Ρ. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs -9-563285
I明説明（7) A7 B7 -- (請先閲讀背面之注意事項再填寫本頁) 之B相定子鐵心1 7隔著一定的間隔安裝於前述定子磁車厄 1 1。前述A相定子鐵心1 5及B相定子鐵心1 7的先端 部形成爲以中心點◦爲中心之圓弧狀；在前述A相定子鐵 心及B相定子鐵心1 6的先端部，使其隔著空隙相對向配 轉子1 〇。 前述轉子1 0形成爲以前述中心點◦爲中心之半環狀 ’並且固定前述框架6其內側的直線部，與框架6 —起繞 著前述軸承4，5周圍轉動。 前述垂直軸驅動部C由步進式馬達所構成之垂直軸驅 動線性馬達1 8的定子1 9及轉子2 0所形成；前述定子 1 9安裝於水平軸驅動線性馬達8之轉子1 0的內周部； 前述轉子2 0相同地安裝於水平軸驅動線性馬達8的轉子 1 〇 〇 經濟部智慧財產局員工消費合作社印製 前述定子19係將垂直方向較長而形成爲圓弧狀之定 子磁軛2 1安裝於水平軸驅動線性馬達8之轉子1 〇的內 側，經由電磁開關2 2，2 3，將裝著定子繞線2 4之A 相定子鐵心2 5與裝著定子繞線2 6之B相定子鐵心2 7 隔著一定的間隔安裝於前述定子磁軛2 1。當前述定子磁 軛2 1安裝於水平軸驅動線性馬達8之轉子1 〇的內側之 際，在定子磁軛2 1的外側形成凹部2 1 a而使其在該凹 部2 1 a裝入轉子1 〇 (相反地在轉子1 〇的內側形成凹 部亦可）。此構成則是轉子1 〇與定子磁軛2 1的結合部 ’ 2個線性馬達8，1 8的磁路可以共通化；定子磁軛的 結合部因凹部2 1 a而能夠薄化。因此雙軸一體式馬達能 本紙張尺度適用中國國家榡準（CNS ) A4規格（210X297公釐） -10- 563285 Α7 Β7 五、發明説明（8 ) 小形化。 前述A相定子鐵心2 5及B相定子鐵心2 7的先端部 形成爲以前述水平軸驅動線性馬達8的中心點◦爲中心之 圓弧狀；在前述A相定子鐵心2 5及B相定子鐵心2 7的 先端部，使其隔著空隙而相對向配置轉子2 〇。 前述轉子2 0形成爲以前述中心點〇爲中心之半圓盤 狀，並且介由軸承2 8，2 9自由轉動地安裝於水平軸驅 動線性馬達8之轉子1 0的內周部。 水平軸驅動線性馬達8及垂直軸驅動線性馬達1 8以 相同中心點〇爲中心而構成爲圓弧狀。 前述輸出部D由安裝於前述垂直軸驅動線性馬達1 9 的轉子2 0之輸出軸3 0所形成。構成雙軸一體式驅動馬 達Μ之2個線性馬達8，1 8構成爲幾乎半圓，前方成爲 開放，所以前述輸出軸3 0，在於中心點◦的近旁，使軸 方向的中心通過前述中心點而安裝於前述垂直軸驅動線性 馬達1 8之轉子2 0的反定子側端面。 此種構成，如下述進行雙軸一體式馬達Μ的驅動。 首先，輸出軸3 0往水平方向運轉時，只驅動水平軸 驅動線性馬達8。 對前述定子繞線1 4，1 6通電而驅動水平軸驅動線 性馬達8，則介由軸承4，5支承於前述上下的支柱2， 3之框架6中所支承之轉子1 0 ，以中心點◦爲中心，朝 水平方向只有一定量與框架6—起轉動。轉子10朝水平 方向轉動，則介由軸承2 8，2 9支承於轉子1 0的內周 本紙張尺度適用中國國家標準（CNS ) Α4規格（210Χ297公釐） I-I’·——.-10! (請先閲讀背面之注意事項再填寫本頁) 訂 經濟部智慧財產局員工消費合作社印製 -11 - 563285 Α7 Β7 五、發明説明（9 ) -- (請先閲讀背面之注意事項再填寫本頁) 部之垂直驅動線性馬達1 8的轉子2 0也隨著往水平方向 產生轉動。由於此因，安裝於垂直軸驅動線性馬達1 8的 轉子2 0之輸出軸3 0朝水平方向進行轉動。 其次，輸出軸3 0朝垂直方向運轉時，只驅動垂直軸 驅動線性馬達1 8。 對前述定子繞線2 4，2 6通電而驅動垂直軸驅動線 性馬達1 8，則介由軸承2 8，2 9支承於前述水平軸驅 動線性馬達8的轉子1 0之轉子2 0，以中心點〇爲中心 ’朝垂直方向只有一定量轉動。轉子2 0朝垂直方向轉動 ，則安裝於轉子2 0之輸出軸3 0朝垂直方向進行轉動。 前述水平軸驅動線性馬達8及垂直軸驅動線性馬達 1 8同時驅動，則輸出軸3 0以中心點0爲中心逐漸朝水 平方向轉動，相同地以中心點〇爲中心往垂直方向轉動； 即所謂進行球面動作。 此樣，輸出軸3 0以相同中心點◦爲中心轉動或進行 球面動作，所以即使爲雙軸一體式馬達Μ的驅動，也減輕 軟體補値等的運算負擔。 經濟部智慧財產局員工消費合作社印製 本實施例的情況，輸出軸3 0偏離中心點0 ;例如在 前述輸出軸3 0搭載小形攝影機（未圖示）時，經由前述 水平軸驅動線性馬達8及垂直軸驅動線性馬達1 8的驅動 ’逐漸改變攝影機的位置，因而必須校正攝影機的位置， 不過在垂直軸驅動線性馬達1 8之轉子2 0的中心部形成 空洞部，在前述空洞部例如配置小形的攝影機則能使其不 致偏離。此情況，因不會偏離，所以攝影機在中心點〇的 本紙張尺度適用中國國家標準（CNS ) Α4規格（210X297公釐） -12- 563285 A7 B7 五、發明説明（1〇) 位置，也就是球面運動的中心，如同人類的眼睛，能夠上 下左右或球面狀的作動，不須要進行位置的校正。因此更 加減小軟體補値等的運算負擔。 另外，因攝影機在輸出軸上不必轉動，所以安裝安定 。而且能在最小的空間作動，所以能減小安裝雙軸一體式 馬達Μ所必要的空間。 另外經由在中心點〇另外設置轉動軸，因而能使電波 用天線或視訊攝影機等的驅動軸小形化。 本發明則是以小形的機械結構就能進行輸出軸的球面 動作，所以對於自動化機器，特別是軸端必須球面動作之 軸最具效果。用途上，例如如前述過，不只是能作爲攝影 機驅動馬達或天線驅動馬達使用，也能用於機器人的眼睛 或手腕，或肩關節，足腕關節等之驅動馬達。 然而，前述實施例中，呈半圓盤狀構成垂直軸驅動線 性馬達的轉子，不過構成爲以把柄等連結中心部之半環狀 亦可。 另外，表示以步進式馬達構成線性馬達之例，不過以 A C伺服馬達構成線性馬達亦可；使雙軸一體式馬達轉動 9 0度，而將水平軸驅動線性馬達作爲垂直軸驅動線性馬 達使用；當然也能將垂直軸驅動線性馬達作爲水平軸驅動 線性馬達使用。 〔產業上利用可能性〕 本發明能用於自動化機器等對於製造，提供在狹小空 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐1 ----------- (請先閲讀背面之注意事項再填寫本頁) 訂 經濟部智慧財產局員工消費合作社印製 -13- 563285 A7 B7五、發明説明（11)間內就可以同時進行雙軸動作之雙軸一體式馬達的領域都 能加以利用。 ---------— (請先閲讀背面之注意事項再填寫本頁) 訂 經濟部智慧財產局員工消費合作社印製 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） -14-I. Description (7) A7 B7-(Please read the precautions on the back before filling out this page) The B-phase stator core 1 7 is installed at a certain interval on the aforementioned stator car E 1 1. The leading ends of the A-phase stator core 15 and the B-phase stator core 17 are formed in a circular arc shape with the center point as the center; the leading ends of the A-phase stator core and the B-phase stator core 16 are separated from each other. Opposite the rotor 10 through the gap. The rotor 10 is formed in a semi-annular shape with the center point ◦ as a center, and a linear portion that fixes the inside of the frame 6 is rotated around the bearings 4 and 5 together with the frame 6. The aforementioned vertical axis driving section C is formed by a stator 19 and a rotor 20 of a vertical axis driving linear motor 18 constituted by a stepping motor; the aforementioned stator 19 is installed in the rotor 10 of the horizontal axis driving linear motor 8. Peripheral; the aforementioned rotor 20 is identically mounted on the rotor of the horizontal axis-driven linear motor 8 1000 printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs, said stator 19 is a stator magnet which is longer in the vertical direction and formed into an arc shape The yoke 2 1 is installed inside the rotor 1 〇 of the horizontal-axis-driven linear motor 8. Through the electromagnetic switches 2 2, 2 3, the A-phase stator core 2 5 with the stator winding 2 4 and the stator winding 2 6 are installed. The B-phase stator core 2 7 is attached to the aforementioned stator yoke 21 at regular intervals. When the stator yoke 21 is mounted on the inside of the rotor 10 of the horizontal-axis-driven linear motor 8, a recess 2 1 a is formed on the outside of the stator yoke 21 to fit the rotor 1 into the recess 2 1 a. 〇 (Conversely, a recess may be formed on the inside of the rotor 10). This structure is a joint portion of the rotor 10 and the stator yoke 21, and the magnetic circuits of the two linear motors 8 and 18 can be made common; the joint portion of the stator yoke can be thinned by the concave portion 21a. Therefore, the dual-shaft integrated motor can be used in the paper size of China National Standards (CNS) A4 (210X297 mm) -10- 563285 Α7 B7 V. Description of the invention (8) Miniaturization. The front ends of the A-phase stator core 25 and the B-phase stator core 27 are formed in an arc shape centered on the center point of the linear motor 8 that drives the horizontal axis; the A-phase stator core 25 and the B-phase stator A tip end portion of the iron core 27 is arranged so that the rotor 2 is opposed to each other with a gap therebetween. The rotor 20 is formed in a semi-disc shape with the center point 0 as a center, and is rotatably mounted on the inner peripheral portion of the rotor 10 of the horizontal axis-driven linear motor 8 via bearings 28, 29. The horizontal-axis-driven linear motor 8 and the vertical-axis-driven linear motor 18 are formed in an arc shape with the same center point 0 as the center. The output portion D is formed by an output shaft 30 attached to a rotor 20 of the vertical axis driving linear motor 19. The two linear motors 8 and 18 constituting the dual-shaft integrated drive motor M are configured to be almost semicircular and the front is open. Therefore, the output shaft 30 is located near the center point, and the center of the shaft direction passes through the center point. Mounted on the anti-stator side end face of the rotor 20 of the vertical axis driven linear motor 18. With this configuration, the two-shaft integrated motor M is driven as described below. First, when the output shaft 30 is driven in the horizontal direction, only the horizontal shaft is driven and the linear motor 8 is driven. The above-mentioned stator windings 1, 4 and 16 are energized to drive the horizontal axis driving linear motor 8, and the rotor 10 supported in the frame 6 of the upper and lower pillars 2 and 3 is supported via bearings 4, 5 at the center point. ◦As the center, only a certain amount of rotation with the frame 6 in the horizontal direction. When the rotor 10 rotates in the horizontal direction, it is supported on the inner periphery of the rotor 10 via bearings 2 8 and 29. The paper size is in accordance with the Chinese National Standard (CNS) A4 specification (210 × 297 mm) I-I '· ——.- 10! (Please read the notes on the back before filling this page) Order printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs -11-563285 Α7 Β7 V. Description of the invention (9)-(Please read the notes on the back before Fill in this page) The rotor 20 of the vertical drive linear motor 18 also rotates horizontally. For this reason, the output shaft 30 of the rotor 20 mounted on the vertical-axis-driven linear motor 18 rotates horizontally. Next, when the output shaft 30 is driven in the vertical direction, only the vertical shaft is driven and the linear motor 18 is driven. The stator windings 2 4 and 2 6 are energized to drive the vertical axis driving linear motor 18, and the bearings are supported on the rotor 2 0 of the horizontal axis driving linear motor 8 through the bearings 2 8 and 29, centered on the rotor 20. Point 0 is the center 'and it rotates only a certain amount in the vertical direction. When the rotor 20 is rotated in the vertical direction, the output shaft 30 installed in the rotor 20 is rotated in the vertical direction. When the aforementioned horizontal axis-driven linear motor 8 and vertical axis-driven linear motor 18 are driven simultaneously, the output shaft 30 gradually rotates in the horizontal direction with the center point 0 as the center, and similarly rotates in the vertical direction with the center point 0 as the center; Perform spherical motion. In this way, the output shaft 30 rotates or performs a spherical movement around the same center point. Therefore, even if it is driven by the two-axis integrated motor M, the calculation load such as software compensation can be reduced. In the case where this embodiment is printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs, the output shaft 30 is offset from the center point 0; for example, when a small camera (not shown) is mounted on the output shaft 30, the linear motor 8 is driven via the horizontal axis. The drive of the linear motor 18 that drives the vertical axis 18 gradually changes the position of the camera, so it is necessary to correct the position of the camera. However, a hollow portion is formed in the center of the rotor 20 of the vertical axis driven linear motor 18. The small camera keeps it from deviating. In this case, since the paper will not deviate, the paper size of the camera at the center point 0 applies the Chinese National Standard (CNS) A4 specification (210X297 mm) -12- 563285 A7 B7 V. Description of the invention (1〇) Position, that is, The center of spherical motion, like human eyes, can move up, down, left, right, or spherically, without the need for position correction. Therefore, the calculation load such as software compensation is further reduced. In addition, because the camera does not have to rotate on the output shaft, the installation is stable. In addition, since it can operate in the smallest space, it is possible to reduce the space required for mounting the two-shaft integrated motor M. In addition, by providing a rotating shaft at the center point 〇, the driving shaft of a radio wave antenna or a video camera can be reduced in size. The present invention can perform the spherical movement of the output shaft with a small mechanical structure, so it is most effective for an automated machine, especially a shaft whose shaft end must be spherically moved. In terms of use, for example, as described above, it can be used not only as a camera driving motor or an antenna driving motor, but also as a driving motor for a robot's eyes or wrists, or shoulder, foot and wrist joints. However, in the foregoing embodiment, the rotor for driving the linear motor of the vertical axis was formed in a semi-disc shape, but it may be configured as a semi-ring connected to the central portion by a handle or the like. In addition, an example is shown in which a linear motor is constituted by a stepping motor, but a linear motor may also be constituted by an AC servo motor; a two-axis integrated motor is rotated by 90 degrees, and a horizontal-axis-driven linear motor is used as a vertical-axis-driven linear motor ; Of course, a vertical axis driven linear motor can also be used as a horizontal axis driven linear motor. [Industrial utilization possibility] The present invention can be used in manufacturing of automated machines, etc. For the production of narrow paper sheets, the Chinese National Standard (CNS) A4 specification (210X297 mm1) ----------- (Please read the precautions on the back before filling in this page) Order printed by the Intellectual Property Bureau's Consumer Cooperatives of the Ministry of Economic Affairs-13- 563285 A7 B7 V. Description of the invention (11) A dual-axis integration that can simultaneously perform dual-axis operations The field of motors can be used. ---------- (Please read the precautions on the back before filling out this page) Order printed by the Intellectual Property Bureau Staff Consumer Cooperatives of the Ministry of Economic Affairs This paper applies Chinese national standards (CNS) A4 specifications (210X297 mm) -14-