Matrix motor based on principle of mirror symmetry

Abstract

To provide a matrix motor based on the mirror symmetry principle, which includes a plurality of motor elements.SOLUTION: The square or rectangular contour edge connecting adjacent motor elements is used as the mirror axis, and the A-type motor elements and the B-type motor elements are arranged symmetrically around the mirror axis. In the matrix motor formed by connecting and arranging the motor elements, the two motor elements symmetrical with respect to the mirror axis are different types of motor elements.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] This book is concerned with the field of motor technology, and in particular with matrix motors based on the principle of mirror symmetry. [Background technology]

[0002] One of the most important indicators of motor performance is its torque density (the ratio of motor torque to motor volume, or motor torque to motor weight). To increase a motor's torque density, permanent magnets can be installed in the rotor and their magnetic field superimposed on the magnetic field generated by the stator motor windings. However, the magnetic field generated by permanent magnets is limited by the properties of the permanent magnet material. Furthermore, the permeability of the stator and rotor core (silicon steel) is also limited. If the magnetic field density is too high, the silicon steel will saturate and the magnetic field cannot be further increased. This method therefore has limited effect on improving the motor's torque density. Another method for improving motor torque density is to increase the number of magnetic poles on the motor rotor or the motor current. However, due to limited rotor space, the number of magnetic poles cannot be increased too much. Furthermore, there is a limit to the motor current because excessive current flowing through the motor windings will cause the motor to overheat and burn out the stator. This limits the motor's torque density.

[0003] The coupling of each motor element in existing matrix motors is mainly based on the "principle of magnetic field component co-ordination," meaning that the magnetic fields of each phase winding of the first and second motor elements are coupled in phase with the winding components of the other winding direction, with the first motor element reinforcing the magnetic field of the second motor element, achieving magnetic circuit coupling. However, this matrix motor has problems such as weak mutual coupling between motor elements (only magnetic field components are coupled, and magnetic field coupling cannot be fully achieved), weak output torque, loose arrangement, complex transmission structure of each motor element, and incomplete electromagnetic scheme between each motor element.

[0004] Invention Contents The embodiments herein provide a matrix motor based on the principle of mirror symmetry, which solves the problems of weak mutual coupling between motor elements, weak output torque, loose arrangement, complex transmission structure of each motor element, and incomplete electromagnetic scheme between each motor element in existing matrix motors.

[0005] To solve the above technical problem, an embodiment of the present specification provides a matrix motor based on the principle of mirror symmetry, which includes a plurality of motor elements. The motor elements include A-type motor elements and B-type motor elements. The square or rectangular outline edge connecting adjacent motor elements is used as the mirror axis, and the A-type motor elements and B-type motor elements are arranged symmetrically around the mirror axis. In the matrix motor formed by connecting and arranging each motor element, two motor elements symmetrical with respect to the mirror axis are different types of motor elements.

[0006] In some exemplary embodiments, each motor element in a matrix motor is of a different type than adjacent motor elements, and each motor element in a matrix motor is of the same type as the motor element across it.

[0007] In some exemplary embodiments, the outer contour of a motor element is a square or a rectangle. A matrix motor formed by connecting and arranging multiple motor elements is characterized by an outer contour that is a rectangle or a combination of multiple rectangles.

[0008] In some exemplary embodiments, the mirror axis reflects B-type motor element stator sections to A-type motor element stator sections, or A-type motor element stator sections to B-type motor element stator sections. Mirror symmetry creates perfect overlap and coupling of the magnetic fields of each motor element in the matrix motor, eliminating the stator yoke and increasing the rotor output torque.

[0009] In some exemplary embodiments, the stator portion of the motor element is configured by surrounding a plurality of motor element half stator teeth. A motor element half stator tooth space is provided between two motor element half stator teeth. The plurality of motor element half stator teeth form a stator module having an internal circular hole and a rectangular outer contour, and the motor rotor is surrounded at its center. The stator module, surrounding the plurality of motor element half stator teeth, is coaxial with the rotor.

[0010] In some exemplary embodiments, the motor element also includes a front end cover, a rear end cover, a front bearing, a rear bearing, and a motor element winding, of which the motor element winding is divided into multiple phases and wound around the half stator teeth of the motor element. The front end cover and the rear end cover also have end cover protrusions that can be inserted into the motor element half stator tooth grooves to achieve mutual fixation between the front end cover, the rear end cover, and the stator module. Front and rear bearings are provided in the cavities of the front end cover and the rear end cover to limit the rotor position and allow the rotor to rotate freely around the central axis of the stator.

[0011] In some exemplary embodiments, the positive magnetic field directions of corresponding phase windings of the B-type motor elements and the A-type motor elements are opposite to each other relative to their respective rotors, the rotor rotation directions of the B-type motor elements and the A-type motor elements are opposite, and the rotor poles of the B-type motor elements and the A-type motor elements have opposite polarities when initially aligned with phase A.

[0012] In some exemplary embodiments, each phase winding of each motor element is connected in series, parallel, or a mixture of series and parallel.

[0013] In some exemplary embodiments, each motor element is symmetrical about the mirror axis and can then be rotated in space by a certain angle about the mirror axis to achieve a spatial configuration. A magnetically conductive material is disposed between the half stator teeth of the two motor elements to achieve magnetic field coupling of the two motor elements.

[0014] In some exemplary embodiments, the motor elements are synchronized by meshing with each other via gears, magnetic gears, magnetic couplings, pulleys, friction, or chains, and the torque of each motor element is combined to achieve synchronous rotation of each motor element.

[0015] The technical solutions provided in the embodiments herein have at least the following advantages:

[0016] This paper proposes a matrix motor based on the principle of mirror symmetry, which includes multiple motor elements. The motor elements include A-type and B-type motor elements. The square or rectangular outline connecting adjacent motor elements serves as the mirror axis, and the A-type and B-type motor elements are arranged symmetrically around the mirror axis. The two motor elements symmetrical about the mirror axis within the matrix motor formed by connecting and arranging each motor element are different types. To address the problems of existing matrix motors, such as weak mutual coupling (only magnetic field components are coupled, and full magnetic field coupling cannot be achieved), weak output torque, loose arrangement, complex transmission structures for each motor element, and incomplete electromagnetic schemes between each motor element, this paper proposes a new matrix motor topology based on the "principle of mirror symmetry." This matrix motor topology offers advantages such as a compact structure, strong coupling, large output torque, and simple transmission. By optimizing the electromagnetic scheme between motor elements, matrix motors become easier to manufacture and control. [Brief explanation of the drawings]

[0017] One or more embodiments are illustrated by way of example only and not by way of limitation in the accompanying figures in the accompanying drawings, which unless otherwise specified, are not to scale. [Figure 1] Figure 1 is a schematic diagram of the structure of a conventional three-groove two-pole motor. [Figure 2] FIG. 2 is a schematic diagram showing the "same direction principle of magnetic field components" of a conventional matrix motor. [Figure 3] FIG. 3 is a schematic diagram of a conventional three-phase two-pole motor. [Figure 4] FIG. 4 is a schematic diagram of a three-phase, two-pole motor element module provided in an example embodiment herein. [Figure 5A]FIG. 5A is a schematic diagram of a Type B motor element provided in the Examples herein. [Figure 5B] FIG. 5B is a schematic diagram of the A-type motor element provided in the Examples herein. [Figure 6] FIG. 6 is a schematic diagram of the most basic matrix motor provided in the examples herein. [Figure 7] FIG. 7 is a schematic diagram of a matrix motor consisting of eight motor units provided in an example embodiment of this document. [Figure 8] FIG. 8 is a schematic diagram of a method for connecting each phase of the matrix motor in parallel provided in the embodiment of this specification. [Figure 9] FIG. 9 is a schematic diagram of a method for connecting each phase of the matrix motor in series provided in the embodiment herein. [Figure 10] FIG. 10 is a schematic diagram of the 4-pole, 6-groove A-type and B-type motor elements provided in the examples herein. [Figure 11] FIG. 11 is a schematic diagram of a matrix motor constructed from a 4-pole, 6-groove motor element provided in an embodiment herein. [Figure 12A] FIG. 12A is a schematic diagram of a 4-pole, 24-groove, A-type motor element provided in the examples herein. [Figure 12B] FIG. 12B is a schematic diagram of a 4-pole, 24-groove, Type B motor element provided in the examples herein. [Figure 13] FIG. 13 is a schematic diagram of a matrix motor constructed from a 4-pole, 24-groove motor element provided in an embodiment of this document. [Figure 14] FIG. 14 is a schematic diagram of the structure of the motor element provided in the examples herein. [Figure 15A] FIG. 15A is an exploded view of a motor element structure provided in an example herein. [Figure 15B] FIG. 15B is a cross-sectional view of a motor element structure provided in an example herein. [Figure 16]FIG. 16 is a schematic diagram of a matrix motor module provided in an embodiment herein. [Figure 17] FIG. 17 is a schematic diagram of the joining scheme and partial windings of the 10-pole, 12-groove, B-type and A-type motor elements provided in the examples herein. [Figure 18] FIG. 18 is a half cross-sectional view of a matrix motor provided in an embodiment of the present specification. [Figure 19] FIG. 19 is a schematic diagram of the square matrix motor-gear transmission solution provided in the examples herein. [Figure 20] FIG. 20 is a schematic diagram of the rectangular matrix motor-gear transmission solution provided in the embodiments herein. [Figure 21] FIG. 21 is an exemplary diagram showing the rotation direction of each motor element of the matrix motor provided in the embodiment of the present specification. [Figure 22] FIG. 22 is an exemplary diagram of the spatial structure formed by rotating the motor element stator module of the matrix motor provided in the embodiment herein by a certain angle around the mirror axis.

[0018] Specific implementation methods From the background art, it can be seen that the existing matrix motor based on the "same direction principle of magnetic field components" has problems such as weak mutual coupling between motor elements, weak output torque, loose arrangement, complex transmission structure of each motor element, and incomplete electromagnetic scheme between each motor element.

[0019] Figure 1 shows a cross section of the basic structure of a conventional motor. Taking a three-groove, two-pole, three-wire motor as an example, the motor consists of a stator and a rotor. The stator has stator teeth 10, with stator slots 11 between the stator teeth 10, and the stator teeth 10 are connected by a stator yoke 12. Windings 2 are provided in the stator slots 11, and the rotor has rotor poles 14 and a rotor core 15. When an AC current is passed through each winding of the stator, the stator generates a rotating magnetic field vector, which rotates the motor's rotor and generates motor torque.

[0020] To improve the torque density of motors, related art has proposed a matrix motor consisting of multiple motor elements, primarily arranged in a triangular configuration. The main structure of a matrix motor includes dedicated stator yokes, dedicated stator teeth arranged on the dedicated stator yokes, dedicated windings wound on the dedicated stator teeth, a common stator yoke, common stator teeth arranged on the common stator yoke, common windings wound on the common stator teeth, and multiple rotors corresponding to the dedicated stator teeth and / or the common stator teeth. The coupling of each motor element in this matrix motor is primarily based on the "same-direction principle of magnetic field components," meaning that the magnetic fields of each phase winding of the first and second motor elements are coupled in phase with the components of windings in the direction of other windings. Figure 2 illustrates this principle. When the magnetic field component of the C-phase winding of the first motor element is projected onto the A-phase winding and B-phase winding of the second motor element, the magnetic fields are all in the same direction. Therefore, the magnetic field of the second motor element is strengthened by the first motor element, thereby realizing magnetic circuit coupling.

[0021] However, matrix motors based on the "same direction principle of magnetic field components" as described above suffer from problems such as weak mutual coupling between motor elements, weak output torque, loose arrangement, complex transmission structures for each motor element, and incomplete electromagnetic schemes between each motor element. To address these technical issues, the present paper provides a matrix motor based on the principle of mirror symmetry, which includes multiple motor elements. The motor elements include A-type motor elements and B-type motor elements. The square or rectangular outline connecting adjacent motor elements serves as the mirror axis, and the A-type motor elements and B-type motor elements are arranged symmetrically around the mirror axis. In the matrix motor formed by connecting and arranging each motor element, the two motor elements symmetrical with respect to the mirror axis are different types of motor elements. This paper proposes a new matrix motor topology based on the "mirror symmetry principle." The proposed structure has advantages such as a compact structure, strong coupling, large output torque, and simple transmission. By optimizing the electromagnetic scheme between motor elements, the matrix motor becomes easier to manufacture and control.

[0022] Hereinafter, various embodiments of the present specification will be described in detail with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details are provided in each embodiment of the present specification to help readers better understand the present specification. However, the technical solutions claimed for protection in the present specification can be realized without these technical details and respective changes and modifications based on the following embodiments.

[0023] As shown in FIGS. 4 to 21, an embodiment of the present specification provides a matrix motor based on the principle of mirror symmetry, which includes a plurality of motor elements. The motor elements include A-type motor elements and B-type motor elements. The square or rectangular outline edge connecting adjacent motor elements is used as the mirror axis, and the A-type motor elements and B-type motor elements are arranged symmetrically around the mirror axis. In the matrix motor formed by connecting and arranging the respective motor elements, the two motor elements symmetrical with respect to the mirror axis are motor elements of different types.

[0024] As shown in Figure 3, a conventional three-phase, two-pole motor consists of a rotor shaft 103, three-phase windings 2 (phase A winding, phase B winding, and phase C winding), rotor permanent magnet 16, stator teeth 10, stator yoke 12, and motor rotor core 17. When three-phase AC currents of different phases are applied to the motor's phases A, B, and C, a rotating magnetic field is generated in the motor's stator, causing the motor's rotor to rotate. The stator yoke 12 is typically made of silicon steel, which has excellent magnetic conductivity, and is used to loop the magnetic field generated in the motor teeth by the motor's phase windings. Although the stator yoke 12 accounts for the majority of the motor's weight and volume, it only provides a magnetic field loop and is not involved in the conversion of magnetic field energy to electrical energy. Therefore, the stator yoke 12 is essentially not directly related to the motor's torque generation.

[0025] The motor element proposed in the examples herein is obtained by removing the stator yoke 12 and shaping the outer contour of the motor into a rectangle. As shown in Figure 4, 101 is the half stator tooth of the motor element, and 102 is the half stator tooth space of the motor element. In this specification, the motor element half stator tooth 101 is obtained by removing the stator yoke and shaping the outer contour of the stator into a square or rectangle, and the gap between two motor element half stator teeth 101 is the motor element half stator tooth space 102. Furthermore, the motor element shown in Figure 4 can be further divided into two types, "B" and "A," due to the different directions of the magnetic fields generated by each winding after a forward current is applied to the rotor. Type B motor elements and type A motor elements are obtained. Type B motor elements and type A motor elements are shown in Figures 5A and 5B, respectively.

[0026] As shown in Figures 5A and 5B, after a positive current passes through the corresponding phase windings of the B-type motor elements and the A-type motor elements, the magnetic fields (called "forward magnetic fields") generated are in opposite directions relative to the rotor (e.g., the positive magnetic fields of each phase of the "B" motor element flow into the rotor, and the positive magnetic fields of each phase of the "A" motor element flow out of the rotor), causing the motor rotor to rotate in opposite directions; furthermore, when the rotor poles are aligned with the A phase in the initial state, the rotor poles have opposite polarities.

[0027] In some embodiments, each motor element in a matrix motor is of a different type than adjacent motor matrix motor elements, and each motor element in a matrix motor is of the same type as the motor element diagonally opposite it.

[0028] If we alternate two "B" motor elements and two "A" motor elements, numbered 1 through 4 (the odd-numbered elements are "B" and the even-numbered elements are "A"), we get the most basic matrix motor shown in Figure 6.

[0029] In Figure 6, 101 is a motor element half stator tooth, 2 is a winding, 16 is a rotor permanent magnet, and 17 is a motor rotor core. As shown in Figure 6, each motor element in a matrix motor constructed from the motor elements of this document is of a different type from its adjacent motor elements. That is, each "B" motor element is adjacent to an "A" motor element, and each "A" motor element is also adjacent to a "B" motor element. Two motor elements of the same type are located diagonally opposite each other. Motor elements symmetrical about the X or Y mirror axis are of a different type from the motor element. For example, motor element 1 is "B," and all motor elements symmetrical about the X or Y mirror axis are "A."

[0030] In some embodiments, the mirror axis reflects the stator portions of the B-type motor elements onto the stator portions of the A-type motor elements, or vice versa, so that the magnetic fields of each motor element in the matrix motor created by mirror symmetry perfectly overlap and combine, eliminating the stator yoke and increasing the rotor output torque.

[0031] Observing Figure 6, we can see that the mirroring axis is like a mirror, mirroring the B-type motor element stator portion onto the A-type motor element stator portion, and vice versa. Therefore, this principle is called the "mirror symmetry" principle. For example, the way the A-, B-, and C-phase windings of motor element 1 move in and out of the page, the direction of rotation in the stator's magnetic field, and the direction of rotation of the motor rotor all become mirror images of motor elements 2 and 4 about the Y or X mirroring axis. However, the rotor poles are reversed after mirroring. For example, after mirroring the rotor poles of motor 1 about the X mirroring axis, the poles must be reversed to obtain the rotor pole configuration of motor 4.

[0032] This book arranges motor elements based on the principle of mirror symmetry, ensuring that the magnetic fields generated by the windings of each motor element are perfectly coupled to each other at all times. For example, the A-phase windings of motor element 4 and motor element 1 are perfectly coupled to each other, with the positive magnetic field flowing in the same direction. The C-phase windings of motor element 1 and motor element 2 are perfectly coupled to each other, with the positive magnetic field flowing in the same direction. Therefore, the magnetic fields of each motor element in a matrix motor generated by mirror symmetry are perfectly overlapping and coupled to each other, eliminating the need for a stator yoke and further increasing the rotor's output torque. The motor element coupling method proposed in this book, based on the "mirror symmetry principle," achieves perfect coupling and differs from the conventional "magnetic field component co-ordination principle" for coupling motor element magnetic fields.

[0033] In some embodiments, the outer contour of the motor element is square or rectangular. The outer contour of a matrix motor formed by interconnecting multiple motor elements is rectangular. Furthermore, by combining multiple motor elements, a matrix motor of any shape can be realized. As shown in FIG. 7, a square or rectangular matrix motor can be obtained by arranging and combining eight motor units according to the above-described principle of mirror symmetry.

[0034] According to the aforementioned "principle of mirror symmetry," the connection method of each phase winding of each motor element can be series connection, parallel connection, or a mixed series and parallel connection. As shown in Figure 8, connecting the ends of the same-named corresponding phase windings of the motor elements in Figure 7 in parallel achieves a parallel connection of a matrix motor. As shown in Figure 8, each motor element in the parallel connection method is mirror symmetrical about multiple mirror axes. As shown in Figure 9, connecting the beginning and ending ends of corresponding phase windings of the motor elements in Figure 7 in series achieves a series connection of a matrix motor.

[0035] Furthermore, by forming a group of motor elements connected in series or parallel by the above method and connecting this group to another group of motor elements in parallel or in series, it is possible to realize series-parallel mixing.

[0036] Based on the mirror symmetry principle, the design principle of the matrix motor proposed in this paper can be summarized as follows:

[0037] 1) The outer contour of the motor element is square or rectangular, and is divided into two types of motor elements, "B" and "A." The positive magnetic field direction of the corresponding phase windings of the two "B" and "A" motor elements is opposite to that of the rotor, and the rotor rotation direction of the two motor elements is opposite. Furthermore, in the initial state, when the rotor magnetic poles of the two motor elements are aligned with the A phase, the rotor magnetic poles have opposite polarities.

[0038] 2) Multiple "B" and "A" motor elements can be interconnected and arranged into a matrix motor, where each motor element in the matrix motor is of a different type from its adjacent motor elements, and each motor element is of the same type as the motor element diagonally opposite it.

[0039] 3) The rectangular outline edge connecting two adjacent motor elements is the mirror axis of the matrix motor, and the two motor elements symmetrical about the mirror axis are of different types. The mirror axis acts like a mirror, reflecting the stator part of the "B" motor element onto the stator part of the "A" motor element, and vice versa. However, after mirroring, the rotor magnetic poles are reversed.

[0040] In some embodiments, the motor element is one of a 2 pole, 3 groove motor element, a 4 pole, 6 groove motor element, a 4 pole, 24 groove motor element, and a 10 pole, 12 groove motor element.

[0041] Based on the above principle, examples of motor elements having other combinations of motor pole grooves and matrix motor components made up of these motor elements are as follows:

[0042] For example, a 4-pole, 6-groove motor element is shown in Figure 10. Figure 11 shows a matrix motor composed of the 4-pole, 6-groove motor elements shown in Figure 10. Similarly, a 4-pole, 24-groove motor element is shown in Figures 12A and 12B. Figure 13 shows a matrix motor composed of the 4-pole, 24-groove motor elements shown in Figures 12A and 12B. Of these, 120 is a dedicated stator yoke and 1201 is a common stator yoke. The common stator yoke 1201 is made up of two half stators 101 joined together.

[0043] From the above analysis, it can be seen that the motor element and matrix motor structure proposed in this paper are applicable to all types of inner rotor motors and are not affected by motor pole groove matching or motor topology.

[0044] Furthermore, in order to specifically realize the proposed motor element and matrix motor, this paper takes a 10-pole, 12-slot motor as an example to propose a specific realization scheme of the matrix motor.

[0045] The specific structure of the proposed motor element is shown in Figure 14.

[0046] As shown in Figure 14, the stator section of the motor element proposed in this document is configured by surrounding multiple motor element half stator teeth 101, with motor element half stator tooth spaces 102 provided between two motor element half stator teeth 101. The multiple motor element stator teeth 101 have circular holes inside and form a stator module with a rectangular outer contour, with the motor rotor surrounded at its center. The stator module, surrounded by multiple half stator teeth, is coaxial with the rotor poles 104 and the rotor shaft 103.

[0047] Based on the stator portion of the motor element structure shown in FIG. 14, an exploded view and a cross-sectional view of the motor element structure proposed herein are shown in FIGS. 15A and 15B, respectively.

[0048] As shown in Figures 15A and 15B, the motor element further includes modules such as a front end cover 110, a rear end cover 113, a front bearing 114, a rear bearing 115, and a winding 2. Winding 2 (the motor element winding) is divided into multiple phases and wound around each motor element half stator tooth 101 according to the conventional motor winding method. Similar to a conventional motor, when the motor phase passes AC current through the motor element winding, the motor element winding generates a rotating magnetic field in the stator module. The front end cover 110 and rear end cover 113 also have end cover protrusions 111, which can be inserted into the motor element half stator tooth slots 102 to secure the front end cover 110, rear end cover 113, and stator module together. Front bearing 114 and rear bearing 115 are provided within the cavities of front end cover 110 and rear end cover 113 to limit the rotor position and allow the rotor to rotate freely around the central axis of the stator.

[0049] The outer contour of the stator module of the motor element proposed in this document is square or rectangular, so multiple stator modules can be joined to form regular shapes such as squares, rectangles, or a combination of squares and rectangles (FIG. 16), or other special shapes. In FIG. 16, 121 is a dedicated stator tooth and 122 is a dedicated half stator tooth. The dedicated stator tooth 121 is joined from one dedicated stator tooth 122 and one half stator tooth 101. 1201 is a common stator yoke, which is joined from two half stator teeth 101. 1211 is a first dedicated stator yoke and 1212 is a second dedicated stator yoke.

[0050] To achieve a closed-loop magnetic circuit at the edge of the matrix motor, dedicated stator yokes are provided at the edge of the matrix motor. The first dedicated stator yoke 1211 has corners and can be installed at the corners of the matrix motor. The second dedicated stator yoke 1212 has no corners and can be installed on the side of the matrix motor. The dedicated stator yoke may be provided with dedicated half stator teeth 122, which may be joined to the motor element half stator teeth 101 to form dedicated stator teeth 121.

[0051] As shown in Figure 17, multiple motor elements may be joined together, or half stator teeth of two motor elements may be joined together to form a common stator tooth. The two motor elements to be joined together are of different types, and the joining method is the same as that described in Figures 11 and 13.

[0052] FIG. 18 shows a half-sectional view of an embodiment of the matrix motor proposed herein. Multiple motor elements are integrated, i.e., fixed to the matrix motor, by motor element fixing parts 130, bolts 131, motor element front-end covers 110, motor element rear-end covers (not shown in FIG. 18), dedicated stator yoke front-end covers 132, and dedicated stator yoke rear-end covers 134. Each motor element is provided with a motor element winding, as shown in FIG. 15A. The first dedicated stator yoke 1211 and the second dedicated stator yoke 1212 may or may not be provided with dedicated stator yoke windings 133, as needed. The front-end covers 110 and the front-end covers 132 of the dedicated stator yokes may also be integrated to increase the strength of the matrix motor. Multiple motor element rear-end covers and the rear-end covers of the dedicated stator yokes may also be integrated.

[0053] To ensure that each motor element rotates synchronously and that the torque of each motor element is collected, each motor element can mesh and synchronize with each other through gears, magnetic gears, magnetic coupling, pulleys, friction, chains, etc. This paper takes gear meshing as an example and illustrates the proposed gear meshing method in Figures 19 and 20. Reference numeral 134 in Figure 19 denotes the rear end cover of a dedicated stator yoke. Any two adjacent motor elements mesh with each other through motor element gears 135, and the rotors of the two meshed, different types of motor elements rotate in opposite directions. The specific rotation direction of each motor element gear 135 is shown in Figure 21. The gears of each motor element mesh with each other, and the motor torque can be output by the rotor shaft of any motor element or the shafts of multiple motor elements. The shaft used to output torque in a matrix motor is called the output shaft. Because torque is transmitted from the surrounding motor elements to the output shaft, the gear strength can be increased by thinning the gear angle of the motor elements farther from the output shaft and thickening the gear angle of the motor elements closer to the output shaft to ensure transmission strength. Similar methods can be used to increase transmission strength in other transmissions, such as pulley, friction, and chain based.

[0054] To meet specific spatial shape requirements, the stator modules of the motor elements can be rotated at a specific angle θ around the mirror axis to form a spatial structure, as shown in Fig. 22. The left side of Fig. 22 shows a schematic diagram of the stator modules of the motor elements rotating around the mirror axis, and the right side of Fig. 22 shows the filling position of the magnetic conductive material 20. By filling the magnetic conductive material 20 between the two half stator teeth, the magnetic field flow between the two motor elements is realized.

[0055] The matrix motor presented in this book is essentially a motor-like mechanism for converting electrical energy to mechanical energy, and can be widely used in various fields such as robotics, servos, industrial automation, and aerospace. Furthermore, the matrix motor presented in this book has been verified through simulations and experiments, and the results are as expected.

[0056] Compared with conventional matrix motors, the matrix motor based on the mirror symmetry principle proposed in this paper has the following advantages. The matrix motor proposed in this paper is based on the mirror symmetry principle, and the motor elements are divided into two types, "B" and "A," and are arranged symmetrically around the mirror axis. Therefore, the motor elements of the matrix motor system proposed in this paper are arranged in a rectangle, with each motor element located at one of the four corners of the rectangle. This paper also proposes type B and type A motor elements, and a new matrix motor structure with superior performance based on the mirror symmetry principle. This paper also proposes the layout principle of type B and type A motor elements that make up the matrix motor shown in Figure 6, the series and parallel winding schemes for each motor element shown in Figures 8 and 9, and the specific mechanical structure of the matrix motor shown in Figures 14 to 16.

[0057] According to the above technical solution, an embodiment of this document provides a matrix motor based on the principle of mirror symmetry, which includes multiple motor elements. The motor elements include A-type motor elements and B-type motor elements. The square or rectangular outline connecting adjacent motor elements serves as the mirror axis, and the A-type motor elements and B-type motor elements are arranged symmetrically around the mirror axis. In a matrix motor formed by connecting and arranging each motor element, the two motor elements symmetrical with respect to the mirror axis are different types of motor elements. To solve the problems of existing matrix motors, such as weak mutual coupling between motor elements (only magnetic field components are coupled, and magnetic field coupling cannot be fully realized), weak output torque, loose arrangement, complex transmission structure of each motor element, and incomplete electromagnetic scheme between each motor element, this document proposes a new matrix motor topology based on the "principle of mirror symmetry." This matrix motor topology has advantages such as a compact structure, strong coupling, large output torque, and simple transmission. By optimizing the electromagnetic scheme between motor elements, the production and control of matrix motors become easier.

[0058] Those skilled in the art will understand that the above-mentioned implementation methods are specific examples for implementing the present invention, and that in actual application, various changes in form and details of the present invention are possible, but will not deviate from the spirit and scope of the present invention. Those skilled in the art can make changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. It is a matrix motor based on the principle of mirror symmetry and is characterized by the inclusion of multiple motor elements. The motor elements include A-type motor elements and B-type motor elements. The square or rectangular contour edge connecting adjacent motor elements is used as a mirror axis, and the A-type motor element and the B-type motor element are arranged symmetrically with respect to the mirror axis. Two motor elements symmetrical with respect to the mirror axis in the matrix motor formed by connecting and arranging the motor elements are of different types.

2. According to the matrix motor based on the principle of mirror symmetry as set forth in claim 1, each motor element in the matrix motor is of a different type from the adjacent motor elements, and each motor element in the matrix motor is of the same type as the motor element diagonally opposite it.

3. According to the matrix motor based on the principle of mirror symmetry as set forth in claim 1, the outer contour of the motor elements is square or rectangular. The outer contour of a matrix motor formed by connecting and arranging multiple motor elements is characterized by being a square, a rectangle, or a combination of multiple rectangles.

4. According to the matrix motor based on the principle of mirror symmetry described in claim 1, the mirror axis reflects the stator part of the B-type motor element to the stator part of the A-type motor element, or the stator part of the A-type motor element to the stator part of the B-type motor element. The magnetic fields of each motor element in the matrix motor generated by mirror symmetry are completely overlapped and combined, which eliminates the stator yoke and increases the output torque of the rotor.

5. According to the matrix motor based on the principle of mirror symmetry as set forth in claim 1, the stator part of the motor element is surrounded by a plurality of motor element half stator teeth, and a motor element half stator tooth space is provided between two motor element half stator teeth. The plurality of motor element half stator teeth form a stator module having a circular hole therein and a square or rectangular outer contour, and the stator module, in which the plurality of motor element half stator teeth are surrounded by the motor rotor at its center, is coaxial with the rotor.

6. According to the matrix motor based on the mirror symmetry principle described in claim 5, the motor element also includes a front end cover, a rear end cover, a front bearing, a rear bearing, and a motor element winding, among which the motor element winding is divided into multiple phases and wound on half stator teeth of the motor element. The front and rear end covers are also provided with end cover protrusions, which can be inserted into the motor element half stator tooth grooves to achieve mutual fixation between the front end cover, rear end cover and stator module. Front and rear bearings are mounted within cavities in the front and rear covers to limit the rotor position while allowing the rotor to rotate freely about the central axis of the stator.

7. According to the matrix motor based on the principle of mirror symmetry described in claim 6, the positive magnetic field directions of the corresponding phase windings of the B-type motor elements and the A-type motor elements are opposite to each other with respect to their respective rotors, the rotor rotation directions of the B-type motor elements and the A-type motor elements are opposite to each other, and further, when the rotor magnetic poles of the B-type motor elements and the A-type motor elements are aligned to the A phase in the initial state, the rotor magnetic poles have opposite polarities.

8. According to the matrix motor based on the principle of mirror symmetry as set forth in claim 6, the connection method of each phase winding of each motor element is characterized by being series connection, parallel connection, or a mixture of series connection and parallel connection.

9. According to the matrix motor based on the principle of mirror symmetry as described in claim 1, each motor element is symmetrical about the mirror axis, and then can be rotated by a certain angle about the mirror axis in space to realize a spatial structure. A magnetic conductive material is disposed between the half stator teeth of the two motor elements to realize the coupling of the magnetic fields of the two motor elements.

10. According to the matrix motor based on the principle of mirror symmetry described in claim 1, each motor element is synchronized by meshing with each other via gears, magnetic gears, magnetic coupling, pulleys, friction or chains, and the torque of each motor element is collected to achieve synchronous rotation of each motor element.

Images