TWI466416B - A novel integrated design of an axial-flux brushless dc motor with an axial type magnetic coupling - Google Patents
A novel integrated design of an axial-flux brushless dc motor with an axial type magnetic coupling Download PDFInfo
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- TWI466416B TWI466416B TW101118544A TW101118544A TWI466416B TW I466416 B TWI466416 B TW I466416B TW 101118544 A TW101118544 A TW 101118544A TW 101118544 A TW101118544 A TW 101118544A TW I466416 B TWI466416 B TW I466416B
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Description
本發明係涉及一種用於馬達的聯軸器，尤其是一種新型軸向氣隙直流無刷馬達與軸向式磁性聯軸器之一體式機電裝置。The present invention relates to a coupling for a motor, and more particularly to a novel axial air gap DC brushless motor and an axial type magnetic coupling.
馬達與聯軸器係機械系統中不可或缺的組成單元，其中馬達係係為一動力產生裝置，以轉換電瓶的電能為機械能輸出動力，聯軸器係為傳動裝置以將馬達所產生的動能的扭矩傳遞至其他構件。Motor and coupling are integral components of the mechanical system, wherein the motor is a power generating device to convert the electrical energy of the battery into mechanical energy output, and the coupling is a transmission to generate the motor. The torque of kinetic energy is transmitted to other components.
由於馬達與聯軸器一般係分屬於傳動系統內的兩個獨立子機構，在個別設計以及製造完成後，再分別根據各種需求予以配合組裝，而廣泛應用於各種需要傳遞扭矩的場合，以滿足機械所需的動力，並將馬達的推力傳遞至各個構件。Since the motor and the coupling are generally divided into two independent sub-mechanisms in the transmission system, after individual design and manufacture, they are assembled according to various requirements, and are widely used in various occasions where torque transmission is required to meet The power required by the machine and the thrust of the motor is transmitted to the various components.
然而，由於動力傳輸聯結較為複雜，馬達提供的轉矩須由輸入介面連接於聯軸器的輸入介面以傳達扭矩，由於聯軸器或馬達間的傳遞元件越多，則元件之間產生的摩擦力所耗損的產生額外的機械能也就越多，致使整體的效率偏低；再者，由於組成元件較多，且馬達與聯軸器是獨立設計製造，組合時所需要應用的傳輸介面零組件也較多，因此在各個元件之間的精度以及公差容易導致元件磨耗，特別是各個傳遞動力的過渡元件和固定用的機構，讓整體 的製造與維修成本大幅增加，更影響系統的工作精度；另外，馬達與聯軸器係單獨裝配，因此所需佔用的空間較多，難以壓縮兩者之間的空間設計，也無法有效規劃安裝容積，使得整體裝置的體積偏大。However, due to the complexity of the power transmission coupling, the torque provided by the motor must be connected to the input interface of the coupling by the input interface to transmit the torque. The more the transmission element between the coupling or the motor, the friction between the components. The more mechanical energy generated by the force is lost, resulting in lower overall efficiency. Furthermore, due to the large number of components and the independent design and manufacture of the motor and the coupling, the transmission interface required for the combination is zero. There are also many components, so the precision and tolerance between the various components are likely to cause component wear, especially for the transition components and fixing mechanisms that transmit power, so that the whole The manufacturing and maintenance costs are greatly increased, which affects the working accuracy of the system. In addition, the motor and the coupling are separately assembled, so the space required is large, it is difficult to compress the space between the two, and the installation cannot be effectively planned. The volume makes the overall device bulky.
為了解決上述現有馬達與聯軸器分別組裝製造，需耗費較多空間、動能傳遞容易損耗、且維修成本較高等問題，本發明的主要目的在於提供一種新型軸向氣隙直流無刷馬達與軸向式磁性聯軸器之一體式機電裝置。In order to solve the above problems of assembling and manufacturing the above-mentioned existing motor and the coupling, it takes a lot of space, the kinetic energy is easily lost, and the maintenance cost is high. The main object of the present invention is to provide a novel axial air gap DC brushless motor and shaft. One-piece electromechanical device of a magnetic coupling.
本發明所運用的技術手段係在於提供一種新型軸向氣隙直流無刷馬達與軸向式磁性聯軸器之一體式機電裝置，包括有：一罩體，其係呈中空；一馬達定子，其係呈盤狀裝設於該罩體內；一共用轉子，其係呈盤狀且可轉動地同軸裝設於該馬達定子異於該罩體的另一側，該共用轉子上係裝設有複數的永久磁鐵與該馬達定子磁性連動；以及一聯軸器輸出部，其係同軸地裝設於該共用轉子且與該共用轉子磁性連動，該聯軸器輸出部係包括一底座以及複數外聯軸磁極，該底座係同軸地裝設於該共用轉子，該複數外聯軸磁極係裝設於該底座朝向該共用轉子的一側且相鄰的二個該外聯軸磁極的磁性係彼此相反；藉此，該馬達定子係被輸入電流而產生磁極，使該共 用轉子係受該馬達定子磁性連動而旋轉，且該共用轉子係磁性帶動該聯軸器輸出部進行旋轉以輸出扭矩。The technical means used in the present invention is to provide a novel axial air gap DC brushless motor and an axial type magnetic coupling one-piece electromechanical device, comprising: a cover body, which is hollow; a motor stator, The utility model is arranged in a disk shape in the cover body; a common rotor is arranged in a disk shape and rotatably coaxially mounted on the other side of the motor stator, and the common rotor is fastened a plurality of permanent magnets are magnetically coupled to the motor stator; and a coupling output portion coaxially mounted to the common rotor and magnetically coupled to the common rotor, the coupling output portion including a base and a plurality of outer portions a coupling magnetic pole, the base is coaxially mounted on the common rotor, and the plurality of external coupling magnetic poles are mounted on a side of the base facing the common rotor and two adjacent magnetic poles of the external coupling magnetic pole are mutually connected Instead, the motor stator is input with current to generate magnetic poles, so that the total The rotor system is rotated by the magnetic coupling of the motor stator, and the common rotor is magnetically driven to rotate the coupling output portion to output torque.
如前所述的新型軸向氣隙直流無刷馬達與軸向式磁性聯軸器之一體式機電裝置，其中所述的共用轉子係包括一共用軛鐵、複數轉子磁極以及複數內聯軸磁極，該共用軛鐵係可旋轉地同軸裝設於該馬達定子，該複數轉子磁極以及該複數內聯軸磁極係皆為永久磁鐵，該複數轉子磁極係裝設於該共用軛鐵朝向該馬達定子一側且與該馬達定子磁性連動，相鄰的二個該轉子磁極的磁性係彼此相反，該複數內聯軸磁極係裝設於該共用軛鐵相反於該馬達定子的一側且與該聯軸器輸出部磁性連動，相鄰的二個該內聯軸磁極的磁性係彼此相反。A new type of axial air gap brushless DC motor and an axial type magnetic coupling as described above, wherein the common rotor system comprises a common yoke, a plurality of rotor poles and a plurality of inline shaft poles The common yoke iron is rotatably coaxially mounted on the motor stator, and the plurality of rotor magnetic poles and the plurality of inner coaxial magnetic poles are permanent magnets, and the plurality of rotor magnetic poles are mounted on the common yoke toward the motor stator One side and magnetically interlocked with the motor stator, the magnetic properties of two adjacent rotor poles are opposite to each other, and the plurality of inner shaft magnetic poles are mounted on a side of the common yoke opposite to the motor stator and connected thereto The shaft output portion is magnetically linked, and the magnetic properties of two adjacent inner shaft magnetic poles are opposite to each other.
本發明係將永久磁鐵視作永磁無刷馬達中轉子的組成構件，亦為磁性聯軸器的構造元件，可做為馬達與聯軸器整合設計上的共用機件，因此以永久磁鐵做為整合設計上的媒介，將原屬兩個互為獨立的機械裝置在構造上加以整合，將可成為一體式機電整合裝置，可有效改善傳統設計的固有缺點；由於傳統馬達與機械式聯軸器以接觸傳動方式傳遞扭矩，而本發明係利用磁性進行非接觸的傳動，不會產生機件的磨耗與能源的損失，使整合裝置的輸出更為平穩，減少可能產生的振動及噪音，可降低因摩擦力而導致的機械能損耗，並縮減動力的傳輸路徑，致使整體效率提高；再者，整體的安裝空間，將現有的馬達轉子與磁性聯軸器共用為同一的共用轉子部件，可節省成本使整體機 構更為緻密並減低重量，構造上較傳統動力與傳動裝置單獨設計更為緻密，組成機件更為簡化，因此具有輕量化與體積小的優勢，在維修上更行簡便；另外，本發明藉由磁性傳動，可具有過載保護作用，當最大的傳動扭矩超過臨界扭矩時，只會造成聯軸器輸出部與共用轉子之間的滑移，成為一過載的保護機制，降低對整合裝置以及整個傳動系統所造成的影響。The invention regards the permanent magnet as a component component of the rotor in the permanent magnet brushless motor, and is also a structural component of the magnetic coupling, which can be used as a shared component of the integrated design of the motor and the coupling, so the permanent magnet is used. In order to integrate the design medium, the original two independent mechanical devices are structurally integrated, which will become an integrated electromechanical integration device, which can effectively improve the inherent shortcomings of the traditional design; due to the traditional motor and mechanical coupling The device transmits torque in a contact transmission manner, and the invention utilizes magnetic non-contact transmission, which does not cause wear and energy loss of the mechanism, so that the output of the integrated device is more stable, and vibration and noise generated may be reduced. Reduce the mechanical energy loss caused by friction and reduce the power transmission path, resulting in improved overall efficiency; in addition, the overall installation space, the existing motor rotor and magnetic coupling share the same common rotor component, Cost savings for the overall machine The structure is more compact and reduces the weight, and the structure is more compact than the traditional power and transmission device, and the components are more simplified, so that the utility model has the advantages of light weight and small volume, and is more convenient in maintenance; By magnetic transmission, it can have overload protection. When the maximum transmission torque exceeds the critical torque, it will only cause the slip between the coupling output and the common rotor, which becomes an overload protection mechanism and reduces the integration of the device. The impact of the entire drive system.
為了能夠詳細瞭解本發明的技術特徵及實用功效，並可依照說明書的內容來實施，更進一步以如圖式所示的較佳實施例，詳細說明如后： 本發明係一種新型軸向氣隙直流無刷馬達與軸向式磁性聯軸器之一體式機電裝置，關於本發明的一較佳實施例請參照圖1與圖2，其係包括一罩體10、一馬達定子20、一共用轉子30、一聯軸器輸出部40以及一轉軸50。In order to be able to understand the technical features and practical functions of the present invention in detail, it can be implemented in accordance with the contents of the specification, and further illustrated in the preferred embodiment as illustrated in the following: The present invention relates to a novel axial air gap DC brushless motor and an axial type magnetic coupling. The preferred embodiment of the present invention refers to FIG. 1 and FIG. 2, which includes a cover. 10. A motor stator 20, a common rotor 30, a coupling output portion 40, and a rotating shaft 50.
該罩體10係呈中空圓形筒狀；該馬達定子20係呈盤狀且沿其徑向設有複數的線圈繞匝，該馬達定子20係同軸地裝設於該罩體10內，該馬達定子20一側係朝向該罩體10內側面且另一側係裝設該共用轉子30，該共用轉子30係呈盤狀且可轉動地同軸裝設於該馬達定子20，該共用轉子30上係裝設有複數的永久磁鐵與該馬達定子20磁性連動，更佳地，該共用轉子30係包括一共用軛鐵31、複數轉子磁極32以及複數內聯軸磁極33，該共用軛鐵31 係呈盤狀且可旋轉地同軸裝設於該馬達定子20，該複數轉子磁極32以及該複數內聯軸磁極33皆為永久磁鐵，該複數轉子磁極32係裝設於該共用軛鐵31朝向該馬達定子20一側且與該馬達定子20磁性連動，相鄰的二個該轉子磁極32的磁性係彼此相反而使N極以及S極呈交錯同心排列，該複數內聯軸磁極33係裝設於該共用軛鐵31相反於該馬達定子20的一側且與該聯軸器輸出部40磁性連動，相鄰的二個該內聯軸磁極33的磁性係彼此相反而使N極以及S極呈交錯同心排列；該聯軸器輸出部40係同軸地裝設於該共用轉子30且與該共用轉子30磁性連動，該聯軸器輸出部40係包括一底座41以及複數外聯軸磁極42，該底座41係同軸地裝設於該共用轉子30，該複數外聯軸磁極42係裝設於該底座41朝向該共用轉子30的一側且相鄰的二個該外聯軸磁極42的磁性係彼此相反，該複數外聯軸磁極42係對應地受複數該內聯軸磁極33磁性連動；該轉軸50係貫穿該罩體10、該馬達定子20、該共用轉子30以及該聯軸器輸出部40的各個軸心位置，使該共用轉子30以及該聯軸器輸出部40能夠同軸旋轉。The cover body 10 has a hollow circular cylindrical shape; the motor stator 20 has a disk shape and is provided with a plurality of coil windings in a radial direction thereof, and the motor stator 20 is coaxially mounted in the cover body 10, The motor stator 20 is disposed on the inner side surface of the cover body 10 and is disposed on the other side of the common rotor 30. The common rotor 30 is rotatably coaxially mounted to the motor stator 20 in a disk shape. The common rotor 30 is provided. The upper arm is provided with a plurality of permanent magnets magnetically interlocked with the motor stator 20. More preferably, the common rotor 30 includes a common yoke 31, a plurality of rotor poles 32, and a plurality of inner shaft poles 33. The common yoke 31 The motor stator 20 is coaxially mounted in a disk shape and rotatably. The plurality of rotor poles 32 and the plurality of inner shaft poles 33 are permanent magnets. The plurality of rotor poles 32 are mounted on the common yoke 31. The motor stator 20 is magnetically coupled to the motor stator 20, and the magnetic states of the two adjacent rotor poles 32 are opposite to each other, so that the N pole and the S pole are arranged in a staggered concentric arrangement. The plurality of inner shaft magnetic poles 33 are mounted. The common yoke 31 is disposed on a side opposite to the motor stator 20 and magnetically interlocked with the coupling output portion 40. The magnetic properties of two adjacent inner coaxial magnetic poles 33 are opposite to each other to make the N pole and the S The pole output unit 40 is coaxially mounted on the common rotor 30 and magnetically coupled to the common rotor 30. The coupling output unit 40 includes a base 41 and a plurality of external shaft magnetic poles. The base 41 is coaxially mounted on the common rotor 30. The plurality of externally coupled shaft poles 42 are mounted on one side of the base 41 facing the common rotor 30 and adjacent to the two outer coaxial magnetic poles 42. The magnetic systems are opposite to each other, and the plurality of externally coupled magnetic poles 42 are paired The in-line shaft pole 33 is magnetically interlocked by the plurality of poles; the shaft 50 extends through the respective axial positions of the cover body 10, the motor stator 20, the common rotor 30, and the coupling output portion 40 to make the common rotor 30 And the coupling output unit 40 is rotatable coaxially.
該馬達定子20、該共用轉子30、該聯軸器輸出部40係同軸配置，該馬達定子20係被輸入電流而產生磁極，使該共用轉子30的該複數轉子磁極32係受該馬達定子20磁性影響而連動，進而使該共用轉子30的該共用軛鐵31旋轉，則該共用軛鐵31上的該複數內聯軸磁極33係磁性連動該聯軸器輸出部40的該複數外聯軸磁極42，使 該聯軸器輸出部40的該底座41得以輸出扭矩。The motor stator 20, the common rotor 30, and the coupling output portion 40 are coaxially arranged. The motor stator 20 receives a current to generate a magnetic pole, and the plurality of rotor poles 32 of the common rotor 30 are received by the motor stator 20. The plurality of in-line magnetic poles 33 on the common yoke 31 are magnetically linked to the plurality of externally coupled shafts of the coupling output portion 40 by magnetically affecting and interlocking the common yoke 31 of the common rotor 30. Magnetic pole 42 The base 41 of the coupling output portion 40 is capable of outputting torque.
請參照圖3所示，本較佳實施例中，該馬達定子20係為三相八極十二槽的軸向氣隙直流無刷馬達且其最外徑為90mm、最內徑為50mm、繞組線徑為1.024mm、導體電流2條、匝數為54匝且額定電流為9.876A，而該轉子磁極32、該內聯軸磁極33以及該外聯軸磁極42係為B r =0.76T 、μ r =1.26的永久磁鐵(Ferrite magnet)，且該馬達定子20以及該聯軸器輸出部40的該底座41的材質係為矽鋼片(50H600)，該聯軸器輸出部40的傳動比為1：1，由於該共用軛鐵31能將扭矩傳遞至該聯軸器輸出部40作為動力輸出，該共用軛鐵31係可防止漏磁且具有磁鏡(Magnetic mirror)作用，使磁通能均勻的分佈在共用軛鐵31表面並提升其所能傳輸的扭矩值，藉由該共用軛鐵31產生無數個連續鏡像效應，由於鏡像間的交互作用力急速遞減，使得該複數轉子磁極32以及該複數內聯軸磁極33與該共用軛鐵31間的交互作用視為磁鐵厚度的加倍，其結果經由等效磁路學理分析以及三維有限元素法驗證，本發明的電磁轉矩較原始馬達降低至11.5134Nm，但轉矩漣波的振幅由原先的45.21%增加至154.44%，且轉矩漣波增加至144.98%，上述結果在運行過程，由於該共用軛鐵31兩側的該複數轉子磁極32以及該複數內聯軸磁極33之間傳遞路徑較長，容易讓該聯軸器輸出部40與該共用轉子30的軸線角度偏移產生偏位誤差，當偏位的角度幅度增大，導致磁面間的距離變大，使得最大的傳動扭矩因 此而減小，因此本發明適用於不需平穩輸出但輸出轉距要求較大的工作環境，相較於傳統設計具有安裝空間較小、能量損耗較低以及維修方便等優點。Referring to FIG. 3, in the preferred embodiment, the motor stator 20 is a three-phase eight-pole twelve-slot axial air gap DC brushless motor having an outer diameter of 90 mm and an inner diameter of 50 mm. The winding wire diameter is 1.024 mm, the conductor current is 2, the number of turns is 54 匝, and the rated current is 9.876 A, and the rotor magnetic pole 32, the inner coupling magnetic pole 33, and the external coupling magnetic pole 42 are B r = 0.76 T a permanent magnet (Ferrite magnet) of μ r = 1.26, and the motor stator 20 and the base 41 of the coupling output portion 40 are made of a silicon steel sheet (50H600), and the transmission ratio of the coupling output portion 40 is 1:1, since the common yoke 31 can transmit torque to the coupling output portion 40 as a power output, the common yoke 31 prevents magnetic flux leakage and has a magnetic mirror function to make magnetic flux It can be evenly distributed on the surface of the common yoke 31 and increase the torque value that can be transmitted. The common yoke 31 generates an infinite number of continuous mirroring effects, and the complex rotor poles 32 are rapidly decremented due to the interaction between the mirrors. And the interaction between the complex in-line magnetic pole 33 and the common yoke 31 is regarded as magnetic The doubling of the thickness, the result is verified by the equivalent magnetic circuit analysis and the three-dimensional finite element method, the electromagnetic torque of the present invention is reduced to 11.5134 Nm compared with the original motor, but the amplitude of the torque chopping is increased from the original 45.21% to 154.44%. And the torque ripple is increased to 144.98%. The above result is easy to make the connection because the transmission path between the plurality of rotor poles 32 and the plurality of in-line magnetic poles 33 on both sides of the common yoke 31 is long during operation. The angular displacement of the shaft output portion 40 from the axis of the common rotor 30 causes a misalignment error. When the angular extent of the offset increases, the distance between the magnetic surfaces becomes larger, so that the maximum transmission torque is reduced. The invention is applicable to a working environment that does not require a smooth output but has a large output torque requirement, and has the advantages of small installation space, low energy loss, and convenient maintenance compared with the conventional design.
以上所述，僅是本發明的較佳實施例，並非對本發明作任何形式上的限制，任何所屬技術領域中具有通常知識者，若在不脫離本發明所提技術特徵的範圍內，利用本發明所揭示技術內容所作出局部更動或修飾的等效實施例，均仍屬於本發明技術特徵的範圍內。The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any one of ordinary skill in the art can use the present invention without departing from the technical features of the present invention. Equivalent embodiments of the local changes or modifications made by the disclosed technology are still within the scope of the technical features of the present invention.
10‧‧‧罩體10‧‧‧ Cover
20‧‧‧馬達定子20‧‧‧Motor stator
30‧‧‧共用轉子30‧‧‧Common rotor
31‧‧‧共用軛鐵31‧‧‧Share yoke
32‧‧‧轉子磁極32‧‧‧Rotor magnetic pole
33‧‧‧內聯軸磁極33‧‧‧Inline shaft pole
40‧‧‧聯軸器輸出部40‧‧‧Coupling output
41‧‧‧底座41‧‧‧Base
42‧‧‧外聯軸磁極42‧‧‧External shaft magnetic pole
50‧‧‧轉軸50‧‧‧ shaft
圖1係本發明之一較佳實施例的立體分解圖。BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is an exploded perspective view of a preferred embodiment of the present invention.
圖2係本發明之一較佳實施例組裝後的局部剖視立體圖。Figure 2 is a partially cutaway perspective view of a preferred embodiment of the present invention assembled.
圖3係本發明之一較佳實施例與原始馬達的輸出扭矩與轉矩漣波曲線圖。Figure 3 is a graph of output torque and torque chopping of a preferred embodiment of the present invention and the original motor.
10‧‧‧罩體10‧‧‧ Cover
20‧‧‧馬達定子20‧‧‧Motor stator
30‧‧‧共用轉子30‧‧‧Common rotor
31‧‧‧共用軛鐵31‧‧‧Share yoke
32‧‧‧轉子磁極32‧‧‧Rotor magnetic pole
33‧‧‧內聯軸磁極33‧‧‧Inline shaft pole
40‧‧‧聯軸器輸出部40‧‧‧Coupling output
41‧‧‧底座41‧‧‧Base
42‧‧‧外聯軸磁極42‧‧‧External shaft magnetic pole
50‧‧‧轉軸50‧‧‧ shaft
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101118544A TWI466416B (en) | 2011-12-23 | 2011-12-23 | A novel integrated design of an axial-flux brushless dc motor with an axial type magnetic coupling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101118544A TWI466416B (en) | 2011-12-23 | 2011-12-23 | A novel integrated design of an axial-flux brushless dc motor with an axial type magnetic coupling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201328134A TW201328134A (en) | 2013-07-01 |
| TWI466416B true TWI466416B (en) | 2014-12-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW101118544A TWI466416B (en) | 2011-12-23 | 2011-12-23 | A novel integrated design of an axial-flux brushless dc motor with an axial type magnetic coupling |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TWI466416B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6484507B2 (en) * | 2015-06-15 | 2019-03-13 | 株式会社日立産機システム | Axial gap type rotating electrical machine |
| CN107994717A (en) * | 2017-12-18 | 2018-05-04 | 西安航天动力测控技术研究所 | A kind of integrated under-water DC brushless electric machine of magnetic shaft coupling |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW434977B (en) * | 1999-06-29 | 2001-05-16 | Sunonwealth Electr Mach Ind Co | Device for combining motor and gear |
| TW543266B (en) * | 2001-12-31 | 2003-07-21 | Ming-Chi Tsai | Motor of dual concentric axis |
| TW200618448A (en) * | 2004-11-22 | 2006-06-01 | Univ Nat Cheng Kung | Direct-current brushless motor combined with planetary gear train |
-
2011
- 2011-12-23 TW TW101118544A patent/TWI466416B/en active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW434977B (en) * | 1999-06-29 | 2001-05-16 | Sunonwealth Electr Mach Ind Co | Device for combining motor and gear |
| TW543266B (en) * | 2001-12-31 | 2003-07-21 | Ming-Chi Tsai | Motor of dual concentric axis |
| TW200618448A (en) * | 2004-11-22 | 2006-06-01 | Univ Nat Cheng Kung | Direct-current brushless motor combined with planetary gear train |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201328134A (en) | 2013-07-01 |
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