Patent Publication Number: US-9425669-B2

Title: Ball joint universal rotary motor, a manufacturing method and a working mechanism thereof

Description:
RELATED APPLICATION 
     This application is a divisional application of U.S. patent application Ser. No. 14/288,504, filed on May 28, 2014, which is a divisional application of U.S. patent application Ser. No. 14/088,056, filed on Nov. 22, 2013, both of which are hereby incorporated by reference in its entirety. 
    
    
     TECHNICAL FIELD 
     The disclosure herein relates to electrical fields, in particular to a three-dimensional ball joint universal rotary motor and a manufacturing method and a working mechanism thereof. 
     BACKGROUND 
     Electrical motors are widely used in the electrical appliances of people&#39;s life, and in manufacturing and production and various military equipment. An existing motor has a stator and a rotor, with a rotor shaft installed within the rotor and rotates with the rotor; as such, the motors output power. Because a rotor shaft of the an existing motor can only rotate with respect to the axis of the motor, the motor is called a planar motor for the reason that the movement of the rotor shaft has only one degree of freedom. 
     As shown in a prior art in  FIG. 1 , an existing motor may comprise a housing  10 , and two end caps  11  and  12  at two ends of the housing  10 . The housing  10  and the end caps  11  and  12  form a chamber. A stator  15  and a rotor  18  are provided in the chamber. The stator  15  comprises a stator core  16 , and coils  17  wound on the stator core  16 . The rotor  18  is provided within the stator  15 , and may rotate with respect to the stator  15 . A rotor shaft  19  is installed within the rotor  18 , and through the interference fit with the rotor  18 , the rotor shaft  19  is driven by the rotor  18  to rotate to output power. 
     A stator core  16  is generally formed by stacking multiple pieces of stator laminations of similar shapes. As shown in  FIG. 2 , a stator lamination  20  is formed by stamping a silicon steel plate material. The stator lamination is of an annular shape, and comprises a magnet yoke portion  21  at its outer periphery section. The magnet yoke portion  21  is of an annular shape. The stator lamination  20  also comprises multiple teeth  22  which project from the magnet yoke portion  21  outwardly from the center of the stator sheet along its radial direction. A winding slot forms between two adjacent teeth. A coil may be wound on a tooth  22 . 
     As each stator lamination  20  is provided with a hollow center hole  24 , the center holes  24  of the stator core  61  of the multiple stacked stator laminations form a rotor hole, to accommodate the rotor within. 
     The rotor core is formed by stacking multiple pieces of rotor laminations. A rotor core may be wound with coils of the rotor, or with aluminum molding. When a coil of the stator is energized, the AC current generates an alternating magnetic field in the coil  17  of the stator; the rotor  18  is driven by the magnetic field to rotate, which drives the rotor shaft  19  to rotate as well. Therefore, the stator  15  works as armature of the motor to receive electrical energy and to generate an alternating magnetic field. 
     However, many electrical appliances and industrial devices require components that may perform movement with multiple degrees of freedom. As an existing motor may move in only one degree of freedom, it cannot satisfy the application needs of the current electrical devices. Presently, multiple motors are used to perform movement with multiple degrees of freedom, which results in larger number of motors and a bigger volume in a device, and higher production cost. 
     Additionally, when one of the multiple motors breaks down, the whole device runs into a problem. Therefore such a device has poor stability. Furthermore, multiple motors require more precise control of the motors when working together, and place a very high requirement on the control of the equipment. 
     SUMMARY 
     The present disclosure provides a ball joints universal rotary motor that realizes movements in multiple degrees of freedom. 
     The present disclosure also provides a manufacturing method of said ball joints universal rotary motor. 
     The present disclosure also provides a working mechanism of said ball joints universal rotary motor. 
     The ball joints universal rotary motor comprises a spherical-cap shaped housing, a spherical-cap shaped stator body, and a rotor body configured to be secured within the stator body. The stator body is made from a permanent magnet, and is magnetized to form a plurality of magnetic poles. The rotor body comprises multiple layers of armatures and multiple spacer layers. Each layer of the armatures comprises a rotor core formed from stacked multiple layers of silicon steel laminations. The multiple layers of armatures are symmetrically distributed with respect to an axis of the rotor body. A spacer layer is provided between two adjacent rotor cores. The multiple layers of armatures and multiple spacer layers are securely connected by a bolt to form the rotor body. The rotor body is of a spherical shape. Each layer of the armatures is wound with two layers of coils: a first layer and a second layer. The first layer of coils is configured to be wound on the rotor core of the same armature. The second layer of coils on a layer of armature is electrically connected with another second layer of coils on another layer of armature that is symmetrically distributed in equal distance from a center of the rotor body with respect to the layer of armature. 
     When the first layer of coils in a layer of armature is energized, an alternating magnetic field forms which drives the rotor body to rotate with respect to the bolt. When the second layer of coils in a layer of armature is energized, the rotor body tilts with respect to an axis of the stator body, to realize a movement in a second degree of freedom. An angle of tilting of the rotor body is adjustable by changing the magnitude or the length of time of the electricity in the second layer of coils, to realize a movement in multiple degrees of freedom. 
     Preferably, each of the two ends of the bolt is respectively provided with a nut, with each nut in a frustum shape. A cross-sectional area of an end of a nut closer to a center of the rotor body is smaller than a cross-sectional area of another end of the nut further away from the center of the rotor body. 
     Therefore, the rotor cores of the multiple layers of armatures and the multiple spacer layers are configured to be securely connected by the bolt and the nuts. The nuts are configured to ensure the secure connection of two outmost layers of armatures to the multiple layers of armatures of the rotor body. 
     Preferably, the ball joints universal rotary motor further comprises a housing provided outside the stator body. The housing comprises a magnet yoke and a shielding layer outside the magnet yoke. 
     The stator body realizes transduction of a magnetic field through the magnet yoke; and the shielding layer shields an external interference signal to avoid any impact of an external magnetic field on the ball joints universal rotary motor. 
     Preferably, the ball joints universal rotary motor further comprises an air inlet that is provided on the housing, and a pump assembly outside the air inlet. The pump assembly pumps high pressure air in between the stator body and the rotor body, to form a magnetic gap between the stator body and the rotor body, so that the rotor body is configured to rotate with respect to the stator body. 
     Preferably, the ball joints universal rotary motor further comprises an annular projection that is provided on the housing at a notch that is close to the stator body. The annular projection extends in a circumferential direction along the stator body on an outer wall of the housing. The annular projection increases the strength of the housing around the notch that is close to the stator body, which protects the housing from damages. 
     To realize another goal of the present disclosure, the manufacturing of the ball joints universal rotary motor as provided comprises the following steps. First, magnetizing a permanent magnet into a plurality of magnetic poles, to form a stator body; next, manufacturing a rotor body by cutting silicon steel plate material into multiple silicon steel laminations with varying diameters; next, stacking the multiple silicon steel laminations to form rotor cores of multiple layers of armatures, with a spacer layer in between two adjacent rotor cores; next, securing the multiple layers of armatures by a bolt; next, winding a first layer of coils on a layer of armature; next, winding a second layer of coils on a layer of armature, with the second layer of coils being electrically connected with another second layer of coils on a symmetrically distributed armature that is in equal distance from a center of the rotor body. Next, finishing a spherical shaped rotor body and securely installing the rotor body in the stator body. 
     As the above scheme shows, after forming a spherical-cap shaped stator body and a spherical shaped rotor body, the alternating magnetic field generated by the first layer of coils on a layer of armature may drive the rotor body to rotate with respect of an axis of the bolt; the rotor body also tilt with respect to the axis of the stator body after current enters a second layer of coils on a layer of armature, to realize the movement of the motor in multiple degrees of freedom. 
     Preferably, finishing treating an outer surface of the rotor core after the connecting of the armatures by the bolt, so that the overall outer surface of the rotor core substantially approaches a spherical surface. 
     As such, when the overall outer surface of the rotor core substantially approaches a spherical surface, the rotor body rotates better and more smoothly in the stator body. 
     The present disclosure provides a working mechanism of said ball joints universal rotary motor, which comprises energizing a first layer of coils of the motor to drive the rotor body to rotate with respect to an axis of the bolt of said rotor body, and energizing a second layer of coils of the motor to allow the tilting of the rotor body with respect to an axis of a stator body, to realize the movement of the motor in a multiple degrees of freedom. 
    
    
     
       BRIEF DESCRIPTION OF FIGURES 
         FIG. 1  is a cross-sectional diagram of an existing motor in a prior art. 
         FIG. 2  is a schematic view of a structure of a stator lamination of the motor in  FIG. 1 . 
         FIG. 3  is a structural view of a first embodiment of the ball joints universal rotary motor with a pump assembly. 
         FIG. 4  is a structural explosion view of the first embodiment of the ball joints universal rotary motor with a pump assembly. 
         FIG. 5  is a cross-sectional view of the first embodiment of the ball joints universal rotary motor with a pump assembly. 
         FIG. 6  is a cross-sectional view in the A-A plane of the first embodiment of the ball joints universal rotary motor with a pump assembly in  FIG. 5 . 
         FIG. 7  is a structural explosion view of a stator body and a housing of the first embodiment of the ball joints universal rotary motor with a pump assembly. 
         FIG. 8  is an enlarged structural view of a rotor body of the first embodiment of the ball joints universal rotary motor with a pump assembly. 
         FIG. 9  is a structural explosion view of the rotor body of the first embodiment of the ball joints universal rotary motor with a pump assembly. 
         FIG. 10  is a structural explosion view of a bolt and nuts of the rotor body of the first embodiment of the ball joints universal rotary motor with a pump assembly. 
         FIG. 11  is an enlarged structural view of a rotor core of a layer of armature of the rotor body and spacer layers of the first embodiment of the ball joints universal rotary motor with a pump assembly. 
         FIG. 12  is a structural view from another angle of the rotor body of the first embodiment of the ball joints universal rotary motor with a pump assembly. 
         FIG. 13  is a structural view of a silicon steel lamination of the first embodiment of the ball joints universal rotary motor with a pump assembly. 
         FIG. 14  is an expanded view of a first layer of coils on a layer of armature in the rotor body of the first embodiment of the ball joints universal rotary motor with a pump assembly. 
         FIG. 15  an expanded view of a second layer of coils on two symmetrically distributed layers of armatures in the rotor body of the first embodiment of the ball joints universal rotary motor with a pump assembly. 
         FIG. 16A  is a general view of the schematics of a control circuit of the first and second embodiments of the ball joints universal rotary motor;  FIG. 16B to 16G  are detailed view of the schematics of a control circuit of the first and second embodiments of the ball joints universal rotary motor. 
         FIG. 17  is schematics of a control circuit of the first layer of coils of the first and second embodiments of the ball joints universal rotary motor. 
         FIG. 18  is schematics of a control circuit of the second layer of coils of the first and second embodiments of the ball joints universal rotary motor. 
         FIG. 19  is a structural view of the second embodiments of the ball joints universal rotary motor without a pump assembly. 
         FIG. 20  is a cross-sectional view of the second embodiments of the ball joints universal rotary motor without a pump assembly. 
         FIG. 21  is a structural explosion view of the second embodiments of the ball joints universal rotary motor without a pump assembly. 
         FIG. 22  is a comparison view of the first and second embodiments. 
         FIG. 23  is a structural view of a balanced rotary body in an application of the second embodiments of the ball joints universal rotary motor without a pump assembly. 
         FIG. 24  is a structural view of a Y-shaped base of the balanced rotary body in an application of the second embodiments of the ball joints universal rotary motor without a pump assembly. 
         FIG. 25  is a structural view of a base of the balanced rotary body in an application of the second embodiments of the ball joints universal rotary motor without a pump assembly. 
     
    
    
     The embodiments of the present disclosure are further illustrated below in view of the accompanying drawings. 
     DETAILED DESCRIPTION 
     The present disclosure provides a ball joints universal rotary motor. In one embodiment, the ball joints universal rotary motor comprises a pump assembly. In another embodiment, the ball joints universal rotary motor does not comprise a pump assembly. Both embodiments are illustrated in view of the accompanying drawings. 
     The first embodiment is as below. 
     As shown in  FIG. 3 , according to the first embodiment, a ball joints universal rotary motor comprises a spherical-cap shaped housing  31  and a rotor body mounted in the housing  31 . The rotor body is spherical in shape. The rotor body is conFig.d to rotate with respect to the housing  31  in a plurality of directions. As such, the motor as provided is different from a drive planar motor. The motor of the present disclosure is conFig.d to realize a plurality of degrees of freedom of movement, and the motor can be called a three-dimensional motor. 
     As shown in  FIG. 4  and  FIG. 5 , the motor further comprises a spherical-cap shaped stator body  30 . The stator body is made from a permanent magnet, and is magnetized to form a plurality of magnetic poles. During its application, the permanent magnet may be magnetized to form eight or sixteen magnetic poles as needed. The stator body  30  is not necessarily a single permanent magnet, as the stator body may comprise multiple pieces of permanent magnets, with each piece of permanent magnet being magnetized to form one or more magnetic poles as needed. This would allow easy achievement of the magnetization of the permanent magnet and convenient manufacture of the stator body. 
     As shown in  FIG. 5  and  FIG. 6 , the plurality of magnetic poles of the stator body  30  are spaced in alternation in the circumferential direction of different planes, which allows the rotor body to move in different directions, including rotating along the axis of the stator body or tilting. 
     The stator body  30  is housed within the housing  31 . The housing  31  comprises a magnet yoke  32  made of magnetic material, and a shielding layer  33 . The magnet yoke  32  is outside the stator body  30 . The stator body  30  can be securely connected with the housing  31  by bonding an outer wall of the stator body  30  to an inner wall of the magnet yoke  32 . 
     The shielding layer  33  is made of aluminum, an aluminum alloy or other metals. The shielding layer  33  shields and absorbs the external magnetic field to avoid not only any impact of the external magnetic field on the rotor body, but also any impact on the external magnetic field from the magnetic field generated by the rotor body. The shielding layer  33  may be formed by dual-injection molding over the magnet yoke  32 , therefore the shielding layer  33  is securely connected with the magnet yoke  32 . 
     As shown in  FIG. 7 , in order to facilitate the manufacture and assembly of the stator body  30  and the housing  31 , the stator body  30  and the housing  31  respectively comprises two shell bodies  35  and  36  of spherical-cap shapes. A plate piece  37  forms by extending from an edge of the shell body  36  outwards in a radial direction. The plate piece  37  is provided with multiple through holes  38 . An upper end of the plate piece  37  is provided with a half cylindrical shaped body  39 . 
     Accordingly, a plate piece  40  forms by extending from an edge of the shell body  35  outwards in a radial direction. The plate piece  40  is provided with a plurality of lugs  41 . An upper end of the plate piece  40  is provided with a half cylindrical shaped body  42 . When the shell body  35  and shell body  36  are aligned, the plate piece  37  and plate piece  40  are also connected; the lugs  41  are respectively inserted into the through holes  38  to realize the fixed connection between the shell bodies  35  and  36 . When the two half cylindrical shaped bodies  39  and  42  are connected to form an air inlet  45 , external air enters into the housing  31  through the air inlet  45 . 
     As shown in  FIG. 4  and  FIG. 5 , a pump holder  47  is provided above the air inlet  45 . A pump assembly  50  is mounted within the pump holder  47 . An end of the pump assembly  50  is provided with an intake port  51 . A bottom of the pump assembly  50  is in communication with the air inlet  45 . Air enters through the intake port  51  into the pump assembly  50 , is compressed into high pressure air by the pump assembly  50 , and flows into the housing  31  through the air inlet  45 . 
     A cross shaft locking ring  53  is amounted on a top of the pump assembly  50 , and is configured to secure the pump assembly  50  on the housing  31 . The cross shaft locking ring  53  is connected with the pump holder  47  through a plurality of screws  54 . 
     As shown in  FIG. 5 , an annular projection  55  is provided on the housing  31  at a notch that is close to the stator body  30 . The annular projection  55  extends in a circumferential direction along the stator body  30  on an outer wall of the housing  31 , and as such the annular projection  55  increases the strength of the housing  31  around the notch that is close to the stator body  30 , which protects the housing  31  from damages and extends the motor life. 
     A spherical shaped rotor body  60  is provided within the stator body  30 , as shown in  FIG. 8  and  FIG. 9 . The rotor body  60  comprises multiple layers of armatures; wherein each layer of the armatures comprises a rotor core  61 . A rotor core  61  comprises stacked multiple layers of silicon steel laminations. A spacer layer  68  is provided between two adjacent rotor cores. The multiple layers of armatures are symmetrically distributed around the axis of the rotor body  60 . As shown in  FIG. 12 , in the embodiment, a rotor body  60  comprises eight layers of armatures; wherein the corresponding rotor cores of the eight layers of armatures are respectively D 1 , C 1 , B 1 , A 1 , A 2 , B 2 , C 2  and D 2 ; wherein A 1  and A 2  are symmetrically distributed and are in equal distance from a center of the rotor body; B 1  and B 2  are symmetrically distributed and are in equal distance from a center of the rotor body; C 1  and C 2  are symmetrically distributed and are in equal distance from a center of the rotor body; D 1  and D 2  are symmetrically distributed and are in equal distance from a center of the rotor body; the pair of symmetrically distributed rotor cores are of the same size. The diameters of the rotor cores  61  of the multiple layers of armatures gradually decrease from a center of the rotor body  60  toward the two ends. 
     As shown in  FIG. 11 , the diameters of the multiple layers of silicon steel laminations  62  of the rotor core  61  in each layer of armature are different. As shown in  FIG. 12 , the diameters of the multiple layers of silicon steel laminations  62  of the rotor core  61  in each layer of armature decrease from a center of the rotor body  60  toward the two ends direction, and as such, the rotor body  60  is essentially of a spherical shape. 
     As shown in  FIG. 13 , each silicon steel lamination  62  of the rotor core  61  is essentially of an annular shape, with a circular through hole  64  at its center. Multiple layers of silicon steel laminations are stacked to form the rotor core  61 , and the through holes  64  form a bolt hole. The through holes are surrounded by the magnet yoke portion  63  of the silicon steel lamination  62 . Multiple winding slots  65  are provided in the circumferential direction of silicon steel lamination  62  at the outer edge of the magnet yoke portion. Each groove of the winding slots  65  is set to have an opening facing outwardly. Multiple positioning holes  66  are provided on the magnet yoke portion  63 . After the rotor core  61  is formed by stacking, the multiple layers of silicon steel laminations  62  are securely connected by pins passing through the aligned positioning holes  66 . 
     The spacer layer  68  as provided between two rotor cores  61  is also formed by stacked multiple layers of silicon steel laminations. The diameter of the silicon steel laminations of a spacer layer  68  is smaller than the diameter of the silicon steel laminations of an adjacent rotor core  61 . A spacer layer  68  is also provided with a through hole at its center. A spacer layer  68  does not comprise winding slots, and a spacer layer  68  is not wound with coils. 
     As shown in  FIG. 8 , the multiple layers of rotor core  61  and the multiple spacer layers  68  are connected by a bolt  70 . As shown in  FIG. 10 , the bolt  70  comprises a cylindrical screw rod  71 , which has external threads on the outer walls of both ends (not shown in  FIG. 10 ). The screw rod  71  comprises a through hole  72  at its center through the screw rod  71  all the way to its two ends. Two ends of the screw rod  71  are respectively provided with nuts  73  and  75 , with each nut in a frustum shape. A cross-sectional area of the nut  73  or  75  increases from the end close to a center of the rotor body  60  to the other end at the outside direction. As such, the cross-sectional area of the nut  73  or  75  at the end closer to the center rotor body  60  is smaller than the cross-sectional area at the end further away. 
     An inner wall of the nut  73  or  75  is provided with internal threads, which match the external threads on screw rod  71 . Therefore the nut  73  or  75  is configured to be securely connected with the ends of crew rod  71 . The nuts  73  and  75  are also provided with through holes  74  that pas through the two ends of the nut  73  or  75  respectively. Thus, the bolt  70  has an axial through hole that pass through its two end surfaces. 
     The multiple layers of rotor cores  61  of the rotor body  60  and the spacer layers  68  are configured to be securely connected by the bolt  70 . The bolt  70  is configured to pass through the screw holes in the rotor core  61  of each layer of armature and the spacer layers  68 . Because the two nuts  73  and  75  of the bolt  70  are of frustum shapes, during assembly of rotor body  60 , after rotor cores  61  of each layer of armature and its spacer layer are aligned on the screw rod  71 , the nuts  73  and  75  are screwed on the two ends of screw rod  71 ; then multiple layers of rotor cores  61  are securely connected with the crew rod  71 , realizing self-lock of the rotor core  61 . 
     If the diameter of the rotor core  61  is relatively large, in another word, if the area of the rotor core  61  is large, then multiple bolts may be used to connect the multiple rotor cores  61  by passing through the multiple layers of rotor cores  61  and multiple spacer layers  68 . 
     In the embodiment, two layers of coils are configured to wind around each rotor core  61  of each layer of armature, with the first layer of coils wound around the winding slots of the rotor core  61  on the same layer of armature. As shown in  FIG. 14 , in the present embodiment, the rotor core  61  comprises a total of 24 coils and eight poles. The rotor core  61  has twenty-four wound coils, wherein a first coil is wound around the groove  1  and the groove  3 ; a second coil is wound around the groove  2  and the groove  4 ; a third coil is wound around the groove  3  and the groove  5 , and so on and so forth; in another word, each coil is wound around the two grooves that have one groove spaced in between. The coil that is wound around the groove  1  and the groove  3  is connected with the coil that is wound around the groove  13  and the groove  15 , and so one and so forth. The winding method of coils on each layer is similar to that of an existing ordinary asynchronous AC motor. 
     When each of the first layer of coils of the eight layers of armatures is energized, each coil of each layer of armature generates a rotating magnetic field, which rotates with respect to the magnetic field generated by the stator body  30 . Accordingly, the rotor body  60  rotates with respect to the stator body  30 . The rotor body  60  rotates along the axis of the bolt  70 . The eight layers of armatures work in a way equivalent to eight planar motors in this mode. 
     A second layer of coils is configured to be wound around the rotor cores  61  of the eight layers of armatures. As shown in  FIG. 15 , the second layer of coils that is configured to be wound on the same layer of armature also comprise twenty-four coils; for example, a first coil on the armature A 1  is wound around a groove  1  and groove  3 ; a second coil is wound around a groove  2  and a groove  4 ; a third coil is wound around a groove  3  and a groove  5 , and so on and so forth; in another word, each coils is wound around the two grooves that have one groove spaced in between. 
     However, in the second layer of coils, the coil that is wound on the groove  1  and the groove  3  of the armature A 1  is not connected with the coils that is wound on the groove  13  and the groove  15  of the same armature A 1 , but is connected with the coil that is wound on the groove  13  and the groove  15  of the armature A 2 ; similarly, the coil that is wound on the groove  4  and the groove  6  of the armature A 1  is connected with the coil that is on the groove  16  and groove  18  of the armature A 2 , and so on and so forth; in another word, a coil wound on a layer of armature is connected with a coil wound on a symmetrically distributed armature that is in equal distance from a center of the stator body. 
     When the second layer of coils is energized, the two symmetrically arranged armatures generate a rotating magnetic field; the magnetic field rotates around the stator body  30  in a direction that tilts with respect to the axis of the stator body  30 . If the axis of the stator body is Z-axis, a plane that is perpendicular to Z and passes through the center of rotor body  60  is a XOY plane, then when the first layer of coils is energized, rotor body  60  rotates around the Z-axis; when the second layer of coils is energized, rotor body  60  tilts with respect to Z-axis, and rotates in a XOZ plane or a YOZ plane. 
     As each second layer of coils on a layer of armature is electrically connected with another second layer of coils on a symmetrically distributed armature, the magnetic field generated on each layer of armature accumulates to generate a stronger power to promote the rotation of the rotor body  60 . 
     In other embodiments, the winding of coils may vary in many ways. In one example, the armature A 1  and A 2  are wound with only a first layer of coils, and the armature B 1  and B 2  are wound with only a second layer of coils. In other examples, when a second layer of coils on the armature A 1  and A 2  is energized, the rotor body  60  is configured to rotate in a XOZ plane. Or when a second layer of coils on the armature B 1  and B 2  is energized, the rotor body  60  is configured to rotate in a YOZ plane. Or when a second layer of coils on the armature C 1  and C 2  is energized, the rotor body  60  is configured to rotate in a plane that is at a 45° angle with respect to the XOZ plane. By energizing a second layer of coils on different armatures, the motor is configured to rotate at different directions. 
     As the bolt  70  is provided with the through hole in the middle, and the spacer layer  68  is provided with a through hole along the radial direction of the rotor core  61 , that is, the through hole of the spacer layer  68  is perpendicular to the through hole of the bolt  70 . As such, a connection cord that connects different coils may pass through the through hole of a spacer layer  68  or the through hole of the bolt  70 . As such the connection cord does not fly off the surface of the rotor body  60  during the rotation of the rotor body, which protects the connection cord. In addition, a protection layer such as a heat shrink tube may be used outside the connection cord to prevent damages. 
     As shown in  FIG. 4  and  FIG. 5 , a bottom of the rotor body  60  is provided with a rotor body shaft  58 . The rotor body shaft  59  is securely connected with the bolt  70 . The rotation of the rotor body  60  drives the rotation of the rotor body shaft  58 , and as such outputs power. Additionally, the bottom of rotor body  60  is provided with a signal control line  56 ; wherein the line  56  is a tube with three openings; the power lines of the rotor body  60  and signal control lines are all electrically connected through the line  56  with the external power lines and control chips etc. 
     As shown in  FIG. 16 , a control circuit is provided for each first layer of coils on each layer of armature.  FIG. 17  shows an embodiment of the schemes of a control circuit of the first layer of coils. As shown in  FIG. 17 , a control chip outputs a control signal, such as a pulse signal with width modulation, to a power line, to control the shutoff of the power line; external power is introduced to the first layer of coils to realize the rotation or reverse rotation of the rotor body  60  with respect to the Z-axis. 
     The hardware configuration of the control circuit of the second layer of coils of each layer of armature is the same as that of the first layer of coils.  FIG. 18  shows an embodiment of the schemes of a control circuit of the second layer of coils. As shown in  FIG. 18 , a control chip outputs a control signal to a power line, to realize the rotation or reverse rotation of the rotor body  60  in the XOZ plane or the YOZ plane. 
     Preferably, the disclosed ball joint universal rotary motor is a step motor, i.e., the motor rotates only at a small angle in each movement. By continuously outputting control signals, the first layer or the second layer of coils is continuously energized to realize the high speed rotation of the motor; the angle of rotation is adjusted by the length of time of the current, and the motor realizes rotation in all directions. 
     When manufacturing the disclosed ball joint universal rotary motor, first, magnetizing the permanent magnet into a plurality of magnetic poles, with the number of the poles determined based on the actual requirement. Next, manufacturing the housing of the motor, wherein the housing comprises two layers, an inner layer and an outer layer. The inner layer comprises a magnet yoke made of a magnetic material. The outer layer is a shielding layer made of aluminum or other metals. Next, securely connecting the stator body within the housing, for example, by bonding an outer wall of the stator body on an inner wall of the magnet yoke with a glue. 
     Next, manufacturing the rotor body by cutting silicon steel plate material into multiple silicon steel laminations with varying diameters, wherein each silicon steel lamination comprises a through hole at its center, and wherein each silicon steel lamination comprises multiple winding slots along its circumferential direction. Next, stacking the multiple silicon steel laminations to form a rotor core; the diameters of the multiple silicon steel laminations of a single rotor core either gradually increase or gradually decrease during stacking. 
     Next, manufacturing the spacer layers by cutting silicon steel plate material into multiple silicon steel laminations of spacer layers; wherein each spacer layer comprises a through hole at its center; wherein each spacer layer does not comprise winding slots along its circumferential direction; and wherein the diameter of a spacer layer is smaller than the diameter of the silicon steel laminations of the rotor core. Next, connecting the spacer layers and the multiple layers of rotor cores by a bolt, and screwing nuts on the rotor core to realize the securing of the multiple layers of rotor cores. 
     Next, finishing treating an outer surface of the rotor core with an automatic machine, so that the overall outer surface of the rotor core substantially approaches a spherical surface. Next, winding coils on the rotor core of each layer of armature, with two layers of coils wound on a layer of armature; wherein a first layer of coils is wound on a layer of armature, and the first layer of coils on the same layer of armature is electrically connected; wherein a second layer of coils is wound on one layer of armature, and the second layer of coils is electrically connected with another second layer of coils on a symmetrically distributed armature in equal distance from a center of the rotor body with respect to the one layer of armature. 
     Finally, securing the rotor body within an inside of the stator body, and installing a pump assembly on the housing to complete the manufacturing of the ball joint universal rotary motor. 
     A second embodiment of the present disclosure is provided below. 
     As shown in  FIG. 19  to  FIG. 21 , a ball joints universal rotary motor  80  comprises a housing  101 . The housing  101  comprises two half spherical-cap shaped shells. A stator body  102  is provided within the housing  101 . The stator body  102  is formed from a magnetized permanent magnet with multiple magnetic poles. 
     A rotor body  103  is provided within the stator body  102 . The rotor body  103 , same as the rotor body in the first embodiment, comprises multiple layers of armatures  104 . Each layer of the multiple layers of armatures comprises a rotor core made of multiple layers of silicon steel laminations. The rotor core is wound with two layers of coils. The winding method of the coils of the present embodiment is the same as the first embodiment. A rotor shaft  105  is provided in the rotor body  104 . An air inlet  106  is provided at a top of the ball joints universal rotary motor  80 . The air inlet  106  may be connected with an external air pipe, and high pressure air may enter from the external air pipe into the air inlet  106 . 
     As shown in  FIG. 22 , the difference of the present embodiment and the first embodiment is that the present embodiment does not comprise a pump assembly. Therefore, the present disclosure provides one embodiment of a ball joints universal rotary motor with a pump assembly, and another embodiment of a ball joints universal rotary motor without a pump assembly. 
     One application of the present disclosure is as a drive motor on joints of a robot, such as an intelligent bionic robot. For example, by using the motor, a neck joint of a robot may realize three dimensional movements; and a shoulder joint of a robot may realize three dimensional movements without the requirement of two conventional motors. As such, the application of the present disclosure makes a bionic robot a reality. More vivid performance of a robot, such as those shown in the movie The Transformer, may be realized when various joints and areas in a robot, such as the lumbar spine, pelvis area and wrists, are installed with the ball joints universal rotary motor in order to achieve the full range of robotic limb movement. 
     Another application of the present disclosure includes various devices and military firearms, to achieve the multi-directional rotation of the firearms. 
     As shown in  FIGS. 23 to 25 , the application of the present disclosure also includes a use of the ball joints universal rotary motor  80  in a balanced rotary body. The balanced rotary body comprises a round base  81 . The base  81  is provided with a planetary gear mechanism  82 . A support shaft  84  is mounted on the base  81 . The support shaft  84  and the rotary shaft  58  of the ball joints universal rotary motor  80  are connected, so that the rotor body  60  does not move with respect to the base  81 . 
     A Y-shaped base  90  is securely connected on a housing  31  of the ball joints universal rotary motor  80 . A basal plate  85  is mounted on a top of the Y-shaped base  90 . In some applications, a firearm device, such as a machine gun, may be installed on the basal plate  85 . In addition, an air pipe  83  is connected with the base  81  at one end, and is connected with an air inlet  51  of a pump assembly  50  of the ball joints universal rotary motor  80  at the other end. 
     When at work, the rotor body  60  is securely connected on the support shaft  84 , and the stator body  30  is configured to drive the housing  31  to rotate relative to the rotor body  60 , so that the basal plate  85  rotates and a firearm device installed on the basal plate  85  rotates to realize targeting at multiple angles. An additional application of the ball joints universal rotary motor includes a use in a missile launch device. 
     The present disclosure provides that the ball joints universal rotary motor may rotate not only along the axis of its bolt, but also along multiple directions. As such, the disclosure provides a three dimensional motor, with wide applications in various areas, such as in military devices and household appliances, to realize the miniaturization of a three-dimensional movement apparatus. 
     The illustrated embodiments are only some of the preferred embodiments, and there may be variations during their applications. For example, the motor may be manufactured as a three-phase motor or a single phase motor; or the notch does not comprise a projection on a housing of the stator body; or the number of layers of the armature is not eight, but is six or ten etc., or as long as it is an even number above 2, and the multiple layers of the armatures are symmetrically distributed on the axis of the rotor body; all the changes above may realize the goal of the motor in the present disclosure. 
     Other variations include a change of the number of silicon steel laminations on each layer of armature of the present disclosure. 
     In relation to the claims, it is intended that when words such as “a,” “an,” “at least one,” or “at least one portion” are used to preface a feature there is no intention to limit the claim to only one such feature unless specifically stated to the contrary in the claim. The descriptions above are intended to be illustrative, not limiting. Thus, it will be apparent to one skilled in the art that modifications may be made without departing from the scope of the claims set out below.