JP5055412B2 - Magnetically controlled manipulating arm joint actuator with auto-lock function at power failure - Google Patents

Description

The present invention relates to an actuator for a manipulating arm joint, and more particularly to an actuator for a magnetically controlled manipulating arm joint having an auto-lock function at the time of power interruption.

In 1984, ISO / TC184 / SC2 / WG1 defines a robot as “a robot is a programmable machine and executes a task including an operation or a moving operation by automatic control”. A typical industrial robot includes a manipulator and a storage device, and the storage device can be a control device with a variable order or a control device with a fixed order. As described above, the robot can execute related operations such as various movements, turns, and expansion / contraction in the operation of the robot by transmitting the signal from the storage device. In addition, in 1994, “industrial manipulating robot-terminology” of ISO 8373 describes that a robot is a control system including a manipulator, an actuator, and software and hardware.

The research and development of core technology in robots has been an important development direction in developed countries such as Europe, America and Japan. In the past, robots have mainly developed industrial robots and machine control systems, and in recent years have evolved in the direction of artificial intelligence and diversification. In conventional humanoid robots, most of the drive mechanisms are mainly motors, and at present, three types are employed: a stepping motor, a combination of a speed reducer and a motor, and a high torque brushless motor.

Depending on the structure, the type of stepping motor can be divided into three types: permanent magnet type (PM), variable reluctance type (VR), and hybrid type. The rotor of the permanent magnet type stepping motor is made of a permanent magnet, and the characteristic is that when the coil is not excited, the rotor itself has magnetism, so that the torque is maintained. The rotor of the variable reluctance type stepping motor is manufactured by processing a high magnetic permeability material, and generates a suction force to the stator coil to rotate the rotor, so that the torque is maintained when the coil is not excited. I can't. Further, since the efficiency of the rotor can be increased by design, the variable reluctance type stepping motor can also provide a relatively large torque. The step angle of a variable reluctance type stepping motor is generally 15 degrees, and is usually used for a machine tool that requires a larger torque and positioning accuracy. The hybrid stepping motor is structurally provided with a plurality of gear-shaped protruding electrodes around the rotor, and at the same time a permanent magnet is also provided in the axial direction, and can be regarded as a combined type of permanent magnet type and variable reluctance type. This is called a hybrid stepping motor. The hybrid stepping motor has the advantages of both a permanent magnet type stepping motor and a variable reluctance type stepping motor at the same time, and thus has high accuracy and high torque characteristics. The step angle of the hybrid stepping motor is small, and is generally between 1.8 degrees and 3.6 degrees. By adopting a stepping motor, the system structure can be simplified, the rotation speed and the digital pulse frequency can be directly proportional, easy to control, no position feedback is required, and it is inexpensive (no position detection sensor is required) However, it is easy to integrate with computers and digital devices, has no slip ring, no brush, etc., has high reliability, and has a feature that its life depends mainly on bearings, but it is inefficient and has high speed or high torque. There are disadvantages that missteps are likely to occur, resonance is likely to occur at a specific frequency, and reliability is reduced at high loads.

Coupling the reducer to the motor is the most universal structure in robotic applications. In a general speed reducer, when the axial direction and the radial load are considerably large, it is necessary to convert a high speed input rotation to a low speed output rotation and transmit a large output torque by extremely reducing backlash. The speed reducer can be easily attached to the motor, and the position can be accurately maintained, and noise and vibration generated from the system can be minimized. In general, this structure is applied when the speed reducer and motor are coupled at low speed and high output. The motor can be designed in a high efficiency range, easy to control, easy to adopt simple feedback control, computer and digital Although it is easy to integrate with equipment and can be applied to brushless motors, it has high reliability and life is mainly affected by bearings, but the disadvantage of adopting this structure is that the system structure is thin The positioning performance depends on the speed reduction mechanism, and the mechanism always requires maintenance, the system structure is complicated, the cost of the speed reducer increases, and major overseas manufacturers hold the key technology. It can be mentioned.

The brushless uses neodymium / iron / boron (NdFeB) magnets that are compact, have high efficiency and high torque density characteristics, and have no carbon brushes to reduce electromagnetic interference and system maintenance. Has advantages. However, in robot applications, especially when high rotational torque design is a prerequisite, this structure increases the size of the required motor, current tends to flow, and overheating and problems are likely to occur, resulting in low motor operating efficiency. There are shortcomings such as tend to be.

Therefore, using the cogging phenomenon in which the permanent magnets are attracted to each other, a large stopping force is generated when the actuator is in a high cogging torque state, while the actuator is automatically set to a high cogging torque state when a power failure occurs. How to design a magnetically controlled manipulating arm joint actuator with auto-lock function during power interruption that generates a large restraining force and locks the rotating state of the inner rotor. This has been a major problem for the inventors to overcome and solve.

In order to achieve the above object, the present invention provides an actuator for a magnetically controlled manipulating arm joint having an auto-lock function at the time of power interruption, the actuator comprising an inner stator, an inner rotor, an outer rotor, an outer A stator and a fixed shaft are provided. The inner stator includes an iron core and a winding wound around the iron core. The inner rotor is fitted on the outer side of the inner stator, and the inner rotor is formed by alternately providing a plurality of N-pole permanent magnets, a plurality of S-pole permanent magnets, and a plurality of iron material bodies. The outer rotor is fitted on the outer side of the inner rotor, and the outer rotor is formed by alternately providing a plurality of N pole permanent magnets, a plurality of S pole permanent magnets, and a plurality of iron material bodies. The outer stator is fitted on the outer side of the inner rotor and overlapped with the outer rotor. The outer stator includes a plurality of N pole permanent magnets, a plurality of S pole permanent magnets, and a plurality of iron material bodies. And are provided alternately. The fixed shaft extends through the inner stator.

The actuator further includes an outer rotor upper cover, an inner roller upper cover, an inner roller lower cover, and an outer stator lower cover. The outer rotor upper cover covers the outer rotor, and a U-shaped opening is provided on the upper surface of the outer rotor upper cover. The inner rotor upper cover covers one side of the inner rotor, and a protrusion is provided on the upper surface of the inner rotor upper cover. The inner rotor lower cover covers the other side of the inner rotor. The outer stator lower cover covers the outer stator. Among these, the protrusion in the inner rotor upper cover is penetrated through the U-shaped opening of the outer rotor upper cover, and the protrusion is rotated in the U-shaped opening by rotation of the inner rotor. The rotational stroke of the actuator is determined. The inner rotor upper cover is provided with a first central opening, and the inner rotor lower cover is provided with a second central opening.

The actuator further includes a first bearing and a second bearing. The first bearing is fitted into the first central opening, and the fixed shaft is penetrated into the first bearing. The second bearing is fitted into the second central opening, and the fixed shaft is penetrated into the second bearing.

Thus, due to the cogging phenomenon in which the plurality of permanent magnets of the outer rotor and the outer stator are attracted to each other, the actuator is automatically switched so as to be in a high cogging torque state when a power failure occurs, thereby generating a large restraining force. Then, the rotational state of the inner rotor is locked.

It is an exploded view of the actuator of the magnetically controlled manipulating arm joint of the present invention. It is sectional drawing of the actuator of the said magnetically controlled manipulating arm joint of this invention. FIG. 5 is an assembly view of the magnetically controlled manipulating arm joint actuator according to the present invention before the outer rotor rotates with respect to the outer stator. It is an assembly drawing when the outer rotor in the actuator of the magnetically controlled manipulating arm joint of the present invention is operated so that the rotation angle is 7.5 degrees with respect to the outer stator. FIG. 6 is an assembly diagram when the outer rotor of the actuator of the magnetically controlled manipulating arm joint of the present invention is operated so that a rotation angle is 15 degrees with respect to the outer stator. It is a wave form diagram when the lock torque is generated after the outer rotor rotates in the actuator of the magnetically controlled manipulating arm joint of the present invention. It is an assembly view of the actuator of the magnetically controlled manipulating arm joint of the present invention. It is the 1st Example of the form of the iron core of the said inner stator, and the winding system in the actuator of the said magnetically controlled manipulating arm joint of this invention. It is a 2nd Example of the iron core type of the said inner stator in the actuator of the said magnetically controlled manipulating arm joint of this invention, and a winding system. It is the 3rd Example of the iron core type of the said inner stator, and the winding system in the actuator of the said magnetically controlled manipulating arm joint of this invention.

For a better understanding of the techniques, techniques, and effects employed by the present invention to achieve its intended purpose, reference should be made to the following detailed description of the invention and the drawings. It is believed that this makes it possible to understand the purpose, features and features of the present invention more specifically. However, the drawings are for reference and explanation only and are not intended to limit the present invention.

Here, the technical contents and detailed description of the present invention will be described with reference to the drawings.

Please refer to FIG. 1 and FIG. 2 which are an exploded view and a sectional view of the actuator of the magnetically controlled manipulating arm joint of the present invention, respectively. The actuator 100 of the magnetically controlled manipulating arm joint mainly includes an inner stator 10, an inner rotor 20, an outer rotor 30, an outer stator 40, and a fixed shaft 50.

The inner stator 10 includes an iron core 102 and a winding 104 wound on the iron core. Moreover, the inner stator 10 has a multi-pole winding stator structure. The inner rotor 20 is fitted on the outer side of the inner stator 10, and the inner rotor 20 includes a plurality of N pole permanent magnets (not shown), a plurality of S pole permanent magnets (not shown), and a plurality of iron material bodies. (Not shown) are alternately provided. Among them, the alternate arrangement in the inner rotor 20 means that each of the N pole permanent magnets, each of the iron material bodies, each of the S pole permanent magnets, and each of the iron material bodies are repeatedly arranged in this order. That is, each of the N pole permanent magnets and each of the S pole permanent magnets are adjacent to the iron material body, the plurality of N pole permanent magnets, the plurality of S pole permanent magnets, and the plurality of This means an arrangement in which a ring shape is formed with the iron material body and is repeated in order.

The outer rotor 30 is fitted on the outer side of the inner rotor 20, and the outer rotor 30 includes a plurality of N pole permanent magnets (not shown), a plurality of S pole permanent magnets (not shown), and a plurality of iron material bodies ( (Not shown) are alternately provided. Similarly, the alternating arrangement of the outer rotors 30 is also such that each of the N pole permanent magnets and each of the S pole permanent magnets are adjacent to the iron material body, the plurality of N pole permanent magnets, and the plurality of the plurality of N pole permanent magnets. It means an arrangement in which an S pole permanent magnet and the plurality of iron material bodies form a ring shape and are repeated in order. The outer stator 40 is fitted on the outer side of the inner rotor 20 and overlapped with the outer rotor 30. The outer stator 40 includes an N-pole permanent magnet (not shown) and a plurality of S-pole permanent magnets (not shown). (Not shown) and a plurality of iron material bodies (not shown) are alternately provided. Similarly, the alternating arrangement of the outer stators 40 also includes each of the N pole permanent magnets and each of the S pole permanent magnets adjacent to the iron material body, the plurality of N pole permanent magnets, and the plurality of magnets. The S pole permanent magnet and the plurality of iron material bodies form a ring shape and are repeated in order. The fixed shaft 50 extends through the inner stator 10. Therefore, as is clear from the sectional view of the actuator of the magnetically controlled manipulating arm joint in FIG. 2, the inner stator 10, the inner rotor 20, the outer rotor 30, and the outer stator 40 are provided with the fixed shaft 50 penetrating at the same time. This constitutes a coaxial arrangement.

Reference is also made to FIG. 4, which is an assembly diagram of the actuator of the magnetically controlled manipulating arm joint of the present invention. The actuator 100 of the magnetically controlled manipulating arm joint further includes an outer rotor upper cover 302, an inner rotor upper cover 202, an inner rotor lower cover 204, and an outer stator lower cover 402. The outer rotor upper cover 302 covers the outer rotor 30, and a U-shaped opening 3022 is provided on the upper surface of the outer rotor upper cover 302. The inner rotor upper cover 202 covers one side of the inner rotor 20 (in this embodiment, the inner rotor upper cover 202 covers the upper half of the inner rotor 20 in the axial direction), and the inner rotor upper cover 202 A protrusion 2022 is provided on the upper surface. The inner rotor lower cover 204 covers the other side of the inner rotor 20 (in this embodiment, the inner rotor lower cover 204 covers the lower half of the inner rotor 20 in the axial direction). The outer stator lower cover 402 covers the outer stator 40. Among these, the protrusion 2022 of the inner rotor upper cover 202 is penetrated through the U-shaped opening 3022 of the outer rotor upper cover 302, and the protrusion 2022 is opened by the rotation of the inner rotor 20. By rotating within the unit 3022, the rotation stroke of the actuator 100 of the magnetically controlled manipulating arm joint is determined. In addition, the protrusion 2022 of the inner rotor upper cover 202 rotates within the U-shaped opening 3022 to provide the actual power output of the actuator 100 of the magnetically controlled manipulating arm joint. Further, the amount of rotation stroke of the actuator 100 can be flexibly adjusted according to the demand of the power assisting device. In addition, by designing a groove between the fixed shaft 50 and the outer rotor 30, the switching angle between the outer stator 40 and the outer rotor 30 can be regulated.

The inner rotor upper cover 202 is provided with a first center opening (not shown), and the inner rotor lower cover 204 is provided with a second center opening (not shown).

The magnetically controlled manipulating arm joint actuator 100 further includes a first bearing 206 and a second bearing 208. The first bearing 206 is fitted into the first central opening of the inner rotor upper cover 202, and the fixed shaft 50 extends through the first bearing 206. The second bearing 208 is fitted into the second center opening of the inner rotor lower cover 204, and the fixed shaft 50 is penetrated into the second bearing 208.

See below for a detailed description of the operation of the actuator 100 for the magnetically controlled manipulating arm joint. When the winding 104 wound around the inner stator 10 is energized and excited, the magnetic fields generated by the plurality of N-pole and S-pole permanent magnets alternately provided in the inner rotor 20; and The winding 104 of the inner stator 10 is energized and excited to generate a magnetic field that crosses each other, the inner rotor 20 rotates, and the protrusion 2022 rotates in the U-shaped opening 3022. The actuator 100 of the magnetically controlled manipulating arm joint moves to provide power output.

Before the outer rotor in the actuator of the magnetically controlled manipulating arm joint of the present invention rotates with respect to the outer stator, when the rotation angle is 7.5 degrees, and when the rotation angle is 15 degrees. Please refer to FIG. 3A to FIG. The principle of the lock operation in the actuator of the magnetically controlled manipulating arm joint of the present invention is alternately provided by the plurality of N pole and S pole permanent magnets provided alternately by the outer rotor 30 and the outer stator 40. The magnetic fields generated by the plurality of N-pole and S-pole permanent magnets cross each other, and the outer rotor 30 generates a rotation angle θ with respect to the stationary outer stator 40. In this embodiment, in FIG. 3C, the outer rotor 30 is rotated 15 degrees counterclockwise (this rotation angle θ = 15 °), and in FIG. 3B, the outer rotor 30 is 7.5 degrees counterclockwise. FIG. 3A shows that the outer rotor 30 is not rotating (this rotation angle θ = 0 °).

The outer rotor upper cover 302 covers the outer rotor 30 by a plurality of positioning pins that are fastened to each other. The outer stator lower cover 402 covers the outer stator 40 by a plurality of positioning pins. The positioning pins of the outer rotor upper cover 302 and the outer stator lower cover 402 can also be used as marks, that is, when the outer rotor 30 is not rotating, the positioning pins of the outer rotor upper cover 302 and the outer stator lower cover 402 These positioning pins are aligned. However, when the outer rotor 30 rotates, these positioning pins are in a shifted state.

When the magnetic field positions of the outer stator 40 and the outer rotor 30 are the same, the magnetic path generated by the outer stator 40 and the outer rotor 30 is closed, and a large cogging phenomenon occurs. Due to this characteristic, the inner stator 10 is in a high cogging torque state, and a large restraining force is generated to lock the rotational state of the inner rotor 20, so that it can withstand a large load even when power is cut off. When the magnetic pole positions of the outer stator 40 and the outer rotor 30 are shifted by 180 degrees in electrical angle (that is, the outer stator 40 and the outer rotor 30 having a 24-pole structure are 15 degrees space angle), the outer stator 40 and the The magnetic path with the outer rotor 30 is in a semi-closed state, a small cogging phenomenon occurs, the actuator 100 of the magnetically controlled manipulating arm joint is in a low cogging torque state, and the movement control is possible. In this operating state, when the winding 104 wound around the inner stator 10 is energized and excited, the inner rotor 20 rotates and the protrusion 2022 rotates within the U-shaped opening 3022. Thus, the actuator 100 of the magnetically controlled manipulating arm joint is displaced to provide a power output.

Please also refer to FIG. 3D which is a waveform diagram when a lock torque is generated after the outer rotor rotates in the actuator of the magnetically controlled manipulating arm joint of the present invention. The abscissa in the figure represents the rotation angle of the inner rotor 20, while the ordinate represents the magnitude of the lock torque generated by the outer rotor, and the three curves shown in the figure are the magnetic control equations. Before the manipulating arm joint actuator 100 is rotated (first curve Cv1), when the rotation angle is operated to be 7.5 degrees (second curve Cv2) and when the rotation angle is operated to be 15 degrees. The change diagrams of the lock torque such as (third curve Cv3) are shown. As is clear from FIG. 3D, when the positions of the magnetic poles of the outer stator 40 and the outer rotor 30 are the same (that is, before the outer rotor 30 rotates with respect to the outer stator 40), from the first curve Cv1 It can be seen that the actuator 100 of the magnetically controlled manipulating arm joint is in a high cogging torque state and the maximum rotational torque reaches about 30 N-m. On the other hand, when the positions of the magnetic poles of the outer stator 40 and the outer rotor 30 are shifted by 180 degrees in electrical angle (that is, when the outer rotor 30 is operated so as to have a rotation angle of 15 degrees with respect to the outer stator 40). From the third curve Cv3, it can be seen that the actuator 100 of the magnetically controlled manipulating arm joint is in a low cogging torque state and the maximum rotational torque is only about 5 N-m. Further, if the magnetic pole position of the outer stator 40 and the outer rotor 30 is shifted between 0 degrees and 180 degrees in electrical angle, the outer rotor 30 rotates relative to the outer stator 40 in this example. When the vehicle is operated so that the angle is 7.5 degrees, the second curve Cv2 indicates that the actuator 100 of the magnetically controlled manipulating arm joint is between a high cogging torque state and a low cogging torque state, and the maximum rotational torque. Is about 20 Nm.

Reference is made to FIGS. 5A to 5C, which are three types of embodiments of the iron core type and winding system of the inner stator in the actuator of the magnetically controlled manipulating arm joint of the present invention. By designing the inner stator 10 of the actuator 100 of the magnetically controlled manipulating arm joint into a different type, a feasible iron core type and winding method are provided. By changing the magnetic path structure, it is possible to make up for the defects existing in the magnetic path and structure of the motor, to easily operate the motor, and to simultaneously satisfy the demand for obtaining a high holding torque. .

In short, the actuator 100 of the magnetically controlled manipulating arm joint provided in the present invention adopts a modular design to be integrated into the mechanism, and the actuator 100 of the magnetically controlled manipulating arm joint is connected to the actuator 100 at the time of power failure. An auto-locking function is provided. When power is cut off, the manipulating arm joint is held in a holding state so that the magnets in the actuator 100 of the magnetically controlled manipulating arm joint are not displaced due to a load due to a cogging phenomenon in which the magnets are attracted to each other. As a result, the entire actuator 100 of the magnetically controlled manipulating arm joint can be reduced in size and weight, and a high auto-lock torque can be demanded.

In summary, the present invention has the following features.
1. The actuator has a surprisingly high torque capability at low speed and can switch between high / low cogging torque. When the power is cut off, the actuator is fixed with a high cogging torque, and power is saved.

2. The actuator can be designed to be thin, no speed reduction mechanism is required, the size and cost of the conventional actuator can be effectively improved, and maintenance speed can be reduced because there is no speed reduction mechanism.

3. When the system is disconnected, the actuator automatically switches to a high lock torque mode, that is, auto-lock, thereby improving the safety and reliability of the system.

4). Simple control for the actuator can be realized by simple feedback control.

As described above, the detailed description and drawings of the preferred specific embodiments of the present invention are not intended to limit the present invention, but to the full scope of the present invention. Is based on the scope of the appended claims, and any embodiments that conform to the technical idea of the scope of the claims of the present invention and variations thereof are to be included in the scope of the present invention. Any change or addition easily conceived by those skilled in the art within the scope of the present invention shall fall within the scope of the claims of the present application.

DESCRIPTION OF SYMBOLS 100 Magnetic control type manipulating arm joint actuator 10 Inner stator 102 Iron core 104 Winding 20 Inner rotor 202 Inner rotor upper cover 2022 Protruding part 204 Inner rotor lower cover 206 First bearing 208 Second bearing 30 Outer rotor 302 Outer rotor upper cover 3022 U-shape Shaped opening 40 outer stator 402 outer stator lower cover 50 fixed axis θ rotation angle Cv1 first curve Cv2 second curve Cv3 third curve

Claims (10)

A magnetically controlled manipulating arm joint actuator with auto-lock function at power interruption,
An inner stator comprising an iron core and a winding wound around the iron core;
An inner rotor that is fitted on the outer side of the inner stator, and in which a plurality of N pole permanent magnets, a plurality of S pole permanent magnets, and a plurality of iron material bodies are provided alternately;
An outer rotor that is fitted on the outer side of the inner rotor, and in which a plurality of N pole permanent magnets, a plurality of S pole permanent magnets, and a plurality of iron material bodies are provided alternately;
The outer rotor is fitted on the outer rotor and overlapped with the outer rotor, and a plurality of N pole permanent magnets, a plurality of S pole permanent magnets, and a plurality of iron material bodies are alternately provided. An outer stator,
A fixed shaft penetrating in the inner stator,
Thus, due to the cogging phenomenon in which the plurality of permanent magnets of the outer rotor and the outer stator are attracted to each other, the actuator is automatically switched so as to be in a high cogging torque state when a power failure occurs, thereby generating a large restraining force. An actuator of a magnetically controlled manipulating arm joint having an auto-locking function at power interruption characterized by locking the rotational state of the inner rotor. The actuator of the magnetically controlled manipulating arm joint is
An outer rotor upper cover that covers the outer rotor and has a U-shaped opening on the upper surface;
An inner rotor upper cover that covers one side of the inner rotor and has a protrusion on the upper surface;
An inner rotor lower cover covering the other side of the inner rotor;
An outer stator lower cover covering the outer stator,
The projecting portion of the inner rotor upper cover penetrates the U-shaped opening of the outer rotor upper cover, and the actuator rotates by rotating the projecting portion within the U-shaped opening by the rotation of the inner rotor. 2. The actuator for a magnetically controlled manipulating arm joint according to claim 1, wherein the rotation stroke of the magnetically controlled manipulating arm is determined. The inner rotor upper cover is provided with a first central opening, and the actuator of the magnetically controlled manipulating arm joint further includes a first bearing fitted into the first central opening. 2. The actuator of a magnetically controlled manipulating arm joint according to claim 1, wherein the fixed shaft extends through the first bearing. The inner rotor lower cover is provided with a second central opening, and the actuator of the magnetically controlled manipulating arm joint further includes a second bearing fitted into the second central opening. 2. The actuator of a magnetically controlled manipulating arm joint according to claim 1, wherein the fixed shaft extends through the second bearing. 2. The actuator of a magnetically controlled manipulating arm joint according to claim 1, wherein the inner stator has a multi-pole winding stator structure. The alternate arrangement in the inner rotor means that each of the N-pole permanent magnets, each of the iron material bodies, each of the S-pole permanent magnets, and each of the iron material bodies are repeatedly arranged. The actuator of the magnetically controlled manipulating arm joint according to claim 1. The alternate arrangement in the outer rotor means that the N-pole permanent magnets, the iron material bodies, the S-pole permanent magnets, and the iron material bodies are repeatedly arranged in this order. The actuator of the magnetically controlled manipulating arm joint according to claim 1. The alternate arrangement in the outer stator means that each of the N pole permanent magnets, each of the iron material bodies, each of the S pole permanent magnets, and each of the iron material bodies are repeatedly arranged in this order. The actuator of the magnetically controlled manipulating arm joint according to claim 1, wherein The magnetically controlled manipulator arm according to claim 1, wherein a switching angle between the outer stator and the outer rotor can be regulated by designing a groove between the fixed shaft and the outer rotor. Joint actuator. 2. The magnetism according to claim 1, wherein a groove is designed in the inner rotor, the outer stator, and the outer rotor to increase a magnetic flux density of an air gap and increase a rotational torque capability of the actuator. Controlled manipulating arm joint actuator.

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