KR101194909B1 - Dual coil bobbin and spherical motor having the same - Google Patents

Abstract

Disclosed are a dual coil bobbin capable of freely controlling the rotation and tilting of a rotor using an independently supplied dual coil structure, and a spherical motor including the same. Double coil bobbin according to an embodiment of the present invention is a bobbin for multi-degree of freedom control of a motor including a rotor and a stator, the first coil involved in the rotation of the rotor in the circumferential direction of the axis about one axis And a second coil engaged in the tilting of the rotor about the axis, wherein the first coil and the second coil are independently supplied with current to form a synthetic magnetic force to form a multiple degree of freedom of the rotor. Induce driving. According to such a configuration, it is possible to more precisely control the spherical motor by using the synthetic magnetic force through the coil wound twice through the double coil bobbin.

Description

DUAL COIL BOBBIN AND SPHERICAL MOTOR HAVING THE SAME}

Disclosed are a double coil bobbin and a spherical motor comprising the same. More specifically, a dual coil bobbin capable of freely controlling the rotation and tilting of a rotor using a dual coil structure independently supplied with a current is disclosed.

Recently, the development of humanoid technology has been active enough to cause a renaissance of the robot industry. Human noise is a device that can act like a human. In developing human-like behavior, which is one of the characteristics of humanoids, technology development is in progress in order to increase the efficiency of devices more naturally, smaller in size, and more efficient.

In particular, the motor field is the most important part in charge of the operation of the robot, and in order to achieve miniaturization and high efficiency, it is necessary to introduce a new concept motor away from the characteristics of the existing one degree of freedom motor.

1 is a view showing a driving device for implementing a conventional multi-degree of freedom movement.

The drive device 10 shown in FIG. 1 has a multi-frame structure, and a motor M for generating power in each frame is connected. Since such a drive device has to use several motors M to implement a multi-degree of freedom motion, it has a limitation that it occupies several times more weight and volume than a drive device having 1 degree of freedom in order to produce the required output. .

In addition, the joints such as wrists, shoulders, or pelvis of the robot arm have a very complex driving mechanism because they implement a multi-degree of freedom driving device at one connection point, so as to provide a space for placing a large number of motors. There was a problem that the overall size of the robot is enlarged.

On the basis of these problems, the development of a spherical motor having multiple degrees of freedom is being made, and the research of the spherical motor which is more easy to manufacture and the driving is simpler, the generated torque is improved and precise control is possible.

According to one embodiment of the present invention, there is provided a double coil bobbin and a spherical motor including the same, which can be more precisely controlled by using a composite magnetic force through a double winding coil.

In addition, there is provided a double coil bobbin and a spherical motor including the same, which is applied to a portion that needs to implement a multi-degree of freedom movement to reduce the size of the entire system and to enable a natural and smooth driving.

In addition, by configuring the coil responsible for the rotation of the rotor and the coil for the tilting of the rotor about one axis, it is relatively simple to control the spherical motor and to enable stable rotation and positioning of the rotor. A coil bobbin and a spherical motor including the same are provided.

Double coil bobbin according to an embodiment of the present invention is a bobbin for multi-degree of freedom control of a motor including a rotor and a stator, the first coil involved in the rotation of the rotor in the circumferential direction of the axis about one axis And a second coil engaged in the tilting of the rotor about the axis, wherein the first coil and the second coil are independently supplied with current to form a synthetic magnetic force to form a multiple degree of freedom of the rotor. Induce driving.

According to one side, the first coil may be arranged to surround the outside of the second coil so that the second coil may be disposed inside the first coil.

According to one side, the second coil may be arranged to generate a pressurizing force for pushing the rotor and a pulling presser force at the same time.

According to one side, the second coil is disposed to surround both the first region and the second region, the second coil is wound in an '8' shape, the rotor and the rotor in the first region and the second region, respectively Beauty can generate magnetism and pulling magnetism.

A spherical motor according to an embodiment of the present invention is a stator including a bobbin in which a first coil and a second coil are disposed in duplicate, and are positioned to rotate relative to the stator, thereby synthesizing the first coil and the second coil. And a rotor rotating and tilting about one axis by a magnetic force, wherein the first coil and the second coil are independently supplied with current, and the first coil is involved in the rotation of the rotor in the circumferential direction of the axis. The second coil is involved in tilting the rotor about the axis.

According to one side, the bobbin may be provided to surround the rotor at a predetermined interval is provided with a plurality.

According to one side, the second coil is arranged to surround both the first region and the second region, the second coil is wound in an '8' shape, the first region and the second region in the opposite direction to each other Magnetic force can occur.

According to one side, the plurality of bobbins are supplied with current independently of each other to generate a magnetic force of a different size, it can induce a multi-freedom movement of the rotor.

According to one embodiment of the present invention, it is possible to more precisely control the spherical motor by using a synthetic magnetic force through a coil wound twice through a double coil bobbin.

In addition, it is applied to the parts that need to implement a multi-degree of freedom movement, which reduces the size of the entire system and allows for a smooth and smooth driving.

In addition, by configuring a coil for the rotation of the rotor and the coil for the inclination of the rotor with respect to one axis, it is possible to control the spherical motor relatively simply and to enable stable rotation and positioning of the rotor.

1 is a view showing a drive device for implementing a conventional multi-degree of freedom movement,
Figure 2 is a perspective view schematically showing a spherical motor according to an embodiment of the present invention,
3 is a perspective view schematically illustrating the inside of the spherical motor of FIG. 2;
4 is an exploded perspective view schematically illustrating an exploded spherical motor of FIG. 2;
5 is a perspective view schematically showing a double coil bobbin according to an embodiment of the present invention;
6 is a view showing a state in which a double coil is disposed in the double coil bobbin of FIG.
7 and 8 are views schematically illustrating the induction of rotation of the rotor by supplying current to the double coil bobbin,
9 and 10 schematically show the induction of the tilting of the rotor by supplying a current to the double coil bobbin, and
11 and 12 are schematic diagrams illustrating the induction of tilting of the rotor in another direction by supplying a current to the dual coil bobbin in a direction opposite to those of FIGS. 9 and 10.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The spherical motor according to an embodiment of the present invention can be used where multi-degree-of-freedom motions require three or more degrees of freedom. In particular, the spherical motor can be used to realize various driving in joints of an industrial robot or a humanoid robot. Can be. Such a spherical motor includes a double coil bobbin in which coils are wound in duplicate and induces rotational and tilting motions of the rotor by using a synthesized magnetic force by the double coil bobbin. As a result, the multiple degrees of freedom of the rotor relative to the stator are enabled.

The spherical motor according to the present embodiment includes one or more rotors and one or more stators. According to an embodiment, a spherical motor including two stator parts and two rotor parts will be described by way of example, but the present invention is not limited thereto, and various numbers of rotors and stators may be used to drive the multiple degrees of freedom. have.

The spherical motor 100 according to an embodiment of the present invention includes at least one double coil bobbin 110, an internal rotor 120, an internal stator 130, and an external rotor 140. In the following embodiment, the double coil bobbin 110 serves as an external stator. However, the present invention is not limited thereto, and an independent stator may be provided outside the double coil bobbin 110 so that the double coil bobbin 110 may be disposed on an inner wall of the stator, and the stator includes a double coil bobbin 110. Configuration is possible.

For the detailed description, FIGS. 2 to 4 are shown. 2 is a perspective view schematically showing a spherical motor according to an embodiment of the present invention, FIG. 3 is a perspective view schematically showing the inside of the spherical motor of FIG. 2, and FIG. 4 is an exploded schematic view of the spherical motor of FIG. 2. It is an exploded perspective view shown.

The stator may include an internal stator and an external stator. In this case, as described above, at least one double coil bobbin 110 serves as an external stator. An internal rotor 120 is positioned between the internal stator 130 and the double coil bobbin 110. The external rotor 140 may be further provided outside the double coil bobbin 110. According to one side, the inner rotor 120 and the outer rotor 140 may be connected to the rotating shaft 125 and rotate together. At this time, the rotor can both rotate (A) and tilt (B).

In order to explain in more detail the configuration of the spherical motor 100 according to an embodiment of the present invention, reference is made to FIG. 4.

The inner rotor 120 includes a permanent magnet 121. The permanent magnet 121 is disposed on the outer surface of the inner rotor 120. The permanent magnets 121 are Nd-based, and the number thereof may be one, two, four, six, or the like, but is not limited thereto. Permanent magnets of various types and types may be used. On the other hand, although not shown, the permanent magnet may be provided with a pole shoe that forms a gap between the double coil bobbin 110 and supports the permanent magnet 121 inwards and serves as a passage for the magnetic flux. Can be.

Upper and lower coupling plates 122 and lower coupling plates 123 may be disposed on upper and lower portions of the inner rotor 120, and may support rotation or tilting of the rotor while supporting the rotor. In addition, the rotating shaft 125 may be provided to penetrate the upper coupling plate 122 and be connected to the internal rotor 120 to transmit the rotational force. The rotation axis 125 may rotate in the circumferential direction with respect to the z axis or incline in the x or y axis direction. The coupling method of the upper coupling plate and the lower coupling plate, etc. may be coupled using the bolt 126, and other various coupling methods may be possible.

The inner rotor 120 has a center space, which is spherical for multi-degree of freedom movement. The internal stator 130 is located inside the spherical space. One end of the rotating shaft 125 is connected to the connection unit 124 is located in the center of the internal stator 130.

The inner stator 130 may be connected to one end of the fixed shaft 131, and the other end of the fixed shaft may be threaded to be coupled to another system. The outer surface of the inner stator 130 is formed in a spherical shape, a gap may be formed between the outer surface of the inner stator 130 and the inner surface of the inner rotor 120. Since the outer surface of the inner stator 130 is formed in a spherical shape, the inner rotor 120 having a spherical space is capable of a multiple degree of freedom movement relative to the inner stator 130.

At least one double coil bobbin 110 is disposed outside the inner rotor 120. According to the present embodiment, eight double coil bobbins 110 form an arrangement surrounding the inner rotor 120. However, the number of double coil bobbin 110 is not limited.

5 and 6 are shown to describe the dual coil bobbin 110 in more detail. FIG. 5 is a perspective view schematically illustrating a double coil bobbin according to an embodiment of the present invention, and FIG. 6 is a view illustrating a double coil disposed in the double coil bobbin of FIG. 5.

The double coil bobbin 110 serves as a stator, the inner surface of which is disposed to face the inner rotor 120, and the outer surface of the double coil bobbin 110 to face the outer rotor 140. Therefore, when the double coil bobbin 110 is arranged at regular intervals, a spherical space in which the internal rotor 120 is to be located is created, and the arrangement shape is also spherical. The dual coil bobbin 110 includes a first coil part 111 on which the first coil 115 is disposed and a second coil part 112 on which the second coil 116 is disposed.

The first coil part 111 exists independently of the second coil part 112. And more preferably, the first coil portion 111 has a shape surrounding the second coil portion 112. This independent arrangement prevents the first coil 115 and the second coil 116 from overlapping each other.

The first coil 115 is involved in the rotation of the rotor. More specifically, the first coil 115 induces circumferential rotation of the inner rotor 120 and the outer rotor 140 about the z-axis. Therefore, when current flows in the first coil 115 as shown in FIG. 7, a magnetomotive force is generated, and the internal rotor 120 rotates circumferentially about the z axis as shown in FIG. 8 by the magnetomotive force. By changing the strength and direction of the current flowing in the first coil 115, the rotation speed and direction of the internal rotor 120 can be controlled.

Independent of the first coil 115, the second coil 116 is involved in the tilting of the rotor. To tilt the rotor, the second coil 116 is arranged to simultaneously generate a press force and a pull force to push the rotor. In more detail, the second coil unit 112 includes a first region 113 and a second region 114. For example, the second coil 116 is disposed to surround the first region 113 and the second region 114 in a '8' shape. When the second coil 116 is disposed and current flows in this way, the magnetomotive forces generated in the first region 113 and the second region 114 have opposite directions. On the other hand, the arrangement form of the second coil 116 is not necessarily limited to the '8' shape, it is possible to have a variety of arrangement structure so that the magnetic force generated in the two areas have the opposite direction to each other.

Accordingly, as shown in FIG. 9, current flows in the coil portion surrounding the first region 113 by flowing a current in the second coil 115, and clockwise in the coil portion surrounding the second region 114. As the current flows through, as shown in FIG. 10, a pressurization force for pushing the inner rotor 120 is generated in the first region 113, and a pressurization force for pulling the inner rotor 120 is generated in the second region 114. do.

On the contrary, as shown in FIG. 11, a current flows in the second coil 115 so that a current flows clockwise in the coil portion surrounding the first region 113, and a counter clock in the coil portion surrounding the second region 114. When the current flows in the direction, as shown in FIG. 12, a press force for pulling the inner rotor 120 is generated in the first region 113, and a press force for pushing the inner rotor 120 in the second region 114 is generated. Occurs.

As a result, in the spherical motor 100 according to the embodiment of the present invention, at least one double coil bobbin 110 is supplied with currents independently of each other, as well as a second disposed in one double coil bobbin 110. Since the first coil 115 and the second coil 116 are also supplied with currents independently of each other, it is possible to freely precisely control the magnetomotive force that induces rotation and tilting of the rotor, thereby improving the precision and accuracy of the rotor. Freedom driving is possible. On the other hand, the number of coils, the strength of the current, the direction of the current, etc. can be variously changed according to the desired torque or driving environment.

The plurality of dual coil bobbins 110 may be fixed to the fixed shaft 131 by the fixing unit 132. The outer rotor 140 may be provided outside the double coil bobbin 110 as needed, and only the inner rotor 120 may be provided.

Independent and precise control of the rotation and tilting of the rotor through the dual coil structure can improve the overall generated torque, and also reduce the volume of the entire motor, the spherical motor according to an embodiment of the present invention is not only an industrial robot In addition, it can be used in various ways such as joints of humanoid robots, drive shafts and wheels of military or exploration vehicles, and helicopter propellers.

As described above, the present invention has been described by way of limited embodiments and drawings, but the present invention is not limited to the above embodiments, and those skilled in the art to which the present invention pertains various modifications and variations from such descriptions. This is possible.

Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the equivalents of the claims, as well as the claims.

100: old motor 110: double coil bobbin
115: first coil 116: second coil
120: internal rotor 130: internal stator
140: external rotor

Claims (8)

In the bobbin for the multiple degree of freedom control of a motor including a rotor and a stator,
A first coil engaged in rotation of the rotor in the circumferential direction of the axis about one axis; And
A second coil engaged in tilting of the rotor about the axis;
Includes, the first coil and the second coil is independently supplied with a current to form a synthetic magnetic force to induce a multi-free drive of the rotor,
The first coil is disposed to surround the outside of the second coil so that the second coil is disposed inside the first coil. delete The method of claim 1,
The second coil is a double coil bobbin arranged to generate a pressurizing force and a pulling magnetic force to push the rotor at the same time. The method of claim 3,
The second coil is disposed to surround both the first region and the second region,
The second coil is wound in an '8' shape, the double coil bobbin is generated in the first region and the second region, the press force and the pulling force to push the rotor, respectively. A stator including a bobbin having a first coil and a second coil disposed to be surrounded by the first coil and disposed inside the first coil; And
A rotor positioned to rotate relative to the stator, the rotor rotating and tilting about one axis by the combined magnetic force of the first coil and the second coil;
Including,
The first coil and the second coil are independently supplied with current so that the first coil is involved in the rotation of the rotor in the circumferential direction of the axis, and the second coil is responsible for the tilting of the rotor about the axis. Engaged old motor. The method of claim 5,
The bobbin is provided with a plurality of spherical motors are arranged to surround the rotor at regular intervals. The method of claim 5,
The second coil is disposed to surround both the first region and the second region,
The second coil is wound in an '8' shape, the spherical motor is generated in the first region and the second region, the magnetic force in the opposite direction to each other. The method of claim 6,
The plurality of bobbins are supplied with currents independently of each other to generate a magnetic force of a different size, the spherical motor for inducing a multi-freedom movement of the rotor.

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