KR101632684B1 - underwater robot for enhancing impact resistance, management efficiency and hovering efficiency - Google Patents

Abstract

The present invention relates to an underwater robot. Since globular elastic frame part is installed outside a controller, including an electric element, a circuit, a sensor, and processors, the globular frame part absorbs and distributes an external impact to prevent malfunction and damage to a device, caused by the external impact. Since the globular frame part comprises multiple frame assemblies, able to be assembled and disassembled as modules, to enable easy assembly and disassembly, the maintenance and replacement of an internal core component become simple and working time is reduced. The torque/force of XYZ axes of each corner is measured by a torque/force sensor of each corner of a rectangular frame part, and the controller quickly recognizes contact intensity and position or intensity and direction of a current depending on the data, measured by the torque/force sensor, while correcting a posture in response to the recognition in order to significantly increase the operational efficiency of the robot.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater robot for improving impact resistance, operating efficiency and hovering efficiency,

The present invention relates to an underwater robot having improved impact resistance, operating efficiency, and hovering efficiency. More specifically, the spherical frame portion absorbs and disperses an external impact to dramatically increase impact resistance, and at the same time, The present invention relates to an underwater robot which can improve the operational efficiency of a robot by correcting the attitude according to the intensity of an algae including the sensors to be measured and detachably attachable to the outside of the object to be observed so that the accuracy and reliability of the probe can be remarkably increased. will be.

Unmanned underwater robots are usually equipped with autonomous unbderwater vehicles (AUVs), which are operated by their own power, and are capable of remotely controllable operations such as exploration, lifting, oil removal, cable installation, It is classified as ROV (remotely operated vehicle) which is used for installation and repair of various underwater structures. As the interest in marine development and underwater exploration surges, utilization of underwater robots for resource exploration or research in a water- Is increasing.

In particular, the ROV for connecting buses to observe subjects or performing exploration and imaging with inputs to observation objects is as follows: 1) Waterproofing function to block the inflow of water into the inside of the controller where core parts such as complex electric devices and circuits are installed , 2) high impact resistance that can protect internal core components from external impact when an external impact occurs considering the characteristics of the ocean where frequent collisions with external obstacles such as reefs occur, and 3) speed and direction of algae It is essential that the sensing means be able to accurately sense the speed and direction of the algae according to the characteristics of the underwater robot requiring a proper attitude according to the characteristics of the underwater robot.

2) of the ROV, there are various obstacles such as reefs in the ocean, so that it is frequently hit by various obstacles when driving. When such shock is transmitted to the core equipment, So that the robot can not perform the desired function. Especially Korea has frequent accidents due to external shocks due to its low coastal depth and high speed of algae. Accordingly, the unmanned underwater robot is required to have a high impact resistance in order to efficiently absorb and disperse the external impact, thereby minimizing the impact transmitted to the essential constituent means.

3) of the ROV, a variety of obstacles such as reefs are present in the water, and the flow velocity and the velocity change due to the algae are fast, so that the underwater robot needs a proper attitude according to the flow velocity and direction of the algae. Accordingly, the ROV should promptly recognize when the flow velocity and direction of the algae suddenly changes or an impact occurs due to the obstacle, and reestablish the corresponding posture.

1 is a side cross-sectional view showing a spherical mobile robot disclosed in Korean Patent No. 10-1057689 (entitled "Spherical Mobile Robot").

The spherical mobile robot 100 of FIG. 1 includes a spherical body 101 having an elasticity provided with a rotating shaft 111 provided with a driven rotary plate 122a at an intermediate portion thereof, A moving motor 102 fixed to a rotatable tube 112 surrounding the center of the rotating tube 112 and provided with a driving rotating plate 122 for transmitting power to the driven rotating plate 122a, A driving body 131 fixed to the lower end of the fixed pivot 113 and installed on one side of the rotating pipe 112 to rotate the pivoting plate 131a which is laterally inclined around the center of the pivot 111, And a swing motor 103 for rotating the swing motor.

In the conventional art 100 configured as described above, the spherical body 101 is formed into a spherical shape by connecting a plurality of elastic wire members 101a with the connecting hole 110, and the rotating shaft 111 is inserted into the center of the connecting hole 110 An inner fixing plate 110a formed with a hole in which the end of the elastic wire member 101a is inserted and an inner fixing plate 110b fixed to one side of the inner fixing plate 110a to fix the elastic wire member 101a together with the inner fixing plate 110a The outer fixed plate 110b supports the spherical body 101, which is an elastic material, to absorb the external impact, thereby preventing damage to the constituent elements inside.

Although the conventional art 100 can prevent a phenomenon that the elastic wire rod 101a forms a spherical shape and is obstructed by the obstacle, the flow velocity and direction of the algae changes, or the contact with the obstacle occurs When an unexpected situation occurs, the intensity and direction of the algae, or the strength and position of the algae can not be recognized, and accordingly, the operation efficiency is inferior due to the inability to respond quickly to the unexpected situation.

In other words, a conventional underwater robot is required to maintain a proper attitude according to the flow velocity and direction of the algae. However, in the conventional art 100, there is no separate detection means for detecting the flow velocity and direction of the algae There is a problem that the operation efficiency of the robot is lowered.

Also, in the related art 100, the spherical body 101 is formed by inserting the both ends of the curved elastic wires 101a into the grooves of the external fixing plate 110b and the internal fixing plate 110a, Therefore, it is necessary to separate the elastic wire members 101a from the external fixing plate 110b and the internal fixing plate 110a and to assemble them in the same manner during the inspection and replacement of internal equipment, A problem arises.

Further, since the conventional art 100 does not have a hovering means, if it is used for the purpose of imaging and photographing a specific observation target, even if it moves to an adjacent point of the observation target, It is impossible to carry out the exploration and photographing.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a control apparatus and a control method thereof, which includes a spherical frame portion, which is a spherical elastic material, The present invention is to provide an underwater robot in which a frame portion absorbs and disperses an external impact, protects internal core equipment by an external impact, and thereby can prevent breakage and breakdown of the equipment dramatically.

Another object of the present invention is to provide an underwater robot in which the spherical frame portion is formed in a spherical shape, thereby minimizing the flow disturbance caused by algae or obstructing travel due to external obstacles.

Further, another object of the present invention is to provide an underwater robot in which assembly and disassembly are facilitated by forming a spherical frame part by assembling a plurality of frame assemblies of a module type so that equipment inspection and replacement can be easily performed.

Further, another object of the present invention is to provide a torque / force sensor including a torque / force sensor installed at each corner of a rectangular frame portion, so that a torque / force sensor of each X, An underwater robot capable of remarkably improving the operation efficiency of the robot by quickly recognizing the intensity and direction of the bird or the intensity and position of the bird according to the torque / force data measured by the robot, .

Another object of the present invention is to provide an underwater robot in which wing portions are installed vertically on the outside of a rectangular frame portion to more accurately detect the flow velocity and direction of an algae.

Further, another object of the present invention is to provide a hovering function, which is provided outside the spherical frame portion and includes a detachment / attachment means for detachably attaching / detaching to / from an observation object, And to provide an underwater robot which can significantly improve accuracy.

According to an aspect of the present invention, there is provided a control apparatus for a vehicle, comprising: a control controller in which parts for performing a predetermined operation are installed; An inner frame part formed by combining the frames and having the control controller installed therein; A traveling unit installed at one side of the control controller or inside the inner frame unit to move the control controller in water; And an outer frame part which is a spherical elastic material and is installed outside the inner frame part so as to surround the inner frame part. The outer frame part includes a plurality of frame assemblies assembled into a spherical shape, And one of the frame assemblies of one of the adjacent frame assemblies is connected to an end of the other frame of the adjacent frame assembly, and the underwater robot is provided with fixing means for fixing the frames to be accommodated in the adjacent frame assemblies Wherein circular protrusions are formed on the outer circumferential surface of each of the frames at the respective corners of the inner frame portion so as to have a cylindrical shape and having circular insertion grooves formed on the outer surface from the outer surface thereof,Wherein the insertion portions of the frame assembly are inserted into the insertion grooves of the corresponding circular protrusions of the inner frame portion when assembled.

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Further, in the present invention, the frame assembly includes horizontal frames formed as curved surfaces and spaced apart from each other; And vertically spaced apart from each other in a direction perpendicular to the horizontal frames.

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Further, in the present invention, the underwater robot further includes torque / force sensors installed at respective corners of the inner frame portion, and the torque / force sensors measure the torque / force of each of the frames connected to the corresponding corner, Force torque value to the control controller.

Further, in the present invention, the underwater robot may further include a wing portion formed of a plate having a length, vertically installed on the outer side of the inner frame portion, and having both ends coupled to the frames of the inner frame portion.

Further, in the present invention, the underwater robot may further include an electromagnet portion provided outside the outer frame portion.

According to the present invention having a problem and a solution, a spherical frame portion, which is a spherical elastic material, is installed outside a control controller in which a complicated electric element, circuit, sensor, and processors are installed, It is possible to prevent breakage and failure of the equipment due to an external impact.

In addition, according to the present invention, since the spherical frame portion is formed in a spherical shape, it is possible to minimize the flow disturbance caused by algae flow or obstruction of traveling due to external obstacles.

In addition, according to the present invention, the spherical frame portion is composed of a plurality of frame assemblies which can be assembled and disassembled into a module type, so that assembling and disassembling are facilitated, so that internal core equipment can be easily checked and replaced, have.

According to the present invention, the torque / force of the X, Y, and Z axes of the respective corners is measured by a torque / force sensor provided at each corner of the rectangular frame portion, and the control controller calculates the intensity of the bird according to the data measured by the torque / Direction or the contact strength and the position of the robot, and at the same time, the robot performs an appropriate posture correction correspondingly, and thus the operation efficiency of the robot can be remarkably improved.

In addition, according to the present invention, the wings are installed vertically on the outside of the rectangular frame portion, so that the flow velocity and direction of the bird can be detected more accurately.

According to the present invention, since the hovering function is supported by detachable and attachable to / from the observation object by the attaching / detaching means provided on the outer side of the spherical frame portion, the probe or the imaging can be performed in a fixed state regardless of the flow rate of the algae, The reliability and accuracy of shooting can be dramatically increased.

1 is a side cross-sectional view showing a spherical mobile robot disclosed in Korean Patent No. 10-1057689 (entitled "Spherical Mobile Robot").
2 is a perspective view showing an underwater robot according to an embodiment of the present invention.
Figure 3 is a side view of Figure 2;
4 is a front view of Fig.
FIG. 5 is a perspective view showing a state in which the control controller and the traveling portion are removed in FIG. 2;
Fig. 6 is a perspective view showing the rectangular frame portion and the wing portion of Fig. 5;
Fig. 7 is a front view of Fig. 6, and Fig. 8 is a perspective view of a square frame of Fig. 6. Fig.
Fig. 9 is an enlarged perspective view of the enlarged view of Fig. 8A.
10 is a partially exploded perspective view showing a state in which the rectangular frame portion of FIG. 2 is coupled to the rectangular frame portion.
FIG. 11 is an enlarged view of FIG. 10B.

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 2 is a perspective view showing an underwater robot according to an embodiment of the present invention, FIG. 3 is a side view of FIG. 2, and FIG. 4 is a front view of FIG.

The underwater robot 1 shown in Figs. 2 to 4 is a robot for inputting into water and moving to a preset position or an observation target to probe and photograph the corresponding region or an observation target. Specifically, the robot is a submarine environment It is preferably a remotely operated vehicle (ROV) used for exploration, lifting work, oil removal work, cable installation, installation and repair of various underwater structures, and the like.

The underwater robot 1 also includes a control controller 3 in which complicated electric elements and circuits are installed and a control controller 3 including a frame 51 forming a hexahedron shape and a driving unit 4, A traveling section 4 provided on the rectangular frame section 5 and adapted to move the robot in accordance with the control of the control controller 3 and a traveling section 4 provided on the outside of the rectangular frame section 5 A rectangular spherical frame portion 7 provided so as to surround the square frame portion 5 and wing portions 8 provided outside the rectangular frame portion 5; And an electromagnetic part 9 to be installed.

Although not shown in the figure, the underwater robot 1 includes torque / force sensors (not shown) installed at each corner of the rectangular frame portion 5 and measuring the torque / force generated in the X, Y, and Z axes relative to the respective corners .

The control controller 3 may include various known components for managing and controlling the overall functions of the robot including constituent elements such as electric elements, circuits, controllers, arithmetic processing processors, sensors, and the like.

The control controller 3 of the present invention includes a hull 31 in which constituent means are intensively installed and the outer surface of the hull 31 is waterproofed and designed to block the inflow of moisture from the outside.

When the measurement data (signal) is input from the torque / force sensors installed in the rectangular frame unit 5, the control controller 3 analyzes the input measurement data using a predetermined running analysis algorithm, And the posture is corrected by the detected correcting posture to maintain the posture suitable for the intensity and flow velocity of the algae, thereby improving the operation efficiency of the robot.

The traveling unit 4 is a moving means for moving the hull 31 in water and includes a plurality of traveling means 41 installed at a lower portion of the hull 31. The traveling means 41 is a means for moving the hull 31, So that they can be moved in all directions. For the sake of convenience, the traveling unit 4 includes a plurality of traveling means 41 for moving the hull 31 in all directions. However, the traveling unit 4 may include a plurality of traveling units 41, But various known configurations and methods widely used in underwater transportation means and systems can be applied.

FIG. 5 is a perspective view showing a state where the control controller and the traveling part are removed in FIG. 2, FIG. 6 is a perspective view showing the rectangular frame part and the wing part of FIG. 5, FIG. 7 is a front view of FIG. 6 is a perspective view showing a square frame, and Fig. 9 is an enlarged perspective view of an enlarged view of Fig.

The rectangular frame portion 5 includes frames 51 formed by bars in the longitudinal direction as shown in Figs. 5 to 9, and the frames 51 are joined at their ends to form a hexahedron shape. At this time, the control controller 3 is installed inside the rectangular frame part 5 in which the frames 51 are coupled in a hexahedron shape so that the control controller 3 is fixedly supported by the rectangular frame part 5, 3 are also disposed inside the rectangular frame portion 5. The running portion 4 is connected to the lower portion of the rectangular frame portion 5 as shown in Fig.

Also, when the frames 51 are assembled into a hexahedron, the rectangular frame portion 5 is provided with circular protrusions 511 on the outer circumferential surface of each of the frames connected to the respective edges as shown in FIGS.

The circular protrusions 511 are formed in a cylindrical shape and are provided on the outer circumferential surface of each of the frames 51 forming the corners of the rectangular frame portion 5. That is, since three frames 51 corresponding to the X, Y, and Z axes are connected to each corner of the rectangular frame unit 5, three circular protrusions 511 are provided at one corner.

The circular protrusions 511 are formed with circular insertion grooves 513 in the protruding end face inward from the end face and the insertion grooves 513 are formed in the inserting portions 731 of the spherical frame portion 7 of FIG. The spherical frame portion 7 is fixedly supported by the rectangular frame portion 5. [

Further, a torque / force sensor (not shown) for measuring the torque / force for each of the frames 51 corresponding to the X, Y, and Z axes is installed at each corner of the rectangular frame portion 5. At this time, the torque / force sensor periodically transmits the torque / force measurement value for each frame to the control controller 3, and the control controller 3 analyzes the measured value transmitted from each torque / force sensor, Direction or the contact strength and the position thereof are detected to maintain an appropriate posture according to the detected data.

For example, the torque / force value generated in one frame by the torque / force sensor is measured when one of the frames 51 of the rectangular frame portion 5 is contacted with an obstacle or receives a force from the bird, The measured value is transmitted to the control controller 3 so that the underwater robot 1 of the present invention can quickly respond to an unexpected situation and maintain a proper attitude.

6 and 7, the wing portion 8 includes a wing plate 81, which is a plate member in the longitudinal direction, and a wing plate 81, one side of which is attached to both ends of the wing plate 81, And fixing portions 83 and 83 which are coupled to the frames 51 of the rectangular frame portions 5 and fix the wing plate 81 to the rectangular frame portion 5 vertically. At this time, the wing portion 8 is provided one by one on each of the side surfaces and the rear surface except the front surface of the rectangular frame portion 5 corresponding to the front side of the control controller 3, and the longitudinal direction of the wing plate 81 is And is directed in the same direction as the running direction (P).

The fixed portions 83 and 83 are provided on each of the side surfaces of the rectangular frame portion 5 in such a manner that the wing plate 81 faces the same direction as the running direction P, The wing plates 81 are installed vertically in the same direction as the running direction P in the longitudinal direction.

The operation of the rectangular frame portion 5 and the wing portion 8 constructed as described above will be described with reference to the operation of the wing portion 8 when the running direction P of the underwater robot 1 and the wing plate 81 form the same direction So as not to interfere with the running of the robot and to be vertically protruded from the side surfaces and the rear surface except the front surface of the rectangular frame portion 5 so as to be subjected to pressure upon contact due to water pressure or obstacle due to algae, The torque / force sensors corresponding to the wing portion 8 receiving the wing portion 8 measure the increased torque / force according to the pressure received by the wing portion 8 and transmit it to the control controller 3, The torque / force measurement values received from the sensors are analyzed to detect the velocity, hydraulic pressure and direction of the algae or the acceleration and direction of the collision caused by the obstacle, and at the same time, the corresponding correcting posture is detected quickly.

FIG. 10 is a partially exploded perspective view showing a state where the rectangular frame portion of FIG. 2 is coupled to the rectangular frame portion, and FIG. 11 is an enlarged view of FIG.

As shown in FIGS. 2 to 5, the rectangular frame portion 7 is formed on the outside of the rectangular frame portion 5 so as to surround the rectangular frame portion 5 and is formed into a spherical shape of an elastic material, The rectangular frame portion 5, the control controller 3, and the running portion 4, which are the internal core equipment, from the external impact.

In addition, the spherical frame portion 7 is formed in a spherical shape so that disturbance of traveling due to algae or obstacles is minimized, so that the driving ability can be remarkably improved.

The rectangular frame portion 7 includes a plurality of frame assemblies 71 as shown in FIGS. In FIGS. 10 and 11, only the frame assemblies 71-1 and 71-2 installed at the front and rear of the square frame unit have been described for convenience of explanation.

Further, the spherical frame portion 7 is configured such that each of the frame assemblies 71 is engaged by the rectangular frame portion 5, that is, assembled and disassembled into a module type, whereby an underwater robot It is easy to inspect and replace the equipment.

The frame assemblies 71 are formed of frames 711, 711 ', 713, and 713' having high rigidity to withstand high water pressure, forming spherical shapes during assembly.

The frame assemblies 71 are disposed at the front, rear and side portions of the rectangular frame portion 5 to absorb and disperse external impacts from all directions, thereby remarkably preventing breakage and malfunction of internal core equipment due to external impacts can do. Particularly, due to the characteristics of the underwater environment in Korea, which has low water depth, many obstacles such as reefs, and the algae velocity is fast, the conventional underwater robot can solve the problem that breakage and breakdown of the equipment due to external impact frequently occur.

10, the frame assembly 71 includes curved horizontal frames 711, 711 'and horizontal frames 711, 711' each having a length and spaced apart in the height direction, Shaped vertical frames 713 and 713 'which are connected to each other and are spaced apart from each other.

The frame assembly 71 is provided with projecting and retreating parts 73 projecting from the inner surface of the inner surface of the point where the horizontal frame and the vertical frame are connected and having a cylindrical insertion part 731 at the end thereof. At this time, the insertion portion 731 of the projecting and retreating portion 73 is inserted into the insertion groove 513 of the corresponding circular projection of the circular projecting portions 511 of the rectangular frame portion 5 at the time of assembling.

The insertion portion 731 of the projecting and retreating portion 73 is packed when inserted into the insertion groove 513 of the circular protruding portion 511 of the rectangular frame portion 5 although not shown in the drawing.

An electromagnetic portion 9 is provided at the center of each of the horizontal frames 711 and 711 'of the frame assembly 71. When the object to be observed includes a metal material, It is possible to increase the hovering function by being attached to the object so that it is possible to shoot or search in a fixed state and thus the conventional underwater robot does not have a hovering function and means and can not maintain the fixed state according to the flow rate of the algae It is possible to solve the problem that reliability and accuracy of photographing or exploration are poor.

In the present invention, for convenience of description, the attachment / detachment means for attaching / detaching attachment / detachment to / from the observation object has been described as an electromagnet portion. However, the configuration of the attachment and detachment means is not limited thereto. Can be applied.

In the present invention, for the sake of convenience of explanation, the example in which the electromagnetic portion 9 is installed at the center of each of the horizontal frames 711 and 711 'has been described. However, It is not limited.

Further, the underwater robot 1 of the present invention can be attached to the object to be observed in various directions and positions as a plurality of electromagnetic parts 9 as attachment / detachment means are provided outside the spherical frame part 7, and the control controller 3 Includes a rotating means (not shown) for rotating the spherical frame portion 7 to control the rotating means when attached to the object to be observed in a direction different from the desired direction (photographing direction or scanning direction) That is, the electromagnet portion attached to the object to be observed is replaced by the adjacent electromagnet portion adjacent to the object, so that the posture can be corrected so as to face the desired direction.

9, the horizontal frames 711 and 711 'of the frame assemblies 71-1 and 71-3 of the rectangular frame portion 7 disposed on the front and rear sides of the rectangular frame portion 5 are connected to the vertical frame 713, and 713 ', the lengths of the horizontal frame and the vertical frame are not limited thereto. That is, the rectangular frame part 7 may be formed in various lengths in which adjacent frame assemblies are connected to each other at the ends of the corresponding frames.

That is, the end of each frame of the one frame assembly is in contact with the end of the frame of the adjacent frame assembly to form a sphere when the whole frame assemblies are assembled.

Also, though not shown in the drawings, the frames of adjacent frame assemblies are fixedly secured by separate fixing means.

As described above, the submersible robot 1 according to one embodiment of the present invention can prevent the breakage and failure of the core equipment due to the external impact due to the external impact, and the spherical frame unit, which is a spherical elastic material, Since the frame portion is formed in a spherical shape, it is possible to minimize the disturbance caused by the flow rate of the algae or obstacles.

In addition, the underwater robot 1 is composed of a plurality of frame assemblies which can be assembled and disassembled into a module type of a spherical frame portion, so that assembling and disassembling are facilitated, thereby facilitating inspection and replacement of internal core equipment.

1: underwater robot 3: control controller 4:
5: square frame part 7: spherical frame part 8: wing part
9: electromagnetic part 31: hull 51: frame
71: frame assembly 73: projecting part 81: wing plate
83, 83 ': Fixing portion 511: Circular protrusion 513: Insertion groove
711, 711 ': Horizontal frame 713, 713': Vertical frame
731:

Claims (8)

A control controller in which parts for performing a predetermined operation are installed;
An inner frame part formed by combining the frames and having the control controller installed therein;
A traveling unit installed at one side of the control controller or inside the inner frame unit to move the control controller in water;
And an outer frame portion, which is a spherical elastic material, provided on the outer side of the inner frame portion so as to surround the inner frame portion,
Wherein the outer frame portion includes a plurality of frame assemblies assembled in a spherical shape,
Wherein one of the frame assemblies of one of the adjacent frame assemblies is connected to an end of the other frame of the adjacent frame assembly,
Further comprising fixing means for fixing the exposed frames of the adjacent frame assemblies,
Circular protrusions are formed on the outer circumferential surface of each of the frames at the respective corners of the inner frame portion, the circular protrusions being formed on the outer surface thereof with circular insertion grooves inwardly from the outer surface thereof,
The frame assembly may further include inserts protruding in a cylindrical shape from one surface on one side of the frames,
Wherein the inserting portions of the frame assembly are inserted into the insertion grooves of the corresponding circular protrusions of the inner frame portion when assembled. delete delete [2] The frame assembly of claim 1,
Horizontal frames formed in a curved surface and spaced apart from each other;
Wherein the vertical frame includes vertical frames formed in a curved surface and spaced apart from each other in a direction perpendicular to the horizontal frames. delete [5] The underwater robot according to claim 4,
Further comprising torque / force sensors installed at each corner of the inner frame portion,
Wherein the torque / force sensors measure the torque / force of each of the frames connected to the corresponding corner, and transmit the measured torque / force value to the control controller. 7. The underwater robot according to claim 6,
Further comprising a wing portion formed of a plate member having a length and vertically installed on an outer side of the inner frame portion and having both ends coupled to the frames of the inner frame portion. The underwater robot according to claim 7,
Further comprising an electromagnet portion provided outside the outer frame portion.

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