KR101786246B1

KR101786246B1 - Grtpper having wolbble motor

Info

Publication number: KR101786246B1
Application number: KR1020150178643A
Authority: KR
Inventors: 백윤수; 박상용
Original assignee: 연세대학교 산학협력단
Priority date: 2015-12-14
Filing date: 2015-12-14
Publication date: 2017-10-17
Also published as: KR20170070741A

Abstract

A gripper device having a wobble motor according to the present invention includes a gripper unit including first and second gripper portions for selectively gripping an article and a wobble motor for driving the gripper unit, And first and second stator connected to the first and second gripper units, first and second stator units to which voltages are applied to eccentrically rotate the first and second rotors, respectively, and a first stator and a second stator, And first and second restraining parts that selectively restrain the movement of the first and second rotors, respectively, including a large pair of the electron permanent magnets. According to this configuration, it is possible to provide a gripper having a miniaturized wobble motor since no separate deceleration means is required.

Description

(GRTPPER HAVING WOLBBLE MOTOR)

The present invention relates to a gripper, and more particularly to a gripper device having a wobble motor in which an output torque is improved and no additional deceleration means are required.

Generally, a wobble motor has a simple structure and an eccentric structure between a stator and a rotor, so that the rotor can rotate at a low angle with a large torque with a large torque. These wobble motors are widely used in the field of small motors to which MEMS (Micro Electro Mechanical System) technology is applied.

On the other hand, the wobble motor is composed of a stator having a plurality of segments wound with coils so that a current is applied to the inner circumferential surface of the stator, the stator being spaced apart from each other by a predetermined distance, and the rotor being in contact with the stator. When a voltage is sequentially applied to a plurality of segments, the wobble motor having such a structure performs eccentric orbital motion while the rotor rotates along the inner diameter of each segment, thereby rotating at a low speed at a constant attenuation gear ratio.

However, since a conventional wobble motor is not fixed, there is a problem of breakage during operation. In addition, when a wobble motor is applied to the gripper, an additional power supply or additional decelerating means is required for the gripper to grasp the object continuously, which causes a reduction in efficiency.

-. Korean Patent No. 10-1241092 -. Korean Patent No. 10-1265112

SUMMARY OF THE INVENTION It is an object of the present invention to provide a gripper device having a miniaturized wobble motor in which output torque is improved and additional deceleration means are not required.

In order to achieve the above object, a gripper device having a wobble motor includes a gripper unit for selectively gripping an article, and a wobble motor for driving the gripper unit, wherein the wobble motor includes a rotor A stator to which a voltage is applied to rotate the rotor eccentrically and a pair of permanent magnets with a large difference in coercivity to selectively restrict movement of the rotor.

According to one aspect, the gripper unit includes a gripper for gripping the article, and a connector for interconnecting the gripper and the rotor.

According to one aspect, a pair of permanent magnets having a large difference in the coercive force of the restricting portion is provided on one side of the connecting body.

According to one aspect of the present invention, the rotor has a ring shape provided inside the stator and is eccentrically rotatable with respect to the outer circumferential surface of the stator, and the stator has a plurality of poles Lt; / RTI >

According to one aspect, a pair of permanent magnets having a large difference in the coercive force of the restricting portion is provided inside the rotor so as to face the stator.

According to one aspect of the present invention, the restricting portion is provided inside the rotor so as to face the stator while having a plurality of poles each of which is provided with a pair of permanent magnets having a large difference in coercive force.

A gripper unit according to a preferred embodiment of the present invention includes a gripper unit including first and second gripper portions for selectively gripping an article and a wobble motor for driving the gripper unit, A first and a second stator connected to the first and second gripper units respectively, a first stator and a second stator applied with a voltage for eccentrically rotating the first and second rotors, And a first and a second restricting portion for selectively restricting movement of the first and second rotors, respectively, including a pair of electron permanent magnets with a large difference between the first and second rotors.

According to one aspect, the first gripper portion includes a first gripper rotatable in both directions to grip the article, and a first connector that interconnects the first rotor and the first gripper, A second gripper rotatable in both directions toward the gripper, and a second connecting body connecting the second rotor and the second gripper, wherein the first gripper portion and the second gripper portion are stacked on each other.

According to one aspect, the first and second restricting portions are respectively installed on one side of the first and second connecting bodies.

According to one aspect of the present invention, the first and second connecting bodies have a ring shape, and the first and second rotators have a ring shape closely contacting the inner circumferential surfaces of the first and second connecting bodies, 1 and the second stator each include a core provided with a gap spaced from the inner circumferential surface of the first and second rotors and having a plurality of poles around which the coils are wound.

According to one aspect, a pair of permanent magnets of the first and second restraint portions are stacked in the first and second rotors so as to face the first and second stators, respectively.

According to one aspect of the present invention, the first and second restricting portions are provided with a plurality of poles each of which is provided with the pair of the permanent magnets, and the first and second stator portions are arranged to face the first and second stator, And are laminated in the interior of the rotor.

According to the present invention having the above-described configuration, first, by providing the gripper using the wobble motor, the output torque can be improved even at low speeds.

Second, by providing a restricting portion including an electron permanent magnet having a large difference in coercive force and changing the polarity direction, the driving force of the gripper can be restrained without a separate deceleration means, contributing to the improvement of efficiency.

1 is a perspective view schematically showing a gripper device according to a first preferred embodiment of the present invention,
FIG. 2 is an exploded perspective view schematically showing the gripper device shown in FIG. 1,
3 is a cross-sectional view schematically showing the gripper device shown in FIG. 1,
FIG. 4 is a plan view schematically showing the operation of the rotor and the stator shown in FIG. 1,
FIG. 5 is a plan view schematically showing the operation of the restraining portion shown in FIG. 1,
FIG. 6 is a perspective view schematically showing the operation of the gripper device shown in FIG. 1,
7 is a cross-sectional view schematically showing a gripper device according to a second preferred embodiment of the present invention,
FIG. 8A is a plan view schematically showing the first and second restraining portions shown in FIG. 7,
FIG. 8B is a graph schematically showing the driving operation sequence of the first and second restraining parts shown in FIG. 8A,
9 is a perspective view schematically showing a gripper device according to a third preferred embodiment of the present invention,
FIG. 10 is a cross-sectional view schematically showing the gripper device according to the third embodiment shown in FIG. 9,
11 is a plan view schematically showing the first and second restricting portions of the gripper device according to the third embodiment shown in FIG.

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

Referring to Figs. 1 and 2, a gripper device 1 having a wobble motor according to a first preferred embodiment of the present invention includes a gripper unit 10 and a wobble motor 20.

The gripper unit 10 selectively grips an article (not shown). To this end, the gripper unit 10 includes first and second gripper portions 11, 14.

The first gripper unit 11 includes a first gripper 12 that bi-directionally rotates and selectively grips an article (not shown), and a first gripper 12 that interconnects the first gripper 12 and the wobble motor 20. [ (13). The first connector 13 is connected to the first gripper 12 and has a hollow ring shape in which a wobble motor 20 is installed.

The second gripper portion 14 includes a second gripper 15 and a second gripper 15 which are bi-directionally rotated toward the first gripper 12 and a second connector 16 ). The second link member 16 also has a ring shape in which a wobble motor 20 is installed. That is, the first and second grippers 11 and 14 have the same shape.

On the other hand, a second gripper portion 14 is stacked on the first gripper portion 11. 3, the support 17 is stacked on the first connector 13 of the first gripper 11 and the second gripper 14 of the second gripper 14 is sandwiched by the support 17, And the second link member 16 is stacked so as to face the first gripper portion 11. At this time, the second gripper 15 is positioned above the first gripper 12 due to the difference in stacking height of the first and second grippers 12 and 15, but the first and second grippers 12 and 15 15 are bent and extended toward each other to grip an article (not shown).

The wobble motor 20 drives the gripper unit 10. 2, the wobble motor 20 includes first and second rotors 30 and 40, first and second stators 50 and 60, first and second restraining parts 70 and 70, ) &Lt; / RTI >

The first and second rotors 30 and 40 are connected to the first and second gripper portions 11 and 14, respectively. At this time, the first and second rotors 30 and 40 have a ring shape having the same diameter, and the first and second rotors 30 and 40 have first and second rotors 30 and 40, The connecting bodies 13 and 16 are installed in close contact with each other. As a result, the first and second rotors 13 and 16 are rotated together with the first and second rotors 30 and 40 so that the first and second grippers 12 and 12 15 are driven.

The first and second stators 50 and 60 are energized to rotate the first and second rotors 30 and 40, respectively. The first and second stators 50 and 60 are spaced apart from the inner circumferential surface of the first and second rotors 30 and 40 so that the first and second coils 52 and 62, And a plurality of first and second poles (51) and (61) wound around the core. The plurality of first and second pawls 51 and 61 on which the first and second coils 52 and 62 are wound are disposed as spaced apart from each other at regular intervals. For reference, in the present embodiment, it is natural that the first and second pawls 51 and 61 are three, respectively, but the present invention is not limited thereto.

A voltage is applied to the first and second coils 52 and 62 wound around the first and second pawls 51 and 61 of the first and second stators 50 and 60, And the second rotors 30 and 40 are eccentrically rotated are sequentially shown in Fig. 4, when the voltage is sequentially applied to the first and second poles 51 and 61 of the first and second stators 50 and 60, the first and second poles 51 and 61, The rotors 30 and 40 are eccentrically rotated along the outer peripheral surfaces of the first and second pawls 51 and 61 to which the voltage is applied.

More specifically, as shown in FIG. 4 (a), among the plurality of first pawls 51 of the first stator 50, the first coil 51 of the first pole 51 located on the left- The first rotor 30 is driven toward the outer peripheral surface of the left and lower first pawls 51 having the magnetic fields of the plurality of first pawls 51 .

4 (b), a voltage is applied to the first coil 52 of the first pole 51 located on the lower side and the right side among the plurality of first pawls 51 to change the magnetic field forming position , The first rotor 30 is rotated along the outer peripheral surfaces of the lower and right first pawls 51 of the first pawls 51. 4 (c), a voltage is applied to the first coil 52 of the right and left first pawls 51 among the plurality of first pawls 51 to form a magnetic field. As a result, (30) is finally rotated one turn along the outer circumferential surface of the first pole (51). At this time, the first rotor (30) is eccentrically rotated according to the state of being struck against the first stator (50).

The second rotor 40 is also applied to the second coil 62 wound on the plurality of second pawls 61 as shown in Figures 4 (d), 4 (e) and 4 (f) The second rotor 40 is eccentrically rotated along the outer circumferential surface of the first stator 50.

The rotational force of the first rotor 30 is transmitted to the first gripper 12 through the first link member 13 to rotate the second link member 40 and the rotational force of the second rotor 40 is transmitted to the second link member 16 to the second gripper 15 for rotation.

The first and second restraining parts 70 and 80 include first and second permanent magnets 71 and 81 having a large difference in coercivity so that the first and second rotors 30 and 30 (40), respectively. The first and second restricting portions 70 and 80 are connected to one side of the first and second connecting bodies 13 and 16, respectively, as shown in FIGS.

More specifically, the first and second restricting portions 70 and 80 include first and second restricting portions 70 and 80, which partially surround the outer peripheral surfaces of the first and second connecting bodies 13 and 16, respectively, And the first and second permanent magnets 71 and 81 which are integrally extended from the first and second outer connecting bodies 72 and 82 and which respectively support the first and second permanent magnets 71 and 81, 1 and a second constraining support 73 (83). At this time, first and second permanent magnet coils 74 and 84 for applying a current for magnetization change are wound around the outer surfaces of the first and second permanent magnets 71 and 81.

For reference, the first and second constraining supports 73 and 83 are formed of a metallic material such as iron. The first and second permanent magnets 71 and 81 include a pair of permanent magnets each having a large difference in coercive force. In the present embodiment, the first and second permanent magnets 71 and 81 are made of neodymium, (NdFeB) 71a (81a), and Alnico magnets (Alnico) 71b (81b) which are iron, nickel, aluminum and cobalt alloys.

5 (a), the first and second restraining portions 70 and 80 are disposed around the first and second permanent magnets 71 and 81 with a flux line F , The N pole and the S pole are changed as shown in FIG. 5 (b) and the range of the magnetic flux line F is widened. Accordingly, the first and second restricting portions 70 and 80 restrain the rotation of the first and second rotors 30 and 40, respectively.

The gripper operation of the gripper device 1 according to the first embodiment having the above-described configuration will be described with reference to Figs. 1 and 6. Fig.

First, as shown in FIG. 1, when gripping an article (not shown) in a state where the first and second grippers 12 and 15 of the gripper unit 10 are in contact with each other, Two grippers (12) and (15) must be mutually engaged. To this end, the wobble motor 20 connected to the first and second grippers 12 and 15 generates rotational force to rotate the first and second grippers 12 and 15 in the direction of the arrow shown in FIG. .

4, the first and second coils 52 wound on the first and second pawls 51 and 61 of the first and second stators 50 and 60, respectively, The first and second rotors 30 and 40 are eccentrically rotated along the outer circumferential surface of the first and second stators 50 and 60 by a magnetic field formed by sequentially applying a voltage to the first and second stators 50 and 60. [ The first and second coupling members 13 and 16 of the first and second grippers 12 and 15 closely attached to the first and second rotors 30 and 40 are also rotated, The first and second grippers 12 and 15 are spaced apart from each other so that they can be rotated as shown in FIG. 6 to grip an article (not shown).

Thereafter, when current is applied to the first and second restricting portions 70 and 80 while the first and second grippers 12 and 15 grip the article (not shown) The magnetic flux lines F around the two permanent magnets 71 and 81 are changed as shown in Fig. 5 and the rotation of the first and second rotors 30 and 40 is stopped. At this time, the first and second grippers 12 and 15 are rotated until the magnetic force F of the first and second restraining parts 70 and 80 is changed, that is, Quot;) is held.

Referring to FIG. 7, there is shown a gripper device 100 according to a second embodiment of the present invention.

The gripper device 100 according to the second embodiment of FIG. 7 includes the gripper unit 10, the first and second rotors 30 and 40 of the wobble motor 120, the first and second stator 50, (60) is the same as that of the first embodiment shown in FIG. 1, so that a detailed description thereof will be omitted and the same reference numerals will be given and explained.

The wobble motor 120 of the gripper apparatus 100 according to the second embodiment is configured such that the first and second restricting portions 170 and 180 face the first and second stators 50 and 60, And the second rotors 30 and 40, respectively. Specifically, as shown in FIG. 7, a first restraining part 170 is stacked on the lower part of the first stator 50 so as to face the first stator 50. The second stator 60 is stacked with the support 17 stacked on the first stator 50 and the second stator 60 is mounted on the upper portion of the stator 60 so as to face the second stator 60. [ Stacked. That is, the first and second stator units 170 and 180 are stacked so as to face each other with the first and second stator units 50 and 60 interposed therebetween.

Here, the first and second restraining parts 170 and 180 have a plurality of first and second permanent magnet poles 172 and 182, respectively, as shown in FIG. 8A, The first and second permanent magnets 171 and 181 are respectively installed on the two permanent magnet poles 172 and 182. The first and second permanent magnets 171 and 181 each include a pair of permanent magnets having a large difference in coercive force. The first and second permanent magnets 171 and 181 include a Neodymium magnet 171a 181a and alnico magnets 171b and 181b, respectively.

At this time, the first and second permanent magnets 171 and 181 are wound on the first and second permanent magnet coils 173 and 183 to receive a current. Accordingly, the first and second permanent magnets 171 and 181, in which the first and second permanent magnet coils 173 and 183 are wound, are capacitors of the wobble motor 120 And controls the driving.

For reference, the first and second permanent magnet poles 172 and 182 are shown and illustrated as four, respectively. 8A and 8B, the first and second permanent magnets 171 and 181 provided in the plurality of first and second permanent magnet poles 172 and 182 are rotated counterclockwise C1, C2, C3 and C4.

The first and second restricting portions 170 and 180 according to the second embodiment may also include a first and a second rotatable members 180 and 180 which are eccentrically rotated along the outer circumferential surfaces of the first and second stators 50 and 60, By restricting the rotational force of the electrons 30 and 40, the posture of the first and second grippers 12 and 15 holding the article (not shown) is restrained to be fixed. More specifically, by applying a current in the order of C1, C2, C3 and C4 of the first and second permanent magnets 171 and 181 shown in Fig. 8A, The polarities of the two permanent magnets 171 and 181 are changed so that the first and second rotors 30 and 40 can be rotated or fixed.

8B, the polarities of the output portions of C1, C2, C3, and C4, that is, the portions where the first and second permanent magnet coils 173 and 183 are connected are shown as (+) and (-) and (+). That is, in the graph of FIG. 8B, it is confirmed that the polarity is converted by sequentially outputting the Tp portion in the upward and downward directions.

In the second embodiment of the present invention, the first and second restricting portions 170 and 180 include a plurality of first and second permanent magnet poles 172 and 182, respectively, The stator 50 and the stator 50 may be formed separately from each other. However, the present invention is not limited thereto. That is, the first and second restricting portions 70, 80, 170, and 180 are disposed on the first and second pawls 51 and 62 of the first and second stators 50 and 60, A variant example in which it is installed is also possible.

9 and 10, there is shown a gripper device 200 according to a third embodiment of the present invention.

The gripper device 200 according to the third embodiment of FIGS. 9 and 10 includes the gripper unit 10, the first and second rotors 30 and 40 of the wobble motor 220, (50) and (60) are the same as those of the first embodiment shown in FIG. 1, so that the detailed description thereof will be omitted and the same reference numerals will be given and explained.

The wobble motor 220 according to the third embodiment shown in Figs. 9 and 10 has first and second restricting portions 270 and 280 facing each of the first and second stators 50 and 60 Stacked. Specifically, the first restricting portion 270 is disposed in the lower portion of the first rotor 30 so as to face the first stator 50, and the second restricting portion 280 is disposed in the lower portion of the second rotator 40 The first stator 60 and the second stator 60,

The first and second restricting portions 270 and 280 may be formed by arranging first and second permanent magnets 271 and 272 in rectangular first and second permanent magnet pawls 272 and 282, (281) are wound on the first and second permanent magnet coils (273) and (283). The first and second restricting portions 270 and 280 may be provided at both ends of the first and second permanent magnet pawls 272 and 282, respectively.

The first and second restricting portions 270 and 280 according to the third embodiment also change the polarity of the first and second permanent magnets 271 and 281 having a large coercive force, And selectively restricts the rotational force of the first and second rotors 30 and 40 eccentrically rotated along the outer circumferential surface of the second stator 50 (60). The first and second grippers 12 and 15 holding the article (not shown) can be fixed in position without a separate deceleration means by the constraining force of the first and second restraining parts 270 and 280 do.

Although the present invention has been described with reference to the preferred embodiments thereof, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as defined in the following claims. It can be understood that

1, 100, 200: gripper device 10: gripper unit
11: first gripper part 12: first gripper
13: first connector 14: second gripper part
15: second gripper 16: second connector
17: support 20, 120, 220: wobble motor
30: first rotor 40: second rotor
50: first stator 60: second stator
70, 170, 270: first restricting portion 80, 180, 280: second restricting portion

Claims

A gripper unit for selectively gripping the article; And
A wobble motor for driving the gripper unit;
/ RTI >
The wobble motor includes:
A rotor connected to the gripper unit;
A stator installed at an interval spaced apart from an inner surface of the rotor and having a voltage applied to rotate the rotor eccentrically; And
A restraining unit including a pair of permanent magnets having different coercivity, for selectively restricting movement of the rotor;
.

The method according to claim 1,
Wherein the gripper unit includes a gripper for gripping the article and a connector for interconnecting the gripper and the rotor.

3. The method of claim 2,
Wherein the electronic permanent magnet having the mutually different coercive forces of the restricting portions is installed on one side of the connecting body.

The method according to claim 1,
Wherein the rotor has a ring shape and is rotatable eccentrically with respect to an outer circumferential surface of the stator,
Wherein the stator comprises a core having a plurality of poles on which coils are wound.

5. The method of claim 4,
And the pair of permanent magnets having different mutual coercive forces of the restricting portions are installed inside the rotor so as to face the stator.

5. The method of claim 4,
Wherein the restricting portion is laminated inside the rotor so as to face the stator while having a plurality of poles each of which is provided with a pair of permanent magnets having mutually different coercive forces.

A gripper unit including first and second gripper portions for selectively gripping an article; And
A wobble motor for driving the gripper unit;
/ RTI >
The wobble motor includes:
First and second rotors connected to the first and second gripper portions, respectively;
First and second stators provided at intervals spaced apart from an inner surface of each of the first and second rotors to apply a voltage to eccentrically rotate the first and second rotors; And
A first and a second restraining unit including a pair of permanent magnets having different coercivity and selectively restricting motions of the first and second rotors, respectively;
.

8. The method of claim 7,
Wherein the first gripper portion includes a first gripper rotatable in both directions to grip the article, and a first connector that interconnects the first rotor and the first gripper,
The second gripper includes a second gripper rotatable in both directions toward the first gripper and a second connector that interconnects the second rotor and the second gripper,
Wherein the first gripper portion and the second gripper portion are stacked on each other.

9. The method of claim 8,
Wherein the first and second restricting portions are respectively installed on one side of the first and second connecting members.

9. The method of claim 8,
Wherein the first and second connection members have a ring shape,
Wherein the first and second rotors have a ring shape in close contact with the inner circumferential surfaces of the first and second connecting bodies,
Wherein the first and second stator respectively comprise a core having a plurality of poles on which coils are wound.

11. The method of claim 10,
Wherein the pair of permanent magnets of the first and second restraint portions are stacked in the interior of the first and second rotors so as to face the first and second stator, respectively.

11. The method of claim 10,
Wherein the first and second restraining portions are provided with a plurality of pawls each of which is provided with the pair of permanent magnets and are arranged so as to face the first and second stators, Respectively.