KR20110047417A - Hybrid type driving apparatus having multi-degrees of freedom - Google Patents

Abstract

PURPOSE: A hybrid type driving apparatus with multiple degrees of freedom is provided to improve the accuracy of operation by accurately controlling the rotating or tilting angle of a rotating-tilting shaft core according to electric current. CONSTITUTION: A hybrid type driving apparatus with multiple degrees of freedom comprises a rotating-tilting shaft core(110), a rotating drive unit(130), and a tilting drive unit(150). The rotating-tilting shaft core is rotated or tilted in a housing. The rotating drive unit and the tilting drive unit are installed in the housing to respectively rotate and tilt the rotating-tilting shaft core using electromagnetic interaction.

Description

Hybrid type driving apparatus having multi-degrees of freedom

The present invention relates to a hybrid type of multi-degree of freedom drive device, and more specifically, it is possible to freely drive by having a multiple degree of freedom while having a simple structure compared to the prior art, which is a hybrid that can improve the driving efficiency It relates to a type of multiple degree of freedom drive device.

In recent years, the use of robots is increasing in various fields. For example, industrial robots used in industrial sites, military robots used in the military, exploration robots used for external exploration, and home robots used in real homes are not only used in various fields, Research is also active.

In particular, researches on the structure of joints of industrial robots or humanoid robots or the driving structures of camera systems such as vision cameras have been actively conducted. Referring to this, when looking at the joint portion of a conventional robot, a rotary motor for rotating a part of the robot with respect to another part, a linear motor for linearly moving a part of the robot with respect to another part, or a robot The driving motors and the like for tilting and moving a part of the part to another part are all provided separately, and all of these motors are mounted in one driving device.

Therefore, not only the structure of the overall device is very complicated, but the overall size is large in proportion to the number of parts, and there is a limit in implementing an accurate operation.

Accordingly, there is a need for the development of a new driving device that can reduce the overall size by simplifying the driving structure and realize accurate operation in multiple directions.

An object of the present invention can rotate or tilt in a multi-directional rotation and tilting shaft that can be used as a joint portion of the robot or can be used as a drive shaft of a vision camera, etc. It is to provide a hybrid type of multiple degree of freedom driving device that can improve the efficiency.

It is also an object of the present invention to provide a hybrid type multi-degree of freedom drive device that can reduce the size of the overall device by not only having a significantly simpler structure but also reducing the number of manufactured parts.

In addition, another object of the present invention, it is possible to precisely adjust the rotation angle or tilting angle of the rotating and tilting shaft core according to the amount of applied current, which is a hybrid type multi-degree of freedom driving device that can improve the accuracy of operation To provide.

Hybrid multi-degree of freedom drive device according to an embodiment of the present invention, a rotating and tilting combined shaft coupled to be capable of rotating or tilting in the housing (housing); A rotating drive unit provided in the housing and rotating the rotating and tilting shafts by electromagnetic interaction; And a tilting driver provided in the housing and tilting the rotating and tilting shafts by electromagnetic interaction, thereby allowing the robot to be used as a joint part of a robot or as a driving shaft such as a vision camera. The tilting combined shaft can be rotated and tilted in multiple directions, so that the driving efficiency can be improved as compared with the conventional art.

Here, the rotating and tilting combined shaft core, the fixed shaft member having a longitudinal direction fixedly coupled to the housing; And a moving shaft member rotatably coupled to the fixed shaft member, thereby adjusting the position of devices mounted to the moving shaft member by rotating or tilting the movable shaft member with respect to the fixed shaft member. Can be.

The rotating and tilting combined shaft is coupled to the connecting portion of the fixed shaft member and the movable shaft member, the spherical bearing to enable the rotation and tilting of the movable shaft member relative to the fixed shaft member bearing) may be further included.

The rotating drive unit may include a plurality of stators fixed along the circumferential direction of the inner wall of the housing; And a rotor coupled to the moving shaft member and rotating the moving shaft member by electromagnetically interacting with the plurality of stators when current is applied to the plurality of stators.

The surface of the stator facing the rotor may have a concave curved surface inward, and the surface of the rotor facing the surface of the stator may have a convex curved shape corresponding to the concave curved shape of the stator, thereby causing the stator to By tilting the rotor in the provided area, it is possible to prevent the rotor from deviating from the stator.

The rotor includes a disk-shaped rotor body which is coupled to the moving shaft member through a fixed shape; And a pair of N poles embedded in the rotor body and rotating the moving shaft member with which the rotor body is fixedly coupled to the fixed shaft member by electromagnetically interacting with the stator when an electric current is applied to the stator. And an S pole magnet, wherein the pair of N pole and S pole magnets may be alternately arranged to have a transverse direction.

The tilting drive unit is a linear induction motor (LIM), the linear induction motor, the reaction plate (reaction plate) which is penetrated to the moving shaft member by a bearing; And a plurality of inductions which are fixedly coupled along the circumferential direction of the inner wall of the housing and which tilt the movable shaft member to which the reaction plate is coupled to the fixed shaft member by electromagnetically interacting with the reaction plate when an induced current is applied. It may include a coil member.

The reaction plate may be an aluminum plate made of aluminum. The reaction plate may have a flat bottom surface and a top convex shape.

The plurality of induction coil members may be two pairs of induction coil members facing each other, and the two pairs of induction coil members may be provided in the housing to have a horizontal direction.

 And controlling a rotation angle of the moving shaft member by the rotating driver or a tilting angle of the moving shaft member by the tilting driver by adjusting an amount of current drawn by the rotating driver or the tilting driver. can do.

According to an embodiment of the present invention, the rotating and tilting combined cores that can be used as joint parts of robots or used as drive shafts such as vision cameras can rotate and tilt in multiple directions, thereby improving driving efficiency compared to the conventional art. Can be.

In addition, according to one embodiment of the present invention, not only has a significantly simpler structure than the conventional one, but also reduces the size of the overall device by reducing the number of manufactured parts.

In addition, according to an embodiment of the present invention, it is possible to accurately adjust the rotation angle or tilting angle of the rotating and tilting shaft core in accordance with the amount of current applied, thereby improving the accuracy of the operation.

Hereinafter, configurations and applications according to embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following description is one of several aspects of the patentable invention and the following description forms part of the detailed description of the invention.

In the following description, well-known functions or constructions are not described in detail for the sake of clarity and conciseness.

1 is a perspective view of a hybrid type multiple degree of freedom driving device according to an embodiment of the present invention, Figure 2 is a perspective view of the projection of Figure 1, Figure 3 is a cross-sectional perspective view of a portion of Figure 2, Figure 4 5 is a view for explaining the configuration of the rotating and tilting shaft core, Figure 5 is a view for explaining the rotation operation of the moving shaft member by the rotating drive, Figure 6 illustrates the tilting operation of the moving shaft member by the tilting drive unit It is a figure for following.

As shown in these drawings, the hybrid type multiple degree of freedom driving device 100 according to an embodiment of the present invention, the rotating is coupled to the rotating (rotating) or tilting (tilting) in the housing 101 And a rotating drive unit 130 provided in the tilting dual axis 110 and the housing 101 and rotating at least a portion of the rotating and tilting dual axis 110 by electromagnetic interaction, and the housing. A tilting driver 150 provided in the 101 and tilting at least a portion of the rotating and tilting shaft 110 by electromagnetic interaction, and the rotating driver 130 or the tilting driver 150. It includes a control unit (not shown) for controlling the rotation angle or the tilting angle of the rotating and tilting shaft center 110 by adjusting the amount of applied current.

First, as shown in FIG. 1, the housing 101 is a part forming an external appearance of the hybrid-type multiple degree of freedom driving device 100 according to the present embodiment, and serves to protect a plurality of components housed therein. In addition, some components of the components to be described later are mounted on the inner surface of the housing 101 so that the rotating or tilting operation of the rotating and tilting shaft core 110 can be performed.

Rotating and tilting combined shaft 110 is a portion that can be applied to the joints of the robot or the actual device such as vision camera. For example, the vision camera or the like should be able to move in various directions by a rotation or tilting operation. The rotating and tilting shaft 110 of the present embodiment has a structure capable of rotating or tilting and mounted thereon. The configuration allows the function to perform smoothly and efficiently.

In addition, as described above, in order to drive a joint part of a vision camera or a robot in the related art, each of a plurality of motors for moving in the Y-axis direction or a rotating motor for rotation, a driving motor for moving in the X-axis direction, etc. The rotating and tilting shaft 110 of the present embodiment has to be mounted, so that other parts may be rotated or tilted relative to one part, and thus do not require a plurality of motors as in the prior art, and thus are advantageous in terms of being more efficient than conventional structures. There is a point.

Rotating and tilting dual shaft 110 of the present embodiment, as shown in Figure 3 and 4, has a longitudinal direction fixed shaft member 111 is fixed to the housing 101, and fixed shaft member 111 Is coupled to the moving shaft member 115, which is rotatably and tiltably coupled to the connecting portion of the fixed shaft member 111 and the movable shaft member 115, and is movable to the fixed shaft member 111. Spherical bearings 117 to allow rotation or tilting of 115.

First, as shown in FIG. 3, the fixed shaft member 111 is fixedly coupled to the bottom portion of the housing 101. The fixed shaft member 111 serves as a reference for the moving shaft member 115 that actually rotates or tilts.

The moving shaft member 115 is a part which is actually driven by the rotating driver 130 and the tilting driver 150 which will be described later. Therefore, the moving shaft member 115 is coupled to be capable of rotating or tilting with respect to the fixed shaft member 111 described above.

Rotating or tilting operation of the moving shaft member 115 relative to the fixed shaft member 111 is provided in the connection portion of the fixed shaft member 111 and the moving shaft member 115, as shown schematically in FIG. This is possible due to the structural features of the spherical bearing 117.

As shown in FIG. 4, the moving shaft member 115 is fixedly coupled to the spherical bearing 117, and the spherical bearing 117 is coupled to be movable with respect to the fixed shaft member 111. That is, the spherical bearing 117 to which the moving shaft member 115 is fixedly coupled is not only rotatable with respect to the fixed shaft member 111 but also can be tilted around the connection portion. Therefore, when the rotational or tilting force is applied by the rotating driver 130 or the tilting driver 150 to be described later, the moving shaft member 115 may be rotated or tilted with respect to the fixed shaft member 111.

However, in the present embodiment, the moving shaft core member 115 is rotated or tilted with respect to the fixed shaft core member 111 by the spherical bearing 117, but the fixed shaft core member 111 by another connection structure. Rotating or tilting of the moving shaft member 115 with respect to) may be implemented.

On the other hand, the rotating drive unit 130 is a portion that generates a driving force for rotating the rotating shaft member 115 with respect to the fixed shaft member 111, which is substantially equipped with a vision camera, or used as a joint of the robot, As shown in FIG. 5, a plurality of stators 131 are fixedly coupled along the circumferential direction of the inner wall of the housing 101 and a plurality of stators 131 penetrately coupled to the moving shaft member 115 to supply current to the plurality of stators 131. It includes a rotor (135) for rotating the moving shaft member 115 by electromagnetically interacting with the plurality of stator 131 when applied.

The plurality of stators 131 includes a coil (not shown) for electromagnetically interacting with the rotor 135 when a current is applied. Here, the amount of current applied to the stator 131 is controlled by the control unit, and thus the rotation angle of the moving shaft member 115 that is rotated by the mutual electromagnetic action of the stator 131 and the rotor 135 can be adjusted. have.

And the rotor 135, as shown in FIG. 5, the rotor body 136 and the rotor body 136 of the disk-shape is coupled to the moving shaft member 115 fixedly coupled, embedded in the stator 131 A pair of N poles and S which rotates the moving shaft member 115 to which the rotor body 136 is fixedly coupled to the fixed shaft member 111 by electromagnetically interacting with the stator 131 when a current is applied to A pole magnet 138.

Here, the pair of N-pole and S-pole magnets 138 are alternately arranged to have a transverse direction. Therefore, when a current is applied to the stator 131 disposed at equal intervals, an electromagnetic force is generated by the mutual electromagnetic action with the rotor 135, and the generated electromagnetic force causes the moving shaft member 115 to which the rotor 135 is fixedly coupled. The rotating shaft member 111 fixedly coupled to the housing 101 may be rotated by a predetermined angle.

In addition, the structure in which the magnet 138 is embedded in the rotor body 136 has an embedded permanent magnet (IPM) structure. Due to this structural feature, caulking between the stator 131 and the rotor 135 is performed. It is possible to prevent the occurrence of a torque (cogging torque, which refers to a torque that prevents the rotation of the torque that interferes with the rotation when rotating the rotating shaft), and thus the rotation of the moving shaft member 115 relative to the fixed shaft member 111 There is an advantage that can proceed smoothly without this interference.

Meanwhile, as shown in FIG. 3, the surface of the stator 131 facing the rotor 135 has a concave curved surface inward, and the surface of the rotor 135 facing the surface of the stator 131 is the stator 131. It has a convex curved shape corresponding to the concave curved shape.

Due to this shape, even if the moving shaft member 115 is tilted with respect to the fixed shaft member 111 by the tilting driver 150 to be described later, it is possible to prevent the rotor 135 from escaping from the stator 131. That is, the outer surface of the rotor 135 has a structure that is caught on the top and bottom of the stator 131, the rotor 135 can be tilted only in the region in which the stator 131 is provided, whereby the rotor 135 The departure from the stator 131 can be prevented.

On the other hand, the tilting driving unit 150 of the present embodiment is a portion for generating a driving force for tilting the movable shaft member 115 with respect to the fixed shaft member 111, a linear induction motor (LIM) using an induction current It can be prepared as.

Referring to the configuration of the tilting driving unit 150, that is, the linear induction motor 150 of the present embodiment in detail, as shown in Figures 2, 3 and 6, The reaction plate 155 penetrated and coupled to the moving shaft member 115 by a bearing 118 such as a ball bearing 118 is fixedly coupled along the circumferential direction of the inner wall of the housing 101. A plurality of induction coil members 151 for tilting the movable shaft member 115 to which the reaction plate 155 is coupled to the fixed shaft member 111 by electromagnetically interacting with the reaction plate 155 when an induction current is applied. It includes.

3 and 6, the reaction plate 155 of the present embodiment is provided with an aluminum plate made of aluminum having a flat bottom surface and a convex shape on the top thereof. However, in the present embodiment, although the aluminum plate 155 is applied as the reaction plate 155 which generates excellent electromagnetic interaction with the induction coil member 151, a reaction plate of another material may be applied. .

 Induction coil member 151, as shown in Figure 6, provided with two pairs, the pair has a structure facing each other.

That is, one pair of induction coil members 151a of the two pairs of induction coil members 151 act electromagnetically with each other to tilt and move the aluminum plate 155 in the 'A' direction of FIG. 6. The induction coil member 151b acts electromagnetically with each other to tilt the aluminum plate 155 in the direction 'B' of FIG. 6. In addition, when different currents are applied to the pair of induction coil members 151, the aluminum plate 155 may be tilted in a combined direction thereof rather than the aforementioned 'A' and 'B' directions.

In detail, the control unit adjusts the rotation angle and the tilting angle of the moving shaft member 115 with respect to the fixed shaft member 111 based on the position information provided from the outside, in which case the tilting angle is adjusted, By controlling the amount of induction current applied to the induction coil member 151, the aluminum plate 155 may have the aforementioned 'A' direction in FIG. 6 or 'B' direction in FIG. 6, and 'A' and 'B' directions. The position can be adjusted in the combined direction thereof, and thus the tilting angle of the moving shaft member 115 through which the aluminum plate 155 is coupled can be adjusted.

As described above, in one embodiment of the present invention, the moving shaft member 115 is rotatably or tiltably coupled to the fixed shaft member 111, and also the rotating driver 130 and the tilting driver 150 By generating a driving force for rotating or tilting the moving shaft member 115 relative to the fixed shaft member 111, the direction of the moving shaft member 115, which is equipped with a vision camera or the like or used as a robot joint, in various directions. That is, it can be driven with multiple degrees of freedom.

Hereinafter, a driving method of the hybrid type multiple degree of freedom driving device 100 according to an exemplary embodiment of the present invention having such a configuration will be described.

First, after acquiring external location information and the like, the rotation angle and tilting angle of the moving shaft member 115 to which a vision camera or the like is mounted or used as a robot joint is determined.

Subsequently, the controller applies a current capable of driving the moving shaft member 115 with respect to the fixed shaft member 111 to the rotating driver 130 and the tilting driver 150 by the determined rotation angle and tilting angle, thereby fixing the fixed shaft core. The moving shaft member 115 can be rotated or tilted relative to the member 111.

At this time, the rotation operation and the tilting operation may be performed at the same time, but it is natural that one operation may be performed before another operation.

As described above, the hybrid type multi-degree of freedom driving apparatus 100 according to the exemplary embodiment of the present invention has a simple structure for driving in various directions and can perform accurate position control by such a simple driving method.

On the other hand, the present invention is not limited to the described embodiments, it is apparent to those skilled in the art that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, such modifications or variations will have to be belong to the claims of the present invention.

1 is a perspective view of a hybrid type multiple degree of freedom driving device according to an embodiment of the present invention.

2 is a perspective perspective view of FIG. 1.

3 is a cross-sectional perspective view of a portion of FIG.

4 is a view for explaining the configuration of the rotating and tilting combined shaft.

It is a figure explaining the rotation operation of the moving shaft center member by a rotating drive part.

6 is a view for explaining the tilting operation of the moving shaft member by the tilting drive.

* Explanation of symbols for the main parts of the drawings

100: hybrid type multiple degree of freedom drive device

110: rotating and tilt team combined shaft 130: rotating drive unit

131: stator 135: rotor

150: tilting drive unit 151: induction coil member

155: Reaction Plate

Claims (10)

A rotating and tilting combined core coupled to be capable of rotating or tilting in a housing; A rotating drive unit provided in the housing and rotating the rotating and tilting shafts by electromagnetic interaction; And A tilting driver provided in the housing and configured to tilt the rotating and tilting shaft by electromagnetic interaction; Hybrid multi-degree of freedom drive device comprising a. The method of claim 1, The rotating and tilting combined shaft, A fixed shaft member having a longitudinal direction and fixedly coupled to the housing; And Hybrid multi-degree of freedom drive device comprising a moving shaft center member rotatably coupled to the fixed shaft member. The method of claim 2, The rotating and tilting combined shaft, And a spherical bearing coupled to the connection portion of the fixed shaft member and the movable shaft member to enable rotation and tilting of the movable shaft member relative to the fixed shaft member. Degrees of freedom drive. The method according to any one of claims 1 to 3, The rotating drive unit, A plurality of stators fixedly coupled along the circumferential direction of the inner wall of the housing; And A hybrid type multiple degree of freedom drive device coupled to the moving shaft member and including a rotor rotating the moving shaft member by electromagnetically interacting with the plurality of stators when a current is applied to the plurality of stators. . The method of claim 4, wherein The surface of the stator facing the rotor has a concave curved surface inward, and the surface of the rotor facing the surface of the stator has a convex curved shape corresponding to the concave curved shape of the stator. The method of claim 4, wherein The rotor is, A disk-shaped rotor body coupled to and fixed to the moving shaft member; And A pair of N-poles embedded in the rotor body, the pair of N poles rotating the movable shaft member with which the rotor body is fixedly coupled to the fixed shaft member by electromagnetically interacting with the stator when an electric current is applied to the stator; Including S-pole magnets, And the pair of N-pole and S-pole magnets are alternately arranged to have a transverse direction. The method according to any one of claims 1 to 3, The tilting driver is a linear induction motor (LIM), The linear induction motor, A reaction plate penetratingly coupled to the moving shaft member by a bearing; And A plurality of induction coils fixedly coupled along the circumferential direction of the inner wall of the housing, and tilting the movable shaft member with which the reaction plate is coupled to the fixed shaft member by electromagnetically interacting with the reaction plate when an induced current is applied; Hybrid multi-degree of freedom drive device comprising a member. The method of claim 7, wherein The reaction plate is an aluminum plate of aluminum (Aluminum Plate), the lower surface is flat, the upper surface is a hybrid type multiple degree of freedom drive device having a convex shape to the top. The method of claim 8, The plurality of induction coil members are two pairs of induction coil members facing each other, wherein the two induction coil members are provided in the housing to have a horizontal direction. The method according to any one of claims 1 to 3, The controller further controls a rotation angle of the moving shaft member by the rotating driver or a tilting angle of the moving shaft member by the tilting driver by adjusting an amount of current drawn by the rotating driver or the tilting driver. Hybrid type multiple degree of freedom drive device.

Images