KR20190071491A - Integrated drive apparatus - Google Patents

Abstract

An embodiment of the present invention is to provide an integrated driving device which can obtain an accurate output response. The integrated driving device includes a driving unit, a harmonic drive unit, an output unit, a sensing unit, a fixed housing unit, and a processing unit. The driving unit has a stator and a rotor, and rotates a driving shaft coupled with the rotor. The output unit includes a first output unit coupled with the harmonic drive unit coupled to the driving shaft so as to output a first rotational force while being rotated, and a second output unit integrated with the first output unit and having the diameter larger than the diameter of the first output unit so as to output a second rotational force. The sensing unit is accommodated inside the fixed housing unit, and is disposed between the harmonic drive unit and the output unit so as to sense a first total rotation angle at which the first output part rotates and a second total rotation angle at which the second output unit rotates. The processing unit calculates the torque applied to the output unit from the difference between the first total rotation angle and the second total rotation angle.

Description

[0001] INTEGRATED DRIVE APPARATUS [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an integrated driving apparatus, and more particularly, to an integrated driving apparatus capable of obtaining an accurate output response.

The harmonic drive is a kind of reducer which is compact and lightweight but can achieve a high reduction ratio, a large transmission torque capacity, and a small backlash so that a device for obtaining a precise reduction ratio, for example, Robots and the like.

Generally, a harmonic drive consists of a cylindrical circular spline, a cup-shaped flex spline and a wave generator. The wave generator usually has an elliptical shape and is installed inside the flex spline. The flex spline equipped with the wave generator is installed on the inner circumference of the circular spline. Generally, the inner circumferential surface of the circular spline and the outer circumferential surface of the flex spline are configured such that the teeth are processed to prevent slippage.

In recent years, the area of use of robots, which have been mainly used in the industrial field, has been expanding. Especially, in the aging society, it has been widely used and utilized as a robot for rehabilitation therapy, The robot for rehabilitation therapy can measure the repeatability of enabling the user to repeat the training, the accuracy that enables the user to train by implementing the motion required by the doctor or the therapist, and the reaction and treatment effect of the user. Due to the advantages of quantitative properties, the range of application is getting wider.

On the other hand, among the robots for rehabilitation, physiological interaction between the user and the robot is important for the robot for rehabilitation therapy, which is used for upper limb rehabilitation treatment such as a hand that is paralyzed by a stroke, arm rehabilitation such as a knee and pelvis. For example, when the user's motion force is not sufficient, it is necessary to reduce the load by providing power to be rotated in the direction of the joint motion in order to prevent injury of the user. In addition, when the user's motion power is sufficient, control such as increasing the load in the opposite direction of the joint motion is required to increase the motion effect. Accordingly, there is a need for a driving device capable of sensing the user's movement force and feeding back the output quickly and variously.

Korean Registered Patent Publication No. 1426903 (Announced 2014.08.06)

SUMMARY OF THE INVENTION In order to solve the above problems, an aspect of the present invention is to provide an integrated driving apparatus capable of obtaining an accurate output response.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. There will be.

According to an aspect of the present invention, there is provided a driving apparatus including a driving unit having a stator and a rotor and rotating a driving shaft coupled to the rotor; A harmonic drive unit coupled to the drive shaft; A first output unit that is coupled to the harmonic drive unit and outputs a first rotational force while rotating, and a second output unit that is integrally formed with the first output unit and is formed to have a larger diameter than the first output unit, An output unit having an output unit; A sensing unit disposed between the harmonic driver and the output unit and configured to sense a first general electromagnetism diagram rotated by the first output unit and a second general electromagnetism diagram rotated by the second output unit; A fixed housing part in which the sensing part is accommodated; And a processing section for calculating a torque applied to the output section from a difference between the first general-train full-angle full-view and the second general-train full-angle view.

The sensing unit may include a first magnet unit coupled to the first output unit and rotated together with the first output unit, and a second magnet unit coupled to the second output unit, A first sensor portion fixed to the fixed housing portion and sensing a change in a first magnetic amount of the first magnet portion that is rotated and a second sensor portion that detects a change in a second magnetic amount of the second magnet portion And a substrate unit having a second sensor unit for detecting a change.

In an embodiment of the present invention, the first sensor unit may include a first sensor that senses a first total number of revolutions of the first magnet unit rotated by 360 degrees, and a second sensor that senses the first total number of revolutions when the first sensor senses the first total number of revolutions. The first magnet portion may have a second sensor that senses a first additional rotation angle that is rotated in an angular range greater than 0 degrees and less than 360 degrees.

In the embodiment of the present invention, the first general rotation electromyogram includes a first main rotation angle in which the first general rotation number sensed by the first sensor is converted into an angle, and a second main rotation angle in which the first additional rotation It can be the sum of angles.

In an embodiment of the present invention, the first sensor and the second sensor may be spaced apart from each other by a first angle interval along a virtual first circle corresponding to a center diameter of the first magnet unit.

In the embodiment of the present invention, the second sensor unit may include a third sensor that senses a second total number of revolutions of the second magnet unit rotated by 360 degrees, and a third sensor that, when the third sensor senses the second total number of revolutions, And a fourth sensor that senses a second additional rotation angle that the second magnet portion has rotated in an angular range greater than 0 degrees and less than 360 degrees.

In the embodiment of the present invention, the second total rotation angle is calculated by a second main rotation angle obtained by converting the second rotation number sensed by the third sensor into an angle, and the second additional rotation angle It can be the sum of angles.

In an embodiment of the present invention, the third sensor and the fourth sensor may be spaced apart from each other by a second angular interval along a second imaginary circle corresponding to the center diameter of the second magnet.

In an embodiment of the present invention, the second angle may be equal to the first angle.

The harmonic drive unit may include a wave generator unit coupled to the drive shaft and rotating integrally with the drive shaft, and a plurality of wave generator units arranged to surround the outer circumferential surface of the wave generator unit in a state spaced apart from the outer circumferential surface of the wave generator unit. And a second output unit which is provided between the wave generator unit and the circular spline unit and rotates while being partially coupled with the circular spline unit upon receiving the first rotational force of the wave generator unit, And may have a flex spline portion that transmits a first rotational force to the first output portion.

In an embodiment of the present invention, a first stepped portion may be formed on an outer circumferential surface of the first output portion along a circumferential direction, and the first magnet portion may be coupled to the first stepped portion.

According to an embodiment of the present invention, the second magnet portion may be bent and tightly coupled to one side surface and the inner circumferential surface of the second output portion.

In an embodiment of the present invention, a second stepped portion may be formed along the circumferential direction on the inner circumferential surface of the fixed housing portion, and the substrate portion may be coupled to the second stepped portion.

According to the embodiment of the present invention, it is possible to accurately calculate the torque applied to the output section from the difference between the first general electromyographic angle in which the first output section is rotated and the second general electromyograph angle in which the second output section has rotated. Based on this, it is possible to control at least one of the rotation direction and the number of revolutions per minute of the drive shaft to be controlled, thereby enabling physical interaction with the user and various output responses.

It should be understood that the effects of the present invention are not limited to the effects described above, but include all effects that can be deduced from the description of the invention or the composition of the invention set forth in the claims.

1 and 2 are perspective views showing an integrated driving module according to an embodiment of the present invention.
3 is a cross-sectional view illustrating an integrated driving module according to an exemplary embodiment of the present invention.
4 is a cross-sectional perspective view illustrating a driving unit in an integrated driving module according to an exemplary embodiment of the present invention.
5 is a cross-sectional perspective view of a harmonic drive unit in an integrated drive module according to an exemplary embodiment of the present invention.
6 is an exploded perspective view illustrating the integrated driving module according to an exemplary embodiment of the present invention.
7 is a cross-sectional perspective view of the integrated drive module according to an exemplary embodiment of the present invention, showing a sensing part as a center.
8 is an exemplary diagram illustrating a sensing unit in an integrated driving module according to an embodiment of the present invention.
9 is a cross-sectional perspective view showing the harmonic drive unit, the sensing unit, and the output unit in the integrated drive module according to the embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is referred to as being "connected" (connected, connected, coupled) with another part, it is not only the case where it is "directly connected" "Is included. Also, when an element is referred to as " comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 3 is a cross-sectional view illustrating an integrated drive module according to an embodiment of the present invention. FIG. 4 is a cross-sectional view of an integrated drive module according to an embodiment of the present invention. FIG. 2 is a cross-sectional perspective view of the integrated drive module according to FIG.

1 to 4, the integrated driving module includes a driving unit 100, a harmonic drive unit 200, an output unit 300, a sensing unit 400, a fixed housing unit 350, and a processing unit 500 .

The driving unit 100 may have a stator 110 and a rotor 111.

The stator 110 may have a coil shape so that an electromagnetic force is generated, and an electromagnetic force may be generated when a current flows through the coil.

The rotor 111 may be a magnet and may be rotated by an electromagnetic force generated in the stator 110. [ The stator 110 may be coupled to the driving shaft 120 such that when the stator 110 rotates, the driving shaft 120 may rotate together with the stator 110.

A first intermediate ring 121 may be provided on an outer peripheral surface of the drive shaft 120 to one side of the rotor 111. A first bearing 122 may be coupled to an outer peripheral surface of the first intermediate ring 121. [

The second bearing 123 may be coupled to the outer circumferential surface of the drive shaft 120 to the other side of the rotor 111. The second bearing 123 may be provided so as to be in close contact with the engaging portion 124 protruding from the outer circumferential surface of the drive shaft 120. Also, a second intermediate ring 125 may be provided between the second bearing 123 and the rotor 111. The second bearing 123 can be pressed on both sides by the engaging portion 124 and the second intermediate ring 125 to be firmly fixed to the driving shaft 120.

The driving shaft 120 may have a through hole 126 formed in the axial direction and the core tube portion 130 may be provided in the through hole 126.

The core tube portion 130 may be provided with the same central axis as the drive shaft 120. The core tube portion 130 may be formed so that the outer circumferential surface of the core tube portion 130 is spaced apart from the inner circumferential surface of the driving shaft 120. So that the drive shaft 120 can be rotated independently of the core tube portion 130.

The core tube portion 130 may have a passage portion 131 formed to pass through in the axial direction. The passage portion 131 can function as a passage for allowing a cable (not shown) to pass inward. The cable may include a power cable and a communication cable. The core tube portion 130 may have a flange portion 132 formed at one end of the core tube portion 130 and outside the core tube portion 130. The first fastening holes 133 may be formed in the flange portion 132 at predetermined intervals along the circumferential direction.

The driving unit 100 may have a first housing 140, a second housing 150, and a cover housing 160.

The first fastening hole 133 and the second fastening hole 141 may be formed with a second fastening hole 141 corresponding to the first fastening hole 133 at one end of the first housing 140, 1 fastening member 142 can be engaged. The other end of the first housing 140 may be coupled to the coupling portion 170 coupled to the first bearing 122. The first housing 140 may be fixedly coupled to the flange portion 132 and the coupling portion 170 of the core tube portion 130.

The second housing 150 may be formed to receive the stator 110 and the rotor 111 on the inner side and may be coupled to the engaging portion 170. A fourth fastening hole 151 may be formed at one end of the second housing 150 to correspond to the third fastening hole 171 formed in the fastening part 170. A fifth fastening hole 152 may be formed at a predetermined interval along the circumferential direction at the other end of the second housing 150. The second fastening member 153 can be coupled to the third fastening hole 173 and the fourth fastening hole 151 so that the second housing 150 can be coupled with the coupling portion 170 have.

A sixth fastening hole 161 may be formed at one end of the cover housing 160 to correspond to the fifth fastening hole 152 of the second housing 150. A third fastening member 162 may be coupled to the fifth fastening hole 152 and the sixth fastening hole 161 so that the cover housing 160 can be coupled to the second housing 150. The other end of the cover housing 160 may be coupled to the second bearing 123.

When the rotor 111 of the driving unit 100 rotates, the core tube unit 130, the first housing 140, the second housing 150, and the cover housing 160 are fixed, The drive shaft 120 can be rotated by the first bearing 122 and the second bearing 123.

In the cover housing 160, seventh fastening holes 163 may be formed at predetermined intervals along the circumferential direction.

5 is a cross-sectional perspective view of a harmonic drive unit in an integrated drive module according to an exemplary embodiment of the present invention.

As shown in FIG. 5, the harmonic drive unit 200 may be coupled to the drive shaft 120. The harmonic drive unit 200 may have a wave generator unit 210, a circular spline unit 230, and a flex spline unit 250.

The wave generator portion 210 may have a coupling ring portion 211 and a rotating ring portion 215.

The engaging ring portion 211 can be engaged with the engaging portion 124 of the driving shaft 120. A fourth engaging hole 212 corresponding to the third engaging hole 127 formed at a predetermined interval along the circumferential direction may be formed in the engaging portion 124 of the drive shaft 120 in the engaging ring portion 211 have. The second engaging member 213 may be coupled to the fourth engaging hole 212 and the third engaging hole 127 so that the engaging ring portion 211 is coupled to the driving shaft 120, It can rotate.

The rotation ring portion 215 may be provided on the outer circumferential surface of the engagement ring portion 211. The rotating ring portion 215 may be a bearing. The rotation ring portion 215 may be formed in an elliptical shape.

The circular spline part 230 may be provided to surround the outer circumferential surface of the rotation ring part 215 while being spaced from the outer circumferential surface of the wave generator part 210, specifically, the outer circumferential surface of the rotation ring part 215. A notch (not shown) may be formed on the inner circumferential surface of the circular spline portion 230. The circular spline portion 230 may be formed with an eighth fastening hole 231 corresponding to the seventh fastening hole 163 formed in the cover housing 160. The fourth fastening member 232 may be coupled to the eighth fastening hole 231 and the seventh fastening hole 163 so that the circular spline portion 230 may be fixed without rotating.

The flex spline portion 250 may have a gear portion 251, a first connecting portion 252, a second connecting portion 253, and a rotating weight portion 254.

The gear portion 251 may be provided between the rotation ring portion 215 of the wave generator portion 210 and the circular spline portion 230. The gear portion 251 is rotatably engaged with the circular spline portion 230 by being engaged with the circular spline portion 230 by receiving a rotational force from the rotation ring portion 215 of the wave generator portion 210. Specifically, a tooth (not shown) may be formed on the outer circumferential surface of the gear portion 251 to engage with a tooth formed on the inner circumferential surface of the circular spline portion 230. Therefore, when the drive shaft 120 rotates, the elliptical rotary ring portion 215 rotates together with the engagement ring portion 211, and a portion of the gear portion 251, which is pressed against the longitudinal portion of the rotary ring portion 215, It is pushed out. Then, the portion of the gear portion 251 pushed outward is engaged with the teeth of the circular spline portion 230. The number of teeth of the gear portion 251 may be smaller than the number of teeth of the circular spline portion 230. Accordingly, the gear portion 251 is rotated at a rotation amount smaller than the rotation amount of the wave generator portion 210, (Not shown).

The first connection portion 252 may be connected to the gear portion 251 and may be formed in parallel with the drive shaft 120. The second connection portion 253 may be connected to the first connection portion 252 and may be formed in the center of the drive shaft 120.

The rotating weight unit 254 may be connected to the second connection unit 253. A plurality of fifth engagement holes 255 may be formed in the rotating weight portion 254 along the circumferential direction.

The rotation weight portion 254 may be coupled to the connection support portion 600 and the connection support portion 600 may support the rotation of the rotation weight portion 254. [

The connection support portion 600 may have a fixed connection portion 610 and a rotation connection portion 620. The fixed connection portion 610 may be coupled to the core tube portion 130 and the third bearing 611 may be coupled to the outer peripheral surface thereof.

The rotation connection portion 620 may be coupled to the third bearing 611 so that the rotation connection portion 620 may be rotatably coupled to the fixed connection portion 610. The rotation connection portion 620 may be tightly coupled to the inner peripheral surface of the rotation weight portion 254 of the flex spline portion 250. A sixth coupling hole 621 corresponding to the fifth coupling hole 255 formed in the rotation weight portion 254 may be formed in the rotation coupling portion 620. A third engagement member 622 may be coupled to the fifth engagement hole 255 and the sixth engagement hole 621 so that the rotation connection portion 620 may be rotated together with the flex spline portion 250 .

A groove 612 may be formed along the circumferential direction on the outer circumferential surface of the fixed connection portion 610. A plurality of grooves 612 may be formed along the axial direction of the fixed connection portion 610.

The operating fluid may be filled in the space between the inner space S of the flex spline unit 250 and the space between the driving shaft 120 and the core tube unit 130 so that the driving shaft 120 is smoothly rotated. A plurality of grooves 612 formed in the fixed connection portion 610 are formed to prevent a part of the operating oil from being accommodated and to prevent the operating oil from flowing more than necessary even when the viscosity of the operating oil is lowered due to heat generated during rotation of the drive shaft 120 .

FIG. 6 is an exploded perspective view mainly showing a sensing unit in an integrated driving module according to an embodiment of the present invention, FIG. 7 is a perspective view showing a sensing unit in the integrated driving module according to an embodiment of the present invention, 9 is a perspective view showing a harmonic drive unit, a sensing unit, and an output unit in an integrated driving module according to an exemplary embodiment of the present invention .

As shown in FIGS. 6 to 9, the output unit 300 may have a first output unit 310 and a second output unit 320.

The first output portion 310 may be coupled to the rotating weight portion 254 of the flex spline portion 250. The first output unit 310 may be formed to have a first diameter and the fifth output hole 310 may have a fifth coupling hole 255 formed in the rotation weight portion 254 of the flex spline unit 250, And a seventh coupling hole 311 corresponding to the second coupling hole 311 may be formed. The rotation connection portion 620 of the connection support portion 600 may be closely attached to a part of the inner circumferential surface of the first output portion 310. A third coupling member 622 can be coupled to the seventh coupling hole 311, the fifth coupling hole 255 and the sixth coupling hole 621 through which the first output portion 310 can be coupled And may be rotated together with the flex spline portion 250. In the first output unit 310, a first rotational force provided from the flex spline unit 250 may be output.

The second output portion 320 may have a second diameter larger than the first diameter and may be connected to the first output portion 310 by the deforming portion 330. The first output unit 310, the deforming unit 330, and the second output unit 320 may be integrally formed.

The eighth coupling holes 321 may be formed in the second output unit 320 along the circumferential direction at predetermined intervals. The object to be rotated can be coupled to the eighth coupling hole 321 by a coupling member (not shown). The object may be an object to which the integrated driving device is installed and transmits the rotational force output from the output unit 300.

The first rotational force output from the first output unit 310 is transmitted to the second output unit 320 through the deforming unit 330 and the object may be rotated while the second output unit 320 is rotated. On the other hand, since the object is configured to rotate, a reaction force due to a frictional force, an inertial force, or a muscle force of a constituent (for example, a rehabilitation patient) connected to the object is generated in the second output unit 320, The first rotational force can not be outputted and the second rotational force can be outputted. The first and second rotational forces may be different from each other so that deformation occurs in the deformed portion 330 and the first and second rotational angles of the first output portion 310 and the second output portion 320 ) Of the second general meeting may differ.

The sensing unit 400 may be disposed between the harmonic drive unit 200 and the output unit 300. The sensing unit 400 may include a first general electromagnet and a second output unit 320 in which the first output unit 310 rotates, It is possible to sense the rotated second full-circle full-angle view.

The sensing unit 400 may include a first magnet unit 410, a second magnet unit 420, and a substrate unit 430.

The first magnet part 410 may be formed in a ring shape.

The first magnet part 410 may be coupled to the first step part 312 formed along the circumferential direction on the outer circumferential surface of the first output part 310. The first magnet part 410 may be fitted to the first step part 312 but an adhesive may be further provided between the first magnet part 410 and the first step part 312 to provide a more rigid coupling force . When the first output unit 310 is rotated, the first magnet unit 410 may be rotated together with the first output unit 310.

The second magnet part 420 may be formed in a ring shape or a bent shape in cross section perpendicular to the circumferential direction. The second magnet unit 420 may be closely coupled to one side surface and the inner circumferential surface of the second output unit 320. An adhesive may be further provided between the second magnet part 420 and the second output part 320 to provide a firm coupling force between the second magnet part 420 and the second output part 320. [ When the second output unit 320 is rotated, the second magnet unit 420 may be rotated together with the second output unit 320.

The fixed housing part 350 may be coupled to the outer circumferential surface of the fourth bearing 340 provided on the outer circumferential surface of the second output part 320. The fixed housing part 350 can receive the output part 300 and the sensing part 400 on the inner side.

A ninth fastening hole 351 may be formed at one end of the stationary housing part 350 so as to correspond to the eighth fastening hole 231 of the circular spline part 230. A tenth fastening hole 352 may be formed at a predetermined interval along the circumferential direction at the other end of the fixed housing part 350.

A stationary ring 360 may be coupled to the other end of the stationary housing part 350. The stationary ring 360 may be provided to press the one side of the fourth bearing 340 to prevent the fourth bearing 340 from being separated. An eleventh fastening hole 361 may be formed in the fastening ring 360 so as to correspond to the fastening hole 352 of the fastening housing part 350. The eleventh fastening hole 361 and the tenth fastening hole 361 352 may be coupled to the fifth fastening member 362. [

The second stepped portion 353 may be formed on the inner circumferential surface of the fixed housing portion 350 along the circumferential direction. The base portion 430 may be fixedly coupled to the second stepped portion 353.

The substrate portion 430 may have a first sensor portion 431 and a second sensor portion 435.

The first sensor unit 431 may have a first sensor 432 and a second sensor 433.

The first sensor 432 and the second sensor 433 may be spaced apart along a virtual first circle 441 corresponding to the center diameter of the first magnet unit 410. The first sensor 432 and the second sensor 433 may be spaced apart by a first angle Al spacing.

The first sensor 432 and the second sensor 433 may be provided perpendicular to each other to generate a sine curve and a cosine curve output signal when the first magnet unit 410 rotates , Whereby the change in the first magnetic amount in the X-axis and Y-axis directions can be sensed.

The first sensor 432 can sense the first total number of revolutions of the first magnet unit 410 rotated 360 degrees.

When the first sensor 432 senses the first total number of revolutions, the second sensor 433 detects that the first magnet portion 410 is rotated in the angular range of more than 0 degrees and less than 360 degrees, The rotation angle can be sensed.

From this, it is possible to calculate the first general electromagnet rotation degree in which the first magnet portion 410 is rotated, and the first general electromagnet rotation angle degree is calculated by multiplying the first general electromotive force number sandwiched by the first sensor 432, May be the sum of the main rotation angle and the first additional rotation angle sensed by the second sensor 433.

For example, when the first magnet unit 410 rotates 360 times by 100 times, the first total rotation number may be 100, and the first main rotation angle obtained by converting the first total rotation angle into an angle is 36,000 degrees . When the first magnet unit 410 rotates 360 degrees by 100 times and further rotates by 15 degrees, the first additional rotation angle may be 15 degrees. Accordingly, the first overall conference angle may be 36,015 degrees.

The second sensor unit 435 may have a third sensor 436 and a fourth sensor 437.

The third sensor 436 and the fourth sensor 437 may be spaced apart from each other along a virtual second circle 442 corresponding to the center diameter of the second magnet unit 420. The third sensor 436 and the fourth sensor 437 may be spaced apart by a second angle A2 interval.

The third sensor 436 and the fourth sensor 437 may be provided perpendicular to each other to generate a sine curve and a cosine curve output signal when the second magnet unit 420 rotates , Thereby detecting a change in the second magnetic flux in the X-axis and Y-axis directions.

The third sensor 436 can sense the second total magnetization number of the second magnet unit 420 rotated 360 degrees.

When the third sensor 436 senses the second total rotation number, the fourth sensor 437 rotates the second magnet unit 420 in the second range of rotation of the second magnet unit 420 in the angular range of more than 0 degrees and less than 360 degrees. The rotation angle can be sensed.

From this, it is possible to calculate the second general electromagnet rotation degree in which the second magnet part 420 is rotated, and the second general electromagnet rotation degree degree view can be obtained by multiplying the second general electromotive force number sandwiched by the third sensor 436, May be the sum of the main rotation angle and the second additional rotation angle sensed by the fourth sensor (437).

For example, when the second magnet unit 420 rotates 360 times by 100 times, the second total rotation number may be 100, and the second main rotation angle obtained by converting the second total rotation angle by an angle is 36,000 degrees . When the second magnet unit 420 rotates 360 degrees by 100 times and further rotates by 12 degrees, the second additional rotation angle may be 12 degrees. Accordingly, the second overall conference angle may be 36,012 degrees.

Here, the second angle A2 may be the same as the first angle A1, whereby the first and second magnet units 410 and 420 rotate in the same reference state, The full angle and the second general conference full angle can be accurately measured.

The processing unit 500 can calculate the torque applied to the output unit 300 from the difference between the first overall conferencing angle and the second general conferencing full angle view, thereby obtaining an accurate output response.

Based on the torque calculated by the processing unit 500, at least one of the rotation direction of the drive shaft 120 and the revolutions per minute (RPM) may be controlled to be adjusted.

The processing unit 500 and the sensing unit 400 may be connected by wire or wirelessly. The cables connecting the processing unit 500 and the sensing unit 400 may be connected to each other by utilizing the passage unit 131 of the core tube unit 130. In the case where the processing unit 500 and the sensing unit 400 are connected by wire, . When the processing unit 500 and the sensing unit 400 are wirelessly connected, a separate communication module for communication between the processing unit 500 and the sensing unit 400 may be further provided.

The integrated drive device according to the present invention can be used in combination with other configurations. For example, an integrated drive can be used for rehabilitation robots. In the case where the robot for rehabilitation therapy is a robot for upper limb rehabilitation treatment such as a hand, an arm shoulder, or a joint rehabilitation treatment such as a knee or pelvis, the first rotational force is a force output from the integrated driving device, And the output may be a force to be output.

In the case where the user's motion force is not sufficient, it is necessary to reduce the load by providing rotational force in the direction of the joint motion to prevent injury of the user. In this case, the output of the first rotational force may be adjusted so that the difference between the second rotational force and the first rotational force is reduced by controlling the driving unit 100. [ If the user's motion power is sufficient, the load can be increased to increase the exercise effect. In this case, the output of the first rotational force can be adjusted so that the difference between the second rotational force and the first rotational force becomes larger by controlling the driving unit 100. [ As described above, the first rotational force and the second rotational force output through the output unit 300 can be adjusted, thereby enabling physical interaction with the user and various output responses.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

100: driving part 110: stator
111: Rotor 120: Drive shaft
130: core tube part 140: first housing
150: second housing 160: cover housing
200: Harmonic drive unit 210: Wave generator unit
230: Circular spline part 250: Flex spline part
300: output unit 310: first output unit
320: second output unit 330:
350: fixed housing part 400: sensing part
410: first magnet part 420: second magnet part
430: substrate part 431: first sensor part
435: second sensor unit 500:
600:

Claims (13)

A driving unit that has a stator and a rotor, and rotates a driving shaft coupled to the rotor;
A harmonic drive unit coupled to the drive shaft;
A first output unit that is coupled to the harmonic drive unit and outputs a first rotational force while rotating, and a second output unit that is integrally formed with the first output unit and is formed to have a larger diameter than the first output unit, An output unit having an output unit;
A sensing unit disposed between the harmonic driver and the output unit and configured to sense a first general electromagnetism diagram rotated by the first output unit and a second general electromagnetism diagram rotated by the second output unit;
A fixed housing part in which the sensing part is accommodated; And
And a processing section for calculating a torque to be applied to the output section from a difference between the first general-train full-angle view and the second general-train full-angle view. The method according to claim 1,
The sensing unit
A first magnet unit coupled to the first output unit and rotating together with the first output unit,
A second magnet unit coupled to the second output unit and rotated together with the second output unit,
A first sensor part fixed to the fixed housing part and sensing a change in a first magnetic amount of the first magnet part rotating and a second sensor part sensing a second magnetic amount change of the rotating second magnet part And a substrate portion on which the substrate is mounted. 3. The method of claim 2,
The first sensor unit
A first sensor for sensing a first total number of revolutions of the first magnet unit rotated 360 degrees,
And a second sensor that senses a first additional rotation angle at which the first magnet unit rotates in an angular range of more than 0 degrees and less than 360 degrees when the first sensor senses the first total rotation number. Integrated drive. The method of claim 3,
Wherein the first overall rotation angle is a sum of a first main rotation angle obtained by converting the first total rotation number sensed by the first sensor into an angle and the first additional rotation angle sensed by the second sensor, Driving device. The method of claim 3,
Wherein the first sensor and the second sensor are spaced apart from each other by a first angle interval along a virtual first circle corresponding to a center diameter of the first magnet unit. 6. The method of claim 5,
The second sensor unit
A third sensor for sensing a second total number of revolutions of the second magnet unit rotated 360 degrees,
And a fourth sensor that senses a second additional rotation angle in which the second magnet portion rotates in an angular range of more than 0 degrees and less than 360 degrees when the third sensor senses the second total rotation number. Integrated drive. The method according to claim 6,
Wherein the second overall rotation angle is a sum of a second main rotation angle obtained by converting the second rotation number sensed by the third sensor into an angle and the second additional rotation angle sensed by the fourth sensor, Driving device. The method according to claim 6,
Wherein the third sensor and the fourth sensor are spaced apart from each other by a second angle interval along a second imaginary circle corresponding to a center diameter of the second magnet unit. 9. The method of claim 8,
Wherein the second angle is equal to the first angle. The method according to claim 1,
The harmonic drive unit
A wave generator unit coupled to the drive shaft and rotating integrally with the drive shaft,
A circumferential spline portion surrounding the outer circumferential surface of the wave generator portion in a state of being spaced apart from an outer circumferential surface of the wave generator portion;
And a second output unit that is coupled to the first output unit and rotates while being partially coupled to the circular spline unit and receives the first rotational force of the wave generator unit, And a flex spline portion for transmitting a single rotation force. 3. The method of claim 2,
Wherein a first step portion is formed on an outer circumferential surface of the first output portion along a circumferential direction, and the first magnet portion is coupled to the first step portion. 3. The method of claim 2,
Wherein the second magnet portion is bent and tightly coupled to one side surface and an inner circumferential surface of the second output portion. 3. The method of claim 2,
Wherein a second stepped portion is formed along the circumferential direction on the inner circumferential surface of the fixed housing portion, and the base portion is coupled to the second stepped portion.

Images