KR20220039156A - Multicopter Motor - Google Patents

Abstract

The present invention relates to a motor for a multi-copter to maintain flight stability of the multi-copter even if some of rotor magnetic fields are disconnected or short-circuited. According to the present invention, the motor comprises: a holder including a shaft coupling tube having a shaft coupling hole formed at the center in a through-structure; a rotating shaft inserted into the shaft coupling hole and rotated; a stator; a plurality of magnets arranged in a structure axially coupled to the rotational shaft to surround the stator and arranged to correspond to cores by forming a plurality of rows; a rotor providing rotational force to the rotational shaft; and a magnet spacer.

Description

Motor for multicopter {Multicopter Motor}

The present invention relates to a motor for a multicopter, and more particularly, when the cores and magnets of the stator are arranged in two upper and lower rows to be driven by a separate power source, it is possible to easily align the magnets in two upper and lower rows using a magnet spacer. It relates to a motor for a multicopter that can be

The propulsion power of a multicopter is usually obtained using a motor. The motor is an engine for the flight of the multicopter and is connected to the propeller to generate downward thrust according to the rotation, thereby levitating the multicopter into the air. As a motor for such a multicopter, an out-runner type BLDC motor (Brushless Direct Current motor) is mainly used.

The outrunner type motor has a structure in which the rotor is placed on the outer periphery of the DC motor to form a rotating magnetic field on the inner side of the motor. The motor uses a permanent magnet as a rotor and a coil (electromagnet) as a stator to change the direction of the current flowing through the coil to generate torque even when the wires are not in contact, and this control can be done through software. .

Specifically, the N/S pole is created through the current direction of the stator and the rotor is rotated by pulling or pushing the N/S pole of the rotor. It can be changed to flow more efficiently.

However, when a failure such as disconnection or short circuit occurs in one of these coils, it is difficult to form a rotating magnetic field inside the motor, and thus there is a problem in that it is not possible to stably obtain the propulsion power required for the flight of the multicopter.

『Korean Patent Publication No. 10-1215978』

An object of the present invention is to provide a motor for a multicopter capable of aligning stator cores and rotor magnets in upper and lower two rows so as to stably obtain propulsion force even when the stator coil is disconnected or short circuited.

In order to achieve this object, the present invention, a holder comprising a shaft coupling tube having a shaft coupling hole having a structure penetrating through the center; a rotating shaft inserted into the shaft coupling hole to rotate; a stator fitted to the outside of the shaft coupling pipe and fixed to the holder, the stator including cores disposed in a plurality of rows along the axial direction of the shaft coupling pipe at an outer edge of the holder; A plurality of magnets which are shaft-coupled to the rotation shaft and arranged in a structure surrounding the stator to form a plurality of rows along the axial direction of the shaft coupling tube on the inner circumferential surface facing the outer edge of the stator to correspond to the cores a rotor for providing rotational force to the rotating shaft by rotating along an outer edge of the stator using a rotating magnetic field formed between the cores and the magnets by an alternating current applied to the cores; and a magnet spacer partially or entirely formed of a non-magnetic material and disposed between the magnets along the inner circumferential surface of the rotor to space the magnets apart from each other, wherein the magnet spacer is disposed between the magnets disposed in the horizontal direction. a plurality of vertical frames disposed in each of the magnets so that the magnets adjacent to each other in the horizontal direction are spaced apart from each other; The magnets in the upper row and the magnets in the lower row are spaced apart from each other by extending along the inner circumferential surface of the rotor between the magnets arranged in the vertical direction and being coupled to the vertical frames, the magnets in the upper row and the magnets in the lower row a horizontal frame formed thinner than the vertical frame so that a plurality of spaced spaces for accommodating leakage of the bonding material are formed between the magnets in the lower row; And extending along the inner surfaces of the magnets, the starting end and the end are formed in a cylindrical shape that are connected to each other, and the vertical frame and the horizontal frame are coupled to the outer peripheral surface, whereby the inner peripheral surface of the rotor, the vertical frame and the horizontal frame and Provided is a motor for a multicopter including a plurality of magnet accommodating grooves for accommodating the magnets, respectively, and a magnet cover body closing the spaced spaces.

According to the present invention, there are the following effects.

First, by easily arranging magnets in multiple rows using a magnet spacer, rotating magnetic fields to which power is supplied can be formed in multiple rows, so that even if there is a disconnection or short circuit of the rotating magnetic field in some rows, flight stability of the multicopter can be maintained.

Second, it is possible to provide more efficient propulsion power compared to the existing BLDC motor by generating respective propulsion powers by matching a plurality of power sources and a plurality of magnetic fields.

Third, by using the magnet spacer having a structure surrounding the magnet, it is possible to prevent interference between the magnet and the cores due to an assembly error of the magnet, as well as prevent the separation of the magnets.

1 is a perspective view of a motor for a multicopter according to an embodiment of the present invention.
FIG. 2 is an exploded view of the motor for the multicopter of FIG. 1 .
3 is a front cross-sectional view taken along the line A-A' for showing the support structure between the second row cores and magnets of FIG. 1 .
FIG. 4 is a partial view illustrating a coupling relationship between the second row cores and magnets of FIG. 3 .
FIG. 5 is a partial view showing the structure of the magnet spacer of FIG. 4 .
6 is a partially enlarged view showing the Air-Gap according to the arrangement of the core and the magnet in the portion treated with the dashed-dotted line of FIG. 3 .
7 is a partial enlarged view showing the distance between the magnets according to the arrangement of the magnets in the portion treated with the dashed-dotted line in FIG. 3 .

1 to 3, the overall configuration of the motor 100 for a multicopter according to an embodiment of the present invention is shown in detail.

1 to 3 , the motor 100 for a multicopter according to an embodiment of the present invention includes a holder 110 , a driving module 120 , a stator 130 , a core spacer 140 , and a rotor cover 151 . ) and a magnet spacer 160 .

The holder 110 constitutes the base 111 of the motor, and receives and supports the stator 130 and the rotor 150 on the upper part, and the base 111, the shaft coupling pipe 112, the inner step 113. , including an outer step 114 .

The base 111 is for accommodating and supporting the stator 130 and the rotor 150, which will be described later, an inner periphery formed in a disk shape and an outer periphery formed in a structure inclinedly bent upward from the end of the inner periphery. Including, a plurality of exhaust ports 111b having a structure penetrating through the inner periphery are formed at regular intervals along the circumferential direction, and the core rows 131 and 132 to be described later and a power supply unit (not shown) are electrically connected to the outer periphery. A plurality of coil outlet holes 111a having a penetrating structure, which is an outlet path of the coil C for connection, are formed at regular intervals along the circumferential direction.

The shaft coupling tube 112 is for accommodating the driving module 120 to be described later, is formed in the center of the inner periphery of the base 111, is formed to extend along the longitudinal direction of the holder 110, and has a structure penetrating the center. It includes a shaft coupling hole (112a).

The inner step 113 is the inner side of the shaft coupling pipe 112, that is, bearings 123 and 124 for supporting the rotation shaft 121 to be described later installed in the shaft coupling hole 112a along the shaft coupling hole 112a. Separators to be spaced apart from each other by a predetermined distance are formed to protrude along the circumferential direction from the middle portion of the shaft coupling hole (112a).

The outer step 114 is such that the second core row 132 to be described later installed along the outer periphery of the shaft coupling pipe 112 is mounted at a predetermined height from the base 111 of the holder 110, the shaft coupling pipe ( 112) is formed to protrude along the circumferential direction from the middle of the outer circumferential surface.

The driving module 120 is accommodated in the above-described shaft coupling hole 112a and rotates to provide a rotational driving force to the propeller (not shown) of the multicopter coupled to the upper end, the rotation shaft 121, the shaft head 122, It includes a first bearing 123 , a second bearing 124 , a fixing nut 125 , packings 126 , and a washer 127 .

The rotating shaft 121 is a rotating body that is accommodated in the center of the shaft coupling hole 112a, is formed in a cylindrical shape, and is inserted and accommodated in the shaft coupling hole 112a in the axial direction.

The shaft head 122 shaft-couples the upper end of the rotary shaft 121 and the rotor cover 151 to be described later, and is formed in a disk shape having an outer diameter wider than the outer diameter of the rotary shaft 121, and the upper end of the rotary shaft 121 and By being bolted to the rotor cover 151 in the coupled or integrated state, the rotational force of the rotor 150 is transmitted to the rotating shaft 121 .

The first bearing 123 and the second bearing 124 are disposed between the rotating shaft 121 and the shaft coupling pipe 112 to reduce wear and loss when the rotating shaft 121 is supported on the shaft coupling pipe 112 . To be respectively installed, the first bearing 123 is installed on the upper portion of the above-described inner step 113 , and the second bearing 124 is installed on the lower portion of the inner step 113 , so that the interval is increased by the inner step 113 . kept constant

The fixing nut 125 not only fixes the rotation shaft 121 to the holder 110 but also presses the second bearing 124 to connect the second bearing 124 together with the inner stepped 113 to the shaft coupling hole 112a. By fixing it inside, it is screwed to the lower end of the rotation shaft 121 and presses the lower portion of the second bearing 124 using an outer diameter wider than the outer diameter of the rotation shaft 121 . At this time, between the fixing nut 125 and the second bearing 124, the packings 126 for increasing the frictional force and a washer 127 for dispersing the load of the fixing nut 125 in the circumferential direction are further installed. Of course it could be.

The stator 130 is fitted on the outside of the shaft coupling pipe 112 and arranged and fixed along the outer edge of the holder 110 to form a rotating magnetic field by an alternating current, and is installed at the upper end of the shaft coupling pipe 112 . One core row 131 and a second core row 132 installed at the lower end of the shaft coupling pipe 112, including a plurality of cores (C) disposed along the circumferential direction of the shaft coupling pipe 112 Each of the core rows 131 and 132 may be arranged in plurality along the axial direction of the shaft coupling tube 112 again.

As described above, the core spacer 140 is inserted into the shaft coupling tube 112 and disposed between the first core row 131 and the second core row 132 , and thus the first core row 131 and the second core row 131 . The core rows 132 are spaced apart from each other at regular intervals along the axial direction of the shaft coupling pipe 112 to be fixed.

The rotor 150 includes the magnet and the magnet M rotates along the circumferential direction of the stator 130 by the rotating magnetic field provided by the above-described stator 130, thereby transferring the rotational driving force to the rotating shaft 121. As such, it includes a rotor cover 151 , a yoke 152 , a first magnet row 153 , and a second magnet row 154 .

The rotor cover 151 connects the yoke 152 and the rotation shaft 121 to transmit the rotational force of the yoke 152 to the rotation shaft 121. 121) is bolted by the above-described shaft head 122 in a state of being fitted to the rotation shaft 121 and shaft-coupled. At this time, the rotor cover 151 has a plurality of inlet ports 151a through which outside air is introduced are formed at regular intervals along the circumferential surface of the rotor cover 151 , and are formed at positions corresponding to the positions of the first coils 131a to provide outside air. That is, by providing the down air flow formed by the rotating propeller to the coils (C) of the stator 130, the coils (C) are radiated, and through the exhaust port (111b) of the holder 110 described above to the outside. spills out

The yoke 152 has a magnet (M) installed on the inner peripheral surface and the magnet (M) is rotated by the rotating magnetic field formed by the cores (C) to transmit the rotational force formed to the above-described rotor cover 151, cylindrical It is formed as a top and is coupled to the end of the rotor cover 151 to cover the outer peripheral surface of the stator 130 .

The first magnet row 153 is a set of a plurality of first magnets 153a arranged at regular intervals along the inner circumferential surface of the yoke 152 , and the first magnets 153a are respectively bonded to the upper portion of the yoke 152 and combined. and maintain a predetermined distance from the second magnet column 154 by the magnet spacer 160 . In this case, the shape and size of the first magnet 153a is preferably formed in a rectangular shape to correspond to the wound structure of the first coil 131a.

The second magnet row 154 is a set of a plurality of second magnets 154a arranged at regular intervals along the inner circumferential surface of the yoke 152 in the same manner as the first magnet row 153, and is located at the lower portion of the yoke 152. The two magnets 154a are respectively bonded and coupled, and also maintain a predetermined distance from the first magnet column 153 by the magnet spacer 160 .

As described above, the magnet spacer 160 is installed between the first magnet row 153 and the second magnet row 154 on the inner circumferential surface of the yoke 152, the first magnet row 153 and the second magnet row ( 154) to form a plurality of magnet accommodating grooves for accommodating the first magnets 153a and the second magnets 154a together with the yoke 152, respectively. Here, the support structure and coupling structure of the first magnet column 153 and the second magnet column 154 related to the magnet spacer 160, and detailed functions according to the shape and structure of the magnet spacer 160 will be described later in FIG. 4 . and FIG. 5 will be described again.

Hereinafter, the coupling relationship of the magnet columns 153 and 154 and the detailed configuration and function of the magnet spacer 160 will be described in detail with reference to FIGS. 4 and 5 .

Referring to FIG. 4 , in the multicopter motor 100 of the present invention, in order to arrange the core rows 131 and 132 and the corresponding magnet rows 153 and 154 in a two-row structure, the above-described shaft coupling The first core row 131 and the second core row 132 radially arranged along the circumferential direction of the tube 112 are constant to each other along the height direction of the shaft coupling tube 112 by the core spacer 140 . The first magnet column 153 and the second magnet column 154 are spaced apart from each other by using the magnet spacer 160 so that the horizontal and vertical distances of the magnets 153a and 154a are uniformly spaced apart. In the maintained state, it is disposed at positions corresponding to the first core row 131 and the second core row 132 . Here, the magnets (M) of the two-row structure are disposed on the rotor cover 151 in a state of being inserted into the magnet receiving groove formed by the magnet spacer 160 and the yoke 152, and are applied to the rotating magnetic field formed by the cores (C). rotated by

At this time, each core (C) is formed to have the same shape and size as the adjacent cores (C) and the magnets (M) are also adjacent to the magnets (M), the opposite cores (C) and the magnet The cross-sections of (M) are formed in a structure corresponding to each other, and the cores (C) and the magnets (M) corresponding to each other are arranged at equal intervals along the circumferential direction and the axial direction of the shaft coupling pipe 112, respectively, It is preferable that each correspond to each other. In addition, the cores C of each of the core rows 153 and 154 may be arranged in a structure parallel to or staggered from the cores C of the adjacent core rows 131 and 132 , and each magnet row 153 , 154) may also be arranged in a parallel structure with the magnets (M) of the adjacent magnet columns (153, 154) to correspond to the arrangement structure of the cores (C) or arranged in a staggered structure.

Referring to FIG. 5, each of the magnets M is preferably divided and disposed by a magnet spacer 160 partially or entirely composed of a non-magnetic material in order to form a divided magnetic field, and thus, the magnet spacer ( 160 includes a vertical frame 161 , a horizontal frame 162 , and a magnet cover body 163 . In one embodiment of the present invention, it is assumed that all of the magnet spacers 160 are non-magnetic.

The vertical frame 161 is respectively disposed between the plurality of magnets M arranged in the horizontal direction of the first magnet column 153 and the second magnet column 154, and the magnets M adjacent to each other in the horizontal direction. They are arranged to be spaced apart from each other by a predetermined interval in the horizontal direction, and the horizontal frame 162 crosses between the plurality of magnets M disposed in the vertical direction of the first magnet column 153 and the second magnet column 154 . By extending along the inner circumferential surface of the yoke 152, the magnets M adjacent to each other in the vertical direction are arranged to be spaced apart from each other by a predetermined interval in the vertical direction. The magnet cover body 163 is formed to extend along the inner surfaces of the magnets M divided by the vertical frame 161 and the horizontal frame 162, respectively, and has a cylindrical shape through which the start end and the end are connected to each other. By being coupled or integrated with the vertical frame 161 and the horizontal frame 162, respectively, the vertical frame 161 and the horizontal frame 162 are also coupled or integrated with each other, as well as the above-described yoke 152. A plurality of magnet accommodating grooves for accommodating the magnets M together with the inner circumferential surface, the vertical frame 161 and the horizontal frame 162 are formed.

In addition, it is preferable that the above-described vertical frame 161 and the horizontal frame 162 are formed to have the same thickness to divide each magnet M in a horizontal direction and a vertical direction, but leakage of the bonding material generated in the assembly process Of course, in order to reduce the weight of the multicopter, the thickness of the horizontal frame 162 is formed thinner than the thickness of the vertical frame 161, so a space (S) between the magnet (M) in the upper row and the magnet (M) in the lower row ) is preferably formed. That is, when the magnet M is bonded and fixed to the inner circumferential surface of the yoke 152 in a divided state by being inserted by the magnet spacer 160, the bonding material is formed by the pressing force applied to the magnet spacer 160 for adhesion. In order to reduce the problem of protruding through the upper and lower or side portions of the magnet and causing a post-treatment process for removing the pushed out bonding material, the above-described separation space S is formed, as well as the magnet cover body 163. By using to close the space (S), it is possible to block the bonding material leaking in the direction of the core (C).

Thereafter, power is supplied from a power supply unit (not shown) of the motor to the coils C of each of the core rows 131 and 132 , and the first core row 131 and the second core row 132 are supplied with respective rotating magnetic fields. By being formed, even if one core row (131, 132) loses driving power due to a failure such as disconnection or short circuit, the driving force is maintained through the remaining core rows (131, 132), thereby ensuring the flight stability of the multicopter. can In other words, the two core arrays 153 and 154 are respectively connected to the power supply by a coil C branched from the power supply, rather than being connected and driven by one coil C, so that the two core arrays 131, 132) may be respectively driven without being electrically connected to each other.

Hereinafter, the vertical spacing D _c of each of the core rows 131 and 132 that can optimize the rotational driving force of the motor, the vertical spacing D _m of the magnet rows 153 and 154 and the core rows 131 and 132 ) and the horizontal spacing (D _a ) of the magnet columns 153 and 154 will be described in detail with reference to FIGS. 6 and 7 .

6 and 7, the distance (D _a ) between each core row (131, 132) and the magnet row (153, 154), that is, between the free end of the core row (131, 132) and the inner peripheral surface of the magnet (M) When the air gap, which is the interval, is about 0.35 within the section of 0.33 to 0.37, the driving efficiency can be maximized, and the distance between the magnet rows 153 and 154 (D _m ), that is, the uppermost end of the lower end magnet (M). and the distance (D _m ) of the lowermost end of the upper end magnet (M) is greater than or equal to the above-described air gap, and the distance (D _c ) between the first core column 131 and the second core column 132 is less than or equal to, the driving efficiency is maximum can be

Accordingly, each of the coil rows 131 and 132 and the magnet rows 153 and 154 are symmetrically disposed in the vertical and horizontal directions, and as described above, while maintaining the air gap at an interval of 0.33 to 0.37, the magnet (M) ) It is preferable to maintain the distance (D _m ) in the vertical direction from more than to the distance (D _c ) between the core rows (153 and 154) or less.

Although the present invention has been described with reference to the embodiment shown in the drawings, which is merely exemplary, it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible therefrom. Accordingly, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

100: motor for multicopter
110: holder 111: base
111a: coil outlet hole 111b: exhaust port
112: shaft coupling pipe 112a: shaft coupling hole
113: inner step 114: outer step
120: drive module 121: rotation shaft
122: shaft head 123: first bearing
124: second bearing 125: fixing nut
126: packings 127: washer
130: stator 131: first core row
131a: first coil 132: second core row
132a: second coil 140: core spacer
150: rotor 151: rotor cover
151a: inlet 152: yoke
153: first magnet row 153a: first magnet
154: second magnet row 154a: second magnet
160: magnet spacer 161: vertical frame
162: horizontal frame 163: magnet cover body
S : Separation space C : Coil, core
M : Magnet D _m : Distance between magnet modules
D _c : Distance between cores D _a : Air Gap

Claims (12)

a holder including a shaft coupling tube having a shaft coupling hole having a structure penetrating through the center;
a rotating shaft inserted into the shaft coupling hole to rotate;
a stator fitted to the outside of the shaft coupling pipe and fixed to the holder, the stator including cores disposed in a plurality of rows along the axial direction of the shaft coupling pipe at an outer edge of the holder;
A plurality of magnets which are shaft-coupled to the rotation shaft and arranged in a structure surrounding the stator to form a plurality of rows along the axial direction of the shaft coupling tube on the inner circumferential surface facing the outer edge of the stator to correspond to the cores a rotor for providing rotational force to the rotating shaft by rotating along an outer edge of the stator using a rotating magnetic field formed between the cores and the magnets by an alternating current applied to the cores; and
A part or all of a non-magnetic material is disposed between the magnets along the inner circumferential surface of the rotor, thereby including a magnet spacer for spacing the magnets apart from each other,
The magnet spacer,
a plurality of vertical frames respectively disposed between the magnets disposed in the horizontal direction so that the magnets and the magnets adjacent to each other in the horizontal direction are spaced apart from each other;
The magnets in the upper row and the magnets in the lower row are spaced apart from each other by extending along the inner circumferential surface of the rotor between the magnets arranged in the vertical direction and being coupled to the vertical frames, the magnets in the upper row and the magnets in the lower row a horizontal frame formed thinner than the vertical frame so that a plurality of spaced spaces for accommodating leakage of the bonding material are formed between the magnets in the lower row; and
Doedoe extending along the inner side surfaces of the magnets, the starting end and the end are formed in a cylindrical shape connected to each other, and the vertical frame and the horizontal frame are coupled to the outer circumferential surface, so that the inner circumferential surface of the rotor, the vertical frame and the horizontal frame together with A multicopter motor comprising a plurality of magnet accommodating grooves for accommodating the magnets, respectively, and a magnet cover body closing the separation spaces. The method according to claim 1,
The magnets are
The inner peripheral surface of the rotor is provided with a magnetic material, the motor for a multicopter is attached to the inner peripheral surface and magnetic force of the rotor. The method according to claim 1,
The cores and the magnets are
Motors for multicopters that are each formed in the same shape and size. The method according to claim 1,
The cores and the magnets are
A motor for a multicopter in which cross-sections facing each other are formed in a structure corresponding to each other. The method according to claim 1,
The cores and the magnets are
A motor for a multicopter disposed at a set interval along the circumferential direction of the shaft coupling pipe, and disposed at a set interval along the axial direction of the shaft coupling pipe at the same or different intervals as the circumferential direction. The method according to claim 1,
The cores are
They are arranged side by side with the up and down adjacent cores or are arranged to cross each other,
The magnets are
In the same manner as in the arrangement of the cores, the multicopter motors are arranged in parallel with the vertically adjacent magnets or alternately arranged, respectively, corresponding to the cores. The method according to claim 1,
Further comprising a power supply for supplying power to the stator,
The power supply unit,
A motor for a multicopter that applies power to the cores disposed in the stator, and applies power to each column of the cores formed in a horizontal direction. The method according to claim 1,
The magnet spacer,
A motor for multicopter that is entirely made of non-magnetic material. The method according to claim 1,
The stator is
a second core row in which a plurality of cores are disposed along the circumferential direction of the shaft coupling tube; and
It is located above the second core row along the axial direction of the shaft coupling pipe, and includes a first core row in which a plurality of cores are disposed along the circumferential direction of the shaft coupling pipe,
The rotor is
a plurality of magnets arranged along the circumferential direction of the shaft coupling tube, a second magnet row corresponding to the cores of the second core row, respectively; and
A motor for a multicopter including a first magnet row positioned above the second magnet row along the axial direction of the shaft coupling tube, and in which a plurality of magnets are disposed along the circumferential direction of the shaft coupling pipe. 10. The method of claim 9,
The rotor is
The first magnet row and the second magnet row are provided in a modularized state with the spacer, and are attached to an inner peripheral surface of a motor for a multicopter. 10. The method of claim 9,
A distance (Air Gap) between the core rows and the magnet rows is 0.33 to 0.37 for a multicopter motor. 10. The method of claim 9,
The distance between the first magnet row and the second magnet row is greater than or equal to the distance between the core rows and the magnet rows, and less than or equal to the distance between the first core row and the second core row.

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