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公开(公告)号：KR101389396B1
公开(公告)日：2014-05-30
申请号：KR1020120130502
申请日：2012-11-16
Applicant: 국방과학연구소
CPC classification number: H02K41/0354 , H02K3/28 , H02K11/215
Abstract: A minimum size type spherical motor of the present invention comprises a fixing unit, a rotating unit (20), a guide tool unit, and a center shaft (30). The fixing unit comprises a permanent magnet which forms a magnetic loop. The rotating unit (20) outputs torque by using Lorentz force generated by a magnetic field which is generated in a gap of the fixing unit (10) and applied current. The guide tool unit guides output torque to a desired direction when force is applied to the rotating unit (20) and generates a signal for feedback control. The center shaft (30) is connected to the rotating unit (20) to output the torque generated in the rotating unit (20). The present invention is provided to use the Lorentz force according to the principle of a voice coil, thereby outputting second induced decoupled linear torque and performing high accuracy and usability of control. The present invention is provided to apply a gimbal type guide tool in which a hall effect sensor is applied, thereby improving the availability of the inner space of a motor and the availability in a military field.
Abstract translation: 本发明的最小尺寸型球面电动机包括定影单元，旋转单元（20），导向工具单元和中心轴（30）。 固定单元包括形成磁环的永磁体。 旋转单元（20）通过使用由定影单元（10）的间隙产生的磁场产生的洛伦兹力和施加电流来输出转矩。 当向旋转单元（20）施加力时，导向工具单元将输出扭矩引导到期望的方向，并产生用于反馈控制的信号。 中心轴（30）连接到旋转单元（20）以输出在旋转单元（20）中产生的扭矩。 本发明提供了根据音圈原理使用洛伦兹力，从而输出第二感应去耦线性转矩，并执行高精度和可控性的控制。 本发明提供了一种应用霍尔效应传感器的万向型导向工具，从而提高了电动机内部空间的可用性和军事领域的可用性。
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公开(公告)号：KR101372393B1
公开(公告)日：2014-03-26
申请号：KR1020120116002
申请日：2012-10-18
Applicant: 국방과학연구소
Abstract: A spherical motor with a built-in sensor of the present invention comprises: at least one stator (30) which is formed by the integration of an outer yoke, a permanent magnet, and an inner yoke, and which envelops a rotor (10) having a shaft for outputting a torque into a spherical shape; a coil rotor (40) which rotates the rotor (10) in at least two axial directions by up-and-down movements generated among the inner yokes; and a gimbal guide unit which is disposed in a space inside the coil rotor (40) and has at least one encoder. The spherical motor with a built-in sensor of the present invention outputs a driving torque that is linearly proportional to current by Lorentz force using the principle of a voice coil motor (VCM), and especially, can be realized with a compact size by having a gimbal and an encoder in an internal space inside the stator (40).
Abstract translation: 具有本发明的内置传感器的球形马达包括：至少一个定子（30），其通过外轭铁，永磁体和内轭的整合而形成，并且包围转子（10）， 具有用于将扭矩输出为球形的轴; 线圈转子（40），其通过在所述内轭铁之间产生的上下运动使所述转子（10）在至少两个轴向方向上旋转; 以及配置在所述线圈转子（40）内的空间内并具有至少一个编码器的万向导引单元。 具有本发明的内置传感器的球面电动机通过使用音圈电机（VCM）的原理，通过洛伦兹力与电流线性成比例地输出驱动转矩，特别是能够通过具有 定子（40）内的内部空间中的万向节和编码器。
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公开(公告)号：KR101372392B1
公开(公告)日：2014-03-12
申请号：KR1020120116001
申请日：2012-10-18
Applicant: 국방과학연구소
IPC: H02K33/18
CPC classification number: H02K41/0354 , H02K33/18
Abstract: A three-axis degree-of-freedom (DOF) spherical motor of the present invention comprises: a rotor (10) having at least one permanent magnet of which the polarity is exposed to the surface forming a sphere; and a stator (50) rotating the rotor (10) in each direction of three axes with current flows flowing in a transverse coil and a longitudinal coil adjacent to the transverse coil, whereby three rotary drive axes with three decoupled driving torque by Lorentz force using the principle of a voice coil motor (VCM) can be formed, and specifically, a precision position control can be achieved using the characteristics of a linear magnetic field that is linearly proportional to current.
Abstract translation: 本发明的三轴自由度（DOF）球面电动机包括：具有至少一个永磁体的转子（10），极性暴露于形成球体的表面; 以及定子（50），其在三个轴的每个方向上旋转所述转子（10），电流在横向线圈和与所述横向线圈相邻的纵向线圈中流动，由此通过洛伦兹力使用三个解耦驱动扭矩的三个旋转驱动轴 可以形成音圈电机（VCM）的原理，具体而言，可以使用与电流成线性比例的线性磁场的特性来实现精密位置控制。
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