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1. 发明授权

US07847453B2 Bearingless step motor 有权
标题翻译：无轴步进电机
公开(公告)号：US07847453B2
公开(公告)日：2010-12-07
申请号：US11915082
申请日：2006-05-03
申请人： Seung Jong Kim , Du Jin Bach , Hosung Kong
发明人： Seung Jong Kim , Du Jin Bach , Hosung Kong
IPC分类号： H02K37/10
CPC分类号： H02K7/09 , F16C32/0425 , H02K37/18
摘要： There is provided a bearingless step motor in which a rotating shaft can rotate while rising from a main body by a magnetic force without using a mechanical bearing. The bearingless step motor comprises a stator including stator cores having winding portions and a rotor including a rotating shaft and rotor cores. The rotor rotates by a magnetic interaction between the rotor cores and the stator cores. A first permanent magnet is mounted to the rotor and a second permanent magnet is mounted to the stator. The first permanent magnet and the second permanent magnet are arranged so that a repulsive force is generated between magnetic poles. There is little power consumption for raising the rotating shaft and a complicated system for controlling the rise of the rotating shaft is unnecessary. Thus, the motor can be manufactured with a light and compact structure.
摘要翻译：提供了一种无轴承步进电动机，其中旋转轴可以通过磁力从主体上升而旋转，而不使用机械轴承。无轴承步进电动机包括定子，该定子包括具有绕组部分的定子铁心和包括转轴和转子铁心的转子。转子通过转子芯和定子芯之间的磁相互作用旋转。第一永磁体安装在转子上，第二永久磁铁安装在定子上。第一永磁体和第二永久磁铁配置成在磁极之间产生斥力。提高旋转轴的功耗很小，并且不需要用于控制旋转轴的上升的复杂系统。因此，电动机可以用轻且紧凑的结构制造。

2. 发明申请

US20080211354A1 Bearingless Step Motor 有权
标题翻译：无轴步进电机
公开(公告)号：US20080211354A1
公开(公告)日：2008-09-04
申请号：US11915082
申请日：2006-05-03
申请人： Seung Jong Kim , Du Jin Bach , Hosung Kong
发明人： Seung Jong Kim , Du Jin Bach , Hosung Kong
IPC分类号： H02K37/10
CPC分类号： H02K7/09 , F16C32/0425 , H02K37/18
摘要： There is provided a bearingless step motor in which a rotating shaft can rotate while rising from a main body by a magnetic force without using a mechanical bearing. The bearingless step motor comprises a stator including stator cores having winding portions and a rotor including a rotating shaft and rotor cores. The rotor rotates by a magnetic interaction between the rotor cores and the stator cores. A first permanent magnet is mounted to the rotor and a second permanent magnet is mounted to the stator. The first permanent magnet and the second permanent magnet are arranged so that a repulsive force is generated between magnetic poles. There is little power consumption for raising the rotating shaft and a complicated system for controlling the rise of the rotating shaft is unnecessary. Thus, the motor can be manufactured with a light and compact structure.
摘要翻译：提供了一种无轴承步进电动机，其中旋转轴可以通过磁力从主体上升而旋转，而不使用机械轴承。无轴承步进电动机包括定子，该定子包括具有绕组部分的定子铁心和包括转轴和转子铁心的转子。转子通过转子芯和定子芯之间的磁相互作用旋转。第一永磁体安装在转子上，第二永久磁铁安装在定子上。第一永磁体和第二永久磁铁配置成在磁极之间产生排斥力。提高旋转轴的功耗很小，并且不需要用于控制旋转轴的上升的复杂系统。因此，电动机可以用轻且紧凑的结构制造。

3. 发明申请

US20100192719A1 DEVICE FOR GENERATING STIFFNESS AND JOINT OF ROBOT MANIPULATOR COMPRISING THE SAME 有权
标题翻译：用于产生包含其的机器人操纵器的刚度和接头的装置
公开(公告)号：US20100192719A1
公开(公告)日：2010-08-05
申请号：US12439938
申请日：2006-12-07
申请人： Sung Chul Kang , Munsang Kim , Seung Jong Kim , Seung Kook Yun , Jeonghoon Yoo
发明人： Sung Chul Kang , Munsang Kim , Seung Jong Kim , Seung Kook Yun , Jeonghoon Yoo
IPC分类号： B25J17/00 , H02P6/08 , H02K49/10
CPC分类号： B25J19/0004 , Y10T74/20329
摘要： The present invention provides a device for generating and varying stiffness, which may be applied to a joint of a robot manipulator. The stiffness generating device of the present invention, comprises: a rotating shaft connected to a driven member; a rotor fixed to the rotating shaft and having arms comprising a magnetic element; a stator disposed to surround the rotor outside the arms and being connected to a drive motor; electromagnets fixed to an inner periphery of the stator and being opposed to each other about the rotating shaft, each having a core and a coil wound around the core; and means for applying current to the coils. One half of the electromagnets has N-poles at their inward ends and the other half of the electromagnets has S-poles at their inward ends. Current regulating means regulates the current being applied to the coils.
摘要翻译：本发明提供一种用于产生和改变刚度的装置，其可以应用于机器人操纵器的接头。本发明的刚度产生装置包括：连接到从动构件的旋转轴; 固定在旋转轴上并具有包括磁性元件的臂的转子; 定子，其被布置成围绕所述转子在所述臂外围并连接到驱动电动机; 电磁体固定在定子的内周并且围绕旋转轴彼此相对，每个具有缠绕在芯上的芯和线圈; 以及用于向线圈施加电流的装置。电磁体的一半在其内端具有N极，另一半的电磁体在其内端具有S极。电流调节装置调节施加到线圈的电流。

4. 发明授权

US08772992B2 Airfoil-magnetic hybrid bearing and a control system thereof 有权
标题翻译：翼型磁性混合轴承及其控制系统
公开(公告)号：US08772992B2
公开(公告)日：2014-07-08
申请号：US12739590
申请日：2007-11-19
申请人： Yong Bok Lee , Chang Ho Kim , Seung Jong Kim , Sang Hwa Lee , Hee Soo Kim
发明人： Yong Bok Lee , Chang Ho Kim , Seung Jong Kim , Sang Hwa Lee , Hee Soo Kim
IPC分类号： H02K7/09
CPC分类号： F16C32/0444 , F16C17/024 , F16C32/0402 , F16C32/048
摘要： An airfoil-magnetic hybrid bearing, which is a combination of a magnetic bearing and airfoil bearing includes a housing, an airfoil bearing, a magnetic bearing, coils, and a coupling segment. The housing is around a rotating shaft of a rotation device. The airfoil bearing is positioned between the housing and the rotating shaft to form dynamic pressure to levitate the rotating shaft during rotation of the rotating shaft. The magnetic bearing includes cores positioned radially between inner surface of the housing and outer surface of the airfoil bearing. The cores are projected to the center of the rotating shaft. The coils wound to the cores to levitate the rotating shaft using a magnetic attractive force generated by a current application thereto. The coupling segment is configured to couple the airfoil bearing to the magnetic bearing directly.
摘要翻译：作为磁轴承和翼型轴承的组合的翼型 - 磁性混合轴承包括壳体，翼型轴承，磁性轴承，线圈和联接段。壳体围绕旋转装置的旋转轴。翼型轴承定位在壳体和旋转轴之间，以在旋转轴旋转期间形成动态压力以使旋转轴悬浮。磁性轴承包括位于壳体的内表面和翼型件轴承的外表面之间径向的芯。芯体突出到旋转轴的中心。线圈缠绕到芯部上以使用由其施加的电流产生的磁吸引力来悬浮旋转轴。联接段被配置为直接将翼型件轴承连接到磁性轴承。

5. 发明授权

US08789440B2 Manipulator with weight compensation mechanism and face robot using the same 有权
标题翻译：具有重量补偿机构的机器人和使用其的面机器人
公开(公告)号：US08789440B2
公开(公告)日：2014-07-29
申请号：US13314383
申请日：2011-12-08
申请人： Seung Jong Kim , Chang Hyun Cho , Jeong Soo Choi , Kyung Geune Oh , Chan Yul Jung
发明人： Seung Jong Kim , Chang Hyun Cho , Jeong Soo Choi , Kyung Geune Oh , Chan Yul Jung
IPC分类号： B25J17/00
CPC分类号： B25J11/0015 , B25J19/0016
摘要： This disclosure relates to a face robot which is operated similarly to the motion of a human head and a multi-joint manipulator which supports a robot's face, and more particularly, to a structure which may compensate an influence caused by the gravity and exerted on rotation parts rotating about its axes. A manipulator with a weight compensation mechanism of the disclosure is provided, the manipulator having rotation parts connected to a plurality of axes rotating about their axes, the manipulator including: a weight compensation mechanism that supports wires connected to the rotation parts receiving gravity in a rotation state by a spring and compensates an influence of gravity exerted on the rotation parts.
摘要翻译：本公开涉及一种面向机器人，其类似于人体头部的运动和支持机器人面部的多关节机械手的操作，更具体地，涉及可以补偿由重力引起的影响并施加在旋转上的结构零件围绕其轴旋转。提供了具有本发明的重量补偿机构的操纵器，所述操纵器具有连接到围绕其轴线旋转的多个轴线的旋转部分，所述操纵器包括：重量补偿机构，其支撑连接到旋转部分的线，通过弹簧状态补偿施加在旋转部件上的重力的影响。

6. 发明授权

US07728465B2 Hybrid stepping motor having high torque density 失效
标题翻译：具有高扭矩密度的混合式步进电机
公开(公告)号：US07728465B2
公开(公告)日：2010-06-01
申请号：US11967438
申请日：2007-12-31
申请人： Seung Jong Kim , Jong Min Lee , Woo Yeon Kim
发明人： Seung Jong Kim , Jong Min Lee , Woo Yeon Kim
IPC分类号： H02K37/14 , H02K1/00
CPC分类号： H02K37/18
摘要： There is provided a hybrid stepping motor comprising the following: a first rotor yoke and a second rotor yoke, each of the rotor yokes having a plurality of rotor teeth on a periphery thereof; a rotating shaft located between the first and second rotor yokes and supporting the first and second rotor yokes on a same axis, the rotating shaft including at least one permanent magnet magnetized in a direction of the axis; and a plurality of stator yokes, each of the stator yokes having a core portion, a coil wound around the core portion, and a plurality of stator teeth extending parallel to the axis from opposed end portions of the core portion, the stator yokes being disposed at regular intervals around the rotating shaft so that a constant air gap is maintained between radially inward surfaces of the stator teeth and radial end surfaces of the rotor teeth. A positive current is applied to the opposed and paired coils of said coils and a negative current is applied to the rest coils of said coils. The positive current and the negative current are applied at the same time and magnitude.
摘要翻译：提供了一种混合式步进电动机，包括：第一转子轭和第二转子轭，每个转子轭在其周边上具有多个转子齿; 位于所述第一和第二转子轭之间的旋转轴，并且在同一轴线上支撑所述第一和第二转子轭，所述旋转轴包括沿所述轴线方向被磁化的至少一个永磁体; 以及多个定子轭，每个定子轭具有芯部，围绕芯部卷绕的线圈以及与芯部的相对端部平行于轴线延伸的多个定子齿，定子轭设置围绕旋转轴以规则的间隔，使得在定子齿的径向向内的表面和转子齿的径向端表面之间保持恒定的气隙。对所述线圈的相对和成对的线圈施加正电流，并且将负电流施加到所述线圈的其余线圈。正电流和负电流同时施加。

7. 发明申请

US20090108711A1 HYBRID STEPPING MOTOR HAVING HIGH TORQUE DENSITY 失效
标题翻译：具有高扭矩密度的混合式步进电机
公开(公告)号：US20090108711A1
公开(公告)日：2009-04-30
申请号：US11967438
申请日：2007-12-31
申请人： Seung Jong Kim , Jong Min Lee , Woo Yeon Kim
发明人： Seung Jong Kim , Jong Min Lee , Woo Yeon Kim
IPC分类号： H02K37/14
CPC分类号： H02K37/18
摘要： There is provided a hybrid stepping motor comprising the following: a first rotor yoke and a second rotor yoke, each of the rotor yokes having a plurality of rotor teeth on a periphery thereof; a rotating shaft located between the first and second rotor yokes and supporting the first and second rotor yokes on a same axis, the rotating shaft including at least one permanent magnet magnetized in a direction of the axis; and a plurality of stator yokes, each of the stator yokes having a core portion, a coil wound around the core portion, and a plurality of stator teeth extending parallel to the axis from opposed end portions of the core portion, the stator yokes being disposed at regular intervals around the rotating shaft so that a constant air gap is maintained between radially inward surfaces of the stator teeth and radial end surfaces of the rotor teeth. A positive current is applied to the opposed and paired coils of said coils and a negative current is applied to the rest coils of said coils. The positive current and the negative current are applied at the same time and magnitude.
摘要翻译：提供了一种混合式步进电动机，包括：第一转子轭和第二转子轭，每个转子轭在其周边上具有多个转子齿; 位于所述第一和第二转子轭之间的旋转轴，并且在同一轴线上支撑所述第一和第二转子轭，所述旋转轴包括沿所述轴线方向被磁化的至少一个永磁体; 以及多个定子轭，每个定子轭具有芯部，围绕芯部卷绕的线圈以及与芯部的相对端部平行于轴线延伸的多个定子齿，定子轭设置围绕旋转轴以规则的间隔，使得在定子齿的径向向内的表面和转子齿的径向端表面之间保持恒定的气隙。对所述线圈的相对和成对的线圈施加正电流，并且将负电流施加到所述线圈的其余线圈。正电流和负电流同时施加。

8. 发明授权

US07965006B2 Device for generating stiffness and joint of robot manipulator comprising the same 有权
标题翻译：用于产生包括其的机器人操纵器的刚度和接头的装置
公开(公告)号：US07965006B2
公开(公告)日：2011-06-21
申请号：US12439938
申请日：2006-12-07
申请人： Sung Chul Kang , Munsang Kim , Seung Jong Kim , Seung Kook Yun , Jeonghoon Yoo
发明人： Sung Chul Kang , Munsang Kim , Seung Jong Kim , Seung Kook Yun , Jeonghoon Yoo
IPC分类号： H02K49/00
CPC分类号： B25J19/0004 , Y10T74/20329
摘要： A device for generating and varying stiffness, which may be applied to a joint of a robot manipulator, the stiffness generating device having a rotating shaft connected to a driven member; a rotor fixed to the rotating shaft and having arms comprising a magnetic element; a stator disposed to surround the rotor outside the arms and being connected to a drive motor; electromagnets fixed to an inner periphery of the stator and being opposed to each other about the rotating shaft, each having a core and a coil wound around the core; and means for applying current to the coils. One half of the electromagnets has N-poles at their inward ends and the other half of the electromagnets has S-poles at their inward ends. Current regulating means regulates the current being applied to the coils.
摘要翻译：一种用于产生和变化刚度的装置，其可以应用于机器人操纵器的接头，所述刚度产生装置具有连接到从动构件的旋转轴; 固定在旋转轴上并具有包括磁性元件的臂的转子; 定子，其被布置成围绕所述转子在所述臂外围并连接到驱动电动机; 电磁体固定在定子的内周并且围绕旋转轴彼此相对，每个具有缠绕在芯上的芯和线圈; 以及用于向线圈施加电流的装置。电磁体的一半在其内端具有N极，另一半的电磁体在其内端具有S极。电流调节装置调节施加到线圈的电流。

9. 发明申请

US20100247010A1 AIRFOIL-MAGNETIC HYBRID BEARING AND A CONTROL SYSTEM THEREOF 有权
标题翻译：气动磁悬浮轴承及其控制系统
公开(公告)号：US20100247010A1
公开(公告)日：2010-09-30
申请号：US12739590
申请日：2007-11-19
申请人： Yong Bok Lee , Chang Ho Kim , Seung Jong Kim , Sang Hwa Lee , Hee Soo Kim
发明人： Yong Bok Lee , Chang Ho Kim , Seung Jong Kim , Sang Hwa Lee , Hee Soo Kim
IPC分类号： F16C32/06 , H02K7/09
CPC分类号： F16C32/0444 , F16C17/024 , F16C32/0402 , F16C32/048
摘要： The present invention relates to an airfoil-magnetic hybrid bearing, which is a combination of a magnetic bearing and airfoil bearing. An airfoil-magnetic hybrid bearing of the present invention comprises: a housing around a rotating shaft of a rotation device; an airfoil bearing positioned between the housing and the rotating shaft for forming dynamic pressure to levitate the rotating shaft during rotation of the rotating shaft; a magnetic bearing including a plurality of cores positioned radially between inner surface of the housing and outer surface of the airfoil bearing, the cores being projected to the center of the rotating shaft, and coils wound to the cores to levitate the rotating shaft using a magnetic attractive force generated by a current application thereto; and a coupling segment for coupling the airfoil bearing to the magnetic bearing directly.
摘要翻译：本发明涉及一种磁性轴承和翼型轴承的组合的翼型 - 磁性混合轴承。本发明的翼型磁性混合轴承包括：围绕旋转装置的旋转轴的壳体; 位于所述壳体和所述旋转轴之间的翼型轴承，用于在所述旋转轴的旋转期间形成动态压力以悬浮所述旋转轴; 一种磁性轴承，包括径向位于壳体的内表面和翼型件的外表面之间的多个芯体，芯体突出到旋转轴的中心，线圈缠绕到芯体上以使用磁性悬浮在旋转轴上由当前应用产生的吸引力; 以及用于将翼型轴承直接连接到磁性轴承的联接段。

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