BUILT IN SENSOR TYPE SPHERE MOTOR

摘要

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).