KR101444654B1 - Manipulator control apparatus - Google Patents

Abstract

A manipulator control device according to an embodiment of the present invention includes a plurality of guide modules which rotates an arm member and an air pressure providing unit which moves the arm member independently by supplying gas to at least one of the guide modules. The air pressure providing unit includes a pneumatic tank with a plurality of internal spaces divided by partition walls and an air pressure generator which generates air pressure by injecting gas into one of the internal spaces.

Description

MANIPULATOR CONTROL APPARATUS [0001]

One embodiment of the present invention relates to an adjustment device for adjusting a manipulator mounted on a UGV.

Recently, UGV (Unmanned Ground Vehicle) military use has been expanded by using various mission equipment as well as reconnaissance and attack. In particular, UGV equipped with a multi-degree-of-freedom manipulator enables us to carry out various tasks such as removing explosives and lifesaving. The human arm has a degree of freedom to allow for sophisticated and flexible operation in space.

Therefore, a manipulator capable of performing elaborate work by mounting a manipulator having the same kinematics as a human arm on a UGV has been proposed.

Until now, the manipulator for manipulating the manipulator has a form such as a joystick or a joypad, but it is very difficult to deal with 6 degrees of freedom (three positions of freedom and three degrees of freedom of orientation) in three dimensional space. Manipulation of multi-degree-of-freedom manipulators requires a significant amount of training and is difficult to maneuver even for experienced pilots. Therefore, manipulators with kinematics such as human arms are needed to remotely manipulate manipulators with kinematics such as human arms.

Since the exoskeleton robot to be worn on the human body requires inner / outer rotation based on the bone axis direction of the human arm and an object, that is, the human body (arm) exists on the inner ring, the axial rotation is generally performed through the outer ring rotation . In the case of an exoskeleton robot using an existing electric motor, the inner and outer rotation of the shoulder and the inward / outward rotation of the lower arm were used as a method of rotating a circular cylinder using a pulley, a belt, or a cable. In the case of an electric motor, the above method is suitable because it is possible to rotate several wheels. However, it is difficult to rotate a plurality of wheels due to the characteristics of the pneumatic actuator, and the rotary type pneumatic actuator has a heavy drawback.

It is an object of the present invention to provide a manipulator adjusting device having a pneumatic actuator of a different type from the conventional one.

According to another aspect of the present invention, there is provided a manipulator adjusting apparatus comprising: a plurality of guide modules for rotating an arm member; and at least one of the guide modules, And a pneumatic pressure providing unit for independently moving the arm members, wherein the pneumatic pressure providing unit includes: a pneumatic tank having a plurality of internal spaces divided by barrier ribs; and a pneumatic pressure generating unit for generating pneumatic pressure by injecting gas into any one of the internal spaces Device.

According to an example of the present invention, the inner spaces may be independently connected to the inlet and outlet portions of the female member by first connecting portions.

According to an example of the present invention, the inner space and the pneumatic pressure generating unit may be independently connected to each other by second connecting portions.

According to an embodiment of the present invention, the apparatus further includes a control unit configured to control the rotation of the arm member, wherein the first connection units and the second connection units are respectively formed with opening / closing units controlled by the control unit And the opening / closing units can be controlled independently of each other.

According to one example of the present invention, the guide module includes a circular guide having a cylinder therein, and an arm member coupled to the outer periphery of the cylinder when the gas is introduced or discharged, And the inlet and outlet may be formed in the cylinder such that the gas enters or exits the cylinder.

According to an example of the present invention, the inflow / outflow portion may be formed at both ends of the guide.

The manipulator adjusting device according to at least one embodiment of the present invention configured as described above can independently control the pneumatic pressure provided to the plurality of inflow and outflow portions to prevent deterioration of the performance and reduce the air pressure drop when some guide modules are not used Can be prevented.

1A-1B are front perspective views of a manipulator adjustment device in accordance with an embodiment of the present invention.
FIGS. 2A and 2B are rear perspective views of the manipulator adjustment apparatus shown in FIG. 1A; FIG.
3 is a conceptual view showing an automatic alignment state of the manipulator adjusting apparatus shown in FIG.
FIG. 4A is a conceptual diagram showing a state in which the manipulator adjusting apparatus shown in FIG. 1A is worn by both arms, and FIG. 4B is a state diagram showing a folding function of the manipulator adjusting apparatus shown in FIG.
5 is a detailed view of the manipulator adjustment device shown in Fig.
6A and 6B are diagrams showing the inward / outward rotation of the shoulders and the inward / outward rotation of the lower arm, respectively.
7A and 7B are a sectional view and a perspective view of a guide module according to an embodiment of the present invention;
8A to 8C are operational state diagrams of the guide module shown in FIG.
9 is a view of a wear state of a manipulator adjusting device according to an embodiment of the present invention.
10 is a conceptual diagram of a pneumatic pressure supply unit according to an embodiment of the present invention;
11 and 12 are operational state diagrams of the air pressure providing portion shown in FIG.

Hereinafter, a manipulator adjusting apparatus according to the present invention will be described in detail with reference to the drawings. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the present specification, the same or similar reference numerals are given to different embodiments in the same or similar configurations. As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise.

Manipulator adjustment devices should be resistant to wear when people wear it because they are worn like clothes. To avoid resistance when worn, the kinematics of the exoskeleton structure should simulate human kinematics. The inconsistency of the kinematics leads to a mismatch of the rotation axis of the manipulator control device and the wearer, which gives resistance.

A person's arm has expressed a total of seven degrees of freedom, with three degrees of freedom on the shoulder, one degree of freedom of the elbow, and three degrees of freedom of the wrist, except for the hand. If a 7-degree-of-freedom master device is sufficient to issue a command to a 7-degree-of-freedom manipulator, the workspace limited by the closed kinematic chain of human and exoskeletal structures, if the exoskeleton structure has only 7 degrees of freedom, .

The human arm has traditionally been modeled as a ball and socket joint with three degrees of freedom in shoulder, and a hinge joint with one degree of freedom in elbow, with wrists with three degrees of freedom. However, the human shoulder is connected to the structure called shoulder girdle, and the movement of the shoulder is limited by the movement of the shoulder arm. The scapula consists of the sternoclavicular joint, the clavicular joint, and the clavicular joint, and the center of the shoulder joint moves due to the movement of the shoulder arm. It is not suitable as a model for a manipulator adjustment system because it is assumed that the center of the humeral joint does not move when the human arm is modeled by 7 degrees of freedom. The sternoclavicular and clavicular joints of the scapula have three degrees of freedom, and the pelvic joints have five degrees of freedom. The Center of Glenohumeral Joint (CGH) moves according to the movement of the sternoclavicular joint, the clavicular joint, and the pelvic joint.

Hereinafter, a more detailed description will be given with reference to the drawings.

FIGS. 1A through 1B are front perspective views of a manipulator adjusting apparatus according to an embodiment of the present invention, FIGS. 2A through 2B are rear perspective views of the manipulator adjusting apparatus shown in FIG. 1A, Fig. 8 is a conceptual diagram showing an automatic alignment state of the adjustment device.

FIG. 4A is a conceptual view showing the state where the manipulator adjusting apparatus shown in FIG. 1A is worn by both arms, and FIG. 4B is a state diagram showing a folding function of the manipulator adjusting apparatus shown in FIG. 1A. 5 is a detailed view of the manipulator adjusting apparatus shown in FIG. 1A.

1 to 5, the manipulator adjusting apparatus 100 includes a support 110, joints 120, 130, 140, 150, 160, and a arm 170. [

The support 110 may be formed to be parallel to the user's spine. The support 110 may be mounted on the back of the user, which may include one or more fixed units to be fixed to the user.

The joint parts 120, 130, 140, 150 and 160 are connected from the support part 110 to the arm part 170. The remaining parts except for the arm part 170 may have a maximum of eight degrees of freedom.

The joint parts 120, 130, 140, 150, and 160 include a first joint part 120 coupled to the support part 110 so as to be rotatable about a first axis, A complex joint part 140 coupled to the second joint part 130 so as to reciprocate relative to the second joint part 130 and rotatable with respect to two different axes, A third joint part 150 rotatably coupled to the complex joint part 140 and a fourth joint part 160 rotatably coupled to the third joint part 150. [

The composite joint part 140 is coupled to the second joint part 130 so as to reciprocate, and may be connected to each other by the first elastic member 131. The elastic member may be, for example, an elastic means such as a spring. This makes it possible to compensate for the difference in shoulder length for each user.

And, due to the restoring force of the elastic members, the manipulator adjusting apparatus 100 can be automatically aligned when not in use.

The arm 170 is rotatably coupled to the fourth joint 160 and the arm 170 is coupled to the fourth joint 160 in a reciprocating manner. The arm portion 170 may be connected to each other by the fourth joint 160 and the second elastic member 161. The elastic member may be, for example, an elastic means such as a spring. This increases the degree of freedom by one. In addition, even if the lengths of the arms are different for each user, it can be compensated for, and the manipulator adjusting apparatus 100 can be automatically aligned by the restoring force of the elastic members.

A reaction force due to the rotation of the arm 170 and the third joint 150 sensed by the manipulator may be transmitted to the user. The actuator 170 may be provided at both ends of the fourth joint 160, have. That is, the arm portion 170, the third joint portion 150, and the fourth joint portion 160 may be active joints.

The second joint part 130 is rotatably formed to the left or right at the same position as the shoulder position of the user. When the second joint part 130 is brought close to the user's right shoulder, the arm part 170 can be worn on the user's right arm. . Thus, the manipulator adjusting apparatus 100 can be worn even if the user is left-handed or right-handed.

As shown in FIG. 4B, the first to fourth joints 120 to 160 are rotatably formed, thereby enabling the folding structure of the manipulator adjusting apparatus 100.

The arm portion 170 includes a first arm member 171 rotatably coupled to the fourth joint portion 160 and a second arm member 171 rotatably coupled to the first arm member 171 so that the first arm member 171 can rotate along the guide 172a. A first guide member 172 to which the arm member 171 is coupled, a second guide member 173 rotatably coupled to the first guide member 172, And a second arm member 174 coupled to be pivotable along the first arm member 174.

In addition, the second arm member 174 is rotatable with respect to two different axes, whereby the manipulator adjusting device 100 can have a total of 13 degrees of freedom.

An actuator 172c may be formed at both ends of the first arm member 171 and the first guide member 172 and the second guide member 173 so that the reaction force detected by the manipulator is transmitted to the user Lt; / RTI > That is, the first arm member 171, the second arm member 174, the first guide member 172, and the second guide member 173 become active joints, respectively.

The first guide member 172 and the second guide member 173 each include a guide portion 172a formed only in a semicircular shape and a support frame 172b extending from both ends of the guide module 172a can do. Members constituting the arm portion 170 may be coupled to the support frame 172b.

The guide module 172a is coupled with other members (e.g., the first arm member 171 or the second arm member 174), which includes a groove portion 1723, And can be inserted into the groove portion 1723. The groove portion 1723 extends in a semicircular shape along the guide module 172a so that the other members 171 and 174 can move along the groove portion 1723. [ This movement allows the other members 171, 174 to rotate.

FIGS. 6A and 6B are views showing the inward / outward rotation of the shoulders and the inward / outward rotation of the lower arm, respectively.

Since the exoskeleton robot to be worn on the human body requires inner / outer rotation based on the bone axis direction of the human arm and an object, that is, the human body (arm) exists on the inner ring, the axial rotation is generally performed through the outer ring rotation . In the case of an exoskeleton robot using an existing electric motor, the inner and outer rotation of the shoulder and the inward / outward rotation of the lower arm were used as a method of rotating a circular cylinder using a pulley, a belt, or a cable. However, in this case, it is difficult to make a plurality of revolutions and the design becomes complicated. Hereinafter, a structure for rotating the arm member of the manipulator adjustment device using the guide module of the manipulator adjustment device according to the embodiments of the present invention will be described.

FIGS. 7A and 7B are a sectional view and a perspective view of a guide module according to an embodiment of the present invention, and FIGS. 8A to 8C are operational state diagrams of the guide module shown in FIG.

FIG. 9 is a view of a manipulator control apparatus according to an embodiment of the present invention, and FIG. 10 is a view of a manipulator control apparatus according to a comparative example.

7A-8C, the guide module 172a of the manipulator adjustment device may include a guide 1721, a piston 1726, and an outlet 1724, 1725.

The guide 1721 may have a circular arc shape with a cylinder 1722 therein. Further, the guide 1721 may be formed in a semicircular shape.

The piston 1726 may be inserted into the cylinder 1722 of the guide 1721 to be rotatable along the guide 1721 when the gas is introduced or discharged. A first arm member 171 or a second arm member 174 can be coupled to the piston 1726 so that the piston 1726 can be coupled to the first arm member 171 or the second arm member 174 . The piston 1726 is provided with a magnet such that the first arm member 171 or the fastening portion 1727 of the second arm member 174 is magnetically coupled to the magnet of the piston 1726.

The piston 1726 may have a thickness corresponding to the inner circumference of the cylinder 1722 (corresponding to the diameter of the cylinder hollow). As a result, the piston 1726 prevents gas from passing from the first side of the cylinder 1722 to the second side, as well as from passing the gas from the second side of the cylinder 1722 to the first side.

A groove portion 1723 is formed on the outer periphery of the guide 1721. The groove portion 1723 is a portion recessed inwardly from one surface of the guide 1721 so that the engaging portion 1727 is inserted into the groove portion 1723 and is formed to move.

The housing of the guide 1721 for partitioning the outer periphery of the guide 1721, that is, the cylinder 1722 and the groove portion 1723, is formed of a non-magnetic material. Nonmagnetic materials are substances that are not magnetized and are not affected by magnetic fields. They include paramagnetic materials and semi-magnetic materials. The nonmagnetic permeability of the nonmagnetic material is close to 1, and is hardly affected by the magnetic field. As the non-magnetic material, Al, Cu, Sn and the like can be used.

The outflow portions 1724 and 1725 can be formed in the cylinder 1722 so that gas is introduced into the cylinder 1722 or discharged from the cylinder 1722. [ The inflow / outflow portions 1724 and 1725 can communicate with the cylinder 1722 through the inner and outer circumference of the guide 1721. The inflow and outflow of the gas through the inflow / outflow portions 1724 and 1725 can be performed by a separate control unit.

These inlet and outlet portions 1724 and 1725 can be formed at both ends of the guide 1721, respectively. A first outlet 1724 may be formed on the first side and a second outlet 1724 and 1725 may be formed on the second side.

When the gas flows into the first side inflow / outflow portion 1724, the piston 1726 in the cylinder 1722 is pushed toward the second side, and thereby the piston 1726 can rotate. At this time, the gas is discharged from the second side inflow / outflow portion 1725. On the contrary, when the gas flows into the second side inflow / outflow portion 1725, the piston 1726 in the cylinder 1722 is pushed toward the first side, and thereby the piston 1726 can rotate. At this time, gas is discharged from the first side inflow / outflow portion 1724.

As the piston 1726 rotates, the locking portion 1727 magnetically coupled with the piston 1726 moves together and the locking portion 1727 is engaged with the first arm member 171 or the second arm member 174 As a result, the first arm member 171 and the second arm member 174 can rotate along the guide 1721 as the piston 1726 rotates.

Engagement portions 1722a may be formed on both sides of the groove portion 1723. [ The engaging portions 1722a are formed so as to restrict the movement of the engaging portions 1727. [ The degree of rotation of the first arm member 171 and the second arm member 174 coupled to the piston 1726 can be adjusted.

9, by controlling the gas that flows into or exits the cylinder 1722 through the first side or the second side inflow / outflow 1724 and 1725, the piston 1726, The first arm member 171 and the second arm member 174 coupled to the first arm member 171 can be rotated.

FIG. 10 is a conceptual diagram of a pneumatic pressure supply unit according to an embodiment of the present invention, and FIGS. 11 and 12 are operational state diagrams of the pneumatic pressure supply unit shown in FIG.

Referring to FIG. 10, the pneumatic feeder 180 includes a pneumatic tank 184 and a pneumatic generator 181. The pneumatic tank 184 is partitioned to have a plurality of internal spaces 184a, 184b, 184c, 184d. For example, four internal spaces 184a, 184b, 184c and 184d may be formed in the pneumatic tank 184 as shown in Fig. At this time, the inner spaces 184a, 184b, 184c, and 184d are separated from each other by barrier ribs, and are formed so as to be filled with gas of a constant pressure. As a result, each of the inner spaces 184a, 184b, 184c, and 184d forms air pressure independently of each other.

The pneumatic pressure generator 181 may be formed to inject gas into the pneumatic tank 184.

Each internal space of the pneumatic tank 184 may be connected to each other by the inflow and outflow portions (for example, 1724 and 1725) of the guide module and the first connection portions 185a, 185b, 185c and 185d. The first connection portions 185a, 185b, 185c, and 185d are independently formed so as to connect the inner space and the inflow / outflow portion independently of each other. Each internal space of the pneumatic tank 184 may be connected to each other by the pneumatic pressure generator 181 and the second connection portions 182a, 182b, 182c, and 182d. The second connection portions 182a, 182b, 182c, and 182d are independently formed to connect the internal space and the air pressure generating device 181 independently of each other.

The first connecting portions 185a, 185b, 185c and 185d are provided with opening and closing units 186a, 186b, 186c and 186d respectively and the opening and closing units 186a, 186b, 186c and 186d are formed to be driven independently . The second connecting portions 182a, 182b, 182c and 182d also include opening and closing units 183a, 183b, 183c and 183d, respectively, and the opening and closing units 183a, 183b, 183c and 183d can be formed to be driven independently . Each of the opening / closing units 183a, 183b, 183c, and 183d may be formed of an electronic valve operated by an electrical signal.

A control unit (not shown) configured to control the rotation of the arm member can control the rotation of the arm member by independently controlling the opening and closing units.

The gas flowing out of the pneumatic pressure generator 181 flows into the inner space through the second connecting portion 182 and the gas introduced into the inner space flows through the first connecting portion 186 to the outlet of the guide module 186 . The control unit can independently control the opening and closing units formed on the connection lines to rotate the arm member.

As described above, the arm portion 170 includes a first arm member 171 and a second arm member 172, and the first arm member 171 is rotatable along the guide 172a. A first guide member 172 to which the first arm member 171 is coupled and a second guide member 173 that is rotatably coupled to the first guide member 172. [

The first guide member and the second guide member may each include a guide module, which is configured to provide pneumatic pressure through the inlet and outlet of the guide module.

Referring to FIG. 11, gas may be supplied to the first guide module and the second guide module through the first connection line 185a and the third connection line 185c of the first connection part 185. At this time, the operation of the control unit transmits electrical signals to the first opening / closing unit 186a formed on the first connection line and the third opening / closing unit 186c formed on the third connection line, and each opening / The connection line then switches from closed to open.

As a result, when the gas is supplied to the inflow / outflow portion, the piston moves and the arm member coupled to the piston can move.

At this time, since the respective connection lines and the opening / closing unit are independently controlled, no gas is supplied through the second connection line 185b and the fourth connection line 185d. Also, the second opening / closing unit 186b and the fourth opening / closing unit 186d, which have not received the signal from the control unit, do not operate.

12, the first internal space 184a of the pneumatic tank 184 and the third internal space 184a of the pneumatic tank 184 are connected to each other through the fifth connection line 182a and the seventh connection line 182c of the second connection portion 182, 184c. At this time, the operation of the control unit transmits electrical signals to the fifth opening / closing unit 183a formed on the fifth connection line and the seventh opening / closing unit 183c formed on the seventh connecting line, and each opening / The connection line then switches from closed to open.

As a result, the gas can be filled in the first inner space and the third inner space at a constant pressure.

At this time, since the respective connection lines and the opening / closing unit are independently controlled, no gas is supplied through the sixth connection line 182b and the eighth connection line 182d. Also, the sixth opening / closing unit 183b and the eighth opening / closing unit 183d, which have not received the signal by the control unit, do not operate. Therefore, no gas is supplied to the second inner space 184b and the fourth inner space 184d.

As described above, the pneumatic pressure providing unit according to the present invention can independently control the pneumatic pressure provided to the plurality of inflow / outflow units, thereby preventing performance deterioration and preventing pneumatic pressure drop when some guide modules are not in use. This makes it possible to operate the manipulator adjustment device more efficiently.

The above-described manipulator adjustment apparatus can be applied to a configuration and a method of the embodiments described above in a limited manner, but the embodiments can be modified so that all or some of the embodiments are selectively combined .

Claims (6)

A plurality of guide modules for rotating an arm member of the manipulator adjustment device; And
And a pneumatic pressure providing unit for independently introducing gas into at least one of the guide modules to move the arm member,
The pneumatic pressure-
A pneumatic tank having a plurality of internal spaces defined by barrier ribs; And
And a pneumatic pressure generating device for generating air pressure by injecting gas into any one of the internal spaces, wherein the internal spaces are independently connected to the inlet and outlet portions of the arm member by first connecting portions. . delete The method according to claim 1,
Wherein the internal space and the pneumatic pressure generator are independently connected by second connection portions. The method of claim 3,
And a control unit configured to adjust rotation of the arm member,
Wherein the first connection portions and the second connection portions are each formed with an opening / closing unit controlled by the control unit,
And the opening / closing units are controlled independently of each other. The method according to claim 1,
The guide module comprises:
An arc-shaped guide having a cylinder therein; And
And a piston for rotating an arm member coupled to the outer periphery of the cylinder when the gas is partially introduced into the cylinder and the gas is introduced or discharged,
Wherein the inflow / outflow portion is formed in the cylinder so that the gas flows into the cylinder or is discharged from the cylinder. 5. The method of claim 4,
And the outlet is formed at both ends of the guide.

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