KR102093729B1 - A compact haptic device using a parallel cable robot - Google Patents

Abstract

The present invention relates to a small haptic device using a parallel cable robot, and more specifically, a parallel cable robot that has 6-degree-of-freedom motion and a tension measurement load cell for each cable to increase operation intuitiveness and improve feedback control precision. It relates to a small haptic device utilizing the.
To this end, a frame providing a work space for freedom of movement; A plurality of cable driving modules installed on the frame and including a winch for winding or unwinding the cable and a pulley for guiding the cable of the winch to a work space; It is connected to the cable of the cable driving module, the end effector for interlocking the manipulator while moving with freedom in the working space through the user's operation, including, the end effector, the cable connecting member of each cable driving module; It is fixed to the connecting member, and includes a gripping part provided for a user to grip, and the pulley is equipped with a tension sensor for sensing cable tension according to the movement of the end effector, and the connecting member comprises: Consists of an upper connecting member fixed to the upper portion, and a lower connecting member fixed to the lower portion of the gripping portion, and the cable connecting point of the upper connecting member and the cable connecting point of the lower connecting member are in different directions. A fitting groove into which a finger of the user can be inserted, and a button portion for manipulator operation control are configured, wherein the gripping portion is formed of a cylinder with a circumferential surface facing up and down, and the fitting groove is two or more on the upper and lower sides of the gripping side. It is formed of, the button portion is installed on the circumferential surface of the gripping portion, the upper connecting member is installed perpendicular to the circumferential surface of the gripping portion A bar (bar) shape of the tetrahedron, the lower connecting member provides a compact haptic device utilizing a parallel cable robot, characterized in that the bar (bar) in the form of a rectangular parallelepiped provided with a circumferential surface direction of the gripper.

Description

A compact haptic device using a parallel cable robot

The present invention relates to a small haptic device using a parallel cable robot, and more particularly, to a small haptic device using a parallel cable robot with improved manipulation intuition through force and tactile feedback functions.

The remote control device is a device including a master unit and a slave unit, and remotely controls a slave unit located at a remote location using the master unit.

At this time, the master unit remotely controls the operation of the slave unit based on various physical information such as force, touch, temperature, humidity, and illuminance detected by the slave unit.

Such remote control devices include surgical robots, dangerous goods handling robots, patrol robots, defense robots, and aerospace remote devices.

Among them, the surgical robot is a robot that performs surgery or surgery on the affected area by moving a surgical tool according to a user's instruction, and includes a console corresponding to the master unit, a manipulator corresponding to the slave unit, and an end effector.

The surgery performed by the surgical robot includes Minimal InvasiveSurgery and Robotic surgery to minimize the size of the incision in the affected area.

Here, unlike minimally invasive surgery, Open Surgery, where the stomach is completely opened and operated, a few small incisions are made and gas is filled into the stomach to create a surgical space, and then a laparoscope is made through the incision. And putting the end effector for surgery while viewing the image in the abdominal cavity to perform the surgery using the end effector for surgery.

This minimally invasive surgery is less painful after surgery, early recovery of intestinal movements and early intake of food, short hospitalization, quick return to normal conditions, and small incision range have excellent cosmetic effects.

For this reason, minimally invasive surgery is used for cholecystectomy, prostate cancer surgery, hernia correction, etc., and the field is gradually expanding.

However, in minimally invasive surgery, it is difficult to adjust the surgical end effector and there is a difficulty in moving the surgical end effector through the incision.

Overcoming the shortcomings of this minimally invasive surgery is surgery using a davinci robot.

Here, the Da Vinci robot delivers 10 to 15 times magnified stereoscopic image to the user without inverting left and right, and precisely transmits the user's movement to the manipulator and surgical end effector.

However, the above-mentioned surgical da Vinci robot did not have a force and tactile feedback function.

Due to this, the user (ie, the doctor) has a problem in that a medical accident may occur because it is not easy to recognize the force applied to the surgical end effector during the suture procedure.

Republic of Korea Registration No. 10-1084724

The present invention has been devised to solve the above-mentioned problems, and the object of the present invention is to use a parallel cable robot to increase the intuitiveness of operation for rotational freedom of a haptic device, and to use a load cell capable of measuring each cable tension. It is intended to provide a small haptic device utilizing a parallel cable robot capable of feedback control.

The present invention to achieve the above object, a frame providing a working space for freedom of movement; A plurality of cable driving modules installed on the frame and including a winch for winding or unwinding the cable and a pulley for guiding the cable of the winch to a work space; It is connected to the cable of the cable driving module, the end effector for interlocking the manipulator while moving with freedom in the working space through the user's operation, including, the end effector, the cable connecting member of each cable driving module; It is fixed to the connecting member, and includes a gripping part provided for a user to grip, and the pulley is equipped with a tension sensor for sensing cable tension according to the movement of the end effector, and the connecting member comprises: Consists of an upper connecting member fixed to the upper portion, and a lower connecting member fixed to the lower portion of the gripping portion, and the cable connecting point of the upper connecting member and the cable connecting point of the lower connecting member are in different directions. A fitting groove into which a finger of the user can be inserted, and a button portion for manipulator operation control are configured, wherein the gripping portion is formed of a cylinder with a circumferential surface facing up and down, and the fitting groove is two or more on the upper and lower sides of the gripping side It is formed of, the button portion is installed on the circumferential surface of the gripping portion, the upper connecting member is installed perpendicular to the circumferential surface of the gripping portion A bar (bar) shape of the tetrahedron, the lower connecting member provides a compact haptic device utilizing a parallel cable robot, characterized in that the bar (bar) in the form of a rectangular parallelepiped provided with a circumferential surface direction of the gripper.

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As another example for achieving the above object, a frame providing a working space for freedom of movement; A plurality of cable driving modules installed on the frame and including a winch for winding or unwinding the cable and a pulley for guiding the cable of the winch to a work space; It is connected to the cable of the cable driving module, and includes an end effector that interlocks a manipulator while moving with freedom in the working space through the user's manipulation, and the end effector is a user's hand combined and a user's finger joint It is made of a gripper having a plurality of joints linked to movement, and the joints of the grippers are connected to joints that are axially coupled to each other, and the cable is installed to be variable in length by the rotation of the joints of the gripper, but the pulley is end A tension sensor is installed to sense the cable tension according to the movement of the effector, and the gripper includes a ring-shaped wrist portion that forms an opening through which the user's hand is inserted, and a user's back that wraps the user's back, It consists of a joint that wraps the fingers of the, the cable is the wrist, the back of the hand, and the joint Provides a compact haptic device utilizing a parallel cable robot, characterized in that each is connected.

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The small haptic device using the parallel cable robot according to the present invention has the following effects.

First, the six-degree-of-freedom movement using a parallel cable robot and the operation force of each cable tension measuring load cell can be used to increase the intuitive operation.

Accordingly, since the end effector can be precisely controlled, there is an effect of increasing user satisfaction by reducing malfunctions and the like in the industrial field to which the haptic device is applied.

Second, by applying the parallel cable robot configuration, the size of the work space can be freely varied according to the pulley position, and the overall size of the device can be reduced to downsize.

Third, by providing the end effector as a gripper type, it is possible to implement 6 degrees of freedom of the end effector using movements of the fingers and wrist joints, thereby increasing the intuitiveness of external manipulation.

Fourth, by using a load cell capable of measuring each cable tension, it is possible to precisely control the force feedback, thereby increasing the intuition of operation.

1 is a perspective view showing a small haptic device utilizing a parallel cable robot according to a preferred embodiment of the present invention
Figure 2 is a perspective view showing the end effector of a small haptic device using a parallel cable robot according to a preferred embodiment of the present invention
Figure 3 is a perspective view showing a small haptic device using a parallel cable robot according to another embodiment of the present invention
4 is a perspective view showing an end effector of a small haptic device using a parallel cable robot according to another embodiment of the present invention
5 is a view showing a state of operating a manipulator using a small haptic device using a parallel cable robot according to another embodiment of the present invention.

The terms or words used in the specification and claims are not to be construed as being limited to ordinary or lexical meanings, and the inventor is based on the principle that the concept of terms can be properly defined in order to best describe his or her invention. It should be interpreted in a sense and concept consistent with the technical idea of the present invention.

Hereinafter, a small haptic device (hereinafter referred to as a 'haptic device') using a parallel cable robot according to a preferred embodiment of the present invention will be described with reference to the attached FIGS. 1 and 2.

The haptic device uses the principle of operation of a parallel cable robot to increase the intuition of operation and realize precise feedback control through the implementation of six degrees of freedom.

1 and 2, the haptic device includes a frame 100, a cable driving module 200, and an end effector 300.

The frame 100 provides a work space S for realizing the degree of freedom of the end effector 300.

1, the frame 100 is preferably provided in the form of a cube of cubes.

Next, the cable driving module 200 provides 6 degrees of freedom movement to the end effector 300 while winding or unwinding the cable C.

The cable driving module 200 is provided in plural, and is preferably installed at each corner of the frame 100.

Accordingly, the cable driving module 200 is provided in eight, four of which are respectively installed at the top and bottom of the frame 100.

Each cable driving module 200 includes a winch 210 and a pulley 220.

The winch 210 is composed of a motor 211 that provides rotational power, and a drum 212 that is axially coupled to the motor 211 and rotates forward or reverse to wind or unwind the cable C.

Then, the pulley 220 serves to guide the cable (C) of the drum 212 to the working space (S), it is installed on the frame 100.

At this time, since the size of the frame 100 can be varied by adjusting the position of the pulley 220, the size of the frame 100 in the form of a cube can be minimized.

This means that the size of the haptic device can be downsized.

Meanwhile, a tension sensor 221 is installed in each of the pulleys 220 to sense the tension acting on the cable C wound around the drum 212.

When the user moves the end effector 300 in the work space, the tension sensor 221 detects the cable C tension according to the movement of the end effector 300 and causes the winch 210 to release the cable C or It serves to wind the cable (C).

In addition, when the force applied to the manipulator through the end effector 300 to be described later is fed back to the haptic device, the tension sensor 221 serves to precisely transmit the feedback force to the operator.

That is, the tension sensor 221 receives the force fed back from the manipulator as a numerical value and causes the winch 210 to wind the cable (C) or to unwind the cable (C), so that the user precisely measures the force fed back from the manipulator. Since it can be delivered, it is possible to increase the intuitiveness of the operation.

At this time, the tension sensor 221 is preferably a load cell.

Next, the end effector 300 serves to move the cable C while conforming to the user's six degrees of freedom movement through the kinematics of the parallel cable robot.

The movement of the end effector 300 is transmitted and reproduced in a device requiring haptic manipulation.

At this time, the device requiring haptic manipulation refers to the manipulator of the slave unit interlocked with the movement of the end effector 300.

The manipulator may be provided in various ways depending on the industrial field to which the haptic device is applied, for example, it may be a surgical tool when applied to the medical field.

The end effector 300 is preferably composed of a gripping portion 310 and a connecting member 320, as shown in FIG.

The gripping part 310 is a part gripped by a user for six degrees of freedom movement of the end effector 300 on the work space S.

The gripping unit 310 may be provided so that a 6-degree-of-freedom movement can be easily performed while the user holds it.

In this specification, the gripping portion 310 is provided to be gripped by the user's finger insertion, and it is assumed that it is formed in a cylindrical shape. At this time, the columnar gripping portion 310 is installed so that the circumferential surface faces up and down.

A fitting groove 311 is formed on the side of the gripping portion 310.

The fitting groove 311 is formed to have an inner diameter into which a user's finger can be inserted, and a plurality of upper and lower portions of the gripping part 310 side.

The user's index finger is inserted into the fitting groove 311 formed in the upper part, and the user's middle finger is inserted into the fitting groove 311 formed in the lower part.

With this configuration, when the user inserts a finger into the fitting groove 311, the gripping portion can be naturally grasped.

At this time, it is preferable that the button portion 312 is installed in a portion corresponding to the user's thumb in a state where the gripping portion 310 is held. That is, the button portion 312 is installed on the circumferential surface of the gripping portion 310.

The button portion 312 is configured to command the final operation of the manipulator.

For example, in the case where a manipulator is provided with a forceps, when the manipulator approaches an object through a six-degree-of-freedom movement of the end effector 300, a final operation of allowing the manipulator to hold or cut the object can be made through a button operation. will be.

This is due to the configuration of the gripping section 310, it is possible to perform a button operation at the same time as the natural gripping of the user.

In addition, the connecting member 320 is an intermediary means for connecting the gripper 310 to the cable C of the cable driving module 200.

The connecting member 320 is installed on the upper and lower portions of the gripping portion 310, respectively.

The connecting member 320 is preferably made of a bar, the shape of the bar is preferably a rectangular parallelepiped.

The connection member 320 is for convenience of description, the connection member 320 installed on the upper portion of the gripping part 310 is called an upper connection member 321, and the connection member 320 installed on the lower part of the gripping part 310 is connected to the lower part. Referred to as member 322.

At this time, the cable C is connected to both ends of the connecting member 320, and the cable connecting point of the upper connecting member 321 and the cable connecting point of the lower connecting member 322 are in different directions.

That is, the upper connecting member 321 and the lower connecting member 322 are installed to cross each other with the gripping portion 310 interposed therebetween.

In addition, the cable (C) of the winch 210 installed on the upper frame 100 is connected to the lower connecting member 322, the cable (C) of the winch 210 installed on the lower frame 100 is the upper connecting member It is connected to (321).

Accordingly, when the end effector 300 moves on the work space S, it is possible to minimize the entanglement of the cables C with each other.

Hereinafter, the operation of the haptic device having the above-described configuration will be described.

A haptic device that is a master unit is provided, and a manipulator (not shown) which is a slave unit that is interlocked by commands of the haptic device is provided.

The user grips the end effector 300 by putting his hand into the work space S of the frame 100 to operate the manipulator.

At this time, the user inserts the index finger into the upper fitting groove 311 of the gripping part 310 and inserts the middle finger into the lower fitting groove 311 of the gripping part 310.

Then, when gripping the grip portion 310, the user's thumb is naturally located on the button portion 312.

In this state, the gripper 310 is grasped, and the user moves the gripper 310 freely.

At this time, the end effector 300 is a six-degree-of-freedom movement through a three-degree-of-freedom translation (front, back, left, and right) and three-degree-of-freedom rotation movements (X, Y, and Z axes) on the work space S.

For example, if the end effector 300 is moved to one side of the frame 100, the tensile force of the cable C guided by the pulley 220 of the cable driving module 200 installed on the other side of the frame 100 increases, and the frame The tensile force of the cable C guided to the pulley 220 of the cable driving module 200 installed on one side of the 100 is reduced.

At this time, the load cell, which is the tension sensor 221, senses this, and each cable driving module 200 functions to wind or unwind the cable C.

On the other hand, commands according to the movement of the end effector 300 on the work space S interlock the manipulator.

That is, the end effector 300 moves by manipulating the length of the cable C in accordance with the user's hand movement, and this movement causes the manipulator to move as it is.

Then, when the manipulator approaches the object, the button 312 corresponding to the thumb is pressed to cause the manipulator to perform the final operation.

At this time, when the force exerted on the manipulator in the final operation process is fed back to the haptic device, each cable driving module 200 generates a cable (C) to generate a cable tension capable of reproducing the fed back force to the end effector 300. ), Accurately conveys the feedback force to the user while releasing or winding.

Meanwhile, in the configuration of the end effector for manipulating the manipulator, a gripper type may be provided for precise final operation of the manipulator.

This is presented as another embodiment of the present invention, and will be described with reference to FIGS. 3 to 5.

Prior to the description, the same reference numerals are used for the same configuration as the preferred embodiment, and detailed descriptions will be omitted.

The end effector 300 according to another embodiment is located in the working space S of the frame 100, as shown in FIG. 3, and is provided as a gripper 330 having a plurality of joints.

The gripper 330 includes a wrist part 331 forming an opening hole 331a into which a user's hand is inserted, a hand back part 332 surrounding the user's back, and a joint part 333 surrounding the user's index finger and thumb. It is composed. At this time, the wrist portion 331 is provided in a ring (ring) as shown in Figures 3 and 4.

At this time, the joint portion 333 is composed of a plurality of joints, between the joints are axially coupled to each other joint (333a). The joint 333 is provided to cover the user's finger in addition to the user's index finger and thumb.

The joint 333 includes a restoring spring, and the restoring spring exerts an elastic force to return the joint.

At this time, although not shown, the joint member 333 is provided with a fixing member for fixing the user's index finger and thumb to the joint 333.

The fixing member is preferably provided in the form of a ring that can wrap the finger, it can be provided in a velcro type.

On the other hand, the gripper 330 is directly connected to the cable (C).

Eight cables (C) are provided from eight cable power means (200), two of these cables (C) are connected to be crossed to the upper and lower parts of the wrist (331).

And two cables (C) is connected to the upper portion of the back of the hand (332), the other two cables (C) are connected to the lower portion of the back of the hand (332).

And the remaining two cables (C) are respectively installed through the joint (333a) of the joint portion 333.

At this time, the cable (C) passing through the joint 333a is installed so that the length can be changed when the joint moves.

To this end, the cable (C) passing through the joint (333a) is connected in a biased state to one side from the center rather than the center of the joint (333a).

Hereinafter, the operation of the haptic device having the above-described configuration will be described.

A haptic device that is a master unit is provided, and a manipulator that is a slave unit that is interlocked by commands of the haptic device is provided as shown in FIG. 5.

To help understand the description, the manipulator uses a forceps device 400 for gripping objects, as shown in FIG. 5.

To operate the forceps device 400, the user puts his hand into the opening hole 331a of the gripper 330 to prepare.

At this time, the user uses the fixing member provided in the joint portion 333 to fix the index finger and the user's thumb to the joint portion 333.

In this state, the user's hand is fixed to the gripper 330, and the user moves the gripper 330 freely on the work space S.

At this time, the gripper 330 is a six-degree-of-freedom movement through a three-degree-of-freedom translational motion (front, back, left, and right) and a three-degree-of-freedom rotational motion (X, Y, Z axes) on the work space S.

For example, if the gripper 330 is moved to one side of the frame 100, the tensile force of the cable C guided by the pulley 220 of the cable driving module 200 installed on the other side of the frame 100 increases, and the frame ( 100) the tensile force of the cable (C) guided to the pulley 220 of the cable drive module 200 installed on one side is reduced.

At this time, the load cell, which is the tension sensor 221, senses this, and each cable driving module 200 functions to wind or unwind the cable C.

On the other hand, the command according to the movement of the gripper 330 on the work space S is brought into close proximity to the object as shown in FIG. 5 by interlocking the forceps 400.

Thereafter, when the forceps device 400 is close to the object, the final action is made to force the forceps device 400 to hold the object by closing the thumb or index finger.

At this time, when the force applied to the forceps device 400 is fed back to the haptic device in the final operation process, each cable driving module 200 generates cable tension capable of reproducing the feedback force to the end effector 300. In order to deliver the feedback force to the user precisely while unwinding or winding the cable (C).

As described so far, the small haptic device using the parallel cable robot according to the present invention has a 6-degree-of-freedom movement cable characteristic and an intuitive operation by using a load cell for measuring the tension of each cable.

In addition, the size of the entire haptic device can be downsized by adjusting the pulley position to guide the cable.

In the above, the present invention has been described in detail with respect to the described embodiments, but it is apparent to those skilled in the art that various modifications and variations are possible within the technical scope of the present invention, and it is natural that such modifications and modifications belong to the appended claims.

100: frame 200: cable drive module
210: winch 220: pulley
221: tension sensor (load cell) 300: end effector
310: gripping part 311: fitting groove
312: button 320: connecting member
321: upper connecting member 322: lower connecting member
330: gripper 331: wrist
331a: opening 332: back of the hand
333: joint 333a: joint
400: Forceps S: Work space

Claims (6)

A frame that provides a workspace for freedom of movement;
A plurality of cable driving modules installed on the frame and including a winch for winding or unwinding the cable and a pulley for guiding the cable of the winch to a work space;
It is connected to the cable of the cable driving module, and includes an end effector that links the manipulator while moving with freedom in the working space through user manipulation.
The end effector,
A connecting member to which cables of each cable driving module are connected;
It is fixed to the connecting member, and includes a gripping part provided for a user to grip,
The pulley is equipped with a tension sensor that detects the cable tension according to the movement of the end effector,
The connecting member is composed of an upper connecting member fixed to the upper portion of the gripping portion, and a lower connecting member fixed to the lower portion of the gripping portion, and the cable connecting point of the upper connecting member and the cable connecting point of the lower connecting member are different. Direction,
In the gripping portion,
It is composed of a fitting groove into which a user's finger can be inserted, and a button portion for controlling the manipulator operation,
The gripping portion is formed of a cylinder with a circumferential surface facing up and down, the fitting groove is formed in two or more on the upper and lower sides of the gripping side, and the button portion is installed on the circumferential surface of the gripping portion,
The upper connection member is a parallel bar, characterized in that the bar (bar) of a rectangular parallelepiped installed vertically with respect to the circumferential surface of the gripping portion, the lower connecting member is a bar (bar) of the rectangular parallelepiped installed in the direction of the circumferential surface of the gripping part Small haptic device using cable robot. delete delete delete A frame that provides a workspace for freedom of movement;
A plurality of cable driving modules installed on the frame and including a winch for winding or unwinding the cable and a pulley for guiding the cable of the winch to a work space;
It is connected to the cable of the cable driving module, and includes an end effector that links the manipulator while moving with freedom in the working space through user manipulation.
The end effector,
The user's hands are combined, and the gripper has a plurality of joints linked to the user's finger joint movement.
The joints of the grippers are connected to each other by axially coupled joints,
The cable is installed so that the variable length can be made by the rotation of the joint of the gripper,
The pulley is equipped with a tension sensor that detects the cable tension according to the movement of the end effector,
The gripper is composed of a ring-shaped wrist portion forming an opening hole into which a user's hand is inserted, a hand back portion surrounding a user's back, and a joint portion surrounding a user's finger,
The cable is a small haptic device utilizing a parallel cable robot, characterized in that the wrist portion, the back of the hand, and the joint are respectively connected.






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