KR102152163B1 - Apparatus for variable gravity compensation - Google Patents

Abstract

The present invention relates to a variable gravity compensation device. The present invention is a housing; An interlocking cam rotatably installed in the housing by a load; A link member that is rotated in association with the rotation of the interlocking cam and provides an elastic force so that the interlocking cam rotates to an initial position; And it may include a control unit for adjusting the position so that the link shaft, which is the rotation center of the link member, is moved according to the strength of the load.

Description

Variable gravity compensation device {APPARATUS FOR VARIABLE GRAVITY COMPENSATION}

The present invention relates to a variable gravity compensation device, and more particularly, to a variable gravity compensation device capable of gravity compensation according to a variable load.

Every year, many problems arise from laborious manual work in various industrial fields. The problem can be viewed from three perspectives: workers, employers, and countries, respectively. Among the three aspects, in the case of the worker's side, there is a problem that injuries occur due to repeated work with high loads (5-15 kg). Secondly, in the case of employment companies, there is a problem that productivity decreases due to injured workers and costs for hiring and training new workers are incurred. Finally, in the case of the third country side, there is a problem that the cost of compensation for injuries increases.

The need for an industrial exoskeleton robot has increased due to the situation where the above problems arise, and accordingly, many laboratories and companies are researching and developing industrial exoskeleton robots. In particular, passive exoskeleton robots have greater advantages in terms of their own weight and operating time than active robots, so they are applied to actual sites and are used practically. However, in the case of the currently used passive industrial exoskeleton robot, gravity compensation is only performed for a set load, and it cannot be used in industrial sites where various load changes occur, and gravity compensation is performed even when the specified work is stopped, causing a lot of inconvenience. There was a problem.

Korean Registered Patent Publication No. 10-1740881 (2017.05.23)

The present invention is to provide a variable gravity compensation device having a structure capable of miniaturization and modularization of the overall device.

In addition, the present invention is to provide a variable gravity compensation device capable of easily variable gravity compensation in various torque modes from high torque to low torque.

According to an embodiment of the present invention, a variable gravity compensation device according to the present invention includes a housing; An interlocking cam rotatably installed in the housing by a load; A link member that is rotated in association with the rotation of the interlocking cam and provides an elastic force so that the interlocking cam rotates to an initial position; And it may include a control unit for adjusting the position so that the link shaft, which is the rotation center of the link member, is moved according to the strength of the load.

The cam surface formed on the outer surface of the interlocking cam may be formed to be symmetrically left and right with respect to a center line.

A cam follower that slides in association with the rotation of the interlocking cam may be installed in the housing.

An elastic member may be installed in the housing to provide an elastic force to the link member. One end of the link member may have a driving end that is in close contact with the cam follower, and the other end of the link member may have a driven end that is in close contact with an elastic guide provided in the elastic member.

The elastic member may be a compression spring.

The driving end and the driven end may be formed to form a predetermined central angle to each other.

An adjustment member that slides in association with the adjustment of the adjustment member may be coupled to the housing, and the link shaft may be fixedly installed to the adjustment member.

In the housing, a cam follower slot through which the cam follower slides; And an elastic member slot through which an elastic guide provided in the elastic member is slid.

According to another embodiment of the present invention, a variable gravity compensation device according to the present invention includes a housing; An interlocking cam rotatably installed in the housing by a load; A cam follower installed in the housing to be slid in association with the rotation of the interlocking cam; An elastic member providing an elastic force so that the interlocking cam rotates to an initial position; A link member having one end in close contact with the cam follower and rotating, and the other end in close contact with the elastic member side; And it may include a control unit for adjusting the position so that the link shaft, which is the rotation center of the link member, is moved according to the strength of the load.

According to an embodiment of the present invention, since the link member serves as a medium to compensate for gravity and is installed with a minimum space in the housing through a bent shape, the overall device can be miniaturized and modular.

In addition, by adjusting the adjuster to appropriately move the position of the link shaft, it is possible to easily compensate for variable gravity in various torque modes from high torque to low torque.

As a result, gravity compensation for various variable loads, such as an active exoskeleton robot, can be smoothly performed using a small consumption energy, and can have the advantages of using time of the passive exoskeleton robot, the volume and weight of the device.

1 is a perspective view of a variable gravity compensation device according to an embodiment of the present invention.
2 is a plan view of a variable gravity compensation device according to an embodiment of the present invention.
3 is a plan view showing that the interlocking cam is rotated by 90° in the state shown in FIG. 2.
Figure 4 is a plan view showing that the interlocking cam is rotated by 90 degrees in the state shown in Figure 3;
5 is a plan view showing a variable gravity compensation device in a high torque mode.
6 is a plan view showing a variable gravity compensation device in a heavy torque mode.
7 is a plan view showing a variable gravity compensation device in a low torque mode.

In the present invention, various transformations may be applied and various embodiments may be provided, and specific embodiments will be illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to a specific embodiment, it is to be understood to include all conversions, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the present invention, when it is determined that a detailed description of a related known technology may obscure the subject matter of the present invention, a detailed description thereof will be omitted.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. These terms are used only for the purpose of distinguishing one component from another component.

The terms used in the present application are used only to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, terms such as "comprises" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance.

Hereinafter, an embodiment of the variable gravity compensation device according to the present invention will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same or corresponding components are assigned the same reference numbers and Redundant descriptions will be omitted.

1 is a perspective view of a variable gravity compensation device according to an embodiment of the present invention, and Figure 2 is a plan view of a variable gravity compensation device according to an embodiment of the present invention.

As shown, the variable gravity compensation device according to the present invention includes a housing 10; An interlocking cam 20 rotatably installed on the housing 10 by a load; A link member 40 that is rotated in association with the rotation of the interlocking cam 20 and provides an elastic force so that the interlocking cam 20 rotates to an initial position; And it may include an adjustment device 60 for adjusting the position so that the link shaft 70, which is a rotation center of the link member 40, is moved according to the strength of the load.

The housing 10 is a part that forms the overall appearance of the variable gravity compensation device, and in this embodiment, as shown in FIG. 1, the housing 10 is composed of two external plates 12 in the shape of a disk, and the external plate 12 ), and various components are installed on the outer surface. In this drawing, the housing 10 is configured around two exterior plates 12, but the present invention is not limited thereto, and may be configured as one or in a plate shape of another form.

In the housing 10, an interlocking cam 20 is rotatably installed around the camshaft 24, and the interlocking cam 20 is coupled to a joint member (not shown) to which an actual load is input to prevent rotation of the joint member. It rotates in conjunction. The cam surface 22 is formed on the outer circumferential surface of the interlocking cam 20, and the cam surface 22 is symmetrically formed in the left and right directions with respect to the center line. In this way, when the cam surface 22 is formed to be symmetrical in the left and right direction, there is an advantage that gravity compensation is possible even if the interlocking cam 20 is rotated in any direction by a load. For example, when the variable gravity compensation device is applied to a robot arm, it can be used freely in the folding direction or the opening direction of the arm without limitation of direction.

In addition, a cam follower 30 that slides in association with the rotation of the interlocking cam 20 is installed in the housing 10. The cam follower 30 slides along the cam follower slot 32 formed on the outer plate 12 constituting the housing 10. The cam follower 30 is in close contact with the cam surface 22 of the interlocking cam 20 and slides in a direction away from the interlocking cam 20 from the initial position when the interlocking cam 20 is rotated.

The link member 40 is also installed on the housing 10 and may be rotated around the link shaft 70. The link member 40 serves to provide an elastic force so that the interlocking cam 20 is rotated to an initial position, and is substantially interlocked so as to receive an elastic force from the elastic member 50.

As shown in this figure, the link member 40 is formed in an approximately a-shape, and extends with a predetermined central angle to both sides around the link shaft 70. One end of the link member 40 has a driving end 42 that is in close contact with the cam follower 42, and the other end of the link member 40 has a driven end that is in close contact with the elastic guide 52 provided in the elastic member 50 ( 44) is formed. The link member 40 formed as described above is rotated while the driving end 42 is pushed according to the rotation of the interlocking cam 20, and the driven end 44 is driven to push the elastic guide 52. In addition, the elastic member 50 is compressed in a direction opposite to the direction in which the driven end 44 is pushed and provides an elastic force, so that the interlocking cam 20 is rotated to the initial position.

The link member 40 serves as a medium to compensate for gravity as described above, and is installed in the housing 10 through a bent shape, so that the overall device can be miniaturized and modular.

In this embodiment, the elastic member 50 is a compression spring, which is only presented as an example, and various types of elastic members 50 such as a tension spring may be used depending on the direction of action of the elastic force. The elastic guide 52 provided in the elastic member 50 slides along the elastic member slot 54 formed on the outer plate 12 constituting the housing 10.

As described above, the elastic member 50 is compressed on the elastic member slot 54 in conjunction with the rotation of the link member 40 to provide an elastic force to return to the initial position.

In the above, it has been described that the elastic member 50 is directly interlocked with the link member 40 to be compressed along the elastic member slot 54, but is not limited thereto, and a separate between the elastic member 50 and the link member 40 A structure that is indirectly linked through a medium (wire, etc.) is also possible. The important thing is that it only needs to be able to provide the elastic force at a portion away from the link shaft 70 by a certain distance, and any structure for applying the elastic force may be employed as long as it can be implemented.

Next, the housing 10 is provided with an adjuster 60 for adjusting the position of the link shaft 70 to move according to the strength of the load. In this embodiment, the adjusting device 60 is formed in a screw shape, and the adjusting member 62 is screwed on the outer circumference. The adjusting member 62 slides along the adjusting member slot 62 formed in the outer plate 12. More specifically, a pair of adjustment guides 64 are coupled to the adjustment member 62 along the sliding direction, and the adjustment guide 64 is located on the adjustment member slot 62 so that the adjustment member 62 Guide the sliding. That is, when the user adjusts the adjustment tool 60, the adjustment member 62 interlocks with it and slides forward or backward to adjust the position of the link shaft 70.

In this embodiment, the position adjustment of the link shaft 70 is very important, because the torque acting on the position of the link shaft 70 may vary. The link shaft 70 may be moved closer to or away from the cam follower 30 side, and the closer it is to the cam follower 30, the higher the torque is compensated, and the further away the lower the torque is compensated. Therefore, when the user needs to compensate for the high torque force, the link shaft 70 may be moved closer to the cam follower 30 and set, and then use the variable gravity compensation device, and when the low torque force needs to be compensated To use it after setting it by moving it in the opposite direction.

Meanwhile, in the above, it has been described as compensating for gravity in the state set by the adjuster 60, but is not limited thereto, and a separate driving source (not shown) is connected to the adjuster 60 and the driving source is applied to the device. By being driven variably according to the strength of the load, it can compensate for gravity with various torques.

As described above, because the link member 40 is not directly compensated for gravity by the load acting on the linking cam 20 and the link member 40 becomes a medium and receives elastic force around the link shaft 70 There is an effect of reducing the actual power required by the leverage effect.

Hereinafter, the operation of the variable gravity compensation device according to an embodiment of the present invention will be described with reference to FIGS. 2 to 4. Figure 2 is a plan view of a variable gravity compensation device according to an embodiment of the present invention, Figure 3 is a plan view showing that the interlocking cam is rotated by 90 ° in the state shown in Figure 2, Figure 4 is shown in Figure 3 It is a plan view showing that the interlocking cam is rotated by 90°.

Referring to FIG. 2, this state is an initial state of the variable gravity compensation device in which no load is applied to the interlocking cam 20. In the initial state, when a load acts as shown in FIG. 3, the interlocking cam 20 is rotated clockwise. Of course, the interlocking cam 20 can be rotated counterclockwise according to the action direction of the load (rotation of the joint member coupled to the interlocking cam 20), but in this drawing, it is described that it rotates clockwise as an example. do.

When the interlocking cam 20 is rotated by 90° in the clockwise direction as in FIG. 3, the cam follower 30 slides in the left direction by interlocking with it. And, in conjunction with the sliding of the cam follower 30, the link member 40 is rotated counterclockwise. This is achieved by rotation of the driving end 32 in close contact with the cam follower 30.

As the link member 40 rotates as described above, the link member 40 compresses the elastic member 50 in the upward direction, and the elastic member 50 continues to provide an elastic force to the initial position.

Next, when the load continues to act on the interlocking cam 20, the interlocking cam 20 is rotated by 90° in the clockwise direction as in FIG. 4, and the link member 40 is also rotated counterclockwise further to generate elastic force. It will support the interlocking cam 20. In this embodiment, the link member 40 rotated in connection with the cam surface 22 against the load acting on the interlocking cam 20 acts as a lever, thereby compensating for gravity within a narrow space. There is an advantage that miniaturization and modularization are possible.

Hereinafter, torque variability of the variable gravity compensation device according to an embodiment of the present invention will be described with reference to FIGS. 5 to 7. 5 is a plan view showing a variable gravity compensation device in a high torque mode, FIG. 6 is a plan view showing a variable gravity compensation device in a medium torque mode, and FIG. 7 is a plan view showing a variable gravity compensation device in a low torque mode. .

Referring to FIG. 5, in order for the user to use the high torque mode, the link shaft 70 is moved toward the cam follower 30 by adjusting the adjusting device 60 (rotating clockwise). As the distance between the link shaft 70 and the cam follower 30 decreases as described above, the interlocking cam 20 can be supported with high torque by a lever effect, thereby enabling gravity compensation in the high torque mode.

Next, referring to FIG. 6, the user adjusts the adjuster 60 (rotates counterclockwise) to move the link shaft 70 away from the cam follower 30. In this way, when the distance between the link shaft 70 and the cam follower 30 increases, gravity compensation is possible with heavy torque due to the leverage effect.

Similarly, in order for the user to use it in the low torque mode, the link shaft 70 may be moved as far as possible from the cam follower 30 as shown in FIG. 7.

As described above, in this embodiment, by adjusting the adjuster 60 to appropriately move the position of the link shaft 70, there is an advantage in that variable gravity compensation is possible easily in various modes from high torque to low torque.

Although the above has been described with reference to specific embodiments of the present invention, those of ordinary skill in the relevant technical field may vary the present invention within the scope not departing from the spirit and scope of the present invention described in the following claims. You will understand that it can be modified and changed.

10: housing 12: exterior plate
20: interlocking cam 22: cam surface
24: camshaft 30: cam follower
32: cam follower slot 40: link member
42: drive end 44: driven end
50: elastic member 52: elastic guide
54: elastic member slot 60: adjuster
62: adjustment member 64: adjustment guide
66: adjustment member slot 70: link shaft

Claims (12)

housing;
An interlocking cam rotatably installed in the housing by a load;
A link member that is rotated in association with the rotation of the interlocking cam and provides an elastic force so that the interlocking cam rotates to an initial position; And
Variable gravity compensation device comprising a control unit for adjusting the position so that the link shaft, which is the rotation center of the link member, is moved according to the strength of the load. The method of claim 1,
Variable gravity compensation device, characterized in that the cam surface formed on the outer surface of the interlocking cam is formed to be symmetrical in a horizontal direction with respect to a center line. The method of claim 1,
Variable gravity compensation device, characterized in that the housing is provided with a cam follower that slides in association with the rotation of the interlocking cam. The method of claim 3,
Variable gravity compensation device, characterized in that the housing is provided with an elastic member for providing an elastic force to the link member. The method of claim 4,
Variable gravity compensation device, characterized in that one end of the link member is formed with a driving end that is in close contact with the cam follower, and the other end of which is formed with a driven end that is in close contact with the elastic guide provided in the elastic member. The method of claim 4,
Variable gravity compensation device, characterized in that the elastic member is a compression spring. The method of claim 5,
The variable gravity compensation device, characterized in that the driving end and the driven end are formed to form a predetermined central angle to each other. The method of claim 1,
A variable gravity compensation device, characterized in that an adjustment member that slides in association with the adjustment of the adjustment member is coupled to the housing, and the link shaft is fixedly installed on the adjustment member. The method of claim 4,
In the housing,
A cam follower slot through which the cam follower slides; And
Variable gravity compensation device, characterized in that each of the elastic member slots in which the elastic guide provided in the elastic member slides are formed. housing;
An interlocking cam rotatably installed in the housing by a load;
A cam follower installed in the housing to be slid in association with the rotation of the interlocking cam;
An elastic member providing an elastic force so that the interlocking cam rotates to an initial position;
A link member having one end in close contact with the cam follower and rotating, and the other end in close contact with the elastic member side; And
Variable gravity compensation device comprising a control unit for adjusting a position so that the link shaft, which is the rotation center of the link member, is moved according to the strength of the load. The method of claim 10,
Variable gravity compensation device, characterized in that the cam surface formed on the outer surface of the interlocking cam is formed to be symmetrical in a horizontal direction with respect to a center line. The method of claim 10,
A variable gravity compensation device, characterized in that an adjustment member that slides in association with the adjustment of the adjustment member is coupled to the housing, and the link shaft is fixedly installed on the adjustment member.

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