KR102532890B1 - Module Type Glove Robot - Google Patents

Abstract

The present invention relates to a modular glove robot, and more particularly, by providing detachable parts of the glove robot that assist hand movements of people with poor hand functions, suitable for various hand sizes or disabilities of users. It relates to a modular armored robot that can be worn by assembling an armored robot.
In the modular glove robot of the present invention, the finger module of the glove robot is detachable from the half-glove module, so that the half-glove module and the finger module can be replaced respectively to provide a glove robot suitable for the user's hand size and degree of disability.

Description

Modular type glove robot {Module Type Glove Robot}

The present invention relates to a modular glove robot, and more particularly, by providing detachable parts of the glove robot that assist hand movements of people with poor hand functions, suitable for various hand sizes or disabilities of users. It relates to a modular armored robot that can be worn by assembling an armored robot.

It is a trend to develop gloves-type robots with a flexible structure to assist hand movements of people whose hand functions are not smooth due to disabilities such as cerebral palsy and stroke. However, since the size of these glove robots is already standardized during manufacture, there is a problem in that they cannot cope with various hand sizes or degrees of handicap of users.

In the case of adults, each person may have different hand sizes, such as palm width and finger length. In the case of children, the size of their hands changes as they grow, as well as the above-mentioned problems of adults, so a glove robot of various sizes or a robot whose size can be easily changed is required. However, looking at the technologies that have been developed and proposed so far, it can be seen that there is a lack of consideration for the diversity and change of the user's hand size. Accordingly, it is difficult to apply the glove robot manufactured in a generalized standard to adults or children with various hand sizes or various degrees of disabilities.

In addition, in the case of cerebral palsy, which is a representative cause of hand dysfunction, the condition of the hand varies greatly depending on the degree, and the difference appears severely depending on the person even though it belongs to the same category. In addition, as the disability status changes as they grow, it is necessary to consider varying the degree of assistance according to each child's hand characteristics (joint stiffness, initial joint posture, etc.).

In addition, since devices for children and adolescents need to be manufactured with safety as a top priority so that deformities are not formed during use through the growth process, these issues also need to be considered together.

The present invention has been made to solve the problems described above, and an object of the present invention is to provide a glove robot that can easily change the size and structure of the glove robot so that it can properly cope with the hand size and degree of disability of various users. .

In order to solve the above object, the present invention includes a half-glove module formed to cover the palm and back of the hand, and a finger module formed to cover the finger portion of the hand and detachably coupled to the half-glove module, Armor members formed in the form; a bending wire installed on the palm side of the glove member to provide tension in a direction in which the glove member is bent, and extending from the finger module of the glove member toward the half-glove module; a plurality of connecting members disposed on the back of the glove member along the extending direction of the finger module and detachably installed in the finger module; and an elastic member formed of an elastic material to provide an elastic force in a direction in which the glove member is unfolded, disposed along the finger extension direction, and connected to the plurality of connecting members, thereby being installed on the glove member. It has a characteristic.

In the modular glove robot of the present invention, the finger module of the glove robot is detachable from the half-glove module, so that the half-glove module and the finger module can be replaced respectively to provide a glove robot suitable for the user's hand size and degree of disability.

1 is a state diagram of a modular armored robot worn to explain the overall configuration of the modular armored robot according to an embodiment of the present invention.
Figure 2 is an exploded view for explaining the detailed configuration of Figure 1.
Figure 3 is a side view of the modular armored robot of Figure 1;
Figure 4 is a front view of the modular armored robot of Figure 1;
5 is a partial view for explaining the ring member of FIG. 1;
6 is a conceptual diagram for explaining a safety module that may be additionally provided to the modular armored robot of FIG. 1 .
7 is a conceptual diagram for explaining a modified example of the safety module of FIG. 6 .

Hereinafter, a modular armored robot according to an embodiment of the present invention will be described with reference to the accompanying drawings.

The modular armored robot of the present invention is intended to cope with the user's hand size and degree of disability by easily changing the size and structure of the armored robot. In particular, it is to provide a glove robot suitable for the change in hand size and degree of disability of children.

1 is a wearing state diagram of a modular armored robot according to an embodiment of the present invention, and FIG. 2 is an exploded view.

Referring to FIGS. 1 and 2 , the modular armored robot according to the present embodiment includes an armored member 100 .

The glove member 100 is divided into a half-glove module 110, a finger module 120, and a thumb module 130 so as to be assembled and worn on a user's hand. In addition, it is good to be provided with a flexible material such as synthetic fiber fabric or leather for the movement of the hand joint.

The half-glove module 110 is manufactured and worn in various sizes according to the size of the user's metacarpal bone and the size of the wrist so as to cover the back of the user's hand and palm. A half-glove fastening means 111 in the form of Velcro is provided on the back of the hand of the half-glove module 110. In addition, the wrist portion is provided with a pressure distribution unit 112 having a structure for winding the wrist portion.

The finger module 120 is manufactured and worn in various sizes according to the size of the user's finger so as to cover four fingers (index, middle, ring, and small) except the user's thumb. The finger phalanx part 121, which is the main body of the finger module 120, surrounds the first phalanx, the middle phalanx, and the distal phalanx of the fingers other than the thumb. The thimble part 122 (thimble) is connected to one end of the finger phalanx part 121 and wraps around the tip of the finger other than the thumb. The other end of the finger phalanx part 121 is provided with a half-glove fastening means 111 of the above-described half-glove module 110 and a detachable Velcro-type fastening means. A plurality of router fixing means 124 for fixing the linking member 200 to be described later are disposed along the extension direction of the finger module 120 on the back of the hand of the metatarsal bone part 121 and the finger fastening means 123. do.

In addition, the above-described finger module 120 may be worn on only one finger among the remaining four fingers except for the thumb. However, since it is manufactured in various sizes, it can be worn compatible with all four fingers.

The thumb module 130 is manufactured and worn in various sizes according to the size of the user's thumb so as to surround the user's thumb. The thumb phalanx part 121, which is the main body of the thumb module 130, surrounds the first phalange of the thumb. The thumb lumbar part 132 surrounds the lumbar vertebrae of the thumb. The above-mentioned thumb lumbar bone part 132 is provided with a supporting member accommodating groove 133, a part of which is opened in the wrist direction, and the inner accommodating space extends to the thumb phalanx part 131. A thumb support member 134 made of a thermoplastic resin is inserted into the support member accommodating groove 133 described above. In addition, the thumb fastening means 135 for wearing the thumb module 130 by wrapping the user's wrist or the user's lumbar region is provided on the thumb lumbar part 132 .

3 is a side view of a modular armored robot according to an embodiment of the present invention.

Referring to FIG. 3 , the modular armored robot according to this embodiment includes a connection member 200 , an elastic extension member 300 and a bending wire 400 .

A plurality of connecting members 200 are disposed along the extending direction of the finger module 120 on the back of the glove member 100 so that the elastic member 300 and the glove member 100 are coupled. The router head 210 corresponding to the body of the connection member 200 is disposed on the back of the hand of the finger module 120. In this embodiment, the router heads 210 are arranged as a pair to fix the two elastic members. The via hole 220 is formed along the extending direction of the finger module 120 in the router head 210 . The router legs 230 each extend from the router head 210 to surround the side of the finger module 120 .

The extension elastic member 300 extends along the finger module 120 from the back of the hand of the glove member 100 so that elastic force is provided in the direction in which the glove member 100 is unfolded. In this embodiment, up to 8 highly elastic wires are installed in the armor member 100 through 4 connecting members 200. In addition, the elastic extension member 300 may be in the form of a wire as shown, but may also be in the form of a rod.

The bending wire 400 extends from the finger module 120 toward the half-glove module 110 on the palm side of the glove member 100 so that tension is provided in the direction in which the glove member 100 is bent. In this embodiment, up to four bending wires 400 are coupled to the thimble part 122 and extend along the side or bottom surface of the finger.

4 is a front view of a modular armored robot according to an embodiment of the present invention.

Referring to FIG. 4 , the modular armored robot according to the present embodiment includes a thumb extension wire 500 and a thumb bending wire 600 .

The thumb extension wire 500 extends from the thumb module 130 of the glove member 100 in the wrist direction so that tension is provided in a direction in which the thumb module 130 is unfolded. In this embodiment, it extends from the thumb phalanx part 131 in the direction of the user's wrist.

The thumb bending wire 600 extends from the thumb module 130 of the glove member 100 in the direction of the wrist so that tension is provided in a bending direction of the thumb module 130, that is, in an abduction direction. In this embodiment, it extends from the thumb phalanx part 131 in the direction of the hypothenar eminence of the palm and directs toward the wrist.

The above-mentioned extension motion of the thumb is defined as including adduction motion and extension motion of the thumb. In addition, the bending motion of the thumb is defined as including abduction and flexion of the thumb.

5 is a partial view of ring member 700 .

Referring to FIG. 5 , the modular armored robot according to the present embodiment includes a ring member 700 .

The ring member 700 is filled in the user's wrist through the pressure distributing portion 112 of the semi-glove module 110 described above. In this embodiment, for convenience of wearing, it is formed in a ring shape with a part widened. The ring member 700 includes a fixing ring 710 protruding along the circumferential surface. First guide holes 711 are formed in the upper part of the wrist of the fixing ring 710 in a circumferential direction into which up to eight extension elastic members 300 are inserted. Second guide holes 712 into which up to four bending wires 400 described above are inserted are formed in the lower part of the wrist of the fixing ring 710 along the circumferential direction. A third guide hole 713 into which the above-described thumb extension wire 500 is inserted is formed on the inside of the wrist of the fixing ring 710 . A fourth guide hole 714 into which the aforementioned thumb bending wire 600 is inserted is formed on the outer side of the wrist of the fixing ring 710 .

6 is a partial view of safety module 900 .

Referring to FIG. 6 , the drive module 800 is installed on the rear wrist of the ring member 700 to provide tension to the above-described bending wire 400, thumb extension wire 500, and thumb bending wire 600. .

The safety module 900 is intended to prevent the bending wire 400 from being transferred to a tension exceeding a limit or being moved with a displacement exceeding a limit. The safety module 900 includes a driving body 910, a safety roller 920, a blocking wire 930, a tension amplifier 940, a first magnetic body 950, a second magnetic body 960, and a first blocking switch 970. ).

The driving body 910 is formed as one large cover including a finger module 120 and a thumb module 130 in which the bending wire 400 is moved and pulled in the installation path of the bending wire 400 . The safety roller 920 is disposed to slide within the driving body 910 by the tension of the bending wire 400 within the driving body 910 . The blocking wire 930 connects the safety roller 920 and the first magnetic body 950 to transfer the tension transmitted to the safety roller 920 to the first magnetic body 950 . The tension amplifier 940 is wound around the blocking wire 930 and rotates. The blocking wire 930 transmits tension proportional to the number of times it is wound by the wound tension amplifier 940 to the first magnetic body 950 . One end of the first magnetic body 950 is connected to the blocking wire 930 and the other end is magnetically coupled to the second magnetic body 960 . The first blocking switch 970 is located within a sliding radius of the safety roller 920 and stops driving of the driving module 800 by proximity or contact of the safety roller 920 .

Hereinafter, a method of wearing the modular armored robot configured as described above will be described.

2, the half-glove module 110, the finger module 120, and the thumb module 130 of the glove member 100 are prepared in various sizes.

Considering the size of the user's hand, wear a half-glove module 110 of a size corresponding to the size of the user's hand. Next, the finger module 120 suitable for the size is worn on the handicapped finger among the four fingers excluding the user's thumb. Next, the user's thumb is also worn with a thumb module 130 suitable for its size. However, whether or not the finger module 120 and the thumb module 130 are worn may also vary depending on whether or not the corresponding finger is handicapped. In this embodiment, it is assumed that there is a handicap in the index finger and thumb.

When the glove member 100 is assembled and worn, a plurality of connecting members 200 are respectively installed on the back of the hand of the finger module 120 along the extending direction of the finger module 120 . Specifically, the two router heads 210 of the connecting member 200 are inserted between the finger phalanx part 121 of the finger module 120 and the router fixing unit 124 . With the router leg 230 inserted into the finger module 120, the router fixing means 124 enters between the two router heads 210. Accordingly, the connecting member 200 is fixed in a vertical direction by being pressed by the router fixing unit 124, and is fixed in a horizontal direction by the router leg 230.

In addition, connecting members 200 having different heights of via holes 220 in the router head 210 may be used as the connecting member 200 in consideration of the stiffness of the user's finger joint.

Next, the extension elastic member 300 is extended along the finger module 120 via the router heads 210 described above. Accordingly, the extension elastic member 300 is installed in a state in which relative movement with the finger module 120 is possible. In addition, as for the extension elastic member 300, another elastic member 300 having a different elastic force may be used in consideration of the stiffness of the user's finger joint.

Next, the bending wire 400 is installed to extend from the thimble part 122 of the finger module 120 toward the half-glove module 110 .

Next, the thumb support member 134 is inserted into the support member accommodating groove 133 formed in the thumb module 130 . When the thumb support member 134 is installed, the thumb extension wire 500 is installed to extend from the dorsum of the thumb part 131 of the thumb module 130 toward the wrist. The thumb bending wire 600 is installed from the palm side of the thumb phalange part 131 of the thumb module 130 to the wrist direction in the direction of the little pubic bone of the thumb.

When the installation of the extension elastic member 300, the bending wire 400, the thumb extension wire 500, and the thumb bending wire 600 are completed, the ring member 700 is placed in the pressure distributing part 112 of the half-glove module 110. wear on Accordingly, the load transmitted to the user's wrist due to the rigidity of the ring member 700 is distributed and transmitted.

The extension elastic member 300 is inserted into the first guide hole 711 of the fixing ring 710, the bending wire 400 is inserted into the second guide hole 712 of the fixing ring 710, and the thumb extension wire 500 is placed. The thumb bending wire 600 enters the third guide hole 713 of the fixing ring 710 and the fourth guide hole 714 of the fixing ring 710, respectively, and passes through the ring member 700. In addition, the unfolding operation of the stretching elastic member 300 is a spreading operation, and the bending operation of the bending wire 400 is a gathering operation. Accordingly, the interval between the first guide holes 711 is wider than the interval between the second guide holes 712 .

The bending wire 400, the thumb extension wire 500, and the thumb bending wire 600 passing through the ring member 700 are installed in the driving module 800, respectively. Next, the safety module 900 is installed in the driving module 800.

Wearing of the modular armored robot excluding the driving module 800 and the safety module 900 is the same as shown in FIG. 1 . However, the rest of the wearing process except for the wearing process of the glove member 100 may be worn regardless of the order.

Hereinafter, the operational effect of the modular armored robot configured as described above will be described.

First, the case of the four fingers excluding the thumb is as follows. In a state in which the modular glove robot of the present invention is completely worn, the finger module 120 may be bent by tension transmitted from the driving module 800 through the bending wire 400 . The extension elastic member 300 is bent in a direction in which the finger module 120 is bent while relatively moving with respect to the connecting member 200 through the via hole 220 . Then, when the driving module 800 rotates in the opposite direction and the tension of the bending wire 400 disappears, the finger module 120 is extended again by the elastic force of the extension elastic member 300 . At this time, the bending wire 400 is released from the driving module 800, and the elastic member 300 relatively moves relative to the connection member 200 and is then stretched.

According to the present invention, one passive elastic member 300 and another active bending wire 400 can be used to extend and bend four fingers other than the thumb. As a result, it is possible to reduce the inconvenience of wearing and using due to the installation of the plurality of bending wires 400 . In addition, the extension process of four fingers other than the thumb is performed by the extension elastic member 300 . Therefore, it is possible to prevent joint compression due to hyperextension of four fingers other than the thumb without a separately installed protector.

Meanwhile, the case of Umji is as follows. The thumb module 130 may be abducted and flexed by tension transmitted from the driving module 800 through the thumb bending wire 600 . The thumb bending wire 600 is wound (pulled) by the drive module 800, and the thumb extension wire 500 is unwound. Then, the thumb module 130 pronates and extends due to the tension transmitted from the drive module 800 through the thumb extension wire 500 . The thumb bending wire 600 is unwound by the drive module 800, and the thumb extension wire 500 is wound (pulled). In addition, the thumb support member 134 inserted into the thumb module 130 prevents hyperextension of some joints of the thumb, which occurs when the thumb moves by the thumb extension wire 500 and the thumb bending wire 600 .

Further, the extension motion of the thumb includes adduction motion and extension motion of the thumb. Therefore, the extension motion of the thumb may correspond to the extension motion of four fingers other than the thumb. Therefore, instead of the thumb extension wire 500, the extension elastic member 300 may be applied to the thumb module 130 of the present invention. Also, the bending motion of the thumb includes abduction motion and flexion motion of the thumb. Accordingly, the flexion motion of the thumb may also correspond to the flexion motion of four fingers other than the thumb. Thus, the thumb bending wire 600 of the thumb module 130 of the present invention may correspond to the bending wire 400 of the finger module 120 described above.

In addition, looking at the safety module 900 is as follows. When the tension of the bending wire 400 is transmitted to the safety roller 920, when the tension of the bending wire 400 is less than the magnetic coupling force between the first magnetic body 950 and the second magnetic body 960, the bending wire 400 ) and the tension of the blocking wire 930 are balanced. Accordingly, the position of the safety roller 920 remains fixed, and the bending wire 400 passing through the safety roller 920 can freely transmit force along the pulley in the safety roller 920 . Accordingly, the driving force of the driving module 800 is transferred to the armor member 100 through the bending wire 400 as it is. At this time, the tension transmitted through the blocking wire 930 may be the tension increased by the tension amplifier 940 .

However, when the tension of the bending wire 400 exceeds the magnetic coupling force between the first magnetic body 950 and the second magnetic body 960, the magnetic coupling is released and the safety roller 920 slides relative to the driving body 910. do. That is, the safety roller 920 slides in the direction of the tension transmitted from the bending wire 400 . Thus, tension over the limit transmitted to the bending wire 400 is accommodated by the safety roller 920, and compression of the joint due to the pulling motion of the bending wire 400 is prevented. Then, when the magnetic coupling is released and the sliding safety roller 920 approaches or contacts the first cutoff switch 970, the first cutoff switch 970 stops the driving module 800. At this time, the tension transmitted through the blocking wire 930 may be the tension increased by the tension amplifier 940 .

Moreover, the above-described safety module 900 from the tension point of view, from the displacement point of view, even when the bending wire 400 is displaced beyond the limit by the driving module 800, the first magnetic body 950 and the second magnetic body 960 The magnetic coupling can be released. Therefore, it is possible to prevent joint compression due to the pulling operation of the bending wire 400 through the on/off operation of the first blocking switch 970 by accommodating the displacement above the limit.

Furthermore, the safety module 900 may be applied not only to the bending wire 400 but also to the thumb extension wire 500 and the thumb bending wire 600 .

Although the preferred examples of the present invention have been described above, the scope of the present invention may be variously modified unlike those described and shown above.

For example, in the embodiment of the present invention, other known detachable and simple fastening methods other than Velcro coupling between the half-glove module 110 and the finger module 120 may be adopted. The thumb module may also be fastened to the semi-glove module 110 rather than being worn on the wrist.

In addition, the connection member 200 couples the extension elastic member 300 to the finger module 120 through the router head 210 and the router leg 230, and other known detachable and simple fastening methods this may be adopted. For example, a method capable of fitting or engaging may be adopted and used.

In addition, the bending wire, the thumb extension wire, and the thumb bending wire may be provided in a detachable configuration rather than already installed in the finger module and the thumb module, respectively. That is, the bending wire may be detached while the thimble part is detached or a band-type separate support is coupled to the bending wire. In addition, the thumb extension wire and the thumb bending wire may also be detached while the thumb extension wire and the thumb bending wire are detachable, or a band-type separate support is coupled to the thumb extension wire and the thumb bending wire.

In addition, the bending wire, the thumb extension wire, and the thumb bending wire are in close contact with the glove member 100, accommodated inside the glove member 100, or with the glove member 100 in order to reduce interference of operation by external objects. Each can be extended between the user's hands.

Furthermore, as described above, since the thumb extension wire 500 is involved in the extension operation of the thumb module 130, it can be said to correspond to the bending wire 400 of the finger module 120. Therefore, the thumb extension wire 500 can be replaced with a thumb extension elastic member. However, for the smooth bending motion of the thumb, it may diverge in a direction of adduction and a direction of extension. In addition, considering the direction of the elastic force, the elastic member for extending the thumb may be formed to cross the hand in an oblique shape from the back of the hand, like the thumb bending wire 600 .

On the other hand, the finger extension operation using the extension elastic member and the thumb extension wire and the finger bending operation using the bending wire and abduction wire may be performed by underdrive. Specifically, the finger module and the thumb module to be worn are connected by a connecting wire. Due to this linkage, when one finger opens or bends, the surrounding finger modules or thumb modules can be opened or bent together.

In addition, the modular armored robot of the present invention may be driven by the wearable type driving module 800, but may also be operated by the external driving module 800 or by manual manipulation of the user. In addition, the safety roller 920 of the safety module 900 and the first magnetic body 950 may be directly connected and operated instead of being connected through a blocking wire 930 . In a state where the safety roller 920 is magnetically coupled to the first magnetic body 950, the magnetic coupling is released by tension or displacement exceeding a limit, and the safety roller 920 can slide in the direction of the first cut-off switch 970 described above.

Further, the direction of magnetic coupling between the first magnetic body 950 and the second magnetic body 960 or the safety roller 920 and the second magnetic body 960 is formed in a direction transverse to the transmission direction of the tension of the bending wire 400. It can be.

In addition, if the magnetic force of the first magnetic body 950 or the second magnetic body 960 is configured to be adjustable, the critical limit of the safety module 900 can be adjusted. In addition, magnetic coupling between the first magnetic body 950 and the second magnetic body 960 separated by magnetic force release may be made possible without a separate means.

7 is a modified example of the displacement perspective of the safety module 900 .

Meanwhile, referring to FIG. 7 , the safety module 1000 of the present invention may be operated in terms of displacement differently from the safety module 900 in terms of tension described above. The safety module 1000 includes a safety lever 1100, a third magnetic body 1200, a fourth magnetic body 1300, a sheath member 1400, and a second blocking switch 1500. The safety lever 1100 has one side shorter than the other side with respect to the center of rotation in order to amplify the displacement of the bending wire 400 . In addition, one side of the safety lever 1100 allows the bending wire 400 to pass through. The third magnetic body 1200 is coupled to the other long side of the safety lever 1100 . The fourth magnetic body 1300 is magnetically coupled to the third magnetic body 1200 in a fixed state. The sheath member 1400 is formed in a tube shape to accommodate the bending wire 400 therein and to relatively move. In addition, one end is fixed to one side of the rotation center of the aforementioned safety lever, and the other end is fixed to the glove member 100. The second blocking switch 1500 is disposed within the rotation radius of the other side of the safety lever 1100 and stops the driving module 800 by proximity or contact of the other side of the safety lever 1100.

When the bending wire 400 is moved via one side of the safety lever 1100 by the driving module 800, the sheath member 1400 is compressed to press one side of the safety lever 1100.

At this time, when the operating displacement of the bending wire 400 is less than the limit, the tension of the bending wire 400 compresses the sheath member 1400, but the compressive force is the difference between the third magnetic body 1200 and the fourth magnetic body 1300. It is formed lower than the magnetic coupling force. Accordingly, since the magnetic coupling is not released, the tension of the bending wire 400 provided from the driving module 800 is transferred to the armor member 100 as it is.

However, when the operating displacement of the bending wire 400 exceeds the limit, the tension of the bending wire 400 compresses the sheath member 1400, and through the compression force, the third magnetic body 1200 and the fourth magnetic body 1300 release the magnetic coupling of Accordingly, the safety lever 1100 is rotated so that the other side of the safety lever 1100 approaches or adheres to the second cut-off switch 1500. The second blocking switch 1500 blocks the tension of the bending wire 400 by stopping the driving module 800 according to the rotational motion of the safety lever 1100 .

In addition, the aforementioned safety module 1000 may also be modified in various ways. For example, the sheath member does not extend from the armor member 100 to one side of the safety lever 1100, but may be installed in a state coupled to the bending wire 400 at a point where the displacement of the bending wire 400 exceeds. there is. Specifically, the sheath member coupled to the point where the displacement is exceeded does not move relative to the bending wire 400 . Therefore, when the displacement of the bending wire 400 is exceeded, it reaches one side of the safety lever 1100 and presses the safety lever 1100. Through this, the magnetic coupling between the third magnetic body 1200 and the fourth magnetic body 1300 is released.

In addition, the sheath member does not extend from the glove member 100 to one side of the safety lever 1100, but may extend from any point between the glove member 100 and the safety lever 1100 to the safety lever 1100. Specifically, the aforementioned point is formed at a position close to the safety lever 1100. Then, the sheath member is coupled to the bending wire 400 so as not to move relative to the bending wire 400 at one point. Through this, the same role as the sheath member 1300 extending from the glove member 100 to the safety lever 1100 can be performed. Even if the bending wire 400 of the present invention is exposed to the outside or accommodated in the glove member 100, an external force may be applied thereto and its driving may be interfered with. Therefore, it may be preferable to form the sheath member in a specific section or a section close to the safety lever instead of the entire section between the armor member 100 and the safety lever.

100: armored member 110: half-armored module
111: half-glove fastening means 112: pressure distribution unit
120: finger module 121: finger phalanx part
122: thimble part 123: finger fastening means
124: router fixing means 130: thumb module
131: thumb phalanx part 132: thumb lumbar part
133: support member receiving groove 134: thumb support member
135: thumb fastening means 200: connecting member
210: router head 220: via hole
230: router leg 300: extension elastic member
400: bending wire 500: thumb extension wire
600: thumb bending wire 700: ring member
710: fixing ring 711: first guide hole
712: second guide hole 713: third guide hole
714: fourth guide hole 800: driving module
900: safety module 910: driving body
920: safety roller 930: blocking wire
940: tension amplifier 950: first magnetic body
960: second magnetic body 970: first cut-off switch
1000: safety module 1100: safety lever
1200: third magnetic body 1300: fourth magnetic body
1400: sheath member 1500: second cut-off switch

Claims (12)

a glove member formed in the form of a glove, including a half-glove module formed to cover a palm and the back of the hand, and a finger module formed to cover a finger portion of a hand and detachably coupled to the half-glove module;
a bending wire installed on the palm side of the glove member to provide tension in a direction in which the glove member is bent, and extending from the finger module of the glove member toward the half-glove module;
a plurality of connecting members disposed on the back of the glove member along the extending direction of the finger module and detachably installed in the finger module;
an extension elastic member formed of an elastic material to provide an elastic force in a direction in which the glove member is unfolded, disposed along the finger extension direction and connected to the plurality of connecting members, and installed on the glove member;
a drive module connected to the bending wire to provide tension to the bending wire; and
A safety module connected to the bending wire and limiting the tension applied to the bending wire by the drive module beyond a limit; includes,
The safety module,
A driving body, a safety roller rotatably and slidably installed on the driving body and through which the bending wire is wound, a first magnetic body connected to the safety roller, coupled to the driving body and the first magnetic body Including a second magnetic body that is magnetically coupled,
A module in which the safety roller slides with respect to the driving body while the first magnetic body is separated from the second magnetic body when the tension of the bending wire acting on the safety roller is greater than the magnetic force between the first magnetic body and the second magnetic body. type armored robot delete According to claim 1,
The glove member is a modular glove robot in which the half-glove module and the finger module are detachably coupled by Velcro coupling. According to claim 1,
The extension elastic member,
A modular armored robot in either wire or rod form. According to any one of claims 1, 3 or 4,
The plurality of connecting members include a router head, a via hole formed in the router head, and a router leg coupled to the router head,
The plurality of connection members are installed in the finger module by inserting the router leg into the finger module of the glove member,
The flexible elastic member is inserted into the via hole of the plurality of connecting members and is connected to the plurality of connecting members. According to claim 5,
The glove member further includes a thumb module formed to surround a thumb and detachably coupled to the semi-glove module,
a thumb bending wire connected to the thumb module and extending in the direction of the half-glove module to provide tension in a direction in which the thumb module of the glove member abducts; and
The modular armored robot further comprising: a thumb extension wire connected to the thumb module and extending in the direction of the half-glove module to provide tension in a direction in which the thumb module of the glove member is extended. According to claim 6,
The glove member further includes a thumb support member inserted into and installed in the thumb module to support the thumb module and prevent the thumb from extending beyond a limit due to the tension transmitted by the thumb extension wire. Modular armored robot. According to claim 7,
The thumb support member of the glove member is formed of a thermoplastic resin material so that it is easily deformed into a different shape and structure according to the shape of the thumb and installed in the thumb module. According to claim 1,
A ring member formed in a ring shape surrounding the wrist, and a fixing ring including a first guide hole and a second guide hole formed in the ring member,
The extension elastic member is installed to pass through the first guide hole of the fixing ring,
The bending wire is a modular armored robot installed to pass through the second guide hole. delete delete a glove member formed in the form of a glove, including a half-glove module formed to cover a palm and the back of the hand, and a finger module formed to cover a finger portion of a hand and detachably coupled to the half-glove module;
a bending wire installed on the palm side of the glove member to provide tension in a direction in which the glove member is bent, and extending from the finger module of the glove member toward the half-glove module;
a plurality of connecting members disposed on the back of the glove member along the extending direction of the finger module and detachably installed in the finger module;
an extension elastic member formed of an elastic material to provide an elastic force in a direction in which the glove member is unfolded, disposed along the finger extension direction and connected to the plurality of connecting members, and installed on the glove member;
a drive module connected to the bending wire to provide tension to the bending wire; and
A safety module connected to the bending wire and limiting the tension applied to the bending wire by the drive module beyond a limit; includes,
The safety module,
A driving body, a safety lever rotatably installed on the driving body, a third magnetic body coupled to one side of the rotation shaft of the safety lever, and a fourth magnetic body coupled to the driving body and magnetically coupled to the third magnetic body And, a sheath member formed in the form of a tube through which the bending wire passes, one end fixed to the other side of the rotational axis of the safety lever and the other end fixed to the glove member,
When the operating displacement of the bending wire by the driving module exceeds a limit, the tension of the bending wire is transmitted to the sheath member, and the third magnetic body and the fourth magnetic body are separated while the safety lever rotates.

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