KR102545912B1 - Haptic load applying system with feedback function - Google Patents

Abstract

The present invention can adjust the load applied to the load cell by controlling the position of the up and down motor so that the load cell measurement value when the push block reaches the lowest point matches the input value in the control unit, thereby solving the hassle of changing the load and relative To provide a haptic load feedback applicator capable of solving slow experiment speeds.
The haptic load feedback applicator of the present invention is installed on a base table, a vertical frame installed vertically on one side of the base table, a vertical frame coupled to the vertical frame to be movable vertically, and a vertical frame installed on the vertical frame. The vertical motor, which is the power source for movement, the load applying motor installed on one side of the vertical moving table, the push block installed in the vertical moving table to enable vertical movement and the haptic rod protruding from the bottom, and the rotational force of the load applying motor is transmitted. A vertical operation device that receives and converts the up and down movement to the push block and transmits it, a plurality of up and down sensors installed on the vertical frame and detecting the elevation position of the vertical platform, and a push sensor installed on the vertical platform and detecting the elevation position of the push block. It includes a detection sensor and a load cell installed on the base table and measuring the load acting on the specimen.

Description

Haptic load feedback applicator {HAPTIC LOAD APPLYING SYSTEM WITH FEEDBACK FUNCTION}

The present invention relates to a haptic load feedback application device, and more particularly, to a haptic load feedback application device capable of solving the hassle of changing a load and solving a relatively slow experiment speed.

In general, haptic technology is a tactile feedback technology used by humans, and is a technology that enables a user to feel a touch, and is a technology related to a touch sensation that provides feedback by applying a user's forced vibration or motion.

Haptic technology can improve immersion and realism by allowing users to realistically reproduce and experience various physical activities, such as touching and manipulating virtual objects in virtual reality (VR), or moving while walking or running.

A typical example of haptic technology is a vibration function used in displays of smartphones or tablets, which are already common. Currently, a telehaptic device that is attached to the fingertip like a sticker and transmits tactile sensation remotely in real time has been developed beyond simple vibration.

Due to the nature of haptic technology with frequent touches, it is essential to verify the durability of parts, and since a constant force similar in size to that of a human hand must be repeatedly applied hundreds of thousands of times, the need for test equipment with force accuracy and fast experiment speed is emerging. there is.

Korean Patent Publication Nos. 10-2005-0087398 and 10-2020-0077696 disclose techniques for various structures and devices for repeatedly applying a load.

In the case of the technology disclosed in Korean Patent Laid-Open Publication No. 10-2005-0087398, the rotation direction of the motor must be changed in the process of repeating load application, which means that the speed of the experiment is relatively slow because the acceleration and deceleration of the motor are repeated. there is a problem.

In the case of the technology disclosed in Korean Patent Laid-Open Publication No. 10-2020-0077696, when the wheel rotates, a space is created between the rotary arm and the horizontal arm to press the specimen with the weight of the weight, so that the rotation direction of the motor is not changed. Since the load is repeatedly applied, a quick experiment is possible, but there is a problem in that the weight must be changed to change the load. In addition, there is a problem that changing the load is cumbersome because the type of load is limited as much as the type of weight because the weight must be manually replaced.

The present invention has been made in view of the above points, and the load applied to the load cell can be adjusted by controlling the position of the up and down motor so that the load cell measurement value when the push block reaches the lowest point matches the input value in the control unit. An object of the present invention is to provide a haptic load feedback applicator capable of solving the hassle of changing a load and also solving a relatively slow experiment speed.

A haptic load feedback applying device according to an embodiment of the present invention includes a base table, a vertical frame erected and installed vertically on one side of the base table, a vertical moving table coupled to and installed to enable vertical movement to the vertical frame, and the vertical frame A vertical motor installed in the vertical movement table, which is a power source for vertical movement of the vertical movement table, a load application motor installed on one side of the vertical movement table, and a push that is installed in the vertical movement table to enable vertical movement and a haptic rod protrudes from the bottom. A block, an up and down actuating device receiving rotational force of the load applying motor and converting it into up and down movement to the push block, and a plurality of up and down detection sensors installed on the vertical frame and detecting an elevation position of the up and down movement table; It includes a push sensor installed on the up and down table and detecting the lifting position of the push block, and a load cell installed on the base table and measuring the load acting on the specimen.

The vertical detection sensor includes an origin sensor for detecting whether the vertical movement table is at a reference position, an upper limit sensor for detecting whether the vertical movement table has reached a maximum set height, and a vertical movement table for detecting whether it has reached a minimum set height. It consists of a lower limit sensor.

The push detection sensor includes a high level sensor for detecting the highest ascending position of the push block and a low level sensor for detecting the lowest descending position of the push block.

The vertical actuating device includes an actuating disk rotatably installed on the vertical movement base and rotating by receiving the rotational force of the load applying motor, a power transmission member transmitting the rotational force of the load applying motor to the actuating disc, and the actuating disc. It is installed in an eccentric state and includes an eccentric disk inserted and coupled to an operation hole formed in a transversely long shape in the push block.

It is also possible to install a pair of guide rods in a direction perpendicular to the up-and-down platform, and to install guide bushings through which the guide rods are slidably inserted on both sides of the push block.

And, the haptic load feedback applying device according to the embodiment of the present invention further includes a control unit.

The control unit transmits a control signal to stop the up and down motor when the difference between the measured value of the load cell and the set input value detecting the load applied by the haptic rod of the push block is smaller than or equal to the set error value, When the difference between the measured value of the load cell detecting the load applied by the haptic rod of the push block and the set input value is greater than the set error value and the input value is greater than the sum of the measured value and the error value, the vertical movement table is lowered. A control signal is transmitted so that the vertical motor operates, and the difference between the measured value of the load cell detecting the load applied by the haptic rod of the push block and the set input value is greater than the set error value, and the input value is the measured value and the error value If it is smaller than the sum of , a control signal is transmitted so that the vertical motor operates so that the vertical movement table rises.

In addition, when the upper limit sensor detects the rising position of the vertical moving unit, the control unit transmits a control signal to stop the vertical motor or operate the vertical moving unit to descend, and determines the lowering position of the vertical moving unit from the lower limit sensor. When detected, a control signal is transmitted so that the vertical motor stops or the vertical moving table rises.

In addition, when power is turned off or a signal to stop measurement is input, the control unit transmits a control signal to the load application motor so that the push block moves to the initial position and then stops, and the origin sensor transmits a control signal to the vertical position. After detecting the position of the table, a control signal is transmitted to the up and down motors to stop.

According to the haptic load feedback applicator according to an embodiment of the present invention, when the push block reaches the lowest point, the control unit so that the load cell measurement value measuring the load acting on the specimen by the haptic rod is within the range of the set input value and error value Since the load applied to the specimen can be adjusted by controlling the position of the vertical movement table to rise or fall by operating the vertical motor in possible.

1 is a perspective view of a left side showing a haptic load feedback applying device according to an embodiment of the present invention.
2 is a right side perspective view illustrating a haptic load feedback applying device according to an embodiment of the present invention.
3 is a front view showing a haptic load feedback applying device according to an embodiment of the present invention.
4 is a partially enlarged perspective view showing the configuration of a vertical and horizontal platform and a push block in a haptic load feedback applying device according to an embodiment of the present invention.
5 is an exploded perspective view showing the configuration of the Shanghai Dongdae and the push block in the haptic load feedback applying device according to an embodiment of the present invention.
6 is a block diagram showing the configuration of a control unit in a haptic load feedback applying device according to an embodiment of the present invention.
7 is a flowchart illustrating control of a control unit in a haptic load feedback applying device according to an embodiment of the present invention.
8 is a graph showing measured values of loads measured by a load cell using a haptic load feedback applying device according to an embodiment of the present invention.
9 is another graph showing the measured value of the load measured by the load cell using the haptic load feedback applying device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, or substitutes included in the spirit and technical scope of the present invention.

Terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "include" or "have" are intended to designate that there is a feature, number, process, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, processes, operations, components, parts, or combinations thereof is not precluded.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with the meanings in the context of the related art, and unless explicitly defined in this application, they should not be interpreted in ideal or excessively formal meanings. don't

The term "MODULE" described in this specification refers to a unit that processes a specific function or operation, and may mean hardware or software or a combination of hardware and software.

The terms or words used in this specification and claims should not be construed as being limited to ordinary or dictionary meanings, and the inventors may appropriately define the concept of terms in order to explain their invention in the best way. Based on the principle that there is, it should be interpreted as meaning and concept consistent with the technical spirit of the present invention. In addition, unless there is another definition in the technical terms and scientific terms used, they have meanings commonly understood by those of ordinary skill in the art to which this invention belongs, and the gist of the present invention is described in the following description and accompanying drawings. Descriptions of well-known functions and configurations that may be unnecessarily obscure are omitted. The drawings introduced below are provided as examples to sufficiently convey the spirit of the present invention to those skilled in the art. Accordingly, the present invention may be embodied in other forms without being limited to the drawings presented below. Also, like reference numerals denote like elements throughout the specification. It should be noted that like elements in the drawings are indicated by like numerals wherever possible.

Next, a preferred embodiment of a haptic load feedback applying device according to the present invention will be described in detail with reference to the drawings.

The present invention can be implemented in various forms, and is not limited to the embodiments described below.

Hereinafter, in order to clearly describe the present invention, detailed descriptions of parts not closely related to the present invention are omitted, and the same reference numerals are attached to the same or similar components throughout the description of the present invention, and repetitive descriptions are omitted. .

First, the haptic load feedback applying device according to an embodiment of the present invention, as shown in FIGS. 1 to 5, includes a base table 100, a vertical frame 200, a vertical moving table 300, 410, a load applying motor 420, a push block 500, a vertical operating device 600, a vertical sensor 710, a push sensor 720, and a load cell 730. It is done by

The vertical frame 200 is installed vertically on one side of the base table 100.

The vertical movement table 300 is coupled and installed to the vertical frame 200 to enable vertical movement.

The up and down motor 410 is installed on one side of the vertical frame 200 .

The vertical motor 410 serves as a power source for vertical movement of the vertical movement table 300 .

The vertical movement stand 300 is installed to be coupled to each other so that the vertical frame 200 can be moved vertically using an LM guide or the like.

If configured as described above, as the rotational force of the vertical motor 410 is transmitted, the rotational motion is converted into linear motion, so that the vertical movement table 300 can move up and down.

It is also possible to install a plurality of up and down sensors 710 for detecting the elevation position of the up and down platform 300 on the vertical frame 200 .

The vertical detection sensor 710 includes an origin sensor 712 that detects whether the vertical movement platform 300 is at a reference position, and an upper limit sensor 714 that detects whether the vertical movement platform 300 has reached a maximum set height. And, it comprises a lower limit sensor 716 for detecting whether the vertical moving table 300 has reached a minimum set height.

The vertical sensor 710 may also be configured using an optical sensor or the like.

And, as shown in FIGS. 1 to 5 , the load application motor 420 is installed on one side of the vertical movement platform 300 .

The push block 500 is coupled and installed to the vertical movement stand 300 so as to be capable of vertical movement.

A haptic rod 580 protrudes from the lower end of the push block 500 .

When the push block 500 descends, the haptic rod 580 comes into contact with the specimen 990 loaded on the upper surface of the base table 100 to apply a load.

The load cell 730 is installed on the base table 100.

The load cell 730 is configured to measure the load acting on the specimen 990 loaded thereon.

The vertical operation device 600 is configured to receive rotational force of the load application motor 420 and convert it into a vertical motion to transmit to the push block 500 .

The vertical operation device 600 rotates by receiving the rotational force of the load application motor 420, and includes an operation disk 620 rotatably installed on the vertical movement platform 300 and rotational force of the load application motor 420. A power transmission member 610 that transmits a power transmission member 610 to the actuating disc 620, and an actuating hole 520 installed in an eccentric state on the actuating disc 620 and formed in a horizontally long shape in the push block 500 It comprises an eccentric disk 630 inserted into and coupled to.

The power transmission member 610 includes a driving pulley 612 installed on the shaft of the load applying motor 420, a driven pulley 616 installed to rotate integrally with the operating disk 620, and the driving pulley It is also possible to configure the belt 614 installed over the 612 and the driven pulley 616.

In addition, a pair of guide rods 360 are installed in a direction perpendicular to the up and down platform 300, and guide rods 360 are slidably inserted into both sides of the push block 500. It is also possible to install a bushing 660.

When the vertical operation device 600 is configured as described above, as the load application motor 420 rotates, the operation disk 620 receiving the rotational force through the power transmission member 610 rotates, and the operation When the disk 620 rotates, the eccentric disk 630 installed in an eccentric state changes its position in the vertical and horizontal directions while orbiting around the center of the operating disk 620, and the eccentric disk 630 Since it is installed while being inserted into the operation hole 520, the position change in the left and right direction is offset as it moves left and right within the operation hole 520, and the position change in the up and down direction causes the push block 500 to move in the up and down direction. force will work.

The eccentric disk 630 is rotatably installed on the operating disk 620 using a bearing to reduce friction and wear when the eccentric disk 630 moves left and right within the operating hole 520. It is preferable because it can

It is also possible to install a push detection sensor 720 for detecting the elevation position of the push block 500 on the up and down platform 300 .

The push sensor 720 includes a high level sensor 722 that detects the highest ascending position of the push block 500 and a low level sensor 724 that detects the lowest descending position of the push block 500. .

And, as shown in FIG. 6 , the haptic load feedback applying device according to an embodiment of the present invention further includes a control unit 900 .

In the controller 900, if the difference between the measured value of the load cell 730 sensing the load applied by the haptic rod 580 of the push block 500 and the set input value is less than or equal to the set error value, The difference between the measured value of the load cell 730 that transmits a control signal to stop the vertical motor 410 and detects the load applied by the haptic rod 580 of the push block 500 and the set input value is set If it is greater than the error value and the input value is greater than the sum of the measured value and the error value, a control signal is transmitted so that the up and down motor 410 operates so that the up and down table 300 descends, and the haptic rod of the push block 500 If the difference between the measured value of the load cell 730 that detects the load applied by the 580 and the set input value is greater than the set error value and the input value is less than the sum of the measured value and the error value, the vertical movement unit 300 ) transmits a control signal so that the up and down motor 410 operates so that it rises.

Further, in the controller 900, when the upper limit sensor 722 detects an upward position of the vertical movement platform 300, a control signal causes the vertical motor 410 to stop or the vertical movement platform 300 to descend. When the lower limit sensor 724 detects the lowering position of the vertical movement platform 300, a control signal is transmitted to stop the vertical motor 410 or operate the vertical movement platform 30 to rise.

In addition, in the controller 900, when power is turned off or a signal to stop measurement is input, a control signal is sent to the load application motor 420 so that the push block 500 moves to the initial position and then stops. The origin sensor 712 detects the position of the vertical moving table 300 and then transmits a control signal to the vertical motor 410 to stop.

Next, the operation process of the haptic load feedback applying device according to an embodiment of the present invention configured as described above will be described with reference to FIGS. 6 to 9 .

First, as shown in FIGS. 6 and 7 , set input, which is the design value of the load to be measured by the load cell 730, to the control unit 800 using an input device 910 such as a computer, laptop, or smartphone. Enter the value, set error value, and measurement speed.

Then, when power is applied and measurement starts, the controller 800 determines whether a stop signal is input, and if the stop signal is input, a control signal is transmitted so that the vertical motor 410 returns to its initial position. And, the load application motor 420 also transmits a control signal to be returned to the initial position.

For example, in the controller 900, when power is turned off or a signal to stop measurement is input, the push block 500 is controlled by the load applying motor 420 to move to the initial position and then stop. The signal is transmitted, and the position of the vertical movement table 300 is detected by the origin sensor 712 (the original position is detected as an initial position), and then a control signal is transmitted to the vertical motor 410 to store.

Then, after transmitting a stop signal to the vertical motor 410 and the load application motor 420, the control unit 900 stores the measured data so far and ends the measurement.

In the above, power is applied and measurement starts, and the control unit 800 determines whether a stop signal is input. It sends a control signal to make it work.

As described above, in a state in which the load applying motor 420 is normally operated, the load applying motor 420 continues to rotate, and as the load applying motor 420 rotates, rotational force is generated through the power transmission member 610. The received operation disk 620 rotates, and since the eccentric disk 630 is inserted into the operation hole 520 of the push block 500, the push block 500 moves repeatedly in the up and down direction. Then, the push block 500 moves up and down, and the haptic rod 580 repeatedly contacts the specimen 990 loaded on the base table 100 to apply and then release the load.

The control unit 900 operates to store the measured value of the load applied by the load cell 730 whenever the haptic rod 580 comes into contact with the specimen 990 as data.

And, as described above, in a state in which the load applying motor 420 normally operates, the control unit 900 determines whether the difference between the measured value of the load cell 730 and the set input value is smaller than or equal to the set error value, and , If the difference between the measured value and the input value is less than or equal to the error value, the up and down motor 410 is stopped or maintained in a stopped state.

In the above, the difference between the measured value of the load cell 730 and the set input value means the absolute value of the value obtained by subtracting the measured value from the set input value.

As shown in FIG. 8, if the difference between the measured value of the load cell 730 and the set input value (the absolute value of the value obtained by subtracting the measured value from the set input value) is smaller than or equal to the set error value, the measured value is within the error range. means within

Since the above state means that the position of the vertical movement table 300 is in a state in which normal measurement is possible, the operation of the vertical motor 410 is stopped so that the position of the vertical movement table 300 is maintained as it is.

In addition, when the control unit 900 determines that the difference between the measured value of the load cell 730 and the set input value is greater than the set error value (out of the error range), the measured value and the error again exceed the input value. Determines whether the sum of the values is greater or lesser.

The fact that the difference between the measured value and the input value is greater than the error value means that the reliability of the measured value is low (out of the error range) and the load applied by the haptic rod 580 to the specimen 990 is too large or too small. and indicates that correction is necessary.

The control unit 900 transmits a control signal to operate the vertical motor 410 so that the vertical movement platform 300 descends when the input value is greater than the sum of the measured value and the error value.

That is, the fact that the input value is greater than the sum of the measured value and the error value is the case indicated by "B" in FIG. , Indicates that it is necessary to increase the load acting by lowering the vertical movement platform 300.

In addition, the control unit 900 transmits a control signal to operate the vertical motor 410 so that the vertical movement table 300 rises when the input value is less than the sum of the measured value and the error value.

That is, the fact that the input value is smaller than the sum of the measured value and the error value is the case indicated by “A” in FIG. , indicates that it is necessary to reduce the load acting by raising the vertical and horizontal table 300.

8 and 9 show graphs of the measured value of the load applied to the specimen 990 by the haptic rod 580 measured by the load cell 730.

As shown in FIGS. 8 and 9 , when the measured value is out of the error value (error range) centered on the set input value, the up and down motor 410 is controlled to ascend or descend.

As described above, according to the haptic load feedback applying device according to an embodiment of the present invention, the load measurement value of the haptic rod 580 acting on the specimen measured in real time and the set input value and error value are used to verify and measure If there is an error in the value, it is possible to correct it by raising or lowering the vertical and horizontal table 300.

Therefore, it is possible to solve the hassle of changing the load, such as adding or reducing additional weights as separate hardware, and also solve the relatively slow experiment speed.

In the above, the preferred embodiment of the haptic load feedback applying device according to the present invention has been described, but the present invention is not limited thereto, and various modifications and implementations are possible within the scope of the claims and the description of the invention and the accompanying drawings. , which also falls within the scope of the present invention.

100 - base table, 200 - vertical frame, 300 - Shanghai Dong University, 360 - guide rod
410 - up and down motor, 420 - load application motor, 500 - push block, 520 - operation hole
580 - haptic rod, 600 - up and down operation device, 610 - power transmission member, 612 - drive pulley
614 - belt, 616 - driven pulley, 620 - operating disc, 630 - eccentric disc
660 - guide bushing, 710 - upper and lower detection sensor, 712 - origin sensor, 714 - upper limit sensor
716 - lower limit sensor, 720 - push detection sensor, 722 - high level sensor, 724 - low level sensor
730 - load cell, 800 - control unit, 990 - specimen

Claims (6)

A base table, a vertical frame erected and installed vertically on one side of the base table, a vertical moving table coupled and installed to enable vertical movement to the vertical frame, and a power source for vertical movement of the vertical moving table installed on the vertical frame A vertical motor, a load applying motor installed on one side of the vertical moving table, a push block coupled to the vertical moving table to enable vertical movement and having a haptic rod protruding from the lower end, and receiving the rotational force of the load applying motor, A vertical operation device that converts and transmits vertical movement to the push block, a plurality of up and down sensors installed on the vertical frame and detecting the lifting position of the vertical moving table, and installed on the vertical moving table and detecting the lifting position of the push block. It includes a push sensor for detecting and a load cell installed on the base table and measuring the load acting on the specimen,
The vertical actuating device includes an actuating disk rotatably installed on the vertical movement base and rotating by receiving the rotational force of the load applying motor, a power transmission member transmitting the rotational force of the load applying motor to the actuating disc, and the actuating disc. A haptic load feedback application device including an eccentric disk installed in an eccentric state and inserted into an operation hole formed in a transversely long shape in the push block. The method of claim 1,
A device for applying haptic load feedback, wherein a pair of guide rods are installed in a direction perpendicular to the vertical movement table, and guide bushings are installed on both sides of the push block, through which the guide rods are slidably inserted. The method of claim 1,
The vertical detection sensor includes an origin sensor for detecting whether the vertical movement table is at a reference position, an upper limit sensor for detecting whether the vertical movement table has reached a maximum set height, and a vertical movement table for detecting whether it has reached a minimum set height. Including the lower limit sensor,
The push sensor includes a high level sensor for detecting the highest ascending position of the push block and a low level sensor for detecting the lowest descending position of the push block. The method of claim 1,
Including more control unit,
The control unit transmits a control signal to stop the up and down motor when the difference between the measured value of the load cell and the set input value detecting the load applied by the haptic rod of the push block is smaller than or equal to the set error value, When the difference between the measured value of the load cell detecting the load applied by the haptic rod of the push block and the set input value is greater than the set error value and the input value is greater than the sum of the measured value and the error value, the vertical movement table is lowered. A control signal is transmitted so that the vertical motor operates, and the difference between the measured value of the load cell detecting the load applied by the haptic rod of the push block and the set input value is greater than the set error value, and the input value is the measured value and the error value If it is less than the sum of , the haptic load feedback application device transmits a control signal to operate the vertical motor so that the vertical movement table rises. The method of claim 4,
The vertical detection sensor includes an origin sensor for detecting whether the vertical movement table is at a reference position, an upper limit sensor for detecting whether the vertical movement table has reached a maximum set height, and a vertical movement table for detecting whether it has reached a minimum set height. Including the lower limit sensor,
The control unit transmits a control signal to stop the vertical motor or operate the vertical movement table to descend when the upper limit sensor detects the rising position of the vertical moving table, and when the lower limit sensor detects the lowering position of the vertical moving table. A haptic load feedback applying device for transmitting a control signal to stop the vertical motor or operate the vertical movement table to rise. The method of claim 4,
The vertical detection sensor includes an origin sensor for detecting whether the vertical movement table is at a reference position, an upper limit sensor for detecting whether the vertical movement table has reached a maximum set height, and a vertical movement table for detecting whether it has reached a minimum set height. Including the lower limit sensor,
In the control unit, when power is turned off or a signal to stop measurement is input, the push block operates to move to the initial position and then transmits a control signal to the load applying motor to stop, and the origin sensor transmits a control signal to the vertical movement unit. A haptic load feedback applying device that detects a position and then transmits a control signal to the vertical motor to stop.

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