KR102634111B1 - Folding link system with wire mechanism for changing the stiffness of folding link - Google Patents

Abstract

A foldable link system having a wire mechanism for changing the rigidity of a foldable link according to an embodiment of the present invention includes a first base portion, a second base portion spaced apart from the first base portion, the first base portion, and the A foldable link disposed between the second base portion and capable of being folded or unfolded, a wire connected to the first base portion and the second base portion, and installed in the second base portion to adjust the tension of the wire. It may include an actuator.

Description

A folding link system having a wire mechanism for changing the stiffness of the folding link {FOLDING LINK SYSTEM WITH WIRE MECHANISM FOR CHANGING THE STIFFNESS OF FOLDING LINK}

The present invention relates to a collapsible link system having a wire mechanism for changing the stiffness of the collapsible link.

Recently, the robot market is changing from industrial robots used to build fences in factories to collaborative robots that are smaller in size and have safety standards to enable interaction with people. However, even if it is possible to work with people, since it is a rigid robot, it has fundamental limitations in terms of spatial constraints and sudden shocks.

A collaborative robot is a robot arm that can physically interact with people and perform tasks in cooperation with them. For example, collaborative robots can perform tasks such as assisting factory workers in the assembly process or cooperating with people in the kitchen to cook.

Until now, collaborative work between humans and robots has only considered work within factories, but recently, as robots have entered daily life, attempts are being made to develop new types of service robots. For example, a domestic company announced a robot arm that cooks in collaboration with people in the kitchen.

Current collaborative robots have limitations in installation space, and when interacting with multiple people in an unstructured space, the work range is fixed and the types of tasks that can be performed are limited. Additionally, rigid body-based robot arms and grippers have limitations in practical use due to the risk of collision.

Accordingly, to solve these problems, academic circles are actively researching soft robot technology and foldable robot technology that have high inherent safety and can be designed to allow large deformation.

Soft robot technology is a new form of technology that utilizes flexible materials to interact with unstructured environments. Examples include universal grippers that can grip objects regardless of their shape, and soft robots that are soft and can safely exchange force with people. There are arms, etc.

Foldable soft robotic arm technology is a new robotic arm fabrication and control technology that can change shape and stiffness by utilizing flexible materials, deployable origami structures, and wire/pneumatic actuation.

However, these soft robot technologies and foldable robot technologies still exhibit low control precision, making them difficult to apply in daily life.

One embodiment of the present invention is designed and driven using soft robot technology with intrinsic safety to solve the safety problem of rigid robots, and works efficiently even within a limited space through shape change using a foldable structure and wire. The aim is to provide a foldable link system with a wire mechanism for changing the stiffness of the foldable link that can implement this possible and stable robot arm.

A foldable link system having a wire mechanism for changing the rigidity of a foldable link according to an embodiment of the present invention includes a first base portion, a second base portion spaced apart from the first base portion, the first base portion, and the A foldable link disposed between the second base portion and capable of being folded or unfolded, a wire connected to the first base portion and the second base portion, and installed in the second base portion to adjust the tension of the wire. It may include an actuator.

The wires may be formed in a diagonal direction between the first base part and the second base part, and a plurality of wires may be arranged to cross each other.

One end of the wire may be connected to the actuator, and the other end may pass through the inside of the first base portion and be connected to the actuator.

The first base portion may include a plurality of ring members spaced apart from each other at predetermined intervals on one surface and include a ring member through which the wire passes through at least one of the plurality of first base portions.

A plurality of the foldable links may be arranged to be spaced apart at predetermined intervals, and the ring member may be arranged one by one between the foldable links.

The first base part may include a guide member disposed therein to guide the path of the wire.

The first base portion is coupled to the actuator, and is connected to a first cover plate formed with a first insertion portion into which one end of the foldable link is inserted and the first insertion portion to secure the foldable link to the first insertion portion. It may include a first bracket.

The second base portion includes a second cover plate formed with a second insertion portion into which the other end of the foldable link is inserted, and a second bracket connected to the second insertion portion to secure the foldable link to the second insertion portion. can do.

By controlling the current of the actuator, the tension of the wire can be adjusted, thereby adjusting the rigidity of the foldable link.

The foldable link has an internal space through which air flows, and the rigidity of the foldable link can be adjusted by adjusting the air pressure applied to the internal space of the foldable link.

A foldable link system with a wire mechanism for changing the rigidity of the foldable link according to an embodiment of the present invention is designed and driven using soft robot technology with intrinsic safety, and changes the shape using a foldable structure and wire. Through this, you can work efficiently and ensure stability even within a limited space.

A foldable link system with a wire mechanism for changing the rigidity of the foldable link according to an embodiment of the present invention can secure safety in interaction with people while maintaining constant performance and increase applicability to various tasks through modularization. there is.

The foldable link system having a wire mechanism for changing the stiffness of the foldable link according to an embodiment of the present invention allows the stiffness of the foldable link to be changed, so it can be used in everyday spaces such as restaurants, hospitals, and homes for kitchen assistance, nursing assistance, and housework. It can be used for tasks such as assistance, and can be applied to various fields that require variable soft robots, such as industrial robot arms, invasive surgery devices, and wearable robots.

1 is a perspective view of a foldable link system according to an embodiment of the present invention.
Figure 2 is a perspective view of a foldable link according to one embodiment of the present invention.
Figure 3 is a perspective view of the first base portion according to an embodiment of the present invention.
Figure 4 is a bottom view showing the inside of the first base portion according to an embodiment of the present invention.
Figure 5 is a perspective view of the second base portion according to an embodiment of the present invention.
Figure 6 is a plan view showing the interior of the second base portion according to an embodiment of the present invention.
Figure 7 is a diagram showing a wire mechanism for changing the length of the foldable link of the present invention.
Figures 8(a) and 8(b) are diagrams showing the foldable link of the present invention in a folded state and an unfolded state, respectively.
Figure 9 is a diagram showing an intermediate process during step-by-step length adjustment of the foldable link of the present invention.
Figure 10 is a diagram showing the principle of step-by-step length adjustment of the foldable link of the present invention.
Figure 11 is a diagram showing the process of measuring data when adjusting the length of the foldable link of the present invention in stages.
Figure 12 is a graph showing step-by-step length adjustment data of the foldable link of the present invention.
Figure 13 is a diagram showing a wire mechanism for changing the stiffness of the foldable link of the present invention.
Figure 14 is a graph showing the shear stiffness of the second base portion 200 by the second wire for changing the stiffness of the foldable link of the present invention.
Figure 15 is a graph showing the results of experiments on the minimum and maximum stiffness of the foldable link of the present invention.
Figure 16 is a graph showing the results of a stiffness control experiment of the foldable link of the present invention.

Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. The present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts not related to the description are omitted, and identical or similar components are given the same reference numerals throughout the specification.

In this specification, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Figure 1 is a perspective view of a foldable link system according to an embodiment of the present invention, and Figure 2 is a perspective view of a foldable link according to an embodiment of the present invention.

Referring to FIG. 1, a foldable link system 1 having a wire mechanism for changing the length of the foldable link according to an embodiment of the present invention will be described.

The foldable link system 1 may include a first base portion 100, a second base portion 200, a foldable link 300, a first wire 400, and a second wire 500.

The first base portion 100 may be connected to the lower end of the foldable link 300.

The second base part 200 may be spaced apart from the upper part of the first base part 100 and connected to the upper end of the foldable link 300.

The foldable link 300 is formed in an origami method and can be folded or unfolded, and an internal space can be formed. For example, as shown in FIG. 2, the foldable link 300 may be cylindrical in shape with an internal space and have a predetermined height. Air may be injected into the inner space of the foldable link 300. As another example, the foldable link 300 may be made of a flexible material such as fabric. Three of these foldable links 300 may be spaced apart at regular angles.

Additionally, the foldable link 300 may be formed with a plurality of fold lines 310, so that the foldable link 300 may be deformed as the fold lines 310 are folded or unfolded.

Additionally, the foldable link 300 may have ring members 320 formed on both sides. For example, the ring member 320 has a thin plate shape and may be arranged perpendicular to the ground. A plurality of ring members 320 may be arranged at predetermined intervals along the longitudinal direction of the foldable link 300. The first wire 400 may be connected through the ring member 320.

Figure 3 is a perspective view of the first base portion according to an embodiment of the present invention, Figure 4 is a bottom view showing the interior of the first base portion according to an embodiment of the present invention, and Figure 5 is an embodiment of the present invention. It is a perspective view of the second base portion according to an embodiment of the present invention, and Figure 6 is a plan view showing the inside of the second base portion according to an embodiment of the present invention.

The first base portion 100 and the second base portion 200 are formed identically to each other, and the first cover plate 120 and the second cover plate 220 may be arranged to face each other.

Referring to Figures 3 and 4, the first base portion 100 includes a first support plate 110, a first cover plate 120, a first wall 130, a first actuator 140, and a first ring. It may include a member 150, a first pulley 170, a first guide member 160, and a first bracket 180.

The first support plate 110 has a predetermined plate shape, and the first wall 130 may be connected to the edge.

The first cover plate 120 has a predetermined plate shape and may be spaced vertically apart from the first support plate 110. At this time, the first wall 130 is formed between the first cover plate 120 and the first support plate 110, so that a predetermined space is created between the first cover plate 120 and the first support plate 110. can be formed. Accordingly, it is possible to prevent components installed in the internal space of the first base unit 100 from being separated and to ensure that other components are aligned.

The first cover plate 120 may further include a first insertion portion 121. The first insertion portion 121 may have a predetermined tubular shape and an oval cross-section. The first insertion portion 121 is connected to the first cover plate 120, one end protrudes by a predetermined length toward the first support plate 110, and the other end extends a predetermined length outward from the first cover plate 120. The road may protrude.

The end of the foldable link 300 may be inserted into this first insertion portion 121. For example, three first insertion portions 121 may be spaced apart from each other at regular intervals based on the center of the first cover plate 120 .

The first actuator 140 is accommodated inside the first base portion 100 and is installed on one surface of the first cover plate 120 to control the driving of the first wire 400. Specifically, the first actuator 140 may include a first spool 141 to which the first wire 400 is connected. At this time, the first actuator 140 rotates the first spool 141 to cause the first wire 400 to be wound or unwound from the first spool 141, thereby increasing the tension on the first wire 400 and The length can be adjusted. That is, by adjusting the length of the first wire 400, the length of the foldable link 300 can be changed.

The first ring member 150 is connected to the first cover plate 120, and the first wire 400 and the second wire 500 can pass therethrough. The first ring member 150 may allow the first wire 400 and the second wire 500 to be discharged to the outside of the first base portion 100 and change their paths to another point. For example, the first ring member 150 can reduce friction against the wire by using an alconite material.

The first guide member 160 has an arc shape extending to a predetermined length, is accommodated inside the first base portion 100, and may be disposed on one surface of the first support plate 110. For example, the first guide member 160 may be connected to the first insertion portion 121.

This first guide member 160 guides the second wire 500, thereby preventing the second wire 500 from being caught on other components inside the first base portion 100.

The first pulley 170 may be connected to the other surface of the first cover plate 120 and the first wire 400 may be connected thereto. At this time, the first pulley 170 may guide the first wire 400 to the ring member 320 of the foldable link 300. For example, the first pulley 170 may be formed in a ring shape. As another example, two first pulleys 170 may form a pair, and a pair of first pulleys 170 may be disposed between the foldable links 300. Accordingly, a total of three pairs of first pulleys 170 may be disposed on the first cover plate 120.

The first bracket 180 is formed to have a ring-shaped cross-section and is connected to the first insertion portion 121 to secure the foldable link 300 to the first insertion portion 121. For example, after inserting the end of the foldable link 300 into the first insertion part 121, the first bracket 180 is inserted into the foldable link 300 and inserted into the first insertion part 121. You can let it go.

Accordingly, the first bracket 180 presses the foldable link 300 toward the inner surface of the first insertion part 121, thereby allowing the foldable link 300 to be fixed to the first insertion part 121. . For example, the first bracket 180 may be formed of a composite material including glass fiber and nylon.

Referring to Figures 5 and 6, the second base portion 200 includes a second support plate 210, a second cover plate 220, a second wall 230, a second actuator 240, and a second ring. It may include a member 250, a second pulley 270, a second guide member 260, and a second bracket 280.

The second support plate 210 has a predetermined plate shape, and a second wall 230 may be connected to the edge.

The second cover plate 220 has a predetermined plate shape and may be spaced vertically apart from the second support plate 210. At this time, the second wall 230 is formed between the second cover plate 220 and the second support plate 210, so that a predetermined space is created between the second cover plate 220 and the second support plate 210. can be formed. Accordingly, it is possible to prevent components installed in the internal space of the second base portion 200 from being separated and to ensure that other components are aligned.

The second cover plate 220 may further include a second insertion portion 221. The second insertion portion 221 may have a predetermined tubular shape and an oval cross-section. The second insertion portion 221 is connected to the second cover plate 220, one end protrudes toward the second support plate 210 by a predetermined length, and the other end extends a predetermined length outward from the second cover plate 220. The road may protrude.

The end of the foldable link 300 may be inserted into this second insertion portion 221. For example, three second insertion portions 221 may be spaced apart from each other at regular intervals based on the center of the second cover plate 220 .

The second actuator 240 is accommodated inside the second base portion 200 and is installed on one surface of the second cover plate 220 to control the driving of the second wire 500. Specifically, the second actuator 240 may include a second spool 241 to which the second wire 500 is connected. At this time, the second actuator 240 rotates the second spool 241 so that the second wire 500 is wound or unwound from the second spool 241, thereby reducing the tension on the second wire 500. It can be adjusted. That is, by adjusting the tension of the second wire 500, the rigidity of the foldable link 300 can be changed.

The second ring member 250 is connected to the second cover plate 220, and the second wire 500 can pass through it. The second ring member 250 may allow the second wire 500 to be discharged to the outside of the second base portion 200 and change its path to another point. For example, the second ring member 250 can reduce friction against the wire by using an alconite material.

The second guide member 260 has an arc shape extending to a predetermined length, is accommodated inside the second base portion 200, and may be disposed on one surface of the second support plate 210. For example, the second guide member 260 may be connected to the second insertion portion 221.

The second pulley 270 may be connected to the other surface of the second cover plate 220 and the first wire 400 may be connected thereto. At this time, the second pulley 270 may guide the first wire 400 to the ring member 320 of the foldable link 300. For example, the second pulley 270 may be formed in a ring shape. As another example, two second pulleys 270 may form a pair, and a pair of second pulleys 270 may be disposed between the foldable links 300. Accordingly, a total of three pairs of second pulleys 270 may be disposed on the second cover plate 220.

The second bracket 280 is formed to have a ring-shaped cross-section and is connected to the second insertion portion 221 to secure the foldable link 300 to the second insertion portion 221. For example, after inserting the end of the foldable link 300 into the second insertion part 221, the second bracket 280 is inserted into the foldable link 300 and inserted into the second insertion part 221. You can let it go.

Accordingly, the second bracket 280 presses the foldable link 300 toward the inner surface of the second insertion part 221, thereby allowing the foldable link 300 to be fixed to the second insertion part 221. .

Figure 7 is a diagram showing a wire mechanism for changing the length of the foldable link of the present invention, and Figures 8(a) and 8(b) are diagrams showing the folded link of the present invention in a folded state and an unfolded state, respectively.

Figure 7 shows the routing path of the first wire 400 for the wire mechanism for changing the length of the foldable link. At this time, there are three first wires 400, and each of them can be individually driven by three first actuators 140.

For example, the three first wires 400 may be respectively disposed between the three foldable links 300 and connected to the three first actuators 140, respectively. In addition, a pair of first pulleys 170 are disposed between the three foldable links 300 in the first base portion 100, and a pair of first pulleys 170 are disposed between the three foldable links 300 in the second base portion 200. Pulleys 270 may be arranged in pairs.

The first wire 400 is in the form of a closed loop with its start and end ends connected to the first spool 141 of the first actuator 140, and acts between the first base portion 100 and the second base portion 200. You can.

Specifically, the first wire 400 has a starting end connected to the first spool 141 of the first actuator 140, and an end connected to one of the pair of first pulleys 170 and the folding link 300. Ring member 320, one of the pair of second pulleys 270, the other of the pair of second pulleys 270, ring member 320 of the other adjacent foldable link 300, and the first pair of pulleys 320. The remaining one of the pulleys 170 passes sequentially through the first ring member 150, returns to the starting point, and is connected to the first spool 141, thereby completing the routing.

At this time, by routing the first wire 400 through the ring member 320 of the foldable link 300, buckling of the foldable link 300 can be prevented and the straight shape of the foldable link 300 can be maintained. There is. Specifically, when the first wire 400 is routed through the ring member 320, the first wire 400 maintains a straight line when tension is applied to the first wire 400, thereby forming the foldable link 300. It can serve as a support for.

Meanwhile, the length of the routed first wire 400 as shown in FIG. 7 can be adjusted by being wound or unwound from the first spool 141 by the operation of the first actuator 140, and accordingly, FIG. 8 As shown in (a) and Figure 8 (b), the length of the foldable link 300 can be controlled by allowing the foldable link 300 to be folded or unfolded.

First, a mechanism for expanding the foldable link 300 to increase its length will be described. The position of the first wire 400 is fixed and prepared to be inflated by applying air pressure to the foldable link 300, and the length of the first wire 400 is adjusted through the first actuator 140 when the air pressure is applied. By increasing , the foldable link 300 can be deployed and its length can be increased. At this time, the first actuator 140 is driven in the position control mode, so that not only can the first spool 141 be moved to a preset position to increase the first wire 400 by a preset length, but also the first spool 141 can be moved to a preset position. By controlling the speed at which the length of the wire 400 increases, the length and deployment speed of the foldable link 300 can be controlled. When the foldable link 300 reaches the target length, tension can be applied to the first wire 400 through the first actuator 140 to prevent the first wire 400 from sagging. Accordingly, the first wire 400 can be maintained in a taut state and the collapsible link 300 can be maintained in an expanded state by air pressure, so that the shape of the collapsible link 300 can be kept constant.

Next, a mechanism for reducing the length of the foldable link 300 by folding it will be described. The foldable link 300 is prepared to be folded by expelling the air inside the foldable link 300 and reducing the air pressure, and when the air is discharged, the length of the first wire 400 is reduced through the first actuator 140 to form the foldable link. As (300) is folded, the length may decrease. At this time, the first actuator 140 is driven in a current control mode and adjusts the tension of the first wire 400 to respond to the speed at which the air inside the foldable link 300 is discharged without forcibly folding the foldable link 300. Thus, the speed at which the foldable link 300 is folded can be controlled. When the foldable link 300 reaches a certain length and buckling occurs, a tension impact pulse is applied to the first wire 400 so that some of the unfolded fold lines 310 of the foldable link 300 are folded. It can be guided to fold in any direction. When the foldable link 300 reaches the target length, tension is applied to the first wire 400 through the second actuator 240 to correct the stretched portion of the first wire 400, and then the first wire 400 ) can be fixed. Accordingly, the foldable link 300 can maintain a constant shape by the fixed first wire 400.

Additionally, the automatic origin adjustment mechanism of the first wire 400 will be described with reference to FIG. 8. To introduce an automatic origin adjustment mechanism, the first wire 400 may form a loop through the first pulley 170 and the second pulley 270.

At this time, referring to FIG. 8(a), when the foldable link 300 is folded, each ring member 320 is aligned in the horizontal direction, so a low friction force can be applied to the first wire 400. Accordingly, when the first wire 400 is pulled from the first actuator 140, the left and right lengths of the first wire 400 can be made the same by the pulley mechanism.

In addition, referring to FIG. 8(b), when the foldable link 300 is deployed, each ring member 320 is aligned in the vertical direction, so there is a high gap between the first wire 400 and the ring member 320. Frictional force acts and can be fixed to each other. Accordingly, the left and right sides of the first wire independently support the foldable link 300, thereby ensuring structural stability.

Figure 9 is a diagram showing an intermediate process during step-by-step length adjustment of the foldable link of the present invention, Figure 10 is a view showing the principle of step-by-step length adjustment of the foldable link of the present invention, and Figure 11 is a step-by-step length adjustment of the foldable link of the present invention. It is a diagram showing the process of measuring time data, and Figure 12 is a graph showing step-by-step length adjustment data of the foldable link of the present invention.

Referring to FIG. 9, in the step-by-step length adjustment of the foldable link 300, the foldable link 300 is deployed from the lower end, and the length can be adjusted step by step as the upper end of the foldable link is finally expanded.

Referring to FIG. 10, the principle of step-by-step length adjustment of the foldable link 300 will be described. A friction force proportional to the tension and bending angle of the first wire 400 may exist between the first wire 400 and the ring member 320 of the foldable link 300. Accordingly, when the first wire 400 is released from the lower end through the first actuator 140, the tension of the first wire 400 may be distributed from the upper end to the lower end of the foldable link 300.

That is, when the first wire 400 is released while air pressure is applied to the collapsible link 300, deployment may begin from the lowest end of the collapsible link 300. In this way, the degree to which the foldable link 300 is deployed in stages can be controlled by adjusting the driving range of the first actuator 140.

Referring to FIG. 11, data can be measured during the length adjustment process to verify the step-by-step length adjustment function of the foldable link 300. Specifically, the maximum deployment length and precision of the foldable link 300 can be measured by performing a total of 12 deployments and folds and recording data using marker-based motion tracking equipment (OptiTrack V120:TRIO). As shown in FIG. 11, the foldable link 300 can be deployed step by step from the bottom.

FIG. 12 may show a change in length of the foldable link 300 over time during the step-by-step length adjustment process of the foldable link 300. As shown in Figure 12, the length of the foldable link 300 was increased in a total of 10 steps, and the length increased by about 20.5 mm at each step, up to a total length of 185 mm. The amount of length increase at each step can be controlled through software, and not only stepwise increase but also continuous length change is possible.

Figure 13 is a diagram showing a wire mechanism for changing the stiffness of the foldable link of the present invention, and Figure 14 is a diagram showing the shear of the second base portion 200 by the second wire for changing the stiffness of the foldable link of the present invention. This is a graph showing stiffness.

Figure 13 shows the routing path of the second wire 500 for the wire mechanism for changing the stiffness of the foldable link. At this time, there are three second wires 500, and each of them can be individually driven by three second actuators 240.

For example, three second wires 500 may be respectively disposed between three foldable links 300 and connected to three second actuators 240, respectively. In addition, the first base portion 100 has a first ring member 150 disposed between each of the three foldable links 300, and the second base portion 200 has a second ring between each of the three foldable links 300. Member 250 may be disposed.

The second wire 500 is in the form of a closed loop with its start and end ends connected to the second spool 241 of the second actuator 240, and acts between the first base portion 100 and the second base portion 200. You can.

Specifically, the starting end of the second wire 500 is connected to the second spool 241 of the second actuator 240, and the end is connected to one of the first ring members 150 and the first base portion 100. The routing can be completed by sequentially passing through the inside of the other first ring member 150 and the second ring member 250 and returning to the starting point and being connected to the second spool 241.

At this time, as shown in FIG. 4, the path of the second wire 500 is guided by the first guide member 160 inside the first base portion 100, and the path of the second wire 500 is guided by the first guide member 160 inside the first base portion 100. It may not get caught on the part.

Meanwhile, as shown in FIG. 13, the tension of the routed second wire 500 can be adjusted by being wound or unwound from the second spool 241 by the operation of the second actuator 240, and thus the foldable link The rigidity of (300) can be controlled.

In addition, as shown in FIG. 13, the second wire 500 starts from the second base unit 200 and routes diagonally to the first base unit 100, thereby forming the first wire 500 as shown in FIG. 14. 2 The wire 500 serves to withstand positional displacement in the shear direction of the first base portion 100 and the second base portion 200, thereby increasing the bending rigidity of the foldable link 300. You can.

The second wire 500 maintains tension just enough not to stretch when the length of the foldable link 300 changes, and when it is necessary to adjust the rigidity of the foldable link 300, the second wire 500 is connected by applying a current to the second actuator 240. The tension can be adjusted to 500.

In addition, the automatic origin adjustment mechanism of the second wire 500 will be described with reference to FIGS. 4 and 13. In order to introduce an automatic origin adjustment mechanism, the second wire 500 may start from the second base portion 200 and form a loop along the first guide member 160 inside the first base portion 100. .

Accordingly, when the tension of the second wire 500 is low, the difference in length between both ends of the second wire 500 forming a loop is adjusted, and when the tension of the second wire 500 increases, the second wire 500 The friction force acting between and the first guide member 160 increases, which has the effect of fixing the second wire 500, thereby increasing the bending rigidity of the foldable link 300.

Figure 15 is a graph showing the results of the minimum and maximum stiffness experiments of the foldable link of the present invention, and Figure 16 is a graph showing the results of the stiffness control experiment of the foldable link of the present invention.

Figure 15 shows data obtained by applying displacement to the end point of the foldable link 300 with a linear servomotor and measuring force with a force sensor, for the case of no drive (0 kPa), pneumatic drive (230 kPa), and pneumatic and wire combined drive. Shows the results of the case experiment.

As shown in Figure 15, when not driven, the minimum stiffness is 0.04754 N/mm, when pneumatically driven, the maximum stiffness is 2.43135 N/mm, and when combined drive is 1.65304 N/mm.

That is, the foldable link 300 can linearly increase the bending rigidity of the foldable link 300 by using the air pressure and the tension of the second wire 500, and the air pressure and the tension of the second wire 500 are mutually It can be used complementary.

Also, referring to FIG. 16, using the proportional equation of the stiffness of the foldable link 300 with respect to the air pressure of the foldable link 300 and the tension of the second wire 500 for stiffness adjustment, the stiffness is determined within an average error range of about 1.5%. can be controlled.

Although one embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiment presented in the present specification, and those skilled in the art who understand the spirit of the present invention can add components within the scope of the same spirit. , other embodiments can be easily proposed by change, deletion, addition, etc., but this will also be said to be within the scope of the present invention.

1: Folding link system
100: first base portion 110: first support plate
120: first cover plate 121: first insertion portion
130: first wall 140: first actuator
141: first spool 150: first ring member
160: first guide member 170: first pulley
180: 1st bracket
200: second base portion 210: second support plate
220: second cover plate 221: second insertion portion
230: second wall 240: second actuator
241: second wall 250: second ring member
260: second guide member 270: second pulley
280: second bracket
300: folding link 310: fold line
320: Ring member
400: first wire 500: second wire

Claims (10)

First base portion;
a second base portion spaced apart from the first base portion;
a foldable link disposed between the first base portion and the second base portion and capable of being folded or unfolded;
a wire connected to the first base portion and the second base portion; and
An actuator installed on the second base portion to adjust the tension of the wire,
The wire is,
A foldable link system formed diagonally between the first base portion and the second base portion and having a wire mechanism for changing the rigidity of a plurality of foldable links arranged to cross each other. delete According to claim 1,
The wire is,
A foldable link system having a wire mechanism for changing the rigidity of a foldable link, one end of which is connected to the actuator, and the other end of which passes through the inside of the first base portion and is connected to the actuator. According to claim 3,
The first base portion,
A foldable link system comprising a plurality of rings spaced apart from each other at predetermined intervals on one side and a ring member through which the wire passes through at least one of the plurality of rings. According to claim 4,
A plurality of the folding links are spaced apart at predetermined intervals,
A foldable link system having a wire mechanism for changing the rigidity of the foldable link in which the ring members are disposed one by one between the foldable links. According to claim 3,
The first base portion,
A foldable link system having a wire mechanism for changing the rigidity of the foldable link, including a guide member disposed inside to guide the path of the wire. According to claim 1,
The first base portion,
a first cover plate on which the actuator is coupled and which has a first insertion portion into which one end of the foldable link is inserted; and
A foldable link system having a wire mechanism for changing the stiffness of a foldable link, including a first bracket connected to the first insertion part and fixing the foldable link to the first insertion part. According to claim 1,
The second base portion,
a second cover plate having a second insertion portion into which the other end of the folding link is inserted; and
A foldable link system having a wire mechanism for changing the stiffness of a foldable link, including a second bracket connected to the second insertion unit and fixing the foldable link to the second insertion unit. According to claim 1,
A foldable link system having a wire mechanism for changing the stiffness of the foldable link that adjusts the stiffness of the foldable link by controlling the tension of the wire by controlling the current of the actuator. According to claim 1,
The folding link is,
An internal space is formed through which air flows,
A foldable link system having a wire mechanism for changing the rigidity of the foldable link that adjusts the stiffness of the foldable link by adjusting the air pressure applied to the internal space of the foldable link.