KR20120013715A - Cam-cam follower type safety unit with nonlinear stiffness - Google Patents

Abstract

PURPOSE: A cam follower-type nonlinear rigidity safety unit is provided to improve a freedom of design because an installation space is minimized and cost is reduced by eliminating expensive components. CONSTITUTION: A cam follower-type nonlinear rigidity safety unit(10) comprises a housing(100), an input unit(200), an oblique actuator unit(300), a slider block unit(400), an actuating block unit(500), and an elastic block supporting unit. The input unit is movably arranged in the housing and connected to an output link. The oblique actuator unit is rotated with the input unit. The slider block unit is movably arranged inside the housing. An actuating roller unit is touched to an oblique actuator surface(340) of the oblique actuator unit. A supporting elastic unit(620) of the actuating block unit elastically supports either the actuating roller unit or the slider block unit.

Description

CAM-CAM FOLLOWER TYPE SAFETY UNIT WITH NONLINEAR STIFFNESS}

The present invention relates to a safety device, and more particularly to a safety unit of a simple structure that can be compact in a simple structure and can prevent the occurrence of a safety accident.

The demand for robots is not only for industrial use, but also for home use, and accordingly, research on robots is actively progressing. In particular, joint motion is an important part of robot motion in the robot's motion. In the prior art, the robot required a complicated structure and considerable mounting space for stiffness and position control.

These mechanical devices are generally expanding the range of use not only for industrial facilities but also for daily life, and thus securing safety is the most important design factor in designing devices such as robots. As described above, safety devices mounted on a robot or the like are classified into a passive control method and an active control method according to a method performed. The active control method detects an external shock and accordingly activates a predetermined safety device to respond to the detected external shock. Take the configuration. That is, when a collision occurs between a robot and an external object, a sensor or the like detects a collision and an intensity of collision, and transmits the same to a controller. The controller generates a predetermined control signal based on the detected signal and is provided in the safety device. The actuator operates in accordance with a predetermined control signal from the controller to execute a function corresponding to an external shock. Manual control schemes correspond to external shocks through mechanical elements, such as springs and / or dampers, for impacts input without the use of sensors and actuators.

The active control method has the advantage of being able to proactively respond to various external shocks to secure versatility, but most control cases in which the robot arm collides with an external object require considerable control time required for sensor detection and control signal output. Since the impact is greater than the physical time constraint occurring within a time of about 10 ms to 20 ms, it is difficult to achieve smooth active control.

In the case of the manual control method, there is an advantage of cost reduction, but it is difficult to control the nonlinear motion. In other words, when a manual control component such as a sprue is disposed on the robot arm, deformation occurs in proportion to the external force even when shock absorption is not required, and the weight of an object acting on the spring even when shock absorption is required. In proportion to the deflection of the robot arm, it is accompanied with the problem of securing the desired safety function and limiting the increase in design freedom.

The present invention is a safety unit of a passive control method of a simpler structure, the cam of the mechanical structure that can prevent or minimize physical damage, such as damage to the collision object or human injury by enabling a quick safe operation in the collision with the object It is an object to provide a follower type nonlinear rigid safety unit.

The present invention for achieving the above object, the housing: an input unit rotatably disposed in the housing and connected to the output link disposed on the outside of the housing; An inclined actuator portion connected to the input portion to rotate integrally and having an inclined actuator surface; A slider block portion movably disposed inside the housing; An actuating roller portion disposed on the slider block portion and in contact with the inclined actuator surface of the inclined actuator; And a block elastic support portion including a supporting elastic portion for elastically supporting any one of the actuating roller portion and the slider block portion, and when a torque of more than a preset value is input through the input portion, Provided is a cam follower type nonlinear rigid safety unit in which nonlinear rotation of an inclined actuator portion is performed.

In the cam follower type nonlinear rigid safety unit, the inclined actuator portion includes: an actuator support portion disposed in a fixed position in the housing, one end of which is rotatably disposed on the actuator support portion, and the inclined actuator surface is formed on a side of the cam follower actuator; It may also be provided with an inclined actuator link that rotates with the input.

In the cam follower type nonlinear rigid safety unit, the inclined actuator surface may be disposed on both sides of the inclined actuator link.

In the cam follower type nonlinear rigid safety unit, the inclined actuator surface disposed on both sides of the inclined actuator link may have an asymmetrical shape.

In the cam follower type nonlinear rigid safety unit, the inclined actuator surface may be provided with inclined actuator contact portions having different inclined angles.

In the cam follower type non-linear rigid safety unit, the outer side of the inclined actuator link may include a limited rotation detecting unit for detecting a rotation up to a preset limit angle of the inclined actuator link.

In the cam follower type nonlinear rigid safety unit, the limited rotation detection unit may be a limited contact rotation detection unit including a contact limit sensor.

In the cam follower type nonlinear rigid safety unit, the limited rotation detection unit may be a limited non-contact rotation detection unit including an optical sensor.

In the cam follower type nonlinear rigid safety unit, a roller stopper may be provided at a side end of the actuator support portion to prevent the actuating roller portion from moving.

In the cam follower type non-linear rigid safety unit, the inclined actuator portion: an actuator wheel rotatably supported by the housing and connected to the input portion and pivoted together, disposed to be fixed to one side of the actuator wheel, and to the side of the cam follower actuator. It may also be provided with an inclined actuator cam in which the inclined actuator surface is formed.

In the cam follower type nonlinear rigid safety unit, the inclined actuator surface may be disposed on both side surfaces of the inclined actuator cam.

In the cam follower type nonlinear rigid safety unit, the slider block portion may include: a slider block guide rail disposed in the housing, and a slider block linearly movable on the slider block guide rail.

In the cam follower type nonlinear rigid safety unit, the actuating roller portion includes: an actuating roller block disposed on the slider block portion, and rotatably disposed on the actuator block and in contact with the inclined actuator portion. It may also be provided with an actuating roller.

In the cam follower type nonlinear rigid safety unit, the block elastic support includes: a support shaft disposed in a fixed position in the housing, the support shaft is disposed through, and one end of the housing contacts the slider block. The slider block portion may be elastically supported.

In the cam follower type nonlinear rigid safety unit, the block elastic support portion: a support shaft having one end positioned and fixed to the housing, one end disposed at the actuating roller portion, and the other end of the support shaft. A support corresponding shaft disposed opposite to the other end and arranged on the same line as the support shaft, one end of which is disposed on the support shaft side, the other end of which is disposed on the support corresponding shaft side, the support shaft is disposed through, and one end of the housing The other end may be in contact with the slider block portion to elastically support the actuating roller portion.

The cam follower type nonlinear rigid safety unit according to the present invention having the configuration as described above has the following effects.

First, the cam follower type nonlinear stiffness safety unit according to the present invention maintains rigidity below a predetermined size, but collides with an external object through a nonlinear stiffness characteristic that performs a torque absorbing function when a torque of a predetermined size or more is applied. Safety can be achieved.

Secondly, the cam follower type nonlinear rigid safety unit according to the present invention is manufactured by eliminating actuators such as motors, which are separate expensive components, by the safety unit of the nonlinear rigidity characteristic through a manual control component that overcomes physical constraints. Can be significantly reduced.

Third, the cam follower type nonlinear rigid safety unit according to the present invention has a cam follower type nonlinear rigid safety by minimizing the installation space through a compact configuration such as an inclined actuator portion, a slider block portion, an actuating roller portion, and a block elastic support portion. It is also possible to enhance the ultimate freedom of design and space of the device or space in which the unit is mounted.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

1 is a schematic perspective view of a cam follower type non-linear rigid safety unit according to one embodiment of the invention.
2 is a schematic exploded perspective view of a cam follower type non-linear rigid safety unit according to an embodiment of the present invention.
3 is a schematic partial perspective view of a cam follower type non-linear rigid safety unit according to one embodiment of the invention.
4 to 6 are partial plan views showing an operating state of a cam follower type nonlinear rigid safety unit according to an embodiment of the present invention.
7 is a conceptual diagram of an operating state in the inclined actuator surface of the cam follower type nonlinear rigid safety unit according to an embodiment of the present invention.
8 and 9 are state diagrams during operation of the inclined actuator surface and the actuating roller of the cam follower type nonlinear rigid safety unit according to an embodiment of the present invention.
10 is a state diagram according to the inclination angle of the inclined actuator surface of the cam follower type nonlinear rigid safety unit according to an embodiment of the present invention.
11 and 12 are operational state diagrams for a plurality of different inclined actuator surfaces of inclined actuator links of a cam follower type nonlinear rigid safety unit according to an embodiment of the present invention.
FIG. 13 is a schematic configuration diagram of an asymmetric inclined actuator surface formed on both sides of an inclined actuator link of a cam follower type nonlinear rigid safety unit according to an embodiment of the present invention.
14 and 15 are operational state diagrams for the roller stopper of the cam follower type non-linear rigid safety unit according to an embodiment of the present invention.
16 is a state diagram for the limited rotation detection unit of the cam follower type non-linear rigid safety unit according to an embodiment of the present invention.
17 is a schematic partial perspective view of the limited contact rotational movable portion of the limited rotation detection unit of the cam follower type nonlinear rigid safety unit according to an embodiment of the present invention.
18 is a schematic partial perspective view showing an operating state of the limited rotation detection unit of the cam follower type nonlinear rigid safety unit according to an embodiment of the present invention.
19A is a schematic perspective view of a cam follower type non-linear rigid safety unit according to another embodiment of the present invention.
19B is a schematic exploded perspective view of a cam follower type non-linear rigid safety unit according to another embodiment of the present invention.
20 is a partial perspective perspective view of a cam follower type non-linear rigid safety unit according to another embodiment of the present invention.
21 and 22 are schematic partial plan views showing an operating state of a cam follower type nonlinear rigid safety unit according to another embodiment of the present invention.
23 is a schematic perspective view of a housing base of a cam follower type nonlinear rigid safety unit according to another embodiment of the present invention.
24 is a schematic perspective view illustrating a mounting state of an input unit base, an actuator wheel, and an inclined actuator cam of a cam follower type nonlinear rigid safety unit according to another embodiment of the present invention.
25 is a schematic partial plan view of a block elastic support and slider block portion and an actuating roller portion of a cam follower type nonlinear rigid safety unit according to another embodiment of the present invention.
FIG. 26 is a schematic partial plan view of another example of the limited contact rotation detection unit of the cam follower type nonlinear rigid safety unit according to an embodiment of the present invention.
FIG. 27 is a schematic partial side view of the limited contact rotation detection unit of FIG. 26.

Hereinafter, a cam follower type nonlinear rigid safety unit according to the present invention will be described with reference to the drawings.

1 is a schematic perspective view of a cam follower type nonlinear rigid safety unit according to an embodiment of the present invention, and FIG. 2 is a schematic exploded perspective view of a cam follower type nonlinear rigid safety unit according to an embodiment of the present invention. 3 is a schematic partial perspective view of a cam follower type nonlinear rigid safety unit according to an embodiment of the present invention, and FIGS. 4 to 6 show a cam follower type nonlinear rigid safety according to an embodiment of the present invention. A partial plan view showing the operating state of the unit is shown, and FIG. 7 shows a conceptual diagram of the operating state on the inclined actuator surface of the cam follower type nonlinear rigid safety unit according to one embodiment of the invention, and FIGS. 8 and 9 The inclined actuator surface and the actuating roller of the cam follower type nonlinear rigid safety unit according to an embodiment of the present invention FIG. 10 is a state diagram showing the operation, and FIG. 10 is a state diagram according to the inclination angle of the inclined actuator surface of the cam follower type nonlinear rigid safety unit according to an embodiment of the present invention, and FIGS. An operating state diagram of a plurality of different inclined actuator surfaces of inclined actuator links of a cam follower type nonlinear rigid safety unit according to an embodiment is shown, and FIG. 13 shows a cam follower type nonlinear rigid safety unit according to an embodiment of the present invention. A schematic configuration diagram of an asymmetric inclined actuator surface formed on both sides of the inclined actuator link is shown, and FIGS. 14 and 15 show an operating state of the roller stopper of the cam follower type nonlinear rigid safety unit according to an embodiment of the present invention. 16 shows a cam follower type nonlinear stiffness according to an embodiment of the present invention. A state diagram for the limit rotation detection unit of the safety unit is shown, and FIG. 17 is a schematic partial perspective view of the limit contact rotation moving unit of the limit rotation detection unit of the cam follower type nonlinear rigid safety unit according to an embodiment of the present invention. FIG. 18 is a schematic partial perspective view showing an operating state of a limited rotation detection unit of a cam follower type nonlinear rigid safety unit according to an embodiment of the present invention, and FIGS. 19A and 19B show another embodiment of the present invention. A schematic perspective view and an exploded perspective view of a cam follower type nonlinear rigid safety unit according to an example are shown, and FIG. 20 is a partial projection perspective view of a cam follower type nonlinear rigid safety unit according to another embodiment of the present invention, and FIG. 21. And FIG. 22 shows an operating state of a cam follower type nonlinear rigid safety unit according to another embodiment of the present invention. A schematic partial plan view is shown, wherein FIG. 23 is a schematic perspective view of a housing base of a cam follower type non-linear rigid safety unit according to another embodiment of the invention, and FIG. 24 is another embodiment of the invention. Fig. 25 is a schematic perspective view showing the mounting state of the input base and the actuator wheel and the inclined actuator cam of the cam follower type nonlinear rigid safety unit according to the present invention, and FIG. 25 shows the cam follower type nonlinear rigid safety unit according to another embodiment of the present invention. A schematic partial plan view of a block elastic support portion and a slider block portion and an actuating roller portion of FIG. 26 is shown, and FIG. 26 illustrates another limited contact rotation detection unit of a cam follower type nonlinear rigid safety unit according to an embodiment of the present invention. A schematic partial plan view is shown and FIG. 27 shows the limiting contact of FIG. 26. A schematic partial side view of the tilt detector is shown.

The cam follower type nonlinear rigid safety unit 10 according to the present invention maintains the same rigidity as a single rigid body when an external force of less than a predetermined value is applied, but executes a bending function on the external force when an external force of a predetermined value or more is applied. By causing a change in appearance, it implements a function to prevent breakage or injury when contacting an external object or a person.

The cam follower type nonlinear rigid safety unit 10 according to an embodiment of the present invention includes a housing 100, an input unit 200, an inclined actuator unit 300, a slider block unit 400, and an actuating block unit 500. ) And the block elastic support unit 600, the input unit 200, the inclined actuator unit 300, the slider block unit 400, the actuating block unit 500, and the block elastic support unit 600 may include a housing 100. ) And stably arranged on the outside of the housing 100, the output link 1 is shown as a simple straight link in this embodiment, but may be another separate object External forces are input to the nonlinear rigid unit 10 through the input unit 200 due to collision with an obstacle, an object, or a person.

The housing 100 includes a housing cover 110 and a housing base 120. The housing cover 110 and the housing base 120 mesh with each other to form an internal space, and other components are stably provided in the internal space. Is placed. A cover through hole 111 is disposed on one surface of the housing cover 110, and a part of the input unit 200 described below is disposed through the cover through hole 111 to expose the input unit 200 and the output unit, that is, the output link. Connection with (1) is possible. The housing base 120 may be implemented in a predetermined plate type, and the housing base 120 may have a configuration in which the following components are fixedly disposed.

The input unit 200 is rotatably disposed in the housing 100 and is connected to an output link disposed outside the housing 100. The input unit 200 is inclined to which one end is connected to the output link 1 and the other end is described below. Connected to the actuator unit 300, when excessive torque is applied from the outside, it is transmitted to other components, that is, the inclined actuator 300 and slider block 400 and the actuator 500 and the block elastic support 600 To implement a predetermined nonlinear rigid support and safety function.

The input unit 200 has an input base 210 and an input shaft 220, the input base 210 consisting of a plate having a predetermined radius and the input shaft 220 extends from one surface of the input base 210. Taking the structure to be formed, the input shaft 220 passes through the cover through hole 111 of the housing cover 110 and takes the structure connected to the external output link (1). An input base mounting unit 211 is disposed on the input base 210, and the input base mounting unit 211 is connected to the input unit 210 and the inclined actuator 300 to be described below.

The inclined actuator 300 is connected to the input unit 200 and can be integrally rotated, and has an inclined actuator surface 340 at an end thereof. The inclined actuator 300 is configured to include the actuator support 310 and the inclined actuator link 320 in the present embodiment, the actuator support 310 is disposed fixed to the housing 100, One end of the inclined actuator link 320 is rotatably disposed on the actuator support part 310, and an inclined actuator surface 340 is formed on a side thereof and rotates together with the input part 200. The actuator support 310 has an actuator support body 311, an actuator support connection 313, and an actuator support base 315, the actuator support base 315 being the housing 100, more specifically the housing base 120. On one side of the, is fixedly disposed on one side toward the inner space formed with the housing cover 110. The actuator support body 311 is disposed on an inner space formed by the housing cover 110 and the housing base 120. An actuator support connection part 313 is disposed at both ends of the actuator support body 311. One end of the actuator support connecting portion 313 is connected to the actuator support body 311 and the other end is connected to the actuator supporting base 315, the actuator supporting connecting portion 313 is the actuator supporting body 311 and the actuator supporting base 315. By taking a structure that is perpendicular to the plane of the to prevent interference with other components and to form a stable position structure of the actuator support body 311 in the interior space of the housing 100. In the present embodiment, the actuator support body 311 of the actuator support 310 is implemented in a strip type, but as an example of the present invention, various configurations are possible in a range that excludes interference with other components.

The inclined actuator link 320 is rotatably mounted on the actuator support 310. The inclined actuator link 320 includes a inclined actuator link through hole 321, and the inclined actuator link 320 forms a rotatable structure having a predetermined angle range around the inclined actuator link through hole 321. The inclined actuator part 300 includes an inclined actuator rotating part 330, and the inclined actuator rotating part 330 protrudes on one surface of the actuator supporting part body 311 of the actuator supporting part 310. In the present embodiment, the inclined actuator rotating part 330 and the actuator supporting body 311 are formed separately from each other, but in some cases, the inclined actuator rotating part 330 may be integrally formed with the actuator supporting body 311. Various configurations are possible.

The inclined actuator rotating part 330 is disposed to protrude toward the inclined actuator link 320 and is disposed through the inclined actuator link through hole 321. In this case, in order to ensure smooth rotation of the inclined actuator link 320, the inclined actuator link bearing 323 may be disposed between the inclined actuator link 320 and the inclined actuator pivot 330. The inclined actuator linking part 323 is disposed in the inclined actuator link through hole 321, and the inclined actuator rotating part 330 is disposed in the link bearing through hole 325 formed in the inclined actuator link bearing 323. Therefore, a smooth relative rotational movement between the inclined actuator rotating part 330 and the inclined actuator link 320 disposed and fixed on the actuator support body 311 may be performed. In the present embodiment, the inclined actuator link bearing 323 is implemented as a simple journal bearing type, but various configurations may be selected according to design specifications.

The inclined actuator surface 340 is formed on the outer surface to the end of the inclined actuator link 320, which is an actuator roller disposed on the slider block 400 which is elastically supported by the block elastic support 600, which will be described later Takes a structure in contact with the portion 500, the inclined actuator surface 340 is possible in various configurations according to the design specifications. The actuating roller portion 500 is moved along the profiling of the inclined actuator surface 340 to form a predetermined support rigid deformation state.

Inclined actuator surface 340 according to an embodiment of the present invention can take a configuration that is disposed on both sides of the end of the inclined actuator link 320, through this configuration as well as rotation in one direction, as well as rotation in both directions The nonlinear rigid support function can be realized. That is, even when the counterclockwise rotation of FIG. 5 and the clockwise rotation of FIG. 6 are rotated from the neutral position of FIG. 4, the ultimate output is caused by the contact with the actuating roller part 500 and the elastic support through the block elastic support 600. It is possible to form a nonlinear rigid support structure for the link 1.

In addition, when the inclined actuator surface 340 according to the present embodiment is disposed on both sides of the end of the inclined actuator link 320, respectively, their shape may take a symmetrical structure, as shown in the present embodiment It may be provided. That is, each of the inclined actuator surfaces 340 (340r, 340l) formed on the right and the left (see FIG. 4) of the inclined actuator link 320 has an outer surface of a different shape to each actuator roller portion 500. It is also possible to form different nonlinear stiffness characteristics for each of the left and right rotations by forming different profiling that is formed upon contact with).

In particular, when the inclined actuator surface 340 is formed to have an asymmetrical characteristic with respect to both left and right ends, the inclined actuator contact portions 341 and 343 have different inclined angles with respect to the individual inclined actuator surfaces 340 and 340r and 340l. do. The inclined actuator portions 341 and 343 are implemented in a straight type in this embodiment. In this embodiment, the inclined actuator portions 341 and 343 include a first inclined actuator portion 343 and a second inclined actuator portion 341.

When the inclined actuator link 320 is disposed in the neutral position, the longitudinal segment passing through the rotational center O of the inclined actuator link 320 is called line OO and is longitudinally parallel to the first inclined actuator contact portion 343. When the line segment is called line AA and the longitudinal line segment parallel to the second inclined actuator contact portion 341 is called line BB, the angle between line OO and line AA is α, and the angle between line OO and line BB is α. Is β and forms a relationship of α> β. Undesirable external obstacles or people by forming an abrupt angle change upon contact between the inclined actuator contact potion and the actuating roller portion, thereby forming a bent phenomenon of the input unit that causes a sudden angle change when a predetermined purpose, i.e., a preset torque is input. The risk of damage or injury from contact with the agent may be significantly reduced.

The slider block 400 is arranged in the housing 100 to be movable, more specifically, to be linearly movable, and the slider block 400 is provided with an actuating roller 500. The slider block 400 includes a slider block guide rail 410 and a slider block 420. The slider block guide rail 410 is implemented as a straight guide rail, so that the housing 100, specifically, the housing base 120 In one surface of the housing cover 110 and the housing base 120 is positioned and fixed toward the inner space formed. A base rail mounting portion 121 is formed on one surface of the housing base 120, and the slider block guide rail 410 is fixedly mounted on the base rail mounting portion 121. The slider block 420 is movably disposed on the slider block guide rail 410, and the slider block guide rail on which the slider block 420 moves when the inclined actuator link 320 forms a bilateral rotational motion ( 410 is preferably disposed so as to pass through the center of rotation (O) of the inclined actuator link 320 of the inclined actuator portion (300).

Actuating roller portion 500 is disposed on slider block 400, more specifically slider block 420, and the inclined actuator surface of inclined actuator portion 300, more specifically inclined actuator link 320 ( 340 is contactable. The actuating roller part 500 includes an actuating roller block 510 and an actuating roller 520. In the present embodiment, the actuating roller block 510 is positioned and fixed on the slider block 420. In some cases, the actuating roller block 510 and the slider block 420 are formed in a unitary structure. Various configurations are possible according to design specifications, such as may be taken.

The actuating roller block 510 has a “?” Shape in this embodiment, and includes an actuating roller block body 513 and an actuating roller block extension 515. The actuating roller block extension 515 is formed to extend from the lower surface of the actuating roller block body 513 mounted to the slider block 410 and disposed horizontally. The outer surface of the slider block 420 is formed with an actuating roller. The block body 513 and the actuating roller extension 515 are housed in the slider block receiving portion 517 formed. By taking such a structure, a more rigid mounting structure can be formed between the actuating roller block 510 and the slider block 420.

The actuating roller 520 is rotatably disposed on the actuating roller block 510. The actuating roller 520 has an actuating roller shaft 521 on one side and takes a structure that can be rotated around the actuating roller shaft 521. An actuating roller block body through hole 511 is disposed on one surface of the actuating roller block body 513 on the outer side of the corresponding area of the slider block receiving portion 517. One end is positioned and fixed to the actuating roller block body through hole 511. Through such a structure, the actuating roller 520 has a structure in contact with the inclined actuator link 320 supported by the actuator support 310.

The block elastic support part 600 elastically supports the slider block part 400, and is positioned and fixed to the block elastic housing 100, more specifically, the housing base 120. The block elastic support part 600 includes a support shaft 610 and a support elastic part 620. In this embodiment, the support shaft 610 is disposed in the housing 100 through the support bridge 630. That is, the support bridge 630 is disposed on one surface of the housing base 120, and the support bridge 630 is disposed in parallel with each other, and the support shaft 610 is disposed between the pair of support bridges 630. Is placed. The support shaft 610 is arranged in a pair parallel to each other, the longitudinal direction of the support shaft 610 and the longitudinal direction of the support bridge 630 forms an arrangement structure perpendicular to each other and both ends of the support shaft 610 is a support bridge ( The support 630 is spaced apart from one surface of the housing base 120. The support elastic portion 620 provides a predetermined elastic force. In this embodiment, the support elastic portion 620 is implemented as a coil spring type and is disposed to penetrate the support shaft 610. One end of the support elastic portion 620 is supported by one side of the support bridge 630 and the other end of the support elastic portion 620 is elastically supported by the actuating roller block 510. That is, the length of the slider block guide rail 410 between one or more of the actuating roller block 510, more specifically the actuating roller block body 513 and the actuating roller block extension 515. Actuating roller shaft through-hole 519 is formed in the direction, that is, along the longitudinal direction of the support shaft 610, the support shaft 610 is disposed through the actuating roller shaft through-hole 519 The other end of the support elastic portion 620 has a structure that is supported by the side of the actuating roller block 510. Accordingly, the support elastic portion 620 provides the elastic force so that the actuating roller block 510 is separated from the support bridge 630 where one end of the support elastic portion 620 contacts by the applied initial stiffness, thereby ultimately providing ultimate elasticity. The slider block 420 disposed on the actuating roller block 510 is elastically supported to maintain a maximum separation distance from the support bridge 630 where one end of the support elastic portion 620 is in contact, thereby actuating the actuator. Actuating rollers 520 disposed on the rolling roller block 510 form a neutral state forming a contact state with the inclined actuator link 320 (see FIG. 4).

The cam follower type nonlinear rigid safety unit 10 of the present invention may have a structure that further includes a limited rotation detection unit that executes a sensing function in some cases. In this embodiment, the limited rotation detection unit 700 is provided. Explain based on. The limited rotation detection unit 700 is disposed outside the inclined actuator link 30 and detects whether the inclined actuator link 320 is rotated up to a preset limit angle. The limited rotation detection unit 700 is implemented to include a limited contact rotation detection unit which is a contact sensor in the present embodiment, and the limited contact rotation detection unit includes a contact limit sensor and the like. As shown in FIGS. 16 to 18, the limited rotation detection unit 700 includes a limited contact rotation detection unit 710 (710u, 710d) and a limited contact rotation moving unit 720 (720ua, 720ub, 720da, 720db). . The limited contact pivot movable portion 720 is disposed at the end side of the inclined actuator link 320. The inclined actuator link 320 according to the present embodiment is implemented in two plate types. That is, the inclined actuator link 320 includes the inclined actuator link first portion 320a and the inclined actuator link second portion 320a. The inclined actuator link first portion 320a and the inclined actuator link second portion 320a. ) Are arranged parallel to each other. At the end of the inclined actuator link first portion 320a and the inclined actuator link second portion 320a, a limited contact pivot movable portion 720 is disposed; 720ua, 720ub, 720da, 720db, respectively, a limited contact pivot movable portion 720; 720ua , 720ub, 720da, 720db includes a limited contact pivot movable first part 720u; 720ua, 720ub and a limited contact pivot movable second part 720d; 720da, 720db. The limited contact pivoting movable first portions 720u; 720ua, 720ub and the limited contact pivoting movable second portions 720d; 720da, 720db form a symmetrical arrangement structure with each other. That is, the limited contact rotational movable first portions 720u and 720ua and 720ub form a contact state with the limited contact rotation detection unit 710u when the inclined actuator link 320 rotates in one direction, thereby limiting the rotational rotation detection unit ( The contact state of the limited contact rotational operation first pressurizing portion 720ua and the limiting contact rotation detection portion 710u when the inclined actuator link 320 is rotated in the opposite direction to operate the 710u to form an ON state. Limit contact rotational operation first releasing unit 720ua for switching off the limiting contact rotation detection unit 710u to the OFF state, wherein the limiting contact rotational operation first releasing unit 720ua starts to release. Part 721ua, release progression part 723ua, and release restriction part 725ua. When the inclined actuator link 320 is disposed at the neutral position, the limited contact rotation detecting unit 710u forms a contact state with the release initiation unit 721ua, and the limited contact rotating detection unit 710u forms an on state. When the inclined actuator link 320 rotates in the counterclockwise direction, the limited contact rotation detecting unit 710u contacts the release progressing unit 723ua to release the pressurized state and switches the off state, and the inclined actuator link 320 continues. In the case of rotating in the counterclockwise direction, the limited contact rotation detecting unit 710u is switched to the pressed state again by making contact with the release limiting unit 725ua. That is, the limited contact rotation detection unit undergoes a process of switching from the on state to the off state again by the counterclockwise rotation, so that the signal change from the limited contact rotation detection unit is changed to another controller (not shown). It is determined whether or not the rotation progresses to a predetermined limit range and is transmitted, and based on this, excessive torque input through the output link and the input unit can be prevented.

The limited contact pivoting movable second part 720d; 720da, 720db detects the limited contact pivoting when the inclined actuator link 320 is rotated in the opposite direction as opposed to the limited contact pivoting movable first part 720u; 720ua, 720ub. The limited contact rotationally movable second pressing portion 720da and the inclined actuator link 320 that form a contact state with the portion 710d to operate the limit contact rotation detection unit 710d to form an ON state are in one direction. It includes a limit contact rotational movable second release unit 720da for releasing the contact state with the limit contact rotation detection unit 710d when it is rotated to switch the limited contact rotation detection unit 710d to the OFF state, The operation process of the limited contact rotation detection unit 710d through interaction with them is the same as that of the limited contact rotation detection unit 710u and is set in the opposite direction. With this structure, it is possible to block the possibility of a safety accident that may occur due to the deviation of the cam follower type nonlinear rigid safety unit due to excessive rotation in one or two directions.

In the above embodiment, the limited contact rotation detection unit has been described as forming an on state when pressurized, but various modifications are possible according to design specifications, such as being configured to form an off state when pressurizing. That is, in the above embodiment, the limited rotation detection unit is implemented as a contact limit switch, but the limited rotation detection unit of the present invention may be implemented as a non-contact sensor, in a range that executes a function of detecting whether to operate to a preset limit angle. Various variations are possible. For example, the limited rotation detection unit may be implemented as a limited non-contact rotation detection unit 710 ′ (see FIGS. 26 and 27) including an optical sensor, and a separate printed circuit board 20 ′ disposed inside the housing 100. ) Is disposed on. At the end of the inclined actuator link 320 ′, a limiting non-contact pivot movable portion 720 ′ is disposed, which may take a structure extending from the end of the inclined actuator link. The limited non-contact rotation detection unit 710 ′ of the optical sensor type is disposed to face the light emitting unit and the light receiving unit (see FIG. 27), and the limited non-contact rotation detection unit 710 ′ is a position corresponding to a preset limit angle of the inclined actuator link. Preferably, the present invention is not limited thereto. The limited non-contact rotation movable part 720 'is movable between the light emitting part and the light-receiving part of the limited non-contact rotation detection part 710' of the optical sensor type so as to be movable and arranged so that the inclination of the inclined actuator link up to the preset limit angle is prevented. It can be detected quickly and accurately.

In addition, a component for preventing the cam follower type nonlinear rigid safety unit 10 from being damaged due to excessive rotation due to the input of torque through the output link 1 and the input unit 200 may be further provided. 14 and 15, a roller stopper 317 is provided at one end of the actuator support part 310 in which the inclined actuator link 320 is disposed, and the roller stopper 317 is a receiving groove in this embodiment. Implemented by type The roller stopper 317 prevents interference with other components when the actuating roller 520 moves linearly by the rotation of the inclined actuator link 320 in the counterclockwise or clockwise direction of FIGS. 14 and 15. Damage to other components, such as damage to the block elastic support, such as damage due to overpressure of the support elastic portion 620 due to excessive movement. In the present embodiment, the roller stopper 317 is implemented as a simple receiving groove type, but may be implemented as a roller stopper pad (not shown) formed of an elastic material to prevent damage due to contact between the actuating roller and the actuator support. It may be.

Hereinafter, an operation process of the cam follower type nonlinear rigid safety unit 10 according to an embodiment of the present invention will be described with reference to the embodiments and drawings.

First, as shown in FIG. 4, when the rigidity resistance due to contact with an obstacle or the like does not occur in the output link 1 (see FIG. 1), the inclined actuator part 300 of the cam follower type nonlinear rigid safety unit 10 is included. The inclined actuator link 320 of the occupies a neutral position and maintains a neutral state. At this time, the actuating roller 520 of the actuating roller unit 500 maintains contact with both sides of the inclined actuator link 320 and rigidly supports the inclined actuating link 320 and ultimately the inclined actuator. A rigid support state, that is, a static equilibrium state, with the input unit 200 and the output link 1 connected to the setting link 320 is formed. When the torque required for releasing the static equilibrium state of the inclined actuator link 340 is called a threshold torque, the threshold torque supports the actuating roller portion 500 and is implemented by a coil spring. Is determined by the stiffness of the support elastic portion 600, the initial compression distance, and the inclination angle of the inclined actuator surface 340, and is inclined only when the external force applied to the inclined actuator link 320, that is, the external torque is greater than or equal to the threshold torque. Rotation of the actuator link 320 ultimately results in the operation of the cam follower type nonlinear rigid safety unit 10 resulting in shock absorption.

Inclined actuator surface formed on the left side of the inclined actuator link 320 when the anti-clockwise rotation of the inclined actuator link 320 is made due to contact with external objects such as obstacles through the output link (1) and the input unit (200) The 340 and the actuating roller 520 form a contact state. At this time, the actuating roller 520 is disposed on the actuating roller block 510 disposed on the slider block 420 and the slider block 420 is supported by an elastic force by the block elastic support 600. When an external force greater than the stopping force of the support elastic portion 620 of the block elastic support 600 is continuously applied to the inclined actuator link 320, the torque applied to the inclined actuator link 320 is inclined. When a critical torque is reached that initiates rotation of the actuator link 320, the inclined actuator link 320 presses the actuating roller 520 to slider the actuating roller block 510 and the slider block 420. By linearly moving downward along the block guide rail 410 (in the drawing), the inclined actuator link 320 forms a rotation state in the counterclockwise direction.

In this case the contact state between the left inclined actuator surface 340 of the inclined actuator link 320 and the actuator roller 520 is conceptually shown in FIG. 7. The inclined actuator surface 340 and the actuating roller 520 formed on the side of the inclined actuator link 320 form an inclined contact state with each other, and the actuating roller 520 ultimately forms an actuating roller block ( As the structure elastically supported by the support elastic portion 620 of the block elastic support 600 supported by the 510 is conceptually shown, the contact point of the inclined actuator surface 340 and the actuating roller 520 ( P) has an inclination angle α indicated by reference numeral α with respect to the x axis with respect to the coordinate axis xy of the reference point O1, the inclined actuator link 320 at the contact point P of the inclined actuator surface 340. The external force F 'is transmitted to the actuating roller 520 and this external force is transmitted to the supporting elastic portion 620. At this time, as shown in Figure 8, the reaction force (Fs) is formed in the support elastic portion 620 to limit the rotation of the inclined actuator link 320 and form a static equilibrium state. However, when the torque (T) due to the external force input through the inclined actuator link 320 exceeds the threshold torque, as shown in Figure 9, the support elastic portion 620 is compressed out of the static equilibrium state while being inclined actuator The link 320 forms a rotational state so that the rotation angle θ is increased and absorbs the impact force due to external torque input through the inclined actuator link 320.

Out of this static equilibrium state, the critical torque applied to the inclined actuator link 320 is also associated with the stiffness of the support elastic portion 520, which is embodied as a coil spring as described above, and also with the inclination angle α. 10 is a cam follower type nonlinear according to a change in the inclination angle α formed by the inclined actuator surface 340 of the inclined actuator link 320 of the cam follower type nonlinear rigid safety unit 10 according to an embodiment of the present invention. A diagram showing the output stiffness of the rigid safety unit 10 is shown. That is, as the inclination angle α is increased, the sensitivity of the inclination actuator link 320 with respect to the rotation angle θ is increased, and even if the rotation angle θ is slightly increased, the rigidity is rapidly decreased. In the case of the cam follower type nonlinear rigid safety unit 10 according to the present embodiment, the sensitivity characteristic of the inclination angle is substantially different from the inclination angle α based on 25 °. That is, as shown in FIG. 10, when the inclination angle α is larger than the case of 13 ° to 25 °, such as a sharp attenuation curve in the case of 25 ° to 40 °, the cam follower is larger when the inclination angle α is larger. The result is a drastic reduction in the rigidity of the output link connected with the type nonlinear rigid safety unit 10 and an increase in the shock absorbing force.

In addition, various variations in the rigidity change function may be formed using the change in the inclination angle α. That is, as shown in Fig. 11 and Fig. 12, the inclined actuator contact portions 340a and 340b may be provided with inclined actuator surfaces having different inclined angles as described in the above embodiments, and each inclined actuator The contact portions 340a and 340b have different inclination angles α; α1 and α2. In this embodiment, the inclination angle formed by the inclined actuator contact portion 340a indicated by reference numeral 340a is denoted by α1, and the inclination angle formed by the inclined actuator contact portion 340a denoted by reference numeral 340b denoted by reference numeral α2. In this case, the two inclination angles form a relationship of α1 <α2. The support elastic portion 620 has a predetermined initial spring stiffness, so that the reaction force of Fs proportional to the displacement acts on the inclined actuator surface. The inclined actuator surface 340 and the inclined actuator are rotated by counterclockwise rotation of the inclined actuator link 320. Due to the sudden increase in the inclination angle α at the contact point of the gating roller 520 over the boundary point c, the rigidity of the input and output links connected to the inclined actuator link relative to the rotation angle of the inclined actuator link is abruptly degraded. By forming the impact force due to a collision with an external object or the like can be absorbed. The stiffness variation of the cam follower type nonlinear rigid safety unit 10 according to the present embodiment is inclined actuator contact potion having an asymmetric shape on both sides of the inclined actuator surface 340 and having a plurality of different inclined angles on at least one side. For example, in FIG. 13, the left inclined actuator surface of the inclined actuator link has a single inclination angle αccw, and the right inclined actuator surface includes a plurality of inclination angles αcw1 and αcw2. Various operating conditions of the cam follower type nonlinear rigid safety unit can be formed by forming various changes in the critical torque.

In the above embodiment, the inclined actuator unit has been described in the case of having a link type inclined actuator link, but may be implemented as a cam type without having a separate longitudinal link. 19A to 25 show a cam follower type nonlinear rigid safety unit 10a having a cam type inclined actuator portion according to an embodiment of the present invention, the same reference numerals being assigned to the same components as in the previous embodiment. The description is replaced by the above, and will be described below with emphasis on the differences.

Other components are disposed in the inner space formed by the housing cover 110a and the housing base 120a of the housing 100a, and the base rail mounting portion 121a is disposed on one inner surface of the housing base 120a. The housing base 120a (see FIG. 23) may have a structure in which one surface is open and the other surface is closed, but the housing base 120a according to the present embodiment includes a housing base bridge 122a disposed across the body on the rim. The base rail mounting portion 121a is disposed at one surface side of the housing base bridge 122a, which forms an inner space together with the housing cover 110a. The slider block guide rail 410 is disposed on the base rail mounting portion 121a, and the slider block 420 is disposed on the slider block guide rail 410. The inclined actuator unit 300a according to the present embodiment includes an actuator wheel 310a and an inclined actuator cam 320a (see FIG. 24). The actuator wheel 310a is supported by the housing 100, more specifically, by the housing cover 110a so as to be rotatable, and is connected to the input unit 200a to rotate together. The input unit 200a includes an input unit cover 210a and an input unit base 220a. In this embodiment, the actuator wheel 310a is integrally connected to the input unit base 220a (see FIG. 24). The input part cover 210a has a structure that is exposed to the outside of the housing 100a and is connected to an output side such as an external output link (not shown), and the input part base 220a is formed inside the housing 100a. In this embodiment, the actuator wheel 310a has a structure extending to the outer circumference of the input unit base 220a to form a structure that moves together with the input unit base 220a. The inclined actuator cam 320a is positioned and fixed on one surface of the housing 100 toward one side of the actuator wheel 310a (see FIG. 24). The inclined actuator cam 320a is disposed on the side of the inclined actuator cam 320a. 340a) is formed. The inclined actuator surface 340a formed on the outer surface of the inclined actuator cam 320a forms a contact state with the actuating roller portion 500a, and the actuating roller 500a is the actuating roller block 510a. And an actuating roller 520a. The actuating roller 520a is disposed on the actuating roller 510a so as to be rotatable and forms a structure in contact with the inclined actuator surface 340a. The inclined actuator surface 340a has a structure that is disposed on both sides of the inclined actuator cam 320a, and may have a symmetrical structure and are configured only on one side or on both sides as in the previous embodiment to form an asymmetrical shape or Various configurations are possible, depending on the design specification, such as having a structure having a plurality of inclined actuator contact portions having different inclination angles on the same side. Actuating roller 520a is disposed on actuating roller block 510a, actuating roller block 510a is disposed on slider block 420 as in the previous embodiment and slider block 420 is It takes a structure that is linearly movable on the slider block guide rail 410 disposed on the base rail mounting portion 121a disposed on one inner surface of the housing base 120a, and the slider block 420 is attached to the block elastic support 600a. A structure that is elastically supported by this is taken, which is the same as in the previous embodiment. However, in the present embodiment, the block elastic support part 600a further includes a support corresponding shaft 611a in addition to the support shaft 610a and the support elastic part 620a. The support shaft 610a and the support correspondence shaft 611a according to the present exemplary embodiment are arranged on the same line in the longitudinal direction, and one end of the support shaft 610a is positioned and fixed to the side of the housing base 120a. One end of the support mating shaft 611a is disposed fixed to the actuating roller block 510a. Each of the other ends of the support shaft 610a and the support corresponding shaft 611a face each other and are arranged to be spaced apart from each other. The support elastic portion 620a has one end disposed on the side of the support shaft 610a to support the elasticity. The other end of the portion 620a is disposed on the side of the support corresponding shaft 611a to take the structure of elastically supporting the actuating roller block 510a in the housing base 120a. The two are spaced apart from each other at opposite ends of the support shaft 610a and the support mating shaft 611a in the absence of external torque through the output link and the input (see FIG. 21), but one side from the static equilibrium. When the rotation occurs, the separation distance d (see FIG. 25) between the support shaft 610a and the support correspondence shaft 611a is narrowed, and the support shaft 610a and the support correspondence shaft are compressed when the support elastic portion 620a is compressed. 611a may perform the guide function of the support elastic part 620a (refer FIG. 22). In the case of the maximum rotation state through the output link and the input part, the opposite ends of the support shaft 610a and the support corresponding shaft 611a form a contact state with each other to execute a stopper function, thereby preventing excessive rotation of the input part and the output link. This may prevent loss of elastic support of the block elastic support or damage to other components.

In the present embodiment, the input unit 200a connected to the output side (output link) forms a rotational motion on one surface of the housing 100a, and the inclined actuator wheel 310a connected thereto rotates together with the inclined actuator cam 320a to actuate the actuator. It is transmitted to the putting roller 520 and the actuating roller 520 is elastically supported through the slider block 400, the actuating roller block 510a and the block elastic support 600a, the input and the actuating wheel In order to ensure smooth rotation of the bearing 230 may be further disposed between the input cover and the input base. In this way, when a torque equal to or greater than a predetermined value is applied through the input unit side, buckling is performed to one side, thereby ensuring a predetermined safety function.

As described above, the cam follower type nonlinear rigid safety unit according to the present invention is a block elastic support portion when a torque equal to or greater than a predetermined value is input through the inclined actuator portion, the slider block portion, the actuating roller portion, and the block elastic support portion. The non-linear rotation through the deformation of the support elastic portion can be secured a predetermined safety function, the limited rotation detection unit may be implemented as a magnetic sensor in addition to the contact sensor of the limit switch type and the non-contact sensor of the optical sensor type, Although the embodiment has been described mainly for the configuration of a robot such as an output link, it may be implemented in various safety devices other than the output link and the robot device. This is possible.

1 ... output link
10 ... cam follower type nonlinear rigid safety unit
100.Housing 200..Input
300 ... inclined actuator part 310 ... inclined actuator support
310a ... Slant actuator wheel 320 ... Slant actuator link
Slope actuator cam 330 Slope actuator rotation
340 ... Slope actuator side 400 ... slider block section
410 ... Slider Block Guide Rail 410 ... Slider Block
500 Actuator 510 Actuating Roller Block
520 ... actuating roller 600 ... block elastic support
610 ... support shaft 620 ... support elastic
700 ... Restricted rotation detection unit 400 ... Control unit 500 ... Storage unit 600 ... Operation unit 700 ... Display unit

Claims (15)

housing:
An input unit rotatably disposed in the housing and connected to an output link disposed outside the housing;
An inclined actuator portion connected to the input portion to rotate integrally and having an inclined actuator surface;
A slider block portion movably disposed inside the housing;
An actuating roller portion disposed on the slider block portion and in contact with the inclined actuator surface of the inclined actuator portion;
It is provided with a block elastic support part including a support elastic part for elastically supporting any one of the said actuating roller part and the said slider block part,
And a cam follower type nonlinear rigid safety unit in which a nonlinear rotation of the inclined actuator part is made through deformation of the supporting elastic part when a torque of a predetermined value or more is input through the input part. The method of claim 1,
The inclined actuator portion:
An actuator support part fixedly disposed in the housing;
A cam follower type non-linear rigid safety unit, one end of which is disposed rotatably on the actuator support portion, the inclined actuator surface being formed on a side thereof, and having an inclined actuator link that rotates together with the input portion. The method of claim 2,
And the inclined actuator surface is disposed on both sides of the inclined actuator link. The method of claim 3,
The cam follower type non-linear rigid safety unit, characterized in that the inclined actuator surface disposed on both sides of the inclined actuator link has an asymmetrical shape. The method of claim 2,
The cam follower type non-linear rigid safety unit, characterized in that the inclined actuator surface is provided with inclined actuator contact portion having different inclination angles. The method of claim 2,
A cam follower type non-linear rigid safety unit, characterized in that the outer side of the inclined actuator link includes a limit rotation detection unit for detecting the rotation to the predetermined limit angle of the inclined actuator link. The method of claim 6,
And the limit rotation detection unit is a limit contact rotation detection unit including a contact limit sensor. The method of claim 6,
The limited follower detecting unit is a cam follower type non-linear rigid safety unit, characterized in that the limited contactless rotation detecting unit including an optical sensor. The method of claim 2,
Cam follower type non-linear rigid safety unit, characterized in that the actuator support portion is provided at the side end with a roller stopper for preventing the actuating roller portion from moving. The method of claim 1,
The inclined actuator portion:
An actuator wheel rotatably supported by the housing and connected to the input unit to rotate together;
Cam follower type non-linear rigid safety unit, characterized in that it comprises an inclined actuator cam is disposed fixed to one surface of the actuator wheel and the inclined actuator surface is formed on the side. The method of claim 10,
The cam follower type nonlinear rigid safety unit is characterized in that the inclined actuator surface is disposed on both sides of the inclined actuator cam. The method of claim 1,
The slider block portion:
A slider block guide rail disposed in the housing;
And a slider block that is linearly movable on the slider block guide rail. The method of claim 1,
The actuating roller portion:
An actuating roller block disposed on the slider block portion;
And an actuating roller rotatably disposed on the actuator block and in contact with the inclined actuator portion. The method of claim 1,
The block elastic support is:
A support shaft positioned and fixed to the housing;
Cam follower type non-linear rigid safety unit, characterized in that the support shaft is disposed through and the other end in the housing and the other end in contact with the slider block to elastically support the slider block. The method of claim 1,
The block elastic support is:
A support shaft having one end positioned and fixed in the housing;
A support corresponding shaft, one end of which is disposed on the actuating roller portion side, the other end of which faces the other end of the support shaft and is arranged on the same line as the support shaft;
One end is disposed on the support shaft side and the other end is disposed on the support corresponding shaft side,
Cam follower type non-linear rigid safety unit, characterized in that the support shaft is disposed through and one end in the housing and the other end in contact with the slider block to elastically support the actuating roller.

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