KR20150034442A - torsion spring mechanism for hip joint of wearable robot - Google Patents

Abstract

The present invention relates to a motorcycle comprising: a main shaft portion located at a center; An inner elastic material portion which is in close contact with each surface of the main shaft portion; An inner wall portion having a structure surrounding the inner elastic material portion; An outer elastic material portion adhered to each surface of the inner wall portion; And an outer wall portion having a structure adjacent to the outer elastic material portion and the inner wall portion.
As described above, according to the present invention, various torsion characteristics can be obtained by replacing the torsion bar, which is an elastic material part, by thickness and length, through a rotary joint with a torsion spring using an elastic material through a double bulkhead structure, Can be provided.

Description

 BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a torsion spring,

The present invention relates to a rotary joint having a torsion spring incorporated therein. More particularly, the present invention relates to a rotary joint having a double-wall structure and a torsion spring made of an elastic material to obtain a large torsion in a small space, The present invention relates to a rotating joint in which various torsion characteristics can be obtained by changing the thickness and length.

Generally, a load applied to a link connected to a rotation axis of a driving motor of a robot or an automation machine increases a load torque (hereinafter referred to as "gravity torque") by the influence of gravity depending on the rotation angle.

That is, when the workpiece or the robot arm rotates, the moment due to gravity increases as the rotation angle increases, and a load moment that is increased in proportion to the rotation angle is generated in the drive motor. To counter this load moment, the motor should add an output that overcomes the load moment to the rotational force of the load.

It is necessary to simulate the joints of the human body as much as the wearing robot needs to follow the movements of the human being while wearing the robot. However, it is impossible to realize all the degrees of freedom of the human joints. Therefore, the major joints were selected to provide the reinforcement through the actuator and the rest to omit joints or passive joints to minimize the inconvenience of the human body.

A typical example is the hip rotation axis. Hip abduction / adduction or hip extension / flexion motions are often driven, but hip rotation does not need to be driven. However, when the degree of freedom is limited, the wearer feels discomfort, and when the manual joint is used, there is a problem that the wear robot link is separated from the human body. Therefore, a rotating joint having a torsion spring incorporated therein that can hold the neutral position within a range that does not disturb the movement of the wearer is required.

Korean Patent Laid-Open Publication No. 2001-121279 discloses a small actuator included in an articulated robot but does not disclose a rotary joint having a double wall structure and a torsion spring using an elastic material portion.

1. Korean Unexamined Patent Publication No. 2012-0121279 entitled "Integrated Gravity Compensation Device Included in Small Actuator of Articulated Robot" (Published on May 05, 2012)

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems and it is an object of the present invention to provide a torsion bar which can provide various torsion characteristics to various people by replacing the torsion bar, .

It is still another object of the present invention to provide a rotary joint capable of overcoming a small ROM which is a disadvantage of a torsion spring using an elastic material through a double bulkhead structure and being mounted on either the upper or lower part of the joint to simulate various human motions will be.

According to an aspect of the present invention, there is provided a portable terminal comprising: a main shaft disposed at a center; An inner elastic material portion which is in close contact with each surface of the main shaft portion; An inner wall portion having a structure surrounding the inner elastic material portion; An outer elastic material portion adhered to each surface of the inner wall portion; And a torsion spring having an outer elastic part and an outer wall part having a structure adjacent to the inner wall part.

Particularly, it is possible to perform various motions by forming the inner elastic material part and the outer elastic material part differently from each other, and the elasticity of the material of the inner elastic material is made larger than the elasticity of the material of the outer elastic material, So that various motions can be performed.

As described above, the present invention provides a rotary joint with a torsion spring incorporated therein using an elastic material through a double bulkhead structure.

Accordingly, various torsion characteristics can be obtained by replacing the torsion bar, which is an elastic material part, by thickness and length, thereby providing a customized torsion to various people.

In addition, the double bulkhead structure can overcome the small ROM, which is a disadvantage of the torsion spring using the elastic material, and the torsion spring can be mounted on either the upper or lower portion of the hip extension joint, .

1 is a schematic view showing a state in which a rotary joint according to the present invention is mounted on a hip joint;
2 is a sectional view showing a torsion spring incorporated in a rotary joint according to the present invention,
FIG. 3 is a schematic view illustrating a variable angle using a rotary joint incorporating a torsion spring according to an embodiment of the present invention. FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of a rotating joint with a torsion spring according to the present invention will be described in detail with reference to the accompanying drawings.

Prior to this, terms and words used in the present specification and claims should not be construed as being limited to ordinary or dictionary terms, and the inventor should appropriately define the concept of the term to describe its invention in the best way The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and are not intended to represent all of the technical ideas of the present invention. Therefore, various equivalents It should be understood that water and variations may be present.

FIG. 1 is a schematic view showing a state where a rotary joint according to the present invention is mounted on a hip joint, and FIG. 2 is a sectional view showing a torsion spring incorporated in a rotary joint according to the present invention. A rotary joint system according to the present invention will be described below with reference to the drawings.

As shown in Fig. 1, the wearing robot needs to follow the movement of a person in a state where a person wears it, so that it is necessary to simulate the joints of the human body as much as possible. Particularly, the present invention is a schematic view showing a state in which a rotary joint is applied to the hip joint side.

Referring to FIG. 2, a cross-sectional view of a torsion spring incorporated in a rotating joint includes a main shaft 10 positioned at the center; An inner elastic material part (20) which is in close contact with each surface of the main shaft part; An inner wall portion 30 having a structure surrounding the inner elastic material portion 20; An outer elastic material portion 40 adhered to each surface of the inner wall portion 30; And an outer wall portion 50 having a structure adjacent to the outer elastic material portion 40 and the inner wall portion 30.

As shown in the section, the main shaft portion 10 uses a steel member made of a metal material or the like. It is preferable that a fastening part for fastening is formed at one end of the main side part 10, and the shape is not particularly limited, but it is preferable to use a square shape as shown in the drawing.

Next, the elastic material portions 20 and 40 according to the present invention may be divided into an inner side and an outer side. The elastic material portion may be made of a material having a general elastic modulus, and is not particularly limited. The inner elastic material portion 20 is positioned in close contact with the respective surfaces of the mail side portion and is particularly strongly pressed by the inner wall portion 30 and the main shaft portion 10.

The inner wall 30 has a rectangular shape. The inner wall 30 has a structure in which the outer elastic member 40 is closely attached to each surface and is strongly pressed by the outer wall 50. In particular, the inner elastic coefficient section 20 and the outer elastic coefficient section 40 are made of materials having different elastic moduli, and can simulate various human motions. That is, the modulus of elasticity of the material of the inner elastic material portion 20 is made larger than that of the material of the outer elastic material portion 40, so that various human motions can be simulated.

The thickness of the inner elastic material portion 20 and the outer elastic material portion 40 may be different from each other to perform various motions. This is because the thickness of the elastic material portion belonging to the inside of the joint is thinned, It can be simulated, and the thicker the thickness, the more robust the motion can be simulated.

Thus, there is an advantage that a large torsion can be obtained in a small space through a wearable robot using an elastic material.

On the other hand, when using an elastic material, there is a problem that a small ROM is generated, that is, a variable angle is limited. This can be solved through the double bulkhead structure applied to the present invention. That is, as shown in FIG. 3, it can be seen that the variable angle can be increased up to 150 degrees through the torsion spring having the double partition wall structure.

As described above, the motion of various human bodies can be simulated through the rotary joint to which the torsion spring according to the present invention is applied.

Although the present invention has been described in detail with reference to the above embodiments, it is needless to say that the present invention is not limited to the above-described embodiments, and various modifications may be made without departing from the spirit of the present invention.

10: main side portion 20: inner elastic material portion
30: inner wall part 40: outer elastic part
50:

Claims (3)

A main shaft 10 located at the center;
An inner elastic material part (20) which is in close contact with each surface of the main shaft part;
An inner wall portion 30 having a structure surrounding the inner elastic material portion;
An outer elastic material part (40) adhered to each surface of the inner wall part; And
And a torsion spring having an outer elastic part (40) and an outer wall part (50) having a structure adjacent to the inner wall part (30).
The method according to claim 1,
Wherein the thickness of the inner elastic part (20) and that of the outer elastic part (40) are different from each other so that various motions can be performed.
The method according to claim 1,
Wherein the elastic modulus of the material of the inner elastic material portion (20) is greater than the elastic modulus of the material of the outer elastic material portion (40) so that various human motions can be simulated to perform various motions. Rotary joint with spring.

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