KR20150051450A - Torque control method and device for assembly with elbow moving structure - Google Patents

Abstract

The present invention relates to a method and a device for controlling torques of assemblies whose a fixing body and a rotation body have a joint connection structure where the provided method is allowed to separately install configuration elements step by step on the fixing body installed on the upper part of arms and accordingly increases power and torque step by step, thereby decreasing an amount of loading of the configuration component, when using the configuration elements, and leading to ease of installation of the configuration elements by dispersing volume and load thereof. In addition, the method enables an electric device and a hydraulic device whose volume and load are big to be installed in other places including arms and is accordingly used for resolving installation limitation. For this, a sensor which independently generates electric signals is used in the present invention regardless of the operation of the fixing body and the rotation body.

Description

TECHNICAL FIELD [0001] The present invention relates to a torque control method and apparatus for an assembly having a joint connection structure,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an ancillary apparatus for an arm of a human, and more particularly, to a method and apparatus for protecting arm muscles by allowing a heavy object to be easily lifted by increasing a torque by being installed in a human arm.

Generally, a joint protector used to protect the human arm and muscle is not able to increase the load of an object that can be lifted by the human than usual, but rather to lift a heavy object. May occur.

In addition, the human right hand without arms is only to replace human arms and hands in appearance, but it does not protect the joints and muscles of the arm because there is no function to lift the object.

Recently, there is a problem that the robotic arm to be worn on the whole body of a human being for industrial use is used but its structure is complicated, its weight is heavy and it is difficult to handle and the cost is very high.

SUMMARY OF THE INVENTION The object of the present invention is to provide a robot which has a fixed body at the upper end of a human arm and a rotatable joint at the lower end of the arm so that when the object is lifted, The torque applied to the rotating body is proportionally increased according to the magnitude of the signal, and when the operation of the arm joint is temporarily stopped, the torque applied to the two joint constituent bodies is maintained unchanged, When the arm joint is returned to its original state, the rotating body is automatically restored without using the arm muscles.

Another object of the present invention is to provide a method and apparatus for installing a plurality of components in a multi-stage structure in a fixed body installed at an upper end of an arm to increase the force and torque step by step, To provide a way to

According to another aspect of the present invention, there is provided an apparatus for generating a signal for controlling movement of two joint constituent bodies using a sensor in which the magnitude of an electrical signal changes independently of a joint motion of two joint constituent bodies .

Another object of the present invention is to provide a device capable of bi-directional conversion of linear motion and rotational motion in transmitting force and torque between two joint constituents.

Another object of the present invention is to provide a method and apparatus for automatically restoring components even when the force of the arm is not used by increasing the torque even when the force of the restoring device is applied in the reverse direction, This is to provide a possible method.

Another object of the present invention is to provide an electric device having a large volume and a large load among the components of a fixed body installed at the upper end of the arm, And to provide a method for increasing.

According to an aspect of the present invention, there is provided an assembly having a joint connection structure, including: an electric signal generating step of generating electric signals for starting torque control of components; An electronic controller for sensing the electrical signal and generating an electrical operation command signal; An electric device control step driven by an electric operation command signal of the electronic controller; A hydraulic pressure generating step of generating hydraulic pressure by a pump through a motor; A force amplifying step of increasing a force through the generated hydraulic pressure; A torque conversion step in which the increased force is converted into a torque of a rotary motion in a linear motion and is also switchable in an opposite direction; A torque amplifying step of increasing the torque and the rotational angular velocity of the rotating body by using the transmitted gear reduction ratio between the driving gear and the driven gear; And a restoring device step of providing a reaction force such that the rotating body is automatically restored to its original state.

According to another aspect of the present invention, there is provided a method of controlling torque of a rotating body, torque applied to two joint structures, and automatic torque deceleration control according to an electrical signal magnitude in an electrical signal generating step Can be provided.

According to another aspect of the present invention, there is provided a method for generating an electrical signal, the method comprising the steps of: measuring a physical change amount of an arm muscle according to a magnitude of a force applied to an arm for lifting an object; It is possible to provide a means for adjusting the size of the lens.

According to another aspect of the present invention, there is provided a torque converter including a crankshaft or a rack pinion gear combination mechanism, And the like.

According to another aspect of the present invention, there is provided a method for recovering a rotating body, the method comprising: Can be increased in the torque amplification step and transmitted in the reverse direction.

According to another aspect of the present invention, there is provided a method of controlling a torque of an assembly, the method comprising the steps of: And the hydraulic pressure transmission passage may be connected to each other by a means for extending the hydraulic pressure transmission passage.

According to another aspect of the present invention, there is provided a method of controlling an electronic apparatus, including the steps of generating the electric signal, the electronic controller having a large volume or a load, It is possible to provide a method of generating torque by mechanical means using an assembly to generate hydraulic pressure.

As described above, the present invention has the following effects.

(1) According to the present invention, when an arm is attached to a human arm and an assembly having a joint-linking structure is operated to increase torque, it is possible to easily listen to an object having a large load Even if the arm motion is stopped, it can be maintained in the already increased torque state, so that the object can be held with a small force even for a long period of time. Also, when returning the arm joint to its original state, Is automatically disappeared and the arm joints are automatically restored, thereby protecting the human arm joints and muscles.

(2) According to the present invention, since the force and the torque are increased step by step for each constituent element, it is possible to reduce the usage load of each constituent element, thereby increasing the durability and reducing the volume. And it is possible to install the components having a large volume or a large load in a place other than the assembly, if necessary, so that the load imposed on the human body can be reduced.

(3) The present invention can be replaced with a lightweight assembly having a mechanical joint connection structure in place of an electric device and a hydraulic device which are used for generating hydraulic pressure and have a large volume or load, thereby enhancing portability.

Brief Description of the Drawings Fig. 1 is a view showing a configuration before a torque increase control operation of an assembly having a joint connection structure according to a preferred embodiment of the present invention
Fig. 2 is an explanatory diagram showing a state after the torque increase control operation of Fig. 1 is completed
FIG. 3 is a flow chart of the operation of the components according to the electrical load sensing signal of FIG.
Figure 4 is an explanatory view of a state in which constituent elements to be installed in an assembly are installed in an assembly
5 is a diagram illustrating a method of controlling torque using two mechanical assemblies having a joint connection structure

Brief Description of the Drawings The advantages and features of the present invention, and how to accomplish them, will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail to avoid unnecessarily obscuring the subject matter of the present invention.

FIG. 1 is a view showing a state before the initiation of torque increase control operation of an assembly having a joint connection structure according to a preferred embodiment of the present invention, and FIG. 2 is a view showing a state after the torque increase control operation of the assembly having a joint connection structure is completed Fig. 3 is an operation flow chart for explaining a method in which electric devices are controlled by an electric signal of an electric load sensing sensor, Fig. 4 is an operation flowchart for explaining a method of controlling only the essential components that can not be installed in places other than the assembly Fig. 5 is an explanatory diagram showing a state in which the torque is increased by replacing the electric command signal for the torque increase control and another mechanical assembly having a joint connection structure without the hydraulic pressure generating step by the electric devices, FIG. 2 is a block diagram showing a method for controlling the power supply.

As shown in FIGS. 1 and 3, according to a preferred embodiment of the present invention, when a person lifts an object, a specific use muscle at the lower end of the arm deforms and changes its shape and size in proportion to the force applied . At this time, an electric signal generator is used which outputs a force generated when the size of a specific part of the muscle is enlarged due to the deformation of the used muscle, in the form of a voltage using a sensor such as a load cell. In the present invention, it is described that the electric load sensor 1 is installed in the rotating body 200. However, the present invention is not limited to this, Or by using electronic regulators that can adjust the size of electrical signals, such as resistors.

When the object is lifted, the load sensor 1a receives a load sensing signal 1a having an increased amount of force applied thereto in proportion to the magnitude of the amount of muscle strain and a voltage change per unit time, to the electronic controller 10.

The electronic controller 10 calculates the amount of change of the voltage of the input load sensing signal 1a that increases with time and increases the opening amount of the flow control check valve 40 in proportion to the amount of change, (30a) of the pump driving motor (20) for driving the pump (30) in proportion to the magnitude of the signal voltage change amount, and a flow rate control signal And provides a motor drive signal 20a for determining the motor drive signal 20a. At this time, the drain solenoid valve 50 does not operate because the drain signal 50a is blocked.

When the pump drive motor 20 is operated, the pump 30 is driven and the pressurized fluid 30a flows into the hydraulic cylinder 60 through the flow control check valve 40 to move the cylinder piston 61, The booster piston 71 of the booster 70 connected to the rod 62 is simultaneously moved. At this time, the hydraulic pressure of the pressurized fluid 30a flowing into the hydraulic cylinder 60 is determined by the pressurizing capacity of the pump 30, and the inflow speed of the pressurized fluid 30a is controlled by the opening amount of the flow control check valve 40 The larger the rotation per hour of the pump drive motor 20, the larger the pump drive motor 20 is.

Accordingly, the moving speed of the booster piston 71 also increases in proportion to the inflow speed of the pressurized fluid 30a, and the booster piston 71 pressurizes and flows the working fluid 70a at the moving speed by the actuator 80, A force increased by the cross sectional area ratio with the booster piston 71 is transmitted to the actuator piston 81 having a larger diameter than the booster piston 71 so that the increased force is applied to the connecting rod assembly 91 through the actuator rod 82 . At this time, the transmission speed of the transmitted force depends on the speed at which the working fluid 70 flows into the actuator 80, and the magnitude of the transmitted force is such that the reaction force of the restoring spring 83 in the actuator 80 is removed do.

Meanwhile, the connecting rod assembly 91 is connected to the driving gear 90 so as to be capable of cranking. When the actuator rod 82 linearly moves at the transmitted force and speed, the driving gear 90 rotates in proportion thereto And is converted into a torque having an angular velocity and performing rotational motion. At this time, the method of converting the linear motion into the rotational motion is not limited to this, and can be configured in various ways including using a gear combination mechanism such as a rack pinion.

When the driving gear 90 is rotated by the torque and the rotational angular velocity, the driven gear 100, which is dependent on the rotating body 200, is rotated with respect to the rotating shaft A in the direction opposite to the driving gear 90, And the fixed body 300 are reduced, and at the same time, the increased torque is transmitted. At this time, the driven gear 100 of the rotating body 200 is increased in torque and rotational angular velocity generated by the drive gear 90 by a gear reduction ratio with respect to the drive gear 90, and the torque is increased without being limited thereto It can be configured in various ways.

As shown in FIGS. 1 and 3, according to the preferred embodiment of the present invention, when the object is temporarily stopped while lifting the object while maintaining the force of the muscle, the load sensing signal 1a has no voltage change per time The electronic controller 10 removes the motor drive signal 20a and the flow control signal 40a to stop the operation of the pump drive motor 20 and the pump 30 and the flow control check valve 40 is also actuated by the pressurized fluid The pressurized fluid 30a is no longer introduced into the hydraulic cylinder 60 and remains in the circuit so that the angle between the rotating body 200 and the fixture 300 remains unchanged And is maintained at an increased torque.

In this case, when the torque is to be maintained without applying a force to human muscles, the user may arbitrarily adjust the size of the load sensing signal 1a as exemplified above, can do.

In the case of restoring the rotating body 200 to its original state, releasing the force of the muscles applied to the lower arm portion reduces the size of the muscles that have been deformed, and the force applied to the electric load sensing sensor 1 is also eliminated, The voltage of the signal 1a also disappears. At this time, the electronic controller 10 judges that the voltage change amount per unit time of the load sensing signal 1a is lower than the previous one, and therefore, it determines that the restoration condition is satisfied and generates the drain signal 50a to open the drain solenoid valve 50, The pressure applied to the hydraulic cylinder 60 is removed by causing the pressurized fluid 30a to flow into the storage tank. At the same time, the positions of all the components of the hydraulic cylinder 60, the booster 70, and the actuator 80 are restored by the reaction force of the restoring spring 83 in the actuator 80. At this time, the restoring spring 83 allows the reaction force to be transmitted to the driving gear 90 through the connecting rod assembly 91 so that the driving gear 90 and the driven gear 90 can be rotated even if the driving gear 90 is rotated in the reverse direction. The rotational angular velocity and the torque increased by the gear reduction ratio of the actuator 100 to the rotational body 200 are transmitted to the rotational body 200 and the rotational body 200 is restored to its original state more rapidly. However, the present invention is not limited thereto, Various methods for restoring the rotating body 200 to its original state using an electric or hydraulic type other device can be constituted.

2 shows a state in which the torque increase control operation of the fixed body 300 and the rotating body 200 is completed and is transmitted from the driving gear 90 of the fixed body 300 to the driven gear 100 is determined by calculation of the gear reduction ratio of the fixed body 300 to the drive gear 90 and the linear motion locus of the actuator rod 82. [

As shown in FIG. 4, the assembly 300 having the articulated connection structure according to the preferred embodiment of the present invention includes an actuator 80 into which a working fluid 70a flows, The pump 30 and the pump driving motor 20, which have a large volume and a large load, which are required to have a mounting space and weight, The hydraulic cylinder 60 and the booster 70 can be installed at a place other than the assembly including the valve 40 and the drain solenoid valve 50 and the electronic controller 10 for generating an electric operation command signal to them, The increased torque of the fixed body 300 is transmitted to the rotating body 200 through the driven gear 100 which is subordinate to the whole body 200 and the torque is transmitted to the rotating body 200 independently of the fixed body 300, The operation of electrical devices or It was to contain an electrical load sensor (1) to allow the command signal may occur. At this time, the coupling of the components to be installed in the fixed body 300 with the components that can be installed in places other than the assembly can be realized by extending the hydraulic transmission passage of the actuator 80 and the booster 70.

As shown in FIG. 5, according to a preferred embodiment of the present invention, a method of controlling torque by replacing components having a large volume or a heavy load with a mechanical assembly having low load and having high portability, The torque control operation is performed by using the two mechanical assemblies having the joint connection structure without the electric devices and the hydraulic pressure generator which are operated by the load sensing signal 1a and the load sensing signal 1a, Except for the configuration of the mechanical assembly in place of the electric or hydraulic pressure generating devices, is the same as the one embodiment described with reference to Fig. Therefore, components that perform the same functions as those of the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

5, a rotating body 200 is provided at one lower arm portion, a fixing body 300 is provided at an upper end portion of the arm, and a rotating body b 400 is provided at the other lower arm portion in the same shape And a fixing body b (500) is provided at the upper end of the arm.

When the object is lifted by the rotating body 200, when the rotating body is rotated at a desired rotational angular velocity while applying torque to the rotating body b 400, the driving gear b 110, which is dependent on the rotating body b 400, The driven gear b 120 of the fixed body b 500 rotates in the opposite direction with a torque increased by the gear reduction ratio with the drive gear b 110 and is transmitted through the connecting rod assembly b 130 and the booster rod 72 The torque is converted into a force and transmitted to the booster piston 71. The working fluid 70a pressurized by the booster piston 71 flows into the actuator 80. [ At this time, the inflow speed of the working fluid 70a flowing into the actuator 80 is proportional to the magnitude of the torque and the rotational angular velocity applied by the rotating body b 400.

On the other hand, the actuator piston 81 having a diameter larger than that of the booster piston 71 is supplied with an increased force corresponding to the cross sectional area ratio of the booster piston 71 to the connecting rod assembly 91 through the actuator rod 82, Power is transmitted. At this time, the transmission speed of the force depends on the inflow speed of the working fluid 70a flowing into the actuator 80, and the magnitude of the force depends on the reaction force of the restoring spring 83 in the actuator 80, To rotate the driving gear 90 and the driven gear 100 so that the torque and the rotational angular velocity increased by the gear reduction ratio of the driving gear 90 and the driven gear 100 are applied to the rotating body 200, The object is lifted as it is rotated by reference.

When the torque applied to the rotating body b 400 is maintained so as to be in equilibrium with the reaction force of the restoring spring 83 when the rotating body 200 is temporarily stopped while lifting the object, So that the applied torque can be maintained unchanged, and therefore,

When the torque applied to the rotating body b 400 is released, the actuator piston 81 moves linearly in the opposite direction by the reaction force of the restoring spring 83 in the actuator 80. In this case, The driven gear 100 and the rotating body 200 are restored to their original state while the driving gear 90 is rotated through the connecting rod assembly 91. At the same time, the actuator piston 81 rotates the working fluid 70a to the booster The booster piston 71 and the booster rod 72 are restored to their original state while the driven gear b 120 of the fixed body b 500 is rotated in the opposite direction through the connecting rod assembly b 130, And rotates the driving gear b 110 depending on the rotating body b 400 to restore the rotating body b 400 to its original state. When the torque is applied in a direction in which the rotating body b 400 is restored artificially, the driven gear b 120 of the fixed body b 500 is rotated by the torque of the connecting rod assembly b The actuating fluid 70a remaining in the actuator 80 is transmitted to the booster 70 by generating a force applied to the booster rod 72 in a reverse direction in addition to the reaction force of the restoring spring 83, So that the rotating body 200 can be restored more quickly.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

1: Electrical load detection sensor 1a: Load detection signal
10: Electronic controller
20: pump drive motor 20a: motor drive signal
30: Pump 30a: Pressurized fluid
40: Flow control check valve 40a: Flow control signal
50: drain solenoid valve 50a: drain signal
60: Hydraulic cylinder
61: cylinder piston
62: Piston rod
70: booster 70a: working fluid
71: Booster piston
80: Actuator
81: Actuator piston
82: Actuator load
83: Restoring spring
90: drive gear
91: Connecting rod assembly
100: driven gear
110: drive gear b
120: driven gear b
130: Connecting rod assembly b
200: rotating body
300: Fixed body
400: rotating body b
500: Fixture b
A:

Claims (7)

In the stepwise control of the torque of the assembly having the joint structure by connecting the fixed body and the rotating body to one rotating shaft,
The fixture
(a) an electric signal generating step of generating an electric signal such that the magnitude changes in proportion to an applied force;
(b) an electronic controller for generating an electrical actuation command signal in accordance with the magnitude of the electrical signal;
(c) an electrical device control step driven by an electrical actuation command signal;
(d) a hydraulic pressure generating step of generating hydraulic pressure through the pump;
(e) a force amplifying step for increasing the force through the hydraulic pressure;
(f) a torque conversion step in which the torque of the linear motion and the torque of the rotary motion can be switched in both directions;
(g) a restoring device step of providing a reaction force to automatically restore the rotating body to its original state;
/ RTI >
(h) a torque amplifying step of increasing the torque and the rotational angular velocity of the rotating body by combining the driving gear of the fixed body and the driven gear of the rotating body with gear reduction ratio;
How to connect with rotating body The electric signal detected in the electric signal generating step in the above 1 is compared with the amount of change per hour, and when the amount of change is increased, it is determined that the arm tries to lift the object, so that the force increases in the fixed body, The speed of transmission of force and torque is increased in proportion to the amount of increase in the amount of change of the signal, thereby increasing the rotational angular velocity of the rotating body and reducing the angle between the fixed body and the rotating body Lt; / RTI >
When the amount of change of the signal does not change, it is determined that the operation of the arm is temporarily stopped, so that the torque of the rotating body and the angle between the stationary body and the rotating body are maintained unchanged,
When the amount of change of the signal is reduced, it is determined that the arm releases the object from lifting, and the driven gear of the fixed body is reversely rotated to reverse the driven gear of the rotating body, thereby increasing the angle between the fixed body and the rotating body How to make the rotating body automatically restore to its original state The electrical signal generating means of the above 1 is characterized in that the physical change amount of the human arm muscle is measured in proportion to the magnitude of the force applied to lift the object or the user can intentionally adjust the magnitude of the electrical signal Device The torque conversion step in the above item 1 is characterized in that means for converting the linear motion and the rotary motion in both directions through the crank motion or the rack pinion gear combination mechanism in order to convert the force into torque, As a device The restoring device step is a step of restoring the torque and the rotational angular velocity generated when the driving gear of the fixed body rotates in the opposite direction by the reaction force of the spring or the force of the other means is proportional to the gear reduction ratio of the driven gear of the rotating body And to be installed between the force amplification stage of the fixed body and the torque conversion stage so as to be transmitted to the rotating body In order to control the torque of the assembly in a multistage manner, the essential components that can not be installed in places other than the assembly are components that can be installed in places other than the assembly due to their large volume or load, And the hydraulic pressure transmission path is connected only by the means for extending the hydraulic pressure transmission path The torque applied to the rotating body by using another mechanical assembly having a joint connection structure in place of the electric signal generating step and the electronic controller having a large volume or load, To increase the torque through a torque amplification step in combination with a drive gear and a driven gear having a torque conversion step and to convert the increased torque into a force so that the hydraulic pressure generated by the converted force can be transmitted to the force amplification step How to generate only hydraulic pressure

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