KR20180097432A - Position holding apparatus based on passive gravity compensation - Google Patents

Abstract

The present invention relates to a passive posture maintenance apparatus based on gravity compensation, capable of precisely and safely maintaining a posture. According to the present invention, the passive posture maintenance apparatus comprises: a first link; a second link including a second link main body connecting the first link to a first link joint and a second link joint body connected to the second link main body to be able to rotate; a second parallel link including a first parallel link connecting the first link to the second link joint body, and forming a four-bar link with the first link, the second link joint body, and the first link; a third link including a third link main body connecting the second link joint body to a second link joint and connected to the third link main body to be able to rotate; a third parallel link to connect the second and third link joint bodies; a fourth parallel link to form a four-bar link with the second and third link joint bodies, and the third parallel link; a first gravity compensation unit connected to the second link to apply compensation torque to the second link in order to compensate gravity torque in a first link joint; and a second gravity compensation unit connected to the third link to apply compensation torque to the third link in order to compensate gravity torque in a second link joint.

Description

[0001] POSITION HOLDING APPARATUS BASED ON PASSIVE GRAVITY COMPENSATION [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a posture maintaining apparatus, and more particularly, to a manual posture maintaining apparatus based on gravity compensation capable of maintaining posture and attitude change with small force by canceling gravity torque applied to each joint by self- .

Currently, automation using robots is actively performed in the industrial field. However, robots are used only for simple repetitive tasks, and tasks requiring complex senses and intelligence depend on human labor force.

In the case of handling heavy objects, it is often the case that people manipulate the machine to carry or assemble, and those that handle low-weight objects or tools are carried out by people themselves. In the case of repeating the operation of handling a low-weight object, the worker is liable to be exposed to the risk of accidents due to accumulation of muscle fatigue, resulting in problems such as lowering of the working efficiency.

As a representative solution for solving such problems, an exoskeleton device has been developed which assists the worker's muscular strength and increases the working efficiency. However, these exoskeleton devices are expensive because of the high cost of motors and sensors, high production cost and high operation cost, and disadvantages of inconvenience when the operator wears an exoskeleton device.

Alternatively, a balancer device can be used to carry heavy objects. The balancer compensates the gravity of the object to be gripped by means of pneumatic pressure or the like, so that the worker can easily carry the object.

Another method is to use a gravity compensator composed only of spring-based pure machine elements. If a gravity compensator is installed to cancel the gravity torque generated by the self weight and the payload of the mechanism in the mechanism composed of the rotating joints of multiple degrees of freedom, the mechanism part can maintain the posture when no external force is applied. In the past, this gravity compensation was applied only to the pitch joints, and it was possible to maintain the mechanism part at the desired position, but there was no part corresponding to the human wrist so that positioning the gripped object in the desired orientation was limited.

In order to solve this problem, a gravity compensator having bevel gear and wire-based gravity compensation applied to the roll-link joint corresponding to the wrist has been developed. However, in the method using a wire, when a large tensile force is applied, the wire is broken or deformed, the durability is weak, and the design parameter is limited in designing the wire so that the force applied to the wire is not limited. There were disadvantages. In addition, since most of the conventional arts perform gravity compensation for a mechanism composed of one to two degrees of freedom, it is difficult to secure a sufficient working space and realize various positions and orientations.

Patent Publication No. 2017-0047779 (2017. 05.08)

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the conventional art, and it is an object of the present invention to provide a gravity compensating apparatus for gravity compensation, The object of the present invention is to provide a manual posture maintaining apparatus based on gravity compensation that enables an operator to easily change posture with a small force.

According to an aspect of the present invention, there is provided a manual posture maintaining apparatus comprising: a first link; A second link main body connected to the first link by a first link joint and a second link joint body rotatably connected to the second link main body; A first parallel link rotatably connected to the first link and the second link joint body, respectively, for connecting the first link and the second link joint body; And a second link joint body rotatably connected to the first link and the second link joint body so as to be spaced apart from the first balanced link, and configured to form a four-section link together with the first link, the second link joint body, A second parallel link; A third link main body connected to the second link joint body by a second link joint, and a third link joint body rotatably connected to the third link main body; A third parallel link rotatably connected to the second link joint body and the third link joint body to connect the second link joint body and the third link joint body; The second link joint body and the third link joint body are rotatably connected to the second link joint link and the third link joint body so as to be spaced apart from the third parallel link, A fourth parallel link constituting a section link; A first gravity compensation unit coupled to the second link to apply a compensation torque to the second link to compensate for gravity torque at the first link joint; And a second gravity compensation unit coupled to the third link to apply a compensation torque to the third link to compensate for gravity torque at the second link joint.

Wherein the second link main body is provided with a space on the inside thereof, the first parallel link and the second parallel link are arranged parallel to each other inside the second link main body, and the third link main body is arranged on the inner side And the third parallel link and the fourth parallel link may be disposed parallel to each other inside the third link main body.

Wherein the first gravity compensation unit comprises a first connecting rod rotatably connected to any one of the first link and the second link and a second connecting rod rotatably connected to the first connecting rod, A first connecting rod which is movably installed in another one of the first and second connecting links and is linked to the movement of the first connecting rod, and a second slider which is connected to the first connecting rod in a direction opposite to a direction in which the first connecting rod pulls the first slider, And a first elastic member connected to the first slider such that the second gravity compensating unit is connected to the first link and the second link, and the second gravity compensation unit includes a second connecting rod rotatably connected to any one of the second link and the third link, A second connecting rod is rotatably connected and movably installed in the other one of the second link and the third link so that the movement of the second connecting rod Interlocking claim may include a second resilient member connected to the second slider so as to have an elastic force on the second slider and the second slider, the second to the connecting rod pulling the second slider in the opposite direction to that.

The manual posture maintaining apparatus according to the present invention may further comprise a joint brake unit supported by the second link and restricting rotation of the third link with respect to the second link.

The third link includes a third link friction contact portion of a curved surface shape having a radius of curvature centering on the rotational center axis of the third link with respect to the second link, and the joint brake unit includes a third link friction contact portion A third link friction block disposed on the second link so as to be in frictional contact with the third link friction block and a third link friction block disposed on the second link so as to provide a pressing force for urging the third link friction block toward the third link friction contact, And a brake lever connected to the pressure cam so as to be operated by a user.

The second link joint body includes a second link joint body rotation connection portion rotatably coupled to the second link main body, a second link joint body rotation support portion rotatably coupled to the third link main body, And a second link joint body connection frame connecting the second link joint body rotation connection portion and the second link joint body rotation support portion.

The manual posture maintaining apparatus according to the present invention is configured to simultaneously restrict rotation of the second link joint body rotation connection portion with respect to the second link main body and rotation of the third link main body with respect to the second link joint body rotation support portion And a joint brake unit supported by the second link joint body to allow the second link joint body to support the second link joint body.

Wherein the second link has a curved second link friction contact portion provided on the second link main body such that the second link has a radius of curvature centering on a rotation center axis of the second link joint body rotation connection portion with respect to the second link main body And the third link includes a curved third link provided on the third link main body so as to have a radius of curvature centering on a rotation center axis of the third link main body with respect to the second link joint body rotation support, The joint brake unit comprising: a second link friction block operatively disposed in the second link joint body connecting frame for frictional contact with the second link friction contact; and a third link friction block, A third link friction block movably disposed in the second link joint body connecting frame so as to be in frictional contact with the contact portion, Between the second link friction block and the third link friction block so as to press the second link friction block toward the second link friction contact and press the third link friction block toward the third link friction contact portion And a brake lever connected to the pressure cam so as to be operated by a user.

Wherein the joint brake unit includes an elastic member disposed between the second link friction block and the pressing cam so as to be compressed by the pressing cam and to apply an elastic force to the second link friction contact portion with respect to the second link friction block, Further comprising another resilient member disposed between the third link friction block and the urging cam so as to be compressed by the urging cam and to exert an elastic force toward the third link friction contact portion with respect to the third link friction block, The elastic members are deformed to an elastic deformation amount smaller than the elastic deformation amount by the pressing cam when the operating angle of the pressing cam is 0 degree to apply elastic force to the second link friction block and the third link friction block, .

The manual posture maintaining apparatus according to the present invention is characterized in that it has a rotation center axis perpendicular to the floor where the first link is placed and is connected to the third link joint body and the third link joint so as to be rotatable about the third link joint body And a fourth link to which the second link is connected.

The manual posture maintaining apparatus according to the present invention may further comprise a joint brake unit for restraining rotation of the fourth link with respect to the third link joint body, A fixed gear having a plurality of fixed gear gears fixed along the rotational direction of the fourth link with respect to the third link joint body and a movable gear having a plurality of movable gear gears corresponding to the plurality of fixed gear gears, A stopper disposed movably relative to the fixed gear so that the movable gear is gear-connected to the fixed gear or is displaced from the fixed gear; A stopper supporting shaft supported by the joint body for supporting the stopper in a linear movement and rotatable manner, 4 link, a fourth link engaging portion insertion groove into which the engaging portion is inserted when the movable gear is gear-connected to the fixed gear, and a fourth link engaging portion which engages with the fourth link engaging portion when the movable gear is disengaged from the fixed gear, And a fourth link stopper connection portion that is spaced apart from the stopper supporting portion in the rotation direction of the stopper relative to the stopper support shaft.

The manual posture maintaining apparatus according to the present invention may further include a fifth link having a rotation center axis perpendicular to the rotation center axis of the fourth link and connected to the fourth link and the fourth link so as to rotate about the fourth link, ; And a third gravity compensation unit coupled to the fifth link to apply a compensation torque to the fifth link to compensate for gravity torque at the fourth link joint.

The third gravity compensation unit includes a fixed bevel gear fixed to the fourth link, a movable bevel gear rotatably coupled to the fifth link so as to be in gear connection with the fixed bevel gear, A third connecting rod rotatably connected to the movable bevel gear so as to be eccentric with the rotation center axis, and a second connecting rod rotatably connected to the other end of the third connecting rod, And a third elastic member connected to the third slider so as to apply an elastic force to the third slider in a direction opposite to a direction in which the third connecting rod pulls the third slider can do.

The manual posture maintaining apparatus according to the present invention includes a fifth link and a fifth link joint having a rotation center axis that is the same as the rotation center axis of the movable bevel gear and rotatable about the fifth link and the movable bevel gear, And a sixth link to which the third slider is movably disposed.

The third gravity compensation unit is provided in a pair such that the movable bevel gear is gear-connected to the fixed bevel gear so as to face each other, and the third connecting rod, the third slider, A pair of movable bevel gears may be provided.

The manual posture maintaining apparatus according to the present invention further includes a joint brake unit for simultaneously restraining the rotation of the fifth link relative to the fourth link and the rotation of the sixth link relative to the fifth link, The joint brake unit includes a fixed gear fixed to the movable bevel gear and having a plurality of fixed gear gears disposed along the rotational direction of the sixth link with respect to the fifth link, A movable gear having a movable gear gear and an engaging portion protruding outwardly from the movable gear, wherein the movable gear is gear-connected to the fixed gear or disposed so as to be movable relative to the fixed gear so as to be free from the fixed gear A stopper supported by the movable bevel gear to support the stopper so as to be linearly movable and rotatable A sixth link engaging portion insertion groove which is disposed on the sixth link and into which the engaging portion is inserted when the movable gear is gear connected with the engaging portion, And a sixth link stopper supporting portion for supporting the first link stopper portion and the sixth link stopper supporting portion for supporting the second link stopper portion.

The manual posture maintaining apparatus according to the present invention may further include a base link connected to rotate the first link with a rotation center axis perpendicular to the rotation center axis of the second link.

The manual posture maintaining apparatus according to the present invention may further include an articulated brake unit supported on the base link for restricting rotation of the first link with respect to the base link.

Wherein the first link includes a curved first link friction contact having a radius of curvature about a rotational center axis of the first link with respect to the base link and the joint brake unit comprises a first link friction contact A first link frictional block movably disposed on the base link so as to be capable of frictional contact with the base link and a second link frictional block rotatably supported on the base link so as to provide a pressing force for urging the first link frictional block toward the first link friction contact; And a brake lever connected to the pressure cam so as to be operated by a user.

The manual posture maintaining apparatus according to the present invention implements gravity compensation using a gravity compensation unit in a joint affected by gravity torque, so that the user can easily change his / her posture with a small force and stably maintain the posture manipulated by the user .

Further, the manual posture maintaining apparatus according to the present invention uses a joint brake unit capable of restraining the movement of the link, thereby enabling precise and safe posture maintenance and operation.

Further, the manual posture maintaining apparatus according to the present invention can be applied to various fields to maintain a state in which a part or a work tool is supported in a desired posture, thereby reducing a work fatigue of a user and contributing to an increase in work efficiency.

1 and 2 are perspective views illustrating a manual posture maintaining apparatus according to an embodiment of the present invention.
3 and 4 are side cross-sectional views illustrating a manual posture maintaining apparatus according to an embodiment of the present invention.
5 is an exploded perspective view illustrating a connection structure between a base link and first and second links of a manual posture maintaining apparatus according to an embodiment of the present invention.
6 is a partial cross-sectional view illustrating a connection structure between a base link and first and second links of a manual posture maintaining apparatus according to an embodiment of the present invention.
FIGS. 7 and 8 are views for explaining a joint brake for restricting the rotation of the first link of the manual posture maintaining apparatus according to the embodiment of the present invention and its operation.
FIGS. 9 and 10 are a rear view and a perspective view, respectively, partially showing a second link of a manual posture maintaining apparatus according to an embodiment of the present invention.
11 is an exploded perspective view showing a part of the structure for explaining the connection structure of the first link, the second link and the third link of the manual posture maintaining apparatus according to the embodiment of the present invention.
FIG. 12 is a side view showing a part of a connection structure of a second link, a first parallel link, and a third parallel link of a manual posture maintaining apparatus according to an embodiment of the present invention.
13 and 14 are an exploded perspective view and a side view for explaining a first gravity compensation unit of a manual posture maintaining apparatus according to an embodiment of the present invention.
15 and 16 are exploded perspective views illustrating a third link of the manual posture maintaining apparatus according to an embodiment of the present invention.
17 is a side view for explaining a connection structure of a third link, a third parallel link, and a fourth parallel link of the manual posture maintaining apparatus according to an embodiment of the present invention.
18 is an exploded perspective view illustrating a second gravity compensation unit of the manual posture maintaining apparatus according to an embodiment of the present invention.
FIGS. 19 to 21 are views for explaining a joint brake for restricting the rotation of the second link joint body and the third link of the manual posture maintaining apparatus according to the embodiment of the present invention, and its operation.
22 is an exploded perspective view for explaining a fourth link of the manual posture maintaining apparatus according to an embodiment of the present invention.
FIG. 23 and FIG. 24 illustrate a joint brake for restricting the rotation of the fourth link of the manual posture maintaining apparatus according to an embodiment of the present invention and its operation.
25 to 27 are exploded perspective views illustrating a fourth link, a fifth link, a sixth link, and a third gravity compensation unit of the manual posture maintaining apparatus according to an embodiment of the present invention.
28 is a sectional view for explaining a connection structure of a fourth link, a fifth link, a sixth link and a third gravity compensation unit of the manual posture maintaining apparatus according to an embodiment of the present invention.
29 and 30 are partial cross-sectional perspective views illustrating a third gravity compensation unit of the manual posture maintaining apparatus according to an embodiment of the present invention.
31 and 32 are an exploded perspective view and a sectional view for explaining a joint brake unit for restricting the rotation of the fifth link and the sixth link of the manual posture maintaining apparatus according to the embodiment of the present invention.
FIG. 33 is a conceptual view showing a simplified first gravity compensation unit of a manual posture maintaining apparatus according to an embodiment of the present invention. FIG.
FIG. 34 is a conceptual diagram illustrating a fourth link, a fifth link, and a sixth link of the manual posture maintaining apparatus according to an embodiment of the present invention in a simplified manner.
FIG. 35 is a simplified conceptual diagram for explaining gravity torque applied to the fourth link joint of the manual posture maintaining apparatus according to the embodiment of the present invention. FIG.
FIG. 36 is a simplified conceptual diagram for explaining the gravity torque applied to the fifth link joint of the manual posture maintaining apparatus according to the embodiment of the present invention. FIG.
37 is a view for explaining the operation of the third gravity compensation unit of the manual posture maintaining apparatus according to the embodiment of the present invention.
FIG. 38 is a simplified conceptual diagram for explaining the principle of gravity compensation of the third gravity compensation unit of the manual posture maintaining apparatus according to the embodiment of the present invention. FIG.
39 is a conceptual view of a simplified manual posture maintaining apparatus according to an embodiment of the present invention.
40 is a conceptual diagram for simplifying the calculation of the gravity torque applied to the third link joint of the manual posture maintaining apparatus according to the embodiment of the present invention.
FIG. 41 is a simplified conceptual diagram for calculating the gravity torque applied to the third link joint of the manual posture maintaining apparatus according to the embodiment of the present invention. FIG.

Hereinafter, a manual posture maintaining apparatus according to the present invention will be described in detail with reference to the drawings.

As shown in the drawing, the manual posture maintaining apparatus 100 according to an embodiment of the present invention includes a base link 102, a first link 110 connected to the base link 102 via a base joint Jb, A second link 150 connected to the first link 110 through a first link joint Jl1 and a third link 220 connected to the second link 150 through a second link joint Jl2, A fourth link 310 connected to the third link 220 through the third link Jl3 and a fifth link 340 connected to the fourth link 310 and the fourth link Jl4, A sixth link 350 connected by a fifth link 340 and a fifth link Jl5 and a plurality of gravity compensation units 200 260 and 360 for compensating for gravity torque at the joint . The manual posture maintaining apparatus 100 according to the present embodiment has a multi-joint structure in which a plurality of links are connected by a plurality of joints. In the joints where the gravity torque is large, the spring-based gravity compensation units 200, 260, and 360 cancel the gravity torque due to the self weight and the payload of the parts, The posture can be changed by force.

The manual posture maintaining apparatus 100 according to the present embodiment includes a roll joint (base joint), a pitch joint (first link joint), a pitch joint (second link joint), a shoulder joint (third link joint) Fourth link joint) - pitch joint (fifth link joint). Since the rotational center axes of the base joint Jb and the third link joint Jl3 of the plurality of joints are perpendicular to the bottom surface on which the base link 102 is placed, the joint Jb (Jl3) The torque is insignificant. On the other hand, since the influence of the gravity torque is large in the first link joint Jl1, the second link joint Jl2, the fourth link joint Jl4 and the fifth link joint Jl5, the joints Jl1 and Jl2 (Jl4) Jl5 are applied spring-based gravity compensation units 200, 260 and 360 to generate the compensation torque. In addition, two consecutive pitch joints (the first link joint Jl1 and the second link joint Jl2) are connected by a parallel four-bar linkage structure so that the reference plane for gravity compensation can always be perpendicular to the bottom surface.

The base link 102 is connected to the first link 110 via the base joint Jb. When the base link 102 is fixed to the floor, the rotation center axis of the base joint Jb can be arranged perpendicular to the floor surface. The base link 102 includes a base link housing 103, a base link cover 104 coupled with the base link housing 103, and a base link rotation support 105 for supporting the first link 110 do. The base link housing 103 has a space in which the joint brake unit 130 can be installed. The base link cover 104 is coupled to the top of the base link housing 103 to partially cover the open top of the base link housing 103. The base link rotation supporting portion 105 rotatably supports the first link 110. [

The first link 110 is coupled to the base link 102 to be rotatable about the base joint Jb. The first link 110 includes a first link rotation connection part 117 for connecting the first link main body 111 and the base link 102 and a second link rotation connection part 117 for rotatably supporting the second link 150. [ 1 link rotation supporting portions 120 (121). The first link main body 111 includes a first link main body base 112 coupled to the first link rotation connection portion 117 and disposed in parallel with the bottom surface, A first link main body left frame 113 and a first link main body right frame 114 vertically arranged with the first link main body base 112 and a first link main body left frame 113 and a first link main body right frame 113, And a first link main body intermediate frame 115 vertically disposed between the link main body right frame 114 and the first link main body base 112. The first link rotation connection portion 117 is disposed below the first link main body base 112 and is rotatably supported by the base link rotation support portion 105 of the base link 102. A bearing may be disposed between the first link rotation connection portion 117 and the base link rotation support portion 105. A first link friction contact portion 118 of a curved surface shape having a radius of curvature centering on the rotation center axis of the first link 110 relative to the base link 102 is provided on the outer periphery of the first link rotation connection portion 117. The first link rotation supporting portions 120 and 121 are respectively provided on the first link main body left frame 113 and the first link main body right frame 114 to rotatably support the second link 150. [

The first link pivotal connection portions 123 and 124 are coupled to the first link rotation support portions 120 and 121, respectively. One end of the first link pivot connection part 123 of one of the pair of first link pivot connection parts 123 and 124 is supported by one first link rotation support part 120 and the other end thereof is supported by the first link main body middle And is supported on the frame 115. One end of the first link pivot connection part 124 is supported by the first link rotation support part 121 and the other end thereof is supported by the first link main body intermediate frame 115. The first link pivot connection 123 of one of the pair of first link pivot connections 123 and 124 is for connection of the first parallel link 190 and the other of the first link pivot connection 124 Is for connection of the second parallel link 195. The pair of first link pivot joints 123 and 124 are arranged to be parallel to the rotational center axis of the first link joint J11 and eccentric from the rotational center axis of the first link joint J11. Also, the pair of first link pivot joints 123 and 124 are arranged to be spaced apart from each other on an imaginary plane perpendicular to the rotational center axis of the first link joint J11 so as not to be collinear.

The rotation of the first link 110 is restrained by the joint brake unit 130. The manual posture maintaining apparatus 100 according to the present embodiment can maintain its posture by using the gravity compensation units 200, 260 and 360 or can easily change its posture with a small force. However, this may mean that the posture can easily change if an unintended external force is applied. Therefore, for precise work and safety, posture must be fixed after posture change. The joint brake unit 130 may restrict the rotation of the first link 110 to maintain the attitude of the manual posture maintaining apparatus 100. [

5 to 8, the joint brake unit 130 includes a first link friction block 131 that is movably disposed inside the base link 102, and a second link friction block 131 that is rotatable inside the base link 102 A first link friction block 131 and a pressing cam 133 disposed between the first link friction block 131 and the pressure cam 133 for transmitting a pressing force of the pressing cam 133 to the first link friction block 131, A link friction block pressing force transmitting portion 138 and a brake lever 143 connected to the pressing cam 133. [ At least a portion of the brake lever 143 is disposed outside the base link 102 so that the brake lever 143 can be operated by a user. The first link friction block 131 is configured such that a portion of the first link friction abutment 118 facing the first link friction abutment 118 abuts the first link friction abutment 118 of the first link 110, As shown in FIG. The first link friction portion 118 and the first link friction block 131 may be made of a material having a high coefficient of friction such as rubber. The pressing cam 133 includes a rotating frame 134 rotatably supported by the base link 102 and a pair of pressing rollers 135 rotatably coupled to the rotating frame 134. The pair of pressure rollers 135 are disposed eccentrically with respect to the rotation center axis of the rotary frame 134, respectively. The rotation frame 134 is provided with a connection shaft 136 to which the brake lever 143 is coupled.

The first link friction block pressing force transmitting portion 138 includes a pair of elastic members 132 that apply an elastic force to the first link friction blocks 131 in a direction in which they are brought into close contact with the first link friction contact portions 118 of the first link 110. [ And a movable block 140 disposed between the pressing cam 133 and the elastic member 139 so as to press the elastic member 139 in accordance with the rotation of the pressing cam 133. [ On one side of the movable block 140, a movable block groove 141 into which the pressure roller 135 can be partially inserted is provided. The movable block 140 is slidably supported by a guide shaft 142 coupled to the base link 102. The movable block 140 may be guided by the guide shaft 142 and move linearly in the direction approaching the first link friction contact 118 or away from the first link friction contact 118. [ The first link friction block 131 and the elastic member 139 can also be movably supported on the guide shaft 142. [

8A, when the pressing roller 135 of the pressing cam 133 does not push the movable block 140 toward the first link friction block 131, the elastic member 139 moves to the set initial state And the first link friction block 131 does not apply the braking force to the first link friction contact portion 118. [ 8 (b), when the user rotates the brake lever 143, the pressure roller 135 of the pressure cam 133 pushes the movable block 140 to compress the elastic member 139, The first link friction block 131 is brought into frictional contact with the first link friction contact portion 118 by the elastic force to generate the braking force. 8 (c), when the brake lever 143 rotates approximately 90 degrees, the pressure roller 135 of the pressure cam 133 is partially inserted into the movable block groove 141 of the movable block 140 The pressing cam 133 is stopped with the movable block 140 being pressed to the maximum. The elastic force of the elastic member 139 is maximized so that the first link friction block 131 is brought into close contact with the first link friction contact portion 118 so that the rotation of the first link 110 with respect to the base link 102 is restricted do.

The pressing roller 135 of the pressing cam 133 is partly inserted into the movable block groove 141 of the movable block 140 so that the elastic member 139 can be released even if the user releases his or her hand from the brake lever 143. [ The compressed state can be maintained. When the user turns the brake lever 143 to move the pressing roller 135 away from the movable block groove 141 of the movable block 140, the braking force on the first link 110 Removed.

The first link 110 may be connected to the base link 102 via the base joint Jb and may be connected to the second link 150 via the first link joint Jl 1, .

The joint brake unit 130 that provides the braking force to the first link 110 may also be changed to various other structures that can constrain the rotation of the first link 110 relative to the base link 102, .

The second link 150 is connected to the first link 110 and the first link joint Jl1. The rotational center axis of the first link joint Jl1 is perpendicular to the rotational center axis of the base joint Jb. The second link 150 includes a second link main body 151 rotatably supported by the first link rotation support portions 120 and 121 of the first link 110, And a second link joint body 162 rotatably connected.

The second link main body 151 includes a second link main body left frame 152 and a second link main body right frame 153. A first parallel link 190, a second parallel link 195 and a first gravity compensation unit 200 are provided between the second link main body left frame 152 and the second link main body right frame 153. [ And the like are provided. The second link main body 151 is provided at its one end with second link rotation connection portions 155 and 156 rotatably coupled to the first link rotation support portions 120 and 121 of the first link 110, The other end of the second link main body 151 is provided with second link main body rotation support portions 158, 159 and 160 for rotatably supporting the second link joint body 162. A bearing may be disposed between the second link rotation connection portion 155 (156) and the first link rotation support portion 120 (121). One second link main body rotation support portion 158 of the plurality of second link main body rotation support portions 158, 159 and 160 is provided at one end of the second link main body left frame 152, The other second link main body rotation support part 159 is provided at one end of the second link main body right frame 153 and the other one second link main body rotation support part 159 is provided at one end of the second link main body rotation support part 159, And may be disposed between the main body rotation support portions 158 and 159.

2 to 11, 15 and 16, the second link joint body 162 includes a second link joint body rotation connection portion 163 rotatably connected to the second link main body 151, A second link joint body rotation support portion 168 rotatably connected to the third link 220 and a second link joint body rotation link portion 163 and a second link joint body rotation support portion 168, And a second link joint body connecting frame 173 (175). The second link joint body rotation connection portion 163 is connected to the second link main body rotation support portions 158, 159 and 160 of the second link main body 151, And rotation frames 164 (165) and 166. [

A bearing may be disposed between each of the second link main body rotation support portions 158, 159, 160 and the second link joint body rotation frames 164, 165, 166. The second link joint body rotation support portion 168 includes a plurality of second link joint body support frames 169, 170 and 171. The plurality of second link joint body support frames 169, 170 and 171 rotatably support the third link 220. One second link joint body connecting frame 173 of the pair of second link joint body connecting frames 173 and 175 is connected to the second link joint body connecting frame 173 having one end connected to the second link main body right frame 153, And is coupled to the second link joint body support frame 170 coupled to the body rotation frame 165 and the other end connected to the third link main body right frame 223 of the third link 220 to be described later. The second link joint body connecting frame 175 is coupled to a second link joint body rotating frame 164 having one end connected to the second link main body left frame 152, And is coupled to a second link joint body support frame 169 connected to the third link main body left frame 222 of the third link 220. Two of the plurality of second link joint body support frames 169, 170 and 171 are respectively engaged with the second link joint body link frames 173 and 175, and the other one of the second link joint body support frames 169, (171) is disposed between the two second link joint body support frames (169) (170).

The second link joint body rotating connection part 163 is coupled with the second link joint body pivot connection part 177 and 178. The second link joint body pivotal connection 177 of one of the pair of second link joint body pivot joints 177 and 178 is connected to the second link joint body 177, one end of which is connected to the second link main body left frame 152, And is supported by the body rotation frame 164. And the other second link joint body pivot connection part 178 is supported on the second link joint body rotation frame 165 whose one end is coupled to the second link main body right frame 153. [ The second link joint body pivot joints 177 and 178 are connected to a second link joint body rotation frame 166 disposed at the other end of the plurality of second link joint body rotation frames 164 165 165 . One of the pair of second link joint body pivot joints 177 and 178 is for connection of the first parallel link 190 and one of the second link joint body pivot joint 177 is for connection of the other second link joint 190. [ The body pivot connection 178 is for connection of the second parallel link 195. The pair of second link joint body pivot joints 177 and 178 are disposed to be eccentric from the rotational center axis of the second link joint body rotational joint 163, respectively. The pair of second link joint body pivot joints 177 and 178 are arranged to be spaced apart from each other on a virtual plane perpendicular to the rotational center axis of the second link joint body rotational joint 163 so as not to be collinear .

A pair of second link pivotal connection portions 180 and 181 are coupled to the second link joint body rotation support portion 168. The second link pivotal connection 180 of one of the pair of second link pivotal connections 180 is connected to the second link articulated body support frame 180 having one end thereof coupled to the second link articulated body connection frame 175 169). And the other second link pivot connection part 181 is supported on the second link joint body support frame 170, one end of which is coupled to the other second link joint body connection frame 173. The second link pivotal joints 180 and 181 are connected to a second link joint body support frame 171 disposed at the other end of the plurality of second link joint body support frames 169, 170 and 171, . One of the pair of second link pivotal connections 180 and 181 is for connection of the third parallel link 250 and the other of the second link pivotal connection 181 is for connection of the third parallel link 250, Is for the connection of the fourth parallel link 255. The pair of second link pivotal joints 180 and 181 are disposed to be eccentric from the rotational center axis of the third link 220 with respect to the second link joint body rotational support 168, respectively. The pair of second link pivotal joints 180 and 181 may also be arranged so as not to be collinear with a virtual plane perpendicular to the rotational center axis of the third link 220 relative to the second link joint body rotational support 168 Are spaced apart from each other.

In addition, as shown in Figs. 19 and 20, the second link 150 is provided with the second link friction contact portion 183. The second link friction contact portion 183 is disposed on one end side of the second link main body left frame 152 where the second link joint body rotating frame 164 is disposed. The second link friction contact portion 183 is formed in a curved shape having a radius of curvature centering on the rotation center axis of the second link joint body rotation connection portion 163 with respect to the second link main body 151.

As shown in FIGS. 3, 9, 10 and 12, the first parallel link 190 and the second parallel link 195 are arranged in parallel with each other inside the second link main body 151. The first parallel link 190 and the second parallel link 195 connect the first link 110 and the second link joint body 162. The first parallel link 190 is rotatably connected to the first link 110 via a first link pivot connection part 123 provided at one end of the first link 110, And is rotatably connected to the second link joint body 162 through the joint body pivot connection 177. [ The second parallel link 195 is rotatably connected to the first link 110 via a first link pivotal connection 124 provided at one end of the first link 110, And is rotatably connected to the second link joint body 162 through a joint body pivot connection 178. [ Thus, the first parallel link 190 and the second parallel link 195 constitute a quadruple link together with the first link 110 and the second link joint body 162. The longitudinal direction of each of the first parallel link 190 and the second parallel link 195 is parallel to the longitudinal direction of the second link main body 151. The first link 110, the second link main body 151, the second link joint body 162, the first parallel link 190 and the second parallel link 195 are connected to each other through the connection structure. A parallel four-bar link structure can be achieved.

The manual posture maintaining apparatus 100 according to the present embodiment can form a parallelogram mechanism through the double parallel four-bar linkage structure as described above. The parallelogram mechanism is a parallelogram mechanism composed of a link and a joint, and serves to maintain a predetermined angle with respect to the bottom surface of the link selected as a reference during joint motion of the link mechanism. By matching the reference plane for the multi-degree-of-freedom link mechanism through the parallelogram mechanism, the gravity compensation torque can be minimized and the operation can be performed quickly. That is, the same rotation reference can be formed by maintaining the same rotation state in the first link joint Jl1 and the second link joint Jl2 through the parallelogram mechanism. Therefore, even if the second link 150 rotates with respect to the first link 110, the second link joint body 162 can form another reference plane having a certain angle with the floor surface, and the second link joint Jl2, Effective gravity compensation is possible.

The second link 150 may be connected to the first link 110 by a first link joint Jl1 and may be connected to the third link 220 by a second link joint Jl2, Structure. The second link joint body 162 of the second link 150 is also rotatably coupled to the second link main body 151 and the first parallel link 190 and the second parallel link 195 may be connected Various other structures can be taken. Also, the structure of the first parallel link 190 and the second parallel link 195 for the four-bar link construction and the connection structure with the first link 110 or the second link 150 are not limited to the illustrated ones, .

The gravity torque applied to the first link joint Jl 1 by the self weight and the payload of the link when the second link 150 moves can be canceled by the first gravity compensation unit 200. 4, 9, 13 and 14, the first gravity compensation unit 200 includes a guide rail 201 fixed to the second link main body left frame 152 of the second link 150, A first elastic member 202 supported on the second link main body left frame 152, a first slider 205 slidably supported on the guide rail 201, And a first connecting rod 212 connecting the first link 110 and the second link 110. [

The pair of first elastic members 202 are disposed apart from each other with the guide rail 201 therebetween. A pair of guide bars 203 are installed on the left frame 152 of the second link main body for the installation of the first elastic member 202. These guide bars 203 are arranged parallel to each other with the guide rails 201 interposed therebetween. The first elastic member 202 can take a spring structure that winds around the outer periphery of the guide bar 203.

The first slider 205 can reciprocate linearly along the guide rail 201. The first slider 205 includes a pressing portion 207 which is slidably coupled to the pair of guide bars 203 and a connecting portion 207 which is connected to the pressing portion 207 and is slidably coupled to the guide rail 201, And a load connection portion 206. At one side of the connecting rod connecting portion 206, a slider pivot connecting portion 208 for connecting the first connecting rod 212 is provided. The first slider 205 is connected to the guide rail 201 through the linear guide 210 and is interlocked with the movement of the first connecting rod 212. The first elastic member 202 It can be elastically deformed by pressure.

The first connecting rod 212 connects the first link 110 and the first slider 205. One end of the first connecting rod 212 is rotatably connected to the first link pivot connecting portion 123 of the first link 110 and the other end of the first connecting rod 212 is connected to the slider pivot connecting portion 208 of the first slider 205 And is rotatably connected. The first link pivotal connection 123 is positioned eccentrically from the rotational center axis on the first link joint Jl 1.

The first connecting rod 212 rotates around the first link pivotal connection 123 of the first link 110 when the second link 150 rotates with respect to the first link 110. At this time, the first connecting rod 212 pulls the first slider 205 to compress the first elastic member 202 so that the elastic force of the first elastic member 202 is transmitted to the first slider 205 205 and the first connecting rod 212 to the second link 150. Therefore, the gravity torque can be compensated in the first link joint Jl 1 when the second link 150 rotates.

The first gravity compensating unit 200 is connected to the second link 150 to support the second link 150 in addition to the structure in which the first gravity compensating unit 200 is supported on the first link 110 and exerts an elastic force on the second link 150, To a variety of other configurations that can generate appropriate compensation torque in response to rotation of the motor.

For example, although the first slider 205 is shown as being operatively connected to the second link 150, the first slider 205 may be disposed on the first link 110. [ The first elastic member 202 may be replaced with another structure capable of providing an elastic force in addition to the coil spring structure as shown and may include a first slider 205 for transmitting the elastic force of the first elastic member 202, The structure and connection structure of each of the first connecting rods 212 may be variously changed.

As shown in FIGS. 1 to 4, 11, 15, and 16, the third link 220 is connected to the second link 150 via the second link joint Jl2. The rotational center axis of the second link joint Jl2 is parallel to the rotational center axis of the first link joint Jl. The third link 220 includes a third link main body 221 rotatably supported by the second link joint body rotation support 168 of the second link 150 and a third link main body 221 rotatably supported by the third link main body 221. [ And a third link joint body 233 which is connected as far as possible.

The third link main body 221 includes a third link main body left frame 222 and a third link main body right frame 223. A third parallel link 250, a fourth parallel link 255 and a second gravity compensation unit 260 are provided between the third link main body left frame 222 and the third link main body right frame 223, And the like are provided.

226 and 227 rotatably coupled to the second link joint body rotation support portion 168 of the second link 150 are provided at one end of the third link main body 221 And third link main body rotation support portions 229, 230 and 231 for rotatably supporting the third link joint body 233 at the other end of the third link main body 221. The second link joint Jl2 is disposed at a portion where the third link main body 221 and the second link joint body 162 are connected. A bearing may be disposed between the third link rotational linking portions 225, 226, 227 and the second link joint body support frames 169, 170, 171 of the second link joint body rotational support 168 have. One third link main body rotation support portion 229 among the plurality of third link main body rotation support portions 229, 230 and 231 is provided at one end of the third link main body left frame 222, The other third link main body rotation support portion 230 is provided at one end of the third link main body right frame 223 and the other third link main body rotation support portion 230 is provided at the other end portion of the third link main body rotation support portion 231, And may be disposed between the main body rotation support portions 229 and 230.

The third link joint body 233 includes a third link joint body rotation connection portion 234 rotatably connected to the third link main body 221 and a third link joint body rotation link portion 234 rotatably connected to the third link main body 221. [ And a third link joint body connection frame 239 connecting the third link joint body rotation link 234 and the third link joint body rotation support 241 to each other. The third link joint body rotation connecting portion 234 is connected to the third link main body rotating support portions 229, 230 and 231 of the third link main body 221, And rotation frames 235, 236, and 237, respectively. A bearing may be disposed between each of the third link main body rotation support portions 229, 230, 231 and the third link joint body rotation frames 235, 236, 237. The third link joint body rotation support portion 241 is disposed in the third link joint body link frame 239 to rotatably support the fourth link 310. [ The third link joint body link frame 239 includes a third link joint body turn frame 235 coupled to the third link main body left frame 222 and a third link joint body link frame 235 coupled to the third link main body right frame 223, Link joint body rotation frame 236. The link joint body rotation frame 236 is coupled to the link joint body rotation frame 236. [

A third link joint body pivot connection portion 243 (245) is coupled to the third link joint body rotation link portion 234. The third link joint body pivot connection portion 243 of one of the pair of third link joint body pivot joints 243 and 245 is connected to the third link joint body 241, And is supported by the body rotation frame 235. And the other third link joint body pivot connection portion 245 is supported on the second link joint body rotation frame 236, one end of which is coupled to the third link main body right frame 223. These third link joint body pivot joints 243 and 245 are connected to each other at a third link joint body rotation frame 237 disposed at the center among the plurality of third link joint body rotation frames 235, 236 and 237 . One third link joint body pivot connection 243 of the pair of third link joint body pivot joints 243 and 245 is for connection of the third parallel link 250, The body pivot connection 245 is for connection of the fourth parallel link 255. The pair of third link joint body pivot joints 243 and 245 are disposed to be eccentric from the rotational center axis of the third link joint body 233 with respect to the third link main body 221, respectively. The pair of third link joint body pivot joints 243 and 245 are formed so as to be perpendicular to the rotational center axis of the third link joint body 233 with respect to the third link main body 221, As shown in FIG.

In addition, as shown in Figs. 19 and 20, the third link 220 is provided with the third link friction contact portion 247. The third link friction contact portion 247 is disposed on one end side of the third link main body left frame 222 where the second link joint body support frame 169 is disposed. The third link friction contact portion 247 is formed in a curved shape having a radius of curvature centering on the rotation center axis of the third link rotation connection portion 225 with respect to the second link joint body 162.

As shown in FIGS. 15 to 17, the third parallel link 250 and the fourth parallel link 255 are arranged in parallel with each other inside the third link main body 221. The third parallel link 250 and the fourth parallel link 255 connect the second link joint body 162 and the third link joint body 233. The third parallel link 250 is rotatably connected to the second link joint body 162 via a second link pivot connection part 180 provided at one end of the second link joint body 162, Is rotatably connected to the third link joint body 233 through the third link joint body pivot connection 243. [ The fourth parallel link 255 is rotatably connected to the second link joint body 162 via a second link pivot connection part 181 provided at one end thereof on the second link joint body 162, Is rotatably connected to the third link joint body (233) through a third link joint body pivot connection (245). Accordingly, the third parallel link 250 and the fourth parallel link 255 constitute a quadric link together with the second link joint body 162 and the third link joint body 233. The longitudinal direction of each of the third parallel link 250 and the fourth parallel link 255 is parallel to the longitudinal direction of the third link main body 221. The third link main body 221, the third link joint body 233, the third parallel link 250, and the fourth parallel link 255 are connected to the second link joint body 162, the third link main body 221, A double parallel four-bar link structure can be achieved. The angle of the fourth link 310 can be kept constant even with rotation of the third link 220 through the parallelogram mechanism of the parallel four-bar link structure. For example, it is possible to keep the fourth link 310 horizontal relative to the floor surface.

The third link 220 may be connected to the second link 150 by a second link joint Jl2 and may be connected to the fourth link 310 by a third link joint Jl3, Structure. The third link joint body 233 of the third link 220 is rotatably coupled to the third link main body 221 and the third parallel link 250 and the fourth parallel link 255 are connected Lt; RTI ID = 0.0 > a < / RTI > Also, the structure of the third parallel link 250 and the third parallel link 250 for the four-bar link construction and the connection structure of the second link joint body 162 or the third link joint body 233 are also shown But may be variously changed without limitation.

The gravity torque applied to the second link joint Jl 2 by the weight of the link and the load of the link when the third link 220 moves can be canceled by the second gravity compensation unit 260. The second gravity compensation unit 260 has a structure similar to the first gravity compensation unit 200 described above. The second gravity compensation unit 260 includes a guide rail 261 fixed to the third link main body left frame 222 of the third link 220 and a guide rail 261 fixed to the third link main body left frame 222 A second slider 265 slidably supported on the guide rail 261 and a second connecting rod 263 connecting the second slider 265 and the second link joint body 162, (272).

The pair of second elastic members 262 are spaced apart from each other with the guide rail 261 therebetween. A pair of guide bars 263 are provided on the third link main body left frame 222 for the installation of the second elastic member 262. These guide bars 263 are arranged parallel to each other with the guide rail 261 interposed therebetween. The second elastic member 262 can take a spring structure that is wound around the outer periphery of the guide bar 263.

The second slider 265 can reciprocate linearly along the guide rail 261. The second slider 265 includes a pressing portion 267 slidably coupled to the pair of guide bars 263 and a connecting portion 266 connected to the pressing portion 267 and slidably coupled to the guide rail 261. [ And a rod connection portion 266. At one side of the connecting rod connecting portion 266, a slider pivot connecting portion 268 for engaging the second connecting rod 272 is provided. The second slider 265 is connected to the guide rail 261 through the linear guide 270 and is interlocked with the movement of the second connecting rod 272. The second elastic member 262 is pressed by the pressing portion 267 It can be elastically deformed by pressure.

The second connecting rod 272 connects the second link joint body 162 and the second slider 265. The second connecting rod 272 is rotatably connected to a second link pivotal connection 180 provided at one end of the second link joint body 162 and the other end of the second connecting rod is rotatably connected to the slider pivot connection portion 180 of the second slider 265, (Not shown). The second link pivotal connection 180 is positioned eccentrically from the rotational center axis on the second link joint Jl2.

The second connecting rod 272 rotates about the second link pivotal connection 180 of the second link articulating body 162 when the third link 220 rotates about the second link articulating body 162, . At this time, the second connecting rod 272 pulls the second slider 265 so that the second slider 265 compresses the second elastic member 262, and the elastic force of the second elastic member 262 pushes the second slider 265 265 and the second connecting rod 272 to the third link 220. Therefore, the gravity torque can be compensated in the second link joint Jl2 when the third link 220 is rotated.

The second gravity compensating unit 260 is connected to the third link 220 to support the third link 220 in addition to the structure in which the second gravity compensating unit 260 is supported by the second link joint body 162 and exerts an elastic force on the third link 220, 220 to various other configurations that can generate appropriate compensation torque.

For example, while the second slider 265 is illustrated as being operatively connected to the third link 220, the first slider 205 may be disposed in the second link joint body 162 . The second elastic member 262 can be changed to another structure capable of providing an elastic force in addition to the coil spring structure as shown in the drawing, and the second slider 265, which transmits the elastic force of the second elastic member 262, The structure and connection structure of each of the second connecting rods 272 may be variously changed.

The rotation of the third link 220 is restrained by the joint brake unit 280. [ The joint brake unit 130 may simultaneously restrict the rotation of the third link 220 and the second link 150 to maintain the attitude of the manual posture maintaining apparatus 100. [

19 to 21, the joint brake unit 280 is provided on the second link joint body 182 of the second link joint body 162 so as to be in contact with the second link friction contact portion 183 of the second link 150. [ A second link friction block 281 movably disposed on the body connecting frame 175, a pressing cam 285 rotatably disposed on the second link joint body connecting frame 175, a pressing cam 285, A second link friction block pressing force transmitting portion 290 disposed between the second link friction block 281 and the pressing cam 285 for transmitting the pressing force of the pressing roller 281 to the second link friction block 281, And a third link (not shown) operatively disposed in the second link joint body connecting frame 175 so as to contact the third link friction contact portion 247 of the third link 220, And a third link friction block 300 for transmitting the pressing force of the pressing cam 285 to the third link friction block 300. [ And a third link friction block pressing force transmitting portion 304 disposed between the lock 300 and the pressing cam 285.

The first link friction block 131 includes a friction block body 282 and a friction pad 283 provided at an end of the friction block body 282. The friction block body 282 can be slidably supported on a guide shaft 295 disposed in parallel with the moving direction of the first link friction block 131 in the second link joint body connecting frame 175. [ The friction pad 283 is a portion that is in close contact with the second link friction contact portion 183 of the second link 150 and may be made of a material having a high coefficient of friction such as rubber. The pressing cam 285 includes a rotating frame 286 rotatably supported on the second link joint body connecting frame 175 and a pair of pressing rollers 287 rotatably coupled to the rotating frame 286 do. The pair of pressure rollers 287 are disposed eccentrically with respect to the rotation center axis of the rotary frame 286, respectively. The rotating frame 286 is provided with a connecting shaft 288 to which the brake lever 297 is coupled.

The second link friction block pressing force transmitting portion 290 includes an elastic member 291 that applies an elastic force to the second link friction block 281 in a direction in which it is brought into close contact with the second link friction contact portion 183 of the second link 150, And a movable block 292 disposed between the pressing cam 285 and the elastic member 291 so as to press the elastic member 291 in accordance with the rotation of the pressing cam 285. At one side of the movable block 292, a movable block groove 293 through which a pressure roller 287 can be partially inserted is provided. The movable block 292 can be slidably supported on the guide shaft 295. The movable block 292 is guided by the guide shaft 295 and can move linearly in the direction approaching the second link friction contact portion 183 or away from the second link friction contact portion 183. The elastic member 291 can also be movably supported on the guide shaft 295.

The third link friction block 300 includes a friction block body 301 and a friction pad 302 provided at an end of the friction block body 301. The friction block body 301 may be slidably supported on a guide shaft 308 disposed in parallel with the moving direction of the second link friction block 281 in the second link joint body connecting frame 175. The guide shaft 308 for guiding the second link friction block 281 may be disposed on the same line as the guide shaft 295 for guiding the first link friction block 131. The friction pad 302 is a portion that is in close contact with the third link friction contact portion 247 of the third link 220 and may be made of a material having a high coefficient of friction such as rubber.

The third link friction block pressing force transmitting portion 304 includes an elastic member 305 which applies an elastic force to the third link friction block 300 in a direction in which it is brought into close contact with the third link friction contact portion 247 of the third link 220, And a movable block 306 disposed between the pressing cam 285 and the elastic member 305 so as to press the elastic member 305 in accordance with the rotation of the pressing cam 285. [ The movable block 306 is arranged to face the movable block 292 with the pressing cam 285 therebetween. On one side of the movable block 306, a movable block groove 307 into which the pressure roller 287 can be partially inserted is provided. The movable block 306 can be slidably supported on the guide shaft 308. The movable block 306 can be guided by the guide shaft 308 and moved linearly in the direction approaching the third link friction contact 247 or away from the third link friction contact 247. [ The elastic member 305 can also be movably supported on the guide shaft 295.

The second link friction block 281 and the third link friction block 300 can be simultaneously moved by the rotation of the pressing cam 285. [ That is, when the user rotates the pressing cam 285 by operating the brake lever 297, the pressing force of the pressing cam 285 is transmitted to the second link friction block pressing force transmitting portion 290 and the third link friction block pressing force transmitting portion 290, The second link friction block 281 and the third link friction block 300 are simultaneously transmitted to the second link friction block 281 and the third link friction block 300 via the second link 304 The second link friction contact 183 and the third link friction contact 247 of the second link 150 and the third link 220 are restrained.

The pressing roller 287 of the pressing cam 285 moves the two movable blocks 292 and 306 to the second link friction block 281 and the third link friction block 300, The two elastic members 291 and 305 maintain the set initial state. At this time, the second link friction block 281 and the third link friction block 300 are connected to the second link friction contact portion 183 of the second link 150 and the third link friction contact portion 183 of the third link 220, respectively 247 are not braked. 21 (b), when the user rotates the brake lever 297, the pressure roller 287 of the pressure cam 285 pushes the movable block 292 and the movable block 306 to move the two elastic members 291 ) 305 are respectively compressed. The second link friction block 281 is brought into frictional contact with the second link friction contact portion 183 by the elastic force of the elastic member 291 to generate a braking force against the second link joint body 162, The third link friction block 300 is brought into frictional contact with the third link friction contact portion 247 by the elastic force of the third link friction portion 305 and the braking force is generated with respect to the third link 220.

21 (c), when the brake lever 297 is rotated by about 90 degrees, the two pressure rollers 287 of the pressure cam 285 are moved respectively to the movable block groove 293 of the movable block 292 and the The pushing cam 285 is partially inserted into the movable block grooves 307 of the movable block 306 to stop the movable block 292 and the movable block 306 with maximum pressure. In this state, the two pressure rollers 287 of the pressure cam 285 are partially inserted into the movable block grooves 293 of the movable block 292 and the movable block grooves 307 of the other movable block 306, respectively, The elastic member 291 and the elastic member 305 can be maintained in a compressed state even if the brake lever 297 is released from the hand.

At this time, the elastic force of the elastic member 291 and the elastic member 305 is maximized, so that the second link friction block 281 is brought into close contact with the second link friction contact portion 183, The rotation of the second link joint body 162 is restrained and the rotation of the third link 220 relative to the second link joint body 162 is restrained. The second link 150 can not be rotated with respect to the first link 110 when the second link joint body 162 is not rotatable with respect to the second link main body 151. [ The rotation of the second link 150 is also constrained. The user rotates the brake lever 297 to rotate the two pressure rollers 287 of the pressing cam 285 in the movable block grooves 293 of the movable block 292 and the movable block grooves 307 of the other movable block 306 The braking force for the second link 150 and the third link 220 is removed while the two elastic members 291 and 305 return to their original positions.

In the first link joint Jl1 and the second link joint Jl2, 2 to 5% of the gravitational torque applied to each joint is inevitably influenced by the first gravity compensation unit 200 and the second gravity compensation unit 260, A gravity compensation error is generated. Therefore, even if the external force is not applied in the rotation section in which the gravity compensation error is not negligible, the manual posture maintaining apparatus 100 can not maintain its posture and moves to zero error. The elastic member 291 of the second link friction block pressing force transmitting portion 290 and the third link friction block pressing force transmitting portion 304 of the second link friction block pressing force transmitting portion 290 when the operating angle of the brake lever 297 or the pressing cam 285 is 0 degrees Even when the joint brake unit 280 is not operated, a constant frictional force acts on the joints, so that it is difficult to maintain the posture due to the gravity compensation error Can be solved. Here, when the operating angle of the brake lever 297 or the pressing cam 285 is 0 degree, it means the state shown in Fig. 21 (a). At this time, the two elastic members 291 and 305 are deformed to a smaller amount of elastic deformation than the elastic deformation amount by the pressing cam 285, so that the two elastic members 291 and 305 are deformed to the second link friction block 281 and the third link friction block 300 Elastic force can be applied to each of them.

The joint brake unit 280 that provides the braking force to the second link 150 and the third link 220 may be variously modified in addition to the structure shown in the figures. For example, in the figure, the joint brake unit 280 is arranged such that the second link friction block 281 and the third link friction block 300 are symmetrically disposed with the pressing cam 285 therebetween, The rotation of the second link 150 and the rotation of the third link 220 are simultaneously restrained by the rotation of the second link 150 and the rotation of the second link 150 and the third link 220. However, 220 may be separately provided.

As shown in Figs. 1 to 4 and 22, the fourth link 310 is connected to the third link 220 via the third link joint Jl3. The rotational center axis of the third link joint Jl3 is perpendicular to the rotational center axis of the second link joint Jl2. The fourth link 310 is provided on one side of the fourth link main body 311 and the fourth link main body 311 and rotatably supported on the third link joint body rotation support portion 241 of the third link 220. [ And a fourth link rotation support portion 315 provided on the other side of the fourth link main body 311 for rotatably supporting the fifth link 340. The fourth link rotation support portion 313 includes: do. A bearing may be disposed between the third link joint body rotation support portion 241 and the fourth link rotation connection portion 313. [

The fourth link 310 is restrained by the joint brake unit 320 in its rotation. 22 to 24, the joint brake unit 320 is supported by the third link joint body 233 to support the fourth link 220 with respect to the fourth link 220 in order to maintain the posture of the manual posture maintaining apparatus 100. [ The rotation of the link 310 can be restrained.

The joint brake unit 320 includes a fixed gear 321 fixed to the third link joint body 233 and a movable gear 325 and a movable gear 325 which can be gear- A stopper supporting shaft 329 for supporting the stopper 324 so as to linearly move and rotatably support the stopper 324 and an engagement portion 327 of the stopper 324, And a fourth link stopper connection portion 334 disposed on the fourth link 310 so that the first link stopper portion 331 and the second link stopper portion 332 are connected to each other.

The fixed gear 321 is fixed to the third link joint body rotation support portion 241 of the third link joint body 233. A plurality of fixed gear teeth 322 are disposed on the outer periphery of the fixed gear 321 along the rotational direction of the fourth link 310 with respect to the third link joint body 233. The movable gear 325 of the stopper 324 is supported by the stopper support shaft 329 fixed to the fixed gear 321 and can move relative to the fixed gear 321. [ The movable gear 325 can be engaged with the fixed gear 321 or can be disengaged from the fixed gear 321 by sliding along the stopper supporting shaft 329. [ A hole through which the stopper supporting shaft 329 passes is provided at the center of the movable gear 325. A plurality of movable gear teeth 326 corresponding to the fixed gear teeth 322 of the fixed gear 321 are disposed around the inner side of the movable gear 325. The engaging portion 327 of the stopper 324 is formed in a rod shape protruding outward from the outer peripheral surface of the movable gear 325. The stopper 324 is subjected to an elastic force in a direction in which the movable gear 325 is gear-connected to the fixed gear 321 by the elastic member 332. [ The elastic member 332 is supported by the support shaft head portion 330 provided at the end of the stopper support shaft 329 and presses the stopper 324 toward the fixed gear 321 side. The fourth link stopper connecting portion 334 includes a fourth link engaging portion inserting groove 335 into which the engaging portion 327 of the stopper 324 can be inserted and a fourth link engaging portion 335 which can support the engaging portion 327. [ And an auxiliary support portion 336. The fourth link engagement portion insertion groove 335 and the fourth link engagement portion support portion 336 are spaced apart from each other along the rotation direction of the stopper 324 with respect to the stopper support shaft 329. [ The fourth link retaining portion support portion 336 supports the retaining portion 327 when the movable gear 325 is separated from the fixed gear 321 so that the stopper 324 is kept separated from the fixed gear 321 .

24 (a), when the engaging portion 327 of the stopper 324 is inserted into the fourth link engaging portion inserting groove 335 of the fourth link stopper connecting portion 334, the fixed gear 321 The fixed gear 322 and the movable gear 326 of the movable gear 325 are meshed with each other so that the fixed gear 321 and the movable gear 325 are gear connected. At this time, the fourth link 310 is caught by the stopper 324 and its rotation is restrained. 24 (b), when the user lifts the stopper 324 to engage the stopper 327 of the stopper 324 with the fourth link retaining portion support 336 of the fourth link stopper connecting portion 334 The movable gear 325 can be kept separated from the fixed gear 321. [ At this time, the fourth link 310 is rotatable with respect to the third link 220.

This joint brake unit 320 is different from the joint brake unit 130 applied to the first link 110 described above or the joint brake unit 280 applied to the second link 150 and the third link 220 It takes up less installation space. Therefore, it is advantageous to apply to a component having the same size as the fourth link 310 and having a narrow installation space.

The joint brake unit 320 that provides the braking force to the fourth link 310 is changed to various other structures capable of restricting the rotation of the fourth link 310 relative to the third link 220, .

Referring to FIGS. 1 to 4 and 25 to 28, the fifth link 340 is connected to the fourth link 310 via the fourth link joint Jl4. The rotational center axis of the fourth link joint Jl4 is perpendicular to the rotational center axis of the third link joint Jl3. The fifth link 340 is provided on the fifth link main body 341 so as to be rotatably connected to the fifth link main body 341 and the fourth link rotation support portion 315 of the fourth link 310, A fifth link rotation support portion 345 provided on both sides of the fifth link main body 341 for rotatably supporting the sixth link 350 and a fifth link left rotation support portion 345 provided on both sides of the fifth link main body 341 for rotatably supporting the sixth link 350, And a support portion 346. A bearing may be disposed between the fourth link rotation support portion 315 and the fifth link rotation connection portion 343.

The sixth link 350 is connected to the fifth link 340 through the fifth link joint Jl5. The rotational center axis of the fifth link joint Jl5 is perpendicular to the rotational center axis of the fourth link joint Jl4. The sixth link 350 is rotatably connected to the sixth link main body 351 and the fifth link left rotation support portion 345 and the fifth link right rotation support portion 346 of the fifth link 340, And a sixth link left rotation connection portion 352 and a sixth link right rotation connection portion 353 provided on both sides of the sixth link main body 351. The sixth link left rotary connection portion 352 is provided with a sixth link left movable bevel gear connection portion 355 rotatably connected to a movable bevel gear 363 of a third gravity compensation unit 360 to be described later, The link right rotation connecting portion 353 is provided with a sixth link right movable bevel gear connecting portion 356 which is rotatably connected to the movable bevel gear 380 of the third gravity compensation unit 360 to be described later. In the middle of the sixth link main body 351, a through-hole 357 for installing a third gravity compensation unit 360 to be described later is provided.

At the end of the sixth link 350, some components of the third gravity compensation unit 360 are installed. A cover housing 358 covering the third gravity compensation unit 360 is coupled to an end of the sixth link 350. The cover housing 358 may be provided with a device or a device capable of supporting a work tool.

The gravity torque applied to the fourth link joint Jl4 by the self weight and the payload of the link during the rotation of the fifth link 340 and the gravity torque applied to the fifth link 340 due to the self weight and the payload of the link during the rotation of the sixth link 350, The gravity torque applied to the joint J5 may be canceled by the third gravity compensation unit 360. [ The third gravity compensating unit 360 is installed to be connected to the fourth link 310 and the fifth link 340 and the sixth link 350 so that the third gravity compensating unit 360 is connected to the fourth link Jl4 and the fifth link Jl5 It is possible to generate a compensating torque that cancels the gravity torque.

25 to 30, the third gravity compensation unit 360 includes a fixed bevel gear 361 coupled to the fourth link 310, and a fourth link (not shown) A pair of guide rails 366 and 383 supported on the sixth link 350 and a pair of guide bevel gears 363 and 383 rotatably coupled to the sixth link 350, A pair of third sliders 370 and 388 which are slidably supported on the pair of guide rails 366 and 383, And a pair of third connecting rods 377 and 395 connecting the third sliders 370 and 388 to the movable bevel gears 363 and 380. [ In order to distinguish the components of the third gravity compensation unit 360 from the components of the first gravity compensation unit 200 and the second gravity compensation unit 260 described above, the elastic members 367, 385 388 to the third sliders 370 and 388 and the connecting rods 377 and 395 to the third connecting rod 377 to the third resilient members 367 and 385, 395).

The fixed bevel gear 361 is fixed to the fourth link rotation support portion 315 of the fourth link 310 and is connected to the fifth link rotation connection portion 343 of the fifth link 340 in a relatively rotatable manner. The fixed bevel gear 361 is disposed in the middle of the fifth link left rotation support portion 345 and the fifth link right rotation support portion 346 of the fifth link 340.

The pair of movable bevel gears 363 and 380 are connected to the fifth link left rotation support portion 345 and the fifth link right rotation support portion 346 of the fifth link 340 so as to be engaged with the fixed bevel gear 361, Respectively. A bearing may be interposed between the movable bevel gear 363 and the fifth link left rotary support portion 345 and a bearing may be interposed between the other movable bevel gear 380 and the fifth link right rotation support portion 346 . A pair of movable bevel gears 363 and 380 are arranged to face each other with a fixed bevel gear 361 interposed therebetween. The rotational center axes of these movable bevel gears 363 and 380 can be arranged on the same line. The rotational center axis of the fifth link 340 with respect to the fixed bevel gear 361 and the rotational center axis of the movable bevel gears 363 and 380 with respect to the fifth link 340 may be orthogonal. The movable bevel gears 363 and 380 are provided with movable bevel gear pivot joints 364 and 381, respectively. Each of the movable bevel gear pivot joints 364 and 381 is positioned eccentrically from the rotational center axis of the movable bevel gears 363 and 380. The movable bevel gear 363 disposed on the fifth link left rotation support portion 345 among the pair of movable bevel gears 363 and 383 is connected to the sixth link left movable bevel gear connection portion 355 of the sixth link 350, Respectively. The movable bevel gear 380 disposed on the fifth link right rotation support portion 346 is also rotatably connected to the sixth link right movable bevel gear connection portion 356 of the sixth link 350.

The pair of guide rails 366 and 383 are disposed parallel to the rotational center axis of the fourth link joint Jl4 so as to be spaced apart from each other on the outer surface of the sixth link main body 351. [ The third elastic members 367 and 385 may be arranged in pairs by sandwiching the guide rails 366 and 383 therebetween. Guide bars 369 and 386 are installed on the sixth link main body 351 for the installation of the third elastic members 367 and 385. These guide bars 369 and 386 are disposed in parallel with the guide rails 366 and 383. The third elastic members 367 and 385 can take a spring structure that is wound around the outer circumference of the guide bars 369 and 386.

Each of the third sliders 370 and 388 can reciprocate linearly along the guide rails 366 and 383. Each of the sliders 370 and 388 includes connecting rod connecting portions 371 and 389 which are slidably coupled to the guide rails 366 and 383 and connecting rod connecting portions 371 and 389 disposed at the ends of the connecting rod connecting portions 371 and 389, And a pressing portion 372 (390) slidably coupled to the bar 369 (386). Slider pivot connection portions 373 and 391 for coupling the third connecting rods 377 and 395 are provided on one side of the connecting rod connecting portions 371 and 389, respectively. The third sliders 370 and 388 are connected to the respective guide rails 366 and 383 via the linear guides 375 and 393 to interlock with the movement of the third connecting rods 377 and 395, The third elastic members 367 and 385 can be elastically deformed by pressing portions 372 and 390.

The pair of third connecting rods 377 and 395 pass through the through holes 357 of the sixth link 350 to connect the movable bevel gears 363 and 380 and the third sliders 370 and 388 Connect. One third connecting rod 377 is rotatably connected to the movable bevel gear pivot connection portion 364 provided at one end of the movable bevel gear 363 and the other end is rotatably connected to the slider pivot connection portion 364 of the third slider 370, (Not shown). One end of the third connecting rod 395 is rotatably connected to the movable bevel gear pivot connection portion 381 provided at the movable bevel gear 380 and the other end is rotatably connected to the slider pivot 388 of the third slider 388, And is rotatably connected to the connection portion 391.

When the fifth link 340 rotates with respect to the fourth link 310, since the fixed bevel gear 361 is stopped, a pair of movable bevel gears 363, which are respectively connected to the fixed bevel gear 361, The second bevel gear 380 is rotated about the fifth link 340 while moving along the circumference of the fixed bevel gear 361. At this time, the third connecting rods 377 and 395 connected to the respective movable bevel gears 363 and 380 pull the third sliders 370 and 388 so that the third sliders 370 and 388 can move the third elastic members The elastic force of the third elastic members 367 and 385 is applied to the third sliders 370 and 388 and the third connecting rod 377 and 395 and the movable bevel gear 363, May be transmitted to the fifth link 340 via the second link 380. Therefore, the gravity torque can be compensated in the fourth link joint Jl4 when the fifth link 340 rotates.

When the sixth link 350 rotates about the fifth link 340, the third connecting rod 377 and 395 pull the third sliders 370 and 388 to rotate the third sliders 370 and 388 The third elastic members 367 and 385 compress the third elastic members 367 and 385 and the elastic force of the third elastic members 367 and 385 is applied to the third sliders 370 and 388 and the third connecting rods 377 and 395, And may be transmitted to the fifth link 340 through the movable bevel gears 363 and 380. Therefore, the gravity torque can be compensated at the fifth link joint Jl5 when the sixth link 350 rotates.

The third gravity compensation unit 360 may be modified into various other structures that can generate the appropriate compensation torque in accordance with the rotation of the fifth link 340 or the sixth link 350, For example, in the figure, the movable bevel gears 363 and 380 of the third gravity compensation unit 360, the third elastic members 367 and 385, the third sliders 370 and 388, The rods 377 and 395 are arranged in pairs, but these components may be provided one by one. The figure shows that the third gravity compensation unit 360 can compensate the gravity torque at the fourth link joint Jl4 and the fifth link joint Jl5. However, in the fourth link joint Jl4, A gravity compensation unit for generating a torque and a gravity compensation unit for generating a compensation torque at the fifth link joint Jl5 may be separately provided.

The rotation of the fifth link 340 and the sixth link 350 can be restrained by the joint brake unit 400. The joint brake unit 400 is coupled to the movable bevel gear 363 supported by the fifth link left rotary support portion 345 of the fifth link 340, as shown in Figs. 26 to 28, 31 and 32, So that the rotation of the fifth link 340 and the sixth link 350 can be restrained.

The joint brake unit 400 includes a fixed gear 401 coupled to the movable bevel gear 363 and a movable gear 405 and a movable gear 405 that can be gear- A stopper support shaft 409 for supporting the stopper 404 in a linear movement and rotatable manner and a stopper support shaft 409 for supporting the stopper 404 so as to be in contact with the stopper 407 of the stopper 404, And a sixth link stopper connection portion 414 disposed on the sixth link 350.

The fixed gear 401 is coupled with the movable bevel gear 363 and can rotate together with the movable bevel gear 363. A plurality of fixed gear gears 402 are disposed around the outer periphery of the fixed gear 401 along the rotational direction of the movable bevel gear 363 with respect to the sixth link 350. The movable gear 405 of the stopper 404 can be supported by a stopper supporting shaft 409 fixed to the fixed gear 401 and can move relative to the fixed gear 401. The movable gear 405 can be engaged with the fixed gear 401 or can be disengaged from the fixed gear 401 by sliding along the stopper supporting shaft 409. [ A hole through which the stopper supporting shaft 409 passes is provided at the center of the movable gear 405. A plurality of movable gear teeth 406 corresponding to the fixed gear teeth 402 of the fixed gear 401 are disposed around the inner side of the movable gear 405. The engagement portion 407 of the stopper 404 is formed into a rod shape protruding outward from the outer circumferential surface of the movable gear 405. The stopper 404 is subjected to elastic force in a direction in which the movable gear 405 is gear-connected to the fixed gear 401 by the elastic member 412. [ The elastic member 412 is supported by the support shaft head portion 410 provided at the end of the stopper support shaft 409 and presses the stopper 404 toward the fixed gear 401 side.

The sixth link stopper connecting portion 414 includes a sixth link engaging portion inserting groove 415 into which the engaging portion 407 of the stopper 404 can be inserted and a sixth link engaging portion 415 which can support the engaging portion 407. [ And an auxiliary support portion 416. The sixth linkage portion insertion groove 415 and the sixth linkage portion support portion 416 are spaced apart from each other along the rotation direction of the stopper 404 with respect to the stopper support shaft 409. The sixth linkage supporting portion 416 supports the stopper portion 407 when the movable gear 405 is separated from the fixed gear 401 so that the stopper 404 is kept separated from the fixed gear 401 .

That is, when the engaging portion 407 of the stopper 404 is inserted into the sixth link engaging portion insertion groove 415 of the sixth link stopper connecting portion 414, the fixed gear gear 402 of the fixed gear 401 The movable gear gear 406 of the movable gear 405 is engaged and the fixed gear 401 and the movable gear 405 are engaged with each other. At this time, the movable bevel gear 363 can not rotate relative to the fifth link 340 and the sixth link 350, and the rotation of the movable bevel gear 363 causes rotation of the fourth link 310 The rotation of the fifth link 340 and the rotation of the sixth link 350 relative to the fifth link 340 are restrained. If the user lifts the stopper 404 and places the stopper 407 of the stopper 404 in the sixth link stopper support portion 416 of the sixth link stopper connection portion 414, the movable gear 405 is fixed The state of being separated from the gear 401 can be maintained. At this time, the movable bevel gear 363 can rotate relative to the fifth link 340 and the sixth link 350 so that the fifth link 340 and the sixth link 350 can rotate.

The joint brake unit 400 that provides the braking force to the fifth link 340 and the sixth link 350 may be configured to limit the rotation of the fifth link 340 or the sixth link 350, It can be changed into various other structures. For example, a joint brake unit for restricting the rotation of the fifth link 340 and a joint brake unit for restricting the rotation of the sixth link 350 may be separately provided.

On the other hand, in the fourth link joint Jl4 and the fifth link joint Jl5, a gravity compensation error of about 2 to 5% of the gravity torque applied to each joint inevitably occurs due to the influence of the third gravity compensating unit 360 . However, since the fourth link joint Jl4 and the fifth link joint Jl5 are located at the distal end of the manual posture maintaining device 100, the effect of the gravity torque is small and the absolute error value is insignificant. Therefore, the fourth link joint Jl4, And the fifth link joint J5 without providing additional frictional force.

As described above, the manual posture maintaining apparatus 100 according to the embodiment of the present invention implements gravity compensation using the gravity compensating units 200, 260 and 360 at the joints affected by gravity torque, The user can easily change the posture with a small force, and the posture to be operated by the user can be stably maintained.

Further, the manual posture maintaining apparatus 100 according to an embodiment of the present invention can perform precise and safe operation by using the joint brake units 130, 280, 320, and 400 that can restrain the movement of the link. Do.

Hereinafter, more specific actions of the gravity compensation units 200, 260, and 360 applied to the manual posture maintaining apparatus 100 according to an embodiment of the present invention will be described numerically.

Referring to FIG. 33, in the case of the first gravity compensation unit 200, the following gravity torque Tg is applied when the second link 150 rotates by?.

Where m is the mass of the link, and lc is the distance from the center of rotation to the center of mass. Here, the moving distance s of the first slider 205 of the first gravity compensation unit 200 according to the rotation of the second link 150 is as follows.

Here, lck is the distance between the center of the first link joint Jl1 and the connecting point of the first connecting rod 212 and the first link 110 (the first link pivot connecting portion 123), lcr is the distance Is the length of the rod 212, k is the spring constant of the first elastic member 202, and? Is the angle between the first connecting rod 212 and the second link 150. The restoring force Fs due to the compression of the first elastic member 202 can be expressed as follows by multiplying the spring rigidity of the first elastic member 202 by the compression distance of the first elastic member 202:

Here, s0 is the initial compression distance of the first elastic member 202, and the force applied to the first connecting rod 212 is Fcr, the following relationship holds between Fcr and Fs.

The moment arm hcr, which is the distance between the center of the first linking rod 212 and the first link joint J11, is as follows.

Finally, a compensation torque Tc, which is a product of a force transmitted through the first connecting rod 212 and a moment arm, is generated in the first link joint Jl1 as follows.

Accordingly, the compensation torque generated in the first gravity compensation unit 200 according to the rotation angle of the second link 150 is determined by four design variables lck, k, s0, lcr, and Tc = Tg. The gravity torque appearing in the form of a sinusoidal wave according to the rotation of the second link 150 can be canceled.

FIG. 34 is a conceptual view illustrating a fourth link, a fifth link, and a sixth link of the manual posture maintaining apparatus according to an embodiment of the present invention in a simplified manner, and FIG. 35 is a perspective view of the manual posture maintaining apparatus according to an embodiment of the present invention. 36 is a simplified conceptual diagram for explaining the gravity torque applied to the fifth link joint of the manual posture maintaining apparatus according to the embodiment of the present invention. FIG. 36 is a conceptual diagram simplified for explaining the gravity torque applied to the fourth link joint. to be.

In the conceptual diagram of the roll-pitch mechanism shown in Fig. 34 (a), the pitch joint (fifth link joint Jl5) rotates by? 6 as shown in (b) (J14) is rotated by? 5, the following gravity torque is applied to each joint. In FIG. 34, the pitch joint is rotated first and the roll joint is rotated. However, the final posture is the same even if the rotational order of the joints is changed.

Where m56p is the sum of the weight and the payload of the link to the roll joint and the pitch joint, and lc56p is the distance between the pitch joint and the center of gravity.

이며, 삼각형 ORQ'에서 선분RQ'의 길이는

가 되므로,

이 도출될 수 있다. 피치 관절에 인가되는 중력토크도 같은 방법으로 계산되지만, 도 36의 (a)와 같이 롤 관절의 회전에 의해 모멘트암 계산을 위한 좌표계가 θ5만큼 회전된다는 점을 고려하여야 한다. 새로운 x'y'z' 좌표계에서 중력 m56pg는 y' 방향과 z' 방향의 두 분력으로 나타낼 수 있다. 이때, 피치 관절의 회전축이 y'에 해당하므로, y'방향의 힘인

는 피치관절의 중력토크에 영향을 주지 않는다. 도 36의 (b)는 도 36의 (a)를 E방향으로 바라본 모습이며, 피치 관절의 회전에 따른 모멘트암은

가 됨을 알 수 있다. 따라서 링크에 작용하는 중력의 z'성분과 모멘트암을 곱하면

이 도출될 수 있다.35 and 36, the gravity torque can be calculated as a product of a force acting on the center of gravity due to gravity and a moment arm. Therefore, the gravity torque applied to the roll joint is calculated as the product of m56 pg and the line segment RQ 'in Fig. 35 (a). Since the triangles OPQ and OP'Q 'are concurrent, the length of the line segment OQ' in FIG. 35 (b)

, And the length of the segment RQ 'in the triangle ORQ' is

As a result,

Can be derived. The gravity torque applied to the pitch joint is also calculated in the same way, but it should be considered that the coordinate system for calculating the moment arm is rotated by? 5 by rotation of the roll joint as shown in Fig. 36 (a). In the new x'y'z 'coordinate system, the gravity m56pg can be represented by two components in the y' and z 'directions. At this time, since the rotation axis of the pitch joint corresponds to y ', the force in the y' direction

Does not affect the gravity torque of the pitch joint. Fig. 36 (b) is a view of Fig. 36 (a) viewed in the direction E, and the moment arm due to the rotation of the pitch joint

. Therefore, multiplying the moment arm by the z 'component of gravity acting on the link

Can be derived.

FIG. 37 is a view for explaining the operation of the third gravity compensating unit of the manual posture maintaining apparatus according to the embodiment of the present invention, and FIG. 38 is a view for explaining the operation of the third gravity compensating unit of the manual posture maintaining apparatus according to the embodiment of the present invention, Is a simplified conceptual diagram for explaining the principle of gravity compensation.

37, the fixed bevel gear 361 of the third gravity compensation unit 360 is fixed and does not rotate, and the movable bevel gear 363 and the movable bevel gear 380 are fixed to the center of the fixed bevel gear 361 And the roll-direction rotation is realized by rotating in opposite directions with respect to the axis. When the fifth link 340 rotates in the clockwise direction by? 5 in a state where the sixth link 350 rotates by? 6, the movable bevel gear 380 is rotated counterclockwise as shown in FIGS. 38 (a) and 38 (b) The movable bevel gear 363 rotates clockwise by &thetas; 5. The connecting points (movable bevel gear pivotal connection portions 364, 381) of the third connecting rods 377, 395 from the respective movable bevel gears 363, 380 are also shifted by? 5. Therefore, the compression distance and the magnitude and direction of the force of the A portion of the third gravity compensation unit 360 shown in FIG. 37 (a) and the third elastic members 367 and 385 of the B portion are different. Similar to the previously obtained, the A portion of the third gravity compensation unit 360 and the?,?, S, lm and Fcr in the B portion can be obtained as follows. 38 (a) and 38 (b) in the case of the pitch joint and the clockwise direction in the case of the roll joint as shown in FIG. 38 (c) Respectively. The subscript i represents the A portion or the B portion.

Therefore, the compensation torque by the A portion and the B portion of the third gravity compensation unit 360 is as follows.

The compensation torque Tc6 of the pitch joint can be obtained as the sum of the compensation torque by the A portion and the B portion of the third gravity compensation unit 360 as follows.

인 상태로 돌아가려고 할 것이다. 따라서 하나의 가동 베벨기어(380)에는

의 토크가, 다른 가동 베벨기어(363)에는

의 토크가 인가된다. 그런데 각 가동 베벨기어(363)(380)에 연결된 제 3 중력보상유닛(360)에 의해 각 가동 베벨기어(363)(380)에 연결된 제 3 커넥팅로드(377)(395)의 연결점에도 FcrA와 FcrB의 힘이 작용한다. 이 힘에 의해 각 가동 베벨기어(363)(380)에 +TcA, +TcB의 토크가 발생한다. 따라서 각 가동 베벨기어(363)(380)에 작용하는 토크는 각각

,

이 된다. 롤 방향의 자세를 유지하기 위해서는 이 두 값이 서로 같으면 된다. 즉 다음 식을 만족하면 제 3 중력보상유닛(360)에 의한 롤 방향의 자세 유지가 가능하다.38 (c), since the center of gravity has moved to the left by the roll-direction rotation, the counter-clockwise gravity torque Tg5 is applied to the roll joint. The roll direction rotation is realized by the rotation of the movable bevel gears 363 and 380. If the third gravity compensation unit 360 is not provided, each of the movable bevel gears 363 and 380 is initialized by the gravity torque Tg5, In other words

I will try to return to the state. Therefore, in one movable bevel gear 380

And the other movable bevel gear 363

Is applied. The connection point of the third connecting rods 377 and 395 connected to the movable bevel gears 363 and 380 by the third gravity compensating unit 360 connected to the movable bevel gears 363 and 380 is also connected to FcrA The force of FcrB acts. By this force, + TcA and + TcB torque are generated in the movable bevel gears 363 and 380, respectively. Therefore, the torque acting on each of the movable bevel gears 363 and 380 is

,

. In order to maintain the attitude in the roll direction, these two values may be equal to each other. That is, if the following equation is satisfied, it is possible to maintain the attitude in the roll direction by the third gravity compensation unit 360. [

또는,

or,

Therefore, the compensation torque Tc5 required for the roll joint is as follows.

,

을 만족하게 되면 롤-피치 관절에서의 자세유지가 가능하다.Design variables lck, k, s0, and lcr are appropriately selected

,

The posture of the roll-pitch joint can be maintained.

39 is a conceptual view of a simplified manual posture maintaining apparatus according to an embodiment of the present invention.

FIG. 39 is a conceptual diagram of the entire system showing the center of gravity of each link corresponding to the first link joint Jl1 to the fifth link joint Jl5, the distance between the joint and the center of gravity, and the link length. In order to obtain the gravity torque applied to the first link joint Jl1 and the second link joint Jl2, the gravity torque due to the links after the joint should be calculated. Since the third link joint Jl3 is perpendicular to the bottom surface, the third link joint Jl3 is not influenced by gravity in the rotational direction, so that it is possible to maintain the posture without gravity compensation. However, the third link joint Jl3 does not have a torque due to gravity. The gravity torques applied to the fourth link joint Jl4 and the fifth link joint Jl5 by the third gravity compensating unit 360 are canceled but the third gravity compensating unit 360 does not perform gravity compensation The apparatus transmits a torque equal in magnitude to Tg5 and Tg6 to the third link joint Jl3. That is, the gravity torque does not disappear by the third gravity compensation unit 360 but is transmitted to the portion supporting the fourth link 310. [

,

가 된다. 도 40의 (c)와 같이 제 3 링크 관절(Jl3)에서의 회전도 고려한 일반적인 상태에서는 회전된 좌표계에서

,

가 되며, 이를 xyz좌표계의 각 성분으로 나타내면 Tg4는 다음과 같다.40 is a conceptual diagram for simplifying the calculation of the gravity torque applied to the third link joint of the manual posture maintaining apparatus according to the embodiment of the present invention. Here, the torque acting on the base (third link joint body 233) of the third link joint Jl3 is denoted by Tg4. As shown in FIG. 40 (a), forces acting on the centers of masses in the state of? 4 = 0 can be expressed by the forces and moments acting on the base of the third link joint Jl3 as shown in FIG. 40 (b) have. Tg4x is the gravitational torque of the roll joint, Tg4y is the sum of the gravity torque of the pitch joint and the torque due to m4g

,

. As shown in (c) of FIG. 40, in a general state in which rotation in the third link joint Jl3 is considered,

,

, And Tg4 is expressed by the following in each component of the xyz coordinate system.

와 토크 Tg4x, Tg4y를 제 3 링크 관절(Jl3)의 베이스 위의 점 S로 이동시켜 표현하면 도 41의 (b)와 같이 나타낼 수 있다. 이때 Tg4x는 제 2 링크 관절(Jl2)의 회전 중심축에 수직한 x축 방향의 토크이므로 제 2 링크 관절(Jl2)의 회전 방향 중력토크에 영향을 미치지 않고 평행 4절 링크 구조를 통해 바닥면과 연결된 베이스 링크(102) 측으로 전달된다. 또한 평행 4절 링크의 특성에 의해, 제 3 링크 관절(Jl3)의 베이스는 고정된 기준면 Ref3과 항상 평행을 유지하며 제 2 링크 관절(Jl2)을 중심으로 회전한다. 즉, Tg4y에 의해 제 3 링크 관절(Jl3)의 베이스가 기울어지지 않고 Tg4y 역시 평행 4절 링크 구조를 통해 바닥면과 연결된 베이스 링크(102) 측으로 전달되게 된다. 따라서 제 2 링크 관절(Jl2)의 중력토크 Tg3는 제 3 링크(220)의 자중에 의한 힘과 점 S에 작용하는 힘에 의해서만 결정되며 다음과 같다.The gravity torque applied to the second link joint Jl2 can be obtained by adding all the gravity torques due to the links connected after the second link joint Jl2. FIG. 41 is a simplified conceptual diagram for calculating the gravity torque applied to the third link joint of the manual posture maintaining apparatus according to the embodiment of the present invention. FIG. In Figure 41 (a), the force acting on the base of the third link joint Jl3

And the torques Tg4x and Tg4y are moved to the point S on the base of the third link joint Jl3 to be represented as shown in Figure 41 (b). At this time, since Tg4x is the torque in the x-axis direction perpendicular to the rotation center axis of the second link joint Jl2, the torque is not influenced in the rotational direction gravity torque of the second link joint Jl2, And transmitted to the connected base link 102 side. Due to the characteristics of the parallel four-bar linkage, the base of the third link joint Jl3 is always parallel to the fixed reference plane Ref3 and rotates around the second link joint Jl2. That is, the base of the third link joint Jl3 is not tilted by Tg4y and Tg4y is transmitted to the base link 102 connected to the bottom surface through the parallel four-link structure. Therefore, the gravity torque Tg3 of the second link joint Jl2 is determined only by the force due to the weight of the third link 220 and the force acting on the point S, as follows.

Since the first link joint Jl1 also has the same structure as the second link joint Jl2, the gravity torque Tg2 applied to the first link joint Jl1 can be obtained as follows.

When the first gravity compensation unit 200 and the second gravity compensation unit 260 operate, the compensation torque generated in each joint is as follows.

,

를 만족하도록 각 링크 관절에 대한 중력보상유닛의 설계변수를 선정하면 근사적으로 중력토크의 보상이 가능하다.therefore

,

The design parameters of the gravity compensation unit for each link joint are selected to compensate the gravity torque in an approximate manner.

Although the preferred embodiments of the present invention have been described above, the scope of the present invention is not limited to those described and illustrated above.

For example, although the manual posture maintaining apparatus 100 has shown a six-degree-of-freedom structure in which a plurality of links are linked by a plurality of link joints, the number of links constituting the manual posture maintaining apparatus is variously changed So that the degree of freedom of the manual posture maintaining device can be variously changed. Further, the structure of each link, the link structure of link and link, the structure of the gravity compensation unit for gravity compensation in the link joint, and the structure of the joint brake unit for restricting the movement of the link can be variously changed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Those skilled in the art will appreciate that numerous modifications and variations can be made in the present invention without departing from the spirit and scope of the appended claims.

100: Manual posture maintaining device 102: Base link
103: base link housing 104: base link cover
105: base link rotation support part 110: first link
111: first link main body 117: first link rotation connecting portion
118: first link friction contact
120, 11: first link rotation supporting portion
123, 124: first link pivot connection part
130, 280, 320, 400: joint brake unit
131: first link friction block 133, 285: pressure cam
138: first link friction block pressing force transmitting portion
139, 291, 305, 332, 412: elastic members 140, 292, 306:
143, 297: brake lever 150: second link
151: Second link main body
155, 156: second link rotation connecting portion
158, 159, 160: Second link main body rotation support
162: second link joint body
163: second link joint body rotation connection part
168: second link joint body rotation support
173, 175: second link joint body connection frame
177, 178: second link joint body pivot connection
180, 181: second link pivot connection part 183: second link friction contact part
190: first parallel link first parallel link 195: second parallel link
200: first gravity compensation unit
201, 261, 366, 383: guide rail 202: first elastic member
205: first slider
208, 268, 373, 391: Slider pivot connection
212: first connecting rod 220: third link
221: Third link main body
225, 226, 227: a third link rotation connecting portion
229, 230, 231: the third link main body rotation supporting portion
233: Third link joint body
234: Third link joint body rotation connection
239: Third Link Joint Body Connection Frame
241: third link joint body rotation support
243, 245: Third link joint body pivot connection
247: third link friction contact 250: third parallel link
255: fourth parallel link 260: second gravity compensation unit
262: second elastic member 265: second slider
272: second connecting rod
281: second link friction block
290: second link friction block pressing force transmitting portion 300: third link friction block
304: third link friction block pressing force transmitting portion 310: fourth link
311: fourth link main body 313: fourth link rotation connecting portion
315: fourth link rotation supporting portion 321, 401: fixed gear
324, 404: Stoppers 325, 405:
327, 407: engaging portion 329, 409: stopper supporting shaft
334: fourth link stopper connecting portion 335: fourth link receiving portion insertion groove
336: fourth link engaging portion supporting portion 340: fifth link
341: fifth link main body 343: fifth link rotation connection part
345: fifth link left rotation support
346: fifth link right rotation support part 350: sixth link
351: the sixth link main body
352: sixth link left rotation connecting portion
353: sixth link right rotation connection portion
355: sixth link left movable bevel gear connection
356: sixth link right movable bevel gear connection
358: Cover housing 360: Third gravity compensation unit
361: fixed bevel gears 363, 380: movable bevel gears
364, 381: movable bevel gear pivot connection 367, 385: third elastic member
370, 388: third slider 377, 395: third connecting rod
414: the sixth link stopper connection portion
415: the sixth link engagement portion supporting portion

Claims (19)

A first link;
A second link main body connected to the first link by a first link joint and a second link joint body rotatably connected to the second link main body;
A first parallel link rotatably connected to the first link and the second link joint body, respectively, for connecting the first link and the second link joint body;
And a second link joint body rotatably connected to the first link and the second link joint body so as to be spaced apart from the first balanced link, and configured to form a four-section link together with the first link, the second link joint body, A second parallel link;
A third link main body connected to the second link joint body by a second link joint, and a third link joint body rotatably connected to the third link main body;
A third parallel link rotatably connected to the second link joint body and the third link joint body to connect the second link joint body and the third link joint body;
The second link joint body and the third link joint body are rotatably connected to the second link joint link and the third link joint body so as to be spaced apart from the third parallel link, A fourth parallel link constituting a section link;
A first gravity compensation unit coupled to the second link to apply a compensation torque to the second link to compensate for gravity torque at the first link joint; And
And a second gravity compensation unit coupled to the third link to apply a compensation torque to the third link to compensate for gravity torque at the second link joint.
The method according to claim 1,
Wherein the second link main body is provided with an inner space, the first parallel link and the second parallel link are disposed in parallel with each other inside the second link main body,
Wherein the third link main body is provided with an inner space and the third parallel link and the fourth parallel link are disposed parallel to each other inside the third link main body.
The method according to claim 1,
Wherein the first gravity compensation unit comprises:
A first connecting rod rotatably connected to any one of the first link and the second link,
A first slider that is rotatably connected to the first connecting rod and is movably installed in the other one of the first link and the second link and is interlocked with the movement of the first connecting rod,
And a first elastic member connected to the first slider so as to apply an elastic force to the first slider in a direction opposite to a direction in which the first connecting rod pulls the first slider,
Wherein the second gravity compensation unit comprises:
A second connecting rod rotatably connected to any one of the second link and the third link,
A second slider connected to the second connecting rod rotatably and movably installed in the other one of the second link and the third link and interlocked with the movement of the second connecting rod,
And a second elastic member connected to the second slider so as to apply an elastic force to the second slider in a direction opposite to a direction in which the second connecting rod pulls the second slider.
The method according to claim 1,
And a joint brake unit supported by the second link and restricting rotation of the third link with respect to the second link.
5. The method of claim 4,
Wherein the third link includes a curved third link friction contact having a radius of curvature about a rotational center axis of the third link with respect to the second link,
Wherein the joint brake unit comprises:
A third link friction block movably disposed on the second link for frictional contact with the third link friction contact,
A pressing cam rotatably disposed on the second link so as to provide a pressing force for pressing the third link friction block toward the third link friction contact portion;
And a brake lever connected to the pressure cam so as to be operated by a user.
The method according to claim 1,
The second link joint body may include:
A second link joint body rotation connection portion rotatably coupled to the second link main body,
A second link joint body rotation support rotatably coupled to the third link main body,
And a second link joint body connection frame connecting the second link joint body rotation connection portion and the second link joint body rotation support portion.
The method according to claim 6,
The second link joint body rotates to the second link main body and the rotation of the third link main body to the second link joint body rotation support, And an articulated brake unit for restricting movement of the articulated body.
8. The method of claim 7,
Wherein the second link has a curved second link friction contact portion provided on the second link main body such that the second link has a radius of curvature centering on a rotation center axis of the second link joint body rotation connection portion with respect to the second link main body Respectively,
The third link has a curved third link friction contact portion provided on the third link main body such that the third link has a radius of curvature centering on the rotation center axis of the third link main body with respect to the second link joint body rotation support portion, Respectively,
Wherein the joint brake unit comprises:
A second link friction block operatively disposed in the second link articulated body connection frame for frictional contact with the second link friction contact,
A third link friction block movably disposed in the second link articulated body connection frame for frictional contact with the third link friction contact,
A second link friction block is provided between the second link friction block and the third link friction block so as to press the second link friction block toward the second link friction contact and press the third link friction block toward the third link friction contact, A pressure cam rotatably disposed on the cam surface,
And a brake lever connected to the pressure cam so as to be operated by a user.
9. The method of claim 8,
Wherein the joint brake unit comprises:
An elastic member that is disposed between the second link friction block and the pressing cam so as to be compressed by the pressing cam and exert an elastic force toward the second link friction contact portion with respect to the second link friction block,
Further comprising another resilient member disposed between the third link friction block and the pressurizing cam so as to be compressed by the pressurizing cam and to exert an elastic force on the third link friction contact side with respect to the third link friction block,
The elastic members are deformed to an elastic deformation amount smaller than the elastic deformation amount by the pressing cam when the operating angle of the pressing cam is 0 degree so that elastic forces are applied to the second link friction block and the third link friction block, Wherein the first and second support members are connected to each other.
The method according to claim 1,
And a fourth link connected to the third link joint body and the third link joint so as to be rotatable about the third link joint body, the fourth link having a rotation center axis perpendicular to the floor where the first link is placed, Characterized by a manual posture holding device.
11. The method of claim 10,
And a joint brake unit for restricting the rotation of the fourth link relative to the third link joint body,
Wherein the joint brake unit comprises:
A fixed gear fixed to the third link joint body and having a plurality of fixed gear gears disposed along the rotational direction of the fourth link with respect to the third link joint body,
A movable gear having a plurality of movable gear gears corresponding to the plurality of fixed gear gears and a locking portion projecting outwardly from the movable gear, wherein the movable gear is gear-connected to the fixed gear, A stopper disposed so as to be movable relative to the fixed gear,
A stopper supporting shaft supported by the third link joint body to support the stopper in a linear movement and in a rotatable manner,
A fourth link engaging portion insertion groove which is disposed in the fourth link and into which the engaging portion is inserted when the movable gear is gear connected with the fourth gear, And a fourth link stopper connecting portion that is spaced apart from the stopper supporting portion in the rotation direction of the stopper relative to the stopper supporting shaft.
11. The method of claim 10,
A fifth link having a rotation center axis perpendicular to a rotation center axis of the fourth link and connected to the fourth link and the fourth link so as to be rotatable about the fourth link; And
And a third gravity compensation unit coupled to the fifth link to apply a compensation torque to the fifth link to compensate gravity torque at the fourth link joint.
13. The method of claim 12,
Wherein the third gravity compensation unit comprises:
A fixed bevel gear fixed to the fourth link,
A movable bevel gear rotatably coupled to the fifth link so as to be connected to the fixed bevel gear,
A third connecting rod rotatably connected to the movable bevel gear such that one end thereof is eccentric with the rotational center axis of the movable bevel gear,
A third slider coupled to the fifth link for relative movement with the other end of the third connecting rod, the third slider interlocked with the movement of the third connecting rod,
And a third elastic member connected to the third slider so as to apply an elastic force to the third slider in a direction opposite to a direction in which the third connecting rod pulls the third slider.
14. The method of claim 13,
The second link is connected to the fifth link and the fifth link joint so as to be rotatable with respect to the fifth link and the movable bevel gear with the same rotation center axis as the rotation center axis of the movable bevel gear, And a sixth link disposed on the second link.
15. The method of claim 14,
Wherein the third gravity compensation unit comprises:
Wherein the movable bevel gear is gear-connected to the fixed bevel gear,
Wherein the third connecting rod, the third slider, and the third elastic member are provided in pairs each corresponding to the pair of movable bevel gears.
15. The method of claim 14,
And a joint brake unit for simultaneously restraining rotation of the fifth link relative to the fourth link and rotation of the sixth link relative to the fifth link,
Wherein the joint brake unit comprises:
A fixed gear fixed to the movable bevel gear and having a plurality of fixed gear gears arranged along a rotating direction of the sixth link with respect to the fifth link,
A movable gear having a plurality of movable gear gears corresponding to the plurality of fixed gear gears and a locking portion projecting outwardly from the movable gear, wherein the movable gear is gear-connected to the fixed gear, A stopper disposed so as to be movable relative to the fixed gear,
A stopper supporting shaft supported by the movable bevel gear to support the stopper in a linear movement and rotatable manner,
A sixth link engaging portion inserting groove which is disposed in the sixth link and into which the engaging portion is inserted when the movable gear is gear-connected to the sixth gear, and a sixth link engaging portion inserting groove, And a sixth link stopper engagement portion in which the link engagement portion support portion is spaced apart from the stopper support shaft in the rotation direction of the stopper relative to the stopper support shaft.
The method according to claim 1,
Further comprising: a base link coupled to the first link such that the first link can rotate with a rotational center axis perpendicular to the rotational center axis of the second link.
18. The method of claim 17,
Further comprising: a joint brake unit supported on the base link to restrain rotation of the first link relative to the base link.
19. The method of claim 18,
Wherein the first link includes a curved first link friction contact having a radius of curvature about a rotational center axis of the first link relative to the base link,
Wherein the joint brake unit comprises:
A first link friction block movably disposed on the base link for frictional contact with the first link friction contact,
A pressing cam rotatably disposed on the base link so as to provide a pressing force for pressing the first link friction block toward the first link friction contact,
And a brake lever connected to the pressure cam so as to be operated by a user.

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