KR20180130028A - A haptic-type robot control device for controlling the operation of the articulated robot arm - Google Patents

Abstract

The present invention relates to a haptic type robot control device for controlling motions of an articulated robot arm, offsetting gravity load caused due to the weight of the haptic type robot control device so as to reduce the size and weight of an instrument. To this end, the haptic type robot control device for controlling motions of an articulated robot arm comprises: a wire of which one end is connected to the end portion of a control arm including a plurality of joint units and a plurality of link units to control the position and direction of the articulated robot arm; and a tension controller connected to the other end of the wire to enable the tension of the wire to be maintained at a predetermined level.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a haptic-type robot control device for controlling the operation of a multi-

[0001] The present invention relates to a haptic-type robot manipulator for manipulating the operation of a jointed-arm robot arm, and more particularly, to a haptic-type robot manipulator for canceling gravity load due to its own weight, The present invention relates to a haptic-type robot manipulator for manipulating an operation of a multi-joint robot arm having a plurality of joints.

Recently, a variety of articulated robots have been developed for facilitating the living environment of human beings or assisting the work in the industrial field. In recent years, as a manipulator for controlling the operation of such articulated robots, an exoskeletal robot arm Type control devices are being developed.

As shown in FIGS. 1 and 2, the steering apparatus includes a plurality of links 10, 10A, 10B, 10C, and 10D having joints 20, 20A, 20B, 20C, and 20D so as to be mounted on the arms of the operator.

On the other hand, among the links constituting the steering apparatus, a joystick (not shown) capable of being manually operated by the operator is provided on the distal end link 10A, so that a manipulator such as a gripper provided at an end of the multi- .

Accordingly, the manipulator equipped with the control device on the arm can freely move his / her arms, and according to the amount of rotation sensed by each joint 20, 20A, 20B, 20C, 20D according to the arm movement of the manipulator, As each joint of the robot arm rotates, the manipulator and the object articulated robot arm move synchronously.

However, in order to withstand the own weight and the arm weight of the operator, the control apparatus must use a motor and a reducer having a large capacity and a large capacity in each of the joints 20, 20A, 20B, 20C and 20D, And increases the manufacturing cost. Also, a person's arm may be restrained by the manipulator, which may cause discomfort to the manipulator.

Therefore, there is a demand for a technique capable of reducing the size of the overall control device while reducing the manufacturing cost without restraining the human's arm to the control device.

Therefore, there is a demand for a technique capable of reducing the manufacturing cost while reducing the size of the overall control device.

PCT Publication No. 2015/0058249 (April 30, 2015)

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above problems in the prior art, and to provide a haptic- And a haptic-type robot manipulator.

According to an aspect of the present invention, there is provided a haptic-type robot manipulating apparatus for manipulating an operation of a jointed-arm robot arm including a plurality of joint units and a plurality of link units for manipulating a position and a direction of a jointed- A wire having one end connected to the end side of the constructed pilot rock; And a tension regulator for connecting the other end of the wire so that the tension of the wire is maintained at a constant level.

Preferably, the pilot rock is fixed at a predetermined position; A first link portion connected to the fixing portion via a first joint portion; A second link portion connected to the first link portion via a second joint portion; And a handle portion connected to the second link portion via the third joint portion.

Preferably, one end of the wire may be connected to an end of the second link portion adjacent to the third joint portion.

Preferably, the first joint portion is configured to be rotatable in the yaw direction, and the second joint portion and the third joint portion may be configured to be rotatable in the pitch direction.

Preferably, the handle portion includes: a first L-shaped handle frame rotatable in the pitch direction in the third joint portion; A second L-shaped handle frame rotatable in a roll direction at an end of the first L-shaped handle frame; A third L-shaped handle frame rotatable in a yaw direction at an end of the second L-shaped handle frame; And a joystick provided at an end of the third L-shaped handle frame.

Preferably, a support portion for supporting the handgrip portion of the manipulator may be formed under the joystick.

Preferably, the tension regulator is fixed at one point so that the tension of the wire can be maintained at a constant level as the other end of the wire is wound or unwound.

Preferably, the tension regulator comprises: a pulley on which the wire is wound or unwound; A motor for providing a rotational force to the pulley; And an electromagnetic clutch brake for allowing the pulley to rotate or to prevent rotation of the pulley.

Preferably, the motor may provide rotational force to the pulley to compensate for at least gravity due to the weight of the pilot rock.

Preferably, the motor may provide rotational force to the pulley to compensate for gravity due to the weight of the pilot's arm plus the weight of the driver's arm.

Preferably, the electromagnetic clutch brake is operable to enable rotation of the pulley upon power-on, and to prevent rotation of the pulley upon power-off.

Preferably, the wire may further include a direction switching pulley for winding the intermediate portion of the wire so as to change the direction.

Preferably, the deflection pulley can be fixedly positioned at one point.

Preferably, the deflection pulley may be provided at an end of the elastic deformation means fixedly positioned at one point.

And a tension sensor for detecting a tension acting on the wire so that a part of the wire is fixedly positioned at one point and a part of the wire is passed through the tension sensor, The tension of the wire can be adjusted.

According to an aspect of the present invention, there is provided a haptic-type robot manipulating apparatus for manipulating an operation of a jointed-arm robot arm including a plurality of joint units and a plurality of link units for manipulating a position and a direction of a jointed- 1. A haptic-type robot manipulator provided in a configured pilot rock, comprising: a wire having one end connected to an end of the pilot arm; And a tension regulator for connecting the other end of the wire so that the tension of the wire is maintained at a constant level.

Preferably, one end of the wire may be connected to the end of the pilot rock.

Preferably, the control rocker comprises a joystick, wherein the joystick is configured to be able to be operated by the operator by holding it with his / her hand or by pressing a button, and a support portion for supporting the handgrip portion of the controller is formed below the joystick .

Preferably, the tension regulator comprises: a pulley on which the wire is wound or unwound; A motor for providing a rotational force to the pulley; And an electromagnetic clutch brake for allowing the pulley to rotate or to prevent rotation of the pulley.

Preferably, the motor may provide rotational force to the pulley to compensate for gravity due to the weight of the pilot's arm plus the weight of the driver's arm.

Preferably, the electromagnetic clutch brake is operable to enable rotation of the pulley upon power-on, and to prevent rotation of the pulley upon power-off.

Preferably, the direction changing pulley further comprises a direction changing pulley for changing the direction of the wire by winding the intermediate portion of the wire. The direction changing pulley may be provided at an end of the elastic deformation means fixed at one point.

And a tension sensor for detecting a tension acting on the wire so as to pass through a part of the wire fixedly positioned at one point of the wire, The tension of the wire can be adjusted.

The present invention as described above is advantageous in that the gravity load due to the own weight of the haptic-type robot manipulator is canceled and the size and weight of the mechanism can be reduced.

Specifically, the gravity load applied to the actuators provided in each joint is reduced by compensating the gravity load due to the weight of the pilot and the gravity load due to the arm weight of the pilot generated when the pilot uses the haptic-type robot manipulator, A large capacity and a large joint portion can be constituted by a joint having a small capacity and a small size, thereby reducing the size of the overall control device and drastically lowering the manufacturing cost.

1 is a schematic view showing a haptic-type robot manipulating apparatus for manipulating the operation of a conventional articulated robot arm.
2 is a photograph of a haptic-type robot manipulator for manipulating the operation of a conventional articulated robot arm.
3 is a perspective view illustrating a haptic-type robot manipulating apparatus for manipulating the operation of the articulated robot arm according to the first embodiment of the present invention.
4 is a perspective view of a tension adjusting unit constituting a haptic-type robot manipulating apparatus for manipulating the operation of the articulated robot arm according to the first embodiment of the present invention.
5 is a perspective view illustrating a haptic-type robot manipulating apparatus for manipulating an operation of a jointed-arm robot arm according to a second embodiment of the present invention.

The present invention may be embodied in many other forms without departing from its spirit or essential characteristics. Accordingly, the embodiments of the present invention are to be considered in all respects as merely illustrative and not restrictive.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms.

The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, .

On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", "having", and the like are intended to specify the presence of stated features, integers, steps, operations, components, Steps, operations, elements, components, or combinations of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like or corresponding elements are denoted by the same reference numerals, and a duplicate description thereof will be omitted.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

3, the haptic-type robot manipulating apparatus for manipulating the operation of the articulated robot arm according to the first embodiment of the present invention includes a pilot arm 100, a wire 200, a tension adjuster 300, A diverting pulley 400, and a tension sensor 600. [

The haptic-type robot manipulating apparatus may be installed on a base composed of a vertical column 10 and a horizontal column 20 extending horizontally from the upper end of the vertical column 10, Can be installed in various types of bases fixed.

The control rocker 100 includes a plurality of joint portions 121, 122 and 123 and a plurality of link portions 111 and 112 for controlling the position and direction of the articulated robot arm. And can be configured to have the same degree of freedom as that of the articulated robot arm.

For example, as shown in FIG. 3, the control rocker 100 may be installed at an intermediate portion of the vertical column 10 while being partially fixed.

Specifically, the pilot rock 100 includes a fixing portion 110, a first link portion 111, a second link portion 112, a handle portion 113, a first joint portion 121, a second joint portion 122, and a third joint unit 123.

The fixing part 110 is installed to be fixed at an intermediate point of the vertical column 10.

The first link portion 111 may be connected to the fixing portion 110 via the first joint portion 121 and may be configured to be rotatable in the yaw direction with respect to the fixing portion 110.

The second link portion 112 is connected to the first link portion 111 via the second joint portion 122 and is rotatable in the pitch direction with respect to the first link portion 111. [ .

The handle portion 113 may be connected to the second link portion 112 via the third joint portion 123 and may be configured to be rotatable in the pitch direction with respect to the second link portion 112 .

The handle portion 113 may include a first L-shaped handle frame 113a, a second L-shaped handle frame 113b, a third L-shaped handle frame 113c, and a joystick 113d have.

Specifically, the first L-shaped handle frame 113a is configured to be rotatable in the pitch direction at the third joint part 123, and is configured to be rotatable in the direction of the lower roll from the third joint part 123. For example, And then bent in the pitch direction.

The second L-shaped handle frame 113b is configured to be rotatable in a roll direction at an end of the first L-shaped handle frame 113a. For example, at the end of the first L-shaped handle frame 113a, And may be formed in a shape bent in the upper roll direction after extending in the yaw direction on the front side.

The third L-shaped handle frame 113c is configured to be capable of rotating in the yaw direction at the end of the second L-shaped handle frame 113b. For example, In the lower roll direction and then in the rear yaw direction.

The first L-shaped handle frame 113a, the second L-shaped handle frame 113b and the third L-shaped handle frame 113c are formed so as not to interfere with each other so that the joystick 113d can have three degrees of freedom .

The joystick 113d is provided on the upper end of the third L-shaped handle frame 113c so that the manipulator can move by holding it by hand or by pressing a button. At the lower part of the joystick 113d, A support portion 113d-1 for supporting the portion is formed so that the operator can raise his / her hand.

Accordingly, the operator can steer his / her hand with his / her hands on the receiving portion 113d-1 without applying any force to his or her arm. From another viewpoint, the receiving portion 113d-1 It can be seen that the weight of the manipulator's arm is supported.

The wire 200 is a means for pulling up the pilot rock 100 upward to compensate for gravity due to the weight of the pilot rock 100 or gravity due to the combined weight of the pilot rock 100 and the pilot's arm .

One end of the wire 200 is connected to an end of the second link part 112 close to the third joint part 123 and the other end of the wire 200 is connected to the tension adjuster 300.

The tension adjuster 300 connects the other end of the wire 200 to maintain the tension of the wire 200 at a predetermined level.

A direction changing pulley 400 for changing the direction of the wire 200 may be provided at an end of the horizontal column 20 and a middle portion of the wire 200 may be connected to the direction changing pulley 400 And the direction can be switched toward the tension regulator 300 side.

5, when the diverting pulley 400 is installed at the end of the horizontal column 20 through the elastic deformation means 500, When the operator manipulates the joystick 113d in the lateral direction as well as the manipulation of the joystick 113d in the lateral direction, the elastic deformation means 500 may be elastically deformed to give flexibility and smooth manipulation becomes possible.

The tension regulator 300 may be installed directly on the end of the horizontal column 20 without the directional pulley 400 and the elastic deformation means 500, The tension adjuster 300 may be installed through the deforming means 500. In addition, at least two directional pulleys 400 may be installed to control the path of the wire 200 in various ways.

3, it is preferable that the tension regulator 300 is installed to be fixed to a position of the upper part of the vertical column 10. When the other end of the wire 200 is wound or unwound, (200) is maintained at a constant level so that gravity due to the weight of the pilot rock (100) or gravity due to the weight of the combined weight of the pilot rock (100) and the pilot's arm can be compensated .

The joystick 113d is moved to a position where the joystick 113d is moved downward, for example, when the operator moves the joystick 113d downward, the tension adjuster 300 is operated to continuously pull the wire 200 with a predetermined force, The tension of the wire 200 is maintained at a predetermined level by releasing the wire 200 in accordance with the downward movement amount of the joystick 113d and moving the joystick 113d upward, So that the tension of the wire 200 is maintained at a constant level.

4, the tension regulator 300 includes a pulley 310 to which the wire 200 is wound or unwound, a motor 320 to provide a rotational force to the pulley 310, And an electromagnetic clutch brake 330 that allows the pulley 310 to be rotated or prevented from rotating.

For example, when a predetermined power is applied to the motor 320, a certain rotational force is generated. As the rotational force is transmitted to the rotation axis of the pulley 310, the force to continuously pull the wire 200 Lt; / RTI >

The motor 320 provides a rotational force to the pulley 310 to compensate for at least the gravity due to the weight of the pilot 100. Preferably the sum of the weight of the pilot 100 and the arm weight of the pilot It is most desirable to provide rotational force to the pulley 310 to compensate for gravity due to weight.

The electromagnetic clutch brake 330 is configured to be connected to the rotation shaft of the pulley 310 and operates to enable rotation of the pulley 310 when the power is turned on, So that the pulley 310 is prevented from rotating.

This is to prevent the power supply to the motor 320 from being cut off by the gravity force when the control rocker 100 is not used and the control rocker 100 is struck down and hit the floor or the like to be damaged.

The tensile force sensor 600 may be disposed on the horizontal column 20 and the tensile force sensor 600 may be disposed between the directional pulley 400 and the tension regulator 300 .

The tension sensor 600 is configured to allow a part of the wire 200 to pass therethrough to detect a tension acting on the wire 200. For example, a pair of fixed pulleys (two out of three pulleys And a floating pulley (a central one of the three pulleys) provided between the pair of fixed pulleys and capable of flowing in the vertical direction of FIG. 3 according to the tension of the wire 200. Therefore, as the floating pulley flows in response to the tension of the wire 200, it is possible to detect the tension based on the flow amount. The tension sensor 600 as described above may be constituted by a tension sensor for detecting an existing tension, so that a detailed description thereof will be omitted.

Before the manipulator of the articulated robot arm is manipulated using the haptic-type robot manipulator of the present embodiment, the manipulator controls the tension sensor 600 in a state in which the manipulator puts his hand on the receiving portion 113d-1 of the joystick 113d And the tension of the motor 320 constituting the tension adjuster 300 is set by measuring the tensile force corresponding to the weight of the combined weight of the pilot rock 100 and the pilot's arm through the gravity compensator 300, .

That is, when the arm weight of the driver is larger than the reference value and the tension measured by the tension sensor 600 is detected to be higher than the reference value, the torque offset of the motor 320 is set to a value larger than the reference value The torque offset of the motor 320 is set to a value smaller than the reference value so that the torque of the motor 320 is lowered when the arm weight of the driver is lighter than the reference value and the tension measured by the tension sensor 600 is detected to be lower than the reference value .

Although the present invention has been described with reference to the preferred embodiments thereof with reference to the accompanying drawings, it will be apparent to those skilled in the art that many other obvious modifications can be made therein without departing from the scope of the invention. Accordingly, the scope of the present invention should be interpreted by the appended claims to cover many such variations.

100: pilot rock 110:
111: first link portion 112: second link portion
113: handle portion 113a: first L-shaped handle frame
113b: second L-shaped handle frame 113c: third L-shaped handle frame
113d: Joystick 113d-1:
121: first joint part 122: second joint part
123: third joint portion 200: wire
300: tension regulator 310: pulley
320: motor 330: electromagnetic clutch brake
400: diverting pulley 500: elastic deformation means
600: tension sensor

Claims (23)

A pilot arm including a plurality of joint portions and a plurality of link portions for controlling the position and direction of the articulated robot arm;
A wire having one end connected to the end of the pilot rock; And
And a tension regulator for connecting the other end of the wire so that the tension of the wire is maintained at a constant level. The method according to claim 1,
The pilot-
A fixing part fixed at a predetermined position;
A first link portion connected to the fixing portion via a first joint portion;
A second link portion connected to the first link portion via a second joint portion;
And a handle portion connected to the second link portion via a third joint portion. The haptic-type robot manipulator according to claim 1, 3. The method of claim 2,
Wherein one end of the wire is connected to an end of the second link portion that is adjacent to the third joint portion. 3. The method of claim 2,
Wherein the first joint portion is configured to be rotatable in the yaw direction and the second joint portion and the third joint portion are configured to be rotatable in the pitch direction. The haptic-type robot manipulator for controlling the operation of the articulated robot arm . 3. The method of claim 2,
Wherein,
A first L-shaped handle frame rotatable in the pitch direction in the third joint part;
A second L-shaped handle frame rotatable in a roll direction at an end of the first L-shaped handle frame;
A third L-shaped handle frame rotatable in a yaw direction at an end of the second L-shaped handle frame;
And a joystick provided at an end of the third L-shaped handle frame. 2. The haptic-type robot manipulating apparatus according to claim 1, 6. The method of claim 5,
Wherein a joining portion for supporting the handgrip portion of the manipulator is formed at a lower portion of the joystick. The method according to claim 1,
Wherein the tension regulator comprises:
And the tension of the wire is maintained at a predetermined level as the other end of the wire is wound or loosened. The haptic-type robot manipulator of claim 1, 8. The method of claim 7,
Wherein the tension regulator comprises:
A pulley on which the wire is wound or unwound;
A motor for providing a rotational force to the pulley;
And an electromagnetic clutch brake for allowing the pulley to rotate or prevent the rotation of the pulley. [3] The haptic-type robot manipulator for controlling an operation of a multi-joint robot arm according to claim 1, 9. The method of claim 8,
The motor includes:
Wherein the rotational force is provided to at least the pulley so as to compensate for gravity due to the weight of the pilot rock. 9. The method of claim 8,
The motor includes:
Wherein the rotational force is provided to the pulley so as to compensate for gravity due to the weight of the weight of the pilot's arm and the weight of the arm of the driver. 9. The method of claim 8,
Wherein the electromagnetic clutch brake comprises:
Wherein the pulley is operated so as to be capable of rotating the pulley when the power is turned on and to prevent rotation of the pulley when the power is turned off. The method according to claim 1,
Further comprising a direction changing pulley for changing a direction of the wire by winding an intermediate portion of the wire. The haptic-type robot manipulating apparatus as claimed in claim 1, 13. The method of claim 12,
Wherein the directional switching pulley is fixed at one point of the haptic-type robot manipulator. 13. The method of claim 12,
Wherein the directional switching pulley is provided at an end of the elastic deformation means fixedly positioned at one point of the haptic-type robot manipulating apparatus. The method according to claim 1,
And a tension sensor for detecting a tension acting on the wire, the tension sensor being fixedly positioned at one point and configured to allow a part of the wire to pass therethrough,
Wherein the tension regulator adjusts the tension of the wire based on the tension detected by the tension sensor. A haptic-type robot manipulator provided in a pilot rock, comprising a plurality of joint portions and a plurality of link portions for controlling the position and direction of the articulated robot arm,
A wire having one end connected to the end of the pilot rock; And
And a tension regulator for connecting the other end of the wire so that the tension of the wire is maintained at a constant level. 17. The method of claim 16,
And one end of the wire is connected to an end of the pilot rock. The haptic-type robot manipulator of claim 1, 17. The method of claim 16,
The control unit includes a joystick,
Wherein the joystick is configured to be capable of being operated by the operator by holding it by hand or by pressing a button, and a support part for supporting the part of the hand of the operator is formed below the joystick. Haptic - type robot manipulator. 17. The method of claim 16,
Wherein the tension regulator comprises:
A pulley on which the wire is wound or unwound;
A motor for providing a rotational force to the pulley;
And an electromagnetic clutch brake for allowing the pulley to rotate or prevent the rotation of the pulley. [3] The haptic-type robot manipulator for controlling an operation of a multi-joint robot arm according to claim 1, 20. The method of claim 19,
The motor includes:
Wherein the rotational force is provided to the pulley so as to compensate for gravity due to the weight of the weight of the pilot's arm and the weight of the arm of the driver. 20. The method of claim 19,
Wherein the electromagnetic clutch brake comprises:
Wherein the pulley is operated so as to be capable of rotating the pulley when the power is turned on and to prevent rotation of the pulley when the power is turned off. 20. The method of claim 19,
And a direction changing pulley for changing the direction of winding the intermediate portion of the wire,
Wherein the directional switching pulley is provided at an end of the elastic deformation means fixedly positioned at one point of the haptic-type robot manipulating apparatus. 20. The method of claim 19,
And a tension sensor for detecting a tension acting on the wire, the tension sensor being fixedly positioned at one point and configured to allow a part of the wire to pass therethrough,
Wherein the tension regulator adjusts the tension of the wire based on the tension detected by the tension sensor.

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