WO2016080786A1 - Apparatus for controlling stiffness of output member during rotational and translational movements - Google Patents

Apparatus for controlling stiffness of output member during rotational and translational movements Download PDF

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Publication number
WO2016080786A1
WO2016080786A1 PCT/KR2015/012483 KR2015012483W WO2016080786A1 WO 2016080786 A1 WO2016080786 A1 WO 2016080786A1 KR 2015012483 W KR2015012483 W KR 2015012483W WO 2016080786 A1 WO2016080786 A1 WO 2016080786A1
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WO
WIPO (PCT)
Prior art keywords
output member
rotating body
rigidity
control device
control unit
Prior art date
Application number
PCT/KR2015/012483
Other languages
French (fr)
Korean (ko)
Inventor
김광기
정현철
조창노
Original Assignee
국립암센터
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020150162140A external-priority patent/KR101807365B1/en
Application filed by 국립암센터 filed Critical 국립암센터
Priority to JP2016575487A priority Critical patent/JP6166853B1/en
Priority to EP15861568.2A priority patent/EP3235610B1/en
Publication of WO2016080786A1 publication Critical patent/WO2016080786A1/en
Priority to US15/413,450 priority patent/US9902064B2/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the present invention relates to an apparatus for controlling the rigidity of the output member during rotational and translational motion.
  • a sensing element such as a force / torque sensor is attached to the robot arm having a predetermined rigidity near the distal end, and the joint is detected using a signal detected by the sensing element.
  • a method of controlling the stiffness of the joint by adjusting the torque of (2) and a method of adjusting the stiffness according to the situation by inserting a device that can adjust the stiffness without using a force / torque sensor to the robot joint.
  • the algorithm for adjusting the stiffness is complicated and the stability problem has limitations in setting the minimum or maximum stiffness of the robot, and it is difficult to commercialize the robot in terms of cost.
  • the stiffness control device that does not use the force / torque sensor, the cost problem can be solved somewhat, but a separate device is inserted into the joint to increase the overall volume of the robot and to optimize the response speed of the stiffness control. .
  • Patent Document 1 Republic of Korea Patent Publication No. 10-2011-011580
  • the present invention is to solve the above problems, an object of the present invention is to provide a stiffness control device to perform a stable operation by variably controlling the rigidity of the output member during rotation and translational movement.
  • the stiffness control device during the rotation and translational motion includes an output member and at least one stiffness control unit for controlling the rigidity of the output member.
  • the rigidity control unit is rotatably disposed inside or outside the output member and includes a rotating body for restraining the output member and a rotating shaft for rotating the rotating member, and the output member is rotated or translated according to the rotation angle of the rotating member. Control the stiffness.
  • the rotating body includes a long hole into which the rotating shaft is inserted, and the rotating shaft is inserted into the long hole to rotate the rotating body, and the long hole is rotated by the rotating body. It is configured to slide along, and the rigidity control unit includes an elastic body between the first side in the longitudinal direction of the long hole and the rotation axis.
  • the rotating body includes a long hole into which the rotating shaft is inserted, and the rotating shaft is inserted into the long hole to rotate the rotating body, and the rotating body rotates the rotating body.
  • the rigidity control unit includes an elastic body between the first side of the longitudinal direction of the long hole and the rotation shaft and between the second side of the longitudinal direction of the long hole and the rotation shaft.
  • the stiffness control unit is such that the output member is in the maximum rigid state with the long hole located in the first direction with respect to the output member by the rotation of the rotating body.
  • the output member is in a state of minimum rigidity with the long hole positioned in a second direction perpendicular to the first direction by the rotation.
  • the stiffness control unit controls the rigidity of the output member by rotating the rotating body so that the long hole is located in any direction between the first direction and the second direction with respect to the output member. Control to any stiffness between the maximum stiffness state and the minimum stiffness state.
  • the rotating body has a cross section perpendicular to the rotation axis, the long axis is an elliptical parallel to the longitudinal direction of the long hole, the rigidity control unit, according to the rotation angle of the rotating body of the output member The stiffness during rotational or translational motion is continuously controlled.
  • the rotating body has a circular cross section perpendicular to the rotation axis, and the rigidity control unit continuously stiffness during rotation or translational movement of the output member according to the rotation angle of the rotating body. To control.
  • the rotating body has a polygonal cross section perpendicular to the rotating axis, and the rigidity control unit may step in rigidity during rotation or translational movement of the output member according to a rotation angle of the rotating body. To control.
  • the output member and the rotating body further comprises a base plate for rotating or translational movement in an integrated state.
  • the base plate includes a main rotating shaft formed on a portion of the base plate, one end of the output member is coupled to the main rotating shaft, and the output member by the rotation of the main rotating shaft The rotating body is rotated in an integrated state.
  • the base plate includes a rail structure for guiding the output member and the rotating body, and translates the output member and the rotating body in an integrated state along the rail structure.
  • the rotating shaft has a rectangular cross section in the axial direction
  • Two surfaces parallel to the inner surface of the long hole are slidably disposed along the inner surface of the long hole, respectively, to rotate the rotating body.
  • the rotating shaft includes rollers at each corner of the quadrangle.
  • the long hole, the guide structure along the longitudinal direction, the rotating shaft, the guide coupling structure on the two surfaces parallel to the inner surface of the longitudinal direction to slide along the guide structure include.
  • the stiffness control unit is located on the opposite side of the end of the one end with respect to the main axis of rotation.
  • the stiffness control unit is located on the opposite side of the end of the one end with respect to the main rotation axis.
  • the stiffness control unit is located between the main axis of rotation and the end of the one end.
  • the stiffness control unit is located in plurality between the main rotation axis and the end of the one end.
  • the stiffness control unit is located on the opposite side of the end of the one end and between the main rotation axis and the end of the one end with respect to the main rotation axis.
  • the stiffness control unit is located on the opposite side of the end portion of the one end with respect to the main rotation axis and a plurality of positions between the main rotation axis and the end of the one end, respectively.
  • the rigid control unit is located on opposite sides of the end of the one end with respect to the main axis of rotation, on both sides of the output member.
  • the stiffness control unit is located on both sides of the output member, between the main rotation shaft and the end of the one end.
  • the stiffness control unit rotates each of the rotating bodies in synchronization.
  • the stiffness control unit rotates each of the rotating bodies independently.
  • some of the plurality of rigidity controllers are rotated by synchronizing each of the respective rotating bodies, and the remaining portions except for the part of the plurality of rigidity controllers independently rotate the respective rotating bodies.
  • the movable part of the robot according to the embodiment of the present invention includes a contact portion coupled to the output member.
  • the contact portion includes at least one of an end effector of the robot arm, a robot arm, a robot leg, and a loading head.
  • a stiffness control device includes an output member and a stiffness control unit for controlling the stiffness of the output member, wherein the stiffness control unit is rotatably disposed inside or outside the output member, And a rotating shaft for rotating the rotating body to control the rigidity during rotation or translational movement of the output member according to the rotating angle of the rotating body, wherein the rotating shaft is inserted into the rotating body. And a long hole, wherein the rotating shaft is inserted into the long hole to rotate the rotating body and slide along the long hole by the rotation of the rotating body, wherein the rigid control part is formed in the longitudinal direction of the long hole.
  • An elastic body is included between at least one side of a 1st side and a 2nd side, and the said rotating shaft.
  • the stiffness control device in the rotation and translational motion by controlling the stiffness of the output member in accordance with the rotation angle of the rotation axis to quickly and simply adjust the stiffness of the output member to various sizes
  • it can be used for both rotational and translational movements, and it can be used as a variable stiffness actuator device by applying it to the actuator structure. This has the effect of allowing you to perform actions.
  • FIG. 1 is a perspective view showing a stiffness control device according to an embodiment of the present invention, a rotary motion actuator,
  • FIG. 2 is an exploded perspective view of the stiffness control device of FIG. 1;
  • FIG. 3 is a plan view showing a maximum rigidity state of the stiffness control device of FIG.
  • FIG. 4 is a plan view showing a minimum rigidity state of the stiffness control device of FIG.
  • FIG. 5 is a conceptual diagram illustrating the operation of the maximum rigidity state of FIG. 3.
  • FIG. 6 is a conceptual diagram for explaining the operation of the minimum rigidity state of FIG.
  • FIG. 7 is a perspective view showing a stiffness control device according to an embodiment of the present invention, a translational movement actuator,
  • FIG. 8 is an exploded perspective view of the stiffness control device of FIG. 7;
  • FIG. 9 is a plan view illustrating a maximum rigidity state of the rigidity control device of FIG. 7;
  • FIG. 10 is a plan view illustrating a minimum rigidity state of the stiffness control device of FIG. 7;
  • FIG. 11 is a plan view showing the rollers mounted on each corner of the rotation axis of the rigidity control device according to an embodiment of the present invention.
  • FIG. 12 is a schematic view showing a stiffness control unit including elastic bodies on both sides of a rotating shaft according to an embodiment of the present invention.
  • FIG. 13 is a plan view of a stiffness control device having a plurality of stiffness control units at different positions from the outside of the output member according to an embodiment of the present invention.
  • FIG. 14 is a plan view of the stiffness control device having a plurality of stiffness control units in the output member according to an embodiment of the present invention.
  • 15 is a plan view of a stiffness control device having a stiffness control unit at an end of an output member according to an embodiment of the present invention.
  • 16 is a plan view of a stiffness control device including a stiffness control unit according to an embodiment of the present invention on both sides of a main rotational axis.
  • 17 is a plan view of a stiffness control device including a stiffness control unit according to an embodiment of the present invention on both sides of a main rotational axis.
  • FIG. 18 is a plan view of a stiffness control device having a plurality of end portions of an output member having a stiffness control unit according to an embodiment of the present invention.
  • FIG. 1 is a perspective view of a stiffness control device according to an embodiment of the present invention
  • Figure 2 is an exploded perspective view of the stiffness control device of FIG.
  • the rigidity control device As shown in Figure 1a, 2a and 1b, 2b, the rigidity control device according to an embodiment of the present invention is the output member 100, the rigidity control unit 200, 200a, the base plate 300, and the rotation mechanism The connection part 400 is provided.
  • the rigidity control unit 200 or 200a may be provided at the outside of the output member 100 or may be provided at the outside of the output member 100 including the rotating body 210, the long hole 211, the elastic body 220, and the rotating shaft 230.
  • the base plate 300 includes a main rotating shaft 310 and a bearing 320.
  • the rigidity control device adjusts the rigidity of the output member 100 such as the output link.
  • the output member 100 may act as a robot arm or a robot leg, through which an end effector such as a gripper may be mounted.
  • the rigidity control unit 200 is rotatably disposed on the outside of the output member 100 to constrain both sides of the output member 100, and according to the rotational direction thereof.
  • the rotation angle with respect to 100 is adjusted to control the rigidity during rotation or translational movement of the output member 100.
  • the rigidity control unit 200a is rotatably disposed inside the output member 100 to constrain the output member 100, and the output member 100 is in accordance with the rotation direction thereof.
  • the rotation angle with respect to the controllable rigidity during rotation or translation of the output member 100 is rotatably disposed inside the output member 100 to constrain the output member 100, and the output member 100 is in accordance with the rotation direction thereof.
  • the rigidity control unit 200, 200a includes a rotating body 210, a long hole 211, an elastic body 220, and a rotating shaft 230.
  • the rotating body 210 is disposed on both sides of the output member 100 to be made contact with the outer surface or to be spaced apart or to be disposed in the interior of the output member 100 to be constrained or spaced inside the output member (100). Consists of the working elements are arranged, the long hole 211 is formed approximately in the center.
  • the rotating body 210 may have a circular cross section perpendicular to the rotation axis 230, an ellipse with a long axis parallel to the longitudinal direction of the long hole 211, or a polygon.
  • the stiffness controllers 200 and 200a disposed outside or inside the output member may be configured according to the rotation angle of the rotor. The stiffness during rotational or translational motion is continuously controlled.
  • the rigidity control units 200 and 200a control the stiffness during the rotation or translational movement of the output member in accordance with the rotation angle of the rotating body.
  • a click structure (not shown) may be included to stop rotation of each polygonal surface.
  • the rotating shaft 230 is slidably inserted into the long hole 211 in the center of the rotating body 210 to rotate the rotating body 210, it is configured to slide along the longitudinal direction of the long hole 211.
  • the rotation shaft 230 is fixed to the base plate 300.
  • the elastic body 220 is a spring or an elastic member, such as silicon, rubber, etc., is inserted into the inside of the long hole 211, one side is installed so as to be supported by the rotating shaft 230.
  • the relative angle of the long hole 211 with respect to the output member 100 is adjusted according to the rotation direction of the rotating body 210, the rigidity of the output member 100 is controlled according to the stretched state of the elastic body 220.
  • the rotating body 210 disposed outside the output member 100 rotates, and the circular hole formed inside the output member 100 in the embodiment of FIGS. 1B and 2B is rotated.
  • the rotating body 210 rotates in the inside.
  • the elastic body 220 may use a compression / tension spring, and change the stiffness of the output member 100 by changing the elasticity of the spring.
  • the rotation mechanism connecting portion 400 generates a rotational force, the base plate 300 is rotated by one side is connected to the output member 100 and the plurality of rotors 210 and the other side is connected to the rotation mechanism connection 400, The rotational force generated by the mechanism connecting unit 400 is transmitted to the output member 100 to control the position of the output member 100.
  • the base plate 300 is connected to the output member 100 through a main rotating shaft 310 formed at the center and a bearing 320 fitted to the main rotating shaft 310.
  • the rotation mechanism connector 400 includes a mechanism for independently rotating the plurality of rotation shafts 230.
  • the position of the output member 100 is controlled by the rotation of the base plate 300, and when the output member 100 is rotated at a predetermined angle with respect to the main rotation axis 310 by the external force due to the rigid control unit ( Damping by the elastic force of the elastic body 220 provided in the 200, 200a is acted as a result of which the stiffness of the output member 100 is adjusted.
  • FIGS. 3A and 3B are plan views showing a maximum stiffness state of the stiffness control device of FIGS. 1A and 1B
  • FIGS. 4A and 4B are plan views showing a minimum stiffness state of the stiffness control device of FIGS. 1A and 1B
  • FIG. 5A are conceptual views for explaining the action of the maximum rigid state of FIGS. 3A and 3B
  • FIGS. 6A and 6B are conceptual views for explaining the action of the minimum rigidity state of FIGS. 4A and 4B.
  • the stiffness controllers 200 and 200a adjust the relative angles of the long holes 211 with respect to the output member 100 according to the rotational direction of the rotor 210. Stiffness is controlled.
  • the output member 100 is in the maximum rigid state in the state where the long hole 211 is positioned in the first direction with respect to the output member 100 by the rotation of the rotor 210, and the second direction perpendicular to the first direction.
  • the minimum stiffness is to be achieved at the position of.
  • the rigidity control units 200 and 200a may rotate the rotating body 210 provided outside or inside the output member so that the long hole 211 may output the output member 100.
  • the rotating body 210 is rotated so that the long hole 211 is located in the vertical direction (second direction) relative to the output member 100 of the long hole 211
  • the elastic body 220 is interposed between the one surface and the rotating shaft 230 to become a minimum rigid state by the buffering action of the elastic body 220.
  • the mechanism of the rigidity control device is rotated by rotating the two rotating bodies 210 supported on both sides of the output member 100 at an angle.
  • the rigidity is controlled by the elastic force of the elastic body 220 embedded in the long hole 211 in the entire 210.
  • the mechanism of the rigidity control device by rotating the rotary body 210 installed in the output member 100 at a predetermined angle (rotator ( The rigidity is controlled by the elastic force of the elastic body 220 embedded in the long hole 211 inside the 210.
  • the elastic body 220 is inserted between one surface of the rotating body 210 and the rotating shaft 230 to adjust the rigidity by the elastic force.
  • the rotor 210 rotates from the first direction to the second direction, the rotor 210 slides along the rotary shaft 230, thereby applying a preload to the output member 100 to output the member. Even if the 100 moves, it always maintains contact with the constant rigidity with the output member 100.
  • the elastic body 220 does not work, so even if an external force is applied to the output member 100. Since the output member 100 cannot rotate at a predetermined angle with the main rotation shaft 310 as an axis, the output member 100 receives external force as it is.
  • FIGS. 7A and 7B illustrate a stiffness control device according to an embodiment of the present invention, which is a perspective view showing a translational actuator
  • FIGS. 8A and 8B are exploded perspective views of the stiffness control device of FIGS. 7A and 7A
  • FIG. 9A. 9B are plan views showing the maximum rigidity state of the stiffness control device of FIGS. 7A and 7B
  • FIGS. 10A and 10B are plan views showing the minimum stiffness state of the stiffness control device of FIGS. 7A and 7B.
  • the stiffness control device as a translational movement actuator, the output member 500, the stiffness control unit 600, 600a, and the base frame ( 700).
  • the rigidity control unit 600, 600a includes a rotating body 610, a long hole 611, an elastic body 620, and a rotating shaft 630.
  • the base frame 700 includes a seating groove 710 for closely accommodating an output member 500 such as a sliding member and a rigid control part 600 provided at both sides thereof in a longitudinal direction.
  • the output member 500 is formed to be movable in a translational direction parallel to the base frame 700 along the seating groove 710.
  • the base frame 700 has a seating groove 710 for receiving the output member 500 made of a slidable member in close contact in the longitudinal direction, the inside of the output member
  • the rigid control part 600a provided is provided.
  • the output member 500 is formed to be movable in a translational direction parallel to the base frame 700 along the seating groove 710.
  • the rigidity control unit 600 installed outside of the output member 500 adjusts the rigidity transmitted to the output member 500.
  • the rigidity control unit 600 is shown in FIG. It contacts with both sides of the 500 and constrains it, and the relative angle with respect to the output member 500 is adjusted according to the rotation direction to adjust the rigidity of the output member 500.
  • the rigidity control unit 600a installed in the output member 500 adjusts the rigidity transmitted to the output member 500.
  • the rigidity control unit 600 is shown in FIG. Constrain the 500, the relative angle to the output member 500 is adjusted in accordance with the rotation direction to adjust the rigidity of the output member 500.
  • the stiffness control unit 600.600a includes a rotating body 610, a long hole 611, an elastic body 620, and a rotating shaft 630.
  • the rotating body 610 is disposed to restrain both sides of the output member 500, and the long hole 611 is formed in the center.
  • the rotating body 610 may have a circular cross section perpendicular to the rotation axis 630, an ellipse with a long axis parallel to the longitudinal direction of the long hole 211, or a polygon.
  • the rotating shaft 630 is slidably inserted into the long hole 611 of the center of the rotating body 610, the elastic body 620 is a member of a spring, elastic or silicone, rubber, etc., inside the long hole 611 It is inserted so that one side is supported by the rotation shaft 630.
  • the relative angle of the long hole 611 with respect to the output member 500 is adjusted according to the rotation direction of the rotating body 610 to adjust the rigidity of the output member 500.
  • a compression / tension spring may be used, and the stiffness of the output member 500 may be changed by changing the elasticity of the spring.
  • the mechanism of the stiffness control device may vary the stiffness of the output member 500 moving in the translational direction, wherein the maximum stiffness state and the minimum stiffness state are shown in FIGS. 9A and 9B and 10A and FIG. As shown in 10b.
  • the output member 500 is slidably moved along the base frame 700 in the translational direction, and is constrained by two rotating bodies 610 provided on both sides.
  • the two rotating bodies 610 are slidable along the rotating shaft 630, and an elastic body 620 is implemented to implement rigidity.
  • the base frame 700 provided with the rigid control unit 600 on the outside of the output member 500 may include a power transmission mechanism such as a singular or a plurality of actuators (not shown) capable of rotating the rotating shaft 630. In this way, the rotating body 610 may be smoothly rotated.
  • the output member 500 is movable along the base frame 700 in the translational direction and constrained by one rotating body 610 provided therein.
  • One rotating body 610 is slidable along the rotating shaft 630, the elastic body 620 for implementing rigidity is built.
  • the base frame 700 having the rigid control unit 600a inside the output member 500 may include a singular or plural actuator and a power transmission mechanism, which are not shown, to rotate the rotating shaft 630. Through this, the rotating body 610 may be smoothly rotated.
  • variable stiffness actuator Variable Stiffness Actuator
  • FIG 11 is a plan view in which the rollers 1100 are mounted at each corner of the rotation shaft provided in the rigidity control device according to the embodiment of the present invention.
  • the rotation shaft of the rigidity control device according to the embodiment of the present invention is inserted into the long hole and rotates the rotating body and is configured to be slidable along the long hole. Therefore, the roller 1100 mounted at each corner of the rotating shaft guides the rotating shaft to smoothly slide along the long hole.
  • FIG. 12 is a schematic view showing a stiffness control device each including an elastic body on both sides of the rotating shaft according to an embodiment of the present invention.
  • the rigidity control device includes a pair of elastic bodies between the rotating shaft and one surface of the long hole, so that when the long hole is located in a direction other than the vertical direction with respect to the output member by the rotation of the rotating body.
  • the elastic force of the elastic body acts to control the rigidity of the output member.
  • the elastic body of each stiffness control device is stretched or compressed according to the direction of the long hole to provide elastic force.
  • elastic bodies are provided on both sides of the rotation shaft, so that when one elastic force is provided, one elastic body is stretched and the other elastic body is compressed, thereby allowing more precise rigidity control.
  • FIG. 13 is a plan view of a stiffness control device having a plurality of stiffness control units at different heights outside the output member according to an exemplary embodiment of the present invention.
  • two rigid controllers are provided symmetrically with the same distance from the main rotary shaft, one rigid controller provided on both sides of the output member, but in the present embodiment, two rigid controllers are provided from the main rotary shaft. Asymmetrically installed at different distances. This is useful when external force is applied to either side of the output member or when it is necessary to control the stiffness asymmetrically.
  • a plurality of stiffness control units respectively installed on both outer sides of the output member may be installed on both sides, and the number of stiffness control units installed may be appropriately set according to the maximum and minimum stiffnesses of the output member to be controlled.
  • FIG. 14 is a plan view of the stiffness control device having a plurality of stiffness control units in the output member according to an embodiment of the present invention.
  • the stiffness of both directions is caused because the output member 100 rotates in both the left and right directions about the main rotating shaft 310.
  • the elastic body 220 is required on both sides of the rotary shaft 230, but as shown in the case of FIG. 14, when a plurality of rigid control units are mounted at the same time, the elastic body disposed only on one side around the rotary shaft 230
  • the stiffness controller including the 220 may be installed in directions opposite to each other.
  • a plurality of rigid controllers having elastic bodies 220 on both sides of the rotating shaft 230 may be mounted and used.
  • 15 is a plan view of a stiffness control device having a stiffness control unit at an end of an output member according to an embodiment of the present invention.
  • the groove is formed outwardly at the end of the output member 100 adjacent to the main rotation shaft 310 of the output member 100 so that the rigid member is positioned between the outside and the inside of the output member.
  • the force acting on the principle can be made large, so that the dynamic range of stiffness control can be widened.
  • 16 is a plan view of a stiffness control device including a stiffness control unit according to an embodiment of the present invention on both sides of a main rotational axis.
  • FIG. 16 shows the stiffness control part inside the output member 100 in the opposite direction with respect to the main rotation axis 310 together with the structure of FIG. 15 by installing the stiffness control parts according to the embodiment of the present invention on both sides of the main rotation axis. By installing, the dynamic range of stiffness control can be further extended.
  • 17 is a plan view of a stiffness control device including a stiffness control unit according to an embodiment of the present invention on both sides of a main rotational axis.
  • FIG. 17 is a stiffness control unit according to an embodiment of the present invention provided on both sides of a main rotation axis, and the structure of FIG. 17 is similar to that of FIG. 15, but in the case of FIG. 15, a groove formed at an end of the output member. Although it is open, FIG. 17 differs in that it is sealed.
  • 18 is a plan view of the stiffness control device having a plurality of stiffness control units at the end of the output member according to an embodiment of the present invention.
  • the structure of FIG. 18 is characterized by including a some rigid control part in the same direction in the structure of FIG.
  • a plurality of stiffness control units may be installed at ends of the output member adjacent to the main rotation shaft 310 of the output member 100 to correspond to a stronger external force.
  • the rotation axis is moved along the long hole to describe a linear motion when the rotating body is a sliding movement, but in practice, the output member rotates about the main rotation axis and draws a circular arc, so a little parabolic There is a case to draw a shape.
  • the present specification and the drawings are only described by the linear motion, and it should be manufactured so as to draw an appropriate arc according to the size of the output member, since it is within the full understanding of those skilled in the art. Detailed description thereof will be omitted.
  • the rotor of the stiffness control unit which is in contact with the output member under pressure to rotate correspondingly
  • the sliding motion of the rotating body is always a linear motion.
  • a bearing structure (not shown) may be provided on the outside of the rotating body to rotate in accordance with the pressure applied while being in contact with the output member.
  • the present invention is not limited to this, for example, the internal member in contact with the rotary body in the output member
  • a rigid hole can also be inserted to form a rectangular hole.
  • a bearing structure (not shown) may be provided on the outside of the rotating body to rotate in contact with a circular or square hole of the output member circumscribed thereto.
  • a click structure (not shown) may be included on the inner surface of the output member inscribed to the rotating body to stop rotation of each polygonal surface.
  • the rigidity control apparatus includes a rigidity control unit for controlling the rigidity of the output member and the output member, the rigidity control unit is rotatably disposed inside or outside the output member, It includes a rotating body for restraining the member and a rotating shaft for rotating the rotating body, and controls the rigidity during the rotation or translational movement of the output member according to the rotation angle of the rotating body.
  • the rotating body includes a long hole in which the rotating shaft is inserted, the rotating shaft is configured to be inserted into the long hole to rotate the rotating body, sliding along the long hole by the rotation of the rotating body and
  • the rigid control part includes an elastic body between the first side in the longitudinal direction of the long hole and the rotating shaft.
  • the rotating body includes a long hole in which the rotating shaft is inserted, the rotating shaft is configured to be inserted into the long hole to rotate the rotating body, sliding along the long hole by the rotation of the rotating body and
  • the rigidity control part includes an elastic body between the first side in the longitudinal direction of the long hole and the rotational axis and between the second side in the longitudinal direction of the long hole and the rotational axis, respectively.
  • the stiffness control unit is such that the output member is in the maximum rigid state with the long hole located in the first direction with respect to the output member by the rotation of the rotating body, As a result, the output member is in a state of minimum rigidity with the long hole positioned in the second direction perpendicular to the first direction.
  • the stiffness control unit In the stiffness control device according to the embodiment of the present invention, the stiffness control unit, the rigidity of the output member by rotating the rotating body so that the long hole is located in any direction between the first direction and the second direction relative to the output member Control to any stiffness between and minimum stiffness state.
  • the rotating body has a cross section perpendicular to the rotation axis, the long axis is an elliptical parallel to the longitudinal direction of the long hole, and the rigidity control unit according to the rotation angle of the rotating body The stiffness during rotation or translational movement of the output member is continuously controlled.
  • the rotating body has a circular cross section perpendicular to the rotation axis, and the rigidity control unit continuously stiffness during rotation or translational movement of the output member according to the rotation angle of the rotating body.
  • the rotating body has a polygonal cross section perpendicular to the rotating axis, and the rigidity control unit is configured to rotate or translate the output member according to the rotation angle of the rotating body. Stiffness is controlled step by step.
  • the rigidity control device further includes a base plate for rotating or translating the output member and the rotating body in an integrated state.
  • the base plate includes a main rotation axis formed on a portion of the base plate, one end of the output member is coupled to the main rotation shaft, by the rotation of the main rotation shaft output member And the rotating body to rotate in an integrated state.
  • the base plate includes a rail structure for guiding the output member and the rotating body, and translates the output member and the rotating body in an integrated state along the rail structure.
  • the rotating shaft has a rectangular cross section in the axial direction, and two surfaces parallel to the inner surface in the longitudinal direction of the long hole are arranged to be slidable along the inner surface of the long direction of the long hole, respectively. Rotate the whole.
  • the rotation axis includes a roller at each corner of the square.
  • the long hole includes a guide structure along the longitudinal direction
  • the rotation axis includes a guide coupling structure on two surfaces parallel to the inner surface in the longitudinal direction to slide along the guide structure.
  • the stiffness control unit is located on the opposite side of the end of the one end with respect to the main rotation axis.
  • the stiffness control unit is located on the opposite side of the end of the one end with respect to the main axis of rotation.
  • the stiffness control unit is located between the main rotation axis and the end of the one end.
  • the stiffness control unit is located in plurality between the main rotation axis and the end of the one end.
  • the stiffness control unit is located on the opposite side of the end of the one end and between the main rotation axis and the end of the one end with respect to the main rotation axis.
  • the stiffness control unit is located in the plurality of opposite sides of the end of the one end and between the main rotation axis and the end of the one end with respect to the main rotation axis.
  • the stiffness control unit on both sides of the output member, on the opposite side of the end of the one end with respect to the main axis of rotation.
  • the stiffness control unit is located on both sides of the output member, between the main shaft and the end of the one end.
  • the stiffness control unit is located on both sides of the output member at the same distance from the main rotational axis, and the stiffness control units on both sides of the output member synchronize and rotate the respective rotating bodies.
  • the stiffness control unit rotates by synchronizing the respective rotating bodies.
  • the stiffness control unit rotates each rotating body independently.
  • some of the plurality of rigidity control unit rotates each of the rotating bodies in synchronization, except for some of the plurality of the rigidity control unit to rotate each of the rotating bodies independently Let's do it.
  • the movable part of the robot according to the embodiment of the present invention includes a stiffness control device and a contact portion coupled to the output member according to the embodiment of the present invention.
  • the contact portion includes at least one of an end effector of the robot arm, a robot arm, a robot leg, and a loading head.
  • the stiffness control device includes a stiffness control unit for controlling the stiffness of the output member and the output member, and the stiffness control unit is rotatably disposed inside or outside the output member to constrain the output member. And a rotating shaft for rotating the rotating body, and controlling the rigidity at the time of rotation or translational movement of the output member according to the rotating angle of the rotating body, the rotating body including a long hole into which the rotating shaft is inserted, and the rotating shaft is connected to the long hole.
  • a rigid control part is an elastic body between at least one side of a 1st side and a 2nd side of a long hole, and a rotating shaft. It includes.

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Abstract

A stiffness control apparatus has an output link and at least one stiffness control part for controlling the stiffness of the output link, wherein the stiffness control part comprises: a rotor which is rotatably arranged on the inside of the output link and restricts the output link; and a rotation shaft for rotating the rotor, and controls the stiffness of the output link at the time of a rotational or translational movement according to the rotation angle of the rotor.

Description

회전 및 병진 운동 시의 출력부재의 강성을 제어하는 장치Device to control the rigidity of the output member during rotation and translation
본 발명은 회전 및 병진 운동 시의 출력부재의 강성을 제어하는 장치에 관한 것이다.The present invention relates to an apparatus for controlling the rigidity of the output member during rotational and translational motion.
근년, 로봇에 대한 수요는 산업용뿐 아니라 가정용에 대한 수요도 증대되어, 로봇에 대한 연구가 활발하게 진행되고 있다. 로봇의 동작에 있어서는 관절 운동이 중요한 부분을 차지하는데, 종래 기술에서는 회전 또는 병진 운동 시의 강성(Stiffness)과 위치 조절을 위해 복잡한 구조와 이에 따른 공간을 요구하였다.In recent years, the demand for robots has increased not only for industrial use but also for home use, and researches on robots are being actively conducted. Joint motion is an important part in the operation of the robot, the prior art required a complex structure and space according to the stiffness and position control during rotation or translational movement.
로봇 관절의 강성을 조절하는 방법에는, 예를 들어, (i) 소정의 강성을 갖는 로봇 팔에 힘/토크 센서와 같은 센싱 소자를 말단부 근처에 부착하고, 센싱 소자에서 검출되는 신호를 이용하여 관절의 토크를 조절함으로써 관절의 강성을 조절하는 방법과 (ii) 힘/토크 센서를 사용하지 않고 강성을 조절할 수 있는 장치를 로봇 관절에 삽입해서 상황에 따라 강성을 조절하는 방법이 있다.In the method of adjusting the rigidity of the robot joint, for example, (i) a sensing element such as a force / torque sensor is attached to the robot arm having a predetermined rigidity near the distal end, and the joint is detected using a signal detected by the sensing element. There is a method of controlling the stiffness of the joint by adjusting the torque of (2) and a method of adjusting the stiffness according to the situation by inserting a device that can adjust the stiffness without using a force / torque sensor to the robot joint.
힘/토크 센서를 이용하는 방법의 경우, 강성을 조절하기 위한 알고리즘이 복잡하고 안정성의 문제로 인해 로봇의 강성의 최소치 또는 최대치 설정에 한계가 있을 뿐 아니라, 비용적 측면에서도 로봇의 상용화에 어려움이 따른다. 반면에 힘/토크 센서를 사용하지 않는 강성 조절 장치의 경우, 비용적인 문제는 다소 해소할 수 있으나 별도의 장치가 관절에 삽입되어 로봇의 전체적 부피를 증대시키고 강성 조절의 응답 속도 최적화에 문제가 있다.In the case of using the force / torque sensor, the algorithm for adjusting the stiffness is complicated and the stability problem has limitations in setting the minimum or maximum stiffness of the robot, and it is difficult to commercialize the robot in terms of cost. . On the other hand, in the case of the stiffness control device that does not use the force / torque sensor, the cost problem can be solved somewhat, but a separate device is inserted into the joint to increase the overall volume of the robot and to optimize the response speed of the stiffness control. .
한편으로는 인간의 근육을 모사하는 구조를 취해 강성을 조절하는 변수, 즉 강성 조절 변수에 대해 비선형적 특성을 보이도록 함으로써 보다 효과적인 동작 구현 및 범용 적용 가능성을 높이고자 하는 시도가 있다 (예: 특허문헌 1).On the other hand, there is an attempt to increase the possibility of more effective motion implementation and universal application by taking a structure that simulates the muscles of the human body to show nonlinear characteristics of the stiffness control variable, that is, the stiffness control variable (e.g., a patent) Document 1).
하지만, 이 경우 강성 조절 변수에 대하여 비선형적 특성을 갖는 토크를 얻을 수는 있으나 외력이 발생하여 출력 측이 회전 운동을 이루어 위치가 변동하는 경우 출력 측의 회전 강성을 일정하게 유지시키기 위하여 회전 강성을 조절하는 강성 조절 변수도 함께 실시간으로 변동시켜야 하고, 이로 인하여 복잡한 제어 구조 내지는 구성 요소를 요한다.However, in this case, it is possible to obtain a torque with non-linear characteristics with respect to the stiffness control variable, but if the output side is rotated due to external force and the position is changed, the rotational rigidity is maintained in order to keep the rotational rigidity of the output side constant. Adjusting stiffness control parameters must also be varied in real time, which requires complex control structures or components.
(특허문헌 1) 대한민국 공개특허공보 제10-2011-011580호(Patent Document 1) Republic of Korea Patent Publication No. 10-2011-011580
본 발명은 상기와 같은 문제점을 해결하기 위한 것으로, 본 발명의 목적은 회전 및 병진 운동 시에 출력부재의 강성을 가변 제어하여 안정적인 동작을 수행하도록 하는 강성 제어 장치를 제공하는 것이다.The present invention is to solve the above problems, an object of the present invention is to provide a stiffness control device to perform a stable operation by variably controlling the rigidity of the output member during rotation and translational movement.
상기와 같은 목적을 달성하기 위하여, 본 발명의 실시예에 따른 회전 및 병진 운동 시의 강성 제어 장치는 출력부재 및 출력부재의 강성을 제어하는 최소한 하나의 강성 제어부를 구비한다. 강성 제어부는 출력부재의 내부 또는 외부에 회전 가능하게 배치되어 상기 출력부재를 구속하는 회전체 및 회전체를 회전시키기 위한 회전축을 포함하고 회전체의 회전 각도에 따라 상기 출력부재의 회전 또는 병진 운동 시의 강성을 제어한다.In order to achieve the above object, the stiffness control device during the rotation and translational motion according to an embodiment of the present invention includes an output member and at least one stiffness control unit for controlling the rigidity of the output member. The rigidity control unit is rotatably disposed inside or outside the output member and includes a rotating body for restraining the output member and a rotating shaft for rotating the rotating member, and the output member is rotated or translated according to the rotation angle of the rotating member. Control the stiffness.
본 발명의 실시예에 따르면, 상기 회전체는, 상기 회전축이 삽입되는 장공을 포함하고, 상기 회전축은, 상기 장공에 삽입되어, 상기 회전체를 회전시키고,상기 회전체의 회전에 의해, 상기 장공을 따라 슬라이딩하도록 구성되고, 상기 강성 제어부는, 상기 장공의 길이 방향의 제1측과 상기 회전축 사이에 탄성체를 포함한다. According to an embodiment of the present invention, the rotating body includes a long hole into which the rotating shaft is inserted, and the rotating shaft is inserted into the long hole to rotate the rotating body, and the long hole is rotated by the rotating body. It is configured to slide along, and the rigidity control unit includes an elastic body between the first side in the longitudinal direction of the long hole and the rotation axis.
본 발명의 실시예에 따르면, 상기 회전체는, 상기 회전축이 삽입되는 장공을 포함하고, 상기 회전축은, 상기 장공에 삽입되어, 상기 회전체를 회전시키고, 상기 회전체의 회전에 의해, 상기 장공을 따라 슬라이딩하도록 구성되고, 상기 강성 제어부는, 상기 장공의 길이 방향의 제1측과 상기 회전축 사이 및 상기 장공의 길이 방향의 제2측과 상기 회전축 사이에 각각 탄성체를 포함한다. According to an embodiment of the present invention, the rotating body includes a long hole into which the rotating shaft is inserted, and the rotating shaft is inserted into the long hole to rotate the rotating body, and the rotating body rotates the rotating body. The rigidity control unit includes an elastic body between the first side of the longitudinal direction of the long hole and the rotation shaft and between the second side of the longitudinal direction of the long hole and the rotation shaft.
본 발명의 실시예에 따르면, 상기 강성 제어부는, 상기 회전체의 회전에 의해 상기 장공이 상기 출력부재에 대해 제1방향으로 위치한 상태에서 상기 출력부재가 최대 강성 상태가 되도록 하고, 상기 회전체의 회전에 의해 상기 장공이 상기 출력부재에 대해 상기 제1방향과 수직인 제2방향으로 위치한 상태에서 상기 출력부재가 최소 강성 상태가 되도록 한다. According to an embodiment of the present invention, the stiffness control unit is such that the output member is in the maximum rigid state with the long hole located in the first direction with respect to the output member by the rotation of the rotating body. The output member is in a state of minimum rigidity with the long hole positioned in a second direction perpendicular to the first direction by the rotation.
본 발명의 실시예에 따르면, 상기 강성 제어부는, 상기 장공이 상기 출력부재에 대해 상기 제1방향과 상기 제2방향 사이의 임의의 방향으로 위치하도록 상기 회전체를 회전시킴으로써 상기 출력부재의 강성을 상기 최대 강성 상태와 상기 최소 강성 상태 사이의 임의의 강성으로 제어한다. According to an embodiment of the present invention, the stiffness control unit, the rigidity of the output member by rotating the rotating body so that the long hole is located in any direction between the first direction and the second direction with respect to the output member. Control to any stiffness between the maximum stiffness state and the minimum stiffness state.
본 발명의 실시예에 따르면, 상기 회전체는, 상기 회전축에 수직인 단면이, 장축이 상기 장공의 길이 방향과 나란한 타원형이고, 상기 강성 제어부는, 상기 회전체의 회전 각도에 따라 상기 출력부재의 회전 또는 병진 운동 시의 강성을 연속적으로 제어한다. According to an embodiment of the present invention, the rotating body has a cross section perpendicular to the rotation axis, the long axis is an elliptical parallel to the longitudinal direction of the long hole, the rigidity control unit, according to the rotation angle of the rotating body of the output member The stiffness during rotational or translational motion is continuously controlled.
본 발명의 실시예에 따르면, 상기 회전체는, 상기 회전축에 수직인 단면이 원형이고, 상기 강성 제어부는, 상기 회전체의 회전 각도에 따라 상기 출력부재의 회전 또는 병진 운동 시의 강성을 연속적으로 제어한다. According to an embodiment of the present invention, the rotating body has a circular cross section perpendicular to the rotation axis, and the rigidity control unit continuously stiffness during rotation or translational movement of the output member according to the rotation angle of the rotating body. To control.
본 발명의 실시예에 따르면, 상기 회전체는, 상기 회전축에 수직인 단면이 다각형이고, 상기 강성 제어부는, 상기 회전체의 회전 각도에 따라 상기 출력부재의 회전 또는 병진 운동 시의 강성을 단계적으로 제어한다. According to an embodiment of the present invention, the rotating body has a polygonal cross section perpendicular to the rotating axis, and the rigidity control unit may step in rigidity during rotation or translational movement of the output member according to a rotation angle of the rotating body. To control.
본 발명의 실시예에 따르면, 상기 출력부재와 상기 회전체를 일체화 된 상태로 회전 또는 병진 운동시키기 위한 베이스 플레이트를 더 구비한다. According to an embodiment of the present invention, the output member and the rotating body further comprises a base plate for rotating or translational movement in an integrated state.
본 발명의 실시예에 따르면, 상기 베이스 플레이트는, 상기 베이스 플레이트의 일부에 형성된 주 회전축을 포함하고, 상기 출력부재의 일단이 상기 주 회전축에 결합되어, 상기 주 회전축의 회전에 의해 상기 출력부재와 상기 회전체를 일체화된 상태로 회전 운동시킨다. According to an embodiment of the present invention, the base plate includes a main rotating shaft formed on a portion of the base plate, one end of the output member is coupled to the main rotating shaft, and the output member by the rotation of the main rotating shaft The rotating body is rotated in an integrated state.
본 발명의 실시예에 따르면, 상기 베이스 플레이트는, 상기 출력부재와 상기 회전체를 안내하기 위한 레일 구조를 포함하고, 상기 레일 구조를 따라 상기 출력부재와 상기 회전체를 일체화된 상태로 병진 운동시킨다. According to an embodiment of the present invention, the base plate includes a rail structure for guiding the output member and the rotating body, and translates the output member and the rotating body in an integrated state along the rail structure. .
본 발명의 실시예에 따르면, 상기 회전축은, 축 방향의 단면이 사각형이고,According to an embodiment of the present invention, the rotating shaft has a rectangular cross section in the axial direction,
상기 장공의 길이 방향의 내면에 평행한 두 면이 각각 상기 장공의 길이 방향의 내면을 따라 슬라이딩 가능하도록 배치되어 상기 회전체를 회전시킨다. Two surfaces parallel to the inner surface of the long hole are slidably disposed along the inner surface of the long hole, respectively, to rotate the rotating body.
본 발명의 실시예에 따르면, 상기 회전축은 상기 사각형의 각 모서리에 롤러를 포함한다. According to an embodiment of the present invention, the rotating shaft includes rollers at each corner of the quadrangle.
본 발명의 실시예에 따르면, 상기 장공은, 상기 길이 방향을 따라 가이드 구조를 포함하고, 상기 회전축은, 상기 가이드 구조를 따라 슬라이딩 하도록 상기 길이 방향의 내면에 평행한 상기 두 면에 가이드 결합 구조를 포함한다. According to an embodiment of the present invention, the long hole, the guide structure along the longitudinal direction, the rotating shaft, the guide coupling structure on the two surfaces parallel to the inner surface of the longitudinal direction to slide along the guide structure Include.
본 발명의 실시예에 따르면, 상기 강성 제어부는, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편에 위치한다. According to an embodiment of the invention, the stiffness control unit is located on the opposite side of the end of the one end with respect to the main axis of rotation.
본 발명의 실시예에 따르면, 상기 강성 제어부는, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편에 복수 개 위치한다. According to an embodiment of the present invention, the stiffness control unit is located on the opposite side of the end of the one end with respect to the main rotation axis.
본 발명의 실시예에 따르면, 상기 강성 제어부는, 상기 주 회전축과 상기 일단의 끝 사이에 위치한다. According to an embodiment of the invention, the stiffness control unit is located between the main axis of rotation and the end of the one end.
본 발명의 실시예에 따르면, 상기 강성 제어부는, 상기 주 회전축과 상기 일단의 끝 사이에 복수 개 위치한다. According to an embodiment of the present invention, the stiffness control unit is located in plurality between the main rotation axis and the end of the one end.
본 발명의 실시예에 따르면, 상기 강성 제어부는, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편과 상기 주 회전축과 상기 일단의 끝 사이에 위치한다. According to an embodiment of the present invention, the stiffness control unit is located on the opposite side of the end of the one end and between the main rotation axis and the end of the one end with respect to the main rotation axis.
본 발명의 실시예에 따르면, 상기 강성 제어부는, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편과 상기 주 회전축과 상기 일단의 끝 사이에 각각 복수 개 위치한다. According to an embodiment of the present invention, the stiffness control unit is located on the opposite side of the end portion of the one end with respect to the main rotation axis and a plurality of positions between the main rotation axis and the end of the one end, respectively.
본 발명의 실시예에 따르면, 상기 강성 제어부는, 상기 출력부재의 양측에, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편에 위치한다. According to an embodiment of the present invention, the rigid control unit is located on opposite sides of the end of the one end with respect to the main axis of rotation, on both sides of the output member.
본 발명의 실시예에 따르면, 상기 강성 제어부는, 상기 출력부재의 양측에, 상기 주 회전축과 상기 일단의 끝 사이에 위치한다. According to an embodiment of the present invention, the stiffness control unit is located on both sides of the output member, between the main rotation shaft and the end of the one end.
본 발명의 실시예에 따르면, 상기 강성 제어부는, 각각의 상기 회전체를 동기화시켜서 회전시킨다. According to an embodiment of the present invention, the stiffness control unit rotates each of the rotating bodies in synchronization.
본 발명의 실시예에 따르면, 상기 강성 제어부는, 각각의 상기 회전체를 독립적으로 회전시킨다. According to an embodiment of the present invention, the stiffness control unit rotates each of the rotating bodies independently.
본 발명의 실시예에 따르면, 상기 복수의 강성 제어부 중 일부는 각각의 상기 회전체를 동기화시켜서 회전시키고, 상기 복수의 강성 제어부 중 상기 일부를 제외한 나머지는 각각의 상기 회전체를 독립적으로 회전시킨다. According to an embodiment of the present invention, some of the plurality of rigidity controllers are rotated by synchronizing each of the respective rotating bodies, and the remaining portions except for the part of the plurality of rigidity controllers independently rotate the respective rotating bodies.
본 발명의 실시예에 따른 로봇의 가동부는 상기 출력부재에 결합된 접촉부를 구비한다. The movable part of the robot according to the embodiment of the present invention includes a contact portion coupled to the output member.
본 발명의 실시예에 따르면, 상기 접촉부는, 로봇 암의 엔드 이펙터, 로봇 팔, 로봇 다리, 로딩 헤드 중 최소한 어느 하나를 포함한다. According to an embodiment of the present invention, the contact portion includes at least one of an end effector of the robot arm, a robot arm, a robot leg, and a loading head.
본 발명의 실시예에 따른 강성 제어 장치는 출력부재 및 상기 출력부재의 강성을 제어하는 강성 제어부를 구비하고, 상기 강성 제어부는, 상기 출력부재의 내부 또는 외부에 회전 가능하게 배치되어, 상기 출력부재를 구속하는 회전체 및 상기 회전체를 회전시키기 위한 회전축을 포함하고, 상기 회전체의 회전 각도에 따라 상기 출력부재의 회전 또는 병진 운동 시의 강성을 제어하며, 상기 회전체는, 상기 회전축이 삽입되는 장공을 포함하고, 상기 회전축은 상기 장공에 삽입되어, 상기 회전체를 회전시키고, 상기 회전체의 회전에 의해, 상기 장공을 따라 슬라이딩하도록 구성되고, 상기 강성 제어부는, 상기 장공의 길이 방향의 제1측과 제2측의 최소한 어느 한 측과 상기 회전축 사이에 탄성체를 포함한다. A stiffness control device according to an embodiment of the present invention includes an output member and a stiffness control unit for controlling the stiffness of the output member, wherein the stiffness control unit is rotatably disposed inside or outside the output member, And a rotating shaft for rotating the rotating body to control the rigidity during rotation or translational movement of the output member according to the rotating angle of the rotating body, wherein the rotating shaft is inserted into the rotating body. And a long hole, wherein the rotating shaft is inserted into the long hole to rotate the rotating body and slide along the long hole by the rotation of the rotating body, wherein the rigid control part is formed in the longitudinal direction of the long hole. An elastic body is included between at least one side of a 1st side and a 2nd side, and the said rotating shaft.
이상에서 살펴본 바와 같이, 본 발명의 실시예에 따른 회전 및 병진 운동 시의 강성 제어 장치는, 회전축의 회전 각도에 따라 출력부재의 강성을 제어함으로써 신속하고 간단하게 출력부재의 강성을 다양한 크기로 조절할 수 있을 뿐 아니라, 회전 운동과 병진 운동 모두에 사용이 가능하며, 액츄에이터 구조에 적용하여 가변 강성 액츄에이터 (Variable Stiffness Actuator) 장치로도 사용이 가능하므로, 간편하고 효율적으로 출력부재의 강성을 조절하여 안정적으로 동작을 수행할 수 있도록 하는 효과가 있다.As described above, the stiffness control device in the rotation and translational motion according to an embodiment of the present invention, by controlling the stiffness of the output member in accordance with the rotation angle of the rotation axis to quickly and simply adjust the stiffness of the output member to various sizes In addition, it can be used for both rotational and translational movements, and it can be used as a variable stiffness actuator device by applying it to the actuator structure. This has the effect of allowing you to perform actions.
도 1은 본 발명의 실시예에 따른 강성 제어 장치를 나타낸 것으로, 회전 운동 액츄에이터를 나타낸 사시도로서,1 is a perspective view showing a stiffness control device according to an embodiment of the present invention, a rotary motion actuator,
(a)는 외부형이고,(a) is external,
(b)는 내부형이다. (b) is internal.
도 2는 도 1의 강성 제어 장치의 분해 사시도로서,FIG. 2 is an exploded perspective view of the stiffness control device of FIG. 1;
(a)는 외부형이고,(a) is external,
(b)는 내부형이다. (b) is internal.
도 3은 도 1의 강성 제어 장치의 최대 강성 상태를 나타낸 평면도로서,3 is a plan view showing a maximum rigidity state of the stiffness control device of FIG.
(a)는 외부형이고,(a) is external,
(b)는 내부형이다. (b) is internal.
도 4는 도 1의 강성 제어 장치의 최소 강성 상태를 나타낸 평면도로서,4 is a plan view showing a minimum rigidity state of the stiffness control device of FIG.
(a)는 외부형이고,(a) is external,
(b)는 내부형이다. (b) is internal.
도 5는 도 3의 최대 강성 상태의 작용을 설명하기 위한 개념도로서,FIG. 5 is a conceptual diagram illustrating the operation of the maximum rigidity state of FIG. 3.
(a)는 외부형이고,(a) is external,
(b)는 내부형이다. (b) is internal.
도 6은 도 4의 최소 강성 상태의 작용을 설명하기 위한 개념도로서,6 is a conceptual diagram for explaining the operation of the minimum rigidity state of FIG.
(a)는 외부형이고,(a) is external,
(b)는 내부형이다. (b) is internal.
도 7은 본 발명의 실시예에 따른 강성 제어 장치를 나타낸 것으로, 병진 운동 액츄에이터를 나타낸 사시도로서,7 is a perspective view showing a stiffness control device according to an embodiment of the present invention, a translational movement actuator,
(a)는 외부형이고,(a) is external,
(b)는 내부형이다. (b) is internal.
도 8은 도 7의 강성 제어 장치의 분해 사시도로서,FIG. 8 is an exploded perspective view of the stiffness control device of FIG. 7;
(a)는 외부형이고,(a) is external,
(b)는 내부형이다. (b) is internal.
도 9는 도 7의 강성 제어 장치의 최대 강성 상태를 나타낸 평면도로서,FIG. 9 is a plan view illustrating a maximum rigidity state of the rigidity control device of FIG. 7;
(a)는 외부형이고,(a) is external,
(b)는 내부형이다. (b) is internal.
도 10은 도 7의 강성 제어 장치의 최소 강성 상태를 나타낸 평면도로서,FIG. 10 is a plan view illustrating a minimum rigidity state of the stiffness control device of FIG. 7;
(a)는 외부형이고,(a) is external,
(b)는 내부형이다. (b) is internal.
도 11은 본 발명의 실시예에 따른 강성 제어 장치의 회전축의 각 모서리에 장착된 롤러를 나타낸 평면도이다.11 is a plan view showing the rollers mounted on each corner of the rotation axis of the rigidity control device according to an embodiment of the present invention.
도 12는 본 발명의 실시예에 따른 회전축의 양측에 각각 탄성체를 포함한 강성 제어부를 나타낸 모식도이다.12 is a schematic view showing a stiffness control unit including elastic bodies on both sides of a rotating shaft according to an embodiment of the present invention.
도 13은 본 발명의 실시예에 따른 강성 제어부를 출력부재의 외부에서 서로 다른 위치에 복수 개 구비한 강성 제어 장치의 평면도이다.13 is a plan view of a stiffness control device having a plurality of stiffness control units at different positions from the outside of the output member according to an embodiment of the present invention.
도 14는 본 발명의 실시예에 따른 강성 제어부를 출력부재의 내부에서 복수 개 구비한 강성 제어 장치의 평면도이다.14 is a plan view of the stiffness control device having a plurality of stiffness control units in the output member according to an embodiment of the present invention.
도 15는 본 발명의 실시예에 따른 강성 제어부를 출력부재의 단부에 구비한 강성 제어 장치의 평면도이다.15 is a plan view of a stiffness control device having a stiffness control unit at an end of an output member according to an embodiment of the present invention.
도 16은 본 발명의 실시예에 따른 강성 제어부를 주 회전축을 중심으로 양쪽에 구비한 강성 제어 장치의 평면도이다.16 is a plan view of a stiffness control device including a stiffness control unit according to an embodiment of the present invention on both sides of a main rotational axis.
도 17은 본 발명의 실시예에 따른 강성 제어부를 주 회전축을 중심으로 양쪽에 구비한 강성 제어 장치의 평면도이다.17 is a plan view of a stiffness control device including a stiffness control unit according to an embodiment of the present invention on both sides of a main rotational axis.
도 18은 본 발명의 실시예에 따른 강성 제어부를 출력부재의 단부 복수 개 구비한 강성 제어 장치의 평면도이다.18 is a plan view of a stiffness control device having a plurality of end portions of an output member having a stiffness control unit according to an embodiment of the present invention.
이하, 첨부된 도면을 참조하여 본 발명의 실시예에 따른 회전 및 병진 운동 시의 강성 제어 장치에 관해 설명한다.Hereinafter, with reference to the accompanying drawings will be described with respect to the stiffness control device during the rotation and translational motion according to an embodiment of the present invention.
도 1은 본 발명의 실시예에 따른 강성 제어 장치의 사시도이고, 도 2는 도 1의 강성 제어 장치의 분해 사시도이다.1 is a perspective view of a stiffness control device according to an embodiment of the present invention, Figure 2 is an exploded perspective view of the stiffness control device of FIG.
도 1a, 도 2a 와 도 1b, 도 2b에 도시된 바와 같이, 본 발명의 실시예에 따른 강성 제어 장치는 출력부재(100), 강성 제어부(200,200a), 베이스 플레이트(300), 및 회전 메커니즘 접속부(400)를 구비한다.As shown in Figure 1a, 2a and 1b, 2b, the rigidity control device according to an embodiment of the present invention is the output member 100, the rigidity control unit 200, 200a, the base plate 300, and the rotation mechanism The connection part 400 is provided.
강성 제어부(200,200a)는 회전체(210), 장공(211), 탄성체(220), 및 회전축(230)을 포함하여 출력부재(100)의 외부에 구비되거나 출력부재(100)의 외부에 구비되며, 베이스 플레이트(300)는 주 회전축(310) 및 베어링(320)을 포함한다.The rigidity control unit 200 or 200a may be provided at the outside of the output member 100 or may be provided at the outside of the output member 100 including the rotating body 210, the long hole 211, the elastic body 220, and the rotating shaft 230. The base plate 300 includes a main rotating shaft 310 and a bearing 320.
본 발명의 실시예에 따른 강성 제어 장치는 출력 링크와 같은 출력부재(100)의 강성을 조절한다. 출력부재(100)는 로봇 팔 또는 로봇 다리 등으로 작용할 수 있으며, 이를 통해 그리퍼(Gripper) 등의 엔드 이펙터를 장착할 수 있다.The rigidity control device according to the embodiment of the present invention adjusts the rigidity of the output member 100 such as the output link. The output member 100 may act as a robot arm or a robot leg, through which an end effector such as a gripper may be mounted.
상기 강성 제어부(200)는 도 1a 와 도 2a 에 도시된 바와 같이, 출력부재(100)의 외부에 회전 가능하게 배치되어 출력부재(100)의 양측을 구속하며, 그 회전 방향에 따라 출력부재(100)에 대한 회전 각도가 조절되어 출력부재(100)의 회전 또는 병진 운동 시의 강성을 제어한다.As shown in FIGS. 1A and 2A, the rigidity control unit 200 is rotatably disposed on the outside of the output member 100 to constrain both sides of the output member 100, and according to the rotational direction thereof. The rotation angle with respect to 100 is adjusted to control the rigidity during rotation or translational movement of the output member 100.
상기 강성 제어부(200a)는 도 1a 와 도 2a 에 도시된 바와 같이, 출력부재(100)의 내부에 회전 가능하게 배치되어 출력부재(100)를 구속하며, 그 회전 방향에 따라 출력부재(100)에 대한 회전 각도가 조절되어 출력부재(100)의 회전 또는 병진 운동 시의 강성을 제어한다.As shown in FIGS. 1A and 2A, the rigidity control unit 200a is rotatably disposed inside the output member 100 to constrain the output member 100, and the output member 100 is in accordance with the rotation direction thereof. The rotation angle with respect to the controllable rigidity during rotation or translation of the output member 100.
이를 위하여, 강성 제어부(200,200a)는 회전체(210), 장공(211), 탄성체(220), 및 회전축(230)을 포함한다. To this end, the rigidity control unit 200, 200a includes a rotating body 210, a long hole 211, an elastic body 220, and a rotating shaft 230.
상기 회전체(210)는 출력부재(100)의 양측에 배치되어 구속하도록 그 외부면에 접하거나 이격배치되는 작동체로 이루어지거나 출력부재(100)의 내부에 배치되어 구속하도록 그 내부에 접하거나 이격배치되는 작동체로 이루어지며, 대략 중앙에 장공(211)이 형성된다. The rotating body 210 is disposed on both sides of the output member 100 to be made contact with the outer surface or to be spaced apart or to be disposed in the interior of the output member 100 to be constrained or spaced inside the output member (100). Consists of the working elements are arranged, the long hole 211 is formed approximately in the center.
상기 회전체(210)는 회전축(230)에 수직인 단면이 원형, 장축이 장공(211)의 길이 방향과 나란한 타원형, 또는 다각형 등으로 형성될 수 있다.The rotating body 210 may have a circular cross section perpendicular to the rotation axis 230, an ellipse with a long axis parallel to the longitudinal direction of the long hole 211, or a polygon.
상기 회전체(210)의 회전축(230)에 수직인 단면이 원형 또는 타원형인 경우, 출력부재의 외부 또는 내부에 배치되는 강성 제어부(200,200a)는, 회전체의 회전 각도에 따라 상기 출력부재의 회전 또는 병진 운동 시의 강성을 연속적으로 제어한다. When the cross section perpendicular to the rotary shaft 230 of the rotor 210 is circular or elliptical, the stiffness controllers 200 and 200a disposed outside or inside the output member may be configured according to the rotation angle of the rotor. The stiffness during rotational or translational motion is continuously controlled.
상기 회전체(210)의 회전축(230)에 수직인 단면이 다각형인 경우, 강성 제어부(200,200a)는 회전체의 회전 각도에 따라 출력부재의 회전 또는 병진 운동 시의 강성을 단계적으로 제어한다. 이 경우, 다각형의 면마다 회전이 멈추도록 클릭 구조(미 도시)를 포함할 수 있다.When the cross section perpendicular to the rotating shaft 230 of the rotating body 210 is a polygon, the rigidity control units 200 and 200a control the stiffness during the rotation or translational movement of the output member in accordance with the rotation angle of the rotating body. In this case, a click structure (not shown) may be included to stop rotation of each polygonal surface.
상기 회전축(230)은 회전체(210) 중앙의 장공(211)에 슬라이딩 가능하게 삽입되어 회전체(210)를 회전시키고, 장공(211)의 길이 방향을 따라 슬라이딩하도록 구성되어 있다. 본 발명의 실시예에서, 회전축(230)은 베이스 플레이트(300)에 고정되어 있다.The rotating shaft 230 is slidably inserted into the long hole 211 in the center of the rotating body 210 to rotate the rotating body 210, it is configured to slide along the longitudinal direction of the long hole 211. In an embodiment of the present invention, the rotation shaft 230 is fixed to the base plate 300.
상기 탄성체(220)는 스프링 또는 탄성력을 가진 실리콘, 고무 등의 부재로, 장공(211)의 내부에 삽입되어, 일측이 회전축(230)에 지지되도록 설치된다.The elastic body 220 is a spring or an elastic member, such as silicon, rubber, etc., is inserted into the inside of the long hole 211, one side is installed so as to be supported by the rotating shaft 230.
따라서, 회전체(210)의 회전 방향에 따라 출력부재(100)에 대한 장공(211)의 상대 각도가 조절되어, 탄성체(220)의 신축 상태에 따라 출력부재(100)의 강성이 제어된다.Therefore, the relative angle of the long hole 211 with respect to the output member 100 is adjusted according to the rotation direction of the rotating body 210, the rigidity of the output member 100 is controlled according to the stretched state of the elastic body 220.
도 1a와 도 2a의 실시예에서 출력부재(100)의 외부에 배치된 회전체(210)가 회전하게 되며, 도 1b, 도 2b의 실시예에서 출력부재(100)의 내부에 형성된 원형의 구멍 내에서 회전체(210)가 회전한다.In the embodiment of FIGS. 1A and 2A, the rotating body 210 disposed outside the output member 100 rotates, and the circular hole formed inside the output member 100 in the embodiment of FIGS. 1B and 2B is rotated. The rotating body 210 rotates in the inside.
상기 탄성체(220)는, 도 1a 내지 도 2b에 도시된 바와 같이, 압축/인장 스프링이 사용될 수 있으며, 스프링의 탄성도를 변경함으로써 출력부재(100)의 강성도 변경할 수 있다.As shown in FIGS. 1A to 2B, the elastic body 220 may use a compression / tension spring, and change the stiffness of the output member 100 by changing the elasticity of the spring.
상기 회전 메커니즘 접속부(400)는 회전력을 발생하고, 베이스 플레이트(300)는 일면이 출력부재(100)와 복수의 회전체(210)가 연결되고 타면이 회전 메커니즘 접속부(400)와 연결되어, 회전 메커니즘 접속부(400)에서 발생된 회전력을 출력부재(100)로 전달하여 출력부재(100)의 위치 제어를 수행한다.The rotation mechanism connecting portion 400 generates a rotational force, the base plate 300 is rotated by one side is connected to the output member 100 and the plurality of rotors 210 and the other side is connected to the rotation mechanism connection 400, The rotational force generated by the mechanism connecting unit 400 is transmitted to the output member 100 to control the position of the output member 100.
상기 베이스 플레이트(300)는 중앙에 형성된 주 회전축(310)과, 주 회전축(310)에 끼워진 베어링(320)을 통하여 출력부재(100)에 연결된다.The base plate 300 is connected to the output member 100 through a main rotating shaft 310 formed at the center and a bearing 320 fitted to the main rotating shaft 310.
상기 회전 메커니즘 접속부(400)는 복수의 회전축(230)을 독립적으로 회전시키는 메커니즘을 포함한다.The rotation mechanism connector 400 includes a mechanism for independently rotating the plurality of rotation shafts 230.
따라서, 상기 베이스 플레이트(300)의 회전에 의해 출력부재(100)의 위치가 제어되고, 외력으로 인해 주 회전축(310)을 축으로 출력부재(100)가 소정의 각도로 회전할 때 강성 제어부(200,200a)에 구비된 탄성체(220)의 탄성력에 의한 댐핑이 작용하여 결과적으로 출력부재(100)의 강성이 조절되는 것이다.Therefore, the position of the output member 100 is controlled by the rotation of the base plate 300, and when the output member 100 is rotated at a predetermined angle with respect to the main rotation axis 310 by the external force due to the rigid control unit ( Damping by the elastic force of the elastic body 220 provided in the 200, 200a is acted as a result of which the stiffness of the output member 100 is adjusted.
도 3a와 도 3b는 도 1a 와 도 1b의 강성 제어 장치의 최대 강성 상태를 나타낸 평면도이고, 도 4a 와 도 4b는 도 1a 와 도 1b의 강성 제어 장치의 최소 강성 상태를 나타낸 평면도이고, 도 5a 와 도 5b는 도 3a 와 도 3b의 최대 강성 상태의 작용을 설명하기 위한 개념도이며, 도 6a와 도 6b는 도 4a 와 도 4b의 최소 강성 상태의 작용을 설명하기 위한 개념도이다.3A and 3B are plan views showing a maximum stiffness state of the stiffness control device of FIGS. 1A and 1B, and FIGS. 4A and 4B are plan views showing a minimum stiffness state of the stiffness control device of FIGS. 1A and 1B, and FIG. 5A. And FIG. 5B are conceptual views for explaining the action of the maximum rigid state of FIGS. 3A and 3B, and FIGS. 6A and 6B are conceptual views for explaining the action of the minimum rigidity state of FIGS. 4A and 4B.
도 3a 내지 6b에 도시된 바와 같이, 강성 제어부(200,200a)는 회전체(210)의 회전 방향에 따라 출력부재(100)에 대한 장공(211)의 상대 각도가 조절되어 출력부재(100)의 강성이 제어된다.As shown in FIGS. 3A to 6B, the stiffness controllers 200 and 200a adjust the relative angles of the long holes 211 with respect to the output member 100 according to the rotational direction of the rotor 210. Stiffness is controlled.
회전체(210)의 회전에 의해 장공(211)이 출력부재(100)에 대해 제1방향으로 위치한 상태에서 출력부재(100)가 최대 강성 상태가 되도록 하고, 제1방향과 수직인 제2방향으로 위치한 상태에서 최소 강성 상태가 되도록 한다.The output member 100 is in the maximum rigid state in the state where the long hole 211 is positioned in the first direction with respect to the output member 100 by the rotation of the rotor 210, and the second direction perpendicular to the first direction. The minimum stiffness is to be achieved at the position of.
도 3a 와 도 3b에 도시된 바와 같이, 최대 강성 상태에서 강성 제어부(200,200a)는, 상기 출력부재의 외부 또는 내부에 구비되는 회전체(210)가 회전하여 장공(211)이 출력부재(100)에 대해 수평 방향(제1방향)으로 위치한 상태에서 최대 강성 상태가 된다. 반면에, 도 4a 와 도 4b에 도시된 바와 같이, 회전체(210)가 회전하여 장공(211)이 출력부재(100)에 대해 수직 방향(제2방향)으로 위치한 상태에서는 장공(211)의 일면과 회전축(230)의 사이에 탄성체(220)가 개재하여 탄성체(220)의 완충 작용에 의해 최소 강성 상태가 된다.As shown in FIGS. 3A and 3B, in the maximum rigidity state, the rigidity control units 200 and 200a may rotate the rotating body 210 provided outside or inside the output member so that the long hole 211 may output the output member 100. ) Is the maximum rigidity state in the horizontal direction (first direction) with respect to). On the other hand, as shown in Figures 4a and 4b, the rotating body 210 is rotated so that the long hole 211 is located in the vertical direction (second direction) relative to the output member 100 of the long hole 211 The elastic body 220 is interposed between the one surface and the rotating shaft 230 to become a minimum rigid state by the buffering action of the elastic body 220.
도 5a와 도 6a에 도시된 바와 같이, 본 발명의 실시예에 따른 강성 제어 장치의 메커니즘은, 출력부재(100)의 외부 양측에 지지된 2개의 회전체(210)를 일정 각도로 회전함으로써 회전체(210) 내부의 장공(211)에 내장된 탄성체(220)의 탄성력에 의해서 강성을 제어한다.5A and 6A, the mechanism of the rigidity control device according to the embodiment of the present invention is rotated by rotating the two rotating bodies 210 supported on both sides of the output member 100 at an angle. The rigidity is controlled by the elastic force of the elastic body 220 embedded in the long hole 211 in the entire 210.
또한, 도 5b 와 도 6b에 도시된 바와 같이, 본 발명의 실시예에 따른 강성 제어 장치의 메커니즘은, 출력부재(100)의 내부에 설치된 회전체(210)를 일정 각도로 회전함으로써 회전체(210) 내부의 장공(211)에 내장된 탄성체(220)의 탄성력에 의해서 강성을 제어한다.In addition, as shown in Figures 5b and 6b, the mechanism of the rigidity control device according to an embodiment of the present invention, by rotating the rotary body 210 installed in the output member 100 at a predetermined angle (rotator ( The rigidity is controlled by the elastic force of the elastic body 220 embedded in the long hole 211 inside the 210.
이때, 탄성체(220)는 회전체(210)의 일면과 회전축(230) 사이에 삽입되어 탄성력에 의해서 강성을 조절하게 된다.At this time, the elastic body 220 is inserted between one surface of the rotating body 210 and the rotating shaft 230 to adjust the rigidity by the elastic force.
상기 회전체(210)가 제1방향에서 제2방향으로 회전할 때, 회전체(210)는 회전축(230)을 따라 슬라이딩 운동을 하게 되며, 이로 인해 출력부재(100)에 예압을 가하여 출력부재(100)가 움직이더라도 항상 출력부재(100)와의 일정한 강성으로 접촉을 유지하게 된다.When the rotor 210 rotates from the first direction to the second direction, the rotor 210 slides along the rotary shaft 230, thereby applying a preload to the output member 100 to output the member. Even if the 100 moves, it always maintains contact with the constant rigidity with the output member 100.
본 발명의 실시예에서는 출력부재(100)에 대한 회전체(210)의 각도를 제1방향과 제2방향 사이의 임의의 방향으로 위치하도록 회전체(210)를 회전시킴으로써 출력부재(100)의 강성을 최대 강성 상태와 최소 강성 상태 사이의 임의의 강성으로 제어할 수 있다.In the embodiment of the present invention by rotating the rotating body 210 to position the angle of the rotating body 210 with respect to the output member 100 in any direction between the first direction and the second direction of the output member 100 Stiffness can be controlled to any stiffness between the maximum and minimum stiffness states.
예를 들어, 회전체(210)의 회전에 의해 장공(211)이 출력부재(100)에 대해 제1방향으로 위치한 상태에서는 탄성체(220)가 작용하지 않으므로 출력부재(100)에 외력이 가해지더라도 주 회전축(310)을 축으로 출력부재(100)가 소정의 각도로 회전할 수 없으므로 출력부재(100)가 외력을 그대로 받게 된다. For example, in the state in which the long hole 211 is positioned in the first direction with respect to the output member 100 by the rotation of the rotor 210, the elastic body 220 does not work, so even if an external force is applied to the output member 100. Since the output member 100 cannot rotate at a predetermined angle with the main rotation shaft 310 as an axis, the output member 100 receives external force as it is.
반면에 회전체(210)의 회전에 의해 장공(211)이 출력부재(100)에 대해 제1방향 이외의 방향으로 위치한 상태에서는 회전체(210)가 회전축(230)을 따라 슬라이딩 운동을 하게 되므로 주 회전축(310)을 축으로 출력부재(100)가 소정의 각도로 회전하게 되며 이로 인해 탄성체(220)의 탄성력이 작용하여 댐핑 효과를 얻을 수 있다.On the other hand, in the state in which the long hole 211 is located in a direction other than the first direction with respect to the output member 100 by the rotation of the rotating body 210 is a sliding motion along the rotating shaft 230, The output member 100 is rotated at a predetermined angle with the main rotation shaft 310 as an axis, and thus the elastic force of the elastic body 220 may act to obtain a damping effect.
도 7a 와 도 7b는 본 발명의 실시예에 따른 강성 제어 장치를 나타낸 것으로, 병진 운동 액츄에이터를 나타낸 사시도이고, 도 8a 와 도 8b는 도 7a 와 도 7a의 강성 제어 장치의 분해 사시도이고, 도 9a 와 도 9b는 도 7a 와 도 7b의 강성 제어 장치의 최대 강성 상태를 나타낸 평면도이며, 도 10a 와 도 10b는 도 7a 와 도 7b의 강성 제어 장치의 최소 강성 상태를 나타낸 평면도이다.7A and 7B illustrate a stiffness control device according to an embodiment of the present invention, which is a perspective view showing a translational actuator, and FIGS. 8A and 8B are exploded perspective views of the stiffness control device of FIGS. 7A and 7A, and FIG. 9A. 9B are plan views showing the maximum rigidity state of the stiffness control device of FIGS. 7A and 7B, and FIGS. 10A and 10B are plan views showing the minimum stiffness state of the stiffness control device of FIGS. 7A and 7B.
도 7a 와 도 7b 및 도 8a 와 도 8b에 도시된 바와 같이, 병진 운동 액츄에이터로서의 본 발명의 실시예에 따른 강성 제어 장치는, 출력부재(500), 강성 제어부(600,600a), 및 베이스 프레임(700)을 구비한다.As shown in Figures 7a and 7b and 8a and 8b, the stiffness control device according to an embodiment of the present invention as a translational movement actuator, the output member 500, the stiffness control unit 600, 600a, and the base frame ( 700).
상기 강성 제어부(600,600a)는 회전체(610), 장공(611), 탄성체(620), 및 회전축(630)을 포함한다.The rigidity control unit 600, 600a includes a rotating body 610, a long hole 611, an elastic body 620, and a rotating shaft 630.
도 7a 와 도 8a에 도시한 바와 같이, 베이스 프레임(700)은 슬라이딩 부재와 같은 출력부재(500)와 그 양측에 구비되는 강성 제어부(600)를 길이 방향으로 밀착되게 수용하는 안착홈(710)을 갖는다. 출력부재(500)는 안착홈(710)을 따라 베이스 프레임(700)과 나란한 병진 방향으로 이동 가능하게 형성된다.As shown in FIGS. 7A and 8A, the base frame 700 includes a seating groove 710 for closely accommodating an output member 500 such as a sliding member and a rigid control part 600 provided at both sides thereof in a longitudinal direction. Has The output member 500 is formed to be movable in a translational direction parallel to the base frame 700 along the seating groove 710.
또한, 도 7b 와 도 8b에 도시한 바와 같이, 베이스 프레임(700)은 슬라이딩가능한 부재로 이루어지는 출력부재(500)를 길이 방향으로 밀착되게 수용하는 안착홈(710)을 가지며, 출력부재의 내부에 구비되는 강성 제어부(600a)를 구비한다. 출력부재(500)는 안착홈(710)을 따라 베이스 프레임(700)과 나란한 병진 방향으로 이동 가능하게 형성된다.In addition, as shown in Figure 7b and 8b, the base frame 700 has a seating groove 710 for receiving the output member 500 made of a slidable member in close contact in the longitudinal direction, the inside of the output member The rigid control part 600a provided is provided. The output member 500 is formed to be movable in a translational direction parallel to the base frame 700 along the seating groove 710.
즉, 상기 출력부재(500)의 외부에 설치되는 강성 제어부(600)는 출력부재(500)에 전달되는 강성을 조절하는데, 이때, 강성 제어부(600)는 도 7a에 도시된 바와 같이 출력부재(500)의 양측과 접하여 이를 구속하며, 그 회전 방향에 따라 출력부재(500)에 대한 상대 각도가 조절되어 출력부재(500)의 강성을 조절한다.That is, the rigidity control unit 600 installed outside of the output member 500 adjusts the rigidity transmitted to the output member 500. In this case, the rigidity control unit 600 is shown in FIG. It contacts with both sides of the 500 and constrains it, and the relative angle with respect to the output member 500 is adjusted according to the rotation direction to adjust the rigidity of the output member 500.
또한, 상기 출력부재(500)의 내부에 설치되는 강성 제어부(600a)는 출력부재(500)에 전달되는 강성을 조절하는데, 이때, 강성 제어부(600)는 도 7b에 도시된 바와 같이 출력부재(500)를 구속하며, 그 회전 방향에 따라 출력부재(500)에 대한 상대 각도가 조절되어 출력부재(500)의 강성을 조절한다.In addition, the rigidity control unit 600a installed in the output member 500 adjusts the rigidity transmitted to the output member 500. In this case, the rigidity control unit 600 is shown in FIG. Constrain the 500, the relative angle to the output member 500 is adjusted in accordance with the rotation direction to adjust the rigidity of the output member 500.
이를 위하여, 상기 강성 제어부(600.600a)는 회전체(610), 장공(611), 탄성체(620), 및 회전축(630)을 포함한다. 회전체(610)는 출력부재(500)의 양측을 구속하도록 배치되며, 대략 중앙에 장공(611)이 형성된다. 회전체(610)는 회전축(630)에 수직인 단면이 원형, 장축이 장공(211)의 길이 방향과 나란한 타원형, 또는 다각형으로 형성될 수 있다.To this end, the stiffness control unit 600.600a includes a rotating body 610, a long hole 611, an elastic body 620, and a rotating shaft 630. The rotating body 610 is disposed to restrain both sides of the output member 500, and the long hole 611 is formed in the center. The rotating body 610 may have a circular cross section perpendicular to the rotation axis 630, an ellipse with a long axis parallel to the longitudinal direction of the long hole 211, or a polygon.
상기 회전축(630)은 회전체(610)의 중앙의 장공(611)에 슬라이딩 가능하게 삽입되고, 탄성체(620)는 스프링 또는 탄성력을 가진 실리콘, 고무 등의 부재로, 장공(611)의 내부에 삽입되어 일측이 회전축(630)에 지지되도록 설치된다.The rotating shaft 630 is slidably inserted into the long hole 611 of the center of the rotating body 610, the elastic body 620 is a member of a spring, elastic or silicone, rubber, etc., inside the long hole 611 It is inserted so that one side is supported by the rotation shaft 630.
따라서, 회전체(610)의 회전 방향에 따라 출력부재(500)에 대한 장공(611)의 상대 각도가 조절되어 출력부재(500)의 강성이 조절된다.Therefore, the relative angle of the long hole 611 with respect to the output member 500 is adjusted according to the rotation direction of the rotating body 610 to adjust the rigidity of the output member 500.
상기 탄성체(620)는 도 1a 내지 도 2b에 도시된 바와 같이, 압축/인장 스프링이 사용될 수 있으며, 스프링의 탄성도를 변경함으로써 출력부재(500)의 강성도 변경할 수 있다.1A to 2B, a compression / tension spring may be used, and the stiffness of the output member 500 may be changed by changing the elasticity of the spring.
본 발명의 실시예에 따른 강성 제어 장치의 메커니즘은 병진 방향으로 이동하는 출력부재(500)의 강성을 가변할 수 있으며, 이때 최대 강성 상태 및 최소 강성 상태는 도 9a 와 도 9b 및 도 10a 와 도 10b에 도시된 바와 같다.The mechanism of the stiffness control device according to the embodiment of the present invention may vary the stiffness of the output member 500 moving in the translational direction, wherein the maximum stiffness state and the minimum stiffness state are shown in FIGS. 9A and 9B and 10A and FIG. As shown in 10b.
도 9a 및 도 10a에 도시된 바와 같이, 상기 출력부재(500)는 병진 방향으로 베이스 프레임(700)을 따라 슬라이딩이동 가능하며, 양측에 구비되는 2개의 회전체(610)에 의해서 구속되어 있다. 2개의 회전체(610)는 회전축(630)을 따라 슬라이딩 가능하며, 강성을 구현하기 위한 탄성체(620)가 내장되어 있다.9A and 10A, the output member 500 is slidably moved along the base frame 700 in the translational direction, and is constrained by two rotating bodies 610 provided on both sides. The two rotating bodies 610 are slidable along the rotating shaft 630, and an elastic body 620 is implemented to implement rigidity.
상기 2개의 회전체(610)를 회전시킴에 따라 출력부재(500)의 강성을 가변할 수 있다. 상기 출력부재(500)의 외부에 강성 제어부(600)가 구비되는 베이스 프레임(700)은 회전축(630)을 회전시킬 수 있는 도시되지 않은 단수나 복수의 액츄에이터와 같은 동력 전달 메커니즘을 포함할 수 있으며, 이를 통해 회전체(610)를 원활하게 회전시킬 수 있다.As the two rotating bodies 610 rotate, the rigidity of the output member 500 may be varied. The base frame 700 provided with the rigid control unit 600 on the outside of the output member 500 may include a power transmission mechanism such as a singular or a plurality of actuators (not shown) capable of rotating the rotating shaft 630. In this way, the rotating body 610 may be smoothly rotated.
도 9b 및 도 10b에 도시된 바와 같이, 출력부재(500)는 병진 방향으로 베이스 프레임(700)을 따라 이동 가능하며 내부에 구비되는 1개의 회전체(610)에 의해서 구속되어 있다. 1개의 회전체(610)는 회전축(630)을 따라 슬라이딩 가능하며, 강성을 구현하기 위한 탄성체(620)가 내장되어 있다.As shown in FIGS. 9B and 10B, the output member 500 is movable along the base frame 700 in the translational direction and constrained by one rotating body 610 provided therein. One rotating body 610 is slidable along the rotating shaft 630, the elastic body 620 for implementing rigidity is built.
상기 1개의 회전체(610)를 회전시킴에 따라 출력부재(500)의 강성을 가변할 수 있다. 상기 출력부재(500)의 내부에 강성 제어부(600a)가 구비되는 베이스 프레임(700)은 회전축(630)을 회전시킬 수 있는 도시되지 않은 단수나 복수의 액츄에이터와 동력 전달 메커니즘을 포함할 수 있으며, 이를 통해 회전체(610)를 원활하게 회전시킬 수 있다.As the one rotating body 610 is rotated, the rigidity of the output member 500 may be varied. The base frame 700 having the rigid control unit 600a inside the output member 500 may include a singular or plural actuator and a power transmission mechanism, which are not shown, to rotate the rotating shaft 630. Through this, the rotating body 610 may be smoothly rotated.
따라서, 본 발명의 실시예에 따른 강성 제어 장치에 의하면, 회전 운동 또는 병진 운동하는 출력부재의 강성을 가변할 수 있으므로 독립적으로도 사용이 가능하며, 이 메커니즘을 일반 액츄에이터와 연결할 경우 가변 강성 액츄에이터(Variable Stiffness Actuator)로도 사용이 가능하므로 간편하고 효율적으로 출력부재의 강성을 다양하게 가변시킴으로써 회전 운동 또는 병진 운동이 가능함과 아울러, 안정적인 동작을 수행하도록 할 수 있다.Therefore, according to the stiffness control device according to the embodiment of the present invention, since the rigidity of the output member for the rotational or translational motion can be varied, it can be used independently, and when the mechanism is connected to a general actuator, the variable stiffness actuator ( Variable Stiffness Actuator) can be used to easily and efficiently vary the stiffness of the output member to enable rotational or translational movement, and to perform stable operation.
도 11은 본 발명의 실시예에 따른 강성 제어 장치에 구비되는 회전축의 각 모서리에 롤러(1100)를 장착한 평면도이다. 전술한 바와 같이 본 발명의 실시예에 따른 강성 제어 장치의 회전축은 장공에 삽입되어 회전체를 회전시킴과 동시에 장공을 따라 슬라이딩 가능하도록 구성되어 있다. 따라서 회전축의 각 모서리에 장착된 롤러(1100)는 회전축이 장공을 따라 원활하게 슬라이딩하도록 안내 작용한다.11 is a plan view in which the rollers 1100 are mounted at each corner of the rotation shaft provided in the rigidity control device according to the embodiment of the present invention. As described above, the rotation shaft of the rigidity control device according to the embodiment of the present invention is inserted into the long hole and rotates the rotating body and is configured to be slidable along the long hole. Therefore, the roller 1100 mounted at each corner of the rotating shaft guides the rotating shaft to smoothly slide along the long hole.
도 12는 본 발명의 실시예에 따른 회전축의 양측에 각각 탄성체를 포함한 강성 제어 장치를 나타내는 모식도이다.12 is a schematic view showing a stiffness control device each including an elastic body on both sides of the rotating shaft according to an embodiment of the present invention.
전술한 바와 같이 본 발명의 실시예에 따른 강성 제어 장치는 회전축과 장공의 일면 사이에 한쌍의 탄성체를 구비함으로써, 회전체의 회전에 의해 장공이 출력부재에 대해 수직 방향 이외의 방향에 위치할 때 탄성체의 탄성력이 작용하여 출력부재의 강성을 제어하고 있다. 이 경우에 장공의 방향에 따라 각각의 강성 제어 장치의 탄성체가 인장 또는 압축됨으로써 탄성력을 제공한다.As described above, the rigidity control device according to the embodiment of the present invention includes a pair of elastic bodies between the rotating shaft and one surface of the long hole, so that when the long hole is located in a direction other than the vertical direction with respect to the output member by the rotation of the rotating body. The elastic force of the elastic body acts to control the rigidity of the output member. In this case, the elastic body of each stiffness control device is stretched or compressed according to the direction of the long hole to provide elastic force.
이에 반해, 도 12의 실시예에서는 회전축의 양쪽에 각각 탄성체를 구비함으로써, 탄성력을 제공할 때 한 쪽의 탄성체는 인장되고 다른 한 쪽의 탄성체는 압축됨으로써 더욱 정교한 강성 제어를 할 수 있다.In contrast, in the embodiment of FIG. 12, elastic bodies are provided on both sides of the rotation shaft, so that when one elastic force is provided, one elastic body is stretched and the other elastic body is compressed, thereby allowing more precise rigidity control.
도 13은 본 발명의 실시예에 따른 강성 제어부를 출력부재의 외부에서 서로 다른 높이에 복수 개 구비한 강성 제어 장치의 평면도이다.13 is a plan view of a stiffness control device having a plurality of stiffness control units at different heights outside the output member according to an exemplary embodiment of the present invention.
전술한 실시예에서는 출력부재의 외부에 구비되는 강성 제어부를 양쪽에 하나씩, 두 개의 강성 제어부가 주 회전축으로부터 동일한 거리를 두고 대칭적으로 설치되어 있으나, 본 실시예에서는 두 개의 강성 제어부가 주 회전축으로부터 서로 다른 거리를 두고 비대칭적으로 설치되어 있다. 이는 출력부재의 어느 한쪽으로 외력이 가해지거나 비대칭적으로 강성을 제어할 필요가 있을 때 유용하다.In the above-described embodiment, two rigid controllers are provided symmetrically with the same distance from the main rotary shaft, one rigid controller provided on both sides of the output member, but in the present embodiment, two rigid controllers are provided from the main rotary shaft. Asymmetrically installed at different distances. This is useful when external force is applied to either side of the output member or when it is necessary to control the stiffness asymmetrically.
출력부재의 외부 양쪽에 각각 설치되는 강성 제어부는 양쪽에 각각 복수 개가 설치될 수 있으며 설치되는 강성 제어 장치의 개수는 제어하고자 하는 출력부재의 강성의 최대치 및 최소치에 따라 적절하게 설정할 수 있다.A plurality of stiffness control units respectively installed on both outer sides of the output member may be installed on both sides, and the number of stiffness control units installed may be appropriately set according to the maximum and minimum stiffnesses of the output member to be controlled.
도 14는 본 발명의 실시예에 따른 강성 제어부를 출력부재의 내부에서 복수 개 구비한 강성 제어 장치의 평면도이다.14 is a plan view of the stiffness control device having a plurality of stiffness control units in the output member according to an embodiment of the present invention.
전술한 실시예에서와 같이 출력부재(100)의 내부에 1개의 강성 제어부가 장착되어 있는 경우, 주 회전축(310)을 중심으로 좌우 양 방향으로 출력부재(100)가 회전하게 되므로 양 방향의 강성을 제어하기 위해서는 회전축(230)을 중심으로 양쪽에 탄성체(220)가 필요하지만, 도 14의 경우와 같이 복수 개의 강성 제어부를 동시에 장착하게 되면, 회전축(230)을 중심으로 한 쪽에만 배치된 탄성체(220)를 포함하는 강성 제어부를 서로 반대되는 방향으로 설치할 수 있다. 물론 이 경우에도 회전축(230)을 중심으로 양쪽에 탄성체(220)를 구비한 강성 제어부를 복수 개 장착하여 사용할 수도 있다.When one stiffness control unit is mounted inside the output member 100 as in the above-described embodiment, the stiffness of both directions is caused because the output member 100 rotates in both the left and right directions about the main rotating shaft 310. In order to control the elastic body 220 is required on both sides of the rotary shaft 230, but as shown in the case of FIG. 14, when a plurality of rigid control units are mounted at the same time, the elastic body disposed only on one side around the rotary shaft 230 The stiffness controller including the 220 may be installed in directions opposite to each other. Of course, even in this case, a plurality of rigid controllers having elastic bodies 220 on both sides of the rotating shaft 230 may be mounted and used.
도 15는 본 발명의 실시예에 따른 강성 제어부를 출력부재의 단부에 구비한 강성 제어 장치의 평면도이다.15 is a plan view of a stiffness control device having a stiffness control unit at an end of an output member according to an embodiment of the present invention.
도 15의 실시예에서는 출력부재(100)의 주 회전축(310)과 인접하는 출력부재의 단부에 외측으로 개방된 홈을 형성하여 강성부재가 출력부재의 외부와 내부사이에 위치되도록 설치하여 지렛대의 원리에 의해 작용하는 힘을 크게 할 수 있으므로 강성 제어의 다이내믹 레인지를 넓힐 수 있다.In the embodiment of FIG. 15, the groove is formed outwardly at the end of the output member 100 adjacent to the main rotation shaft 310 of the output member 100 so that the rigid member is positioned between the outside and the inside of the output member. The force acting on the principle can be made large, so that the dynamic range of stiffness control can be widened.
도 16은 본 발명의 실시예에 따른 강성 제어부를 주 회전축을 중심으로 양쪽에 구비한 강성 제어 장치의 평면도이다.16 is a plan view of a stiffness control device including a stiffness control unit according to an embodiment of the present invention on both sides of a main rotational axis.
도 16은 주 회전축을 중심으로 양쪽에 본 발명의 실시예에 따른 강성 제어부를 각각 설치함으로써 도 15의 구조와 함께 주 회전축(310)에 대해 반대 방향의 출력부재(100)의 내부에도 강성 제어부를 설치하여 강성 제어의 다이내믹 레인지를 한층 더 넓힐 수 있다.FIG. 16 shows the stiffness control part inside the output member 100 in the opposite direction with respect to the main rotation axis 310 together with the structure of FIG. 15 by installing the stiffness control parts according to the embodiment of the present invention on both sides of the main rotation axis. By installing, the dynamic range of stiffness control can be further extended.
도 17은 본 발명의 실시예에 따른 강성 제어부를 주 회전축을 중심으로 양쪽에 구비한 강성 제어 장치의 평면도이다.17 is a plan view of a stiffness control device including a stiffness control unit according to an embodiment of the present invention on both sides of a main rotational axis.
도 17은 주 회전축을 중심으로 양쪽에 본 발명의 실시예에 따른 강성 제어부를 각각 설치한 것으로, 도 17의 구조는 도 15의 구조와 유사하지만, 도 15의 경우에는 출력부재의 단부에 형성된 홈이 개방되어 있지만 도 17은 밀폐되어 있는 점에 차이가 있다.FIG. 17 is a stiffness control unit according to an embodiment of the present invention provided on both sides of a main rotation axis, and the structure of FIG. 17 is similar to that of FIG. 15, but in the case of FIG. 15, a groove formed at an end of the output member. Although it is open, FIG. 17 differs in that it is sealed.
도 18은 본 발명의 실시예에 따른 강성 제어부를 출력부재의 단부에 복수 개 구비한 강성 제어 장치의 평면도이다.18 is a plan view of the stiffness control device having a plurality of stiffness control units at the end of the output member according to an embodiment of the present invention.
도 18의 구조는, 도 17의 구조에서 동일한 방향으로 복수 개의 강성 제어부를 구비한 것이 특징이다. 출력부재(100)의 주 회전축(310)과 인접하는 출력부재의 단부에 복수의 강성 제어부를 설치하여 더 강한 외력에 대응할 수도 있다.The structure of FIG. 18 is characterized by including a some rigid control part in the same direction in the structure of FIG. A plurality of stiffness control units may be installed at ends of the output member adjacent to the main rotation shaft 310 of the output member 100 to correspond to a stronger external force.
이상의 실시예에서, 회전축이 장공을 따라 이동하여 회전체가 슬라이딩 운동을 할 때 직선 운동을 하는 것으로 기술하고 있으나, 실제의 경우에는 출력부재가 주 회전축을 중심으로 회전하며 원호를 그리게 되므로 약간의 포물선 형상을 그리게 되는 경우가 있다. 단, 슬라이딩의 거리가 그다지 길지 않으므로 본 명세서와 도면에서는 직선 운동으로 설명을 하고 있을 뿐, 출력부재의 사이즈에 따라 적절한 원호를 그리도록 제작되어야 함은 통상의 기술을 가진 자가 충분히 이해하는 범위 내이므로 이에 대한 구체적인 설명은 생략한다.In the above embodiment, the rotation axis is moved along the long hole to describe a linear motion when the rotating body is a sliding movement, but in practice, the output member rotates about the main rotation axis and draws a circular arc, so a little parabolic There is a case to draw a shape. However, since the distance of the sliding is not so long, the present specification and the drawings are only described by the linear motion, and it should be manufactured so as to draw an appropriate arc according to the size of the output member, since it is within the full understanding of those skilled in the art. Detailed description thereof will be omitted.
본 발명의 실시예에서는 회전체의 슬라이딩 운동 시에 원호를 그리는 것을 방지하기 위해 주 회전축을 중심으로 출력부재가 회전할 때 출력부재에 접촉되어 압력을 받는 강성 제어부의 회전체가 이에 상응하여 회전함으로써 회전체의 슬라이딩 운동이 상시 직선 운동이 되도록 한다. 이 경우, 회전체의 외부에 베어링 구조(미 도시)를 구비하여 출력부재에 접촉된 상태로 인가되는 압력에 따라 회전할 수 있도록 할 수 있다.In the embodiment of the present invention, when the output member is rotated about the main rotation axis to prevent the drawing of an arc during the sliding movement of the rotor, the rotor of the stiffness control unit which is in contact with the output member under pressure to rotate correspondingly The sliding motion of the rotating body is always a linear motion. In this case, a bearing structure (not shown) may be provided on the outside of the rotating body to rotate in accordance with the pressure applied while being in contact with the output member.
또한, 이상의 실시예에서, 원형으로 형성된 강성 제어부의 회전체가 출력부재의 원형 구멍에 삽입된 상태로 도시되어 있으나, 본 발명은 이에 한정되지 않고, 예를 들어, 출력부재에 회전체에 내접하는 사각형의 구멍을 형성해서 강성 제어부를 삽입할 수도 있다. 이 경우에 회전체의 외부에 베어링 구조(미 도시)를 구비해서 이에 외접한 출력부재의 원형 또는 사각형 구멍에 접촉한 상태로 회전할 수 있다. 회전체의 단면이 다각형인 경우에는 회전체에 내접하는 출력부재의 내면에 다각형의 면마다 회전이 멈추도록 클릭 구조(미 도시)를 포함할 수 있다.In addition, in the above embodiment, although the rotary body of the rigid control unit formed in a circular shape is shown inserted into the circular hole of the output member, the present invention is not limited to this, for example, the internal member in contact with the rotary body in the output member A rigid hole can also be inserted to form a rectangular hole. In this case, a bearing structure (not shown) may be provided on the outside of the rotating body to rotate in contact with a circular or square hole of the output member circumscribed thereto. When the cross section of the rotating body is a polygon, a click structure (not shown) may be included on the inner surface of the output member inscribed to the rotating body to stop rotation of each polygonal surface.
이상에서 보듯이, 본 발명의 실시예에 따른 강성 제어 장치는 출력부재 및 출력부재의 강성을 제어하는 강성 제어부를 구비하고, 강성 제어부는, 출력부재의 내부 또는 외부에 회전 가능하게 배치되어, 출력부재를 구속하는 회전체 및 회전체를 회전시키기 위한 회전축을 포함하고, 회전체의 회전 각도에 따라 출력부재의 회전 또는 병진 운동 시의 강성을 제어한다.As described above, the rigidity control apparatus according to the embodiment of the present invention includes a rigidity control unit for controlling the rigidity of the output member and the output member, the rigidity control unit is rotatably disposed inside or outside the output member, It includes a rotating body for restraining the member and a rotating shaft for rotating the rotating body, and controls the rigidity during the rotation or translational movement of the output member according to the rotation angle of the rotating body.
본 발명의 실시예에 따른 강성 제어 장치에서, 회전체는 회전축이 삽입되는 장공을 포함하고, 회전축은, 장공에 삽입되어 회전체를 회전시키고, 회전체의 회전에 의해 장공을 따라 슬라이딩하도록 구성되고, 강성 제어부는, 장공의 길이 방향의 제1측과 회전축 사이에 탄성체를 포함한다.In the stiffness control device according to the embodiment of the present invention, the rotating body includes a long hole in which the rotating shaft is inserted, the rotating shaft is configured to be inserted into the long hole to rotate the rotating body, sliding along the long hole by the rotation of the rotating body and The rigid control part includes an elastic body between the first side in the longitudinal direction of the long hole and the rotating shaft.
본 발명의 실시예에 따른 강성 제어 장치에서, 회전체는 회전축이 삽입되는 장공을 포함하고, 회전축은, 장공에 삽입되어 회전체를 회전시키고, 회전체의 회전에 의해 장공을 따라 슬라이딩하도록 구성되고, 강성 제어부는, 장공의 길이 방향의 제1측과 회전축 사이 및 장공의 길이 방향의 제2측과 회전축 사이에 각각 탄성체를 포함한다.In the stiffness control device according to the embodiment of the present invention, the rotating body includes a long hole in which the rotating shaft is inserted, the rotating shaft is configured to be inserted into the long hole to rotate the rotating body, sliding along the long hole by the rotation of the rotating body and The rigidity control part includes an elastic body between the first side in the longitudinal direction of the long hole and the rotational axis and between the second side in the longitudinal direction of the long hole and the rotational axis, respectively.
본 발명의 실시예에 따른 강성 제어 장치에서, 강성 제어부는, 회전체의 회전에 의해 장공이 출력부재에 대해 제1방향으로 위치한 상태에서 출력부재가 최대 강성 상태가 되도록 하고, 회전체의 회전에 의해 장공이 출력부재에 대해 제1방향과 수직인 제2방향으로 위치한 상태에서 출력부재가 최소 강성 상태가 되도록 한다.In the stiffness control device according to the embodiment of the present invention, the stiffness control unit is such that the output member is in the maximum rigid state with the long hole located in the first direction with respect to the output member by the rotation of the rotating body, As a result, the output member is in a state of minimum rigidity with the long hole positioned in the second direction perpendicular to the first direction.
본 발명의 실시예에 따른 강성 제어 장치에서, 강성 제어부는, 장공이 출력부재에 대해 제1방향과 제2방향 사이의 임의의 방향으로 위치하도록 회전체를 회전시킴으로써 출력부재의 강성을 최대 강성 상태와 최소 강성 상태 사이의 임의의 강성으로 제어한다.In the stiffness control device according to the embodiment of the present invention, the stiffness control unit, the rigidity of the output member by rotating the rotating body so that the long hole is located in any direction between the first direction and the second direction relative to the output member Control to any stiffness between and minimum stiffness state.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 회전체는, 상기 회전축에 수직인 단면이, 장축이 상기 장공의 길이 방향과 나란한 타원형이고, 상기 강성 제어부는, 상기 회전체의 회전 각도에 따라 상기 출력부재의 회전 또는 병진 운동 시의 강성을 연속적으로 제어한다. In the rigidity control apparatus according to the embodiment of the present invention, the rotating body has a cross section perpendicular to the rotation axis, the long axis is an elliptical parallel to the longitudinal direction of the long hole, and the rigidity control unit according to the rotation angle of the rotating body The stiffness during rotation or translational movement of the output member is continuously controlled.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 회전체는, 회전축에 수직인 단면이 원형이고, 상기 강성 제어부는, 회전체의 회전 각도에 따라 출력부재의 회전 또는 병진 운동 시의 강성을 연속적으로 제어한다.In the stiffness control device according to the embodiment of the present invention, the rotating body has a circular cross section perpendicular to the rotation axis, and the rigidity control unit continuously stiffness during rotation or translational movement of the output member according to the rotation angle of the rotating body. To control.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 회전체는, 상기 회전축에 수직인 단면이 다각형이고, 상기 강성 제어부는, 상기 회전체의 회전 각도에 따라 상기 출력부재의 회전 또는 병진 운동 시의 강성을 단계적으로 제어한다. In the stiffness control device according to the embodiment of the present invention, the rotating body has a polygonal cross section perpendicular to the rotating axis, and the rigidity control unit is configured to rotate or translate the output member according to the rotation angle of the rotating body. Stiffness is controlled step by step.
본 발명의 실시예에 따른 강성 제어 장치는, 상기 출력부재와 상기 회전체를 일체화된 상태로 회전 또는 병진 운동시키기 위한 베이스 플레이트를 더 구비한다.The rigidity control device according to the embodiment of the present invention further includes a base plate for rotating or translating the output member and the rotating body in an integrated state.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 베이스 플레이트는, 상기 베이스 플레이트의 일부에 형성된 주 회전축을 포함하고, 상기 출력부재의 일단이 주 회전축에 결합되어, 주 회전축의 회전에 의해 출력부재와 회전체를 일체화된 상태로 회전 운동시킨다.In the stiffness control device according to an embodiment of the present invention, the base plate includes a main rotation axis formed on a portion of the base plate, one end of the output member is coupled to the main rotation shaft, by the rotation of the main rotation shaft output member And the rotating body to rotate in an integrated state.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 베이스 플레이트는, 출력부재와 회전체를 안내하기 위한 레일 구조를 포함하고, 상기 레일 구조를 따라 출력부재와 회전체를 일체화된 상태로 병진 운동시킨다.In the rigidity control device according to an embodiment of the present invention, the base plate includes a rail structure for guiding the output member and the rotating body, and translates the output member and the rotating body in an integrated state along the rail structure. .
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 회전축은 축 방향의 단면이 사각형이고, 장공의 길이 방향의 내면에 평행한 두 면이 각각 장공의 길이 방향의 내면을 따라 슬라이딩 가능하도록 배치되어 회전체를 회전시킨다.In the stiffness control device according to the embodiment of the present invention, the rotating shaft has a rectangular cross section in the axial direction, and two surfaces parallel to the inner surface in the longitudinal direction of the long hole are arranged to be slidable along the inner surface of the long direction of the long hole, respectively. Rotate the whole.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 회전축은 사각형의 각 모서리에 롤러를 포함한다.In the stiffness control device according to the embodiment of the present invention, the rotation axis includes a roller at each corner of the square.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 장공은 길이 방향을 따라 가이드 구조를 포함하고, 회전축은 가이드 구조를 따라 슬라이딩하도록 길이 방향의 내면에 평행한 두 면에 가이드 결합 구조를 포함한다.In the rigidity control device according to the embodiment of the present invention, the long hole includes a guide structure along the longitudinal direction, the rotation axis includes a guide coupling structure on two surfaces parallel to the inner surface in the longitudinal direction to slide along the guide structure.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 강성 제어부는, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편에 위치한다. In the stiffness control device according to the embodiment of the present invention, the stiffness control unit is located on the opposite side of the end of the one end with respect to the main rotation axis.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 강성 제어부는, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편에 복수 개 위치한다. In the stiffness control device according to the embodiment of the present invention, the stiffness control unit is located on the opposite side of the end of the one end with respect to the main axis of rotation.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 강성 제어부는, 상기 주 회전축과 상기 일단의 끝 사이에 위치한다. In the stiffness control device according to the embodiment of the present invention, the stiffness control unit is located between the main rotation axis and the end of the one end.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 강성 제어부는, 상기 주 회전축과 상기 일단의 끝 사이에 복수 개 위치한다. In the stiffness control device according to the embodiment of the present invention, the stiffness control unit is located in plurality between the main rotation axis and the end of the one end.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 강성 제어부는, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편과 상기 주 회전축과 상기 일단의 끝 사이에 위치한다. In the stiffness control device according to the embodiment of the present invention, the stiffness control unit is located on the opposite side of the end of the one end and between the main rotation axis and the end of the one end with respect to the main rotation axis.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 강성 제어부는, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편과 상기 주 회전축과 상기 일단의 끝 사이에 각각 복수 개 위치한다. In the stiffness control device according to the embodiment of the present invention, the stiffness control unit is located in the plurality of opposite sides of the end of the one end and between the main rotation axis and the end of the one end with respect to the main rotation axis.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 강성 제어부는, 상기 출력부재의 양측에, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편에 위치한다. In the stiffness control device according to the embodiment of the present invention, the stiffness control unit, on both sides of the output member, on the opposite side of the end of the one end with respect to the main axis of rotation.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 강성 제어부는, 상기 출력부재의 양측에, 상기 주 회전축과 상기 일단의 끝 사이에 위치한다. In the stiffness control device according to the embodiment of the present invention, the stiffness control unit is located on both sides of the output member, between the main shaft and the end of the one end.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 강성 제어부는, 출력부재의 양측에, 주 회전축으로부터 동일한 거리에 위치하고, 출력부재의 양측의 강성 제어부는, 각각의 회전체를 동기화시켜서 회전시킨다.In the stiffness control device according to the embodiment of the present invention, the stiffness control unit is located on both sides of the output member at the same distance from the main rotational axis, and the stiffness control units on both sides of the output member synchronize and rotate the respective rotating bodies.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 강성 제어부는, 각각의 회전체를 동기화시켜 회전시킨다.In the stiffness control device according to the embodiment of the present invention, the stiffness control unit rotates by synchronizing the respective rotating bodies.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 강성 제어부는, 각각의 회전체를 독립적으로 회전시킨다.In the stiffness control device according to the embodiment of the present invention, the stiffness control unit rotates each rotating body independently.
본 발명의 실시예에 따른 강성 제어 장치에서, 상기 복수의 강성 제어부 중 일부는, 각각의 회전체를 동기화시켜서 회전시키고, 상기 복수의 강성 제어부 중 일부를 제외한 나머지는 각각의 회전체를 독립적으로 회전시킨다.In the stiffness control device according to the embodiment of the present invention, some of the plurality of rigidity control unit rotates each of the rotating bodies in synchronization, except for some of the plurality of the rigidity control unit to rotate each of the rotating bodies independently Let's do it.
본 발명의 실시예에 따른 로봇의 가동부는 본 발명의 실시예에 따른 강성 제어 장치 및 출력부재에 결합된 접촉부를 구비한다.The movable part of the robot according to the embodiment of the present invention includes a stiffness control device and a contact portion coupled to the output member according to the embodiment of the present invention.
본 발명의 실시예에 따른 로봇의 가동부에서, 상기 접촉부는, 로봇 암의 엔드 이펙터, 로봇 팔, 로봇 다리, 로딩 헤드 중 최소한 어느 하나를 포함한다.In the movable part of the robot according to an embodiment of the present invention, the contact portion includes at least one of an end effector of the robot arm, a robot arm, a robot leg, and a loading head.
본 발명의 실시예에 따른 강성 제어 장치는 출력부재 및 출력부재의 강성을 제어하는 강성 제어부를 구비하고 강성 제어부는, 출력부재의 내부 또는 외부에 회전 가능하게 배치되어, 출력부재를 구속하는 회전체 및 회전체를 회전시키기 위한 회전축을 포함하고, 회전체의 회전 각도에 따라 출력부재의 회전 또는 병진 운동 시의 강성을 제어하며, 회전체는 회전축이 삽입되는 장공을 포함하고, 회전축은, 장공에 삽입되어, 회전체를 회전시키고, 회전체의 회전에 의해, 장공을 따라 슬라이딩하도록 구성되고, 강성 제어부는, 장공의 길이 방향의 제1측과 제2측의 최소한 어느 한 측과 회전축 사이에 탄성체를 포함한다.The stiffness control device according to the embodiment of the present invention includes a stiffness control unit for controlling the stiffness of the output member and the output member, and the stiffness control unit is rotatably disposed inside or outside the output member to constrain the output member. And a rotating shaft for rotating the rotating body, and controlling the rigidity at the time of rotation or translational movement of the output member according to the rotating angle of the rotating body, the rotating body including a long hole into which the rotating shaft is inserted, and the rotating shaft is connected to the long hole. It is inserted, and rotates a rotating body, and it is comprised so that it may slide along a long hole by rotation of a rotating body, A rigid control part is an elastic body between at least one side of a 1st side and a 2nd side of a long hole, and a rotating shaft. It includes.
이상에서 설명된 본 발명이 속한 당해 기술 분야에서 통상의 지식을 지닌 자가 본 발명을 용이하게 이해하고 재현할 수 있도록 도면에 도시한 실시예들을 참고로 설명되었으나 이는 예시적인 것에 불과하며, 당해 기술 분야에 통상의 지식을 지닌 자라면 본 발명의 실시 예들로부터 다양한 변형 및 균등한 타 실시예가 가능하다는 점을 이해할 것이다. 여기서 특정한 용어들이 사용되었으나, 이는 단지 당업자에게 본 발명을 상세히 설명하기 위한 목적에서 사용된 것이지 의미 한정이나 특허청구범위에 기재된 본 발명의 범위를 제한하기 위해 사용된 것이 아니다.The present invention has been described with reference to the embodiments shown in the drawings so that those skilled in the art to which the present invention as described above belongs can easily understand and reproduce the present invention. Those skilled in the art will appreciate that various modifications and equivalent other embodiments are possible from the embodiments of the present invention. Although specific terms have been used herein, they are used only for the purpose of describing the present invention in detail to those skilled in the art, and are not used to limit the scope of the present invention as defined in the meaning or claims.

Claims (28)

  1. 출력부재; 및Output member; And
    상기 출력부재의 강성을 제어하는 최소한 하나의 강성 제어부를 구비하고,At least one rigidity control unit for controlling the rigidity of the output member,
    상기 강성 제어부는,The rigidity control unit,
    상기 출력부재의 외부 또는 내부에 회전 가능하게 배치되어, 상기 출력부재를 구속하는 회전체, 및A rotatable body rotatably disposed outside or inside the output member to constrain the output member;
    상기 회전체를 회전시키기 위한 회전축을 포함하고,A rotating shaft for rotating the rotating body,
    상기 회전체의 회전 각도에 따라 상기 출력부재의 회전 또는 병진 운동 시의 강성을 제어하는,To control the rigidity during the rotation or translational movement of the output member according to the rotation angle of the rotating body,
    강성 제어 장치.Rigidity control device.
  2. 청구항 1에 있어서,The method according to claim 1,
    상기 회전체는, 상기 회전축이 삽입되는 장공을 포함하고,The rotating body includes a long hole in which the rotating shaft is inserted,
    상기 회전축은,The rotation axis is,
    상기 장공에 삽입되어, 상기 회전체를 회전시키고,Inserted into the long hole to rotate the rotating body,
    상기 회전체의 회전에 의해, 상기 장공을 따라 슬라이딩하도록 구성되고,Configured to slide along the long hole by rotation of the rotating body,
    상기 강성 제어부는,The rigidity control unit,
    상기 장공의 길이 방향의 제1측과 상기 회전축 사이에 탄성체를 포함하는,It includes an elastic body between the first side in the longitudinal direction of the long hole and the rotation axis,
    강성 제어 장치.Rigidity control device.
  3. 청구항 1에 있어서,The method according to claim 1,
    상기 회전체는, 상기 회전축이 삽입되는 장공을 포함하고,The rotating body includes a long hole in which the rotating shaft is inserted,
    상기 회전축은,The rotation axis is,
    상기 장공에 삽입되어, 상기 회전체를 회전시키고,Inserted into the long hole to rotate the rotating body,
    상기 회전체의 회전에 의해, 상기 장공을 따라 슬라이딩하도록 구성되고,Configured to slide along the long hole by rotation of the rotating body,
    상기 강성 제어부는,The rigidity control unit,
    상기 장공의 길이 방향의 제1측과 상기 회전축 사이 및 상기 장공의 길이 방향의 제2측과 상기 회전축 사이에 각각 탄성체를 포함하는,It includes an elastic body between the first side in the longitudinal direction of the long hole and the rotation axis, and between the second side in the longitudinal direction of the long hole and the rotation axis,
    강성 제어 장치.Rigidity control device.
  4. 청구항 1 내지 3 중 어느 한항에 있어서,The method according to any one of claims 1 to 3,
    상기 강성 제어부는,The rigidity control unit,
    상기 회전체의 회전에 의해 상기 장공이 상기 출력부재에 대해 제1방향으로 위치한 상태에서 상기 출력부재가 최대 강성 상태가 되도록 하고,The output member is in the maximum rigid state with the long hole located in the first direction with respect to the output member by the rotation of the rotating body,
    상기 회전체의 회전에 의해 상기 장공이 상기 출력부재에 대해 상기 제1방향과 수직인 제2방향으로 위치한 상태에서 상기 출력부재가 최소 강성 상태가 되도록 하는,By the rotation of the rotating body so that the output member is in the minimum rigid state in a state in which the long hole is located in the second direction perpendicular to the first direction with respect to the output member,
    강성 제어 장치.Rigidity control device.
  5. 청구항 4에 있어서,The method according to claim 4,
    상기 강성 제어부는, 상기 장공이 상기 출력부재에 대해 상기 제1방향과 상기 제2방향 사이의 임의의 방향으로 위치하도록 상기 회전체를 회전시킴으로써 상기 출력부재의 강성을 상기 최대 강성 상태와 상기 최소 강성 상태 사이의 임의의 강성으로 제어하는,The stiffness control unit is configured to rotate the rotating body such that the long hole is positioned in an arbitrary direction between the first direction and the second direction with respect to the output member, thereby providing the maximum rigidity state and the minimum rigidity. Controlled by any stiffness between states,
    강성 제어 장치.Rigidity control device.
  6. 청구항 1 내지 3 중 어느 한 항에 있어서,The method according to any one of claims 1 to 3,
    상기 회전체는, 상기 회전축에 수직인 단면이, 장축이 상기 장공의 길이 방향과 나란한 타원형이고,The rotating body is a cross section perpendicular to the rotation axis, the long axis is an elliptical parallel to the longitudinal direction of the long hole,
    상기 강성 제어부는, 상기 회전체의 회전 각도에 따라 상기 출력부재의 회전 또는 병진 운동 시의 강성을 연속적으로 제어하는,The rigidity control unit continuously controls the stiffness during rotation or translational movement of the output member according to the rotation angle of the rotating body,
    강성 제어 장치.Rigidity control device.
  7. 청구항 1 내지 3 중 어느 한 항에 있어서,The method according to any one of claims 1 to 3,
    상기 회전체는, 상기 회전축에 수직인 단면이 원형이고,The rotating body has a circular cross section perpendicular to the rotating shaft,
    상기 강성 제어부는, 상기 회전체의 회전 각도에 따라 상기 출력부재의 회전 또는 병진 운동 시의 강성을 연속적으로 제어하는,The rigidity control unit continuously controls the stiffness during rotation or translational movement of the output member according to the rotation angle of the rotating body,
    강성 제어 장치.Rigidity control device.
  8. 청구항 1 내지 3 중 어느 한 항에 있어서,The method according to any one of claims 1 to 3,
    상기 회전체는, 상기 회전축에 수직인 단면이 다각형이고,The rotating body has a polygonal cross section perpendicular to the rotation axis,
    상기 강성 제어부는, 상기 회전체의 회전 각도에 따라 상기 출력부재의 회전 또는 병진 운동 시의 강성을 단계적으로 제어하는,The rigidity control unit controls the stiffness at the time of rotation or translational movement of the output member in accordance with the rotation angle of the rotating body,
    강성 제어 장치.Rigidity control device.
  9. 청구항 1 내지 3 중 어느 한 항에 있어서,The method according to any one of claims 1 to 3,
    상기 출력부재와 상기 회전체를 일체화 된 상태로 회전 또는 병진 운동시키기 위한 베이스 플레이트를 더 구비하는,Further comprising a base plate for rotating or translating the output member and the rotating body in an integrated state,
    강성 제어 장치.Rigidity control device.
  10. 청구항 9에 있어서,The method according to claim 9,
    상기 베이스 플레이트는,The base plate,
    상기 베이스 플레이트의 일부에 형성된 주 회전축을 포함하고,A main axis of rotation formed in a portion of the base plate,
    상기 출력부재의 일단이 상기 주 회전축에 결합되어, 상기 주 회전축의 회전에 의해 상기 출력부재와 상기 회전체를 일체화된 상태로 회전 운동시키는,One end of the output member is coupled to the main rotary shaft to rotate the output member and the rotating body in an integrated state by the rotation of the main rotary shaft,
    강성 제어 장치.Rigidity control device.
  11. 청구항 9에 있어서,The method according to claim 9,
    상기 베이스 플레이트는,The base plate,
    상기 출력부재와 상기 회전체를 안내하기 위한 레일 구조를 포함하고,Rail structure for guiding the output member and the rotating body,
    상기 레일 구조를 따라 상기 출력부재와 상기 회전체를 일체화된 상태로 병진 운동시키는,Translating the output member and the rotating body in an integrated state along the rail structure,
    강성 제어 장치.Rigidity control device.
  12. 청구항 2 또는 3에 있어서,The method according to claim 2 or 3,
    상기 회전축은,The rotation axis is,
    축 방향의 단면이 사각형이고,The axial cross section is square,
    상기 장공의 길이 방향의 내면에 평행한 두 면이 각각 상기 장공의 길이 방향의 내면을 따라 슬라이딩 가능하도록 배치되어 상기 회전체를 회전시키는,Two surfaces parallel to the inner surface in the longitudinal direction of the long hole are respectively arranged to be slidable along the inner surface in the longitudinal direction of the long hole to rotate the rotating body,
    강성 제어 장치.Rigidity control device.
  13. 청구항 12에 있어서,The method according to claim 12,
    상기 회전축은 상기 사각형의 각 모서리에 롤러를 포함하는,The rotating shaft includes a roller at each corner of the square,
    강성 제어 장치.Rigidity control device.
  14. 청구항 12에 있어서,The method according to claim 12,
    상기 장공은, 상기 길이 방향을 따라 가이드 구조를 포함하고,The long hole includes a guide structure along the longitudinal direction,
    상기 회전축은, 상기 가이드 구조를 따라 슬라이딩 하도록 상기 길이 방향의 내면에 평행한 상기 두 면에 가이드 결합 구조를 포함하는,The rotation axis includes a guide coupling structure on the two surfaces parallel to the inner surface in the longitudinal direction to slide along the guide structure,
    강성 제어 장치.Rigidity control device.
  15. 청구항 10에 있어서, The method according to claim 10,
    상기 강성 제어부는, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편에 위치하는,The rigidity control unit is located on the opposite side of the end of the one end with respect to the main axis of rotation,
    강성 제어 장치.Rigidity control device.
  16. 청구항 10에 있어서, The method according to claim 10,
    상기 강성 제어부는, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편에 복수 개 위치하는,The rigidity control unit is located on the opposite side of the end of the one end with respect to the main rotation axis,
    강성 제어 장치.Rigidity control device.
  17. 청구항 10에 있어서,The method according to claim 10,
    상기 강성 제어부는, 상기 주 회전축과 상기 일단의 끝 사이에 위치하는,The rigidity control unit is located between the main axis of rotation and the end of the one end,
    강성 제어 장치.Rigidity control device.
  18. 청구항 10에 있어서,The method according to claim 10,
    상기 강성 제어부는, 상기 주 회전축과 상기 일단의 끝 사이에 복수 개 위치하는,The stiffness control unit, a plurality of positions between the main rotation axis and the end of the one end,
    강성 제어 장치.Rigidity control device.
  19. 청구항 10에 있어서, The method according to claim 10,
    상기 강성 제어부는, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편과 상기 주 회전축과 상기 일단의 끝 사이에 위치하는,The rigidity control unit is located on the opposite side of the end of the one end with respect to the main rotation axis and between the main rotation axis and the end of the one end,
    강성 제어 장치.Rigidity control device.
  20. 청구항 10에 있어서, The method according to claim 10,
    상기 강성 제어부는, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편과 상기 주 회전축과 상기 일단의 끝 사이에 각각 복수 개 위치하는,The rigidity control unit is located on the opposite side of the end of the one end with respect to the main rotation axis and a plurality of positions respectively between the main rotation axis and the end of the one end,
    강성 제어 장치.Rigidity control device.
  21. 청구항 10에 있어서,The method according to claim 10,
    상기 강성 제어부는, 상기 출력부재의 양측에, 상기 주 회전축을 기준으로 상기 일단의 끝 부분의 반대편에 위치하는,The rigid control unit is located on opposite sides of the end of the one end with respect to the main axis of rotation, on both sides of the output member,
    강성 제어 장치.Rigidity control device.
  22. 청구항 10에 있어서,The method according to claim 10,
    상기 강성 제어부는, 상기 출력부재의 양측에, 상기 주 회전축과 상기 일단의 끝 사이에 위치하는,The rigidity control unit is located between both ends of the main rotating shaft and one end of the output member,
    강성 제어 장치.Rigidity control device.
  23. 청구항 16,18,20 중 어느 한 항에 있어서, The method according to any one of claims 16,18,20,
    상기 강성 제어부는, 각각의 상기 회전체를 동기화시켜서 회전시키는,The stiffness control unit rotates each of the rotating bodies in synchronization,
    강성 제어 장치.Rigidity control device.
  24. 청구항 16,18,20 중 어느 한 항에 있어서,The method according to any one of claims 16,18,20,
    상기 강성 제어부는, 각각의 상기 회전체를 독립적으로 회전시키는,The stiffness control unit rotates each of the rotating bodies independently,
    강성 제어 장치.Rigidity control device.
  25. 청구항 16,18,20 중 어느 한 항에 있어서,The method according to any one of claims 16,18,20,
    상기 복수의 강성 제어부 중 일부는 각각의 상기 회전체를 동기화시켜서 회전시키고,Some of the plurality of stiffness control units rotate by synchronizing the respective rotating bodies,
    상기 복수의 강성 제어부 중 상기 일부를 제외한 나머지는 각각의 상기 회전체를 독립적으로 회전시키는,Other than the part of the plurality of stiffness control unit to rotate each of the rotating body independently,
    강성 제어 장치.Rigidity control device.
  26. 청구항 1 내지 3 중 어느 한 항에 기재된 강성 제어 장치; 및The rigidity control device according to any one of claims 1 to 3; And
    상기 출력부재에 결합된 접촉부,A contact portion coupled to the output member,
    를 구비하는With
    로봇의 가동부.The moving part of the robot.
  27. 청구항 23에 있어서,The method according to claim 23,
    상기 접촉부는, 로봇 암의 엔드 이펙터, 로봇 팔, 로봇 다리, 로딩 헤드 중 최소한 어느 하나를 포함하는,The contact unit includes at least one of an end effector of the robot arm, a robot arm, a robot leg, and a loading head,
    로봇의 가동부.The moving part of the robot.
  28. 출력부재; 및Output member; And
    상기 출력부재의 강성을 제어하는 강성 제어부Rigidity control unit for controlling the rigidity of the output member
    를 구비하고,And
    상기 강성 제어부는,The rigidity control unit,
    상기 출력부재의 내부 또는 외부에 회전 가능하게 배치되어, 상기 출력부재를 구속하는 회전체, 및A rotating body rotatably disposed inside or outside the output member to constrain the output member;
    상기 회전체를 회전시키기 위한 회전축A rotating shaft for rotating the rotating body
    을 포함하고,Including,
    상기 회전체의 회전 각도에 따라 상기 출력부재의 회전 또는 병진 운동 시의 강성을 제어하며,Controlling the rigidity during rotation or translational movement of the output member according to the rotational angle of the rotating body,
    상기 회전체는, 상기 회전축이 삽입되는 장공을 포함하고,The rotating body includes a long hole in which the rotating shaft is inserted,
    상기 회전축은,The rotation axis is,
    상기 장공에 삽입되어, 상기 회전체를 회전시키고,Inserted into the long hole to rotate the rotating body,
    상기 회전체의 회전에 의해, 상기 장공을 따라 슬라이딩하도록 구성되고,Configured to slide along the long hole by rotation of the rotating body,
    상기 강성 제어부는,The rigidity control unit,
    상기 장공의 길이 방향의 제1측과 제2측의 최소한 어느 한 측과 상기 회전축 사이에 탄성체를 포함하는,An elastic body is included between at least one of the 1st side and the 2nd side of the said longitudinal hole, and the said rotating shaft,
    강성 제어 장치.Rigidity control device.
PCT/KR2015/012483 2014-11-19 2015-11-19 Apparatus for controlling stiffness of output member during rotational and translational movements WO2016080786A1 (en)

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JP2016575487A JP6166853B1 (en) 2014-11-19 2015-11-19 Device for controlling the stiffness of the output link during rotation and translation
EP15861568.2A EP3235610B1 (en) 2014-11-19 2015-11-19 Apparatus for controlling stiffness of output member during rotational and translational movements
US15/413,450 US9902064B2 (en) 2014-11-19 2017-01-24 Apparatus for controlling stiffness of output link in moving mechanism

Applications Claiming Priority (6)

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KR10-2014-0161891 2014-11-19
KR20140161891 2014-11-19
KR1020150162140A KR101807365B1 (en) 2014-11-19 2015-11-18 Apparatus for controlling Stiffness of output member for rotary motion and translational motion
KR10-2015-0162140 2015-11-18
KR1020150162139A KR101793338B1 (en) 2014-11-19 2015-11-18 Apparatus for controlling Stiffness of output member for rotary motion and translational motion
KR10-2015-0162139 2015-11-18

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US11142538B2 (en) 2018-03-12 2021-10-12 Universal Display Corporation Organic electroluminescent materials and devices
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CN115447691B (en) * 2022-09-01 2023-06-02 南京信息工程大学 Foot end mechanism with variable rigidity

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