WO2016080786A1 - Appareil de régulation de rigidité de l'élément de sortie pendant des mouvements de rotation et de translation - Google Patents

Appareil de régulation de rigidité de l'élément de sortie pendant des mouvements de rotation et de translation 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
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English (en)
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/ko
Application filed by 국립암센터 filed Critical 국립암센터
Priority to JP2016575487A priority Critical patent/JP6166853B1/ja
Priority to EP15861568.2A priority patent/EP3235610B1/fr
Publication of WO2016080786A1 publication Critical patent/WO2016080786A1/fr
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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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un appareil de régulation de rigidité qui a une liaison de sortie et au moins une partie de régulation de rigidité permettant de réguler la rigidité de la liaison de sortie, laquelle partie de régulation de rigidité comprend : un rotor qui est agencé rotatif à l'intérieur de la liaison de sortie et restreint la liaison de sortie ; et un arbre de rotation permettant de faire tourner le rotor, et régule la rigidité de la liaison de sortie au moment d'un mouvement de rotation ou de translation en fonction de l'angle de rotation du rotor.
PCT/KR2015/012483 2014-11-19 2015-11-19 Appareil de régulation de rigidité de l'élément de sortie pendant des mouvements de rotation et de translation WO2016080786A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2016575487A JP6166853B1 (ja) 2014-11-19 2015-11-19 回転及び併進運動時の出力リンクの剛性を制御する装置
EP15861568.2A EP3235610B1 (fr) 2014-11-19 2015-11-19 Appareil de régulation de rigidité de l'élément de sortie pendant des mouvements de rotation et de translation
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)

Application Number Priority Date Filing Date Title
KR20140161891 2014-11-19
KR10-2014-0161891 2014-11-19
KR10-2015-0162140 2015-11-18
KR1020150162140A KR101807365B1 (ko) 2014-11-19 2015-11-18 회전 및 병진 운동 시의 출력부재의 강성을 제어하는 장치
KR1020150162139A KR101793338B1 (ko) 2014-11-19 2015-11-18 회전 및 병진 운동 시의 출력부재의 강성을 제어하는 장치
KR10-2015-0162139 2015-11-18

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US15/413,450 Continuation US9902064B2 (en) 2014-11-19 2017-01-24 Apparatus for controlling stiffness of output link in moving mechanism

Publications (1)

Publication Number Publication Date
WO2016080786A1 true WO2016080786A1 (fr) 2016-05-26

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WO (1) WO2016080786A1 (fr)

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CN110861121A (zh) * 2019-10-16 2020-03-06 崔兵 基于可变刚度的柔性机器人关节
US11142538B2 (en) 2018-03-12 2021-10-12 Universal Display Corporation Organic electroluminescent materials and devices
US11165028B2 (en) 2018-03-12 2021-11-02 Universal Display Corporation Organic electroluminescent materials and devices
US11279722B2 (en) 2018-03-12 2022-03-22 Universal Display Corporation Organic electroluminescent materials and devices
CN115447691A (zh) * 2022-09-01 2022-12-09 南京信息工程大学 一种刚度可变的足端机构

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JP2009034774A (ja) * 2007-08-02 2009-02-19 Tohoku Univ 可変剛性を有する関節機構
KR101195700B1 (ko) * 2010-04-05 2012-10-29 고려대학교 산학협력단 가변 강성 액츄에이터 유닛
KR101212397B1 (ko) * 2010-08-06 2012-12-13 고려대학교 산학협력단 캠 팔로워 타입 비선형 강성 안전 유니트
JP2013148204A (ja) * 2012-01-23 2013-08-01 Canon Inc 関節機構
JP2014097548A (ja) * 2012-11-15 2014-05-29 Canon Inc 剛性可変機構、剛性可変駆動装置及び関節駆動装置

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JP2009034774A (ja) * 2007-08-02 2009-02-19 Tohoku Univ 可変剛性を有する関節機構
KR101195700B1 (ko) * 2010-04-05 2012-10-29 고려대학교 산학협력단 가변 강성 액츄에이터 유닛
KR101212397B1 (ko) * 2010-08-06 2012-12-13 고려대학교 산학협력단 캠 팔로워 타입 비선형 강성 안전 유니트
JP2013148204A (ja) * 2012-01-23 2013-08-01 Canon Inc 関節機構
JP2014097548A (ja) * 2012-11-15 2014-05-29 Canon Inc 剛性可変機構、剛性可変駆動装置及び関節駆動装置

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11142538B2 (en) 2018-03-12 2021-10-12 Universal Display Corporation Organic electroluminescent materials and devices
US11165028B2 (en) 2018-03-12 2021-11-02 Universal Display Corporation Organic electroluminescent materials and devices
US11279722B2 (en) 2018-03-12 2022-03-22 Universal Display Corporation Organic electroluminescent materials and devices
US11746122B2 (en) 2018-03-12 2023-09-05 Universal Display Corporation Organic electroluminescent materials and devices
CN110861121A (zh) * 2019-10-16 2020-03-06 崔兵 基于可变刚度的柔性机器人关节
CN115447691A (zh) * 2022-09-01 2022-12-09 南京信息工程大学 一种刚度可变的足端机构
CN115447691B (zh) * 2022-09-01 2023-06-02 南京信息工程大学 一种刚度可变的足端机构

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