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1. WO2020204234 - ELASTIC BODY HAVING VARIABLE RIGIDITY, AND ACTUATOR MODULE INCLUDING SAME

Publication Number WO/2020/204234
Publication Date 08.10.2020
International Application No. PCT/KR2019/004079
International Filing Date 05.04.2019
IPC
G01L 3/14 2006.01
GPHYSICS
01MEASURING; TESTING
LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
3Measuring torque, work, mechanical power, or mechanical efficiency, in general
02Rotary-transmission dynamometers
14wherein the torque-transmitting element is other than a torsionally-flexible shaft
B25J 9/12 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
12electric
B25J 9/10 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
Applicants
  • (주)로보티즈 ROBOTIS CO.,LTD. [KR]/[KR]
Inventors
  • 장욱 JANG, Wook
  • 남형철 NAM, Hyoung Chul
  • 김병수 KIM, Byoung Soo
Agents
  • 특허법인지담 JIDAM IP LAW FIRM
Priority Data
10-2019-004000605.04.2019KR
Publication Language Korean (KO)
Filing Language Korean (KO)
Designated States
Title
(EN) ELASTIC BODY HAVING VARIABLE RIGIDITY, AND ACTUATOR MODULE INCLUDING SAME
(FR) CORPS ÉLASTIQUE AYANT UNE RIGIDITÉ VARIABLE, ET MODULE D'ACTIONNEUR LE COMPRENANT
(KO) 가변 강성 탄성체 및 이를 가지는 액츄에이터 모듈
Abstract
(EN)
An embodiment of the present invention provides an elastic body having variable rigidity, wherein the elastic body is used in a series elastic actuator module, connects an input and an output, and has a rigidity that varies according to the applied torque. The elastic body having variable rigidity comprises: a connection part which receives torque from the input side or the output side; and a spring part connected to and receiving torque from the one selected from among the input side and the output side which is different from the connection part, wherein the spring part is formed integrally with the connection part and has a rigidity that varies as the connection part and the spring part come into contact with each other due to deformation caused by the applied torque.
(FR)
Conformément à un mode de réalisation, la présente invention concerne un corps élastique ayant une rigidité variable, le corps élastique étant utilisé dans un module d'actionneur élastique en série, reliant une entrée et une sortie, et ayant une rigidité qui varie en fonction du couple appliqué. Le corps élastique ayant une rigidité variable comprend : une partie de liaison qui reçoit un couple provenant du côté entrée ou du côté sortie ; et une partie ressort reliée au et recevant un couple provenant du côté sélectionné, le côté entrée ou le côté sortie, qui est différent de la partie de liaison, la partie ressort étant formée d'un seul tenant avec la partie de liaison et ayant une rigidité qui varie lorsque la partie de liaison et la partie ressort viennent en contact l'une avec l'autre en raison de la déformation provoquée par le couple appliqué.
(KO)
본 발명의 일실시예는 직렬 탄성 액츄에이터 모듈에 사용되는 입력과 출력을 연결하는 탄성체로서, 가해진 토크에 따라 강성이 변경되는 가변 강성 탄성체를 제공한다. 가변 강성 탄성체는 입력측 또는 출력측으로부터 토크를 인가받는 접속부; 그리고 상기 입력측 및 출력측 중 상기 접속부와 다르게 선택된 하나에 연결되어 토크를 인가받는 스프링부로서, 상기 접속부와 일체로 형성되며, 가해지는 토크에 의한 변형으로 인해 상기 접속부와 상기 스프링부가 접촉됨에 따라 강성이 변경되는 스프링부;를 포함한다.
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