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WO2012018159A1 - Glove-type wearable robot - Google Patents

Glove-type wearable robot Download PDF

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Publication number
WO2012018159A1
WO2012018159A1 PCT/KR2010/007168 KR2010007168W WO2012018159A1 WO 2012018159 A1 WO2012018159 A1 WO 2012018159A1 KR 2010007168 W KR2010007168 W KR 2010007168W WO 2012018159 A1 WO2012018159 A1 WO 2012018159A1
Authority
WO
WIPO (PCT)
Prior art keywords
wire
glove
finger
glove member
elastic
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/KR2010/007168
Other languages
French (fr)
Korean (ko)
Inventor
조규진
인현기
신민기
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SNU R&DB Foundation
Original Assignee
SNU R&DB Foundation
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
Application filed by SNU R&DB Foundation filed Critical SNU R&DB Foundation
Publication of WO2012018159A1 publication Critical patent/WO2012018159A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
    • A41D19/00—Gloves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces

Definitions

  • the present invention relates to a glove-type robot, and more particularly, to a glove-type robot that simplifies the structure of a robot that wears a user's finger by the exoskeleton structure by wearing it like a glove on a user's hand and improving user convenience. will be.
  • Conventional armored robots generally have an actuator for moving each joint of each finger using an exoskeleton structure and a sensor for sensing the displacement or angle of the joint. .
  • the driving unit or the sensor is installed on the moving part of the finger, the armor of the armored robot becomes very large and heavy. Due to such a complicated structure there is a problem that the manufacturing cost is also very high. In addition, there is a problem that the user is very inconvenient to wear and very uncomfortable due to the complicated structure and large volume.
  • the present invention has been made to solve the problems as described above, to simplify the structure and to reduce the volume to reduce the production cost and to provide a glove-type robot having a structure that the user is convenient to wear and convenient to use do.
  • a glove-shaped robot of the present invention a glove member to be put on the hand; At least one wire extending over the at least one finger of the glove member toward the tip of the finger and disposed over the glove member such that the extending direction is switched in the root direction of the finger; At least one wire guide fixed to the glove member and configured to pass through the wire to guide movement of the wire; And at least one driving part connected to at least one end of both ends of the wire and pulling or releasing the wire.
  • the armored robot of the present invention has a simple structure, the size is smaller, there is an advantage that the user is convenient to wear and convenient to use.
  • the armored robot of the present invention has the advantage that it can be manufactured at a relatively low price because of its simple structure and small volume.
  • FIG. 1 is a view of the palm portion for explaining an embodiment of a glove-type wearing robot according to the present invention.
  • FIG. 2 is a view of the back of the hand of the armored robot shown in FIG.
  • FIG. 3 is a partial perspective view for explaining the operation of the armored robot shown in FIG.
  • Figure 4 is a partial cutaway perspective view for explaining the wire guide of another embodiment of the armored robot according to the present invention.
  • FIG. 1 is a view of the palm portion for explaining an embodiment of a glove-shaped robot according to the invention
  • Figure 2 is a view of the back of the hand portion of the glove-shaped robot shown in FIG.
  • the armored robot of the present embodiment includes an armor member 10, three wires 21, 22, and 23, and a plurality of wire guides 31, 32, 33, and 34.
  • the glove member 10 may be formed in a shape similar to that of a general glove and may be made of a material such as leather or synthetic fiber.
  • a plurality of wire guides 31, 32, 33, 34 are provided on the palm surface of the glove member 10.
  • the last node of the finger may be provided with a U-shaped wire guide 31 such as a thumb, index finger, middle finger, and ring finger shown in FIG.
  • Two wire guides 33 may be provided in a form in which the U-shape is divided into two, such as the little finger shown in FIG. 1.
  • a pair of wire guides 32 arranged next to each other are provided at the first node of the five fingers.
  • the wire guides 31, 32, 33, 34 are formed in a tubular shape and the wires 21, 22, 23 are arranged to pass through the wire guides 31, 32, 33, 34, and the wire guides 31 , 32, 33, 34 guide the movement of the wires 21, 22, 23.
  • One of the three wires 21, 22, 23 extends toward the tip of the thumb and at the last node of the thumb, the extension direction is diverted by the U-shaped wire guide 31 toward the root of the thumb. It is fitted to the wire guides 31 and 32 so as to extend.
  • the other one 22 of the three wires 21, 22, 23 is provided on the glove member 10 by the wire guides 31, 32 so as to pass through the index finger and the middle finger. After the wire 22 extends to the end of the index finger and the extension direction is switched at the last node, the direction of the middle of the middle finger adjacent to the index finger is reversed again in the wire guide 34 disposed at the valley between the index finger and the middle finger. To the wire guides 31, 32, and 34 so that the extension direction is switched again to extend toward the root of the middle finger.
  • the other one of the three wires 21, 22, 23 is installed on the glove member 10 by the wire guides 31, 32, 33, 34 so as to pass through the ring finger and the base.
  • the wire 23 is turned again in the wire guide 34 disposed at the bone portion between the ring finger and the ring finger to the end of the ring adjacent to the ring finger. It extends and then is inserted into the wire guides 31, 32, 33, 34 so that the extension direction is changed and extended toward the root of the body.
  • the wire support member 40 is installed at a portion adjacent to the wrist of the glove member 10. Both ends of the three wires 21, 22, and 23 are fitted to the wire support member 40 so as to move through a hole formed in the wire support member 40.
  • the driving unit 50 is fixed to a user's wrist.
  • the driving unit 50 is configured to pull or release the wires 21, 22, and 23 using a configuration such as a motor and a pulley.
  • One end of the wire 21 arranged to pass through the thumb of the glove member 10 may be fixed to the body of the drive unit 50 as shown in FIG. 1, and the other end may be wound or unwound by the drive unit 50. So that it is connected to the drive unit 50.
  • Both ends of the two wires 22 and 23 arranged to respectively detect and stop the middle finger, the ring finger, and the ground are connected to the driving unit 50 so that they can be wound or unwound by the driving unit 50, respectively.
  • the driver 50 pulls or releases the wires 21, 22, and 23 may be used in various configurations in addition to the motor and pulley structure.
  • elastic wires 61, 62, 63, 64, and 65 and elastic wire guides 71 and 72 are installed on the back of the hand of the glove member 10.
  • the five elastic wires 61, 62, 63, 64, 65 are fixed at one end to the last node of the five fingers of the armor member 10, respectively.
  • the other end of the five elastic wires 61, 62, 63, 64, 65 is fixed to the drive unit 50.
  • tubular elastic wire guides 71 and 72 are installed along the length of each finger.
  • Each of the elastic wires 61, 62, 63, 64, 65 is inserted into each elastic wire guide 71, 72 so that its movement is guided through the elastic wire guides 71, 72 corresponding to each finger. It is arranged to extend along the longitudinal direction of the.
  • the elastic wires 61, 62, 63, 64, 65 are made of an elastic material and are provided on the glove member 10 to provide elastic force in a direction in which the length thereof decreases.
  • the driving unit 50 pulls the wires 21, 22, and 23.
  • the wires 21, 22, 23 are pulled by the driving unit 50, the lengths of the wires 21, 22, 23 passing through the wire guides 31, 32, 33, 34 of the armor member 10 are shortened.
  • the elastic wires 61, 62, 63, 64, 65 are stretched and each finger is bent.
  • each finger bends to fit the surface shape without other surface sensing elements and thus can catch the object.
  • each finger can be used to effectively move one or more fingers, it is effective. Even when a plurality of fingers are operated using one driving unit 50, each finger may be bent independently to be in close contact with an object even without a pressure sensor or a displacement or angle sensor on each finger. In this way, since each finger can operate two or more fingers with one driving unit 50 without having a driving unit 50 or a sensor for operating each finger, the overall configuration of the armored robot is very simple and small in size. There is an advantage that can be produced. Therefore, there is an advantage that can greatly improve the convenience of the user wearing the armored robot of the present invention.
  • wire support member 40 is described above in the wrist portion of the glove member 10, but a glove-type wearing robot without the wire support member may be configured.
  • wire guides may be installed near the wrist of the glove member to replace the wire support member.
  • the front wires 21, 22, 23 and wire guides 31, 32, 33 are installed on the palm surface, and the elastic wires 61, 62, 63, 64, 65 and the elastic wire guides 71, 72 are Although described as being installed on the back of the hand, the wire and the wire guide may be installed on the back of the hand and the elastic wire and elastic wire guide may be installed on the palm. In some cases, the elastic wire and the elastic wire guide are not provided, and a plurality of wires and wire guides are installed on both sides of the palm and the back of the hand, or a plurality of wires and the wire guide are installed on either the palm and the back of the hand. It is also possible to configure so that.
  • the structure in which the one wire 21 on the thumb, the one wire 22 on the index finger and the middle finger, and the one wire 23 on the ring finger and the base is described as an example, but one wire is caught for each finger. It may be configured so that one wire is caught by three or more fingers.
  • the structures of the wire guides 31, 32, 33 and the elastic wire guides 71, 72 may be formed in a tubular shape as shown in FIGS. 1 and 2, or may be configured in a ring shape. .
  • the structure of the wire guide is possible in a variety of different configurations that can guide the movement of the wire.
  • 4 illustrates another example of the wire guide 232.
  • the wire guide 232 is integrally formed with the glove member 20 and is formed in the form of a sealed tube.
  • the wire 222 may be inserted into the wire guide 232, and the space between the wire guide 232 and the wire 222 may be filled with the lubricant 233.
  • the position and the number of the wire guides 31, 32, 33 and the elastic wire guides 71, 72 can also be variously modified.
  • the wire guides 31, 32, and 33 are not installed in the middle nodes of the fingers except for the thumb.
  • the wire guides may be installed in the middle node, and the wire guides may be installed in the palm part as necessary. It may be.
  • one end of the wire 21 caught on the thumb is fixed and pulled by the drive unit 50 only on the other side, it may be configured to pull both ends of the wire caught on the thumb.
  • the wires caught by the fingers can also be configured to hold one end and pull only the other end.
  • the drive unit 50 has been described as being fixed to the user's wrist in the above, it is also possible to install the drive unit to be fixed to the glove member.
  • the driving unit may simultaneously pull the wires connected to the driving unit, or may pull each of them independently.
  • wire support member 40 is described above in the wrist portion of the glove member 10, but a glove-type wearing robot without the wire support member may be configured.
  • wire guides may be installed near the wrist of the glove member to replace the wire support member.
  • the front wires 21, 22, 23 and wire guides 31, 32, 33 are installed on the palm surface, and the elastic wires 61, 62, 63, 64, 65 and the elastic wire guides 71, 72 are Although described as being installed on the back of the hand, the wire and the wire guide may be installed on the back of the hand and the elastic wire and elastic wire guide may be installed on the palm. In some cases, the elastic wire and the elastic wire guide are not provided, and a plurality of wires and wire guides are installed on both sides of the palm and the back of the hand, or a plurality of wires and the wire guide are installed on either the palm and the back of the hand. It is also possible to configure so that.
  • the structure in which the one wire 21 on the thumb, the one wire 22 on the index finger and the middle finger, and the one wire 23 on the ring finger and the base is described as an example, but one wire is caught for each finger. It may be configured so that one wire is caught by three or more fingers.
  • the structures of the wire guides 31, 32, 33 and the elastic wire guides 71, 72 may be formed in a tubular shape as shown in FIGS. 1 and 2, or may be configured in a ring shape. .
  • the structure of the wire guide is possible in a variety of different configurations that can guide the movement of the wire.
  • 4 illustrates another example of the wire guide 232.
  • the wire guide 232 is integrally formed with the glove member 20 and is formed in the form of a sealed tube.
  • the wire 222 may be inserted into the wire guide 232, and the space between the wire guide 232 and the wire 222 may be filled with the lubricant 233.
  • the position and the number of the wire guides 31, 32, 33 and the elastic wire guides 71, 72 can also be variously modified.
  • the wire guides 31, 32, and 33 are not installed in the middle nodes of the fingers except for the thumb.
  • the wire guides may be installed in the middle node, and the wire guides may be installed in the palm part as necessary. It may be.
  • one end of the wire 21 caught on the thumb is fixed and pulled by the drive unit 50 only on the other side, it may be configured to pull both ends of the wire caught on the thumb.
  • the wires caught by the fingers can also be configured to hold one end and pull only the other end.
  • the drive unit 50 has been described as being fixed to the user's wrist in the above, it is also possible to install the drive unit to be fixed to the glove member.
  • the driving unit may simultaneously pull the wires connected to the driving unit, or may pull each of them independently.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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Abstract

The present invention relates to a glove-type wearable robot, more specifically, a glove-type wearable robot having enhanced user-convenience by simplifying the structure of a robot, which is worn on the hand of a user and moves the fingers of a user through the exoskeleton structure thereof. The present invention aims to provide a glove-type wearable robot that is convenient to wear and use by simplifying the structure and reducing the size, and reducing the manufacturing cost thereby. The glove-type wearable robot of the present invention is easier to wear and use due to the smaller size as a result of the simplified structure. Also, the glove-type wearable robot of the present invention can be manufactured at a relatively low cost due to the smaller size and the simpler structure.

Description

장갑형 입는 로봇Armored robot

본 발명은 장갑형 입는 로봇에 관한 것으로서, 더욱 상세하게는 사용자의 손에 장갑처럼 착용하여 외골격 형태의 구조에 의해 사용자의 손가락을 움직이는 입는 로봇의 구조를 단순화하고 사용자 편의성을 개선한 장갑형 입는 로봇에 관한 것이다.The present invention relates to a glove-type robot, and more particularly, to a glove-type robot that simplifies the structure of a robot that wears a user's finger by the exoskeleton structure by wearing it like a glove on a user's hand and improving user convenience. will be.

신체의 골격은 남아 있으나 마비와 같은 신경 장애로 인해 신체의 일부를 움직이지 못하는 사람들을 돕기 위하여 입는 형태의 로봇이 다수 개발되었다.Many types of robots have been developed to help people who have skeletal remains but cannot move parts of the body due to nerve disorders such as paralysis.

특히 손가락을 움직이지 못하는 사람들을 돕기 위하여 장갑처럼 손에 끼워서 착용하는 형태의 장갑형 입는 로봇이 개발되고 있다. In particular, armored robots are being developed to help people who can't move their fingers like gloves.

종래의 장갑 형태의 입는 로봇은 외골격(exoskeleton) 구조를 이용하여 각 손가락의 각 관절마다 그 관절을 움직이는 구동부(actuator)를 구비하고 그 관절의 움직이는 변위 또는 각도를 감지하는 센서를 구비하는 것이 일반적이다. 이와 같이 손가락의 움직이는 부분에 구동부 또는 센서가 설치되면 장갑형 입는 로봇의 부피가 매우 커지고 무게도 무거워 진다. 이와 같은 복잡한 구조로 인해 제작 비용도 매우 높아지는 문제가 있다. 또한 복잡한 구조와 큰 부피로 인해 사용자가 착용하기도 불편하고 사용하기도 매우 불편한 문제점이 있다.Conventional armored robots generally have an actuator for moving each joint of each finger using an exoskeleton structure and a sensor for sensing the displacement or angle of the joint. . As such, when the driving unit or the sensor is installed on the moving part of the finger, the armor of the armored robot becomes very large and heavy. Due to such a complicated structure there is a problem that the manufacturing cost is also very high. In addition, there is a problem that the user is very inconvenient to wear and very uncomfortable due to the complicated structure and large volume.

본 발명은 상술한 바와 같은 문제점을 해결하기 위해 안출된 것으로, 구조를 단순화하고 부피를 작게 하여 제작 비용을 낮추고 사용자가 착용기도 편리하며 사용하기에도 편리한 구조를 가지는 장갑형 입는 로봇을 제공하는 것을 목적으로 한다.The present invention has been made to solve the problems as described above, to simplify the structure and to reduce the volume to reduce the production cost and to provide a glove-type robot having a structure that the user is convenient to wear and convenient to use do.

이와 같은 목적을 달성하기 위하여 본 발명의 장갑형 입는 로봇은, 손에 씌워지는 장갑 부재; 상기 장갑 부재의 손가락들 중 적어도 하나의 손가락에 그 손가락의 끝부분을 향하여 연장되다가 그 손가락의 뿌리 방향으로 연장 방향이 전환되도록 장갑 부재 위에 배치되는 적어도 하나의 와이어; 상기 장갑 부재에 고정되며, 상기 와이어가 경유하여 지나도록 형성되어 상기 와이어의 움직임을 가이드하는 적어도 하나의 와이어 가이드; 및 상기 와이어의 양쪽 끝부분 중 적어도 한쪽 끝에 연결되어 그 와이어를 잡아 당기거나 풀어주는 적어도 하나의 구동부;를 포함하는 점에 특징이 있다.In order to achieve the above object, a glove-shaped robot of the present invention, a glove member to be put on the hand; At least one wire extending over the at least one finger of the glove member toward the tip of the finger and disposed over the glove member such that the extending direction is switched in the root direction of the finger; At least one wire guide fixed to the glove member and configured to pass through the wire to guide movement of the wire; And at least one driving part connected to at least one end of both ends of the wire and pulling or releasing the wire.

본 발명의 장갑형 입는 로봇은, 단순한 구조를 가지므로 크기가 작아져서 사용자가 착용하기 편리하고 사용하기 편리한 장점이 있다.Since the armored robot of the present invention has a simple structure, the size is smaller, there is an advantage that the user is convenient to wear and convenient to use.

또한, 본 발명의 장갑형 입는 로봇은, 구조가 단순하고 부피가 작으므로 비교적 낮은 가격에 제작할 수 있는 장점이 있다.In addition, the armored robot of the present invention has the advantage that it can be manufactured at a relatively low price because of its simple structure and small volume.

도 1은 본 발명에 따른 장갑형 입는 로봇의 일실시예를 설명하기 위한 손바닥 부분의 도면이다.1 is a view of the palm portion for explaining an embodiment of a glove-type wearing robot according to the present invention.

도 2는 도 1에 도시된 장갑형 입는 로봇의 손등 부분의 도면이다.2 is a view of the back of the hand of the armored robot shown in FIG.

도 3은 도 1에 도시된 장갑형 입는 로봇의 작동을 설명하기 위한 부분 사시도이다.3 is a partial perspective view for explaining the operation of the armored robot shown in FIG.

도 4는 본 발명에 따른 장갑형 입는 로봇의 다른 실시예의 와이어 가이드를 설명하기 위한 부분 절개 사시도이다.Figure 4 is a partial cutaway perspective view for explaining the wire guide of another embodiment of the armored robot according to the present invention.

이하, 본 발명에 따른 장갑형 입는 로봇의 일실시예에 대해 첨부된 도면을 참조하여 설명한다.Hereinafter, with reference to the accompanying drawings for an embodiment of a glove-type wearing robot according to the present invention.

도 1은 본 발명에 따른 장갑형 입는 로봇의 일실시예를 설명하기 위한 손바닥 부분의 도면이고, 도 2는 도 1에 도시된 장갑형 입는 로봇의 손등 부분의 도면이다.1 is a view of the palm portion for explaining an embodiment of a glove-shaped robot according to the invention, Figure 2 is a view of the back of the hand portion of the glove-shaped robot shown in FIG.

도 1 및 도 2를 참조하면 본 실시예의 장갑형 입는 로봇은 장갑 부재(10)와 3개의 와이어(21, 22, 23)와 복수의 와이어 가이드(31, 32, 33, 34)를 포함하여 이루어진다.Referring to FIGS. 1 and 2, the armored robot of the present embodiment includes an armor member 10, three wires 21, 22, and 23, and a plurality of wire guides 31, 32, 33, and 34.

장갑 부재(10)는 일반적인 장갑과 유사한 형태로 형성되며 피혁, 합성 섬유 등의 재질로 구성될 수 있다.The glove member 10 may be formed in a shape similar to that of a general glove and may be made of a material such as leather or synthetic fiber.

장갑 부재(10)의 손바닥면에는 복수의 와이어 가이드(31, 32, 33, 34)가 설치된다. 손가락의 마지막 마디에는 도 1에 도시된 엄지(thumb), 검지(index finger), 중지(middle finger), 약지(ring finger)와 같이 U자 형의 와이어 가이드(31)가 설치될 수도 있고, 도 1에 도시된 소지(little finger)와 같이 U자 형이 2개로 분리된 형태의 2개의 와이어 가이드(33)가 설치될 수도 있다. 또한 다섯 손가락의 첫번째 마디에는 서로 나란하게 배치된 한쌍의 와이어 가이드(32)가 각각 설치된다. 와이어 가이드(31, 32, 33, 34)는 관형태로 형성되며 와이어(21, 22, 23)가 그 와이어 가이드(31, 32, 33, 34)를 경유하여 지나도록 배치되고, 와이어 가이드(31, 32, 33, 34)는 와이어(21, 22, 23)의 움직임을 가이드한다.A plurality of wire guides 31, 32, 33, 34 are provided on the palm surface of the glove member 10. The last node of the finger may be provided with a U-shaped wire guide 31 such as a thumb, index finger, middle finger, and ring finger shown in FIG. Two wire guides 33 may be provided in a form in which the U-shape is divided into two, such as the little finger shown in FIG. 1. In addition, a pair of wire guides 32 arranged next to each other are provided at the first node of the five fingers. The wire guides 31, 32, 33, 34 are formed in a tubular shape and the wires 21, 22, 23 are arranged to pass through the wire guides 31, 32, 33, 34, and the wire guides 31 , 32, 33, 34 guide the movement of the wires 21, 22, 23.

3개의 와이어(21, 22, 23) 중 하나(21)는 엄지의 끝부분을 향하여 연장되다가 그 엄지의 마지막 마디에서 U자형 와이어 가이드(31)에 의해 연장 방향이 전환되어 엄지의 뿌리 부분을 향하여 연장되도록 와이어 가이드(31, 32)들에 끼워져 배치된다. One of the three wires 21, 22, 23 extends toward the tip of the thumb and at the last node of the thumb, the extension direction is diverted by the U-shaped wire guide 31 toward the root of the thumb. It is fitted to the wire guides 31 and 32 so as to extend.

3개의 와이어(21, 22, 23) 중 다른 하나(22)는 검지와 중지를 경유하도록 와이어 가이드(31, 32)들에 의해 장갑 부재(10)에 설치된다. 와이어(22)가 검지의 끝부분으로 연장되어 마지막 마디에서 연장 방향이 전환된 후 검지와 중지 사이의 골부분에 배치된 와이어 가이드(34)에서 다시 방향이 전환되어 검지에 인접하는 중지의 끝부분으로 연장되다가 다시 연장 방향이 전환되어 중지의 뿌리를 향하여 연장되도록 와이어 가이드(31, 32, 34)들에 끼워져 배치된다.The other one 22 of the three wires 21, 22, 23 is provided on the glove member 10 by the wire guides 31, 32 so as to pass through the index finger and the middle finger. After the wire 22 extends to the end of the index finger and the extension direction is switched at the last node, the direction of the middle of the middle finger adjacent to the index finger is reversed again in the wire guide 34 disposed at the valley between the index finger and the middle finger. To the wire guides 31, 32, and 34 so that the extension direction is switched again to extend toward the root of the middle finger.

3개의 와이어(21, 22, 23) 중 나머지 하나(23)는 약지와 소지를 경유하도록 와이어 가이드(31, 32, 33, 34)들에 의해 장갑 부재(10)에 설치된다. 와이어(23)가 약지의 끝부분으로 연장되어 마지막 마디에서 방향이 전환 된 후 약지와 소지 사이의 골부분에 배치된 와이어 가이드(34)에서 다시 방향이 전환되어 약지에 인접하는 소지의 끝부분으로 연장되다가 다시 연장 방향이 전환되어 소지의 뿌리를 향하여 연장되도록 와이어 가이드(31, 32, 33, 34)들에 끼워져 배치된다.The other one of the three wires 21, 22, 23 is installed on the glove member 10 by the wire guides 31, 32, 33, 34 so as to pass through the ring finger and the base. After the wire 23 extends to the end of the ring finger and the direction is changed at the last node, the wire 23 is turned again in the wire guide 34 disposed at the bone portion between the ring finger and the ring finger to the end of the ring adjacent to the ring finger. It extends and then is inserted into the wire guides 31, 32, 33, 34 so that the extension direction is changed and extended toward the root of the body.

장갑 부재(10)의 손목에 인접하는 부분에는 와이어 지지부재(40)가 설치된다. 3개의와이어(21, 22, 23)의 양쪽 끝부분은 와이어 지지부재(40)에 형성된 구멍을 경유하여 움직일 수 있도록 와이어 지지부재(40)에 끼워진다. The wire support member 40 is installed at a portion adjacent to the wrist of the glove member 10. Both ends of the three wires 21, 22, and 23 are fitted to the wire support member 40 so as to move through a hole formed in the wire support member 40.

도 1을 참조하면 사용자의 손목에는 구동부(50)가 고정된다. 구동부(50)는 모터 및 풀리와 같은 구성을 이용하여 와이어(21, 22, 23)를 잡아 당기거나 풀어줄 수 있도록 구성된다. 장갑 부재(10)의 엄지를 경유하도록 배치된 와이어(21)의 한쪽 끝은 도 1에 도시된 것과 같이 구동부(50)의 몸체에 고정되고 다른 한쪽 끝은 구동부(50)에 의해 감기거나 풀릴 수 있도록 그 구동부(50)에 연결된다. 검지 및 중지, 약지 및 소지를 각각 경유하도록 배치된 2개의 와이어(22, 23)의 양쪽 끝은 각각 구동부(50)에 의해 감기거나 풀릴 수 있도록 그 구동부(50)에 연결된다. 구동부(50)가 와이어(21, 22, 23)를 당기거나 풀어주는 구성은 모터, 풀리 구조 외에 다른 다양한 구성이 사용될 수 있다.Referring to FIG. 1, the driving unit 50 is fixed to a user's wrist. The driving unit 50 is configured to pull or release the wires 21, 22, and 23 using a configuration such as a motor and a pulley. One end of the wire 21 arranged to pass through the thumb of the glove member 10 may be fixed to the body of the drive unit 50 as shown in FIG. 1, and the other end may be wound or unwound by the drive unit 50. So that it is connected to the drive unit 50. Both ends of the two wires 22 and 23 arranged to respectively detect and stop the middle finger, the ring finger, and the ground are connected to the driving unit 50 so that they can be wound or unwound by the driving unit 50, respectively. The driver 50 pulls or releases the wires 21, 22, and 23 may be used in various configurations in addition to the motor and pulley structure.

도 2를 참조하면, 장갑 부재(10)의 손등면에는 탄성 와이어(61, 62, 63, 64, 65)와 탄성 와이어 가이드(71, 72)가 설치된다. 5개의 탄성 와이어(61, 62, 63, 64, 65)들은 각각 장갑 부재(10) 다섯 손가락의 마지막 마디에 한쪽 끝이 고정된다. 5개의 탄성 와이어(61, 62, 63, 64, 65)들의 다른 한 쪽 끝은 구동부(50)에 고정된다. 장갑 부재(10)의 손등면에는 각 손가락의 길이 방향으로 따라 관 형태의 탄성 와이어 가이드(71, 72)들이 설치된다. 각 탄성 와이어(61, 62, 63, 64, 65)들은 각 손가락에 대응하는 탄성 와이어 가이드(71, 72)들을 경유하여 그 움직임이 가이드되도록 각 탄성 와이어 가이드(71, 72)들에 끼워져서 손가락의 길이 방향을 따라 연장되도록 배치된다. 탄성 와이어(61, 62, 63, 64, 65)들은 탄성 재질로 되어 있으며, 그 길이가 감소하는 방향으로 탄성력을 제공하도록 장갑 부재(10)에 설치된다. Referring to FIG. 2, elastic wires 61, 62, 63, 64, and 65 and elastic wire guides 71 and 72 are installed on the back of the hand of the glove member 10. The five elastic wires 61, 62, 63, 64, 65 are fixed at one end to the last node of the five fingers of the armor member 10, respectively. The other end of the five elastic wires 61, 62, 63, 64, 65 is fixed to the drive unit 50. On the back of the hand of the glove member 10, tubular elastic wire guides 71 and 72 are installed along the length of each finger. Each of the elastic wires 61, 62, 63, 64, 65 is inserted into each elastic wire guide 71, 72 so that its movement is guided through the elastic wire guides 71, 72 corresponding to each finger. It is arranged to extend along the longitudinal direction of the. The elastic wires 61, 62, 63, 64, 65 are made of an elastic material and are provided on the glove member 10 to provide elastic force in a direction in which the length thereof decreases.

이하, 상술한 바와 같이 구성된 본 실시예의 장갑형 입는 로봇의 작용에 대해 설명한다. Hereinafter, the operation of the armored robot of the present embodiment configured as described above will be described.

구동부(50)가 작동하지 않은 상태에서는 와이어(21, 22, 23)들이 모두 풀려 있고, 손등에 설치된 탄성 와이어(61, 62, 63, 64, 65)만 수축하는 탄성력을 장갑 부재(10)에 제공한다. 그에 따라 사용자의 손은 도 1 및 도 2에 도시한 것과 같이 펼쳐진 상태가 된다. In the state in which the driving unit 50 is not operated, all the wires 21, 22, and 23 are loosened, and the elastic force that contracts only the elastic wires 61, 62, 63, 64, and 65 installed on the back of the hand is applied to the glove member 10. to provide. Accordingly, the user's hand is in an unfolded state as shown in FIGS. 1 and 2.

이와 같은 상태에서 사용자가 잡고자 하는 물체에 손바닥을 위치시키고 구동부(50)를 작동시키면, 구동부(50)는 와이어(21, 22, 23)들을 잡아 당기게 된다. 구동부(50)에 의해 와이어(21, 22, 23)가 당겨지면 장갑 부재(10)의 와이어 가이드(31, 32, 33, 34)들을 경유하는 와이어(21, 22, 23)의 길이가 짧아지면서 탄성 와이어(61, 62, 63, 64, 65)들은 늘어나고 각 손가락들은 구부러지게 된다. In this state, when the user places the palm on the object to be held by the user and operates the driving unit 50, the driving unit 50 pulls the wires 21, 22, and 23. When the wires 21, 22, 23 are pulled by the driving unit 50, the lengths of the wires 21, 22, 23 passing through the wire guides 31, 32, 33, 34 of the armor member 10 are shortened. The elastic wires 61, 62, 63, 64, 65 are stretched and each finger is bent.

엄지와 같이 와이어(21)의 한쪽 끝은 고정되고 다른 한쪽만 구동부(50)에 의해 당겨지는 경우에도 엄지 손가락은 구부러지게 되고, 검지 및 중지와 약지 및 소지와 같이 와이어(22, 23) 양쪽 끝이 동시에 구동부(50)에 의해 당겨지는 경우에도 손가락들은 구부러지게 된다.Even when one end of the wire 21 is fixed like the thumb and only the other end is pulled by the driving unit 50, the thumb is bent, and both ends of the wires 22 and 23, such as the index finger, the middle finger, and the ring finger, are held. At the same time, fingers are bent even when pulled by the driving unit 50.

도 3을 참조하면, 검지와 중지에 걸려 있는 와이어(22)가 당겨지면서 검지와 중지가 구부러지는 가운데 중지가 어느 물체에 걸리면, 중지는 더 이상 구부러지지 않고 검지만 계속하여 구부러지게 된다. 따라서, 컵, 물병, 공과 같은 다양한 외형을 가진 물체에 대해, 다른 표면 감지 요소 없이도 그 표면 형상에 맞추어 각 손가락들이 구부러지면서 물체를 잡을 수 있게 된다. Referring to FIG. 3, when the wire 22 hanging on the index finger and middle finger is pulled and the middle finger is caught while the index finger and middle finger are bent, the middle finger is no longer bent but the index finger is continuously bent. Thus, for objects with various appearances such as cups, water bottles and balls, each finger bends to fit the surface shape without other surface sensing elements and thus can catch the object.

다시 구동부(50)를 작동시켜 와이어(21, 22, 23)들을 풀어주면, 손등에 설치된 탄성 와이어(61, 62, 63, 64, 65)들이 수축하면서 손가락들이 펴지게 된다.When the driving unit 50 is operated again to release the wires 21, 22, and 23, the fingers are stretched while the elastic wires 61, 62, 63, 64, and 65 installed on the back of the hand contract.

이와 같이 하나의 구동부(50)를 이용하여 하나 이상의 손가락을 효과적으로 움직일 수 있으므로 효과적이다. 하나의 구동부(50)를 이용하여 복수의 손가락을 작동시키는 경우에도, 각 손가락에 압력 감지 센서나 변위 또는 각도 감지 센서가 없는 상태에서도 각 손가락이 독립적으로 구부러져 물체에 밀착될 수 있는 장점이 있다. 이와 같이 각 손가락마다 그 손가락을 작동시킬 구동부(50)나 센서를 각각 구비하지 않고 하나의 구동부(50)로 2개 이상의 손가락을 작동시킬 수 있으므로, 장갑형 입는 로봇의 전체 구성을 매우 단순하면서도 작은 크기로 제작할 수 있는 장점이 있다. 그로 인해 본 발명의 장갑형 입는 로봇을 착용하는 사용자의 편의성도 대폭 향상시킬 수 있는 장점이 있다.As such, since one or more fingers can be used to effectively move one or more fingers, it is effective. Even when a plurality of fingers are operated using one driving unit 50, each finger may be bent independently to be in close contact with an object even without a pressure sensor or a displacement or angle sensor on each finger. In this way, since each finger can operate two or more fingers with one driving unit 50 without having a driving unit 50 or a sensor for operating each finger, the overall configuration of the armored robot is very simple and small in size. There is an advantage that can be produced. Therefore, there is an advantage that can greatly improve the convenience of the user wearing the armored robot of the present invention.

또한, 손가락의 각 마디를 움직이기 위한 구동부(50)를 손가락에 설치하지 않고 손바닥이나 손목에 설치하고 와이어(21, 22, 23)를 이용하여 손가락 끝부분 또는 중간 마디를 당기도록 구성함으로써 전체적인 장갑형 입는 로봇의 크기를 감소시키고 이를 작동시키는 사용자의 편의성을 향상시키는 장점이 있다.In addition, by installing the drive unit 50 for moving each node of the finger to the palm or wrist without installing on the finger and configured to pull the fingertip or middle node using the wires (21, 22, 23) overall armor type There is an advantage of reducing the size of the robot to wear and improve the convenience of the user to operate it.

이상 본 발명의 장갑형 입는 로봇에 대해 바람직한 실시예를 들어 설명하였으나, 본 발명의 범위가 앞에서 설명하고 도시한 구조로 한정되는 것은 아니다.As mentioned above, although the preferred embodiment of the armored robot of the present invention has been described, the scope of the present invention is not limited to the structure described and illustrated above.

예를 들어, 앞에서 장갑 부재(10)의 손목 부분에 와이어 지지부재(40)가 설치되는 것으로 설명하였으나, 와이어 지지부재를 구비하지 않는 장갑형 입는 로봇을 구성할 수도 있다. 이 경우 와이어 가이드들을 장갑 부재의 손목 부근에 설치하여 와이어 지지부재를 대신할 수도 있다.For example, the wire support member 40 is described above in the wrist portion of the glove member 10, but a glove-type wearing robot without the wire support member may be configured. In this case, wire guides may be installed near the wrist of the glove member to replace the wire support member.

또한, 앞에서 와이어(21, 22, 23)와 와이어 가이드(31, 32, 33)는 손바닥면에 설치되고 탄성 와이어(61, 62, 63, 64, 65)와 탄성 와이어 가이드(71, 72)는 손등면에 설치되는 것으로 설명하였으나, 와이어와 와이어 가이드를 손등면에 설치하고 탄성 와이어와 탄성 와이어 가이드를 손바닥면에 설치할 수도 있다. 경우에 따라서는 탄성 와이어와 탄성 와이어 가이드는 구비하지 않고, 손바닥면과 손등면 양면에 복수의 와이어와 와이어 가이드가 설치되도록 구성하거나 손바닥면과 손등면 중 어느 한쪽에만 복수의 와이어와 와이어 가이드가 설치되도록 구성하는 것도 가능하다.In addition, the front wires 21, 22, 23 and wire guides 31, 32, 33 are installed on the palm surface, and the elastic wires 61, 62, 63, 64, 65 and the elastic wire guides 71, 72 are Although described as being installed on the back of the hand, the wire and the wire guide may be installed on the back of the hand and the elastic wire and elastic wire guide may be installed on the palm. In some cases, the elastic wire and the elastic wire guide are not provided, and a plurality of wires and wire guides are installed on both sides of the palm and the back of the hand, or a plurality of wires and the wire guide are installed on either the palm and the back of the hand. It is also possible to configure so that.

또한, 앞에서 엄지에 하나의 와이어(21), 검지와 중지에 하나의 와이어(22), 약지와 소지에 하나의 와이어(23)가 걸리는 구조를 예로 들어 설명하였으나, 각 손가락 마다 하나의 와이어가 걸리도록 구성할 수도 있고 3개 이상의 손가락에 하나의 와이어가 걸리도록 구성할 수도 있다.In addition, the structure in which the one wire 21 on the thumb, the one wire 22 on the index finger and the middle finger, and the one wire 23 on the ring finger and the base is described as an example, but one wire is caught for each finger. It may be configured so that one wire is caught by three or more fingers.

또한, 와이어 가이드(31, 32, 33) 및 탄성 와이어 가이드(71, 72)의 구조는 도 1, 2에 도시한 것과 같은 관 형태로 형성될 수도 있으며, 고리(ring) 형태로 구성될 수도 있다. 와이어 가이드의 구조는 와이어의 움직임을 가이드할 수 있는 다양한 다른 구성이 가능하다. 도 4는 와이어 가이드(232)의 다른 예를 도시한 것이다. 와이어 가이드(232)가 장갑 부재(20)와 일체로 형성되고 밀폐된 튜브 형태로 형성된다. 그 와이어 가이드(232) 내에 와이어(222)가 삽입되고 와이어 가이드(232)와 와이어(222) 사이의 공간은 윤활재(233)로 채워지도록 구성할 수도 있다.In addition, the structures of the wire guides 31, 32, 33 and the elastic wire guides 71, 72 may be formed in a tubular shape as shown in FIGS. 1 and 2, or may be configured in a ring shape. . The structure of the wire guide is possible in a variety of different configurations that can guide the movement of the wire. 4 illustrates another example of the wire guide 232. The wire guide 232 is integrally formed with the glove member 20 and is formed in the form of a sealed tube. The wire 222 may be inserted into the wire guide 232, and the space between the wire guide 232 and the wire 222 may be filled with the lubricant 233.

또한, 와이어 가이드(31, 32, 33) 및 탄성 와이어 가이드(71, 72)의 위치와 개수도 다양하게 변형 가능하다. 도 1을 참조하면 엄지를 제외한 나머지 손가락의 중간 마디에는 와이어 가이드(31, 32, 33)가 설치되지 않는 것으로 도시되었으나, 중간마디에도 와이어 가이드를 설치할 수 있으며 필요에 따라 손바닥 부분에도 와이어 가이드를 설치할 수도 있다.In addition, the position and the number of the wire guides 31, 32, 33 and the elastic wire guides 71, 72 can also be variously modified. Referring to FIG. 1, the wire guides 31, 32, and 33 are not installed in the middle nodes of the fingers except for the thumb. However, the wire guides may be installed in the middle node, and the wire guides may be installed in the palm part as necessary. It may be.

또한, 앞에서 엄지에 걸리는 와이어(21)의 한쪽 끝은 고정되고 다른 한쪽만 구동부(50)에 의해 당겨지는 것으로 설명하였으나, 엄지에 걸리는 와이어의 양쪽 끝을 구동부가 당기도록 구성할 수도 있다. 엄지를 제외한 나머지 손가락에 걸리는 와이어도 한쪽 끝은 고정하고 다른 한쪽 끝만 당기도록 구성할 수도 있다. In addition, although one end of the wire 21 caught on the thumb is fixed and pulled by the drive unit 50 only on the other side, it may be configured to pull both ends of the wire caught on the thumb. Other than the thumb, the wires caught by the fingers can also be configured to hold one end and pull only the other end.

또한, 앞에서 구동부(50)는 사용자의 손목에 고정되는 것으로 설명하였으나, 구동부가 장갑 부재에 고정되도록 설치하는 것도 가능하다.In addition, the drive unit 50 has been described as being fixed to the user's wrist in the above, it is also possible to install the drive unit to be fixed to the glove member.

또한, 구동부는 그 구동부에 연결된 와이어를 동시에 잡아 당길 수도 있고 각각 독립적으로 잡아당길 수도 있다.In addition, the driving unit may simultaneously pull the wires connected to the driving unit, or may pull each of them independently.

이상 본 발명의 장갑형 입는 로봇에 대해 바람직한 실시예를 들어 설명하였으나, 본 발명의 범위가 앞에서 설명하고 도시한 구조로 한정되는 것은 아니다.As mentioned above, although the preferred embodiment of the armored robot of the present invention has been described, the scope of the present invention is not limited to the structure described and illustrated above.

예를 들어, 앞에서 장갑 부재(10)의 손목 부분에 와이어 지지부재(40)가 설치되는 것으로 설명하였으나, 와이어 지지부재를 구비하지 않는 장갑형 입는 로봇을 구성할 수도 있다. 이 경우 와이어 가이드들을 장갑 부재의 손목 부근에 설치하여 와이어 지지부재를 대신할 수도 있다.For example, the wire support member 40 is described above in the wrist portion of the glove member 10, but a glove-type wearing robot without the wire support member may be configured. In this case, wire guides may be installed near the wrist of the glove member to replace the wire support member.

또한, 앞에서 와이어(21, 22, 23)와 와이어 가이드(31, 32, 33)는 손바닥면에 설치되고 탄성 와이어(61, 62, 63, 64, 65)와 탄성 와이어 가이드(71, 72)는 손등면에 설치되는 것으로 설명하였으나, 와이어와 와이어 가이드를 손등면에 설치하고 탄성 와이어와 탄성 와이어 가이드를 손바닥면에 설치할 수도 있다. 경우에 따라서는 탄성 와이어와 탄성 와이어 가이드는 구비하지 않고, 손바닥면과 손등면 양면에 복수의 와이어와 와이어 가이드가 설치되도록 구성하거나 손바닥면과 손등면 중 어느 한쪽에만 복수의 와이어와 와이어 가이드가 설치되도록 구성하는 것도 가능하다.In addition, the front wires 21, 22, 23 and wire guides 31, 32, 33 are installed on the palm surface, and the elastic wires 61, 62, 63, 64, 65 and the elastic wire guides 71, 72 are Although described as being installed on the back of the hand, the wire and the wire guide may be installed on the back of the hand and the elastic wire and elastic wire guide may be installed on the palm. In some cases, the elastic wire and the elastic wire guide are not provided, and a plurality of wires and wire guides are installed on both sides of the palm and the back of the hand, or a plurality of wires and the wire guide are installed on either the palm and the back of the hand. It is also possible to configure so that.

또한, 앞에서 엄지에 하나의 와이어(21), 검지와 중지에 하나의 와이어(22), 약지와 소지에 하나의 와이어(23)가 걸리는 구조를 예로 들어 설명하였으나, 각 손가락 마다 하나의 와이어가 걸리도록 구성할 수도 있고 3개 이상의 손가락에 하나의 와이어가 걸리도록 구성할 수도 있다.In addition, the structure in which the one wire 21 on the thumb, the one wire 22 on the index finger and the middle finger, and the one wire 23 on the ring finger and the base is described as an example, but one wire is caught for each finger. It may be configured so that one wire is caught by three or more fingers.

또한, 와이어 가이드(31, 32, 33) 및 탄성 와이어 가이드(71, 72)의 구조는 도 1, 2에 도시한 것과 같은 관 형태로 형성될 수도 있으며, 고리(ring) 형태로 구성될 수도 있다. 와이어 가이드의 구조는 와이어의 움직임을 가이드할 수 있는 다양한 다른 구성이 가능하다. 도 4는 와이어 가이드(232)의 다른 예를 도시한 것이다. 와이어 가이드(232)가 장갑 부재(20)와 일체로 형성되고 밀폐된 튜브 형태로 형성된다. 그 와이어 가이드(232) 내에 와이어(222)가 삽입되고 와이어 가이드(232)와 와이어(222) 사이의 공간은 윤활재(233)로 채워지도록 구성할 수도 있다.In addition, the structures of the wire guides 31, 32, 33 and the elastic wire guides 71, 72 may be formed in a tubular shape as shown in FIGS. 1 and 2, or may be configured in a ring shape. . The structure of the wire guide is possible in a variety of different configurations that can guide the movement of the wire. 4 illustrates another example of the wire guide 232. The wire guide 232 is integrally formed with the glove member 20 and is formed in the form of a sealed tube. The wire 222 may be inserted into the wire guide 232, and the space between the wire guide 232 and the wire 222 may be filled with the lubricant 233.

또한, 와이어 가이드(31, 32, 33) 및 탄성 와이어 가이드(71, 72)의 위치와 개수도 다양하게 변형 가능하다. 도 1을 참조하면 엄지를 제외한 나머지 손가락의 중간 마디에는 와이어 가이드(31, 32, 33)가 설치되지 않는 것으로 도시되었으나, 중간마디에도 와이어 가이드를 설치할 수 있으며 필요에 따라 손바닥 부분에도 와이어 가이드를 설치할 수도 있다.In addition, the position and the number of the wire guides 31, 32, 33 and the elastic wire guides 71, 72 can also be variously modified. Referring to FIG. 1, the wire guides 31, 32, and 33 are not installed in the middle nodes of the fingers except for the thumb. However, the wire guides may be installed in the middle node, and the wire guides may be installed in the palm part as necessary. It may be.

또한, 앞에서 엄지에 걸리는 와이어(21)의 한쪽 끝은 고정되고 다른 한쪽만 구동부(50)에 의해 당겨지는 것으로 설명하였으나, 엄지에 걸리는 와이어의 양쪽 끝을 구동부가 당기도록 구성할 수도 있다. 엄지를 제외한 나머지 손가락에 걸리는 와이어도 한쪽 끝은 고정하고 다른 한쪽 끝만 당기도록 구성할 수도 있다. In addition, although one end of the wire 21 caught on the thumb is fixed and pulled by the drive unit 50 only on the other side, it may be configured to pull both ends of the wire caught on the thumb. Other than the thumb, the wires caught by the fingers can also be configured to hold one end and pull only the other end.

또한, 앞에서 구동부(50)는 사용자의 손목에 고정되는 것으로 설명하였으나, 구동부가 장갑 부재에 고정되도록 설치하는 것도 가능하다.In addition, the drive unit 50 has been described as being fixed to the user's wrist in the above, it is also possible to install the drive unit to be fixed to the glove member.

또한, 구동부는 그 구동부에 연결된 와이어를 동시에 잡아 당길 수도 있고 각각 독립적으로 잡아당길 수도 있다.In addition, the driving unit may simultaneously pull the wires connected to the driving unit, or may pull each of them independently.

Claims (17)

손에 씌워지는 장갑 부재;A glove member to be worn on the hand; 상기 장갑 부재의 손가락들 중 적어도 하나의 손가락에 그 손가락의 끝부분을 향하여 연장되다가 그 손가락의 뿌리 방향으로 연장 방향이 전환되도록 장갑 부재 위에 배치되는 적어도 하나의 와이어;At least one wire extending over the at least one finger of the glove member toward the tip of the finger and disposed over the glove member such that the extending direction is switched in the root direction of the finger; 상기 장갑 부재에 고정되며, 상기 와이어가 경유하여 지나도록 형성되어 상기 와이어의 움직임을 가이드하는 적어도 하나의 와이어 가이드; 및At least one wire guide fixed to the glove member and configured to pass through the wire to guide movement of the wire; And 상기 와이어의 양쪽 끝부분 중 적어도 한쪽 끝에 연결되어 그 와이어를 잡아 당기거나 풀어주는 적어도 하나의 구동부;를 포함하는 것을 특징으로 하는 장갑형 입는 로봇.And at least one driving part connected to at least one end of both ends of the wire to pull or release the wire. 제1항에 있어서,The method of claim 1, 상기 와이어는 상기 장갑 부재의 복수의 손가락을 경유하도록 상기 장갑 부재에 설치되는 것을 특징으로 하는 장갑형 입는 로봇.And the wire is installed on the glove member via a plurality of fingers of the glove member. 제2항에 있어서,The method of claim 2, 상기 와이어는 제1손가락의 끝부분을 향하여 연장되다가 연장 방향이 전환되어 제1손가락의 뿌리를 향하여 연장된 후 다시 방향이 전환되어 상기 제1손가락에 인접하는 제2손가락의 끝부분으로 연장되다가 다시 연장 방향이 전환되어 제2손가락의 뿌리를 향하여 연장되도록 배치되는 것을 특징으로 하는 장갑형 입는 로봇.The wire extends toward the end of the first finger, and then the extension direction is changed to extend toward the root of the first finger, and then the direction is changed again to extend to the end of the second finger adjacent to the first finger and then again. Glove-type wearing robot, characterized in that the direction is extended so as to extend toward the root of the second finger. 제3항에 있어서,The method of claim 3, 상기 와이어의 한쪽 끝 부분은 고정되고 다른 한쪽 끝 부분은 상기 구동부에 의해 당겨지거나 풀리는 것을 특징으로 하는 장갑형 입는 로봇.One end of the wire is fixed and the other end is pulled or unrolled by the drive unit. 제3항에 있어서,The method of claim 3, 상기 와이어의 양쪽 끝부분은 상기 구동부에 연결되어 동시에 당겨지거나 풀리는 것을 특징으로 하는 장갑형 입는 로봇.Both ends of the wire is connected to the drive unit, characterized in that the armored robot, which is pulled or released at the same time. 제1항에 있어서,The method of claim 1, 상기 와이어 가이드들 중 일부는 상기 와이어의 연장 방향이 전환되는 부분에 배치되는 것을 특징으로 하는 장갑형 입는 로봇.Some of the wire guides are armored robots, characterized in that arranged in the portion where the extension direction of the wire is switched. 제6항에 있어서,The method of claim 6, 상기 와이어 가이드들 중 일부는 상기 장갑 부재의 손가락 마디 중 적어도 하나에 배치되는 것을 특징으로 하는 장갑형 입는 로봇.Some of the wire guides are disposed on at least one of the fingertips of the glove member. 제1항에 있어서,The method of claim 1, 상기 구동부는 상기 장갑 부재를 착용하는 사용자의 손목에 고정되는 것을 특징으로 하는 장갑형 입는 로봇.The driving unit is a glove-type robot, characterized in that fixed to the wrist of the user wearing the glove member. 제1항에 있어서,The method of claim 1, 상기 와이어는 복수개 마련되고, 상기 구동부는 하나가 마련되어 상기 복수의 와이어를 작동시키는 것을 특징으로 하는 장갑형 입는 로봇.The wire is provided with a plurality, the driving unit is provided with a glove-type robot, characterized in that for operating the plurality of wires. 제1항에 있어서,The method of claim 1, 상기 장갑 부재의 손등면에 장갑 부재 손가락의 길이 방향으로 배치되어 양쪽끝이 상기 장갑 부재에 고정되고 그 길이가 줄어드는 방향으로 탄성력을 제공하는 탄성 와이어;를 더 포함하는 것을 특징으로 하는 장갑형 입는 로봇.And an elastic wire disposed on the back surface of the hand of the glove member in the longitudinal direction of the glove member finger to provide an elastic force in a direction in which both ends are fixed to the glove member and the length thereof decreases. 제10항에 있어서,The method of claim 10, 상기 장갑 부재에 고정되며, 상기 탄성 와이어가 경유하여 지나도록 형성되어 상기 탄성 와이어의 움직임을 가이드하는 적어도 하나의 탄성 와이어 가이드;를 더 포함하는 것을 특징으로 하는 장갑형 입는 로봇.And at least one elastic wire guide fixed to the glove member, the elastic wire passing through the elastic wire to guide the movement of the elastic wire. 제11항에 있어서,The method of claim 11, 상기 와이어와 와이어 가이드는 상기 장갑 부재의 손바닥면에 설치되고,The wire and the wire guide is installed on the palm surface of the glove member, 상기 탄성 와이어와 탄성 와이어 가이드는 상기 장갑 부재의 손등면에 설치되는 것을 특징으로 하는 장갑형 입는 로봇.And the elastic wire and the elastic wire guide are installed on the back of the hand of the glove member. 제11항에 있어서,The method of claim 11, 상기 와이어와 와이어 가이드는 상기 장갑 부재의 손등면에 설치되고,The wire and the wire guide is installed on the back of the hand of the glove member, 상기 탄성 와이어와 탄성 와이어 가이드는 상기 장갑 부재의 손바닥면에 설치되는 것을 특징으로 하는 장갑형 입는 로봇.And the elastic wire and the elastic wire guide are installed on the palm surface of the glove member. 제1항에 있어서,The method of claim 1, 상기 와이어 가이드는 튜브 형태로 형성되며, 상기 와이어는 그 튜브의 내측에 수용되도록 배치되고 상기 튜브와 와이어 사이에는 윤활재가 채워지는 것을 특징으로 하는 장갑형 입는 로봇.The wire guide is formed in the form of a tube, the wire is arranged to be received inside the tube and a glove-shaped robot, characterized in that the lubricant is filled between the tube and the wire. 제1항에 있어서,The method of claim 1, 상기 와이어와 와이어 가이드는 상기 장갑 부재의 손등면과 손바닥면에 각각 설치되는 것을 특징으로 하는 장갑형 입는 로봇.The wire and the wire guide is a glove-type robot, characterized in that installed on the back of the hand and palm of the glove member, respectively. 제1항에 있어서,The method of claim 1, 상기 와이어의 한쪽 끝 부분은 고정되고 다른 한쪽 끝 부분은 상기 구동부에 의해 당겨지거나 풀리고,One end of the wire is fixed and the other end is pulled or unrolled by the drive unit, 상기 구동부는 상기 장갑 부재와 사용자의 손목 중 어느 하나에 설치되는 것을 특징으로 하는 장갑형 입는 로봇.The driving unit is a glove-type wearing robot, characterized in that installed on any one of the glove member and the user's wrist. 제1항에 있어서,The method of claim 1, 상기 와이어의 양쪽 끝부분은 상기 구동부에 연결되어 동시에 당겨지거나 풀리고,Both ends of the wire are connected to the drive unit and pulled or unwound at the same time, 상기 구동부는 상기 장갑 부재와 사용자의 손목 중 어느 하나에 설치되는 것을 특징으로 하는 장갑형 입는 로봇.The driving unit is a glove-type wearing robot, characterized in that installed on any one of the glove member and the user's wrist.
PCT/KR2010/007168 2010-08-02 2010-10-19 Glove-type wearable robot Ceased WO2012018159A1 (en)

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