KR-20260066474-A - TWISTING STRING APPARATUS AND EXOSKELETON DEVICE COMPRISING THE SAME

KR20260066474AKR 20260066474 AKR20260066474 AKR 20260066474AKR-20260066474-A

Abstract

A cord twisting device according to the present invention comprises: a motor part; a body part disposed on one side of the motor part; a drive gear part connected to the motor part by a motor connecting shaft, a first gear part having a first shaft that meshes with the drive gear part and extends into the body part, and a second gear part having a second shaft that meshes with the drive gear part and extends into the body part; and a first wire part wound around the first shaft and a second wire part wound around the second shaft; wherein the first gear part and the second gear part do not mesh with each other, and when the motor part is driven, one of the first wire part and the second wire part is extended and the other is contracted.

Inventors

이원구
서종민
강보리

Assignees

경희대학교 산학협력단

Dates

Publication Date: 20260512
Application Date: 20241104

Claims (15)

Motor section; A body part disposed on one side of the motor part above; A drive gear unit connected to the motor unit and the motor connecting shaft, a first gear unit having a first shaft that meshes with the drive gear unit and extends into the body unit, and a second gear unit having a second shaft that meshes with the drive gear unit and extends into the body unit; and It includes a first wire portion wound on the first shaft and a second wire portion wound on the second shaft; The first gear part and the second gear part are not engaged with each other, Characterized that when the motor part is driven, one of the first wire part and the second wire part is extended and the other is contracted. Wire twisting device.
In Article 1, The above body part is, A first frame disposed on one side of the motor part; A second frame spaced apart from the first frame by a first distance; and A third frame spaced apart from the second frame by a second distance; including The motor connecting shaft, the first shaft, and the second shaft are rotatably supported on the first frame, and A rope twisting device characterized in that one end of the first axis and the second axis is rotatably supported in the second frame.
In Article 1, A wire twisting device characterized by having an insertion groove formed on the outer surface of the first axis and the second axis, respectively, into which the first wire portion and the second wire portion are inserted.
In Paragraph 3, A wire twisting device characterized by having an insertion hole formed at each of the axial ends of the first axis and the second axis, which communicates with the insertion groove and through which the first wire portion and the second wire portion are drawn out.
In Article 2, A string twisting device characterized by having a spacing member formed between the second frame and the third frame to maintain a gap.
In Article 2, A connecting hole is formed on the outer surface of the third frame, and a connecting member is formed on the inner surface of the third frame, which communicates with the connecting hole and has a hollow structure and extends in the direction of the second frame. The above connecting hole and the above communication member are formed in a plurality to correspond to the first wire part and the second wire part, and A wire twisting device characterized by the first wire portion or the second wire portion extending into the interior of the above-mentioned connecting member.
In Article 6, A string twisting device characterized in that the above-mentioned connecting hole has a shape that expands from the inner side to the outer side of the third frame.
In Article 6, A wire twisting device characterized in that a connecting weight is slidably disposed inside the above-mentioned connecting member, and the first wire portion or the second wire portion is connected to one end of the connecting weight.
In Article 8, A first ring is formed at one end of the above connecting weight and is connected to the first wire portion or the second wire portion, and A rope twisting device characterized by having a second loop formed at the other end of the above-mentioned connecting weight, which can be exposed to the outside of the third frame.
In Article 1, A wire twisting device characterized in that the first wire portion is wound more loosely than the second wire portion.
In Article 1, A wire twisting device characterized in that, in a first state where the motor part is not driven, the initial length of the first wire part is longer than the initial length of the second wire part.
In Article 11, When the motor unit is driven in the first direction in the first state, the contraction length of the first wire unit is greater than the contraction length of the second wire, and A wire twisting device characterized in that when the motor part is driven in the second direction in the first state, the elongation length of the first wire part is greater than the elongation length of the second wire.
A wire twisting device comprising a motor portion, a body portion disposed on one side of the motor portion, a drive gear portion connected to the motor portion by a motor connecting shaft, a first gear portion having a first shaft that meshes with the drive gear portion and extends into the body portion, a second gear portion having a second shaft that meshes with the drive gear portion and extends into the body portion, a first wire portion wound around the first shaft, and a second wire portion wound around the second shaft, wherein the first gear portion and the second gear portion do not mesh with each other, and when the motor portion is driven, one of the first wire portion and the second wire portion is extended and the other is contracted. A driving unit positioned on the outer side of the above-mentioned rope twisting device; An interlocking member rotatably connected to one side of the above-mentioned driving unit; and It includes a first connecting wire connected to the first wire section and a second connecting wire connected to the second wire section. Characterized by one end of the first connecting wire being connected to a first point of the interlocking member, and one end of the second connecting wire being connected to a second point of the interlocking member. Exoskeleton device.
In Article 13, An exoskeleton device characterized by the first point being positioned on the upper side of the interlocking member and the second point being positioned on the lower side of the interlocking member, based on the rotational center of the interlocking member.
In Article 13, An exoskeleton device characterized by having a loop formed at the first and second points and connected to one end of the first and second connecting wires.

Description

Twisting string apparatus and exoskeleton device comprising the same The present invention relates to a cord twisting device and an exoskeleton device including the same, and more specifically, to a cord twisting device and an exoskeleton device including the same that can prevent overload applied to a motor while simultaneously promoting joint safety by mimicking the lateral ligaments of a human joint. Currently, rapid expansion of the virtual reality industry is expected due to the economic ripple effects of the metaverse. Virtual Reality (VR) is a virtual world created through computer processing to produce specific environments or situations, allowing users to experience interacting with their actual surroundings and environments. Meanwhile, although it has become possible to input body posture and movements into a virtual environment in real time without any sense of unease using VR controllers and motion tracking, the output received by the user is still limited to video and sound. The provision of mechanical responses, such as forces and restraints accompanying the interaction between the virtual environment and objects, is extremely limited, such as through vibration. The absence of such means of physical interaction can be considered a factor that hinders the implementation of the metaverse and impedes user immersion. Therefore, to enable deeper human participation in virtual environments, it is necessary to introduce Metaverse Interface Devices (MIDs)—computer-human interaction devices equipped with the high-level input/output capabilities required for metaverse implementation—that go beyond traditional Human Interface Devices (HIDs) such as keyboards, mice, and touch screens. FIG. 1 is a perspective view of a string twisting device according to one embodiment of the present invention. FIG. 2 is a perspective view of a rope twisting device according to one embodiment of the present invention, viewed from a different angle. FIG. 3 is a perspective view of a cord twisting device according to one embodiment of the present invention with the case removed. FIG. 4 is a perspective view with the second frame removed from FIG. 3. FIG. 5 is a perspective view showing an exoskeleton device including a string twisting device according to one embodiment of the present invention. FIG. 6 is a perspective view of an exoskeleton device including a rope twisting device according to one embodiment of the present invention, viewed from a different angle. Figure 7 is an enlarged view of the X portion shown in Figure 6. FIG. 8 is a drawing showing an exoskeleton device including a cord twisting device according to one embodiment of the present invention mounted on a human body. FIG. 9 is a diagram showing the connection structure between a rope twisting device and an exoskeleton device in a first state in which the rope twisting device according to one embodiment of the present invention is not driven. FIG. 10 is a diagram showing the connection structure between a rope twisting device and an exoskeleton device in a second state in which a gear part is driven in a first direction in a rope twisting device according to one embodiment of the present invention. FIG. 11 is a diagram showing the connection structure between a rope twisting device and an exoskeleton device in a third state in which the gear part is driven in a second direction in a rope twisting device according to one embodiment of the present invention. With reference to the attached drawings, a cord twisting device according to a preferred embodiment and an exoskeleton device including the same will be described in detail as follows. Here, the same reference numerals are used for identical components, and repetitive descriptions and detailed descriptions of known functions and components that may unnecessarily obscure the essence of the invention are omitted. The embodiments of the invention are provided to more completely explain the invention to those with average knowledge in the art. Accordingly, the shapes and sizes of elements in the drawings may be exaggerated for clearer explanation. FIG. 1 is a perspective view of a cord twisting device according to one embodiment of the present invention, FIG. 2 is a perspective view of a cord twisting device according to one embodiment of the present invention viewed from a different angle, FIG. 3 is a perspective view of a cord twisting device according to one embodiment of the present invention with the case removed, and FIG. 4 is a perspective view of FIG. 3 with the second frame removed. For convenience of explanation in this specification, FIG. 2 shows the motor part (110) separated from the body part (130), FIG. 3 shows the first to third frames in a transparent state, and FIG. 4 shows the first frame (131) and the third frame (133) in a non-transparent state. Referring to FIGS. 1 to 4, a rope twisting device (100) according to one embodiment of the present invention is a safety unit that mimics a ligame