CONTROLLER, CLUTCH INCLUDING THE CONTROLLER, AND WEARABLE ROBOT

Abstract

To provide a controller having a configuration fixable in a variety of formats depending on a user.SOLUTION: A controller includes a head part including a display unit displaying a screen and an operable button, and a body part connected to one side of the head part. The display unit includes a projection region connected to the body part. The body part includes a curved-in region in which a projection region is inserted. An outside surface in a circumferential direction of the projection region is provided with a protrusion; an inside surface in a circumferential direction of the curved-in region is provided with a recess having a shape corresponding to the protrusion. A plurality of either the protrusion or the recess are provided.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a controller, a clutch including the controller, and a wearable robot. [Background technology]

[0002] Wearable robots equipped with exoskeletons that can be worn by humans often include a controller for operating the exoskeleton. For example, wearable robots equipped with exoskeletons for people with physical disabilities may include a controller for supporting the body weight of the person. Cane ( clutch ) The robot is equipped with a controller. Cane ( clutch ) It is often combined with

[0003] However, according to the conventional technology, since the controller is fixed to the clutch in one form, it is not possible to provide an optimized grip feel for the controller according to the user.

[0004] Furthermore, according to the conventional technology, since the controller is provided in a state where it is fixed to the clutch in only one form, there is a problem that depending on the user, there is a risk that the controller may malfunction. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2012-105732 A Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention has been made in consideration of the above-mentioned problems in the conventional art, and an object of the present invention is to provide a controller having a structure that can be fixed in a variety of forms depending on the user, thereby improving the user's grip and preventing malfunction of the controller. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, one aspect of the present invention provides a controller including a head portion including a display unit for displaying a screen and a button unit having operable buttons, and a body portion coupled to one side of the head portion, wherein the display unit includes a protruding region coupled to the body portion, the body portion including an indented region into which the protruding region is inserted, a convex portion is provided on an outer circumferential surface of the protruding region, and a concave portion having a shape corresponding to the convex portion is provided on an inner circumferential surface of the indented region, and one of the convex portion and the concave portion is provided in multiple numbers.

[0008] It is preferable that a plurality of the recesses are provided and a single protrusion is provided.

[0009] The display unit may further include a ball plunger provided on an outer surface of the protruding region in a circumferential direction and adjacent to the body portion relative to the convex portion.

[0010] It is preferable that the button unit is provided protruding from one side of the display unit, the button unit includes a plurality of stepped regions provided protruding from the one side of the display unit, and the buttons are respectively coupled to upper surfaces of the plurality of stepped regions.

[0011] When the direction in which the step region moves away from the display unit is defined as a first direction (D1), the step region may include a first step region extending from the display unit, a second step region extending from the first step region in the first direction (D1), and a third step region extending from the second step region in the first direction (D1), and the buttons may include a first button provided on an upper surface of the first step region, a second button provided on an upper surface of the second step region, and a third button provided on an upper surface of the third step region.

[0012] It is preferable that the top surfaces of the first to third step regions are formed to slope downward in the first direction (D1).

[0013] Preferably, upper surfaces of the first to third step regions are formed to be inclined downward in a second direction (D2) in which the body part faces the display unit.

[0014] An upper surface of the third step region may be formed to be inclined downward in the second direction (D2) to a greater extent than an upper surface of the second step region, and an upper surface of the second step region may be formed to be inclined downward in the second direction (D2) to a greater extent than an upper surface of the first step region.

[0015] The first button may be provided to be movable in a direction perpendicular to an upper surface of the first stepped region.

[0016] The second button may be a rotatable scroll wheel button.

[0017] The third button may have a hinge structure that is rotatable about a rotation axis.

[0018] The body portion may include a body main body and a first protrusion provided on a peripheral surface of the body main body and having a spiral shape extending along the length direction and circumferential direction of the body main body.

[0019] The body portion may further include a second protrusion provided at an end region of the body main body in a direction opposite to the second direction (D2) and along a circumferential direction of the body main body.

[0020] A plurality of grooves are provided along the second direction (D2) in an end region of the body main body in an opposite direction to the second direction (D2), and the second protrusion may be detachably provided on the body main body through the plurality of grooves.

[0021] The body portion may further include a third protrusion provided at an end region of the main body in the second direction (D2) and along a circumferential direction of the main body.

[0022] The second step region may be provided in a stepped shape downward from the first step region, and the third step region may be provided in a stepped shape downward from the first step region.

[0023] In order to achieve the above object, one aspect of the present invention is Cane ( clutch ) is for supporting people Cane ( clutch ) A controller and a controller fixed to the controller. Cane ( clutch ) a main body, the controller including a head part including a display unit for displaying a screen and a button unit having operable buttons, and a body part coupled to one side of the head part, the display unit including a protruding region coupled to the head part, the body part including a recessed region into which the protruding region is inserted, a convex portion is provided on an outer surface of the protruding region in a circumferential direction, and a concave portion having a shape corresponding to the convex portion is provided on an inner surface of the recessed region in a circumferential direction, The recessed portion is provided in a plurality of pieces, The convex The department is single It is characterized in that several are provided.

[0024] In order to achieve the above object, a wearable robot according to one aspect of the present invention includes a controller and a controller to which the controller is fixed. Cane ( clutch ) Body included Cane ( clutch ) and an exoskeleton that is driven by the operation of the controller and is wearable by a human, Cane a controller and a controller fixed to said controller The cane a main body, the controller including a head part including a display unit for displaying a screen and a button unit having operable buttons, and a body part coupled to one side of the head part, the display unit including a protruding region coupled to the head part, the body part including a recessed region into which the protruding region is inserted, a convex portion is provided on an outer surface of the protruding region in a circumferential direction, and a concave portion having a shape corresponding to the convex portion is provided on an inner surface of the recessed region in a circumferential direction, The recessed portion is provided in a plurality of pieces, The convex The department is single It is characterized in that several are provided. Effect of the Invention

[0025] According to the present invention, by providing a controller having a structure that allows it to be fixed in a variety of forms depending on the user, it is possible to improve the grip feeling of the user and prevent malfunction of the controller. [Brief description of the drawings]

[0026] [Figure 1] FIG. 1 is a first perspective view showing a controller according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a second perspective view showing a controller according to one embodiment of the present invention. [Diagram 3] FIG. 2 is a first side view showing a controller according to one embodiment of the present invention. [Figure 4] FIG. 2 is a second side view showing a controller according to one embodiment of the present invention. [Diagram 5]FIG. 2 is a perspective view showing an exploded view of a head portion of a controller according to an embodiment of the present invention. [Figure 6] FIG. 2 is a perspective view showing a body portion of a controller according to an embodiment of the present invention in a separated state. [Figure 7] 11 is a perspective view showing a state in which a second protrusion has been removed in the controller according to the embodiment of the present invention. FIG. [Figure 8] 1 is a perspective view showing an isolated second protrusion of a controller according to one embodiment of the present invention. FIG. [Figure 9] FIG. 1 is a diagram showing an example of a person wearing a robot according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Hereinafter, a controller, a clutch, and a wearable robot according to an embodiment of the present invention will be described with reference to the drawings.

[0028] controller Fig. 1 is a first perspective view showing a controller according to an embodiment of the present invention, Fig. 2 is a second perspective view showing a controller according to an embodiment of the present invention, Fig. 3 is a first side view showing a controller according to an embodiment of the present invention, and Fig. 4 is a second side view showing a controller according to an embodiment of the present invention.

[0029] 1 to 4, a controller 10 according to an embodiment of the present invention includes a head part 100 including a display unit 110 including a liquid crystal display for displaying a screen and a button unit 120 including an operable button 124, and a body part 200 coupled to one side of the head part 100. The head part 100 and the body part 200 are configured to be provided separately and are fixed to each other by coupling. As described below, there are a number of cases in which the head part 100 and the body part 200 can be coupled to each other. Therefore, according to the present invention, the head part 100 and the body part 200 are coupled to each other in a state optimized for the user, taking into account the user's body type, etc.

[0030] The display unit 110 includes a display body 112 which constitutes the main body of the display unit 110 and is provided with a liquid crystal for displaying a screen.

[0031] Meanwhile, the button unit 120 includes a plurality of stepped regions 122 protruding from one side of the display unit 110, and buttons are coupled to the upper surfaces of the stepped regions 122, respectively.

[0032] More specifically, when the horizontal direction in which the step region 122 moves away from the display unit 110 is defined as a first direction (D1) and the direction in which the body part 200 moves toward the display unit 110 is defined as a second direction (D2), the step region 122 includes a first step region 122a extending from the display unit 110, a second step region 122b extending from the first step region 122a in the first direction (D1), and a third step region 122c extending from the second step region 122b in the first direction (D1).

[0033] On the other hand, according to the present invention, the button 124 includes a first button 124a provided on an upper surface of the first step region 122a, a second button 124b provided on an upper surface of the second step region 122b, and a third button 124c provided on an upper surface of the third step region 122c.

[0034] The second step region 122b is provided in a stepped shape downward from the first step region 122a, and the third step region 122c is provided in a stepped shape downward from the second step region 122b. The upper surfaces of the first step region to the third step region (122a, 122b, 122c) are formed so as to slope downward in the first direction (D1) and to slope downward in the second direction (D2). Therefore, according to the present invention, when the user holds the controller 10 by the body part 200, the user can easily operate the first button to the third button (124a, 124b, 124c) using the thumb.

[0035] More preferably, the upper surface of the third step region 122c is formed to be inclined downward in the second direction (D2) to a greater extent (i.e., inclination) than the upper surface of the second step region 122b, and the upper surface of the second step region 122b is formed to be inclined downward in the second direction (D2) to a greater extent (i.e., inclination) than the upper surface of the first step region 122a. In this case, when the user holds the controller 10 by the body part 200, the ease of operation of the button 124 is maximized.

[0036] As an example, with respect to the second direction (D2), the upper surface of the first step region 122a is inclined at approximately 0 degrees in the vertical direction (i.e., parallel to the second direction), the upper surface of the second step region 122b is inclined at approximately 8 degrees in the vertical direction, and the upper surface of the third step region 122c is inclined at approximately 15.5 degrees in the vertical direction.

[0037] As another example, the angle formed by an imaginary line connecting the center of the end of the body part 200 in the opposite direction to the second direction (D2) and the center of the first button 124a and another imaginary line parallel to the second direction (D2) is approximately 2 degrees, the angle formed by an imaginary line connecting the center of the end of the body part 200 in the opposite direction to the second direction (D2) and the center of the second button 124b and another imaginary line parallel to the second direction (D2) is approximately 16.5 degrees, and the angle formed by an imaginary line connecting the center of the end of the body part 200 in the opposite direction to the second direction (D2) and the center of the third button 124c and another imaginary line parallel to the third direction (D2) is approximately 32 degrees.

[0038] The above-mentioned numerical ranges have not been simply selected, but are intended to significantly improve the grip feeling and ease of operation of the buttons 124 when the user holds the controller 10 by the body portion 200.

[0039] Meanwhile, according to the present invention, the first to third buttons (124a, 124b, 124c) are different types of buttons. For example, the first button 124a is provided so as to be movable in a vertical direction relative to the upper surface of the first stepped region 122a, the second button 124b is a rotatable scroll wheel button, and the third button 124c has a hinge structure rotatable around a rotation axis. However, the types of the first to third buttons are not limited to those described above, and various buttons may be provided.

[0040] FIG. 5 is a perspective view showing an isolated head portion of a controller according to one embodiment of the present invention, and FIG. 6 is a perspective view showing an isolated body portion of a controller according to one embodiment of the present invention.

[0041] 5 and 6, the display unit 110 includes a protruding region 112a that protrudes from the display body 112 toward the body part 200 and is coupled to the body part 200. The body part 200 also includes a body main body 210 that constitutes the main body of the body part 200 and extends along the second direction (D2, see FIGS. 3 and 4, etc.), and a recessed region 210a that is provided on the body main body 210 and into which the protruding region 112a is inserted.

[0042] 5 and 6, the protruding region 112a has a convex portion 112b on an outer peripheral surface thereof, and the recessed region 210a has a concave portion 210b on an inner peripheral surface thereof, the concave portion 210b having a shape corresponding to the convex portion 112b. According to the present invention, a plurality of the convex portions 112b and the concave portions 210b may be provided.

[0043] According to the present invention, since one of the convex portion 112b and the concave portion 210b is provided in a plurality of pieces, the relative rotation angle between the head portion 100 and the body portion 200 can be adjusted when the head portion 100 and the body portion 200 are combined. Therefore, the combination of the head portion 100 and the body portion 200 can be optimized in consideration of the user's body type and hand shape. In FIG. 5 and FIG. 6, as an example, a form in which a plurality of concave portions 210b are provided and a single convex portion 112b is provided is shown. In this case, the convex portion 112b is selectively combined with any one of the plurality of concave portions 210b, so that the relative rotation angle between the head portion 100 and the body portion 200 can be adjusted. However, differently from this, according to another example of the present invention, a plurality of convex portions 112b may be provided and a single concave portion 210b may be provided.

[0044] 5, the display unit 110 further includes a ball plunger 114 provided on the outer peripheral surface of the protruding region 112a provided on the display body 112 and adjacent to the body part 200 from the convex part 112b. The ball plunger is further provided on the protruding region 112a, and according to the present invention, the connection between the head part 100 and the body part 200 is made stronger.

[0045] 1 to 6, the body part 200 includes a plurality of protrusions. More specifically, the body part 200 includes a first protrusion 220 that is provided on the circumferential surface of the main body 210 and has a spiral shape extending along the length direction and circumferential direction of the main body 210. The first protrusion 220 is configured to support the thumb of the user when the user grips the body part 200 of the controller 10 according to the present invention, and to effectively transmit the weight of the person to a clutch main body of the clutch according to the present invention described later. Therefore, the first protrusion 220 has a shape corresponding to the shape of the thumb when the user grips the body part 200.

[0046] The body part 200 further includes a second protrusion 230 provided in an end region of the length of the body main body 210 in the direction opposite to the second direction (D2) and provided along the circumferential direction of the body main body 210, and further includes a third protrusion 240 provided in an end region of the length of the body main body 210 in the second direction (D2) and provided along the circumferential direction of the body main body 210. The second protrusion 230 and the third protrusion 240 are configured to prevent the body part 200 from slipping out of the user's hand when the user holds the body part 200 of the controller 10.

[0047] FIG. 7 is a perspective view showing a controller according to one embodiment of the present invention with the second protrusion portion removed, and FIG. 8 is a perspective view showing the second protrusion portion of the controller according to one embodiment of the present invention separated.

[0048] 7 and 8, the second protrusion 230 is detachably provided on the body main body 210. More specifically, a plurality of grooves 210c are provided along the second direction (D2) in an end region of the body main body 210 in the opposite direction to the second direction (D2). The second protrusion 230 is detachably provided on the body main body 210 through the plurality of grooves 210c. More specifically, the second protrusion 230 is provided with a protruding coupling member 230a, and the second protrusion 230 is fixed to the body main body 210 by coupling some of the plurality of grooves 210c with the coupling member 230a.

[0049] According to the present invention, since the main body 210 is provided with a plurality of grooves 210c, the coupling member 230a is selectively inserted into some of the plurality of grooves 210c, providing the user with an optimized grip feeling according to the shape and size of the user's hand.

[0050] Cane (clutch) FIG. 9 is a diagram showing an example of a person wearing the robot according to an embodiment of the present invention.

[0051] 1 to 9, a clutch 20 according to an embodiment of the present invention is configured to support a person. In this case, the clutch 20 includes the above-mentioned controller 10 and a clutch main body 30 that constitutes a main body of the clutch 20 and to which the controller 10 is fixed.

[0052] The controller 10 further includes a head part 100 including a display unit 110 for displaying a screen and a button unit 120 having operable buttons 124 , and a body part 200 coupled to one side of the head part 100 .

[0053] The display unit 110 also includes a protruding region 112a coupled to the head portion 100, and the body portion 200 includes an indented region 210a into which the protruding region 112a is inserted.

[0054] In this case, a convex portion 112b is provided on the outer circumferential surface of the protruding region 112a, and a concave portion 210b having a shape corresponding to the convex portion 112b is provided on the inner circumferential surface of the recessed region 210a. In addition, a plurality of each of the convex portions 112b and the concave portions 210b are provided.

[0055] The above description of the controller 10 according to one embodiment of the present invention is equally applicable to the clutch 20 according to one embodiment of the present invention.

[0056] Wearable Robot 1 to 9, a robot according to an embodiment of the present invention is a wearable robot.

[0057] A robot according to an embodiment of the present invention includes a controller 10 and a clutch 20 including a clutch body 30 to which the controller 10 is fixed, and includes an exoskeleton 40 that is driven by the operation of the controller 10 and is wearable by a person. For example, as shown in Fig. 9, the exoskeleton 40 is wearable on the lower half of a person's body.

[0058] First button 124a provided on controller 10 is a button for controlling the operation functions of exoskeleton 40, second button 124b is a button for switching the screen of display unit 110, and third button 124c is a button for stopping the operation of exoskeleton 40. However, the functions of each button are not limited to those described above.

[0059] Moreover, the above-described contents regarding the controller 10 and the clutch 20 according to an embodiment of the present invention can be directly applied to the robot according to an embodiment of the present invention.

[0060] Although the present invention has been described above with reference to limited embodiments and drawings, the present invention is not limited thereto, and can be embodied in various ways within the scope equivalent to the technical idea and technical scope of the present invention by a person having ordinary knowledge in the technical field to which the present invention belongs. [Explanation of symbols]

[0061] 10 Controller 20 Clutch 30 Clutch body 40 Exoskeleton 100 Head 110 Display unit 112 Display unit 112a Protruding area 112b Convex 114 Ball Plunger 120 Button Unit 122 Step Area 122a First step region 122b 2nd step area 122c Third step area 124 Buttons 124a Button 1 124b Second button 124c Third button 200 Body 210 Body 210a Bay area 210b recess 210c groove 220 first protrusion 230 second protrusion 230a connecting member 240 third protrusion D1 first direction D2 second direction

Claims

1. A head unit including a display unit that displays a screen and a button unit that has operable buttons; a body portion coupled to one side of the head portion, the display unit includes a protruding region coupled to the body portion; the body portion includes an indented region into which the protruding region is inserted; A protrusion is provided on an outer surface of the protruding region in the circumferential direction, a recess having a shape corresponding to the protrusion is provided on an inner surface of the indented region in a circumferential direction, The recessed portion is provided in a plurality of pieces, A controller characterized in that the convex portion is provided in a single piece.

2. The display unit comprises:

2. The controller according to claim 1, further comprising a ball plunger provided on an outer circumferential surface of the protruding region and adjacent to the body portion relative to the convex portion.

3. The button unit is provided to protrude from one side of the display unit, the button unit includes a plurality of stepped regions protruding from the one side surface of the display unit, The controller according to claim 1 , wherein the buttons are coupled to upper surfaces of the plurality of stepped regions, respectively.

4. When a direction in which the step region is separated from the display unit is defined as a first direction (D1), The step region is a first step region extending from the display unit; a second step region extending in the first direction (D1) from the first step region; a third step region extending in the first direction (D1) from the second step region, The button is A first button provided on an upper surface of the first step region; A second button provided on an upper surface of the second step region; The controller according to claim 3 , further comprising: a third button provided on an upper surface of the third stepped area.

5. 5. The controller according to claim 4, wherein upper surfaces of the first step region, the second step region and the third step region are formed so as to slope downward in the first direction (D1).

6. The controller according to claim 5 , wherein the upper surfaces of the first step region, the second step region, and the third step region are each formed to slope downward in a second direction (D2) in which the body portion faces the display unit.

7. The third step region has an upper surface that is inclined downward in the second direction D2 to a greater extent than the upper surface of the second step region, The controller of claim 6 , wherein an upper surface of the second step region is inclined downward in the second direction (D2) to a greater extent than an upper surface of the first step region.

8. The first button is provided so as to be movable in a direction perpendicular to an upper surface of the first stepped region.

6. The controller of claim 5 .

9. The controller of claim 6 , wherein the second button is a rotatable scroll wheel button.

10. The controller according to claim 7 , wherein the third button has a hinge structure that is rotatable around a rotation axis.

11. The body portion is The body itself, 7. The controller according to claim 6, further comprising: a first protrusion provided on a peripheral surface of the main body and having a spiral shape extending along the length and circumferential directions of the main body.

12. The body portion is The controller of claim 11, further comprising a second protrusion provided at an end region of the body in a direction opposite to the second direction (D2) and along a circumferential direction of the body.

13. A plurality of grooves are provided along the second direction (D2) in an end region of the body in a direction opposite to the second direction (D2), The controller according to claim 12 , wherein the second protrusion is detachably provided on the main body via the plurality of grooves.

14. The body portion is The controller of claim 12, further comprising a third protrusion provided at an end region of the main body in the second direction (D2) and along a circumferential direction of the main body.

15. The second step region is provided in a stepped shape downward from the first step region, The controller according to claim 6 , wherein the third step region is provided in a stepped shape downward from the first step region.

16. A crutch for supporting a person, A controller; A cane (clutch) body to which the controller is fixed; The controller: A head unit including a display unit that displays a screen and a button unit that has operable buttons; a body portion coupled to one side of the head portion, the display unit includes a protruding region coupled to the head portion; the body portion includes an indented region into which the protruding region is inserted; A protrusion is provided on an outer surface of the protruding region in the circumferential direction, a recess having a shape corresponding to the protrusion is provided on an inner surface of the indented region in a circumferential direction, The recessed portion is provided in a plurality of pieces, A walking stick characterized in that the protrusion is provided in a single piece.

17. a cane (clutch) including a controller and a cane (clutch) body to which the controller is fixed; an exoskeleton driven by an operation of the controller and wearable by a human, The cane is A controller; The cane body to which the controller is fixed; The controller: A head unit including a display unit that displays a screen and a button unit that has operable buttons; a body portion coupled to one side of the head portion, the display unit includes a protruding region coupled to the head portion; the body portion includes an indented region into which the protruding region is inserted; A protrusion is provided on an outer surface of the protruding region in the circumferential direction, a recess having a shape corresponding to the protrusion is provided on an inner surface of the indented region in a circumferential direction, The recessed portion is provided in a plurality of pieces, A wearable robot characterized in that the protrusion is provided in a single piece.

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