Patent Application
20250046850
The present application relates to a structural battery structure and a method for manufacturing the same, and more specifically, to a structural battery structure for a wearable robot and a method for manufacturing the same.
In addition, the present invention relates to a torque measuring method and a torque measuring device therefor, and more specifically, to a torque measuring method for a rotation module of a wearable robot and a torque measuring device therefor.
Starting with “Hardiman”, which is the first wearable robot developed in the United States in 1965, a walking-assist robot began to be studied in earnest from the early 2000s, mainly at universities in Japan and the United States. From the mid-2000s to the early 2010s, there was a negative view of wearable robots, so there were not many developed products, but major companies conducted research on their own driver modules, electronic circuits, and manufacturing methods, and in the mid-2010s, wearable robot research began to enter its peak, and is being actively developed mainly in Korea, the United States, and Japan.
For example, Korean Registered Patent Publication No. 10-1099521 discloses a wearable robot walking suit comprising: a suit in the form of clothing having a plurality of electrode rods therein; a trunk fixing part formed to stably support a user's waist, abdomen and back without deforming a user's body by covering the user's abdomen and back; a control part located on an upper part of the trunk fixing part surrounding the user's back, receiving a biometric signal transmitted from the suit, and including a balance control sensor for maintaining a balance of the user's body; a thigh fixing part having a hip joint driving motor for performing a crossed walk by determining the bending force of the user's thigh based on the biometric signal transmitted from the control part while firmly supporting one side of the trunk fixing part by covering one side of the trunk fixing part and solidly supporting the same; a lower leg fixing part having a driving motor for a knee joint that is partially connected to the femoral fixing part to adjust a bending angle of the knee joint and an ankle and supports a user's calf part; a muscle detection sensor for determining a walking state of the user by covering the user's feet and being mounted on any one of a shoe part connected to the lower leg fixing part and the user's both arms, the muscle detection sensor being capable of transmitting a measured muscular conduction signal to the control part while measuring the movement of the muscles; and a mode conversion part mounted on the other of the user's arms and configured to transmit a signal to the control unit so that standing up, sitting down, walking forms, and walking conditions may be manipulated.
One technical problem to be solved by the present application is to provide a structural battery structure optimized for a wearable robot and a method for manufacturing the same.
Another technical problem to be solved by the present application is to provide a structural battery structure for a wearable robot capable of stably supporting a large load and a method for manufacturing the same.
Still another technical problem to be solved by the present application is to provide a structural battery structure for a wearable robot having high mechanical stability and a method for manufacturing the same.
Still another technical problem to be solved by the present application is to provide a high-capacity structural battery structure optimized for a wearable robot and a method for manufacturing the same.
Still another technical problem to be solved by the present application is to provide a torque measuring method and a torque measuring device for components of a wearable robot.
Still another technical problem to be solved by the present application is to provide a torque measuring method and a torque measuring device with improved ease of use.
Still another technical problem to be solved by the present application is to provide a torque measuring method and a torque measuring device which can easily measure an output torque value for components of a wearable robot having various shapes.
The technical problems to be solved by the present application are not limited to those described above.
In order to solve the technical problems, the present application provides a method for manufacturing a structural battery structure.
According to one embodiment, the method for manufacturing a structural battery structure may include: preparing a first fabric on which a positive electrode active material layer is formed; preparing a second fabric on which a negative electrode active material layer is formed; preparing a third fabric having a first surface and a second surface facing the first surface; manufacturing a preliminary structural battery structure by compressing the first fabric and the second fabric to the third fabric such that the positive electrode active material layer is bonded to the first surface and the negative electrode active material layer is bonded to the second surface; and manufacturing the structural battery structure by injecting a resin into the preliminary structural battery structure and curing the resin.
According to one embodiment, the positive electrode active material layer may be selectively formed only on a central region of the first fabric, the negative electrode active material layer may be selectively formed only on a central region of the second fabric, a first cured polymer pattern and a second cured polymer pattern may be provided only on edges of the first surface and the second surface of the third fabric, respectively, the positive electrode active material layer formed on the central region of the first fabric may be bonded with the central region of the first surface of the third fabric surrounded by the first cured polymer pattern, and the negative electrode active material layer formed on the central region of the second fabric may be bonded with the central region of the second surface of the third fabric surrounded by the second cured polymer pattern.
According to one embodiment, the first fabric, the second fabric, and the third fabric may include a fabric woven by using glass fibers.
In order to solve the technical problems, the present application provides a method for manufacturing a structural battery structure.
According to one embodiment, the structural battery structure may include: a first fabric having a positive electrode active material layer; a second fabric spaced apart from the first fabric and having a negative electrode active material layer; a third fabric disposed between the first fabric and the second fabric; a first prepreg spaced apart from the third fabric with the first fabric interposed therebetween; and a second prepreg spaced apart from the third fabric with the second fabric interposed therebetween, in which a first cured polymer pattern, which completely surrounds a periphery of the positive electrode active material layer of the first fabric, is provided between the first fabric and the third fabric, and a second cured polymer pattern, which completely surrounds a periphery of the negative electrode active material layer of the second fabric, is provided between the second fabric and the third fabric.
According to one embodiment, the structural battery structure may further include a resin impregnated in the first to third fabrics.
In order to solve the technical problems, the present application provides a torque measuring device.
According to one embodiment, the torque measuring device may include: a pair of fixing jigs configured to fix a rotation module that is a component of a wearable robot, disposed while being spaced apart from each other, and extending in parallel to each other in one direction; a coupling jig configured to rotate while being coupled to a rotation part of the rotation module; and a torque sensor configured to measure an output torque of the coupling jig being rotated, in which the rotation module may be fixedly disposed between the pair of fixing jigs.
According to one embodiment, the torque measuring device may further include a lower plate disposed under the fixing jig to support the fixing jig, and coupled to the fixing jig by a coupling part.
According to one embodiment, the rotation module may be fixedly coupled to the lower plate through the fixing jig.
In order to solve the technical problems, the present application provides a torque measuring method.
According to one embodiment, the torque measuring method may include: fixing a rotation module, which is a component of a wearable robot, to a torque measuring device; rotating a rotation part of the rotation module by maximizing an output value of a motor included in the rotation module; and measuring an output torque of the rotation module by a torque sensor of the torque measuring device, in which the rotating of the rotation part of the rotation module by maximizing the output value of the motor included in the rotation module and the measuring of the output torque of the rotation module by the torque sensor may be defined as one unit process, a plurality of unit processes are performed, and an average value of output torque values, which are measured in the plurality of unit processes, may be defined as a maximum torque measurement result value of the rotation module.
According to one embodiment, the torque measuring device may include a pair of fixing jigs configured to fix the rotation module that is a component of a wearable robot, disposed while being spaced apart from each other, and extending in parallel to each other in one direction, and the fixing of the rotation module to the torque measuring device may include arranging the rotation module between the pair of fixing jigs.
According to the method for manufacturing a structural battery structure according to the embodiment of the present invention, the structural battery structure may be manufactured by preparing a first fabric on which a positive electrode active material layer is formed, preparing a second fabric on which a negative electrode active material layer is formed, preparing a third fabric having a first surface and a second surface facing the first surface, manufacturing a preliminary structural battery structure by compressing the first fabric and the second fabric to the third fabric such that the positive electrode active material layer is bonded to the first surface and the negative electrode active material layer is bonded to the second surface, and manufacturing a structural battery structure by injecting a resin into the preliminary structural battery structure and curing the resin.
Therefore, the structural battery structure may obtain high mechanical properties, and may stably support loads applied in various directions when used in the wearable robot.
In addition, the positions and areas in which the positive electrode active material layer and the negative electrode active material layer are formed on the first fabric and the second fabric may be easily controlled, so that it is possible to manufacture a structural battery structure having various shapes optimized for the wearable robot.
The torque measuring device according to the embodiment of the present invention may include: a pair of fixing jigs configured to fix a rotation module that is a component of a wearable robot, disposed while being spaced apart from each other, and extending in parallel to each other in one direction; a coupling jig configured to rotate while being coupled to a rotation part of the rotation module; and a torque sensor configured to measure an output torque of the coupling jig being 20 rotated, in which the rotation module may be fixedly disposed between the pair of fixing jigs.
Accordingly, the output torque value for the rotation module, which is a component of the wearable robot, may be easily measured, and the rotation module may be easily and stably fixed to the torque measuring device during measurement of the output torque value for the rotation module.
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, the embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present invention to those skilled in the art.
In the present specification, it will be understood that when an element is referred to as being “on” another element, it can be formed directly on the other element or intervening elements may be present. In the drawings, the thicknesses of layers and regions are exaggerated for clarity.
In addition, it will be also understood that although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. Thus, a first element in some embodiments may be termed a second element in other embodiments without departing from the teachings of the present invention. Embodiments explained and illustrated herein include their complementary counterparts. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed elements.
The singular expression also includes the plural meaning as long as it does not differently mean in the context. In addition, the terms “comprise”, “have” etc., of the description are used to indicate that there are features, numbers, steps, elements, or combination thereof, and they should not exclude the possibilities of combination or addition of one or more features, numbers, operations, elements, or a combination thereof. Furthermore, it will be understood that when an element is referred to as being “connected” or “coupled” to another element, it may be directly connected or coupled to the other element or intervening elements may be present.
In addition, when detailed descriptions of related known functions or constitutions are considered to unnecessarily cloud the gist of the present invention in describing the present invention below, the detailed descriptions will not be included.
A structural battery structure for a wearable robot according to an embodiment of the present application and a method for manufacturing the same will be described with reference to
Referring to
The step of preparing the first fabric 100 having the positive electrode active material layer 120 may include a step of adhering a masking tape 110 onto the first fabric 100, and a step of applying a positive electrode active material slurry onto the first fabric 100 and removing the masking tape 110.
As shown in
After the masking tape 110 is attached, for example, a doctor blade may be used to apply the positive electrode active material slurry onto the first fabric 100, and after the positive electrode active material slurry is applied, the masking tape 110 may be removed, and drying and heat treatment may be performed in a vacuum oven to form a positive electrode active material layer 120.
In other words, the positive electrode active material layer 120 may be selectively formed only on the central region of the first fabric 100 surrounded by the masking tape 110, and the positive electrode active material slurry provided on the masking tape 110 may be removed together in the process of removing the masking tape 110. That is, an edge region except for the central region of the first fabric 100 may be provided while being exposed.
Accordingly, the positive electrode active material layer 120 may be formed on a local region of the first fabric 100.
The first fabric 100 may be, for example, a glass fiber fabric woven with glass fibers.
In addition, for example, the positive electrode active material layer 120 may be a transition metal oxide including lithium.
Next, referring to
The step of preparing the second fabric 200 having the negative electrode active material layer 220 may include a step of adhering a masking tape 210 onto the second fabric 200, and a step of applying a negative electrode active material slurry onto the second fabric 200 and removing the masking tape 210. In other words, the process of forming the negative electrode active material layer 220 on the second fabric 200 may be substantially the same as the process of forming the positive electrode active material layer 120 on the first fabric 100.
Accordingly, the negative electrode active material layer 220 may be formed on a local region (central region) of the second fabric 200.
Like the first fabric 100, the second fabric 200 may be, for example, a glass fiber fabric woven with glass fibers.
In addition, for example, the negative electrode active material layer 220 may include various materials such as lithium, silicon, and carbon.
Next, referring to
As shown in
After the masking tape 310 is attached onto the central region of the first surface of the third fabric 300, a photocurable polymer 312 may be applied onto the first surface of the third fabric 300. The photocurable polymer 312 may cover the entire first surface of the third fabric 300. That is, the photocurable polymer 312 may cover not only the masking tape 310 attached onto the central region of the first surface of the third fabric 300, but also the edge region of the third fabric 300 that is exposed without being covered by the masking tape 310.
After the photocurable polymer 312 is applied to the first surface of the third fabric 300, UV light is irradiated to cure the photocurable polymer 312. Thereafter, the masking tape 310 may be separated from the third fabric 300, and in this process, a portion of the cured photocurable polymer 312 disposed on the masking tape 310 may be selectively removed, and a portion of the cured photocurable polymer 312, which is not disposed on the making tape 310 and disposed on an edge of the first surface of the third fabric 300, may remain.
Accordingly, as shown in
The first cured polymer pattern 314 may be selectively provided only on the edge region of the first surface of the third fabric 300, and as described above, the central region of the first surface of the third fabric 300 may be exposed.
A second cured polymer pattern 316 may be formed on the second surface of the third fabric 300 on which the first cured polymer pattern 314 is formed. The second cured polymer pattern 316 may be formed in the same manner as the first cured polymer pattern 314.
Accordingly, the first polymer pattern 314 may be provided on the edge region of the first surface of the third fabric 300, and the second polymer pattern 316 may be provided on the edge region of the second surface of the third fabric 300.
Further, the central region of the first surface of the third fabric 300 surrounded by the first polymer pattern 314 may be opened or exposed, and the central region of the second surface of the third fabric 300 surrounded by the second polymer pattern 316 may also be opened or exposed.
The third fabric 300 may be, for example, a glass fiber fabric woven with glass fibers, like the first and second fabrics 100 and 200.
According to one modification example, in the process of curing the photocurable polymer 312, a shield filter for partially and entirely blocking the UV light may be disposed on the central region of the third fabric 300 on which the masking tape 310 is disposed. Accordingly, a portion of the photocurable polymer 312 disposed on the central region of the third fabric 300 may be non-cured or semi-cured. Therefore, in the process of removing the masking tape 310, a portion of the cured photocurable polymer 312 disposed on the masking tape 310 may be easily and selectively removed. In this case, before the masking tape 310 is removed, the photocurable polymer 312, which is non-cured or semi-cured, may be removed by a washing process.
Referring to
Specifically, the first fabric 100 and the second fabric 200 may be compressed to the third fabric 300 such that the positive electrode active material layer 120 may be bonded to the central region of the first surface of the third fabric 300, the negative electrode active material layer 220 may be bonded to the central region of the second surface of the third fabric 300.
As shown in
According to one embodiment, the area of the positive electrode active material layer 120 may be substantially the same as the area of the central region surrounded by the first cured polymer pattern 314 on the first surface of the third fabric 300, and the area of the negative electrode active material layer 220 may be substantially the same as the area of the central region surrounded by the second cured polymer pattern 316 on the second surface of the third fabric 300. In other words, the area and shape of the masking tape formed on the first surface of the third fabric 300 may be the same as the area and shape of the positive electrode active material layer 120, and the area and shape of the masking tape formed on the second surface of the third fabric 300 may be the same as the area and shape of the negative electrode active material layer 220.
In addition, according to one embodiment, the thickness of the positive electrode active material layer 120 may be substantially the same as the thickness of the first cured polymer pattern 314 on the first surface of the third fabric 300, and the thickness of the negative electrode active material layer 220 may be substantially the same as the thickness of the second cured polymer pattern 316 on the second surface of the third fabric 300.
Unlike the above description, according to another embodiment, the thickness of the first cured polymer pattern 314 may be larger than the thickness of the positive electrode active material layer 120, and the thickness of the second cured polymer pattern 316 may be larger than the thickness of the negative electrode active material layer 220. In the process of compressing the first fabric 100 and the second fabric 200 to the third fabric 300, as a pressure is applied in a thickness direction of the first cured polymer pattern 314 and the second cured polymer pattern 316, the thickness of the first cured polymer pattern 314 and the thickness of the second cured polymer pattern 316 are partially reduced, so that after the compression, the thickness of the first cured polymer pattern 314 may be substantially the same as the thickness of the positive electrode active material layer 120, and the thickness of the second cured polymer pattern 316 may be substantially the same as the thickness of the negative electrode active material layer 220. As described above, in the process of injecting a resin, which will be described later, a phenomenon in which the resin is provided between the positive electrode active material layer 120 and the third fabric 300 serving as a separation film may be minimized, and similarly, a phenomenon in which the resin is provided between the negative electrode active metal layer 220 and the third fabric 300 serving as a separation film may be minimized, by the first cured polymer pattern 314 and the second cured polymer pattern 316 having a relative large thickness. Therefore, the structural battery structure according to the embodiment of the present application may stably operate, and the manufacturing yield of the structural battery structure may be improved.
Referring again to
The resin may be injected into the first to third fabrics 100, 200, and 300 compressed as described above and may be cured, and finally, structural the battery structure may be manufactured. The first and second prepregs 402 and 404 shown in
As shown in
The bottom plate 410 or the top plate 420 may be provided with an injection hole through which the resin may be injected, and the top plate 420 or the bottom plate 410 may be provided with a discharge hole through which the resin may be discharged.
Moreover, according to one embodiment, an intermediate structure 430 is provided between the bottom plate 410 and the top plate 420, and the preliminary structural battery structure may be disposed in an empty space inside the intermediate structure 430. The thickness of the structural battery structure, which is finally manufactured may be controlled according to the thickness of the intermediate structure 430. That is, the preliminary structural battery structure may be compressed so as to have the thickness of the intermediate structure 430, thereby manufacturing the structural battery structure having the thickness that is substantially the same as the thickness of the intermediate structure 430.
In
Further, according to one embodiment, after the preliminary structural battery structure is compressed using the mold, a vacuum state may be set and the resin may be injected. Accordingly, it is possible to minimize the resin injected between the positive electrode active material layer 120 and the third fabric 300 and between the negative electrode active material layer 220 and the third fabric 300.
For example, the resin may include a low viscosity epoxy and a curing agent, and a weight ratio thereof may be 100:45. In addition, for example, after the resin is injected, the resin is cured at normal temperature for 12 hours and post-cured at 60° C. for 4 hours.
A torque measuring method for a rotation module of a wearable robot according to the embodiment of the present application and a torque measuring device therefor will be described with reference to
Referring to
A pair of fixing jigs 520 may be provided. The pair of fixing jigs 520 may be disposed while being spaced apart from each other, and may extend side by side in one direction. In addition, the pair of fixing jigs may be disposed on the lower plate 530 to be fixed to the lower plate 530 by coupling parts 525. Specifically, the fixing jigs 520 extending side by side in one direction may include a plurality of holes formed through the fixing jigs 520, and the coupling parts 525 (for example, bolts) may couple the fixing jigs 520 to the lower plate 530 through the plurality of holes. The coupling of the fixing jigs 520 and the lower plate 530 will be described later in more detail with reference to
A rotation module 500 may be disposed between the pair of fixing jigs 520 spaced apart from each other and extending side by side in the one direction. The rotation module 500 may include a rotation part that is rotated by a motor serving as a component of the wearable robot. The rotation module 500 may constitute, for example, joints of the wearable robot.
The coupling jig 510 may be fixedly coupled to the rotation part of the rotation module 500. The coupling jig 510 may have a cylindrical shape having an empty inner space, and the cylindrical coupling jig 510 is fastened using bolts or the like while being inserted into the rotation part of the rotation module 500. Accordingly, when the rotation part of the rotation module 500 is rotated by the motor, the coupling jig 510 may also be rotated according to the rotation of the rotation part. Specifically, as shown in
An upper end of the rotating coupling jig 510 may be connected to the torque sensor that measures an output torque of the coupling jig. Therefore, an output torque value of the coupling jig 510, that is, an output torque value of the motor for driving the rotation part may be easily measured.
The torque measuring method using the torque measuring device according to the embodiment of the present application may include a step of fixing the rotation module 500 to the torque measuring device, a step of rotating the rotation part of the rotation module 500 by maximizing an output value of the motor included in the rotation module 500, and a step of measuring an output torque of the rotation module by the torque sensor of the torque measuring device.
In this case, the step of rotating the rotation part of the rotation module 500 by maximizing the output value of the motor included in the rotation module 500 and the step of measuring the output torque of the rotation module 500 by the torque sensor may be defined as one unit process, in which the unit process may be performed a plurality of times.
As described above, when the unit process is performed a plurality of times, an average value of output torque values measured in the plurality of unit processes may be defined as a maximum torque measurement result value of the rotation module 500.
Referring to
According to one modification example, the torque sensor 540 may be coupled to the coupling jig 510 to measure the output torque of the rotation module 500, in which the torque sensor 540 may apply a force in a direction in which the coupling jig 510 extends, that is, a direction toward the rotation module 500 or a direction away from the rotation module 500, and the torque sensor 540 may measure the output torque of the rotation module 500 in a state in which the force is applied. Accordingly, the output torque value of the rotation module 500 may be easily sensed under environmental conditions in which various forces are applied.
Referring to
As described with reference to
Some holes 222 among the plurality of holes 222 arranged to be spaced apart from each other in the first direction within the fixing jig 520 may communicate with the grooves 532 extending in the second direction defined and generated between the lower plates 530.
A coupling part 235 described with reference to
In addition, as described with reference to
Referring to
Unlike the description with reference to
Even in this case, some holes 222 among the plurality of holes 222 included in the pair of fixing jigs 520 may communicate with the grooves 532 extending in the second direction defined and generated between the lower plates 530, and the coupling parts 235 described with reference to
Further, as described with reference to
That is, according to the embodiment of the present application, the pair of fixing jigs 222 may have various arrangement relationships in addition to being disposed in parallel to each other, and even if the pair of fixing jigs 222 have various arrangement relationships, some of the plurality of holes 222 may communicate with each other through the groove 532 provided between the plurality of lower plates 530 and the pair of fixing jigs 520. Accordingly, the pair of fixing jigs 520 may be easily fixed and coupled to the lower plate 530, and the shape of the measurement element arrangement space 102 may be variously and easily deformed according to various arrangement relationships of the pair of fixing jigs 520. Accordingly, the rotation modules of the wearable robot having various shapes may be fixed using the pair of fixing jigs 520 and the plurality of lower plates 530, and torque measurement for the rotation modules of the wearable robot having various shapes may be easily performed.
Referring to
The plurality of magnet structures 310, 320, and 330 may be provided between the support substrate 300 and the coupling jig 510, and may include a first magnet structure 610 adjacent to an upper end of the coupling jig 510, a second magnet structure 620 adjacent to a middle end of the coupling jig 510, and a third magnet structure 630 adjacent to a lower end of the coupling jig 510. For example, the first magnet structure 610, the second magnet structure 620, and the third magnet structure 630 may have strong magnetic forces in this order.
When the coupling jig 510 is rotated by the rotation of the motor of the rotation module 500 and the plurality of magnet structures 310, 320, and 330 shown in
The plurality of magnet structures 310, 320, and 330 may be permanent magnets or electromagnets.
While the present invention has been described in connection with the embodiments, it is not to be limited thereto but will be defined by the appended claims. In addition, it is to be understood that those skilled in the art can substitute, change or modify the embodiments in various forms without departing from the scope and spirit of the present invention.
The structural battery structure for a wearable robot according to the embodiment of the present application may support a load by constituting a frame of the wearable robot while supplying power to the wearable robot, and the torque measuring method for a rotation module of the wearable robot according to the embodiment of the present application and the torque measuring device therefor may measure a torque for components of the wearable robot.
In addition, the structural battery structure for a wearable robot and the method for manufacturing the same, the torque measuring method for a rotation module of the wearable robot, and the torque measuring device therefor according to the embodiment of the present application may be used in various industrial fields such as automobiles, airplanes, industrial robots, and the like.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10-2021-0145998 | Oct 2021 | KR | national |
| 10-2021-0146230 | Oct 2021 | KR | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/KR2021/015401 | 10/29/2021 | WO |
