KR101637255B1 - Robot Arm Having Robot Joint Assembly - Google Patents

Abstract

The present invention provides a robot arm including a robot joint assembly which has high strength and rigidity as well as a multi-degree of freedom, and is able to reduce a weight of the robot arm by having a simple structure. According to the present invention, the robot arm including the robot joint assembly comprises: a fixing member having a first curve unit in which at least a part of a circumference is formed in a shape of a circular arc; a rotation member having a second curve unit wherein at least a part of the circumference is formed in the shape of the circular arc coming in contact with the first curve unit, rotating along the first curve unit; a pair of first pulleys installed in an eccentric one side of the rotation member and the fixing member based on a center point on the second curve unit and the first curve unit; a pair of second pulleys installed in an other eccentric side of the rotation member and the fixing member based on the center point on the second curve unit and the first curve unit; a first wire unit wound on the pair of first pulleys as many times as a preset rotation number, wherein one side is extended to a rear side of the fixing member; a second wire unit wound on the pair of second pulleys as many times as a predetermined rotation number, wherein one side is extended to the rear side of the fixing member; and a driving unit installed in the rear of the fixing member, rotating the rotation member by linearly moving the first wire unit and the second wire unit in directions opposite to each other.

Description

[0001] Robot Arm Having Robot Joint Assembly [0002]

The present invention relates to a robot arm including a robot joint assembly, and more particularly, to a robot arm including a robot joint assembly having a simple and lightweight structure while significantly increasing strength and rigidity.

Since Unimate was first used in automotive assembly in 1962, robotic engineering has become a vital technology in production, service, medical, exploration, military, and aerospace fields thanks to rapid technology development and the spread of its application offerings. I got it.

Conventional robots were intended to perform simple repetitive tasks at high speed and precise precision. However, in recent years, there have been many researches on robots that can be remotely connected to share a space with people, surgical robots that facilitate various operations such as laparoscopic surgery, And various types of robots, such as industrial robots that enable contact, are being developed.

Especially, recently developed Baxtor robot has ability to detect and adapt human force so that it can move robot directly and direct work, and it is attracted attention as next generation robot that can cooperate with robot in the same work space have.

However, Baxtor robots sacrifice robustness, rigidity, precision and operation speed in order to secure such safety, and their performance is lower than that of conventional industrial robots.

Therefore, there is a demand for a robot technology that can sense an external force, is safe in contact and collision, and satisfies high strength, rigidity, precision, and operation speed.

To accomplish this, the technology to realize the robot 's joint structure similar to that of the human arm with high degree of freedom is emerging as a core research task, and research results reflecting the achievement are also being announced.

However, the robot joint structure studied so far has a problem that its structure is very complicated in order to have sufficient strength and rigidity while having many degrees of freedom, and there is a problem that performance is degraded when the structure is simplified.

Therefore, a method for solving such problems is required.

Disclosure of Invention Technical Problem [8] Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to provide a robot arm including a robot joint assembly having high strength and rigidity and having multiple degrees of freedom, It is for this reason.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, a robot arm including a robot arm assembly according to the present invention includes: a fixing member having a first curved surface portion formed at an at least a part of a circumference of an arc, at least a part of the circumference of the fixing member having a circular arc contacting the first curved surface portion; And a second curved surface portion provided on an eccentric side of the fixing member and the rotary member with respect to a center point of the first curved surface portion and the second curved surface portion, At least one pair of second pulleys provided on the other side of the fixing member and the eccentric portion of the rotating member, with respect to a center point of at least one pair of first pulleys, the first curved portion and the second curved portion, A first wire portion wound on the first pulley of the pair by a predetermined number of times and having one side extended to the rear of the fixing member, a pair of second pulleys wound a predetermined number of times, And a first actuator provided at a rear side of the fixing member and linearly moving the first wire portion and the second wire portion in opposite directions to rotate the rotary member, And a terminal-guided rotary robot joint assembly including a driving portion.

The terminal-guided rotary robot joint assembly is provided between the driving unit and the first pulley of the fixing member, and between the driving unit and the second pulley of the fixing member so that the extension direction of the first wire unit and the second wire unit is And an auxiliary pulley for changing the driving force.

Wherein the terminal-guided rotary robot joint assembly is provided so as to simultaneously surround the periphery of the stationary member and the rotary member at intersections of the contacts of the first curved portion and the second curved portion, And a rotation assist member for inducing rolling motion.

The terminal-guided rotary robot joint assembly is provided on the stationary member and the rotary member, and another wire extending from the drive unit to the other robot joint assembly provided in front of the rotary member, And may further include a plurality of connection pulleys for changing the extending direction of the other wire portion so as not to interfere with the relative rotation.

The first wire portion and the second wire portion are integrally formed to form one circulating wire, and the driving portion rotates in one direction or the other direction by the first actuator, And a circulation member circulating the circulation wire.

The terminal-guided rotary robot joint assembly includes a plurality of free-space robot joints, each of which is formed in a manner to enclose the accommodation space so as to form a housing space on the inside thereof, Assembly. ≪ / RTI >

The multi-degree of freedom robot joint assembly may further include a first bevel gear, a second bevel gear spaced from the first bevel gear and having a rotation axis horizontal to the rotation axis of the first bevel gear, A pair of third bevel gears each having a vertical rotation axis and meshed with one side and the other side of the first bevel gear and having a rotation axis perpendicular to the rotation axis of the second bevel gear, And a pair of fourth bevel gears coupled to the other of the first and second bevel gears so as to be rotated, respectively, the third bevel gear and the fourth bevel gear corresponding to each other, And a fourth wire portion wound on the third bead gear and the first bevel gear and having one side extended to the driving portion side, the driving portion linearly moving the fourth wire portion to rotate the first bevel gear, It may include a second actuator.

In order to solve the above problems, a robot arm including the robot joint assembly of the present invention has the following effects.

First, it has high strength and rigidity, has excellent precision and can perform quick work.

Second, since the structure has a simple structure compared to the strength and rigidity, it is possible to reduce the weight and greatly reduce the manufacturing cost.

Third, various degrees of freedom of rotation can be realized, so that the movement of human shoulders and wrists can be similarly implemented.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing the basic principles of strength and stiffness amplification structures for implementing the present invention;
2 is a view showing a terminal-guided rotary robot joint assembly of a robot arm according to a first embodiment of the present invention;
3 is a view showing a robot arm according to a first embodiment of the present invention in which a terminal-guided rotary robot joint assembly is rotated;
FIG. 4 is a view showing the relationship between the lengths of the first wire portion and the second wire portion according to the rotation of the rotary member in the terminal-guided rotary robot joint assembly of the robot arm according to the first embodiment of the present invention;
5 is a view showing a terminal-guided rotary robot joint assembly of a robot arm according to a second embodiment of the present invention;
6 is a view showing a robot arm according to a second embodiment of the present invention in which the terminal-guided rotary robot joint assembly is rotated by 90 °;
FIG. 7 is a view showing a robot arm according to a second embodiment of the present invention in which the terminal-guided rotary robot joint assembly is rotated by 180 °; FIG.
FIG. 8 is a detailed view of an auxiliary pulley in a terminal-guided rotary robot joint assembly of a robot arm according to a second embodiment of the present invention; FIG.
FIG. 9 is a detailed view of a terminal-guided rotary robot joint assembly of a robot arm according to a second embodiment of the present invention, in which the other wires are connected to the auxiliary pulley and the connection pulley;
10 is a view showing the concept of a multi-degree-of-freedom robot joint assembly in a robot arm according to a third embodiment of the present invention;
FIG. 11 is a view showing a robot arm according to a third embodiment of the present invention, in which a multi-degree-of-freedom robot joint assembly is implemented; FIG.
12 is a view showing a rolling motion of a hemisphere corresponding to driving of a multi-degree-of-freedom robot joint assembly in a robot arm according to a third embodiment of the present invention; And
13 is a view showing a combination of a terminal-guided rotary robot joint assembly and a multi-degree-of-freedom robot joint assembly in a robot arm according to a third embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In describing the present embodiment, the same designations and the same reference numerals are used for the same components, and further description thereof will be omitted.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram showing a principle of a basic strength and stiffness amplification structure for implementing the present invention. Fig.

1, a structure for amplifying strength and rigidity for realizing the present invention includes an actuator 10, an output unit 20, and an actuator 20 connected to the actuator 10 and the output unit 20 And a wire (30).

Particularly, the output unit 20 includes a stationary pulley 22 in a fixed state and a moving pulley 24 moving according to the linear movement of the wire 30 by driving the actuator 10, Is wound on the fixed pulley 22 and the moving pulley 24 a plurality of times.

The tensile force T of the actuator and the rigidity K of the wire 30 are set so as to be equal to or less than the number of times the wire 30 moves between the fixed pulley 22 and the moving pulley 24, Is amplified to T _out and K _out as shown in the following equation.

T _out = nT

K _out = n²K

As shown in the above equation, the tension is amplified in proportion to n, and the stiffness is amplified in proportion to the square of n. Since high rigidity is an essential element for precise control, it is an important feature that compensates for the decrease in rigidity when the wire 30 is used, and the amplification of the tension has an advantage of increasing the maximum load.

In the case of the present invention, the robotic joint assembly is implemented using the above-described strength and stiffness amplification structure, and the following description will be given.

FIG. 2 is a view showing a terminal-guided rotary robot joint assembly 100 in a robot arm according to a first embodiment of the present invention. FIG. 3 is a perspective view of a robot arm according to the first embodiment of the present invention, And the rotary robot joint assembly 100 is rotated.

As shown in FIGS. 2 and 3, the robot arm according to the first embodiment of the present invention includes a terminal-guided rotary robot joint assembly 100. The terminal-guided rotary robot joint assembly 100 includes a fixing member 120, a rotary member 130, a first pulley 140, a second pulley 150, a first wire portion 160a, A second wire portion 160b, and a driving portion.

Specifically, the fixing member 120 is formed so as to have a first curved surface portion formed with an arc at least a part of its periphery, and at least a part of the circumferential portion of the rotating member 130 is formed as a circular arc contacted with the first curved surface portion Two curved portions, and is rotated along the first curved portion.

In the present embodiment, the fixing member 120 and the rotary member 130 are formed in a circular shape as a whole, but only a part of the entire circumference may be formed as an arc. The second curved surface portion of the rotating member 130 may be moved in a rolling manner in contact with the first curved surface portion of the fixing member 120.

At least one pair of the first pulleys 140 is provided, and the first pulleys 140 and the second pulleys 140 are provided on the eccentric side of the fixing member and the rotating member, respectively, with respect to the center point of the first curved portion and the second curved portion. At least one pair of the second pulleys 150 is also provided on the eccentric side of the fixing member and the rotary member with respect to the center point of the first curved portion and the second curved portion.

In the present embodiment, the first pulley 140 is positioned above the center of the fixing member 120 and the moving member 130 with reference to the drawing, and the second pulley 150 is positioned on the upper side of the fixing member 120 and the moving member 130, (120) and the movable member (130).

The first wire portion 160a is wound on the pair of first pulleys 140a and 140b a predetermined number of times and one side of the first wire portion 160a extends to the rear of the fixing member 120. [ The second wire portion 160b is wound on the pair of second pulleys 150a and 150b a predetermined number of times and one side extends to the rear side of the fixing member 120. [

The driving unit is disposed behind the fixing member 120 and linearly moves the first wire portion 160a and the second wire portion 160b in opposite directions to rotate the rotating member 130 And a first actuator (not shown).

Hereinafter, the term "rear" refers to a traveling direction from the rotary member 130 to the fixed member 120 side, and the forward direction refers to a traveling direction from the stationary member 120 to the rotary member 130 side.

The first wire portion 160a and the second wire portion 160b are integrally formed to form one circulating wire 160. The first wire portion 160a and the second wire portion 160b are wound around the circulation member 110 Respectively. The circulation member 110 is a component that circulates the circulation wire 110 as it is rotated in one direction or the other direction by the first actuator.

That is, in this embodiment, the circulating wire 160 is wound on the pair of first pulleys 140a and 140b and the second pulleys 150a and 150b on both sides in a state of being wound on the circulation member 110, .

3, when the circulation member 110 is rotated in one direction, the length of the first wire portion 160a is shortened and the first pulley 140b provided on the rotation member 130 is fixed to the fixing member 120 to the first pulley 140a. The second wire portion 160a has a longer length and the second pulley 150b provided on the rotating member 130 moves away from the second pulley 150a provided on the fixing member 120. [

Accordingly, the rotary member 130 rotates and rotates around the fixing member 120, and the terminal-induced rotational motion of the joint can be realized.

Also, when the circulation member 110 is rotated in the other direction, the rotation member 130 will move in the opposite direction to the above-described driving.

The terminal-guided rotary-type robot joint assembly 100 of the present invention has a merit that the linear motion can be changed to the rotary motion by a simple structure compared with the conventional one, and the rigidity and the strength can be sufficiently provided.

In the present embodiment, a pair of rotations (not shown) are provided on the circumference of the rotary member 130 and the fixing member 120 so as to move along the correct path when the rotary member 130 and the fixing member 120 relatively rotate And auxiliary members 125a and 125b may be provided. Since the relative rotation directions of the rotating member 130 and the fixing member 120 are opposite to each other, the pair of rotation assistants 125a and 125b are rotated in the direction of rotation of the rotating member 130 and the fixing member 120, It has a crossed state with respect to the contact point.

That is, the first rotation assist member 125a extends to cover the upper side of the fixing member 120 and extends to the lower side of the rotary member 130 at a contact point of the rotary member 130 and the fixing member 120, The second rotation assist member 125b extends to cover the lower side of the fixing member 120 and extends from the contact point of the rotation member 130 and the fixing member 120 to the upper side of the rotation member 130. [

At this time, the rotation assist members 125a and 125b may be formed in a wire form, but may be implemented in various forms such as a belt.

FIG. 4 is a graph showing the relationship between changes in the lengths of the first wire portion and the second wire portion due to the rotation of the rotary member 130 in the terminal-guided rotary robot joint assembly 100 of the robot arm according to the first embodiment of the present invention. Fig.

The distance between the first pulley and the second pulley corresponding to each other is W and the diameter of the rotating member 130 and the fixing member 120 is denoted by W and the rotating member 130 is rotated by? The length L ₁ of the first wire portion wound on the pair of first pulleys and the length L ₂ of the second wire portion wound on the pair of second pulleys satisfy the following relational expression do.

As can be seen from the above expression, since the first wire portion and the second wire portion move symmetrically with respect to each other, movement of the first wire portion and the second wire portion can be controlled using only one actuator.

Therefore, in the above-described embodiment, the first wire portion and the second wire portion are formed of one circulating wire, and the circulating wire is driven by only the rotation of the circulating member by the first actuator.

Hereinafter, embodiments in which the present invention is more specifically described will be described.

FIG. 5 is a view showing a terminal-guided rotary robot joint assembly 100 in a robot arm according to a second embodiment of the present invention, FIG. 6 is a perspective view of a robot arm according to a second embodiment of the present invention, And the rotary robot joint assembly 100 is rotated by 90 degrees. And FIG. 7 is a view showing a state in which the terminal-guided rotary robot joint assembly 100 is rotated 180 ° in the robot arm according to the second embodiment of the present invention.

In the case of the second embodiment of the present invention shown in FIGS. 5 to 7, as in the first embodiment described above, the fixing member 120, the rotary member 130, the first pulley 140, A first wire portion 160a, a second wire portion 160b, and a driver. The fixing member 120 is connected to the first arm 102 and the rotation member 130 is connected to the second arm 104.

However, unlike the first embodiment, the fixing member 120 and the rotary member 130 do not have a completely circular shape, only a part of the fixing member 120 and the fixing member 120 are formed as a circular arc, 122, and the rotating member 130 has a second curved surface portion 132. Therefore, the rotary member 130 can be rotated by the length of the first curved surface portion 122 and the second curved surface portion 132, and joint movements corresponding to a human's elbow can be realized by using the same .

In this embodiment, the terminal-guided rotary robot joint assembly 100 includes a first pulley 140a of the driving unit and the fixing member 120, and a second pulley 150a of the driving unit and the fixing member 120, And an auxiliary pulley 170a provided between the first wire portion 160a and the second wire portion 160b to change the extending direction of the first wire portion 160a and the second wire portion 160b.

When the auxiliary pulley 170a is not provided, the first wire portion 160a and the second wire portion 160b are connected to the first pulley (not shown) as the rotary member 130 is rotated as shown in FIGS. 6 and 7, 140a and the second pulley 150a. Therefore, in order to prevent the first wire portion 160a and the second wire portion 160b from being affected by the rotation of the rotary member 130 in the present embodiment, the first wire portion 160a and the second wire portion 160b The auxiliary pulley 170a is further provided to change the extending direction of the wire portion 160b.

8 is a detailed view showing the auxiliary pulley 170a in the terminal-guided rotary robot joint assembly 100 of the robot arm according to the second embodiment of the present invention.

8, in this embodiment, the auxiliary pulley 170a is rotatable with respect to the rotary shaft 171, and a plurality of wire receiving grooves 172 are formed in parallel.

Therefore, in the present embodiment, the first wire portion 160a and the second wire portion 160b can be simultaneously wound with only one auxiliary pulley 170a, thereby further simplifying the structure. In other words, in the present embodiment, the auxiliary pulley 170a may include a plurality of pulleys provided with one wire receiving groove 172, and may be connected to each other in the lateral direction.

9 is a detailed view showing a state where another wire is connected to the auxiliary pulley 170a and the connection pulleys 170b, 170c and 170d in the terminal-guided rotary robot joint assembly of the robot arm according to the second embodiment of the present invention .

As shown in FIG. 9, in the present embodiment, it is provided to the fixing member 120 and the rotary member 130 and extends from the driving unit to another robot joint assembly provided in front of the rotary member 130 A plurality of connection pulleys 170b, 170c, and 170d that change the extension direction of the other wire portion 165 so that the other wire portion 165 does not interfere with the relative rotation of the fixing member 120 and the rotation member 130, .

The robot arm of the present embodiment may include a plurality of joints. In this case, the other wire portion extending from the drive portion to the joint positioned at the front will be passed through the joint located at the rear. Therefore, in this embodiment, the connecting pulleys 170b, 170c, and 170d are provided to prevent the other wires from interfering with the joints located at the rear.

Specifically, in the present embodiment, the auxiliary pulley 170a serves as a first connection pulley, and the second connection pulley 170b is provided at a center point of the first curved surface portion of the fixing member 120. [ The third connection pulley 170c is provided at the center point of the second curved surface portion of the rotary member 130 and the fourth connection pulley 170d is provided at the front of the third connection pulley 170c.

At this time, the first wire portion 165a and the second wire portion 165b are connected to each other so as to intersect with each other between the adjacent connection pulleys 170a to 170b, and thereby, the terminal-driven rotary robot joint assembly 100 So that the driving force can be transmitted to the other robot joint assembly without being interfered with at all.

The terminal-guided rotary robot joint assembly 100 according to the present invention has been described above, and the multi-directional rotary robot joint assembly will be described below.

10 is a view showing a concept of a multi-degree-of-freedom robot joint assembly in a robot arm according to a third embodiment of the present invention.

The terminal-guided rotary robot joint assembly described above has one degree of freedom, but it is not easy to realize a joint having a high degree of freedom such as a wrist or a shoulder by such a structure. Although it is possible to connect a plurality of terminal-guided rotary robot joint assemblies to each other, the structure becomes complicated and the volume and weight increase.

Therefore, in the case of the present invention, a multi-degree-of-freedom robot joint assembly as shown in FIG. 10 is proposed. As shown in the figure, the multi-degree of freedom robot joint assembly according to the present invention is formed such that the illustrated third arm 106 and the fourth arm 108 have hemispherical surfaces 107 and 109, do. In this state, four terminal-guided rotary robot joint assemblies 100 are provided around the hemispherical surfaces 107 and 109 so as to be symmetrically opposite to each other.

Thus, the two hemispherical surfaces 107, 109 are caused to roll together, and the four terminal-guided rotary robot joint assemblies 100 support the structure while simultaneously supporting the terminal-guided rotary robot joint assemblies 100 To form a single degree of freedom.

However, when the degree of freedom is realized by the hemispherical surfaces 107 and 109 as described above, there is a problem that it is difficult for the contact point to withstand the torsion load. Therefore, in the present invention, the rolling motion of the hemispherical surfaces 107 and 109 is reproduced by another method, and the description will be given below.

FIG. 11 is a view showing a robot arm according to a third embodiment of the present invention, in which a multi-degree of freedom robot joint assembly 200 is implemented. FIG. 12 is a view showing a robot arm according to a third embodiment of the present invention. Is a view showing the rolling motion of the hemispherical surface corresponding to the driving of the multi-degree of freedom robot joint assembly.

11 and 12, the multi-degree of freedom robot joint assembly 200 according to the present embodiment includes a first bevel gear 210, a second bevel gear 220, a third bevel gear 230 A fourth bevel gear 240, a third wire part 250, and a fourth wire part.

The first bevel gear 210 and the second bevel gear 220 are connected to each other by the connection portions 206 and 208 and are spaced apart from each other. The rotation axis of the first bevel gear 210 and the rotation axis of the second bevel gear 220 are horizontally aligned with each other.

The third bevel gear 230 has a pair of teeth and has a rotation axis perpendicular to the rotation axis of the first bevel gear 210 and is engaged with one side and the other side of the first bevel gear 210, .

The fourth bevel gear 240 is also paired and has a rotation axis perpendicular to the rotation axis of the second bevel gear 220 and is engaged with one side and the other side of the second bevel gear 220, .

The third wire portion 250 is wound on the third bevel gear 230 and the fourth bevel gear 240 corresponding to each other and the third bevel gear 230 and the fourth bevel gear 240 are wound, Gears 240 are formed.

The third bevel gears 230a and 230b are also rotated in one direction (R ₃ ) when the first bevel gear 210 rotates in one direction (R ₁ ) by the wire unit 250 and the fourth bevel gear (240a, 240b) it is rotated in the other direction (-R _4), the second bevel gear 220 will rotate in the other direction (-R _2). The equation is expressed as follows.

R ₁ = -R ₂

R ₃ = -R ₄

That is, when the first bevel gear 210 rotates in one direction, the second bevel gear 220 rotates in the other direction, and the connecting portion 208 and the fourth arm connected thereto are twisted along the second bevel gear 220 So that the rolling motion between the hemispherical surfaces 107 and 109 can be reproduced.

Meanwhile, in the present embodiment, a fourth wire portion wound on the first bevel gear 210 and having one side extending toward the driving portion may be further provided, and the driving portion may linearly move the fourth wire portion, And a second actuator that rotates the actuator 210.

Also, although not shown, the multi-degree of freedom robot joint assembly 200 includes a pair of third bevel gears 230 and a fourth bevel gear 240, A first frame rotatably supporting the fourth bevel gear 240 and a second frame rotatably supporting the third bevel gear 230 and the fourth bevel gear 240 on the other side .

The first frame and the second frame are disposed on opposite sides to stably support one third bevel gear 230 and the fourth bevel gear 240, respectively, so that the stiffness of the structure can be further increased .

And a third frame supporting a space between the first frame and the second frame, between the first frame and the second frame. As such, when the third frame is further provided, it can be formed in a more rigid structure.

FIG. 13 is a view showing a combination of a terminal-guided rotary robot joint assembly 100 and a multi-degree-of-freedom robot joint assembly 200 in a robot arm according to a third embodiment of the present invention, The joint of the cancer can finally be realized as follows.

As shown in FIG. 13, a plurality of terminal-guided rotary robot joint assemblies 100 are provided between the third arm 106 and the fourth section 108 to form a receiving space S inside, And are provided at positions symmetrical to each other. At the center of the accommodation space S, there is provided a multi-degree of freedom robot joint assembly 200 instead of the hemispherical surface.

Accordingly, the rolling motion of the two hemispherical surfaces is realized by the multi-degree of freedom robot joint assembly 200, and the four terminal-guided rotary robot joint assemblies 100 support the structure, while the terminal- Together with the robot joint assembly 100, a total of two degrees of freedom.

In this embodiment, a total of four terminal-guided rotary robot joint assemblies 100 are provided. Alternatively, a larger number of the terminal guided rotary robot joint assemblies 100 may be provided.

It will be apparent to those skilled in the art that the present invention can be embodied in other specific forms without departing from the spirit or scope of the invention as defined in the appended claims. It is obvious to them. Therefore, the above-described embodiments are to be considered as illustrative rather than restrictive, and the present invention is not limited to the above description, but may be modified within the scope of the appended claims and equivalents thereof.

100: Terminal-guided rotary robot joint assembly
110: circulation member 120: fixing member
122: first curved surface portion 130: rotating member
132: second curved portion 140: first pulley
150: second pulley 160a: first wire portion
160b: second wire portion 170a: auxiliary pulley
200: Multi-degree-of-freedom robot joint assembly
210: first bevel gear 220: second bevel gear
230: third bevel gear 240: fourth bevel gear
250: third wire portion

Claims (7)

A fixing member having a first curved surface portion at least a part of which is formed as an arc;
A rotary member having a second curved surface portion formed by an arc that at least a portion of the circumference is in contact with the first curved surface portion, and is rotated along the first curved surface portion;
A first pulley provided on at least one pair of the eccentric side of the fixing member and the eccentric side of the rotary member with respect to the arc center point of the first curved surface portion and the arc center point of the second curved surface portion;
A second pulley provided on at least one pair of the other of the eccentric side of the fixing member and the eccentric side of the rotating member with respect to the center point of the circular arc of the first curved surface portion and the circular arc center of the second curved surface portion;
A first wire portion wound on the pair of first pulleys a predetermined number of times and having one side extended to the rear of the fixing member;
A second wire portion wound on the pair of second pulleys a predetermined number of times and having one side extended to the rear of the fixing member;
A driving unit disposed at a rear side of the fixing member and including a first actuator that linearly moves the first wire unit and the second wire unit in opposite directions to rotate the rotating member; And
A rotation assistance member provided to surround the periphery of the fixing member and the rotation member to cross the contact between the first curved surface portion and the second curved surface portion and to induce rolling motion between the fixing member and the rotation member;
And a terminal-guided rotary robot joint assembly including the terminal-guided rotary robot joint assembly. The method according to claim 1,
The terminal-guided rotary robot joint assembly includes:
Further comprising an auxiliary pulley which is provided between the driving unit and the first pulley of the fixing member and between the driving unit and the second pulley of the fixing member to change the extending direction of the first wire unit and the second wire unit, . delete The method according to claim 1,
The terminal-guided rotary robot joint assembly includes:
And a second wire extending from the driving unit to another robot joint assembly provided in front of the rotary member so as not to interfere with the relative rotation of the fixing member and the rotary member, The robot arm further comprising a plurality of connection pulleys for changing the direction. The method according to claim 1,
Wherein the first wire portion and the second wire portion are integrally formed to form one circulating wire,
The driving unit includes:
And a circulation member for circulating the circulating wire as the circulating wire is wound and rotated in one direction or the other direction by the first actuator. The method according to claim 1,
Wherein the terminal-guided rotary robot joint assembly is formed in such a manner that a plurality of the terminal-guided rotary robot joint assemblies surround the accommodation space to form a housing space inside,
Further comprising a multi-degree-of-freedom robot joint assembly provided in the accommodating space to realize hemispherical movement in point contact with each other. The method according to claim 6,
The multi-degree of freedom robot joint assembly includes:
A first bevel gear;
A second bevel gear spaced from the first bevel gear and having a rotation axis horizontal to the rotation axis of the first bevel gear;
A pair of third bevel gears each having a rotation axis perpendicular to the rotation axis of the first bevel gear and engaged with one side and the other side of the first bevel gear, respectively;
A pair of fourth bevel gears each having a rotation axis perpendicular to a rotation axis of the second bevel gear and engaged with one side and the other side of the second bevel gear and rotated;
A pair of third wire portions wound around the third bevel gear and the fourth bevel gear corresponding to each other and crossing between the third bevel gear and the fourth bevel gear; And
A fourth wire portion wound around the first bevel gear and having one side extended toward the driving portion;
/ RTI >
The driving unit includes:
And a second actuator that linearly moves the fourth wire portion to rotate the first bevel gear.

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