KR102023906B1 - Arm unit and robot having the same - Google Patents

Arm unit and robot having the same Download PDF

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Publication number
KR102023906B1
KR102023906B1 KR1020120131721A KR20120131721A KR102023906B1 KR 102023906 B1 KR102023906 B1 KR 102023906B1 KR 1020120131721 A KR1020120131721 A KR 1020120131721A KR 20120131721 A KR20120131721 A KR 20120131721A KR 102023906 B1 KR102023906 B1 KR 102023906B1
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South Korea
Prior art keywords
link
pair
links
wires
contact
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KR1020120131721A
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Korean (ko)
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KR20130132233A (en
Inventor
김용재
김상배
첸 샨바오
인옘마 칼
Original Assignee
삼성전자주식회사
매사추세츠 인스티튜트 오브 테크놀로지
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Application filed by 삼성전자주식회사, 매사추세츠 인스티튜트 오브 테크놀로지 filed Critical 삼성전자주식회사
Priority to CN201310183103.1A priority Critical patent/CN103417298B/en
Priority to JP2013107170A priority patent/JP6356390B2/en
Priority to US13/898,888 priority patent/US9981392B2/en
Priority to EP13169235.2A priority patent/EP2666434B1/en
Publication of KR20130132233A publication Critical patent/KR20130132233A/en
Application granted granted Critical
Publication of KR102023906B1 publication Critical patent/KR102023906B1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Disclosed are an arm unit having an improved structure for easily changing the rigidity and a robot including the same.
The robot includes an arm unit and a driving unit for driving the arm unit, wherein the arm unit includes a plurality of links rolling contact with each other to at least two regions, and a plurality of links through the plurality of links. Of the wire.

Description

ARM UNIT AND ROBOT HAVING THE SAME}

It relates to an arm unit and a robot including the same.

Minimally invasive surgery is a general operation that minimizes the size of the affected area, and a typical example is laparoscopy. Minimally invasive surgery, unlike the previous surgery, does not open the abdomen and open the abdomen. Instead, it makes several small incisions and fills the gas to create a surgical space. Then, the laparoscope and the actuator are made through the incision. Put a (Manipulator) to watch the image to operate with a surgical actuator.

Laparoscopic surgery, unlike open surgery, has the advantages of less pain after surgery, shorter hospital stays, faster return to normal conditions, and a smaller incision range. However, there is a disadvantage that the surgical actuator must be moved only through the surgical actuator and the incision which are difficult to adjust.

In order to make up for the shortcomings of laparoscopic surgery, natural orifice surgery is performed by inserting a surgical actuator through a natural opening such as mouth and anus without forming single incision or single incision. Translumenal Endoscopic Surgery (Notes) has been actively studied recently.

In order to perform such a single port operation or a natural opening operation smoothly, the arm of the surgical actuator needs to be flexible to pass along the internal or organ of the curved patient, and at the same time, it is rigid to withstand the load applied to the surgical site. Should have

Disclosed is an arm unit having an improved structure so that the rigidity can be easily changed according to a situation, and a robot including the same.

According to an aspect of the inventive concept, a robot includes an arm unit and a driving unit for driving the arm unit, wherein the arm unit includes a plurality of rolling contacts with at least two regions. A link; and a plurality of wires connecting through the plurality of links.

The plurality of links may be arranged in a line, and at least two of the plurality of links may be in cloud contact with another link adjacent to each other.

At least one of the plurality of links includes a body having a hollow shape at a central portion thereof, and a plurality of first cloud contact portions formed by bending the body in a first direction toward another link adjacent to the at least one link. It may include.

The body may include a plurality of second cloud contact parts formed by bending the body in a second direction opposite to the first direction.

The plurality of first cloud contact portions may be provided as a pair disposed at positions rotated by 180 ° with respect to a center line penetrating the center of the body in a direction in which the body extends.

The plurality of second cloud contact portions may be provided as a pair disposed at positions rotated by 180 ° with respect to a center line penetrating the center of the body in a direction in which the body extends.

The first cloud contact portion may be disposed at a position rotated 90 ° with the second cloud contact portion with respect to a center line passing through the center of the body in a direction in which the body extends.

The first cloud contact portion may include a cloud contact surface in cloud contact with another neighboring link.

At least a portion of the rolling contact surface may be part of a circle having a constant curvature.

The plurality of links may include a first link and an upper or lower portion of the first link at a position rotated by 90 ° with the first link with respect to a center line passing through the center of the link in a direction in which the body extends. It may include a second link in cloud contact.

The non-slip member may be further disposed between the first link and the second link to prevent slippage between the first link and the second link.

One surface of the non-slip member may contact a portion of the first link, and the other surface may contact a portion of the second link.

The first surface of the first link facing the second link and the second surface of the second link in contact with the first surface prevent slip between the first link and the second link, respectively. The first tooth portion and the second tooth portion may be provided to engage each other.

The first tooth portion is formed on the first surface along the circumferential direction of the first link having a central portion thereof in a hollow shape, and the second tooth portion of the second link portion has a hollow portion in its central portion. It may be formed on the second surface along the circumferential direction.

Heights of the first cloud contact portions may be different from each other.

The plurality of links may include a first link in which the upper surface and the lower surface of the plurality of clouds contact the neighboring links, and one of the upper surface and the lower surface is in cloud contact with another neighboring link, and the other surface is neighboring. The second link may be in surface contact so as not to rotate relative to each other, and the third link may be in surface contact so that the upper and lower surfaces thereof may not rotate relative to each other.

The second link may be disposed between the first link and the third link.

The third link may be arranged such that at least two of the third links are adjacent to each other to form a rigid body in the process of driving the arm unit.

The plurality of wires may include a pair of first wires penetrating the first cloud contact portion in a direction in which the plurality of links are arranged, and a pair penetrating the second cloud contact portions in a direction in which the plurality of links are arranged. It may include a second wire of.

In the process of driving the arm unit, the length in which one of the pair of first wires is extended may be different from the length in which the other is reduced (non-symmetric).

The tension applied to the first wire and the second wire and the stiffness of the arm unit may be proportional to each other.

The drive unit may include at least one pulley for changing a path of the first wire and the second wire, and the first wire and the second wire to adjust the tension applied to the first wire and the second wire. It may include a drive plate connected with the wire.

In addition, the robot according to another aspect of the technical idea is a robot including a arm unit including a plurality of links, and a drive unit for driving the arm unit, the link, the center of the hollow hollow shape; And at least one convex portion protruding in the longitudinal direction of the body from at least one of the upper and lower surfaces of the body to make a cloud contact with another link adjacent to the link.

The link may include at least one concave connected to the convex portion, and the concave portion may form a rotation space such that the link and another link neighboring the link may rotate relative to the convex portion.

The convex portions may be provided as a pair disposed at positions facing each other with respect to the virtual first divided surface including a center line penetrating through the center of the body.

The recesses may be provided as a pair disposed at positions facing each other with respect to the virtual second divided surface orthogonal to the first divided surface.

The convex portion includes a cloud contact surface in cloud contact with another neighboring link, and at least a portion of the cloud contact surface may be part of a circle having a constant curvature.

The plurality of links may have a first link and the same shape as the first link, and include a second link and a third link adjacent to an upper surface and a lower surface of the first link, wherein the first link includes: A body having a hollow central shape, a portion of the upper surface of the body protruding in the longitudinal direction of the body, and a pair of first convex portions in contact with the second link, and a portion of the lower surface of the body; The section protrudes in a direction opposite to the direction in which the first convex portion protrudes, and includes a pair of second convex portions in cloud contact with the third link, wherein the second convex portion extends along the direction in which the body extends. The first convex portion may be rotated by 90 ° with respect to the center line passing through the center of the body.

The second link, as long as the central portion of the hollow body, and a portion of the upper surface of the body protruding in the longitudinal direction of the body in contact with the other link adjacent to the upper surface of the second link in the cloud A third convex portion of the pair, and a portion of the lower surface of the body includes a pair of fourth convex portions protruding in a direction opposite to the direction in which the first convex portion protrudes, and in contact with the first link; The pair of fourth convex portions may be in cloud contact with the pair of first convex portions, respectively.

And a non-slip member positioned between the first link and the second link to prevent slippage between the first link and the second link, wherein one surface of the non-slip member is the first convex portion. And the other surface may contact the fourth convex portion.

The first convex portion and the fourth convex portion may be engaged with at least a portion of the first convex portion and at least a portion of the fourth convex portion to prevent slipping between the first link and the second link. It may include teeth.

Protruding length of the pair of convex portions may be different from each other.

The rigidity of the arm unit composed of a plurality of links may be adjusted by adjusting a tension of a wire connecting the plurality of links.

1 is a view showing an arm unit and a drive unit according to an embodiment.
FIG. 2 is a view showing links forming the arm unit of FIG. 1. FIG.
FIG. 3 is a view illustrating moisturizing viewed from another angle of FIG. 2. FIG.
4 is a side view of FIG. 2;
5A and 5B illustrate a tilt motion and a pan motion of an arm unit according to one embodiment.
6A, 6B, 6C, 7A, and 7B are views for explaining the relationship between the tension applied to the wire and the rigidity of the arm unit.
8A, 8B, and 8C are views illustrating a non-slip member inserted between links constituting an arm unit according to an exemplary embodiment.
9A, 9B and 9C illustrate arm units according to another embodiment.
10A, 10B and 10C show arm units according to yet another embodiment.
11A, 11B, and 11C illustrate arm units according to yet another embodiment.

Hereinafter, exemplary embodiments will be described in detail with reference to the accompanying drawings.

1 is a view showing an arm unit and a drive unit according to an embodiment.

As shown in FIG. 1, the robot 1 includes an arm unit 10 and a driving unit 50 for driving the arm unit 10.

The arm unit 10 has links 110 arranged in a row and rolling contacts with each other, and wires 181a, 181b, 182a, and 182b connecting through the links 110. Include.

The wires 181a, 181b, 182a, and 182b are provided with a pair of first wires 181a and 181b disposed opposite to each other to implement the tilt motion of the arm unit 10 and the fan motion of the arm unit 10. It includes a pair of second wires 182a, 182b disposed opposite to implement.

The driving unit 50 may adjust the tension applied to the at least one pulley 52 and the wires 181a, 181b, 182a, and 182b that change the path of the wires 181a, 181b, 182a, and 182b. A driving plate 54 connected to the wires 181a, 181b, 182a, and 182b and a driving motor (not shown) for driving the driving plate 54 are included.

The driving plate 54 may be provided in an arc shape so that the wires 181a, 181b, 182a, and 182b may be wound and connected to the first wires 181a and 181b related to the tilt motion of the arm unit 10. And the first drive plate 54a for adjusting the tension of the first wires 181a and 181b, and the second wires 182a and 182b associated with the fan motion of the arm unit 10 to connect the second wires 182a. And a second drive plate 54b for adjusting the tension of 182b.

The first drive plate 54a and the second drive plate 54b are driven and rotated separately, respectively, so that the first wires 181a and 181b and the second wires to implement the tilt motion and the pan motion of the arm unit 10 are rotated. The tension of 182a and 182b can be adjusted.

FIG. 2 is a view illustrating links constituting the arm unit of FIG. 1, FIG. 3 is a view illustrating moisturizing viewed from different angles of FIG. 2, FIG. 4 is a side view of FIG. 2, and FIGS. 5A and 5B are FIG. 1 is a diagram illustrating a tilt motion and a pan motion of an arm unit, according to an exemplary embodiment.

As shown in FIGS. 2 to 5B, the link 110 has a first direction toward a body 112 having a hollow central shape and another link 110 disposed adjacent to an upper portion of the link 110. A pair of first cloud contact portions 114a and 114b formed by bending the body 112, and a pair of second cloud contact portions 116a formed by bending the body 112 in a direction opposite to the first direction. 116b).

Some sections of the upper surface of the body 112 protrude in the longitudinal direction of the body 112 so that the first cloud contact portions 114a and 114b may contact other links 110 adjacent to the upper portion thereof, and the second cloud The contact portions 116a and 116b may be in a direction opposite to the direction in which the first cloud contact portions 114a and 114b protrude from a portion of the lower surface of the body 112 so as to be in contact with another link 110 adjacent to the lower portion thereof. Since the protrusions are formed, the first cloud contact portions 114a and 114b and the second cloud contact portions 116a and 116b may be viewed as the first protrusions 114a and 114b and the second protrusions 116a and 116b, respectively.

The pair of first cloud contacts 114a and 114b and the pair of second cloud contacts 116a and 116b each have a center line Lc passing through the center of the body 112 along the direction in which the body 112 extends. The pair of first cloud contacts 114a and 114b are disposed at positions rotated by 180 ° with respect to each other, and the pair of first cloud contacts 114a and 114b are along the circumferential direction of the body 112 with respect to the center line Lc. And are rotated 90 ° each.

First concave portions 115a and 115b connected to the first cloud contact portions 114a and 114b are formed on the upper surface of the body 112 where the first cloud contact portions 114a and 114b are formed, and the second cloud contact portion 116a is provided. 2nd recessed parts 117a and 117b connected to the 2nd cloud contact parts 116a and 116b are formed in the lower surface of the body 112 in which 116b is formed. The first recesses 115a and 115b are disposed at positions rotated by 90 ° with the first cloud contact portions 114a and 114b in the circumferential direction of the body 112 with respect to the center line Lc, respectively. 117a and 117b are disposed at positions rotated by 90 ° with the second cloud contact portions 116a and 116b along the circumferential direction of the body 112 with respect to the center line Lc. The first cloud contact portions 114a and 114b are disposed at positions symmetrical with respect to the imaginary first divided surface F1 including the center line Lc, and the first recesses 115a and 115b are the centerline Lc. ) Is disposed at positions symmetrical with respect to the virtual second divided surface F2 orthogonal to the first divided surface F1.

The pair of first cloud contacts 114a and 114b and the pair of second cloud contacts 116a and 116b include the first wires 181a and 181b and the second wires 182a and 182 for implementing tilt and pan motion. First through holes 121a and 121b and second through holes 122a and 122b through which 182b passes.

Each individual link 110 is sequentially coupled with the other individual links 110 adjacent to each other in a state rotated by 90 ° with respect to the center line Lc to constitute the arm unit 10. Therefore, as shown in FIG. 1, each of the first wires 181a and 181b and the second wires 182a and 182b may be formed by the first through holes 121a and 121b of the link 110 and the neighboring links 110. It penetrates through the 2nd through-holes 122a and 122b.

At least a portion of the first cloud contacts 114a and 114b and the pair of second cloud contacts 116a and 116b may be predetermined as shown in FIG. 4 so that neighboring individual links 110 can rotate relative to each other. It may include a portion of the circle (C) having a curvature of.

In a state where no force is applied to the wires 181a, 181b, 182a, and 182b, the first cloud contact portions 114a and 114b formed on the upper surface of the body 112 of any one individual link 110 are disposed on the upper portion thereof. Cloud contact with the second cloud contact portion (116a, 116b) formed on the lower surface of the body 112 of the other individual link 110 is disposed, is formed on the lower surface of the body 112 of any one individual link (110) The second cloud contacts 116a and 116b respectively make a cloud contact with the first cloud contacts 114a and 114b formed on the upper surface of the body 112 of the other individual link 110 disposed thereunder.

In addition, the first concave portions 115a and 115b connected to the first cloud contacts 114a and 114b of any one individual link 110 may have a second cloud contact portion of the other individual link 110 disposed thereon. It is disposed so as to face each other with the second recess 117a, 117b connected to 116a, 116b to form a rotation space (S1, S2) to enable relative rotation between the adjacent adjacent link 110, any one The second concave portions 117a and 117b connected to the second cloud contacts 116a and 116b of the individual link 110 are connected to the first cloud contacts 114a and 114b of the other individual links 110 disposed thereunder. The first recesses 115a and 115b are connected to face each other to form the rotation spaces S1 and S2.

As shown in FIG. 5A, when the tension of the first wires 181a and 181b is adjusted, the second cloud contact portions 116a and 116b formed on the lower surface of the body 112 of any one individual link 110 may be formed. In addition, relative rotation between the first cloud contact portions 114a and 114b formed on the upper surface of the body 112 of the other individual link 110 disposed below the tilt motion is realized.

In addition, as shown in FIG. 5B, when the tension of the second wires 182a and 182b is adjusted, the first cloud contact portions 114a and 114b formed on the upper surface of the body 112 of any one individual link 110. ) And a relative rotation between the second cloud contact portions 116a and 116b formed on the lower surface of the body 112 of the other individual link 110 disposed thereon, thereby implementing pan motion.

As such, the length in which one of the first wires 181a and 181b extends while the arm unit 10 performs the tilt motion is different from the length in which the other decreases (Non-symmetric). In the process of performing the pan motion, the length in which one of the second wires 182a and 182b extends is different from the length in which the other wire decreases. Thus, the first wires 181a and 181b and the second wires 182a, The tension applied to 182b is in proportion to the stiffness of the arm unit 10 composed of the plurality of links 100.

6A, 6B, 7A, and 7B are views for explaining the relationship between the tension applied to the wire and the rigidity of the arm unit.

Here, 'n' represents the number of individual links 110, ' Φ p ' and ' Φ t ' represents the angle formed between neighboring individual links 110 in each of the pan and tilt motion, ' θ p ' And ' θ t ' refers to the angle formed by the individual links 110 positioned at the ends in the pan motion and the tilt motion, respectively, and 'L pl ' and 'L pr ' respectively connect the adjacent individual links 110. The length of a portion of the second wires 182a and 182b refers to the length of the second wires 182a and 182b, and the term d pl and d pr refer to the entire length of the second wires 182a and 182b.

Referring to FIGS. 6A and 6B, the lengths of the second wires 182a and 182b may be derived using the relationship between the above variables.

Figure 112012095576357-pat00001

At this time, the sum of 'd pl ( θ p , θ t )' and 'd pr ( θ p , θ t )' is not '0 (zero)'. That is, the absolute value of the length in which one of the second wires 182a and 182b is extended and the length in which the other one 182b is shortened are different from each other when the arm unit 10 performs the tilt motion or the pan motion. . The same applies to the first wires 181a and 181b.

As described above, in the process of the arm unit 10 performing the tilt motion or the pan motion, the first wire (181a, 181b) and the second wires 182a, 182b are non-symmetrical due to the non-symmetrical characteristics of the first wire ( The stiffness of the arm unit 10 may be changed by adjusting the tension of the 181a and 181b and the second wires 182a and 182b.

Referring to FIGS. 7A and 7B, the relationship between the tension T applied to the first wires 181a and 181b and the second wires 182a and 182b and the stiffness K of the arm unit 10 may be as follows. same.

Figure 112012095576357-pat00002

As shown in FIG. 7B, the virtual work concept is applied as follows.

Figure 112012095576357-pat00003

To sum up the above expressions,

Figure 112012095576357-pat00004

As can be seen from the above equation, the tension T applied to the first wires 181a and 181b and the second wires 182a and 182b and the stiffness K of the arm unit 10 are in proportion to each other. The stiffness of the arm unit 10 may be changed by adjusting the tension T of the first wires 181a and 181b and the second wires 182a and 182b.

Through this structure, while the cancer unit 10 moves to the surgical site along the inside or the organ of the curved patient to reduce the rigidity of the cancer unit 10 to have flexibility, to reach the surgical site to perform the surgery In the process of performing the arm unit 10 can be performed more efficiently by increasing the rigidity to withstand the load applied so as not to have flexibility.

8A to 8C are views illustrating a non-slip member inserted between links constituting an arm unit according to an exemplary embodiment.

As shown in FIGS. 8A to 8C, the non-slip member 150 may be positioned between the individual links 110 adjacent to each other to slip the slips that may occur during the rotation of the individual links 110. prevent.

The non-slip member 150 is a part of the lower surface and the lower surface of the body 112 of the individual link 110 so as to be in contact with all neighboring individual links 110 through one surface (150a) and the other surface (150b). Some are provided in a combined shape. The non-slip member 150 may be provided with a material different from the individual links 110, and in particular, may be provided with a rubber material or a plastic material effective for preventing slip.

9A to 9C are diagrams illustrating an arm unit according to another exemplary embodiment.

Except for the teeth 214 and 216 of the individual links 210 constituting the arm unit 20, the driving principle and the driving principle are the same as those of the individual links 110 constituting the arm unit 10, and thus description thereof is omitted. do.

As shown in FIGS. 9A to 9C, the individual links 210 of the arm unit 20 may include teeth for preventing slip that may occur in the process in which the individual links 210 rotate relative to each other. (214, 216) further.

The teeth 212 and 214 include a first tooth 214 formed on the upper surface of the body 212 of the link 210 to be bent, and a second tooth 216 formed on the lower surface.

The first tooth 214 and the second tooth 216 are formed along the circumferential direction of the top and bottom surfaces of the body 212, respectively.

The first tooth 214 formed in one individual link 210 of the plurality of links 210 and the other individual link 210 disposed above the one individual link 210. Since the second tooth portion 216 is meshed with each other, the sliding phenomenon is prevented in the course of the relative rotation of the adjacent individual links 110 in contact with the cloud.

10A to 10C are diagrams illustrating arm units according to yet another exemplary embodiment.

As shown in FIGS. 10A to 10C, the arm unit 30 according to another embodiment includes a first link 310, a second link 320, and a third link 330. The second link 320 is a link adjacent to the top surface 312a of the first link 310 in a cloud contact, the third link 330 is in surface contact adjacent to the top surface 322a of the second link 320. May be a link.

In the above description, the second link 320 and the third link 330 are described as neighboring the upper surface 312a of the first link 310 and the upper surface 322a of the second link 320, respectively. Obviously, the second link 320 and the third link 330 may be adjacent to the lower surface 312b of the first link 310 and the lower surface 322b of the second link 320, respectively.

Since the first link 310 is the same as the individual link 110 of the arm unit 10 described above, a detailed description thereof will be omitted.

The third link 330 is formed on the body 332 having a hollow central portion thereof, and is formed on the upper surface 332a and the lower surface 332b of the body 332 and adjacent to the second link 320 or the third link. And first flat portions 334a and 334b and second flat portions 336a and 336b in surface contact with 330.

The second link 320 is disposed between the first link 310 and the third link 330 to connect the first link 310 and the third link 330, the body of the hollow shape of the center ( 322, third flat portions 324a and 324b formed on the first surface 322a of the body 322, and third clouds formed on the second surface 322b opposite to the first surface 322a. Contacts 326a and 326b.

The third flat portions 324a and 324b are substantially the same as the shape of the first flat portions 334a and 334b or the second flat portions 336a and 336b formed in the third link 330 and the third cloud contact portion. 326a and 326b are substantially the same as the shape of the first cloud contact portions 314a and 314b or the second cloud contact portions 316a and 316b formed in the first link 310.

The first links 310 are arranged such that at least two or more are adjacent to each other to allow the arm unit 30 to take a tilt motion and a pan motion while being rotated relative to each other, and the third links 330 are at least two to each other. It is arranged to neighbor so that the arm unit 30 substantially forms a rigid body in the course of taking the tilt motion and the pan motion. As shown in FIG. 10C, when tension is applied to the wires 380a and 380b connecting the first links 310, the second links 320, and the third links 330, the third link. The 330 forms a rigid body to maintain the rigidity of the arm unit 30, and the first links 310 rotate relative to each other while the arm unit 30 takes a tilt motion and a pan motion. To help.

11A to 11C are diagrams illustrating an arm unit according to another exemplary embodiment.

As illustrated in FIGS. 11A to 11C, the arm unit 40 includes a first link 410 having upper and lower portions symmetrically formed from each other, and a second link having an upper and lower portions asymmetrically formed with each other. And 420.

Since the first link 410 is the same as the individual link 110 of the arm unit 10 described above, a detailed description thereof will be omitted.

The second link 420 includes a body 422 having a hollow central portion, fourth cloud contact portions 424a and 424b formed on the first surface 422a of the body 422, and a first surface 422a. Fifth cloud contact portions 426a and 426b formed on the second surface 422b opposite to the < RTI ID = 0.0 >

The body 422 is asymmetrical because one side of the body 422 extends in the direction in which the first link 410 or the second link 420 rotates while the arm unit 40 performs the tilt motion or the pan motion. It has a shape, and thus a height difference between the fourth cloud contact portions 424a and 424b occurs.

Since the first link 410 and the second link 420 are alternately disposed by rotating at an angle of 90 ° to each other, the initial shape of the arm unit 40 is inclined while being tilted or performing a pan motion. Therefore, the arm unit 40 can perform the tilt motion or the pan motion at a larger angle, thereby increasing the range in which the arm unit 40 can reach the surgical site or the like.

1: robot 10, 20, 30, 40: arm unit
50: drive unit 110, 210: link
310, 410: first link 320, 420: second link
330: third link

Claims (30)

An arm unit;
And a driving unit for driving a tilt motion and a pan motion of the arm unit.
The arm unit,
A plurality of links rolling contact each other to at least two regions; and
A plurality of wires connecting through the plurality of links;
Including,
The plurality of links,
A body having a hollow central shape, a plurality of first cloud contact portions formed by bending the body in a first direction toward a link adjacent to the link, and the body in a second direction opposite to the first direction Includes a plurality of second cloud contact portions formed by bending;
The plurality of wires,
And a pair of first wires penetrating the first cloud contact portion in a direction in which the plurality of links are arranged, and a pair of second wires penetrating the second cloud contact portion in a direction in which the plurality of links are arranged. ,
The drive unit,
At least one pulley for changing a path of the pair of first wires and the pair of second wires;
And a driving plate configured to adjust tension applied to the first wire and the second wire to adjust the rigidity of the arm unit, and to be connected to the pair of first wires and the pair of second wires,
The length of one of the pair of first wires extending between the plurality of links in the process of rotating the drive plate so that the tilt motion or the pan motion of the arm unit is driven is the other Is non-symmetric in length between multiple links,
The drive plate is provided in a circular arc shape so that the pair of the first wire and the pair of the second wire is wound, the mechanism is provided rotatably. The method of claim 1,
And the plurality of links are arranged in series, wherein each of at least two of the plurality of links is in cloud contact with each other of the adjacent links. The method of claim 1,
When the arm unit extends along the Z axis,
The tilt motion indicates a rotational movement about the Y axis of the arm unit,
The fan motion indicates a rotational movement about the X axis of the arm unit. delete delete The method of claim 1,
And the plurality of first cloud contacts are disposed in pairs, respectively, disposed at positions rotated by 180 ° with respect to a center line passing through the center of the body in a direction in which the body extends. The method of claim 6,
And a plurality of second cloud contact portions disposed in a position rotated by 180 ° with respect to a center line penetrating the center of the body in a direction in which the body extends. The method of claim 7, wherein
And the first cloud contact portion is disposed at a position rotated 90 ° with the second cloud contact portion with respect to a center line passing through the center of the body in a direction in which the body extends. The method of claim 1,
Wherein a portion of the first cloud contact is part of a circle having a constant curvature. The method of claim 2,
The plurality of links,
The first link,
Upper or lower portion of the first link at a position rotated 90 ° with the first link with respect to a point on the circle of the first link along a circumferential direction of a circle centering on a center line passing through the center of the link And a second link in cloud contact with the second link. The method of claim 10,
And a non-slip member positioned between the first link and the second link to prevent slipping between the first link and the second link. The method of claim 11,
One surface of the non-slip member in contact with a portion of the first link, the other surface in contact with a portion of the second link. The method of claim 10,
The first surface of the first link facing the second link and the second surface of the second link in contact with the first surface prevent slip between the first link and the second link, respectively. And a first tooth portion and a second tooth portion engaged with each other for the purpose of engagement. The method of claim 13,
The first tooth portion is formed on the first surface along the circumferential direction of the first link, the central portion of which is provided in a hollow shape,
And the second tooth portion is formed on the second surface along the circumferential direction of the second link having a central portion thereof in a hollow shape. The method of claim 1,
And the plurality of first cloud contacts have different heights. The method of claim 2,
The plurality of links,
A first link whose upper and lower surfaces are in cloud contact with other neighboring links,
A second link of one of the upper and lower surfaces in cloud contact with another neighboring link, and the other of the upper and lower surfaces in contact with another neighboring link;
And a third link having a top surface and a bottom surface in surface contact with another neighboring link. The method of claim 16,
The second link is disposed between the first link and the third link. The method of claim 17,
And the third link is arranged such that at least two or more are adjacent to each other to form a rigid body in the process of driving the arm unit. delete delete delete In a mechanism comprising a plurality of links and a arm unit comprising a plurality of wires connecting through the plurality of links, and a drive unit for driving the arm unit,
The link,
A body having a hollow central shape; and
At least one convex portion protruding in a longitudinal direction of the body from at least one of the upper and lower surfaces of the body to make a cloud contact with another link adjacent to the link;
At least one recessed portion connected to the convex portion;
Including,
The plurality of wires,
A pair of first wires penetrating the convex portion in a direction in which the plurality of links are arranged, and a pair of second wires penetrating the concave portion in a direction in which the plurality of links are arranged,
The drive unit,
At least one pulley for changing a path of the pair of first wires and the pair of second wires;
And a driving plate configured to adjust tension applied to the first wire and the second wire to adjust the rigidity of the arm unit, and to be connected to the pair of first wires and the pair of second wires,
The length in which one of the pair of first wires stretches in the process of driving the arm unit is different from the length in which the other decreases (non-symmetric),
The drive plate is provided in a circular arc shape so that the pair of the first wire and the pair of the second wire is wound, the mechanism is provided rotatably. The method of claim 22,
And the concave portion forms a rotation space such that the link and another link neighboring the link can rotate relative to each other through the convex portion. The method of claim 23, wherein
And the convex portions are arranged in pairs at positions opposite to each other based on a first virtual divided surface including a center line passing through the center of the body. The method of claim 24,
And the recesses are provided in pairs and are disposed at positions facing each other with respect to the virtual second divided surface orthogonal to the first divided surface. The method of claim 22,
The plurality of links may include a first link and second and third links having the same shape as the first link and neighboring the upper and lower surfaces of the first link.
The first link may include a body having a hollow central portion, a portion of the upper surface of the body protruding in the longitudinal direction of the body, and a pair of first convex portions contacting the second link in rolling contact with the second link; Some sections of the lower surface of the body protrude in a direction opposite to the direction in which the first convex portion protrudes, and includes a pair of second convex portions in cloud contact with the third link.
And the second convex portion is disposed at a position rotated 90 ° with the first convex portion with respect to a center line passing through the center of the body in a direction in which the body extends. The method of claim 26,
The second link, as long as the central portion of the hollow body, and a portion of the upper surface of the body protruding in the longitudinal direction of the body in contact with the other link adjacent to the upper surface of the second link in the cloud A third convex portion of the pair, and a portion of the lower surface of the body includes a pair of fourth convex portions protruding in a direction opposite to the direction in which the first convex portion protrudes, and in contact with the first link;
And the pair of fourth convex portions are in cloud contact with the pair of first convex portions, respectively. The method of claim 27,
A non-slip member positioned between the first link and the second link to prevent slippage between the first link and the second link;
One surface of the non-slip member is in contact with the first convex portion, the other surface is in contact with the fourth convex portion. The method of claim 27,
The first convex portion and the fourth convex portion may be engaged with at least a portion of the first convex portion and at least a portion of the fourth convex portion to prevent slipping between the first link and the second link. Mechanisms including teeth to allow. The method of claim 24,
The convex part,
Mechanisms different in length from which the pair of convex portions protrude.
KR1020120131721A 2012-05-25 2012-11-20 Arm unit and robot having the same KR102023906B1 (en)

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CN201310183103.1A CN103417298B (en) 2012-05-25 2013-05-17 Arm unit and the robot with the arm unit
JP2013107170A JP6356390B2 (en) 2012-05-25 2013-05-21 Arm unit and robot including the same
US13/898,888 US9981392B2 (en) 2012-05-25 2013-05-21 Arm unit and robot having the same
EP13169235.2A EP2666434B1 (en) 2012-05-25 2013-05-24 Arm unit and robot having the same

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KR102128269B1 (en) 2019-04-09 2020-07-08 한국과학기술연구원 Articulating structure using rolling joint and pin coupling, and Tube insert device haivng the same
CN112405601B (en) * 2020-11-23 2021-12-17 长沙理工大学 Wire drive joint capable of realizing bending motion decoupling

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