KR102047327B1 - Wire driving part for joints of robot - Google Patents

Abstract

The present invention relates to a wire connection structure for a robot joint. The wire connection structure includes: a plurality of wires operating a joint of a robot; and a plurality of rotary assemblies including a connection member guiding a route for the wires in accordance with the rotation of the joint while coming into contact with the wires. The connection member includes a rotary shaft on a central vertical line of a vertical cross section, and a distance from the rotary shaft to each spot of an outer edge coming into contact with the wires gets sequentially increased as the connection member goes clockwise or anticlockwise from bottom to top. Since the route for the wires coming into contact with the connection member is guided through the connection member, the wires can be prevented from becoming loose while being pulled or unwound, so the wires can be more precisely manipulated. Moreover, since the rotary assemblies are rotated through one single motor connected with a pair of wires coming into contact with the connection member, the structure is economical and simple. According to the present invention, the rotary assemblies are connected to form a manipulation part for a robot, and first and second connectors employing the principle of a pulley can be installed considering the rotation of the rotary assemblies and the tension of the wires. In this case, even if the same tension is applied to the wires, a rotation angle for the rotary assemblies can be made to be wide.

Description

Wire joint structure for robot joints {WIRE DRIVING PART FOR JOINTS OF ROBOT}

The present invention relates to a wire joint structure for a robot joint, and more particularly, a connection member for guiding a movement path of the wire is provided, and the robot joint wire is prevented from sagging of the wire connecting the operation unit and the insert inserted into the human body. It relates to the connection structure.

In general, robot technology and the robot industry are being researched and developed into industrial robots used in industrial sites and medical robots used in medical sites.

Such a robot is composed of a plurality of joint assemblies to enable joint motion similar to the joint motion of the human body. Joints of the robot having a plurality of joint assemblies are each connected to the wire to drive the rotational movement to the plurality of joint assemblies by the operation, such as pulling the wire. In addition, a method of driving a rotational motion between the joint assemblies according to the operation of the motor by connecting the motor to the wire may be used.

In particular, robots used in the medical industry are generally used for surgery or surgery, and mobility is emphasized inside a narrow human body. The robot needs to be miniaturized due to its movement in a narrow space, and it is important to closely control the tension of the wire and the rotation of the joint assembly in driving the rotational movement of the joint assembly through the wire.

1 discloses a driving principle of a robot joint using a conventional wire. As shown in (a) of FIG. 1, in the case of a robot having two joints, the robot rotates the insertion part Slave by rotating the operation part Master of the robot using wires, while rotating the operation part Master at a predetermined angle. In the case of moving the wire, the insertion portion Slave is rotated by an angle. However, the lengths of wires extending from rotation to the robot's control panel (Master) and the insert (Slave) are different, and the wires connecting the control panel (Master) and the insert (Slave) are stretched due to the difference in the length of the wire. There is this. Referring to (b) of FIG. 1, as the rotation angle of the insert (Slave) is increased, the stretching ratio of the wire connected to the insert (Slave) is gradually decreased, but the wire connected to the control (Master) is the control panel (Master). As the angle of rotation increases, the increasing ratio gradually increases. As shown in (c) of FIG. 1, the error due to such a difference accumulates even more when the operation unit (Master) and the insertion unit (Slave) are connected and causes a problem that the wire is stretched according to the driving of the robot joint. do.

In order to solve the above problems, a method of controlling wires by connecting a separate motor for each wire object connecting the operation unit (Master) and the insertion unit (Slave) may be used. However, in the case of a robot used in the medical industry, each wire Connecting independent motors has the disadvantages of complicated structure and increased cost.

Accordingly, research and development of a structure for driving the robot joint and controlling the wire more precisely and optimized for miniaturization are required.

(Document 001) Republic of Korea Patent No. 10-1668714 (Registration Date: 16.10.18)

An object of the present invention in view of the above point is to provide a robot joint wire connection structure that prevents sagging of the wire in driving the robot joint using a wire.

In addition, it is to provide a robot joint wire connection structure that can be easily downsized and competitive in manufacturing cost to be optimized for the surgical robot.

Wire connecting structure for a robot joint according to an embodiment of the present invention is a rotation assembly comprising a plurality of wires for driving the joints of the robot and the connecting member in contact with the wire and guides the movement path of the wire according to the rotation of the joint The connecting member is provided with a rotation axis on the center vertical line of the vertical section, and the distance from the rotation axis to each point of the outer edge contacting the wire as it progresses clockwise or counterclockwise from the bottom to the top contacting the wire. Is determined through numerical analysis to prevent sagging of the wire due to rotation.

In addition, the connecting member may have a shape that is symmetrical to each other.

In addition, when the rotation angle of the connection member increases with respect to the rotation axis, the rate of change of the movement distance of the wire according to the rotation of the connection member may gradually decrease.

In addition, the connection member may be provided with a separation prevention groove for preventing the separation of the wire on the outer edge in contact with the wire.

In addition, the rotating assembly is coupled to the rotating shaft of the connecting member and is provided on one side of the rotating frame, the rotating frame supporting the connecting member, the first plate fixed to the rotating frame and the other side of the rotating frame and spaced apart from the rotating frame by a certain distance. And a second plate which is rotated together with the rotation of the connection member, and the rotation assembly may be connected along the longitudinal direction such that the rotation axis between the connection member and another adjacent connection member is perpendicular to each other.

In addition, the rotary assemblies connected adjacent to each other may be connected to the first plate or the second plate, respectively.

In addition, the first plate is provided with a plurality of first holes through which the wire passes, the second plate is provided with a plurality of second holes through which the wire passes, and the rotating frame has a plurality of center holes through which the wire passes. Can be.

In addition, the second plate is provided with two or more second connectors connected to the connecting member and having a cylindrical shape, and a pair of wires may be connected to the second connectors, respectively, with a part of the second member being in contact with the outer edge of the connecting member.

In addition, the first plate is provided with a first connector for connecting the wire, the wire is connected to the second connector provided in the second plate through the first hole provided in the first plate, and then to the first plate It may be connected to the first connector provided.

In addition, the pair of wires are provided outside the rotary assembly and connected to the driving motor for unwinding or winding the wires, and the driving motors may be equal to the number of connecting members.

According to an embodiment of the present invention, since the sagging of the wire is prevented in driving the joint of the robot, the error of the wire due to the driving of the joint is prevented, thereby enabling precise driving of the robot joint.

In addition, since the principle of the pulley is applied through the second connector provided in the second plate, the amount of change in the length of the wire increases with respect to the angle change of the joint, so that the distance from the rotation axis (center) of the connecting member to the outer surface of the connecting member is reduced. It is possible to reduce the size of the master.

In addition, since the robot can be driven by connecting one motor to the pair of wires of the present invention, the structure can be simplified and downsized.

1 is a conceptual diagram showing the driving principle of a robot joint using a conventional wire.
2 is a conceptual diagram showing a numerical analysis for determining the shape of the connecting member of the present invention.
3 is a conceptual diagram showing the driving principle of the robot joint coupled to the connection member of the present invention.
Figure 4 is a conceptual diagram showing the degree of stretching of the wire in accordance with the driving of the robot joint coupled to the connection member of the present invention.
5 to 7 is a detailed view showing the connection structure of the rotary assembly and the wire according to an embodiment of the present invention.
8 is a state diagram showing a state in which a plurality of rotary assemblies are coupled according to an embodiment of the present invention.

In describing the present invention, when it is determined that detailed descriptions of related known functions or configurations may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

Embodiments according to the concept of the present invention can be variously modified and can have various forms, and specific embodiments will be illustrated in the drawings and described in detail in the present specification or application. However, this is not intended to limit the embodiments in accordance with the concept of the present invention to a particular disclosed form, it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. As used herein, the terms "comprise" or "having" are intended to indicate that there is a listed feature, number, step, operation, component, part, or combination thereof, one or more other features or numbers, It is to be understood that it does not exclude in advance the possibility of the presence or addition of steps, actions, components, parts or combinations thereof.

Hereinafter, with reference to the drawings of the present invention will be described in detail.

Wire connection structure for a robot joint according to an embodiment of the present invention is a plurality of wires (W) for driving the joints of the robot and the wire (W) in contact with the movement path of the wire (W) in accordance with the rotation of the joint It includes a rotating assembly 100 including a connecting member 110 for guiding, the connecting member 110, the rotating shaft 111 is provided on the center vertical line of the vertical cross-section, in contact with the wire (W) Through the numerical analysis so that the distance from the rotary shaft 111 to each point of the outer edge contacting the wire from the lower end to the upper end is prevented from sagging of the wire W due to the rotation. Is determined.

First, the robot joint of the present invention will be briefly described. The robot joint is driven by being connected to the wire (W) as a plurality of rotation assemblies 100 are connected to the manipulation unit (Master) and the manipulation unit (W). The insertion part (Slave) can be divided into. The insertion part is driven in various ways as the operation part is operated by pulling or releasing the wire W. The driving of the insertion unit may vary depending on the number and connection state of the rotary assembly 100 provided in the operation unit. The manipulation part may have a structure in which a plurality of wires W connected to the insertion part and the wire W are collected. In addition, the operation unit may be further connected to the motor (M), etc. to pull or loosen the wire (W) may have a variety of configurations in addition to.

The rotation assembly 100 of the present invention is provided on the operation unit of the robot and rotates the rotation assembly 100 in a set direction, respectively, and has a structure for driving the insertion portion of the robot and thereby performing the robot motion. .

The connection member 110 provided in the rotary assembly 100 of the present invention guides the movement path of the wire W while the wire contacts. When the shape of the connection member 110 is described first, the connection member 110 has a specific shape that prevents the sag generated while the wire W is moved by the rotation of the rotation assembly 100.

2 is a conceptual diagram showing a numerical analysis for determining the shape of the connecting member of the present invention, Figure 3 is a conceptual diagram showing the driving principle of the robot joint coupled to the connecting member 110 of the present invention, Figure 4 is a present invention It is a conceptual diagram showing the degree of stretching of the wire (W) in accordance with the driving of the robot joint coupled to the connecting member (110).

2 (a) shows a procedure for performing an algorithm for deriving the optimal shape of the connecting member 110 to prevent the sagging of the wire in the present invention, Figure 2 (b) is a change in the angle of the connecting member 110 The numerical analysis process according to the 2 and 3, the connection member 110 may have a rotation axis 111 on a center vertical line of the cross section, and may have a shape that is symmetrical with respect to the center vertical line of the cross section. When the cross-section of the connecting member 110 is symmetrical, the wire (W) may be in contact with the left and right edges of the symmetrical connecting member 110, the wire (W) of the connecting member 110 is not in contact The surface may not be symmetrical. The present invention mainly describes the case in which the left and right sides of the connection member 110 have a symmetrical shape, but the left and right symmetry of the connection member 110 does not necessarily have to be satisfied, but the setting of the rotation angle of the rotation assembly 100 is performed. It may vary. That is, the left and right sides of the connection member 110 are each numerically interpreted within the object range of the present invention in which the sagging of the wire W is prevented, and thus the left and right sides of the connection member 110 may have different shapes. Can be.

The numerical analysis is determined by reflecting the elongation of the wire (W) connected to the connection member 110, the movement path according to the rotation angle of the connection member 110. In the present invention, the numerical analysis changes the rotation angle of the connecting member 110 to -60 to 60 degrees based on the vertical direction (0 degree) as shown in (b) and 4 (b) of FIG. While comparing the stretched degree of the wire (W) connected to the edge of the connecting member 110 while the stretched degree of the wire (W) is interpreted to be the same as the stretched degree of the wire (W) in the insert (Slave). Through the above analysis, the shape of the connecting member is determined.

For example, as the connecting member 110 proceeds clockwise or counterclockwise from the lower end to the upper end of the cross section, the distance from the rotating shaft 111 to each point of contact with the wire W may be sequentially increased. Can be. When sequentially positioning at a predetermined angle along the outer edge of the connection member 110 in the counterclockwise direction from the bottom to the top of the connection member 110, the outer edge and the wire of the connection member 110 The lowermost end of the contact point (W) may be set to the first position, and the uppermost end of the outer edge of the connecting member 110 and the contact point of the wire W may be set to the N position. When numbers are sequentially assigned while proceeding at a predetermined angle along the counterclockwise direction, N may have various numbers such as 100 and 1000 depending on the angle proceeding in the counterclockwise direction. When N is 100, the contact point of the outer edge of the connection member 110 and the wire W may be divided into 100 positions. In the present invention, the distance from the rotating shaft 111 of the connecting member 110 to each divided position increases as the number assigned thereto increases. That is, the distance from the rotation shaft 111 to the second position is larger than the distance from the rotation shaft 111 to position 1, and the distance to N is greater than the distance to the position of N-1.

As another example of the present invention, the following algorithm may be performed to derive an optimal shape of the connecting member 110.

Algorithm

1. Find q (n); Virtual lines L_u (1) _q (1) to L_u (1) connecting all end points p (1) to p (10) of the connecting member 110 and the starting point u (1) of the wire W. angle of) _q (10)).

2. maxQn = max (q (n)); The value where q (n) is maximum.

MaxPointNum = index (maxQn); Index value of maxQn.

4. Calculate L_u (1) _p (max); The distance from u1 to maxPointNum.

(L_p(i-1)_p(i)); 나머지 거리.5. L_pp =

(L_p (i-1) _p (i)); Remaining distance.

6. L = L_u (1) _p (max) + L_pp; The length of the entire wire.

7. Calculate length (L) at all angles from 1 to 6.

8. Calculate length change at all angles with reference value when angle is 0 degrees.

9. Combination of the shape Lr (n) of the connecting member with a length change similar to that of the slave.

In addition to the above-described examples, various shapes to prevent sagging of wires may be derived through numerical analysis of the present invention.

The left and right edges of the connection member 110 have a curved shape, and when the connection member 110 is rotated at an angle about the rotation axis 111, the wire W is in contact with the connection member 110. The movement path is guided by the shape of the connection member 110.

Figure 4 (a) shows the driving state of the robot joint coupled to the connection member of the present invention, Figure 4 (b) shows the degree of stretching of the wire according to the rotation angle of the connection member, Figure 4 (c ) Shows a structure in which the sagging of the wire W guided through the connection member 110 is prevented.

As shown in (b) of FIG. 4, the robot joint including the connection member 110 may have an increase in the rotation angle of the connection member 110 with respect to the rotation axis 111. The rate of change of the movement distance of the wire W according to the rotation may be gradually reduced. This reflects that the rate of change of the movement distance of the wire W connected to the insert gradually decreases when the rotation angle of the insert Slave increases in the robot having two joints shown in FIG. 1. Since the rate of change of the movement distance of the wires W connecting the slave and the operation unit Master, respectively, is the same or very small, the sagging of the wire connecting the insertion unit and the operation unit is prevented. For example, the movement distance of the wire (W) when rotated by a certain angle to the right with respect to the vertical line in the operation unit is the same as the movement distance of the wire (W) when rotated by an angle to the left with respect to the vertical line in the insert. Can be.

That is, in the present invention having the connecting member 110 having the shape as described above, when the wire (W) in contact with the outer edge of the connecting member 110 is pulled, it moves along the outer edge shape of the connecting member 110. Since the path is guided, the degree of sagging of the wire W in the manipulation part is the same as that of the sagging wire W in the insertion part, and sagging of the wire W due to the rotation of the manipulation part can be prevented.

5 to 7 is a detailed view showing the connection structure of the rotary assembly and the wire according to an embodiment of the present invention. Figures 5 to 7 (a) show a perspective view and Figures 5 to 7 (b) show a side view.

In one embodiment of the present invention, the connecting member 110 having the shape as described above has a plate shape, the rotation axis 111 is provided on the central vertical line of the plate shape, the wire (W) is in contact with the outer edge, respectively It may have a structure.

The connection member 110 may be provided with a departure prevention groove 112 to prevent the separation of the wire (W) on the outer edge in contact with the wire (W). The release preventing groove 112 may be formed to concave inward along the outer circumference of the connecting member 110 and the wire (W) in contact with the connecting member 110 at the outer edge position of the connecting member 110. ) Is prevented from being separated out of the connection member 110. Accordingly, the wire W in contact with the connection member 110 is prevented from moving outside the tangential direction of the position in contact with the connection member 110.

5 to 7, the rotation assembly 100 of the present invention is coupled to the rotation shaft 111 of the connection member 110 and the rotation frame 120 for supporting the connection member 110, the It is provided on one side of the rotating frame 120 and provided on the first plate 130 and the other side of the rotating frame 120 and fixed to the rotating frame 120 and spaced apart from the rotating frame 120 by a predetermined distance It may further include a second plate 140 that rotates together with the rotation of the member (110).

In one embodiment of the present invention, the rotating frame 120 is formed to extend in parallel with the outer edge direction of the coupling portion 122 and the connecting member 110 coupled to the rotating shaft 111 of the connecting member 110. It may include a horizontal portion 123 of symmetry. In this case, the rotation frame 120 has the coupling portion 122 has the same height as the rotation shaft 111, the horizontal portion 123 between the coupling portion 122 and the second plate 140. It is formed to be provided in. It is preferable that the coupling part 122 and the rotation shaft 111 are hinged so that the rotational movement of the connection member 110 is free from the rotation frame 120.

The rotation frame 120 is composed of a pair may be coupled to both sides of the connection member 110, respectively.

The rotation frame 120 may be provided with a plurality of center holes 121, in one embodiment of the present invention, the center hole 121 may be provided to penetrate the horizontal portion 123 in the vertical direction. . The wire W passes through the center hole 121 provided in the horizontal part 123, thereby preventing the wire W from moving in the horizontal direction. The wire W passing through the center hole 121 may be a different object from the wire W contacting the connection member 110, which will be described later.

The first plate 130 is fixed to the rotating frame 120 and has a plate shape. The first plate 130 serves as a support when the connection member 110 rotates in a state of being coupled with the rotation frame 120. The first plate 130 is provided with a plurality of first holes 131, and some of the plurality of first holes 131 pass through the wires W contacted with the connection member 110, and other portions thereof. The wire W passing through the center hole 121 may pass therethrough. The first hole 131 may be provided to communicate in the vertical direction.

The second plate 140 may be coupled to the connection member 110 to rotate together with the rotation of the connection member 110 and have a plate shape. In addition, the second plate 140 may be configured as a pair spaced apart from each other in this case, the separation space between the pair of the second plate 140 to prevent the collision due to the rotation of the connection member 110. To do this.

The second plate 140 and the connection member 110 rotate together as the wire W in contact with the connection member 110 is pulled to pull the wire W. It has a structure. In order to rotate in opposite directions, the pair of wires W may be in contact with each other in the opposite direction, and the pair of wires W may be connected to the second plate 140, respectively. desirable.

A plurality of second holes 141 may be provided in the second plate 140, and the second holes 141 may be provided to penetrate in the vertical direction. The wire W may pass through the second hole 141, and similarly to the first hole 131, the wire W may be prevented from being separated in the horizontal direction. The wire W passing through the second hole 141 may pass through the center hole 121.

In one embodiment of the present invention, the second plate 140 is provided with two or more second connector 142 connected to the connection member 110 and having a cylindrical shape, and the wire W is partially connected to the connection member 110. The pair may be respectively connected to the second connector 142 in contact with the outer edge of the member 110.

The second connector 142 connects the upper portion of the connection member 110 and the second plate 140 to each other, and a pair of wires W connected to the second connector 142 are connected to the connection member ( The contact member 110 is selectively pulled along the outer edge of the connecting member 110 and the connecting member 110 and the second plate 140 are rotated together by the tension of the wire (W). . The second connector 142 may have a cylindrical shape, and the pair of wires W connected to the second connector 142 may respectively connect the second connector 142 along the circumference of the second connector 142. Connected to wrap.

In addition, in one embodiment of the present invention, the first plate 130 may be provided with a first connector 132 to which the wire W is connected, and the first connector 132 may have various structures. have. For example, it may have a cylindrical shape which is provided inside the first plate 130 and extends in a horizontal direction, or may have a ring shape which protrudes outward of the first plate 130.

Referring to the structure of the wire (W) connected to the rotary assembly 100 of the present invention, as shown in Figure 5 in one embodiment of the present invention passes through the first hole 131 of the first plate 130 One wire (W) may be guided to the movement path while being in contact with the outer edge of the connecting member 110 and may be fixed to the second plate (140). In this way, one rotary assembly 100 may be rotated by the tension of the wire (W). In this case, the first hole, the second hole, and the center hole 121 serve as a movement path of the wire W in contact with the connection member 110 provided in the other rotation assembly 100 connected to the rotation assembly 100. Do this.

A pair of wires W are in contact with each outer edge of each of the connecting members 110, and the wires W are provided in the plurality of rotation assemblies 100, including the first hole, the center hole 121, and the second hole. Passed through each hole is connected to the robot joint constituting the insertion portion of the robot.

Referring to FIG. 6, in another embodiment of the present invention, the wire W passes through the first hole 131 to be in contact with the connection member 110 and is provided on the second plate 140. It is connected to the connector 142. The wire W is connected to surround the second connector 142 and is connected to the first connector 132 provided in the first plate 130 again. In this case, the first connector 132 may have various shapes to fix the wire (W) to be connected and may use the first hole 131 in place of the first connector 132. . In this way, when the rotating assembly 100 is rotated, the second connector 142 plays a role of the pulley, so that the length change of the wire W is doubled for the same angle change as compared with the case of FIG. 5. can do.

Referring to FIG. 7, the wire W connected to the first connector 132 may be connected to the second plate 140 again while being connected to the first connector 132. In this case, the wire W may be finally fixed to the second plate 140. Since the second connector 142 and the first connector 132 each play a role of the pulley, the length change of the wire W may be tripled for the same angle change as compared with the case of FIG. 5. In addition, the wire (W) may constitute the N pulley while reciprocating the first plate 130 and the second plate 140, the rotation assembly (according to the tension and the moving distance of the wire (W) ( It is possible to adjust the rotation angle of the 100 and the length change of the wire (W).

That is, when pulling the wire (W) by rotating the connecting member 110 through the configuration as described above, the insertion portion (Slave) can meet the pulled length of the wire (W) required by a relatively small force and rotation angle ) Can increase the driving range or downsized the master (Master).

The first connector 132 or the second connector 142 may be configured in a roller manner that rotates independently to prevent friction of the wire (W) to be connected. In addition, the first connector 132 or the second connector 142 may be formed of a smooth material. In the case of adding another configuration to the first connector 132 or the second connector 142 serving as the pulley, there is a disadvantage in that the manufacturing cost increases, the first connector 132 as described above in an embodiment of the present invention. Alternatively, since the second connector 142 has a cylindrical shape formed of a smooth material, it does not require any other configuration, and thus, there is an advantage of economical and easy manufacturing process.

8 is a state diagram showing a state in which a plurality of rotary assemblies are coupled according to an embodiment of the present invention.

Referring to FIG. 8, the rotation assembly 100 has a plurality, and the connection members 110 provided in the plurality of rotation assemblies 100 are disposed such that the rotation shafts 111 between adjacent connection members 110 are perpendicular to each other. Can be. That is, the rotation assembly 100 of the present invention is provided with the connecting member 110 between the first plate 130 and the second plate 140, the rotating shaft 111 of the connecting member 110 is a rotating frame ( 120 is a structure that is coupled, the plurality of rotary assembly 100 may be connected in the longitudinal direction to configure the operation unit (Master) of the robot.

When a plurality of wires W are in contact with each connection member 110 constituting the plurality of rotary assemblies 100, some or all of the plurality of wires W respectively pass through the center hole 121. This prevents kinks and tangles. That is, the wire (W) in contact with the connecting member 110 provided in the rotary assembly 100 passes through the first hole 131, the separation prevention groove 112, the second connector 142 in sequence to the connection The member 110 is rotated, and another wire W is sequentially passed through the first hole 131, the center hole 121, and the second hole 141 to longitudinally rotate the member 110. It has a structure for rotating the connection member 110 of the other rotary assembly 100 connected to.

The rotary assembly 100 connected adjacent to each other may be connected to the first plate 130 or the second plate 140, respectively. In this case, the operation unit having the plurality of rotary assemblies 100 has an advantage of allowing more various rotation angle adjustments than when the first plate 130 and the second plate 140 are sequentially connected. As the rotation angle adjustment of the operation unit becomes more colorful, the driving of the insertion unit connected to the operation unit may be further diversified.

The pair of wires W are provided outside the rotary assembly 100 and are connected to a driving motor M (not shown) that unwinds or winds the wires W, and the driving motor M is connected to the connection motor. The number may be equal to the number of members 110. The driving motor (M) may be provided on one side of the operation unit of the robot. In the present invention, even if one drive motor (M) is used to wind or unwind a pair of wires (W) connected to the connection member 110 having the shape as described above, the wire ( Since the stretching of the wire W generated when W) is pulled or released is prevented, the number of the driving motors M can be reduced, and the configuration is simple and the manufacturing cost is advantageous.

As described above, in the present invention, the structure is simplified and the wire W can be precisely manipulated through the connection member 110 having an optimal shape to prevent the sagging of the wire W for driving the robot joint. An easy and inexpensive fabrication wire connection structure for a robotic joint is provided.

100: rotating assembly
110: connecting member 111: rotating shaft
112: Departure prevention groove
120: rotation frame 121: center hole
122: coupling portion 123: horizontal portion
130: first plate 131: first hole
132: first connector
140: second plate 141: second hole
142: second connector
W: Wire M: Drive Motor

Claims (10)

A plurality of wires for driving the robot joint; And
And a rotating assembly including a connection member in contact with the wire and guiding a movement path of the wire according to the rotation of the robot joint.
The connecting member,
The axis of rotation is provided on the center vertical line of the vertical section,
As the clockwise or counterclockwise direction is progressed from the bottom to the top contacting the wire, the distance from the rotation axis to each point of the outer edge contacting the wire is determined through numerical analysis so as to prevent the wire from sagging due to rotation. ,
The robot joint includes an insertion part driven in connection with the wire,
The numerical analysis,
By comparing the degree of extension of the wire connected to the edge of the connection member while changing the rotation angle of the connection member from -60 to 60 degrees in the vertical direction (0 degree) based on the length of the wire in the insertion portion The robot joint wire connection structure, characterized in that to determine the shape of the connecting member by analyzing the same as the extended degree.
The method of claim 1,
The connecting member is a robot joint wire connection structure characterized in that it has a shape symmetrical with each other.
The method of claim 1,
When the rotation angle of the connection member is increased relative to the rotation axis, the rate of change of the movement distance of the wire according to the rotation of the connection member is gradually reduced.
The method of claim 3,
The connection member is a robot joint wire connection structure, characterized in that the separation prevention groove is provided to prevent the separation of the wire on the outer edge in contact with the wire.
The method of claim 3,
The rotary assembly,
A rotating frame coupled to the rotating shaft of the connecting member and supporting the connecting member;
A first plate provided at one side of the rotating frame and fixed to the rotating frame; And
And a second plate provided at the other side of the rotating frame and spaced apart from the rotating frame at a predetermined distance and rotated together according to the rotation of the connection member.
The rotation assembly is a plurality of robot joint wire connection structure, characterized in that connected in the longitudinal direction so that the rotation axis between the connecting member and the other adjacent connecting member is perpendicular to each other.
The method of claim 5,
The rotatable assembly connected adjacent to each other is a robot joint wire connection structure, characterized in that the first plate is connected to each other or the second plate is connected to each other.
The method of claim 6,
The first plate is provided with a plurality of first holes through which the wire passes,
The second plate is provided with a plurality of second holes through which the wire passes,
The rotating frame is a robot joint wire connection structure, characterized in that a plurality of central holes through which the wire passes.
The method of claim 5,
The second plate is provided with two or more second connector connected to the connecting member and having a cylindrical shape,
The wire connection structure for a robot joint, characterized in that the pair is connected to each of the second connector in a state in which the portion is in contact with the outer edge of the connecting member.
The method of claim 8,
The first plate is provided with a first connector to which the wire is connected,
The wire,
The robot joint wire connection is connected to the first connector provided in the first plate after being connected to the second connector provided in the second plate through the first hole provided in the first plate. rescue.
The method of claim 8,
The pair of wires are provided outside the rotary assembly and connected to a driving motor for unwinding or winding the wires.
The drive motor is a robot joint wire connecting structure, characterized in that the same number as the number of the connecting member.

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