KR101289985B1 - Joint mechanism for robot - Google Patents

Abstract

A plurality of articular bodies; A plurality of wires for guiding rotation angles of the plurality of joint bodies; And a wire driver for driving the plurality of wires, wherein the plurality of joint bodies include a first joint body and a second joint body that are adjacent to each other, and the second joint body is larger than the first joint body. The first wire for guiding the rotation angle of the first articulated body among the plurality of wires is disposed closer to the wire driving part, and the force applied to the first articulated body is greater than the force pulled by the wire driving part. A robotic articulation mechanism is disclosed which is wound between the first articulated body and the second articulated body. The above configuration enables miniaturization of the robot in which the robot articulation mechanism is implemented.

Description

Robotic Articulated Mechanism {JOINT MECHANISM FOR ROBOT}

The present invention relates to a robot articulation mechanism, and more particularly, to a robot articulation mechanism providing a robot articulation that can be miniaturized.

In the case of a small robot having an articulated body, a motor must be used to drive the articulated body. However, since the size of the robot is too small, the driving motor is often not directly attached to the articulated body. To this end, each of the articulated bodies is connected by a wire, and is composed of a mechanism in which each articulated body is driven by a force pulling a wire using a driving motor from the outside.

1 and 2 to describe the mechanism of the articulated body, the mechanism 10 of a small robot having a conventional articulated body is a fixed joint 12, drive joints 15, 19, Springs 13 and 17 connecting the joints 12, 15 and 19, wires 14a, 14b, 18a and 18b for pulling the drive joints 15 and 19 and the wires 14 and 18 A wire drive part (not shown) is provided.

In this case, when the right wire 18a is pulled to drive the upper joint body 19 in the right direction, the contracting force F2 is generated in the direction in which the actual joint is desired to be driven, and the lower joint body 15 is driven in the right direction. Contraction force F1 is also generated. As a result, both the upper and lower joint bodies 15 move in the direction in which the upper joint bodies 19 are to be driven.

In order to solve the above problems, the rigidity of the spring 13, 17 is provided differently. For example, the spring 13 provided between the lower joint body 15 and the fixed joint body 12 has a relatively higher rigidity than the spring 17 provided between the upper joint body 19 and the lower joint body 15. When the upper joint 19 is driven in a specific direction by using an excitation spring, the lower joint 15 is prevented from being driven by an unnecessary force F1 as much as possible.

As described above, the method of varying the rigidity of the spring is used in the case of a robot having a small number of joints, that is, a robot having a low degree of freedom. However, when the number of joint bodies increases, the mutual forces generated in each joint body Because of the interference of the robot, it is difficult to adjust the robot to the desired motion.

In addition, if the robot is implemented in the same manner as described above, the thickness of each spring (13, 17) is changed. For example, the thickness of the spring 13 provided between the lower joint body 15 and the fixed joint body 12 is greater than the thickness of the spring 17 provided between the upper joint body 19 and the lower joint body 15. Since it is thick, it is difficult to miniaturize the robot.

According to the present invention, there is provided a robot articulator mechanism that can be miniaturized.

In addition, according to the present invention, there is provided a robot articulation mechanism that can easily control the motion and rotation angle of each articulated body of a robot provided with a plurality of articulated bodies.

Robot articulated body mechanism according to an embodiment of the present invention for achieving the above object, a plurality of articular body; A plurality of wires for guiding rotation angles of the plurality of joint bodies; And a wire driver for driving the plurality of wires, wherein the plurality of joint bodies include a first joint body and a second joint body that are adjacent to each other, and the second joint body is larger than the first joint body. The first wire for guiding the rotation angle of the first articulated body among the plurality of wires is disposed closer to the wire driving part, and the force applied to the first articulated body is greater than the force pulled by the wire driving part. It is characterized in that it is wound between the first articulated body and the second articulated body.

The first articulated body includes at least two first winding parts on which the wire is wound, the second articulated body includes at least one second winding part on which the wire is wound, and the wire includes the first and Can be wound alternately to the second winding

That is, one end of the wire is fixed to the second joint body, and the other end is connected to the wire driving unit so that when the second joint body rotates, the body can independently move with respect to the first joint body.

Here, the first and second windings may be provided as pulleys, and the wire may be wound several times. Alternatively, the first and second winding parts may be formed as protrusions and wound along the protrusions. On the other hand, the first and second windings may be wound along the opened and opened voids, and the protrusion or the opened first and second windings may have the advantage of winding the wire without having a separate member.

In this case, the opened first and second windings may be formed in a curved surface in contact with the first wire to remove frictional force generated from a surface in which the first wire contacts the first and second windings. The wire can be prevented from being damaged by the face.

Meanwhile, the first and second windings may be manufactured in a single module form and detachably coupled to the first and second joint bodies.

As described above, according to the robot articulator mechanism according to the present invention, since a large force can be selectively provided only to the articulated body to be actually driven, each articulated body of the robot can be driven relatively independently.

For example, even if the rigidity of the springs provided between the joints of each robot is constant, only the joints desired for actual driving can be driven, thereby minimizing the thickness and volume of the robot joints, thereby improving the miniaturization efficiency of the robots. have.

In addition, since only the joint bodies desired to be actually driven can be driven, even if the number of joint bodies is increased, interference of mutual forces generated in each joint body is minimized. This improves the degree of freedom of the robot and facilitates the adjustment of the robot to a desired motion.

1 is a perspective view showing a conventional robot articulation mechanism.
FIG. 2 is a view for explaining the robot articulator mechanism of FIG. 1.
Figure 3 is a schematic diagram for explaining the robotic articular mechanism according to an embodiment of the present invention.
4 is a view for explaining the winding of the robot articulator mechanism according to the embodiment of the present invention.
5 is a view for explaining a modification of the winding unit of the robot articulator mechanism according to the embodiment of the present invention.
6 is a view for explaining another modification of the winding portion of the robot articulator mechanism according to the embodiment of the present invention.
7 is a schematic view for explaining the driving of the conventional robot articulation mechanism.
8 is a schematic view for explaining the driving of the robot articulator mechanism according to the embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to or limited by the embodiments. Like reference symbols in the drawings denote like elements.

Figure 3 is a schematic diagram for explaining the robotic articular mechanism according to an embodiment of the present invention.

 Prior to the drawings, for convenience of description, the robot articulation mechanism of the present invention includes a linkage of a flexible material so that the articulation drive is not limited, and in the present embodiment, the spring is not limited to the driving of the articular body. Let's take an example.

In addition, the robot articulation mechanism described in the present invention can be applied to a small robot used in a narrow space, such as medical surgical robot, bomb removal robot. In addition, the robot articulated body mechanism of the present invention can be applied to various robots having articulated bodies other than small robots.

Hereinafter, referring to the drawings, the robot joint mechanism 100 having an articulated body according to an embodiment of the present invention includes a plurality of articulated bodies, a plurality of wires, a spring and a wire driving unit connecting the articulated bodies.

The joint bodies 120, 140 and 160 may adjust the driving range of the robot, and as shown in the present embodiment, three joint bodies 120, 140 and 160 are provided, but the present invention is not limited thereto.

In this case, the joint bodies 120, 140, and 160 may be adjacent to each other, and for example, the second joint body 140 may be disposed closer to the wire driving unit 180 than the first joint body 120. Since the driving mechanism of the second articulation body 140 is driven by the same driving mechanism, the driving mechanism of the first articulation body 120 will be described as an example for convenience of description below.

Springs 130 and 150 may be provided between the joint bodies 120, 140, and 160. The springs 130 and 150 may guide the driving direction of the robot along the rotation angles of the first and second joint bodies 120 and 140.

The plurality of wires are provided to guide rotation angles of the joint bodies 120 and 140, and among the plurality of wires, the first wire W1 for guiding the rotation angle of the first joint body 120 is a wire driving unit. Winding between the first articular body 120 and the second articular body 140 such that the force applied between the first articulated body 120 and the second articulated body 140 is greater than the force pulled by 180. It is.

To this end, the first articulation body 120 includes at least two first winding parts 125, and the second articulation body 140 includes at least one second winding part 145 on which the first wire W1 is wound. ). Here, the first wire W1 may be wound alternately with the first and second windings 125 and 145.

In more detail, the first winding part 125 may include two left winding parts 124a and a right winding part 124b that are arranged side by side at a predetermined interval. In addition, the second winding part 145 may be provided on the second joint body 140 and may be provided between the left and right winding parts 124a and 124b.

In this case, one end of the first wire W1 may be fixed to the second joint body 140, and the other end thereof may be connected to the wire driving unit 180. That is, one end of the first wire W1 is wound on the left first winding part 124a of the first articulation body 120 after being fixed to the second articulation body 140. Subsequently, the first wire W1 wound around the left winding part 124a may be wound around the second winding part 145 of the second joint body 140. Thereafter, the first wire W1 may be wound around the right winding part 124b of the first joint body 120 and then connected to the wire driving unit 180 to drive the first joint body 120. In this case, the first wire W1 is once in the first and second windings 125 and 145 to facilitate rotation of the first wire W1 when the first wire W1 is pulled by the wire driving unit 180. It is preferred to be wound but can be altered according to the conditions of the invention.

When the first wire W1 connected to the wire driving unit 180 is pulled by the mechanism configured as described above, the force between the first joint body 120 and the second joint body 140 is greater than the pulling force of the first wire W1. The force applied to can be increased.

Specifically, when the wire driving unit 180 pulls the first wire W1, the first articulation body 120 is bent in the front direction, that is, the direction coming from the drawing, in which the force applied to the first articulation body 120. Silver may be applied greater than the force to pull the first wire (W1). For example, by providing the first winding part 125 as the left and the right winding parts 124a and 124b, the force applied to the first articulation body 120 is four times the force for pulling the first wire W1. Can be large. More specifically, if the force for pulling the first wire W1 is F, the force applied to the first joint body 120 may be 4F. This is because two first windings 124a and 124b serve as two moving pulleys and one second winding 145 serves as a fixed pulley.

On the other hand, if the number of the first winding part 125 is increased, the force applied to the first joint body 120 increases by an integral multiple when the first wire W1 is pulled to increase the magnitude of the force pulling the first wire W1. Can be reduced. For example, three first winding parts and two second winding parts may be provided. If the force for pulling the first wire is F, the force applied to the first joint body may be 6F.

Details of the first and second windings 125 and 145 will be described in more detail with reference to FIGS. 4 to 6.

By the above configuration, the second spring 150 between the second articulation body 140 and the fixed joint body 160 to drive the first articulation body 120 relatively relatively to the second articulation body 140. The first articulation body 120 can be driven relatively independently of the second articulation body 140 without increasing the rigidity of the second articulation body 140.

That is, in the case of the conventional articulated robot, the rigidity of the spring of the articulated body provided close to the wire drive part for the relative independent driving of each articulated body is relatively greater than the rigidity of the spring of the articulated body provided far from the wire drive part. In order to drive the articulated body provided away from the wire drive part, the articulated body provided close to the wire drive part is made to move less. For this reason, in the case of a conventional articulated robot, the volume of the robot may be increased by a spring having different rigidity. In addition, the use of a spring with different rigidity, such as a conventional articulated robot, is easy to use in a robot with a relatively low degree of freedom, but a high degree of freedom robot has a disadvantage in that the spring near the driving part must continue to grow to form a high degree of freedom. There is a difficulty in applying it. However, according to the exemplary embodiment of the present invention, even when the first wire W1 is pulled by the second winding part 145, the second joint body 140 moves relatively less with respect to the first joint body 120. The first articulated body 120 may be driven independently of the second articulated body 140.

Meanwhile, in the embodiment of the present invention, for convenience of description, an example in which the first and second wires W1 and W2 are provided and driven on one plane of the robot articulator mechanism is given, but the first and second wires W1 and W2 are provided. May be provided on the other plane of the robotic articulation mechanism.

As described above, the embodiment of the present invention has been described with reference to the driving of the first articulated body 120 for convenience of description, but the driving of the second articulated body 140 may also be made the same as the first articulated body 120. . That is, the second articulation body 140 may include at least two winding parts to correspond to the first winding part 125 provided in the first articulation body 120, and at least one winding on the fixed joint body 160. An additional part may be provided to correspond to the second winding part 145 provided in the second joint body 140.

In addition, by pulling the second wire W2 wound along the second joint body 140 and the fixed joint body 160, the second joint body 140 is the first joint body 120 and the fixed joint body 160. Relatively independent driving may be enabled, and the driving mechanism of the second articulation body 140 may correspond to a mechanism for driving the first articulation body 120.

On the other hand, Figure 4 is a view for explaining the winding of the robot articulator mechanism according to an embodiment of the present invention.

Referring to FIG. 4, the first and second windings 125 and 145 according to the exemplary embodiment of the present invention may be provided as pulleys to facilitate the phenomenon of unwinding or winding the first wire W1. As described above, the first wire W1 may be wound around the first and second windings 125 and 145, and the first wire W1 may be wound by pulling the first wire W1 from the wire driving unit 180. W1) is released or wound to change the rotation angle of the first articulated body 120. As described above, the first and second windings may be formed as pulleys to guide the penetrating phenomenon of the first wire W1 more easily.

In this case, the first and second windings 125 and 145 are provided as shafts S to be fixed to the pulley body T and the joint body. The pulley main body T may be configured to maintain a state in which the first wire W1 is wound around the pulley main body T, and the type and shape of the pulley may be changed according to the conditions of the present invention.

5 is a figure for demonstrating the modification of the winding-up part of the robotic joint body mechanism which concerns on embodiment of this invention.

Referring to the drawings, the first and second windings 125A and 145A may be formed as protrusions in the first and second joint bodies. In this case, the first wire W1 may be wound around the protruding shaft S of the first and second winding parts 125A and 145A, and the first and second winding parts 125A and 145A may be wound. A step P may be formed to prevent the first wire W1 from being released from the first and second windings 125A and 145A.

6 is a view for explaining another modification of the winding portion of the robot articulator mechanism according to the embodiment of the present invention.

Referring to FIG. 6, the first and second windings 125B and 145B may be formed as openings in the first and second joint bodies 120B and 140B. That is, the first winding part 125B may be formed with at least two openings at a position corresponding to the first winding part 125 shown in FIG. 3, and the second winding part 145B may be formed in FIG. 3. At least one may be formed at a position corresponding to the second winding part 145.

As described above, the first and second windings 125B and 145B formed as described above fix one end of the first wire W1 to the second joint body 140B, and The first wire W1 may pass through the left opening 124'a. Thereafter, the first wire W1 may penetrate the second winding part 145B and penetrate the right opening 124'b of the first winding part 125B, and then be connected to the wire driving unit 180.

In this case, a surface in which the first and second winding parts 125B and 145B and the first wire W1 contact each other may be formed as a curved surface. That is, when the wire driving unit 180 pulls the first wire W1, the first wire W1 is formed by a surface where the opening surfaces of the first and second joint bodies 120B and 140B contact the first wire W1. This is to prevent the damage. Here, the opening surface of the first winding part 125B may be formed in a curved surface toward the lower direction, and the opening surface of the second winding part 145B may be formed in a curved surface toward the upper direction. This corresponds to the direction in which the first wire W1 penetrates the first and second windings 125B and 145B, and the direction in which the first wire W1 contacts the first and second windings 125B and 145B. To match with.

By forming the first and second windings with protrusions or openings as described above, the first wire W1 is wound around the first and second joint bodies without using a separate device, thereby providing a small robot having the joint bodies. The size and volume can be further minimized.

On the other hand, the first and second windings may be manufactured in one module form and detachably coupled to the first and second joint bodies. As the first and second windings are manufactured in one module form, the user may mount the first and second windings at a desired position and wind the wire.

Hereinafter, the effect of the robotic articular mechanism of the present invention will be described in more detail in comparison with the conventional articulated robotic mechanisms.

7 is a schematic view for explaining the driving of the conventional robot articulation mechanism, Figure 8 is a schematic view for explaining the driving of the robot articular mechanism according to an embodiment of the present invention.

In the conventional robotic articulation mechanism shown in FIG. 7A, when the wire is pulled to drive the articulated body disposed at the top, not only the top articulated body to be moved but also other articulated bodies are shown in FIG. 7A. It moves as shown in.

In order to solve this problem, conventionally, as shown in FIG. 7 (b), the stiffness of the springs provided between the respective joint bodies is different, or each joint body is driven relatively independently through the size change of each joint body. This made it possible.

However, in this case, it is difficult to miniaturize the robot joint mechanism because the thickness of the spring must increase or the size of the joint body gradually increases toward the wire driving part due to the stiffness difference of the spring.

The present invention is to solve the above problems, and as described above, since it is possible to selectively provide a large force only to the actual body to be driven as shown in Figure 8 (a) and 8 (b) Likewise, even when the rigidity of the springs provided between the joint bodies are equal, the joint bodies of the robots can be driven independently.

As described above, since the present invention can selectively provide a large force only to the articulated body to be actually driven, the articulated bodies of the robots can be driven relatively independently.

That is, even though the thickness of the springs provided between the joints of the robots is constant, only the joints desired for actual driving can be driven, thereby minimizing the thickness and volume of the robot joints, thereby improving the miniaturization efficiency of the robots. .

In addition, since only the joint bodies desired to be actually driven can be driven, even if the number of joint bodies is increased, interference of mutual forces generated in each joint body is minimized. This improves the degree of freedom of the robot and facilitates the adjustment of the robot to a desired motion.

Although the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, And various modifications and changes may be made thereto without departing from the scope of the present invention. Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .

100: robot articulation mechanism 120: first articulation
125: first winding part 140: second joint body
145: second winding 160: fixed joint body
180: wire drive unit

Claims (8)

A plurality of articular bodies;
A plurality of wires for guiding rotation angles of the plurality of joint bodies; And
And a wire driver for driving the plurality of wires.
The plurality of articular bodies are provided with a first articular body and a second articular body,
The first articulated body and the second articulated body are spaced apart from each other, and the second articulated body is located closer to the wire driving part than the first articulated body,
The first articulated body includes at least two first winding parts in which a first wire for guiding a rotation angle of the first articulated body is wound among the plurality of wires, and the second articulated body is formed by the first wire. And at least one second winding that is wound, wherein the first wire is wound alternately around the first and second windings. delete The method of claim 1,
One end of the first wire is fixed to the second articulated body, the other end is a robotic joint mechanism, characterized in that connected to the wire drive. The method of claim 1,
And said first and second windings are provided as pulleys. The method of claim 1,
And the first and second windings are formed with protrusions. The method of claim 1,
And the first and second windings are formed as openings. The method according to claim 6,
The robot joint body mechanism of claim 1, wherein the first and second windings and the first wire are in contact with each other. The method of claim 1,
The first and second windings are manufactured in a single module form, the robot articulated mechanism, characterized in that detachably coupled to the first and second articular body.

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