KR101561247B1 - Flexure Joint apparatus - Google Patents

Abstract

The present invention relates to a flexure joint apparatus having a connection member comprising: a first fixing unit; at least one first flexure extended from the first fixing unit; and a first head elastically supported by the first flexure. According to an embodiment of the present invention, the purpose of the present invention is to provide the flexure joint apparatus which is separated when a proper external force is applied to the apparatus and is easily installed without using a special tool.

Description

[0001] Flexure Joint apparatus [

The present invention relates to a flexor joint apparatus.

Joint devices are widely applied to animals, human bodies, mechanical devices, and various industrial products.

In general, the functions of the joints are: 1) transferring the force of one side to the other side; 2) change the direction of the transmitted force if necessary; 3) motion in space and restoration of motion in space between one side and the other side, that is, three-directional linear motion and three-directional rotational motion; 4) In the combined state, one side and the other side form one structure; 5) When external force is not applied, it is separated into one structure and then external force of more than a certain strength is applied; 6) Once detached, it can be reassembled to perform its original function again; And the like.

The articulation apparatus should have such a function of the joints, but the conventional articulation apparatuses have a limitation in that they have limited functions.

Korean Patent No. 10-1132806 Korean Patent Publication No. 10-2012-0020727

It is an object of the present invention to provide a flexor joint apparatus capable of moving in six degrees of freedom, capable of being separated when an appropriate external force is applied, and being easily mounted without using a special tool.

Also, it is an object of the present invention to provide a flexor joint device that reacts in proportion to the magnitude of an applied external force and is restored to its original state when an external force is removed.

In order to achieve the above object, an embodiment of the present invention is characterized in that it comprises a first fixing part, at least one first flexure extending from the first fixing part, and a second elastic part supported by the first flexure 1 < / RTI > head of the present invention.

The first flexure may be provided to enclose at least a part of the first head.

The first flexure may include at least one lead-in, and the lead-in portion may be provided to support the first head.

The first flexure may have one end coupled to the first fixing portion and the other end spaced apart from the first fixing portion.

The first flexure may be provided so that both ends thereof are coupled to the first fixing part.

The first head may be provided in a loop shape.

The first head may include a 1-1 section having a 1-1 thickness and a 1-2 section having a 1-2 thickness different from the 1-1 thickness.

The first head may be provided to be asymmetric in the axial direction of the connecting member.

The first flexure may further include a twist portion provided to be twisted from the extending direction.

The first flexure may further include at least one slit.

And an adhesive interposed between the first flexure and the first head.

The adhesive may be provided to have elasticity.

And a rod coupled with the first fixing part.

Wherein the connecting member further comprises a rod extending from the first head and a second head extending from the rod and facing the first head, wherein the flexure joint apparatus comprises: And at least one second flexure extending from the second fixing portion and elastically supporting at least a part of the second head.

The connecting member may further include a rod extending from the first head, and the flexure joint apparatus may further include a third flexure for elastically supporting the rod.

The connecting member may further include a first rod extending in one direction from the first head and a second rod extending in another direction from the first head.

According to the embodiments of the present invention as described above, it is possible to linearly move in X-axis, Y-axis and Z-axis directions and to perform rotational motion with respect to each axis in proportion to the force externally applied to the head, So that it is possible to linearly and rotationally move in all directions in space.

In addition, it is used in various exercise apparatuses and apparatuses, thereby maximizing the effects of martial arts and exercise training.

Further, the present invention has an advantageous effect for repeated use because it is simple that the head is detached from the flexure and inserted back into the flexure.

In addition, since the description of the joint function of the human body is simple, it has an effect that can be utilized in the field of medical joint mechanisms such as industrial robots and rehabilitation.

In addition, it has an effect that can be applied to all kinds of industrial products requiring a flexible supporting structure.

FIG. 1 is a configuration diagram showing a configuration of a flexor joint apparatus according to an embodiment of the present invention.
FIG. 2 is a configuration diagram illustrating a configuration of a flexor joint apparatus according to another embodiment of the present invention.
FIG. 3 is a configuration diagram showing a configuration of a flexor joint apparatus according to another embodiment of the present invention.
FIG. 4 is a configuration diagram illustrating a configuration of a flexor joint apparatus according to another embodiment of the present invention.
5 and 6 are block diagrams showing a configuration of a flexor joint apparatus according to another embodiment of the present invention.
FIG. 7 is a configuration diagram illustrating a configuration of a flexor joint apparatus according to another embodiment of the present invention.
8A to 8D are views showing various modifications of the first head of the embodiment shown in FIG.
9 is a view showing a first flexure according to another embodiment of the present invention.
10 is a view showing a first flexure according to another embodiment of the present invention.
FIG. 11 shows another embodiment of the flexor joint apparatus shown in FIG. 1. More specifically, FIG. 11 shows an embodiment of the portion A of FIG.
12A to 12C are block diagrams showing a flexor joint apparatus according to another embodiment of the present invention.
13 shows a flexor joint apparatus according to another embodiment of the present invention.
FIG. 14 is a block diagram showing a part of a flexor joint apparatus according to another embodiment of the present invention.
15A to 15C are block diagrams showing a part of a flexor joint apparatus according to another embodiment of the present invention.

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

FIG. 1 is a configuration diagram showing a configuration of a flexor joint apparatus according to an embodiment of the present invention.

Referring to FIG. 1, a joint apparatus according to an embodiment of the present invention includes a first fixing portion 31, a connecting member 11, and a first flexure 21.

As shown in FIG. 1, the first fixing part 31 may be a fixed support provided inside the connecting member 11 and the first flexure 21, Member may be used, and may be a tubular member having at least a hollow in the X-axis direction. However, the present invention is not limited thereto, and any structure may be used as long as the first flexure 21 can be extended.

The connecting member 11 may include a first head 111 and a rod 113 coupled to each other. According to one embodiment, the first head 111 may be formed in a spherical shape, but not necessarily limited to, a polygonal, an elliptical, a semicircular or a semi-elliptical, and optionally various other shapes. In the flexor joint apparatus described in this specification, the first head 111 is not limited to a specific shape as long as it is resiliently supported by the first flexure 21. The rod 113 may be provided so as to extend from one end of the first head 111 in the X-axis direction. However, the present invention is not limited thereto. At least one rod 113 may be provided separately from the first head 111 Lt; / RTI > According to one embodiment, the rod 113 may be formed of a rod having a circular cross section. However, the present invention is not limited thereto, and the rod 113 may be formed of a rod having an elliptical or polygonal cross-sectional shape. In the flexor joint apparatus described herein, the rod 113 may extend from the first head 111 to connect the first head 111 to other devices and / or organs, But is not limited to the shape. The first head 111 and the rod 113 may be integrally formed, but are not limited thereto and may be coupled to each other. The rod 113 may be coupled to the first head 111 toward the center of the first head 111. The rod 113 may be fixedly coupled to the first head 111, and may be selectively pivotable about the first head 111. [

The first flexure 21 may extend from the first fixing part 31 to elastically support one side of the first head 111. The first flexure 21 may be formed of a plate-like member and may have elasticity, and a plurality of the first flexures 21 may extend from the first fixing portion 31 to support the first head 111 at a plurality of points . However, the present invention is not limited thereto, and the first flexure 21 may be provided to elastically support the first head 111. In the present specification, a flexure may mean a member bent to have a certain degree of restoring force.

The first flexure 21 may be formed of a plate-shaped member that is bent or curved one or more times, for example, a plate-like member bent three times in one direction as shown in FIG. 1 . However, the present invention is not limited thereto, and it may be bent many times such as four times or five times. Three or four such plate-like members may be configured to radially surround the first head 111.

The first flexure 21 may include a first extending portion 211, a second extending portion 212, a third extending portion 213, and a first penetrating portion 214.

The first extension part 211 may be provided to support the first head 111 and may be formed to correspond to the surface shape of the first head 111. Accordingly, the first extension portion 211 may extend in an inclined direction in the X-axis direction and / or the Z-axis direction.

The second extending portion 212 extends from the first extending portion 211. In the embodiment shown in FIG. 1, the second extending portion 212 may extend in an inclined direction opposite to the first extending portion 211 about the Z-axis direction.

The first penetration portion 214 may be positioned between the first extension portion 211 and the second extension portion 212. The first penetration portion 214 may be formed as an opening having a size smaller than that of the first head 111 along at least the Z-axis direction. Therefore, the rod 113 can be penetrated through the first penetration part 214. [ The first penetration part 214 can function as a stopper against movement of the first head 111 in the X axis direction. In addition, the rod 113 can be rotated in a fan shape along the Z-axis direction about the first head 111. The connecting member (11) is rotatable about the X axis in a state of being supported by the first flexure (21).

The third extension portion 213 may couple the first flexure 21 to the first fixing portion 31. The third extending portion 213 may extend in an inclined direction opposite to the second extending portion 212 about the Z-axis direction.

The first flexure 21 may be integrally formed with the first fixing portion 31 or may be screwed or welded.

On the other hand, the other side of the first head 111 can be supported by the support 24. The support 24 may include a receiving portion 241 for supporting the other side of the first head 111 and an arm 242 extending along the X axis direction from the receiving portion 241, And one or more arms 242 may be provided to extend from one first head 111 in different directions as needed. The receiving portion 241 may be formed to have a shape corresponding to a shape of the first head 111 so that the surface facing at least the first head 111 is adapted to support the other side of the first head 111.

As the support 24 supports the other side of the first head 111, the first flexure 21 supports the first head 111 from right to left along the X-axis direction of FIG. 1, 24 support the first head 111 from the left to the right along the X-axis direction so that the first head 111 supports the first flexure 21 and the support 24, Position, and / or posture.

Meanwhile, the support 24 may be provided to have elasticity, so that the first head 111 of the flexure joint device can horizontally move along the X-axis direction. Therefore, even if the first head 111 is urged from right to left along the X-axis direction, the force can be relieved by the support 24.

Thus, the connecting member 11 can be rotated and rotated in a state where the connecting member 11 is supported by the first flexure 21 and the support 24, and a smooth joint structure can be formed.

Although the support 24 supports the other side of the first head 111 in the embodiment shown in FIG. 1, the present invention is not limited thereto. Instead of using the support 24, But a separate member or an elastic member may apply a force to the connecting member 11 to balance the force with the first flexure 21. [

The connecting member 11 may be inserted from the outside of the first flexure 21 inwardly, that is, from the right side to the left side in FIG. 1, into the first through hole 214. The first flexure 21 receives the first head 111 inwardly and moves the first head 111 inwardly while receiving the first head 111 inward, ) Can be held by pressing the second half. The first head 111 can receive a pressing force acting in the left-to-right direction in FIG. 1 by the support 24 and the pressing force of the first flexure 21 and the pressing force of the first flexure 21 are balanced with each other, 111) can be held and held in a certain space. The contact surfaces of the first flexure 21 and the first head 111 and / or the rod 113 can slide so that the first head 111 and / or the rod 113 rotate on the axis The rotational motion with respect to the X axis) is freely possible. In this structure, in view of the first head 111 and the components connected to the first head 111, the X-axis, the Z-axis and the Y-axis direction perpendicular to the X-axis and the Z- It is possible to perform linear translation, and it is possible to rotate about X, Y, Z axis. When the received force is removed, it returns to the original position, or when the received force changes, it can move to the new position in response.

The connecting member 11 may extend outwardly of the first flexure 21 along the X-axis direction. That is, when the connecting member 11 is pulled out from the left to right of FIG. 1 along the X-axis direction to a pressure equal to or higher than the elastic generation threshold value of the first flexure 21, the first flexure 21 is bent outward The first penetration part 214 is extended so that the first head 111 can be drawn out of the first flexure 21. In this case, the elastic generation threshold value of the first flexure 21 is not limited to mean the elastic threshold value of the material constituting the first flexure 21, and is not limited by the pressure applied to the coupling member 11 Refers to a value by which the first flexure 21 is bent so that the connecting member 11 can pass through the first flexure 21 and move from one side to the other side.

The connecting member 11 can be engaged with and separated from the first flexure 21 by the first flexure 21 which is an elastic body and the first flexure 21 and the connecting member 11 are fixedly coupled A natural joint apparatus capable of attaching / detaching at a constant force can be realized.

2 shows a first flexure 21 'according to another embodiment of the present invention. The first flexure 21 'according to FIG. 2 may be formed in a plate shape so that the bending angle and / or the direction of the bending angle are changed into a zigzag shape three times and formed in a substantially W shape. The first flexure 21 'may include a first protrusion 215 and a second protrusion 216 protruding toward the inside of the first fixing portion 31 and the first protrusion 21' And the second protrusion 216 may be positioned between the first protrusion 216 and the second protrusion 216. The first flexure 21 'extends from the plurality of first fixing portions 31 and can support the first head 111 at a plurality of positions while radially surrounding the first head 111. [

A through portion through which the first head 111 passes is formed by the first projections 215 of the plurality of first flexures 21 ' The advancement in the direction can be blocked. The first protrusion 215 and the second protrusion 216 do not have to have a pointed structure as shown in FIG. 2 but may have a smooth curved shape. The protrusion length and the bending / bending angle of the first protrusion 215 may be the same as the protrusion length and the bending / bending angle of the second protrusion 216, but are not limited thereto. can do.

The inlet 217 located between the first and second protrusions 215 and 216 may be configured to enclose at least a portion of the first head 111 that is drawn into the first flexure 21 ' have. For this, as shown in FIG. 2, the inlet 217 may be curved so as to form an approximate arc. However, the present invention is not limited thereto, and a center or a part of the lead-in portion 217 may be bent.

The first flexure 21 'has a first end 218 and a second end 219 at either end, wherein the first end 218 may be a portion adjacent to the incoming rod 113, The second end 219 may be an end opposite the first end 218. According to an embodiment, the first end 218 may be coupled to the first securing portion 31 and the second end 219 may be spaced apart from the first securing portion 31. Accordingly, the first flexure 21 'may be provided with an elastic force in the Z-axis direction so that the first head 111 passing through the penetration portion formed by the first protrusion 215 can be inserted or removed. Although not shown in the drawing, according to another embodiment, the first end portion 218 is spaced from the first fixing portion 31 and the second end portion 219 is coupled to the first fixing portion 31 .

As shown in FIG. 2, the first protruding portion 215 has a surface facing the first end portion 218 of the first head 111 which is drawn from right to left, One can achieve a slope. The second protruding portion 216 is formed so that the surface of the second head portion 217 facing the second end portion 219 is urgent than the surface facing the second end portion 219 so that the first head 111, A slope can be achieved. When the first head 111 is pulled out from the lead-in portion 217 rather than the force applied to the first head 111 when the first head 111 is drawn into the lead-in portion 217, So that the force exerted on the endoscope can be made larger.

The first flexure 21 'having such a structure also enables linear translation in the X-axis, Z-axis, and Y-axis directions when the connecting member 11 is subjected to a force and rotates about X, Y, It is possible to move, move back to the original position when the force is removed, or move to the new position in response to a change in the force received. Therefore, the first flexure 21 'gives a degree of freedom of motion of 6 degrees of freedom with respect to the connecting member 11, and has the effect of allowing linear and rotary motion in all directions in space.

At least one first flexure 21 'may be mounted in the cylindrical first fixing part 31. In an embodiment, the first end parts 218 may be respectively fixed to the first fixing part 31 Four first flexures 21 'may be provided to elastically support the first head 111 in a radial direction.

Alternatively, the first flexure 21 'may have a pair of first flexures 21' in the Z-axis direction as shown in FIG. 2, and the first end 218 may be connected to the first fixing portion 31 As shown in FIG. 3, a pair of first flexures 21 'in the Y-axis direction perpendicular to the Z-axis are arranged so that the second end portion 219 is coupled to the first fixing portion 31 Lt; / RTI >

Therefore, the same effect can be obtained when the first head 111 is inserted from the right to the left in the X-axis direction or inserted from the left to the right in the X-axis direction.

4, another embodiment of the first flexure 21 " may be such that both the first end 218 and the second end 219 are coupled to the first securing portion 31 In this case, the pressing force in the Z-axis direction can be larger than that in the embodiment shown in Figs. 2 and 3 described above, so that a larger force is applied to the first head 111. In this embodiment The same effect can be obtained when the first head 111 is inserted from the right to the left in the X-axis direction or inserted from the left to the right in the X-axis direction.

The first flexure 21 '' and the second flexure 21 '' having the above-described structure are not necessarily provided in a plate shape, but may be a bulk structure having a body. That is, the first protrusion 21 ' The second protrusion 216 may be protruded and the protrusion may be formed between the first protrusion and the second protrusion.

Also, the first flexures 21 ', 21 "need not necessarily include two protrusions but may be sufficient to include at least one protrusion if the protrusions resiliently support the first head.

5 and 6 are views showing a part of a flexor joint apparatus according to another embodiment of the present invention.

In the illustrated embodiment, the connecting member 11 may have a structure in which a plurality of rods 113 are connected to one first head 111 having a loop structure. However, the present invention is not necessarily limited to this, and one rod 113 having a hollow pipe-like structure may be coupled to the first head 111. Or a plurality of the rods 113 separated from each other can form a continuous or discontinuous hollow pipe-like structure.

In the embodiment shown in FIG. 6, the first head 111 is shown as having a donut ring structure with a circular plane, but the present invention is not limited thereto, and the first head 111 may have a hollow ring shape having a polygonal plane . In addition, the cross section of the ring is not limited to a circular shape, but may be various shapes such as a polygonal shape, an elliptical shape, a semicircular shape or a semi-elliptical shape. In addition, the loop shape does not necessarily mean a closed loop shape but may include a structure separated by at least one gap.

The plurality of rods 113 are connected by a first connecting rod 131 and a second connecting rod 132 is coupled to the outside of the first connecting rod 131.

The first flexure 21 may be the same as the first flexure 21 of the embodiment shown in FIG. 1, and as shown in FIG. 5, the first extension 211 and the second extension 212, and the fourth extension 2121 is further interposed between the first and second extension portions 2121, 212. However, the present invention is not limited thereto, and any one of the first flexures 21 'and 21' 'shown in Figs. 2 to 4 may be employed.

The first fixing part 31 'may be provided in a box shape, and a groove 252 may be formed on the inner side and a spring 253 may be installed in the groove 252. The end of the spring 253 is connected to the support 24 ', and the support 24' supports the first connection rod 131. 5, the support 24 'is provided to press the first connection rod 131 directly. However, the present invention is not limited to this, and the support 24' And a receiver for surrounding a part of the first head 111 to support a part of the first head 111. [ 5 from the left to the right in FIG. 5 in the X-axis direction by the spring 253 is transmitted from the right to the left in the X-axis direction by the first flexure 21 And can be stably maintained when it is parallel to the pushing force.

7 is a plan view showing a part of a flexor joint apparatus according to another embodiment of the present invention.

According to the embodiment shown in Fig. 7, the first head 111 "includes a first part 1111 having a first thickness t11 and a second part 1111 having a thickness smaller than the first thickness t11 And a first 1-2 portion 1112 having a first 1-2 thickness t12. The first 1-2 portion 1112 is a central portion that is connected to the rod and the 1-1 portion 1111 is a 1-2 part 1112. This may correspond to the shape seen in Figure 8d, but in another embodiment, as shown in Figures 8a-8c, Quot; may be provided so that the center portion of the first head 111 " connected to the first head 111 "has a thicker thickness and the edge portion of the first head 111" has a thin thickness. The first size G1 may be smaller than the 1-1 thickness t11 and larger than the 1-2 thickness t12. In this structure, the first head 111 may have a structure in which a plurality of first flexures 21 '" are formed, and a plurality of first flexures 21' "Quot;, and the gap between the first size G1 of the penetration portion 214 and the cutout 2111 is opened and the first head 111 Quot; through the penetrating portion 214 and extend beyond the first flexure 21 "". Thereafter, when the first head 111 '' is rotated around the first-second part 1112 and the first-first part 1111 is positioned at the second extended part 212, the first flexure 21 '' interrupts the movement of the first head 111 '' in the reverse direction of the first head 111 '', so that the first head 111 'can not pass through the first flexure 21' ' Therefore, according to the joint apparatus of this embodiment, connection and disengagement of the joints can be interrupted according to the rotation of the first head 111 ". The first head 111 '' may be inserted to pass through the first flexure 21 '' in the longitudinal direction of the rod, and then be rotated along a plane formed by the Z-axis direction and the Y-axis direction . At this time, the rotation of the first head 111 '' is provided such that the first-first part 1111 rotates only at an angle enough to reciprocate between the cutout part 2111 and the second extended part 212 Sufficient, but not necessarily limited to, rotate continuously.

The structure of the first flexure 21 '' 'is based on the first flexure of the embodiment shown in FIG. 1, but the present invention is not necessarily limited thereto. The first flexure 21' '' It is of course possible to apply the lexers 21 'and 21' '.

Figs. 8A to 8D show various modifications of the first head 111 "of the embodiment shown in Fig. 7. As shown in Figs. 8A and 8B, A plurality of radial portions may be provided around the portion 1112 and the first head 111 "may have a generally elliptical cross-section as shown in Figs. 8C and 8D.

The first head 111 '' may be provided to be asymmetric in the axial direction of the connecting member 11. That is, as shown in FIGS. 8A to 8D, When the portion of the head 111 "is referred to as the rear portion and the portion opposite to the X-axis direction is referred to as the front portion, the first head 111" The front portion of the through-hole 111 "may have a curved or gentle curved surface and / or an inclined surface so as to easily pass through the penetrating portion 214. [ On the contrary, the rear portion of the first head 111 "may have a curved surface and / or a sloped surface at a more urgent angle so that passage through the first flexure 21" This allows the first head 111 "to pass through the penetration portion 214 through the front portion and pass through the first flexure 21" ", thereby restricting the backward movement. When the specific axial rotation angle is reached Only through the penetrating portion 214 through the reverse movement.

Or the cut surface of the first head 111 "in the X-axis direction may be provided asymmetrically in a radial manner on the YZ plane. This is not applied to the embodiment shown in Figs. 7 to 8D, It is needless to say that it is possible to operate as a flexure joint apparatus even if the shape of the head does not necessarily include the symmetry about a specific axis. The design of the flexure can be made asymmetrically.

Such an embodiment according to Figs. 7 and 8A to 8D can be widely applied to buttons including a lockable snap button, a hook button, a knot button and the like. In other words, the first head 111 "is initially pressed and moved past the penetration portion of the first flexure to be in a locked state. Thereafter, the first head 111" is rotated on the axis in the pressing direction, It is possible to release the locked state by pulling out and pushing it in the reverse direction of the pressing.

FIG. 9 shows another embodiment of the first flexure 21 shown in FIG. 1, wherein the first flexure 21 further includes a twist portion 2131 twisted from the extending direction . The degree of twist of the twisted portion 2131 is adjusted so that the mounting position of the first flexure 21 to the first fixing portion 31 and the mounting position of the first flexure 21 on the first head 111 You can freely change locations.

9 shows that the twisted portion 2131 is formed in the third extended portion 213. However, the present invention is not limited to this, and the twisted portion 2131 may include the first extended portion 211 ) To the third extension 213. In this case, In addition, the twisted portion 2131 may be applied to the first flexure 21 having the fourth extended portion 2121 as shown in FIG. 5, It is also applicable to the embodiment of the flexure 21 ?.

The twist portion 2131 can also be applied to the first flexures 21 'and 21' 'of FIGS. 2 to 4, between the first protrusion 215 and the first end 218, And / or between the second projection 216 and the second end 219. The twist portion 2131 may be applied to the flexures of all the embodiments herein.

FIG. 10 illustrates another embodiment of the first flexure 21 shown in FIG. 1, wherein the first flexure 21 may further include at least one slit 210. FIG. The degree of bending and / or elastic restoring force of the first flexure 21 can be adjusted by the slit 210. That is, the first flexure 21 including the slit 210 can be bent more easily, and the elastic restoring force can also be weakened. Therefore, the elasticity of the first flexure 21 can be adjusted by adjusting the number, the length, and the shape of the slits 210. By changing the position of the slits 210 among the plurality of first flexures 21, The degree of elastic support to the first head 111 by the flexure 21 can be freely designed.

10 shows that the slit 210 is formed in the second extension portion 212, the present invention is not limited thereto, and the slit 210 may be formed in the first extension portion 211, And may be located at least in part of the third extension 213. In addition, the slit 210 may be applied to the first flexure 21 having the fourth extension 2121 as shown in FIG. 5, Can also be applied to the embodiment of the Rectifier 21 '' '.

The slit 210 can also be applied to the first flexures 21 'and 21' 'of FIGS. 2 to 4 such that the first protrusion 215 and the first end 218 and / Or between the second projection 216 and the second end 219 and / or the lead-in portion 217. The torsion portion 2131 may also be applied to flexures of all embodiments herein have.

FIG. 11 shows another embodiment of the flexor joint apparatus shown in FIG. 1. More specifically, FIG. 11 shows an embodiment of the portion A of FIG.

11, an adhesive 41 may be further interposed between the first extension 211 of the first flexure 21 and the first head 111. In the embodiment shown in FIG. The first flexure 21 and the first head 111 may be bonded to each other by an adhesive 41, for example. Accordingly, the first flexure 21 and the first linking member 11 can be stably connected to each other.

According to another embodiment, the adhesive 41 may have elasticity. Accordingly, the first head 111 can rotate in a certain range in a state of being joined to the first extension 211. Even if an impact is applied to the first head 111, the impact is mitigated by the adhesive 41 to prevent damage to the flexure joint apparatus.

The adhesive 41 may be a solid, a liquid, and / or a colloid. However, the adhesive 41 is not limited to being capable of fixedly bonding the first flexure 21 and the first head 111, The first flexure 21 and the first head 111 can be bonded within a range in which they can move to some extent. For example, the adhesive 41 may be formed of a solid, liquid, and / or colloid having a certain degree of viscosity, so that the first flexure 21 and the first head 111 are attached only within a certain range . In addition, materials such as grease that have lubricity between the first flexure 21 and the first head 111 can be applied as long as they have a certain viscosity and can provide an adhesive force within a certain range.

The adhesive 41, as in the above embodiments, may be interposed between all the embodiments of the first flexure and the first head of the present disclosure. In addition, the adhesive 41 as in the above embodiments may be interposed between the first head 111 and the support 24 in the embodiment shown in FIG. 1, and the other type of flexure And can be interposed between the members elastically supported by the flexure.

12A to 12C are block diagrams showing a flexor joint apparatus according to another embodiment of the present invention.

A first head A1 and a second head B1 opposed to each other are arranged and the first head A1 and the second head B1 are connected to each other by a connecting rod C1. The thickness of the connection rod C1 may be formed differently along the X-axis direction, but not necessarily limited thereto, but may be uniform along the X-axis direction. The first head A1 and the second head B1 are located in the first fixing portion D1 and the second fixing portion D2, respectively.

First flexures e1 to e4 are provided in the first fixing portion D1 and second flexures f1 to f4 are provided in the second fixing portion D2. The first flexures e1 to e4 and the second flexures f1 to f4 may be formed in the same structure as the first flexure 21 as in the embodiment shown in Fig. 5, and the third extension portion 213 It can be seen as a structure connected to the stationary government. However, the present invention is not limited thereto, and the flexures may be applied to the flexure structures of all the embodiments described herein.

The first outer rod A2 and the second outer rod B2 may be connected to the outer sides of the first fixed portion D1 and the second fixed portion D2 facing each other. The first outer rod A2 and the second outer rod B2 can rotate around the X axis and rotate at a predetermined angle, respectively. The rotational force of the first outer rod A2 and the second outer rod B2 can be prevented from being transmitted to the opposite outer rod. When the first head A1 and the second head B1 are attached to the connection rod C1 via an adhesive agent, the rotational force of one of the external rods can be transmitted to the other external rod.

The first head A1 and / or the second head B1 are moved in the X-axis direction by the first flexures D1 and / or the first flexures e1 e4) and the second flexures (f1-f4) and, on the contrary, can be re-fitted.

12B, due to the shape of the first head A1 and / or the resilient deformation of the first flexures e2 and e4, the second outer rod B2 is received from the X axis by a first angle? It can be turned up or down. In this state, rotation of the first outer rod (A2) and / or the second outer rod (B2) is possible.

12C, by virtue of the shape of the second head B1 and / or the elastic deformation of the second flexures f1 and f3, the second outer rod B2 is inclined at a second angle? can be pivoted up or down by as much as the angle beta. In this state, rotation of the first outer rod (A2) and / or the second outer rod (B2) is possible.

As described above, in the state where the first outer rod A2 and the second outer rod B2 connected to each other by the joint device according to the present embodiment are connected, it is possible to perform the six degrees of freedom movement as described above, It is possible to make a wide angle of spread in all directions.

13 shows a flexor joint apparatus according to another embodiment of the present invention. In the embodiment shown in Fig. 13, the rod C1 connected to the second head B1 is resiliently supported by the third flexures g1 to g4. And the third flexures g1 to g4 are connected to the third fixing portion D3. These third flexures g1 to g4 can also be applied to the flexure structures of all the embodiments described herein. And a second external load B2 is connected to the outside of the second fixing portion D2.

Also in this structure, the second external load B2 can be pivoted by the first angle? From the X axis by the elastic deformation of the third flexures g1 to g4, and the second head B1 Of the second flexures f1 and f3 and / or by the elastic deformation of the second flexures f1 and f3 so that the second outer rod B2 is further raised or lowered by a second angle? In addition to the first angle? . It is possible to rotate the connecting rod C1 and / or the second outer rod B2 in each state. Of course, it is also possible to rotate around the X axis in each state.

The embodiment shown in FIG. 14 is a modification of the embodiment shown in FIG. 13, in which the external connecting rod is not connected to the second fixing portion D2. At this time, the connection rod C1 can rotate about the X axis, and the first fixing part D1 and / or the second fixing part D2 can rotate, and the connection rod C1 can be rotated in the X axis, Z axis, It is possible to move and rotate a fan-shaped rotation about the Z and Y axes.

15A to 15C show another embodiment of the present invention.

The first head A1 is supported by the first flexures e1 to e4 in the first fixing portion D1 and the first outer rod A2 and the third outer rod A3 are supported by the first head A1 ). ≪ / RTI >

Also in this structure, the combined body of the first outer rod A2, the first head A1 and the third outer rod A3 is rotatable, and as shown in FIG. 15B, by the shape of the first head A1, The outer rod A2 and the third outer rod A3 can be rotated by the first angle alpha. As shown in FIG. 15C, by the elastic deformation of the first flexures e1 to e4 (particularly e2 and e3), the first outer rod A2 and the third outer rod A3 are fixed to the first angle? It can be pivoted up or down by two angles?. The combination can be rotated in each rotation state, and the rotation about the X axis is also possible.

As described above, the articulation apparatus according to the above-described embodiments is capable of moving in 6 degrees of freedom and can be opened at a large angle in all directions such as up, down, left, and right.

It is needless to say that the embodiments of the present invention described above can be applied to other embodiments.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation and that those skilled in the art will recognize that various modifications and equivalent arrangements may be made therein. It will be possible. Accordingly, the true scope of protection of the present invention should be determined only by the appended claims.

Claims (16)

A first fixing part;
At least one first flexure extending from the first securing portion; And
And a connecting member including a first head elastically supported by the first flexure,
Wherein the first head is provided so as to be asymmetric in the axial direction of the connecting member,
The first flexure is provided to enclose at least a part of the first head,
The first head includes a 1-1 section having a 1-1 thickness and a 1-2 section having a 1-2 thickness different from the 1-1 thickness. delete The method according to claim 1,
The first flexure including at least one lead, and the lead portion being adapted to support the first head. The method according to claim 1,
Wherein the first flexure has one end coupled to the first fixing portion and the other end spaced apart from the first fixing portion. The method according to claim 1,
Wherein the first flexure is provided so that both ends thereof are coupled to the first fixing part. delete delete delete 6. The method according to any one of claims 1 to 5,
Wherein the first flexure further comprises a twist portion twisted from the extending direction. 6. The method according to any one of claims 1 to 5,
Wherein the first flexure further comprises at least one slit. 6. The method according to any one of claims 1 to 5,
And an adhesive interposed between the first flexure and the first head. 12. The method of claim 11,
Wherein the adhesive is provided so as to have elasticity. delete delete delete delete

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