KR101668714B1 - Robot joint mechanism - Google Patents

Robot joint mechanism Download PDF

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Publication number
KR101668714B1
KR101668714B1 KR1020160029045A KR20160029045A KR101668714B1 KR 101668714 B1 KR101668714 B1 KR 101668714B1 KR 1020160029045 A KR1020160029045 A KR 1020160029045A KR 20160029045 A KR20160029045 A KR 20160029045A KR 101668714 B1 KR101668714 B1 KR 101668714B1
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South Korea
Prior art keywords
pulleys
pulley
driving force
joint
radius
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KR1020160029045A
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Korean (ko)
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손대경
김광기
이호열
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국립암센터
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

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

Abstract

The robot joint mechanism according to the present invention is a robot joint mechanism comprising: a driving part for providing a driving force to a plurality of joint parts for rotating a plurality of joint parts, a plurality of joint parts, a driving part for connecting a plurality of joint parts and a driving part, A plurality of driving force providing members and a plurality of pulleys arranged in mutually opposing relation to each other and having a plurality of pulleys for guiding the movement of the driving force providing member mutually connected to the driving portion and the joint portion for adjusting the rotation angle of each joint portion according to the driving force of the driving portion And a pulley assembly. Accordingly, a plurality of pulley assemblies having a plurality of pulleys for guiding the driving force providing member are disposed between the plurality of joint parts, thereby miniaturizing the overall size and improving the rotational motion holding force of the joint part.

Description

Robot joint mechanics {ROBOT JOINT MECHANISM}

The present invention relates to a robot joint mechanism, and more particularly, to a robot joint mechanism used in a robot arm or the like.

Robotics or robots industry continues to develop industrial robots used in the industrial field and medical robots used in the medical field. The robots used in these fields are composed of a plurality of joint assemblies so that joint motion of the human body can be performed as much as possible.

Here, the joint motion of the robot having a plurality of joint assemblies is achieved by mounting a motor to each joint and providing a driving force for rotational motion of each joint, or providing a driving force according to a method of a wire or the like.

On the other hand, among various industrial fields, robots used in the medical industry are generally used for surgery or surgery, and in particular, mobility within the human body such as a laparoscope is emphasized. As described above, the robots used in the medical industry are required to be miniaturized in order to ensure mobility in a narrow space inside the human body. In addition, the medical robot should have sufficient holding power so as not to be detached from the surgical site after the joint exercise in surgery or surgery.

However, if a motor used in a conventional medical industry uses a motor for every joint so as to have a sufficient rotational holding force, it is difficult to manufacture the robot by miniaturization. If a driving force providing guide structure such as a wire is used for miniaturization There is a problem in that it can not have a sufficient rotational holding force.

Korean Patent Registration No. 10-1207853; Actuator module adaptable to various joint types and joint structure using the same

SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot joint mechanism that is improved in structure so as to miniaturize a joint motion structure of the robot.

Another object of the present invention is to provide a robot joint mechanism improved in structure so as to not only miniaturize the joint movement structure of the robot but also improve the rotational motion holding force of the joint.

According to an aspect of the present invention, there is provided a driving apparatus for a vehicle, comprising: a plurality of joint portions according to the present invention; a driving portion for providing driving forces to the plurality of joint portions for respectively rotating the plurality of joint portions; A plurality of driving force providing members provided to the respective joint parts to provide a driving force provided from the driving part to each of the joint parts and a plurality of driving force providing members provided to the joint parts and the driving part for adjusting the rotation angle of each of the joint parts according to the driving force of the driving part. And a plurality of pulley assemblies having a plurality of pulleys for guiding movement of the driving force providing members interconnected with each other.

Here, the mutual intervals of the pulley assemblies disposed at the joint portions may be increased or decreased according to the change in the length of the driving force providing member according to the driving force of the driving portion.

The arrangement order of the pulleys facing each other of the pulley assemblies disposed on the respective joint portions is changed from the pulley in the region where the driving force providing member moved from the pulley to the driving pulley, And the total number of pulleys is N, the rotation speed of the pulley

Figure 112016023422060-pat00001
May include the following Equation (1).

&Quot; (1) "

Figure 112016023422060-pat00002

(n, N are natural numbers and r,

Figure 112016023422060-pat00003
Is an integer, n is the order of arrangement of the pulleys, r is the radius of the pulley, and
Figure 112016023422060-pat00004
Is the moving length of the driving force providing member)

When the arrangement order n of the plurality of pulleys disposed at the joint portion adjacent to the driving portion is n 1 and the arrangement order n of the plurality of pulleys disposed at the joint portion connected with the driving force providing member is n 2 , May include the following Equations (2) and (3), respectively.

<Equation 2> n 1 = 2n-1 (n is a natural number for the sequence of 1, 2, 3 ....... n) ,

&Quot; (3) &quot; n 2 = 2n (n is a natural number for a sequence of 1, 2, 3 ... n)

The plurality of pulleys have the same radius and can be independently rotated.

The plurality of pulleys preferably have different rotational speeds.

On the other hand, the plurality of pulleys may have the same rotational speed and different radii, respectively.

The radii of the plurality of pulleys may be increased corresponding to the arrangement order n 1 and n 2 of the pulleys, respectively.

The radius of the pulley for the arrangement order n 1 of each of the pulleys may be equal to or greater than the radius of the pulley for the arrangement order n 2 of each of the pulleys.

The pulleys of any one of the plurality of pulleys and the plurality of pulleys of the other pulleys may be independently rotated.

The radius of one of the plurality of pulleys may be greater or less than or equal to the radius of the other plurality of pulleys.

The radius of each of the pulleys for the arrangement order n 1 of the plurality of pulleys of the plurality of pulleys may be equal to or greater than the radius of each of the pulleys for the arrangement order n 2 of the pulleys.

The driving force providing member may include any one of a wire, a cable, and a belt.

The details of other embodiments are included in the detailed description and drawings.

The effects of the robot joint mechanism according to the present invention are as follows.

First, a plurality of pulley assemblies having a plurality of pulleys for guiding a driving force providing member are disposed between a plurality of joint parts, thereby miniaturizing the overall size and improving the rotational motion holding force of the joint part.

Second, since the radius of each pulley can be reduced in consideration of the rotation speed of a plurality of pulleys according to the movement of the driving force providing member, the overall size of the robot joint mechanism can be miniaturized have.

1 is a perspective view of a robot joint mechanism according to embodiments of the present invention,
FIG. 2 is a partial perspective view of the driving unit shown in FIG. 1,
FIG. 3 is an enlarged perspective view of the area A shown in FIG. 1,
Figure 4 is an operational view of the robot joint mechanism shown in Figure 3;
Figs. 5 (a) and 5 (b) are schematic views of the pulley assembly of the robot joint mechanism shown in Figs. 3 and 4,
FIG. 6 is a perspective view of a pulley assembly of a robot joint mechanism according to a first embodiment of the present invention; FIG.
FIG. 7 is a block diagram of a pulley assembly of a robot joint mechanism according to a second embodiment of the present invention;
8 is a block diagram of a pulley assembly of a robot joint mechanism according to a third embodiment of the present invention.

Hereinafter, a robot joint mechanism according to embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Before describing, in order to describe the robot joint mechanism according to the embodiments of the present invention in detail, a joint part adjacent to a driving part is connected to a first joint part and a driving force providing member, and a joint part rotating about the first joint part is connected to a second joint part However, since the robot joint mechanism according to the embodiments of the present invention includes the plurality of joint parts, the joint parts adjacent to the drive parts are connected to the two adjacent joint parts by the first joint part and the driving force providing member being connected and rotating about the first joint part The joints can be interpreted as the second joints.

It is also noted that the pulley assemblies disposed at the first joint and the second joint may be interpreted as a first pulley assembly and a second pulley assembly, respectively.

It should be noted that the components of the robot joint mechanism according to the first to third embodiments of the present invention are denoted by the same reference numerals for the same names.

Fig. 1 is a perspective view of a robot joint mechanism according to an embodiment of the present invention, Fig. 2 is a partial perspective view of the driving part shown in Fig. 1, Fig. 3 is an enlarged perspective view of area A shown in Fig. 5 (a) and 5 (b) are schematic block diagrams of the pulley assembly of the robot joint mechanism shown in Figs. 3 and 4, respectively.

1 to 5, the robot joint mechanism 10 according to the embodiments of the present invention includes a joint part 100, a driving part 300, a driving force providing member 500, and a pulley assembly 700 .

The joint 100 is composed of a plurality of joints. The joint 100 includes a joint part 100 adjacent to the driver 300 as a first joint part 120 and a joint part 100 rotatably connected to the first joint part 120 as a second joint part 140). Referring to FIGS. 1 to 3, two joints 100 having a Y axis axis of rotation with reference to a joint 100 disposed at an upper part of the drawing are referred to as a first joint 120 and a second joint 140). That is, the joint part 100 at the uppermost position in the drawing is referred to as a second joint part 140, and the joint part 100 adjacent to the drive part 300 is referred to as a first joint part 120.

The first joint part 120 and the second joint part 140 may be replaced with the second joint part 140 and the first joint part 120, respectively. Referring to FIGS. 1 to 4, the first joint 120, which is arranged to have a rotational axis of the Y axis, is rotated with the axis of rotation of the X axis, the second joint 140). The plurality of joint parts (100) have alternating rotation axis lines. In detail, the plurality of joint parts 100 are provided with a repetitive and alternating rotation axis line such that rotational motion with the rotational axis of the Y axis, rotational motion with the rotational axis of the X axis, and rotational motion with the rotational axis of the Y axis, As shown in Fig.

The driving unit 300 provides a driving force to the plurality of joint parts 100 to rotate the plurality of joint parts 100, respectively. The driving force providing member 500 interconnects the plurality of joint parts 100 and the driving part 300 and provides the driving force provided from the driving part 300 to each of the joint parts 100. The driving force providing member 500 includes any one of a wire, a cable, and a belt. The driving force providing member 500 of the present invention includes a wire. A plurality of driving force providing members 500 are provided to be mutually connected to the driving unit 300 and the plurality of joint parts 100, respectively. The driving unit 300 provides a driving force to each of the joint parts 100 according to the rotational motion for winding and unlocking of the driving force providing member 500.

The pulley assembly 700 is disposed opposite to the respective joint parts 100 and is disposed in the joint part 100 and the driving part 300 in order to adjust the rotation angle of each joint part 100 according to the driving force of the driving part 300. [ And includes a plurality of pulleys for guiding movement of the coupled driving force providing member 500. A plurality of pulley assemblies 700 are disposed corresponding to the plurality of joint parts 100. In the pulley assembly 700, four joint parts 100 are disposed at intervals of 90 degrees for rotational movement having repetitive and alternating rotational axis lines of the plurality of joint parts 100. In this embodiment,

The pulley assembly 700 includes a first pulley assembly 720 disposed in the first joint 120 and a second pulley assembly 740 disposed in the second joint 140. The first pulley assembly 720 and the second pulley assembly 740 are configured such that the first joint 120 and the second joint 140 are translated into the second joint 140 and the first joint 120 And is interpreted correspondingly. Four first pulley assemblies 720 are disposed on the first joint 120 at intervals of 90 degrees as described above and four second pulley assemblies 740 are disposed at the second joints at intervals of 90 degrees . The first pulley assembly 720 and the second pulley assembly 740 are disposed to face each other, that is, to face each other.

The mutual intervals of the pulley assemblies 700 disposed in the respective joint parts 100 are increased or decreased in accordance with the change in the length of the driving force providing member 500 according to the driving force of the driving part 300. That is, the mutual distance between the first pulley assembly 720 and the second pulley assembly 740 is increased or decreased according to the principle of the moving pulley according to the change of the length of the driving force providing member 500 according to the driving force of the driving part 300.

The rotational speeds of a plurality of pulleys in accordance with the principle of the moving pulley of the mutually oppositely disposed pulley assembly 700 will be described with reference to Fig.

The arrangement order of the mutually opposing pulleys of the pulley assembly 700 disposed in each joint part 100 is changed from a pulley in the area adjacent to the driving part 300 and connected to the joint part 100 in the region in which the driving force- When the total number of pulleys is N and the rotation speed of the pulley is n

Figure 112016023422060-pat00005
Is expressed in the following formula.

Fig. 5 (a) shows the arrangement of the pulley assembly shown in Fig. 3, and Fig. 5 (b) schematically shows the arrangement of the pulley assembly shown in Fig. Here, h an and h bn represent the wire length from the starting point of the wire to each pulley, and are defined as h an = h bn . 5 (a) to 5 (b), when the minute variation amount is modified with respect to the rotation speed of the pulley due to the mutual distance change of the pulley assemblies arranged mutually,

Figure 112016023422060-pat00006
(Where h a1 = h b1 ) and
Figure 112016023422060-pat00007
. And,
Figure 112016023422060-pat00008
silver
Figure 112016023422060-pat00009
. The above
Figure 112016023422060-pat00010
and
Figure 112016023422060-pat00011
The rotational speed of the first pulley
Figure 112016023422060-pat00012
.

The rotational speed of the second pulley is

Figure 112016023422060-pat00013
,
Figure 112016023422060-pat00014
(Where h a2 = h b2 ) and
Figure 112016023422060-pat00015
According to the rotational speed relationship of the first pulley as described above,
Figure 112016023422060-pat00016
.

The rotational speed of the n-th pulley is expressed by the following equation (1) according to the above-described relational expression.

&Quot; (1) &quot;

Figure 112016023422060-pat00017

(n, N are natural numbers and r,

Figure 112016023422060-pat00018
Is an integer, n is the order of arrangement of the pulleys, r is the radius of the pulley, and
Figure 112016023422060-pat00019
Is the moving length of the driving force providing member)

Considering Equation (1) above, it can be seen that the rotation speed of the pulley arranged at the n-th position gradually increases from 1 to n.

If the arrangement order n of the plurality of pulleys arranged opposed to the respective joint parts 100 is n 1 and n 2 , the arrangement order n of the plurality of pulleys arranged in the joint part 100 adjacent to the drive part 300 is n 1 , and the arrangement order n of the plurality of pulleys disposed in the joint part 100 to which the driving force providing member is connected is n 2 , the following equations (2) and (3) are satisfied, respectively.

<Equation 2> n 1 = 2n-1 (n is a natural number for the sequence of 1, 2, 3 ....... n) ,

&Quot; (3) &quot; n 2 = 2n (n is a natural number for a sequence of 1, 2, 3 ... n)

For example, the arrangement order n of the plurality of pulleys of the first pulley assembly 720 has a relation of n 1 = 2n-1, so that the arrangement order of 1, 3, 5 ... 2n-1 is And the arrangement order n of the plurality of pulleys of the second pulley assembly 740 has the order of 2, 4, 6 ... 2n as n 2 = 2n.

6 is a perspective view of a pulley assembly of a robot joint mechanism according to a first embodiment of the present invention.

6, the first pulley assembly 720 includes a first rotating shaft 721, a first pulley 722, a third pulley 723, a fifth pulley 724, a seventh pulley 725, And a first cap 726. The second pulley assembly 740 includes a second rotating shaft 741, a second pulley 742, a fourth pulley 743, a sixth pulley 744, an eighth pulley 745 and a second cap 746 . For example, the order of disposition of the pulleys of the first pulley assembly 720 is 1, 3, 5, and 7, satisfying the relational expression n = n 1 = 2n-1, Is 2, 4, 6, and 8 in order to satisfy the relational expression n = n 2 = 2n. Here, the first cap 726 and the second cap 746 are separated from the first pulley 722, the third pulley 723, the fifth pulley 724, and the seventh pulley 725, respectively, The second pulley 742, the fourth pulley 743, the sixth pulley 744, and the eighth pulley 745 are separated from each other.

A plurality of pulleys of the pulley assembly 700 of the first embodiment of the present invention have the same radius and are independently rotated. That is, the first pulley 722, the third pulley 723, the fifth pulley 724 and the seventh pulley 725 of the first pulley assembly 720 are independently coupled to the first rotation shaft 721, And is independently rotated according to the movement of the providing member 500. The second pulley 742, the fourth pulley 743, the sixth pulley 744 and the eighth pulley 745 of the second pulley assembly 740 are independently coupled to the second rotation shaft 741, And is independently rotated according to the movement of the providing member 500. The plurality of pulleys of the pulley assembly 700 of the first embodiment of the present invention are arranged to rotate independently when the radii are the same because the rotational speeds of the respective pulleys vary according to the conditions of Equation (1).

7 is a block diagram of a pulley assembly of a robot joint mechanism according to a second embodiment of the present invention.

The pulley assembly 700 of the second embodiment of the present invention is composed of a plurality of pulleys having the same rotational speed and different radii. The pulley assembly 700 of the second embodiment of the present invention, unlike the first embodiment of the present invention, is coupled to rotate at the same rotational speed. The radius of the plurality of pulleys in accordance with the arrangement order of the pulley increasing the rotational speed is faster in the n-th in accordance with the above-described <Equation 1> r 2 = 2r 1, r 3 = 3r 1 ....... r n = nr 1 .

A first pulley 722, a second pulley 742, a third pulley 723, a fourth pulley 743, for example, of the first pulley assembly 720 and the second pulley assembly 740 of the present invention. The fifth pulley 724, the sixth pulley 744, the seventh pulley 725 and the eighth pulley 745 are shown in Table 1 below.

Radius of the pulley r 2 r 4 r 6 r 8 ratio 2 4 6 8 Radius of the pulley r 1 r 3 r 5 r 7 ratio One 3 5 7

Since the rotation speeds of the first pulley assembly 720 and the second pulley assembly 740 need not be the same, the size of the pulley can be reduced by determining the ratio of the radii as follows. That is, considering that the second pulley assembly 740 is rotated twice as fast as the first pulley assembly 720, the radius ratio is determined as shown in Table 2.

Radius of the pulley r 2 r 4 r 6 r 8 ratio One 2 3 4 Radius of the pulley r 1 r 3 r 5 r 7 ratio One 3 5 7

In consideration of the radius ratio of Table 2, if the diameter of the smallest pulley is determined to be 2 mm or more in order to prevent damage to the driving force providing member 500, the radius is determined as shown in Table 3 below.

Radius of the pulley r 2 r 4 r 6 r 8 ratio 2mm 4mm 6mm 8mm Radius of the pulley r 1 r 3 r 5 r 7 ratio 2mm 6mm 10mm 14mm

The radii of the pulleys for the arrangement order n 1 of each of the pulleys are equal to or greater than the radii of the pulleys for the arrangement order n 2 of the respective pulleys.

The radii of the first pulley 722, the third pulley 723, the fifth pulley 724 and the seventh pulley 725 of the first pulley assembly 720 represented by the arrangement order n 1 of the pulleys, Of the second pulley 742, the fourth pulley 743, the sixth pulley 744 and the eighth pulley 745 of the second pulley assembly 740 represented by the arrangement order n 2 of .

Thus, the pulley assembly 700 of the second embodiment of the present invention not only has the same torque as that of the pulley assembly 700 of the first embodiment of the present invention in consideration of the radius of the pulley in consideration of the rotational speed of the pulley, The size of the robot arm can be reduced and the robot joint mechanism 10 can be miniaturized.

8 is a block diagram of a pulley assembly of a robot joint mechanism according to a third embodiment of the present invention.

In the pulley assembly 700 of the third embodiment of the present invention, one of the plurality of pulleys and the plurality of other pulleys are independently rotated. The pulley assembly 700 of the third embodiment of the present invention has a complex structure of the pulley assembly 700 of the first embodiment and the pulley assembly 700 of the second embodiment.

The radius of the pulley of the pulley assembly 700 of the third embodiment of the present invention should have a radius ratio as shown in Table 2 but it is adjusted to have a radius ratio as shown in Table 4 below in order to reduce the size of the pulley.

Radius of the pulley r 2 r 4 r 6 r 8 ratio 0.5 One 1.5 2 Radius of the pulley r 1 r 3 r 5 r 7 ratio 0.3 One 1.66 2.33

However, there is a risk of wire damage as the radii ratio of the first pulley 722 and the second pulley 742 is small. Here, the first pulley 722 may have a rotation speed different from that of the combination of the third pulley 723, the fifth pulley 724 and the seventh pulley 725 having the same rotation speed, and the second pulley 742 May have a rotational speed different from that of the combination of the fourth pulley 743, the sixth pulley 744 and the eighth pulley 745 having the same rotational speed. Therefore, the ratio of the first pulley 722 and the second pulley 742 can be freely determined as shown in Table 5 below.

Radius of the pulley r 2 r 4 r 6 r 8 ratio free One 1.5 2 Radius of the pulley r 1 r 3 r 5 r 7 ratio free One 1.66 2.33

In consideration of the radius ratio in Table 5, if the diameter of the smallest pulley is determined to be 2 mm or more in order to prevent damage to the driving force providing member 500, the radius is determined as shown in Table 6 below.

Radius of the pulley r 2 r 4 r 6 r 8 ratio 3mm
(free) 2mm 3mm 4mm Radius of the pulley r 1 r 3 r 5 r 7 ratio 3mm
(free) 2mm 3.32mm 4.66mm

The diameter of one of the plurality of pulleys is equal to, less than, or equal to the radius of the other plurality of pulleys. That is, the radius of the first pulley 722 is independent of the radius of the third pulley 723, the fifth pulley 724 and the seventh pulley 725, and the radius of the second pulley 742 is 4 pulley 743, the sixth pulley 744, and the eighth pulley 745. In this case,

Further, the radius of each of the pulleys for the arrangement order n 1 of the plurality of pulleys of the plurality of pulleys is equal to or greater than the radius of each of the pulleys for the arrangement order n 2 of the pulleys. For example, the radius of the third pulley 723, the fifth pulley 724, and the seventh pulley 725, a first pulley assembly 720, which is represented by the arrangement order n 1 of the pulley is arranged in order of the pulley n 2 Respectively, of the fourth pulley 743, the sixth pulley 744, and the eighth pulley 745 of the second pulley assembly 740, respectively.

In this way, the pulley assembly 700 of the third embodiment of the present invention takes the radii of the pulleys into account in consideration of the rotational speed of the pulleys, and therefore, the same torque as the pulley assembly 700 of the first and second embodiments of the present invention The size of the pulley can be reduced and the robot joint mechanism 10 can be miniaturized.

Accordingly, a plurality of pulley assemblies having a plurality of pulleys for guiding a driving force providing member between a plurality of joint portions can be disposed, thereby miniaturizing the overall size and improving the rotational motion holding force of the joint portion.

In addition, since the radius of each pulley can be reduced in consideration of the rotational speed of a plurality of pulleys in accordance with the movement of the driving force providing member, the overall size of the robot joint mechanism can be miniaturized have.

While 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, . Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

10: Robot joint mechanism 100: Joint part
120: first joint part 140: second joint part
300: driving unit 500: driving force providing member
700: Pulley assembly 720: First pulley assembly
722: first pulley 723: third pulley
724: fifth pulley 725: seventh pulley
740: second pulley assembly 742: second pulley
743: Fourth pulley 744: Sixth pulley
745; Eighth pulley

Claims (13)

A plurality of joints;
A driving unit for providing a driving force to the plurality of joints to rotate the plurality of joints, respectively;
A plurality of driving force providing members interconnecting the plurality of joints and the driving unit and providing a driving force provided from the driving unit to each of the joints;
A plurality of pulleys arranged to face each other and arranged to face each other and to guide movement of the driving force providing member interconnected to the joint and the driving unit to adjust the rotation angle of each joint according to the driving force of the driving unit Pulley assembly,
Wherein a plurality of the pulleys arranged so as to face each other on the respective joints are alternately arranged in the order of n from the pulleys arranged in the region in which the driving force providing member is in and out, and the total number of pulleys is N , The rotation speed of the pulley
Figure 112016061305758-pat00032
Wherein the robot arm mechanism includes the following Equation (1).
&Quot; (1) &quot;
Figure 112016061305758-pat00033

(n, N are natural numbers and r,
Figure 112016061305758-pat00034
Is an integer, n is the order of arrangement of the pulleys, r is the radius of the pulley, and
Figure 112016061305758-pat00035
Is the moving length of the driving force providing member)
The method according to claim 1,
The mutual spacing of the pulley assemblies, each disposed at the joint,
Wherein the driving force generating member is increased or decreased according to a change in the length of the driving force providing member according to a driving force of the driving unit.
delete The method according to claim 1,
When the arrangement order n of the plurality of pulleys arranged at the joint portion adjacent to the driving portion is n 1 and the arrangement order n of the plurality of pulleys arranged at the joint portion connected with the driving force providing member is n 2 , (2) and (3) of the robot arm mechanism.
<Equation 2> n 1 = 2n-1 (n is a natural number for the sequence of 1, 2, 3 ....... n) ,
&Quot; (3) &quot; n 2 = 2n (n is a natural number for a sequence of 1, 2, 3 ... n)
The method according to claim 1,
Wherein the plurality of pulleys have the same radius and are independently rotated.
6. The method of claim 5,
Wherein the plurality of pulleys have different rotational speeds.
5. The method of claim 4,
Wherein the plurality of pulleys have the same rotational speed and different radii, respectively.
8. The method of claim 7,
Wherein the radii of the plurality of pulleys are increased in correspondence with the arrangement order n 1 and n 2 of the pulleys, respectively.
9. The method of claim 8,
Wherein the radius of the pulley relative to the arrangement order n 1 of each of the pulleys is greater than or equal to the radius of the pulley relative to the arrangement order n 2 of each of the pulleys.
5. The method of claim 4,
And wherein the pulleys of any one of the plurality of pulleys and the plurality of pulleys other than the pulleys rotate independently of each other.
11. The method of claim 10,
Wherein the radius of one of the plurality of pulleys is greater than, or equal to, or greater than the radius of a plurality of the other pulleys.
12. The method of claim 11,
Wherein a radius of each of said pulleys for an arrangement order n 1 of a plurality of said pulleys of said plurality of pulleys is equal to or greater than a radius of each of said pulleys for placement order n 2 of said pulleys, .
The method according to claim 1,
Wherein the driving force providing member includes one of a wire, a cable, and a belt.
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KR102047327B1 (en) 2018-07-19 2019-11-21 재단법인 대구경북첨단의료산업진흥재단 Wire driving part for joints of robot
CN111037545A (en) * 2019-12-30 2020-04-21 中国科学院沈阳自动化研究所 Rope-driven serial mechanical arm
KR20210089943A (en) 2020-01-09 2021-07-19 가천대학교 산학협력단 Control system of articulated robot, and articulated robot comprising the same
KR20230047625A (en) * 2021-10-01 2023-04-10 한덕운 A drill

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JPH09131687A (en) * 1995-11-08 1997-05-20 Fujitsu Ltd Robot arm
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KR102545900B1 (en) * 2021-10-01 2023-06-21 한덕운 A drill

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