KR102200644B1 - 3-dimensional motion driving apparatus for impedance estimating robot - Google Patents

Abstract

The present invention provides a three-dimensional motion driving apparatus for an impedance estimating robot, which moves an end effector in a three-dimensional space in order to estimate mechanical impedance, comprising: a base structure unit; an up and down driving module moving the end effector up and down in a heightwise direction with respect to the base structure unit; and a plane driving module moving the up and down driving module on a horizontal plane perpendicular to the heightwise direction, wherein the plane driving module includes: a plane motion guide mechanism unit installed on the base structure unit to guide a two-dimensional plane motion of the up and down driving module while supporting the up and down driving module; a first plane driver and a second plane driver installed on the base structure unit, generating rotational force and controlled independently of each other; a first link unit transferring rotation, generated by the first plane driver, to the up and lower driving module; and a second link unit transferring rotation, generated by the second plane driver, to the up and down driving module.

Description

3D motion driving device for impedance estimation robot {3-DIMENSIONAL MOTION DRIVING APPARATUS FOR IMPEDANCE ESTIMATING ROBOT}

The present invention relates to a robot driving technology, and more particularly, to a three-dimensional motion driving apparatus for an impedance estimation robot capable of precisely controlling the three-dimensional motion of the impedance estimation robot.

When certain parts of the brain are damaged for reasons such as stroke, stroke, or traumatic brain injury, unilateral or bilateral upper limb motor paralysis may occur. In particular, strokes often appear in the form of hemiplegia. It is known that such paralysis symptoms can be improved through regular and repetitive rehabilitation training, and studies related to rehabilitation medicine, including systematic and intense repetitive training methods or physical therapy, are actively progressing.

However, the number of specialized medical staff in charge of rehabilitation treatment is still insufficient compared to patients, and due to physical limitations of medical staff, it is difficult for patients to receive sufficient and satisfactory rehabilitation treatment.

For this reason, recently, medical robots in place of therapists have been applied to rehabilitation treatment. Rehabilitation robots can induce sufficient, consistent, and intense rehabilitation training to patients, as well as standardize rehabilitation training such as repetitive training, control of training volume and time, and quantification of progress and progress of training, and physical therapists. Relieves the physical burden of

The impedance estimation robot is a robot that measures mechanical impedance such as upper limb joints for physical rehabilitation, and includes a body connection part connected to a body such as a human hand, and a drive part driving the body connection part. Since the impedance estimation robot moves at a high speed of 10 Hz or more and interacts with a human body, precise control is required. Conventionally, there is no dedicated robot for mechanical impedance estimation, so a general purpose human body experiment robot or industrial robot is generally used.It is too large in size compared to the small movement required for impedance estimation, it is difficult to ensure safety, and structurally sag or deform. There is a problem that the like occurs and improvement is required.

Republic of Korea Patent Laid-Open Patent No. 10-2018-0035669 "Method and apparatus for measuring upper limb multi-joint impedance" (2018.04.06.)

An object of the present invention is to provide a three-dimensional motion driving apparatus suitable for an impedance estimation robot.

In order to achieve the above object of the present invention, according to an aspect of the present invention, there is provided a three-dimensional motion driving apparatus for an impedance estimation robot that moves an end effector in a three-dimensional space to estimate a mechanical impedance, comprising: a basic structure; A vertical driving module for moving the end effector up and down in a height direction with respect to the basic structure; And a plane driving module for moving the vertical driving module in a plane on a horizontal plane perpendicular to the height direction, wherein the plane driving module is installed on the basic structure to support the vertical driving module while supporting the vertical driving module. A planar motion guide mechanism for guiding a dimensional motion; a first plane driver and a second plane driver installed in the basic structure to generate rotational force and independently controlled, and the up-down drive for rotation generated by the first plane driver A three-dimensional motion driving apparatus for an impedance estimation robot is provided, which includes a first link unit that transmits to the module and a second link unit that transmits rotation generated by the second plane driver to the vertical drive module.

According to the present invention, all the objects of the present invention described above can be achieved. Specifically, the plane motion is driven by two link portions in which the vertical drive module for vertical movement of the end effector is arranged in parallel, and the plane motion of the vertical drive module is supported and guided by the linear guide motion, so that the structure is deflected, etc. Can prevent deformation.

1 is a perspective view of a three-dimensional motion driving apparatus for an impedance estimation robot according to an embodiment of the present invention, showing a form viewed from above.
FIG. 2 is a perspective view of the three-dimensional motion driving apparatus for an impedance estimation robot shown in FIG. 1, and is viewed from below.
3 is a side view of the 3D motion driving apparatus for an impedance estimation robot shown in FIG. 1.
4 is a plan view of the three-dimensional motion driving apparatus for an impedance estimation robot shown in FIG. 1.
5 is a bottom view of the three-dimensional motion driving apparatus for an impedance estimation robot shown in FIG. 1.
6 and 7 are perspective views illustrating the vertical driving module shown in FIG. 1, respectively, showing a form viewed from above and below.
8 is an exploded perspective view of the vertical drive module shown in FIGS. 6 and 7.
9 is an exploded perspective view of the vertical movement unit shown in FIG. 8.
10 is a view showing a state in which the vertical movement unit and the fixed guide unit are combined in FIGS. 6 and 7.

Hereinafter, the configuration and operation of an embodiment of the present invention will be described in detail with reference to the drawings.

1 to 5 are diagrams illustrating a three-dimensional motion driving apparatus for an impedance estimation robot according to an embodiment of the present invention. The x-y-z Cartesian coordinate system is introduced and described so that the configuration can be more clearly understood. In this embodiment, the x-axis and the y-axis are coordinate axes on a horizontal plane, and the z-axis is a vertical axis extending along the vertical direction. 1 to 5, the 3D motion driving apparatus 100 for the impedance estimation robot 100 includes a basic structure 110 and an end effector (not shown) of the impedance estimation robot with respect to the basic structure 110. It includes an up-down driving module 120 that moves up and down along a direction, and a plane driving module 160 that moves the up-and-down driving module 120 in a plane on the xy horizontal plane with respect to the basic structure 110. The 3D motion driving apparatus 100 for an impedance estimation robot precisely moves an end effector (not shown) of the impedance estimation robot in a 3D space using the up and down driving module 120 and the plane driving module 160. Although not shown, the impedance estimation robot precisely controls the perturbation motion of the end effector's three-dimensional force and position in the xyz space through a precision control unit for impedance estimation using the three-dimensional motion driving device 100.

The basic structure 110 is a generally flat plate structure and is disposed in a fixed state parallel to the x-y horizontal plane. An opening 112 is formed in the basic structure 110 to correspond to the planar movement area of the vertical driving module 120. The upper space and the lower space divided by the basic structure part 110 communicate with each other through the opening 112.

The vertical driving module 120 moves the end effector (not shown) of the impedance estimation robot along the z-axis direction, which is the vertical direction with respect to the basic structure 110, and is moved in a plane on the xy horizontal plane by the plane driving module 160. . 6 to 10 are more detailed views of the up and down driving module 120. 1 to 10, the vertical drive module 120 is moved up and down by the support 121, the vertical guide unit 130 coupled to be fixed to the support 121, and the vertical guide unit 130 The guided up and down movement unit 140, the coupling plate 148 that is fixedly coupled to the up and down movement unit 140, and is coupled to be fixed to the support 121 and provides a driving force to move the up and down movement unit 140 It includes a vertical drive unit 150.

The support 121 is a generally plate-shaped member disposed in parallel with the xy horizontal plane within the region of the opening 112 formed in the basic structure 110, and the support 121 has a vertical movement unit 140 extending parallel to the z-axis. ) Through hole 123 is formed. The vertical movement unit 140 moves up and down through the through hole 123, so that the height of the top of the vertical movement unit 140 with respect to the support body 121 is changed. The upper and lower guide units 130 and the upper and lower driving units 150 are coupled to be fixed to the lower surface of the support 121. The support 121 is driven by a plane driving module 160 to move on a horizontal plane. The support 121 is also disposed in parallel with the plate-shaped support structure 110.

The vertical guide unit 130 is installed so as to be fixed to the lower surface of the support 121 to guide the vertical movement of the vertical movement unit 140. The upper and lower guide unit 130 includes a fixed body 131 and a plurality of upper and lower guide members 132, 133, 134 and 135 that are coupled to be fixed to the fixed body 131.

The fixing body 131 is coupled to be fixed to the lower surface of the support body 121. The fixed body 131 is a wall shape surrounding the through hole 123 in a'U' shape under the support 121 in a state coupled to the support 121, and the flat first fixed wall portion 1311 and , A second fixed wall portion 1312 and a third fixed wall portion 1313 formed at right angles to the first fixed wall portion 1311 are provided at both side ends of the first fixed wall portion 1311. A plurality of upper and lower guide members 132, 133, 134, 135 are coupled to and fixed to the inner surface of the fixing body 131.

The plurality of upper and lower guide members 132, 133, 134, and 135 are coupled to the first and second rear upper and lower guide members 134 and 135 and the second fixed wall 1312 coupled to the first fixed wall 1311. A first side up and down guide member 132 and a second side up and down guide member 133 coupled to the third fixed wall portion 1313 are provided.

The first rear upper and lower guide members 134 and the second rear upper and lower guide members 135 are coupled to be fixed to the inner surface of the first fixing wall portion 1311. The first rear upper and lower guide members 134 and the second rear upper and lower guide members 135 are disposed parallel to each other along the width direction of the first fixed wall portion 1311 and extend in parallel with the z-axis along the vertical direction, respectively. Guide grooves 1341 and 1351 extending in the vertical direction are formed in each of the first rear upper and lower guide members 134 and the second rear upper and lower guide members 135.

The first side upper and lower guide members 132 are coupled to be fixed to the inner surface of the second fixed wall portion 1312. The first side up and down guide members 132 extend parallel to the z-axis along the vertical direction. A guide groove 1321 extending along the vertical direction and facing the third fixed wall portion 1313 is formed in the first side vertical guide member 132.

The second side upper and lower guide members 133 are coupled to be fixed to the inner surface of the third fixed wall portion 1313. The second side up and down guide members 133 extend parallel to the z-axis along the vertical direction. A guide groove 1331 extending along the vertical direction and facing the second fixed wall portion 1312 is formed in the second side upper and lower guide member 133. Accordingly, the guide groove 1321 formed in the first side up and down guide member 132 and the guide groove 1331 formed in the second side up and down guide member 133 face each other.

The vertical movement unit 140 is movably coupled to the vertical guide unit 130 so as to be movable along the vertical direction with respect to the support body 121. The up and down movement unit 140 is fixed by being coupled to the up and down movement body 141 and the rack gear 142 fixed by being coupled to the up and down movement body 141 and the up and down guide A plurality of vertical guide members 132, 133, 134, 135 installed on the member 130 are provided with a plurality of vertical movement rails 143, 144, 145, and 146 coupled to each of the plurality of vertical guide members 132, 133, 134, and 135 to enable slide movement.

The vertically moving body 141 has a generally'L' shape as a wall shape extending along the vertical direction. The vertically moving body 141 includes a flat first moving wall portion 1411 and a flat second moving wall portion 1412 formed at a right angle to the first moving wall portion 1411 at one end of the first moving wall portion 1411. . A rack gear 142 is positioned and fixed at a corner formed by the first moving wall portion 1411 and the second moving wall portion 1412. The vertical movement body 141 is located in the inner region of the vertical guide unit 130 and moves upward and downward with respect to the vertical guide unit 130.

The first movable wall portion 1411 has a flat wall shape and faces the first fixed wall portion 1311 of the fixed body 131 in the inner region of the upper and lower guide unit 130.

The second movable wall portion 1412 has a flat wall shape, and is adjacent to the second fixed wall portion 1312 of the fixed body 131 at one end of the first movable wall portion 1411 (in the inner region of the fixed guide unit 130). End) at a right angle to the first movable wall portion 1411.

The plurality of vertical rails (143, 144, 145, 146) are the first and second rear surfaces that are coupled to the surface facing the first fixed wall part 1311 of the fixed body 131 in the first moving wall part 1411. The movable rails 145 and 146 are provided with a first side up and down rail 143 and a second side up and down rail 144 coupled to both side end portions of the first moving wall portion 1411, respectively.

The rack gear 142 is fixed by being coupled to the vertically moving body 141. The rack gear 142 is elongated along the vertical direction, and is located at a corner portion between the first movable wall portion 1411 and the second movable wall portion 1412 and is firmly fixed. The teeth 1421 of the rack gear 142 are elongated along the vertical direction, and are formed to be inclined with respect to the longitudinal direction of the rack gear 142 to form a helical gear.

The first rear vertical moving rail 145 and the second rear vertical moving rail 146 are coupled to be fixed to a surface opposite to the first fixed wall part 1311 of the fixed body 131 in the first moving wall part 1411 . The first rear vertical rail 145 and the second rear vertical rail 146 are arranged side by side along the width direction of the first moving wall portion 1411, and extend in parallel with the z-axis along the vertical direction, respectively. . The first rear vertical movement rail 145 is coupled to a guide groove 1341 formed in the first rear vertical guide member 134 to be slidably moved along the vertical direction. The first rear vertical movement rail 145 and the first rear vertical guide member 134 form one linear motion guide. The first rear vertical movement rail 145 slides with respect to the fixed first rear vertical guide member 134 in the vertical direction. The second rear vertical movement rail 146 is coupled to the guide groove 1351 formed in the second rear vertical guide member 135 to be slidably moved along the vertical direction. The second rear vertical movement rail 146 and the second rear vertical guide member 135 form one linear motion guide. The second rear vertical movement rail 146 slides with respect to the fixed second rear vertical guide member 135 in the vertical direction.

The first side up-and-down rail 143 is coupled to and fixed to one end facing the second fixed wall portion 1312 of the fixed body 131 among both side ends of the first moving wall portion 1411. The first side up and down movement rail 143 extends long in the vertical direction, and is coupled to the guide groove 1321 of the first side up and down guide member 132 so as to slide along the vertical direction. The first side up and down movement rail 143 and the first side up and down guide member 132 form one linear motion guide. The first side up-down movement rail 143 slides along the vertical direction with respect to the fixed first side up-down guide member 132.

The two rear vertical rails 145 and 146 are coupled to each of the two rear vertical guide members 134 and 135, and the two side up and down rails 143 and 144 are each of the two side up and down guide members 132 and 133. By being coupled to, the vertical movement unit 140 may prevent movement and vibration in the x-axis direction and the y-axis direction of the support body 121.

The coupling plate 148 is coupled so as to be fixed to the upper end of the vertically moving body 141 and is positioned above the support 121. The vertical position of the coupling plate 148 changes according to the vertical movement of the vertical movement unit 140. In the case of an impedance estimation robot, an end effector (not shown) including a body connection part such as a force sensor 101 and a patient handle is coupled to the coupling plate 148.

The vertical driving unit 150 is coupled to be fixed to the support 121 and provides a driving force for moving the vertical moving unit 140. The vertical drive unit 150 includes an up-and-down driver 151 providing rotational force, a pinion gear 152 rotated by the up-and-down driver 151, an up-and-down driver 151, and a pinion gear 152 as a support 110 It is provided with a fixture 153 to be fixed to. The vertical drive motor 151 includes a vertical drive motor and a vertical drive reducer connected to the vertical drive motor, and provides rotational force for rotating the pinion gear 152. The upper and lower actuators 151 are fixed to the fixing table 153 and fixed to the support 110. The pinion gear 152 is a cylindrical gear that rotates by the vertical drive unit 151 and is formed of a helical gear whose teeth are inclined corresponding to the rack gear 142 which is a helical gear. The pinion gear 152 meshes with and interacts with the rack gear 142, and the rack gear 142 moves up and down by rotation of the pinion gear 152, so that the up and down movement unit 140 is driven up and down. Since the pinion gear 152 and the rack gear 142 are made of helical gears, the problem of backlash occurring in a general spur gear can be reduced, and accordingly, the accuracy of vertical movement can be improved.

Referring to FIGS. 1 to 5, the plane driving module 160 moves the vertical driving module 120 in a plane parallel to the x-y plane with respect to the basic structure 110. The plane driving module 160 includes a plane driving unit 161 that generates a driving force for the plane movement of the up and down driving module 120 and a plane movement that transmits the driving force output from the plane driving unit 161 to the up and down driving module 120 It is provided with a delivery mechanism 170.

The plane driving unit 161 generates a driving force for moving the vertical driving module 120 in a plane. The planar drive unit 161 includes a first planar drive 163 and a second planar drive 165 disposed parallel to each other along the width direction. The first plane driver 163 is a driving device that generates a rotational force, and includes a first plane driving rotation motor and a first plane driving reducer connected to the first rotation motor. The first plane driver 163 generates a rotational force that axially rotates about a first rotation axis A1 extending along the height direction. The first plane driver 163 is installed to be fixed to the lower surface of the basic structure 110. The second plane driver 165 is a driving device that generates a rotational force, and includes a second plane drive rotation motor and a second plane drive reducer connected to the second plane rotation motor. The second plane driver 165 generates a rotational force that axially rotates about a second rotation axis A2 extending along the height direction. The second planar driver 165 is installed to be fixed to the lower surface of the basic structure 110. The first plane driver 163 and the second plane driver 165 are controlled by a control unit (not shown) to be driven independently. That is, the direction and rotation speed of the first rotation generated by the first plane driver 163 and the second rotation generated by the second plane driver 165 are independently controlled. Accordingly, the position of the vertical driving module 120 on the plane may be freely changed. Although not shown, encoders are installed in each of the first plane driver 163 and the second plane driver 165 to measure the rotation angle of the first plane driver 163 and the second plane driver 165.

The plane motion transmission mechanism 170 converts the rotational motion by the first plane driver 163 and the second plane driver 165 and transmits it to the vertical drive module 120. The planar motion transmission mechanism 170 includes a planar motion guide mechanism unit 180 and a link mechanism unit 190.

The planar motion guide mechanism unit 180 includes an intermediate moving support 181, a first planar motion guide unit 183 movably coupling the intermediate moving support 181 to the basic structure 110, and an intermediate moving support 181 ) And a second plane motion guide unit 186 for movably coupling the vertical drive module 120 to each other.

The intermediate movable support 181 has a generally flat plate shape and is disposed in parallel with the x-y plane under the base structure 110 and the support 121. Accordingly, the intermediate moving support having a flat plate shape is disposed in parallel with the basic structure 110 and the support 121. The intermediate movement support 181 extends so as to cross the opening 112 formed in the basic structure portion 110 along the y-axis direction. An intermediate opening 182 extending along the y-axis direction within the region of the opening 112 is formed in the intermediate moving support 181. The vertical movement of the vertical movement unit 140 is allowed through the intermediate opening 182. The intermediate movement support 181 is coupled to the basic structure 110 by the first planar movement guide unit 183 to enable linear reciprocating movement along a direction parallel to the x-axis. In addition, the support body 121 of the vertical drive module 120 is coupled to the intermediate movement support 181 to enable linear reciprocating movement along a direction parallel to the y-axis by the second plane movement guide unit 186.

The first plane motion guide part 183 couples the intermediate moving support 181 to the basic structure part 110 so as to be movable. The first planar motion guide part 183 is provided with two first guide rails 184 installed and fixed to the basic structure part 110, and two first guide rails 184 installed and fixed to the intermediate moving support 181. It includes two first sliders 185 coupled to each of the slides to enable slide movement.

The two first guide rails 184 are spaced apart along the y-axis direction with the opening 112 interposed therebetween, and extend in a straight line along the direction parallel to the x-axis. Each of the two first guide rails 184 is installed to be fixed to the lower surface of the basic structure 110. The first slider 185 is coupled to each of the two first guide rails 184 so as to be able to slide one by one.

Each of the two first sliders 185 is coupled to a corresponding first guide rail 184 so as to be slidably moved along a direction parallel to the x-axis. The first slider 185 forms a linear motion guide together with the first guide rail 184. The two first sliders 185 are installed to be fixed to the upper surface of the intermediate moving support 181. The two first sliders 185 are positioned to be spaced apart along the y-axis direction with the intermediate opening 182 therebetween.

The second planar motion guide unit 186 couples the vertical drive module 120 to the intermediate moving support 181 so as to be movable. The second planar motion guide unit 186 is installed and fixed to the support body 121 of the two second guide rails 187 installed and fixed to the intermediate movement support 181 and the vertical drive module 120. 2 The guide rails 187 are provided with two second sliders 188 that are coupled to each of the guide rails 187 to be slidable.

The two second guide rails 187 are spaced apart along the x-axis direction with the intermediate opening 182 of the intermediate moving support 181 therebetween, and extend in a straight line along a direction parallel to the y-axis. Each of the two second guide rails 187 is installed to be fixed to the upper surface of the intermediate moving support 181. The second slider 188 is coupled to each of the two second guide rails 187 so as to be able to slide one by one.

Each of the two second sliders 188 is coupled to a corresponding second guide rail 187 so as to slide along a direction parallel to the y-axis. The second slider 188 forms a linear motion guide together with the second guide rail 187. The two second sliders 188 are installed to be fixed to the lower surface of the support body 121 of the vertical drive module 120. The two second sliders 188 are positioned to be spaced apart along the x-axis direction with the vertical movement unit 140 therebetween.

The link mechanism unit 190 transmits the rotational force generated from the first plane driver 163 and the rotational force generated from the second plane driver 165 to the support body 121 to move the vertical drive module 120 in a plane. The link mechanism unit 190 includes a first link unit 191 connecting the first driving driver 163 and the support body 121 of the vertical driving module 120, the second driving driver 165 and the vertical driving module 120 ) And a second link portion 196 connecting the support body 121. The link mechanism unit 190 is located above the basic structure unit 110.

The first link unit 191 includes a first inner link member 192 extending from the first plane driver 163, and a first outer link extending from the first inner link member 192 and coupled to the support body 121. A member 193 is provided.

The first inner link member 192 extends radially outward from the first rotation axis A1 and is driven by the first plane driver 163 to rotate around the first rotation axis A1. A first outer link member 193 is rotatably coupled to an end of the first inner ring member 192 about a rotation axis parallel to the first rotation axis A1.

The first outer link member 193 connects the first inner link member 192 and the support body 121. Both ends of the first outer link member 193 are rotatably coupled to the first inner link member 192 and the support body 121. The first outer link member 193 and the support 121 are rotatably coupled around a rotation axis parallel to the first rotation axis A1.

The second link unit 196 includes a second inner link member 197 extending from the second planar actuator 165 and a second outer link extending from the second inner link member 197 and coupled to the support body 121. A member 198 is provided.

The second inner link member 197 extends radially outward from the second rotation axis A2 and is driven by the second plane driver 165 to rotate around the second rotation axis A2. A second outer link member 198 is rotatably coupled to an end of the second inner ring member 197 about a rotation axis parallel to the second rotation axis A2.

The second outer link member 198 connects the second inner link member 197 and the support body 121. Both ends of the second outer link member 198 are rotatably coupled to the second inner link member 197 and the support body 121. The second outer link member 198 and the support 121 are rotatably coupled around a rotation axis parallel to the second rotation axis A2.

The position P1 at which the first outer link member 193 is rotatably coupled to the support body 121 and the position P2 at which the second outer link member 198 is rotatably coupled to the support body 121 are vertically driven. It is located on both sides along the x-axis with the vertical movement unit 140 of the module 120 therebetween.

Although the present invention has been described through the above embodiments, the present invention is not limited thereto. The above embodiments may be modified or changed without departing from the spirit and scope of the present invention, and those skilled in the art will recognize that such modifications and changes also belong to the present invention.

100: three-dimensional motion driving device 110: basic structure
120: vertical drive module 121: support
130: up and down guide unit 140: up and down moving unit
148: coupling plate 150: vertical drive unit
160: plane driving module 161: plane driving unit
170: plane motion transmission mechanism 180: plane motion guide mechanism unit
181: intermediate moving support 183: first plane motion guide portion
186: second plane motion guide part 190: link mechanism part
191: first link unit 196: second link unit

Claims (8)

As a three-dimensional motion driving device for an impedance estimation robot that moves an end effector in a three-dimensional space to estimate mechanical impedance,
Foundation structure;
A vertical driving module for vertically moving the end effector along a height direction with respect to the basic structure; And
And a plane driving module for moving the vertical driving module in a plane on a horizontal plane perpendicular to the height direction,
The plane driving module is installed in the basic structure and supports the vertical driving module and guides the plane two-dimensional movement of the vertical driving module; Controlled first plane driver and second plane driver, a first link portion for transmitting the rotation generated in the first plane driver to the vertical driving module, and the rotation generated in the second plane driving module the vertical driving module With a second link portion to transmit to,
3D motion driving device for impedance estimation robot. The method according to claim 1,
The first link portion includes a first inner link member rotated by the first plane driver, and a first outer link member rotatably coupled to each of the first inner link member and the vertical drive module,
The second link portion includes a second inner link member rotated by the second planar driver, and a second outer link member rotatably coupled to each of the second inner link member and the vertical drive module,
Each of the first link portion and the second link portion is connected to rotate about a rotation axis extending along a height direction,
3D motion driving device for impedance estimation robot. The method according to claim 1,
The plane motion guide mechanism part,
An intermediate moving support,
A first planar motion guide portion movably coupled to the intermediate moving support to the basic structure portion along a first linear direction on a horizontal plane,
With a second planar motion guide unit movably coupled to the intermediate moving support in a second linear direction perpendicular to the first linear direction on a horizontal plane,
3D motion driving device for impedance estimation robot. The method of claim 3,
The first planar motion guide unit includes two first guide rails installed on the basic structure and spaced apart in the second linear direction and extending parallel to the first linear direction, and each of the two first guide rails And two first sliders coupled to be slideable and fixed to the intermediate moving support,
The second planar motion guide unit includes two second guide rails installed on the intermediate movement support and spaced apart in the first linear direction and extending in parallel with the second linear direction, and the two second guide rails Having two second sliders coupled to each of the slides to be movable and fixed to the vertical drive module,
3D motion driving device for impedance estimation robot. The method of claim 4,
In the basic structure part, an opening formed corresponding to a plane moving area of the vertical driving module is formed,
The two first guide rails are disposed to be spaced apart with the opening interposed therebetween,
3D motion driving device for impedance estimation robot. The method of claim 5,
The vertical driving module,
A support on which the two second sliders are fixed,
Up and down guide units coupled to be fixed to the support,
An up-down movement unit in which an up-down movement is guided by the up-down guide unit,
It is fixed to the support and provided with a vertical drive unit for generating a driving force for vertically moving the vertical movement unit,
3D motion driving device for impedance estimation robot. The method of claim 6,
The vertical movement unit and the vertical guide unit are coupled to enable vertical movement by a linear motion guide,
3D motion driving device for impedance estimation robot. The method of claim 6,
The vertical movement unit has a rack gear extending along the vertical direction,
The vertical drive unit has a pinion gear meshing and interacting with the rack gear,
3D motion driving device for impedance estimation robot.

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