KR102214361B1 - Wire fixing bracket for joint of wire driven robot and wire driven robot having the same - Google Patents

Abstract

The present invention relates to a wire fixing bracket of a wire-driven robot joint capable of fixing a high-tensile wire and finely adjusting the tension of the wire through fine position adjustment, and a wire-driven robot joint having the same.
For this purpose, the wire fixing bracket of the wire-driven robot joint of the present invention can adjust the tension of the driving wire in a fixed state fixed to a rotating element rotatable by a driving wire or as the position is adjusted along the tension direction of the driving wire. Mounting unit switchable to a variable state; And a locking part provided on the mounting part to catch and fix the driving wire.

Description

Wire fixing bracket of wire-driven robot joint and wire-driven robot joint equipped with the same {WIRE FIXING BRACKET FOR JOINT OF WIRE DRIVEN ROBOT AND WIRE DRIVEN ROBOT HAVING THE SAME}

The present invention relates to a wire fixing bracket of a wire-driven robot joint and a wire-driven robot joint having the same, and more particularly, a wire having a high tension can be fixed, and the tension of the wire can be finely adjusted through fine position adjustment. The present invention relates to a wire fixing bracket of a wire-driven robot joint and a wire-driven robot joint having the same.

Recently, research on humanoid robots (Android and humanoids) that can take over the role of humans is actively being conducted.

In order for such a humanoid robot to perform a given task as a member of society, a robot joint capable of implementing natural movement functions is required.

As an example of a robot joint, there is a method of directly attaching a motor to a joint, and this method has advantages of excellent power transmission and good durability, but has a disadvantage of taking up a lot of space.

In order to overcome these shortcomings, a tendon type robot joint using a wire has been developed.

This tendon-type robot joint has the advantage of implementing a small joint by using a wire to take up less space.

However, the tendon-type robot joint has a problem in that the tension of the wire is loosened due to repeated joint driving, and it is difficult to control the tension of the wire.

Publication Patent No. 2013-0051357 (published date: 2013. 5. 20.)

An object of the present invention for solving the problems according to the prior art is, more specifically, of a wire-driven robot joint capable of fixing a high tension wire and finely adjusting the tension of the wire through fine positioning. To provide a wire fixing bracket and a wire-driven robot joint having the same.

The wire fixing bracket of the wire-driven robot joint of the present invention for solving the above technical problem is a fixed state fixed to a rotating element rotatable by a driving wire or the position of the driving wire is adjusted according to the tension direction of the driving wire. A mounting unit that can be switched to a variable state capable of adjusting tension; And a locking part provided in the mounting part to catch and fix the driving wire.

Preferably, the mounting portion, at least one long hole formed to extend along the tension direction of the drive wire; And a fastener whose one side is located on one point of the long hole and the other side penetrates the long hole and is fastened to the rotating element.

Preferably, as the fastener is fastened to the rotating element to pressurize a point of the long hole, the mounting portion is switched to a fixed state, and the mounting portion is variable as the pressing force of the fastener against a point of the long hole is released. It can be configured to transition to a state.

Preferably, at least one fastening hole through which the other side of the fastener is fastened may be formed in the rotating element.

Preferably, the rotating element is formed to include a cylindrical surface, and the mounting portion may be formed to extend along the circumferential direction of the cylindrical surface of the rotating element.

Preferably, the mounting portion may be formed in an arc shape.

Preferably, the locking portion is formed to protrude from one outer surface of the mounting portion, and the other side of the mounting portion may be formed such that the thickness becomes smaller.

Preferably, an inclined surface for compensating for a step difference with the cylindrical surface of the rotating element may be formed on one side of the mounting portion.

Preferably, the rotating element includes a large diameter circumferential portion; And a small-diameter circumferential portion formed with a step difference on both sides of the large-diameter circumferential portion, wherein the mounting portion has a thickness corresponding to a step difference between the large-diameter circumferential portion and the small-diameter circumferential portion of the rotating element. It may be formed in a ring shape inserted into the small diameter circumference.

Preferably, the long hole is formed in a plurality, the fastener is fastened through some of the long hole, and the remaining long hole may be provided with a spacer for compensating the height difference with the outer surface of the mounting portion.

Preferably, the long hole may be formed with a length corresponding to 2 to 3 times the interval between adjacent fastening holes.

Preferably, the rotating element, the cylindrical portion; And an extension part extending in a radial direction from one circumferential surface of the cylindrical part, and the mounting part may be formed to extend along a longitudinal direction on one side of the extension part of the rotating element.

Preferably, the locking portion is formed to protrude in a cylindrical shape, and a locking projection may be formed at an end portion in a direction opposite to the driving wire.

Preferably, the locking part may be configured to include a pair of hinge pieces and a hinge pin provided to cross the pair of hinge pieces.

The present invention as described above has the advantage of being able to fix the wire of high tension and finely adjusting the tension of the wire through fine positioning.

The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a perspective view showing a first embodiment of a wire-driven robot joint provided with a wire fixing bracket according to an embodiment of the present invention.
2 is an exploded perspective view showing a first embodiment of a wire-driven robot joint equipped with a wire fixing bracket according to an embodiment of the present invention.
3 is a front view of a wire fixing bracket according to an embodiment of the present invention.
4 is a perspective view showing a second embodiment of a wire-driven robot joint provided with a wire fixing bracket according to an embodiment of the present invention.
5 is an exploded perspective view showing a second embodiment of a wire-driven robot joint equipped with a wire fixing bracket according to an embodiment of the present invention.
6 is a perspective view showing a third embodiment of a wire-driven robot joint provided with a wire fixing bracket according to an embodiment of the present invention.
7 is an exploded perspective view showing a third embodiment of a wire-driven robot joint equipped with a wire fixing bracket according to an embodiment of the present invention.
8 is a perspective view showing a fourth embodiment of a wire-driven robot joint provided with a wire fixing bracket according to an embodiment of the present invention.
9 is an exploded perspective view showing a fourth embodiment of a wire-driven robot joint equipped with a wire fixing bracket according to an embodiment of the present invention.
10 is a perspective view showing a fifth embodiment of a wire-driven robot joint provided with a wire fixing bracket according to an embodiment of the present invention.
11 is an exploded perspective view showing a fifth embodiment of a wire-driven robot joint equipped with a wire fixing bracket according to an embodiment of the present invention.

The present invention can be implemented in other various forms without departing from the technical idea or main features thereof. Accordingly, the embodiments of the present invention are merely illustrative in all respects and should not be interpreted as limiting.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms.

These terms are used only for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element.

The term and/or includes a combination of a plurality of items or any of a plurality of items.

When an element is referred to as being'connected' or'connected' to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in the middle. Should be.

On the other hand, when a component is referred to as being'directly connected' or'directly connected' to another component, it should be understood that there is no other component in the middle.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

In the present application, terms such as'include','include','have', etc. are intended to designate the existence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification. It is to be understood that the possibility of the presence or addition of other features, numbers, steps, actions, components, parts, or combinations thereof, or further other features, is not excluded in advance.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs.

Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. Does not.

In describing the present invention, when it is determined that a detailed description of a related known technology may obscure the subject matter of the present invention, a detailed description thereof will be omitted.

The wire fixing bracket of the wire-driven robot joint according to the present invention includes a mounting portion and a locking portion.

The mounting portion is formed to be switched to a fixed state fixed to a rotating element rotatable by a driving wire or a variable state capable of adjusting the tension of the driving wire as the position is adjusted along the tension direction of the driving wire.

The locking portion is provided on the mounting portion and is formed so that the driving wire is caught and fixed.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, but the same or corresponding components are assigned the same reference numerals regardless of reference numerals, and redundant descriptions thereof will be omitted.

1 is a perspective view showing a first embodiment of a wire-driven robot joint equipped with a wire fixing bracket according to an embodiment of the present invention, and FIG. 2 is a wire provided with a wire fixing bracket according to an embodiment of the present invention. It is an exploded perspective view showing a first embodiment of a driving robot joint, and FIG. 3 is a front view of a wire fixing bracket according to an embodiment of the present invention. Hereinafter, a first embodiment of the present invention with reference to FIGS. 1 and 2 It will be described with respect to the wire fixing bracket of the wire-driven robot joint according to.

Wire fixing bracket 100 of the wire-driven robot joint according to the first embodiment, as shown in Figs. 1 and 2, a rotating element such as a pulley having a cylindrical surface 210 constituting the wire-driven robot joint ( 200).

The wire fixing bracket 100 includes a mounting portion 110 and a locking portion 120.

The mounting unit 110 can be switched to one of a fixed state and a variable state.

The fixed state is a state fixed to the rotating element 200 rotatable by the driving wires WF and WR, and the variable state is the driving wire as the position is adjusted along the tension direction of the driving wires WF and WR. The tension of (WF, WR) can be adjusted.

The locking part 120 is provided on the mounting part 110 and is formed such that ends of the driving wires WF and WR are caught and fixed.

Specifically, the mounting portion 110 is formed to extend along the tension direction of the driving wire (WF, WR), for example, the mounting portion 110 is the circumferential direction of the cylindrical surface 210 of the rotating element 200 It may be formed in an arc shape extending along the line.

In addition, the thickness (d1) of one side of the mounting portion 110, where the tension of the driving wires (WF, WR) acts the greatest, is formed thicker than the thickness (d2) of the other side, and the thickness gradually increases from one side toward the other It can be formed to be small.

The driving wires (WF, WR) may be divided into a forward driving wire (WF) and a reverse driving wire (WR), and the rotating element 200 is rotated in a forward direction by a forward driving wire (WF), and The rotating element 200 may be rotated in the reverse direction by the driving wire WR.

Meanwhile, the mounting part 110 includes a plurality of long hole 111 spaced apart from each other so as to extend along the tension direction of the driving wires WF and WR, and the rotation element 200 through the long hole 111 It is configured to include a fastener 113 that is fastened to.

The long hole 111 is preferably formed to have equal intervals, the fastener 113 may be composed of a bolt.

One head portion of the fastener 113 is located on a point of the long hole 111, and the other side threaded portion of the fastener 113 penetrates the long hole 111 so that the rotating element 200 Is fastened to.

At this time, the rotation element 200 is formed with a plurality of fastening holes 200h through which the other threaded portion of the fastener 113 is fastened.

The long hole 111 may be formed to have a length corresponding to two to three times the interval between adjacent fastening holes 200h.

For example, when the long hole 111 is formed with a length equal to twice the distance between adjacent fastening holes 200h, one side of the long hole 111 corresponds to one fastening hole 200h It is positioned so that, as the other side of the long hole 111 is positioned corresponding to another adjacent fastening hole 200h, a maximum of two fasteners 113 may be inserted and fastened.

On the other hand, when the position of the wire fixing bracket 100 is adjusted to adjust the tension of the driving wires WF and WR, one fastener 113 may be inserted and fastened.

In addition, when the long hole 111 is formed with a length corresponding to three times the distance between adjacent fastening holes 200h, the position of the wire fixing bracket 100 to adjust the tension of the driving wires (WF, WR) Even if is slightly adjusted, the fastening can be maintained by inserting the two fasteners 113 as they are.

The mounting portion 110 as described above is converted to a fixed state as the fastener 113 is fastened to the rotating element 200 to press a point of the long hole 111, and the long hole 111 As the pressing force of the fastener 113 for one point of is released, it may be converted into a variable state.

That is, by tightening the fastener 113 so that the mounting portion 110 is fixed to the rotating element 200, or by loosening the fastener 113, the position of the mounting portion 110 can be adjusted.

The locking portion 120 is formed to protrude from an outer surface of one side of the mounting portion 110, and is formed to be fixed by hooking portions formed at ends of the driving wires WF and WR.

Specifically, the locking part 120 is formed to protrude in a cylindrical shape from an outer surface of one end of the mounting part 110 in a radial direction.

Meanwhile, a locking protrusion 121 may be formed at an end of the locking part 120 in a direction opposite to which the driving wires WF and WR extend.

In addition, an inclined surface 115 for compensating for a step difference with the cylindrical surface 210 of the rotating element 200 is formed on one side of the mounting portion 110 adjacent to the locking portion 120, and on the inclined surface 115 Accordingly, damage to the driving wires WF and WR can be prevented.

4 is a perspective view showing a second embodiment of a wire-driven robot joint equipped with a wire fixing bracket according to an embodiment of the present invention, and FIG. 5 is a wire provided with a wire fixing bracket according to an embodiment of the present invention. It is an exploded perspective view showing a second embodiment of a driving robot joint. Hereinafter, a wire fixing bracket of a wire driving robot joint according to a second embodiment of the present invention will be described with reference to FIGS. 4 and 5.

The wire fixing bracket 100 of the wire-driven robot joint according to the second embodiment, as shown in FIGS. 4 and 5, except for the configuration of the locking part 120, is the same or similar to the first embodiment. Is configured to do.

The locking portion 120 constituting the wire fixing bracket 100 according to the second embodiment includes a pair of hinge pieces 123 and a hinge pin 125 provided to cross the pair of hinge pieces 123 Consists of including.

That is, the locking portion 120 of the second embodiment is formed so that the hinge pieces 123 protrude on both sides of one outer surface of the mounting portion 110, respectively, and penetrates the pair of hinge pieces 123 to pass through the hinge pins ( 125) is configured to be fixed, and the driving wires WF and WR are connected to be caught by the hinge pin 125.

6 is a perspective view showing a third embodiment of a wire-driven robot joint equipped with a wire fixing bracket according to an embodiment of the present invention, and FIG. 7 is a wire provided with a wire fixing bracket according to an embodiment of the present invention. It is an exploded perspective view showing a third embodiment of a driving robot joint. Hereinafter, a wire fixing bracket of a wire driving robot joint according to a third embodiment of the present invention will be described with reference to FIGS. 6 and 7.

The wire fixing bracket 100 of the wire-driven robot joint according to the third embodiment, as shown in FIGS. 6 and 7, except for the configuration of the mounting portion 110, is the same or similar to the first embodiment. Is composed.

The mounting portion 110 of the first embodiment is formed in an arc shape, but the mounting portion 110 of the third embodiment is formed in a ring shape.

On the other hand, the rotating element 200 is formed to include a large-diameter circumferential portion 210A and a small-diameter circumferential portion 210B formed with a step on both sides of the large-diameter circumferential portion 210A.

Therefore, the ring-shaped mounting portion 110 is coupled in the form of being inserted into the small-diameter circumferential portion 210B, and the mounting portion 110 is the large-diameter circumferential portion 210A and the small-diameter circumferential portion 210B of the rotating element 200 It is formed to have a thickness corresponding to the step difference of the circumferential portion 210B.

The long hole 111 formed in the mounting part 110 is arranged at an isometric angle to form a plurality, and in the third embodiment, a total of four holes are formed at a 90° angle.

On the other hand, it is preferable that a spacer 111S is inserted in a portion of the long hole 111 that is in close contact with the driving wires WF and WR, thereby preventing damage to the driving wires WF and WR.

That is, some of the long hole 111 is fastened through the fastener 113 to maintain a fixed state, and the remaining long hole 111 is a spacer that compensates for the difference in height from the outer surface of the mounting portion 110 (111S) is provided to prevent damage to the drive wires WF and WR.

8 is a perspective view showing a fourth embodiment of a wire-driven robot joint provided with a wire fixing bracket according to an embodiment of the present invention, and FIG. 9 is a wire provided with a wire fixing bracket according to an embodiment of the present invention. It is an exploded perspective view showing a fourth embodiment of a driving robot joint. Hereinafter, a wire fixing bracket of a wire driving robot joint according to a fourth embodiment of the present invention will be described with reference to FIGS. 8 and 9.

The wire fixing bracket 100 of the wire-driven robot joint according to the fourth embodiment, as shown in FIGS. 8 and 9, except for the configuration of the mounting portion 110, is the same or similar to the third embodiment. Is composed.

The mounting portion 110 constituting the wire fixing bracket 100 according to the fourth embodiment is formed in a ring shape as in the third embodiment, but differs from the third embodiment in the number of formations of the long hole 111.

Specifically, the mounting portion 110 of the third embodiment has a total of four long hole 111 at a 90° angle, whereas the mounting portion 110 of the fourth embodiment has a total of two long hole 111 at a 90° angle. Is formed by neighboring.

That is, the long hole 111 in which the spacer 111S of the third embodiment is mounted is formed in a closed form, and there is no separate spacer 111S for preventing damage to the driving wires WF and WR.

10 is a perspective view showing a fifth embodiment of a wire-driven robot joint equipped with a wire fixing bracket according to an embodiment of the present invention, and FIG. 11 is a wire provided with a wire fixing bracket according to an embodiment of the present invention. It is an exploded perspective view showing a fifth embodiment of a driving robot joint. Hereinafter, a wire fixing bracket of a wire driving robot joint according to a fifth embodiment of the present invention will be described with reference to FIGS. 10 and 11.

Wire fixing bracket 100 of the wire-driven robot joint according to the fifth embodiment, as shown in Figs. 10 and 11, of a rotating element 200 formed including a cylindrical portion 221 and an extension portion 223 It is mounted on the extension 223.

As shown in FIG. 11, the rotating element 200 includes a cylindrical portion 221 formed in a cylindrical shape so that the driving wires WF and WR are wound, and a driving wire wound around the cylindrical portion 221 and extending ( It consists of an extension part 223 to which the WF and WR are fixed, and the extension part 223 is formed to extend from one circumferential surface of the cylindrical part 221 toward a radial direction.

A plurality of fastening holes 200h into which the fasteners 113 are fastened are formed at equal intervals in the extension part 223, and a long hole 111 is formed in the mounting part 110, and the fastener 113 Is fastened to the fastening hole 200h through the long hole 111.

The present invention has been described with reference to the accompanying drawings, but it is apparent to those skilled in the art that many various and obvious modifications are possible without departing from the scope of the present invention from this description. Accordingly, the scope of the present invention should be construed by the claims described to cover these many variations.

WF: Forward drive wire WR: Reverse drive wire
100: Wire fixing bracket 110: Mounting part
111: long hole 111S: spacer
113: fastening port 115: slope
120: jamming part 121: jamming jaw
123: hinge piece 125: hinge pin
200: rotating element 200h: fastening
210: cylindrical surface 210A: large diameter cylindrical portion
210B: small diameter cylindrical part 221: cylindrical part
223: extension

Claims (15)

A fixed state fixed to a rotating element rotatable by a tendon drive wire or a tension direction of the tendon drive wire formed including a large diameter circumference part and a small diameter circumference part formed with a step on both sides of the large diameter circumference part A mounting unit that can be switched to a variable state capable of adjusting the tension of the tendon driving wire as the position is adjusted; And
It is configured to include; a locking portion formed to protrude in a cylindrical shape on the outside of the mounting portion and the tendon driving wire is hooked and fixed as a locking projection is formed at an end portion in the opposite direction of the tendon driving wire,
The mounting portion,
It is formed in a ring shape having a thickness corresponding to the step difference between the large-diameter circumferential portion and the small-diameter circumferential portion of the rotating element and is inserted into the small-diameter circumferential portion, so that a step difference between the surface of the large-diameter circumferential portion and the surface of the mounting portion Is configured to be offset, the wire fixing bracket of the wire-driven robot joint, characterized in that configured to prevent damage to the tendon driving wire. The method of claim 1,
The mounting portion,
At least one long hole formed to extend along the tension direction of the tendon driving wire; And a fastener whose one side is positioned on one point of the long hole and the other side penetrates the long hole and is fastened to the rotating element. The method of claim 2,
As the fastener is fastened to the rotating element to press a point of the long hole, the mounting portion is converted to a fixed state, and as the pressing force of the fastener against a point of the long hole is released, the mounting portion is switched to a variable state. Wire fixing bracket of the wire-driven robot joint, characterized in that configured to be. The method of claim 2,
The wire fixing bracket of the wire-driven robot joint, characterized in that at least one fastening hole to which the other side of the fastener is fastened is formed in the rotating element. delete delete delete delete delete The method of claim 2,
A wire-driven robot joint, characterized in that the elongated hole is formed in plural, and some of the long hole is fastened through the fastener, and the remaining long hole is provided with a spacer for compensating the height difference with the outer surface of the mounting portion. Wire fixing bracket. The method of claim 4,
The long hole hole is a wire fixing bracket for a wire-driven robot joint, characterized in that formed to have a length corresponding to 2 to 3 times the interval between adjacent fastening holes. delete delete delete A wire-driven robot joint provided with the wire fixing bracket according to any one of claims 1, 2, 3, 4, 10 and 11.

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