KR102239114B1 - Apparatus for driving a joint by wire - Google Patents

Abstract

A joint drive device using a wire is disclosed. A joint driving device using a wire according to an exemplary embodiment of the present invention includes a driving unit; First articular body; A second joint body rotatably coupled about the first joint body and the first hinge axis, and positioned closer than the first joint body based on the driving part; One end is fixed to the second joint body, and the other end is arranged to be pulled by the driving unit, and when pulled, a part of the first joint body surrounds the outer surface of the first joint body so that the first joint body rotates about the first hinge axis. And a first wire guide formed on an outer surface of the first joint body so that the first wire is mounted on an outer surface of the first joint body when the first wire is disposed and the first wire is pulled.

Description

Joint drive device using wire{Apparatus for driving a joint by wire}

The present invention relates to a joint driving device using a wire, and more particularly, to a joint driving device using a wire that can be applied to a surgical tool and various robots.

Conventional laparoscopic surgical tools or endoscopic surgical tools have a small diameter so that the motor cannot be directly mounted on a joint, and thus a joint driving mechanism using a wire is applied as disclosed in Korean Patent No. 10-1289985. However, when the number of joints is increased, the mechanism driven by the wire has limitations in that the operability and driving force are lowered due to interference of the force applied to each joint.

In order to overcome this, a wire driving mechanism having a pulley in a part of the joint body of a surgical tool and applying the principle of a moving pulley has been developed through a prior study by the inventor of the present invention (Korean Patent Registration No. 10-2047327).

In more detail, when the principle of the moving pulley is applied to a multi-joint surgical tool, the force applied to each joint can be amplified and a large force can be applied to the desired joint, thereby improving the driving force. In addition, control is easy for each joint, so operability can be improved.

However, the multi-joint surgical tool to which the principle of the moving pulley is applied is structurally rather complicated, and the pulley has a disadvantage that it must be made small due to the characteristic that it must be formed on a part of the surgical tool. In particular, when a laparoscopic or endoscopic surgical tool is manufactured in a small size, a more compact pulley is required to be manufactured.

However, making the pulley small has considerable manufacturing difficulties. In addition, in general, it is known that the smaller the diameter of the pulley around which the wire is wound, the greater the deformation, such as irregular twisting of the wire. As a result of the deformation, the wire cannot accurately transmit the target force to each joint, and it can seriously affect the durability of the wire.

An embodiment of the present invention is to provide a joint driving device using a wire that implements the principle of a moving pulley without a separate pulley.

An embodiment of the present invention is to provide a joint driving device using a wire in which the principle of a moving pulley is implemented while preventing deformation of the wire.

According to an aspect of the present invention, the driving unit; First articular body; A second joint body rotatably coupled about the first joint body and the first hinge axis, and positioned closer than the first joint body based on the driving part; One end is fixed to the second joint body, and the other end is arranged to be pulled by the driving unit, and when pulled, a part of the first joint body surrounds the outer surface of the first joint body so that the first joint body rotates about the first hinge axis. A joint using a wire including a first wire to be disposed and a first wire guide formed on the outer surface of the first joint body so that the first wire is mounted on the outer surface of the first joint body when the first wire is pulled A driving device is provided.

In this case, the first wire guide may be formed in a circumferential direction along the outer surface of the first joint body.

In this case, the first wire guide may be formed to be symmetrical to each other with respect to the extending direction of the first joint body.

In this case, the first wire guide may be formed to be inclined with respect to the extending direction of the first joint body.

In this case, the first wire guide may include a groove formed by being recessed from the outer surface of the first joint body.

In this case, a separation preventing part may be further included in a part of the first wire guide so that the first wire is not separated from the outer surface of the first joint body.

In this case, a through hole through which the first wire passes may be formed in the first joint body and the second joint body, so that the first wire may be guided to the driving part by the through hole.

At this time, when the first wire is pulled by forming a knot larger than the through hole diameter at one end of the first wire fixed to the second joint or by coupling a clamp larger than the through hole diameter, the through It can be fixed so as not to deviate from the groove.

In this case, it may include a restoring force member for providing a restoring force so that the first body rotates in a direction opposite to the direction of rotation by the first wire.

At this time, one end is fixed to the second joint body, the other end is arranged to be pulled by the driving unit, when pulled, the first joint body is opposite to the rotation direction by the first wire around the first hinge axis The first articulation body so that when the second wire and the second wire are partially disposed to surround the outer surface of the first articulating body so as to rotate in a direction to be rotated, the second wire is mounted on the outer surface of the first articulating body It may further include a second wire guide formed on the outer surface of.

In this case, the first wire guide and the second wire guide may be formed to be symmetrical to each other with respect to the extending direction of the first joint body.

In this case, the first wire guide and the second wire guide are formed to be inclined in an extension direction of the first joint body, and may be formed in opposite directions to each other.

In this case, the first wire guide and the second wire guide may be positioned adjacent to each other in the extending direction of the first joint body.

In this case, a third joint body rotatably coupled about the second joint body and the second hinge axis, and positioned closer than the second joint body based on the driving unit; One end is fixed to the third joint body, and the other end is arranged to be pulled by the driving unit, and when pulled, a portion of the second joint body surrounds the outer surface of the second joint body so that the second joint body rotates about the second hinge axis. It may include a third wire to be disposed and a third wire guide formed on the outer surface of the second joint body so that the third wire is mounted on the outer surface of the second joint body when the third wire is pulled.

In this case, the first hinge axis and the second hinge axis may not be parallel to each other.

On the other hand, according to an aspect of the present invention, the driving unit; First articular body; A second joint body rotatably coupled about the first joint body and the third hinge axis and positioned closer to the first joint body with respect to the driving part; One end is fixed to the first joint body, and the other end is arranged to be pulled by the driving unit, and when pulled, a portion of the first joint body and the second joint body rotates about the third hinge axis. A fifth wire disposed to surround the outer surface of the body; When the fifth wire is pulled, the fifth wire guide formed on the outer surface of the first joint body so that the fifth wire is mounted on the outer surface of the first joint body and when the fifth wire is pulled, the second joint It includes a sixth wire guide formed on the outer surface of the second joint body so that the fifth wire is mounted on the outer surface of the body, the fifth wire is via the third hinge axis from the end of the first joint body After extending toward the second joint body, wrapping along the sixth wire guide, extending toward the third joint body again via the first hinge axis, and wrapping along the fifth wire guide, A joint driving device using a wire that is extended toward the second joint body via the third hinge shaft and then connected to the driving unit, and pulled by the driving unit is provided.

In this case, the fifth wire may have an eight-shape shape in which directions along the fifth wire guide and the sixth wire guide are opposite to each other, and may be connected to the driving unit.

In this case, the fifth wire guide and the sixth wire guide may be formed to be inclined in the extension direction of the first joint body and the second joint body.

In this case, the fifth wire guide and the sixth wire guide may be formed to be symmetrical to each other with respect to the third hinge axis.

The joint drive device using a wire according to an embodiment of the present invention forms a wire guide on the outer surface of the joint body so that the outer surface of the joint body can function like a pulley of a moving pulley, so that it moves without a separate pulley when driving a joint using a wire. The principle of the pulley can be implemented.

In the joint driving apparatus using a wire according to an embodiment of the present invention, the wire is disposed to surround the outer surface of the joint body larger than the diameter of the pulley, so that deformation of the wire that may occur when the joint is driven using the wire can be prevented.

1 is a schematic diagram of a joint driving apparatus using a wire according to a first embodiment of the present invention.
1A is a schematic diagram showing a modified example of a joint driving apparatus using a wire according to a first embodiment of the present invention.
2 is a schematic diagram of a joint driving apparatus using a wire according to a second embodiment of the present invention.
3 is a perspective view showing a specific embodiment of a joint drive device using a wire according to a second embodiment of the present invention.
4 is a schematic diagram of a joint driving apparatus using a wire according to a third embodiment of the present invention.
5 is a schematic diagram showing a modified example of a joint drive device using a wire according to a third embodiment of the present invention.
6 is a perspective view showing a specific embodiment of a joint driving device using a wire according to a third embodiment of the present invention.
7 is a schematic diagram of a joint driving apparatus using a wire according to a fourth embodiment of the present invention.
8 is a perspective view showing a specific embodiment of a joint driving device using a wire according to a fourth embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the present invention. The present invention may be implemented in various different forms and is not limited to the embodiments described herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and the same reference numerals are assigned to the same or similar components throughout the specification.

In the present specification, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or a combination thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements, numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance the possibility of the presence or addition.

1 is a schematic diagram of a joint driving apparatus using a wire according to a first embodiment of the present invention. Referring to FIG. 1, a joint driving apparatus using a wire according to a first embodiment of the present invention is for effectively implementing a multi-joint surgical tool and a wire driving mechanism applicable to a joint of a robot.

In more detail, representative surgical tools to which the joint driving device using a wire according to the first embodiment of the present invention can be applied may be a multi-joint laparoscopic surgical tool, a multi-joint surgical robot, or an endoscopic surgical tool. However, the scope of application of the present invention is not limited thereto and may be applied to various surgical devices.

Referring to FIG. 1, a joint driving apparatus using a wire according to a first embodiment of the present invention includes a first joint body 10, a second joint body 30, a first wire 1, and a first wire guide ( 1b).

The first joint body 10 and the second joint body 30 exercise by receiving a force from a driving unit (not shown) through the first wire 1. The first joint body 10 and the second joint body 30 may be coupled adjacent to each other. The second joint body 30 is adjacent to the first joint body 10, but is closer to the driving part than the first joint body 10, so when the driving part is used as a reference, the driving part-second joint body 30-first Articular body 10 may be arranged in order.

In the first embodiment of the present invention, the first joint body 10 and the second joint body 30 are rotatably coupled about the first hinge axis (A). In more detail, adjacent ends of the first joint body 10 and the second joint body 30 are coupled to be rotatable about the first hinge axis A.

On the other hand, the first joint body 10 cannot rotate by its own power, and one end is fixed to the fixed end (1b) of the second joint body 30, and the other end is arranged to be pulled by the driving unit. 1 It can rotate by receiving force from the driving unit through the wire (1).

In more detail, referring to FIG. 1, the first wire 1 is disposed from the fixed end 1b of the second joint body 30 to the first joint body 10 via the first hinge axis A. Then, after extending toward the second joint body 30 via the first hinge axis (A), it is connected to the driving unit and can be pulled by the driving unit. In this case, when the first wire 1 is pulled by the driving unit, the first wire 1 may more closely surround the first joint body 10 and wrap it.

Accordingly, tension may occur when the first wire 1 having one end fixed to the fixed end 1b is pulled. At this time, some or all of the generated tension is transmitted to the outer surface of the first articulation body 10 where the first wire 1 is wrapped around and disposed, so that the first articulation body 10 is transferred to the second articulation body 30. It can be rotated in the direction in which the tension is transmitted.

At this time, the outer surface of the first joint body 10 wrapped by the first wire 1 serves as a pulley of the moving pulley. Therefore, when the first wire 1 is pulled with the force of W by the driving unit, the force of the first joint 10 is doubled and the force of 2W can be transmitted, compared to the case where the wire is directly connected. The driving power can be further improved.

Meanwhile, in the first embodiment of the present invention, a first wire guide 1b to which the first wire 1 can be mounted is formed on the outer surface of the first joint body 10. The first wire guide 1b allows the first wire 1 to be mounted on the outer surface of the first joint 10 when the first wire 1 is pulled.

When the first wire (1) is pulled, the first wire (1) disposed surrounding the first joint (10) is not mounted on the outer surface of the first joint (10), the first wire (1) is 1 It can move, such as sliding in the extension direction of the joint body (10). Accordingly, the force transmitted from the first wire 1 may not be effectively transmitted to the first joint body 10. The first wire guide 1b prevents such a problem.

In this case, referring to FIGS. 1 and 3, the first wire guide 1b may be formed in a circumferential direction along the outer surface of the first joint body 10. 1 and 3 illustrate that the first wire guide 1b is formed in the entire circumferential direction of the first joint body 10, it may be formed only in a part of the circumferential direction.

In addition, in the first embodiment of the present invention, the first wire guide 1b may be formed to be symmetrical to each other with respect to the extending direction of the first joint body 10. For effective force transmission by the wire, the first wire guide 1b is preferably formed symmetrically.

And, in the first embodiment of the present invention, the first wire guide 1b is inclined with respect to the extension direction of the first joint body 10 so that the first wire 1 can be easily mounted on the first joint body 10. Can be formed. Specifically, referring to FIG. 1, the first wire guide 1b may be formed to be inclined by α° with respect to the extending direction of the first joint body 10.

In the first embodiment of the present invention, the first wire guide 1b may include a groove formed by being depressed from the outer surface of the first joint body 10.

Referring to FIG. 3, when a first wire guide 1b including a groove portion is formed on the outer surface of the first joint body 10, the first wire 1 is seated in the groove portion and stably the first joint body 10 ) Can be placed around the outer surface.

In this case, the width of the groove portion is preferably formed such that the first wire does not move in the extending direction of the first joint body 10. In addition, the degree of depression of the groove may be variously formed in consideration of the diameters of the first wire 1 and the first joint body 10.

At this time, in order to prevent the first wire 1 from being damaged by the first wire guide 1b when the first wire 1 is pulled, the first wire 1 surrounds the first wire guide 1b. The part that begins to be placed and the part that ends can be formed as a smooth surface without attachments.

In the first embodiment of the present invention, the first wire guide 1b may include a protrusion formed to protrude from the outer surface of the first joint body 10.

In this case, the first wire 1 may be supported by one surface of the protrusion of the first wire guide 1b and may be disposed to surround the outer surface of the first joint body 10.

Alternatively, the protrusion included in the first wire guide 1b may be formed to guide the first wire 1 through a through hole formed inside the protrusion. In this case, the first wire 1 may be disposed while penetrating the through hole while surrounding a part of the first joint body 10.

On the other hand, the joint drive device using a wire according to the first embodiment of the present invention prevents the first wire 1 from being separated from the outer surface of the first joint body 10 in a part of the first wire guide 1b. May contain more wealth.

In more detail, referring to FIG. 3, when the first wire guide 1b includes a groove formed by being indented from the outer surface of the first joint body 10, a rod-shaped member having a thickness smaller than the indentation width of the groove By arranging it between, it is possible to prevent the separation of the first wire (1). In addition, when the first wire guide 1b includes a protrusion formed by protruding from the outer surface of the first joint body 10, an annular member is provided in a part of the protrusion to prevent the first wire 1 from being separated. It will be possible. As described above, the shape of the departure prevention part has been partially illustrated, but the shape of the separation prevention part of the present invention is not limited thereto.

The joint drive device using a wire according to the first embodiment of the present invention includes a first hinge axis (A) portion, and includes a first wire (1) inside the first joint body (10) and the second joint body (30). A through hole through which is passed may be formed so that the first wire 1 may be guided to the driving unit by the through hole.

This prevents accidents that may occur when the joint drive device using the wire according to the first embodiment of the present invention is applied to a surgical tool, etc., and the wire exposed to the outside is caught in an unintended place, and occurs when the wire is exposed to the outside This is to prevent possible wire damage.

However, in the drawings in which the joint driving apparatus using the wire of the present invention is shown, the first wire 1 is shown to be exposed to the outside for convenience in order to help a clear understanding of the driving principle of the present invention.

In more detail, in the first embodiment of the present invention, it is preferable that the first wire 1 is not exposed as much as possible. If unavoidable, it is preferable that only a part of the first wire 1 surrounding the first joint 10 is exposed.

Among the first wires (1), the first wire guide (1b) starts from the fixed end (1a) fixed to the second joint body (30) or from the end of the first wire guide (1b) to the driving part. It is preferable that the part is located inside the through groove of the first and second joint bodies 10 and 30 so as not to be observed from the outside.

In this case, the diameters of the through grooves do not need to be all the same, and may be formed differently for each part according to the conditions of the invention.

In the first embodiment of the present invention, the fixing end 1a of the first wire 1 forms a knot larger than the diameter of the through hole so that when the first wire 1 is pulled, the knot portion is caught in the through hole and is fixed. I can. Alternatively, the fixing end 1a of the first wire 1 may be fixed while the clamp portion is caught in the through groove when the first wire 1 is pulled by coupling a clamp larger than the through hole diameter.

In addition, a portion of the first wire guide 1b to which the first wire 1 is in contact may be smoothly configured in a form that minimizes frictional force so that the principle of the moving pulley is applied.

1A is a schematic diagram showing a modified example of a joint driving apparatus using a wire according to a first embodiment of the present invention.

Referring to Figure 1a, the joint drive device using a wire according to the first embodiment of the present invention is a restoring force member 20 that provides a restoring force so that the first body rotates in a direction opposite to the direction of rotation by the first wire (1). ) Can be included.

In more detail, the first body 10 rotates in one direction with respect to the first hinge axis A by pulling the first wire 1, and when the tension applied to the first wire 1 is released, the restoring force member By (20), it can rotate in the opposite direction to the existing rotation direction. In this case, as the degree of rotation by the first wire 1 increases, the magnitude of the restoring force may also increase.

Through this, the first body 10 can be rotated in both directions without adding the arrangement of the second wire 2 to be described later.

In this case, the restoring force member 20 may be at least one torsion spring 22. As shown in Figure 1a (a), the torsion spring 22 is preferably installed on the first hinge axis (A).

In addition, the restoring force member 20 may be at least one or more coil springs 24. 1a (b), the coil spring 24 may be connected to a part of the first body and the second body. The coil spring 24 is preferably installed in a position that can be sufficiently compressed or stretched when the first wire 1 is pulled, such as a plane perpendicular to the first hinge axis A.

Although the shape of the restoring force member 20 has been partially illustrated as described above, the shape of the restoring force member of the present invention is not limited thereto.

FIG. 2 is a schematic diagram of a joint driving apparatus using a wire according to a second embodiment of the present invention, and FIG. 3 is a perspective view of a specific embodiment of a joint driving apparatus using a wire according to the second embodiment of the present invention. have. In the second embodiment of the present invention, it can be understood that the first embodiment is extended and applied to two or more joints.

In the case of the second embodiment of the present invention shown in Figs. 2 and 3, compared to the first embodiment, a third joint body 50 is additionally disposed between the driving unit and the second joint body 30, and the second joint The sieve 30 is configured to rotate about the second hinge axis B when the third wire 3 is pulled.

In this case, the first hinge axis A and the second hinge axis B may not be parallel to each other.

That is, by pulling each of the first and third wires (1, 3) arranged surrounding the outer surfaces of the first joint body 10 and the second joint body, it rotates independently about each of the hinge (A, B) axes. Can be controlled to do.

In more detail, the third wire 3 is disposed to surround the second joint body 30 from the fixed end 3a of the third joint body 50 via the second hinge axis B, and again, the second After extending toward the third joint body 50 via the hinge shaft B, it is connected to the driving unit and can be pulled by the driving unit. In this case, a third wire guide 3b is formed on the second joint body 30 to allow the third wire 3 to be mounted.

At this time, the outer surface of the second joint body 30 wrapped by the third wire 3 serves as a pulley of the moving pulley. Therefore, when the third wire 3 is pulled with the force of W by the driving unit, the force of the first joint 10 is doubled and the force of 2W can be transmitted, compared to the case where the wire is directly connected. The driving power can be further improved.

The second embodiment of the present invention shows and describes a joint drive device using a wire in which three joint bodies are combined to form two hinge axes, but N joint bodies are combined with the same principle as the above (N-1). It will be possible to construct a joint drive device using an articulated wire forming the hinge axis of the dogs.

FIG. 4 is a schematic diagram of a joint driving apparatus using a wire according to a third embodiment of the present invention, and FIG. 5 is a schematic diagram showing a modified example of a joint driving apparatus using a wire according to a third embodiment of the present invention. Is shown. 6 is a perspective view of a specific embodiment of a joint driving apparatus using a wire according to a third embodiment of the present invention.

The joint driving apparatus using a wire according to the third embodiment of the present invention may further include a second wire 2 and a second wire guide 2b corresponding thereto to the first joint body 10. This is to control the first joint body 10 to rotate in a direction opposite to the rotation direction by the first wire 1.

In more detail, referring to FIG. 4, the second wire 2 is rotated by the first wire 1 from the fixed end 2a of the second joint body 30 via the first hinge axis A. It is arranged to surround the first joint body 10 so as to rotate in the direction opposite to that, and extends toward the second joint body 30 via the first hinge axis (A), and is then connected to the driving part and pulled by the driving part. I can. At this time, when the second wire 2 is pulled by the driving unit, the second wire 2 may be more closely wrapped around the first joint body 10.

Accordingly, tension may occur when the second wire 2 having one end fixed to the fixed end 2a is pulled. At this time, some or all of the tension generated is transmitted to the outer surface of the first joint body 10 that the second wire 2 is wrapped around and arranged, so that the first joint body 10 is transferred to the second joint body 30. It can be rotated in the direction in which the tension is transmitted.

At this time, in the third embodiment of the present invention, by pulling the second wire 2, the direction in which the first joint body 10 rotates with respect to the first hinge axis A pulls the first wire 1 As a result, it is opposite to the direction of rotation.

At this time, the outer surface of the first joint body 10 wrapped by the second wire 2 is the same as the outer surface of the first joint body 10 wrapped by the first wire 1 and acts as a pulley of the moving pulley. Do it.

Meanwhile, in the third embodiment of the present invention, a second wire guide 2b on which the second wire 2 can be mounted is formed on the outer surface of the first joint body 10. The first wire guide 2b allows the second wire 2 to be mounted on the outer surface of the first joint body 10 when the second wire 2 is pulled.

In this case, referring to FIG. 5, the first wire guide 1b and the first wire guide 2b may be formed symmetrically with respect to the extending direction of the first joint body 10.

5 illustrates that the first and first wire guides 1b and 2b including grooves formed by being recessed from the outer surface of the first joint 10 are symmetrical to each other, but the wire guides forming the symmetry of the present invention The form of is not limited thereto. Accordingly, the first and first wire guides 1b and 2b including protrusions formed to protrude from the outer surface may be symmetrical to each other.

In this way, when the first wire guide 1b and the first wire guide 2b are symmetrical to each other, when the first joint body 10 is driven through the first wire 1 and the second wire 2, respectively The advantage of providing the same force is that the degrees of rotation can be the same.

In addition, referring to Figures 4 to 6, in the third embodiment of the present invention, the first wire guide 1b and the first wire guide 2b are made so that the wire is easily mounted on the first joint body 10. 1 It may be formed to be inclined in the extending direction of the joint body (10). At this time, since the first joint body 10 has different rotation directions by pulling the first and second wires 1 and 2, it is preferable that the inclination directions of the wire guides are formed to be inclined opposite to each other.

In addition, referring to FIG. 4, in the third embodiment of the present invention, the first wire guide 1b and the first wire guide 2b may be positioned adjacent to each other in the extending direction of the first joint body 10. have. This is when the first joint body 10 is driven through the first wire 1 and the second wire 2 when the first wire guide 1b and the first wire guide 2b are not positioned adjacent to each other. Since the difference in the degree of rotation can be significant, this is to alleviate such asymmetry.

Referring to FIG. 5, in the third embodiment of the present invention, the first and first wire guides 1b and 2b may be formed to cross each other.

5 illustrates that the wire guides including the grooves formed by being recessed from the outer surface of the first joint body 10 are formed to cross each other, but the shape of the wire guides formed by crossing in the present invention is not limited thereto. . Accordingly, the first and first wire guides 1b and 2b including protrusions formed to protrude from the outer surface may also be formed to cross each other.

In this case, when the two wires directly intersect at a point where the first and second wires 1 and 2 intersect each other, the transmission of force by the wires may be inhibited by friction between the wires. In order to solve such a problem, for example, a separate configuration for avoiding direct friction between intersecting wires may be included, such as varying the indentation depths of the grooves formed by indentation.

7 is a schematic diagram of a joint driving apparatus using a wire according to a fourth embodiment of the present invention. 8 is a perspective view showing a specific embodiment of a joint driving device using a wire according to a fourth embodiment of the present invention and the arrangement of the wires.

The joint drive device using a wire according to the fourth embodiment of the present invention can transmit a greater force than the joint drive device using the wire according to the first embodiment of the present invention.

In more detail, referring to FIGS. 7 and 8, the joint drive device using a wire according to a fourth embodiment of the present invention includes a driving unit, a first joint body 10, a second joint body 30, and a fifth wire 5 ), a fifth wire guide, and a sixth wire guide 6b.

At this time, the second joint body 30 is rotatably coupled around the first joint body 10 and the third hinge axis C, and is closer than the first joint body 10 based on the driving part. Can be located.

At this time, the fifth wire 5 has one end fixed to the first joint body 10 and the other end is arranged to be pulled by a driving unit, and when pulled, the first joint body 10 is the third hinge shaft A portion may be disposed while simultaneously enclosing the outer surfaces of the first joint body 10 and the second joint body 30 so as to rotate around (C). Compared with the first embodiment of the present invention, there is a difference in that the outer surface of the second joint body 30 other than the first joint body 10 is also disposed to surround.

To this end, the joint driving device using a wire according to the fourth embodiment of the present invention is the first joint so that the fifth wire 5 is mounted on the outer surface of the first joint body 10 when the fifth wire 5 is pulled. It may include a fifth wire guide formed on the outer surface of the sieve (10). In addition, when the fifth wire 5 is pulled, the sixth wire guide 6b formed on the outer surface of the second joint body 30 so that the fifth wire 5 is mounted on the outer surface of the second joint body 30 is provided. Can include.

At this time, referring to FIGS. 7 and 8, the fifth wire 5 is connected to the second joint body 30 through the third hinge axis C from the fixed end 5a of the first joint body 10. ), and then wrapped and disposed along the sixth wire guide 6b, and then extended toward the first joint body 10 via the third hinge axis C, and then the fifth wire guide It is wrapped and disposed along the line, extends toward the second joint body 30 via the third hinge axis C again, is connected to the driving unit, and can be pulled by the driving unit.

Accordingly, when the fifth wire 5 is pulled with the force of W by the driving unit, the outer surfaces of the first and second joints 10 and 30 wrapped by the fifth wire 5 act as a pulley of the moving pulley. Do it. Compared with the joint drive device using a wire according to the first embodiment of the present invention, one more outer surface of the wire serving as a pulley is added.

Therefore, when the first wire 1 is pulled with the force of W by the driving unit, the force of 3W can be transmitted to the first joint body 10 by three times amplification, according to the first embodiment of the present invention. Compared with a joint drive device using a wire, the driving force can be further improved.

At this time, in the fourth embodiment of the present invention, the fifth wire 5 may be connected to the driving unit by forming an eight-shaped shape in which directions along the fifth wire guide and the sixth wire guide 6b are opposite to each other.

In more detail, referring to FIG. 8 again, if the fifth wire 5 is arranged to surround the first joint body 10 in a clockwise direction along the fifth wire guide, it is counterclockwise along the sixth wire guide 6b. It may be disposed surrounding the second joint body 30. In this case, the fifth wire 5 may be disposed in a shape crossing each other at the portion of the third hinge axis C.

This makes it easy to place the fifth wire 5 inside the through groove formed inside the first and second joint bodies 10 and 30 by crossing the fifth wire 5 at the third hinge axis C. This is to do. In addition, it is to more stably arrange the fifth wire 5 on the first and second joint bodies 10 and 30.

At this time, like the first embodiment of the present invention, the fifth wire guide and the sixth wire guide 6b of the joint driving device using the wire according to the fourth embodiment of the present invention are the first and second joint bodies 10 It may be formed to be inclined in the extension direction of the first joint body 10 and the second joint body 30 to facilitate mounting on the ,30.

In addition, referring to FIGS. 7 and 8, the fifth wire guide and the sixth wire guide 6b may be formed to be symmetrical with respect to the third hinge axis C.

Although the exemplary embodiments of the present invention have been described above, the spirit of the present invention is not limited to the embodiments presented herein, and those skilled in the art who understand the spirit of the present invention, within the scope of the same spirit, Other embodiments may be easily proposed by addition, change, deletion, addition, etc., but it will be said that this is also within the scope of the present invention.

1 Fixed end of 1st wire 1a, 2a, 3a, 5a
1b first wire guide 2 second wire
2b second wire guide 3 third wire
3b third wire guide 5 fifth wire
5b fifth wire guide 6b sixth wire guide
10 No. 1 joint body 20 Restoration force
22 Torsion spring 24 Coil spring
30 Joint 2nd 50 Joint 3rd
A 1st hinge axis B 2nd hinge axis
C 3rd hinge axis

Claims (21)

Driving unit;
First articular body;
A second joint body that is rotatably coupled about the first joint body and the first hinge axis and is located closer to the first joint body with respect to the driving unit;
One end is fixed to the second joint body, and the other end is arranged to be pulled by the driving unit, and when pulled, a portion of the first joint body surrounds the outer surface of the first joint body so that the first joint body rotates about the first hinge axis. The first wire to be placed and
When the first wire is pulled, the joint driving device using a wire including a first wire guide formed on the outer surface of the first joint body so that the first wire is mounted on the outer surface of the first joint body. The method of claim 1,
The first wire guide is a joint driving device using a wire formed in a circumferential direction along the outer surface of the first joint body. The method of claim 1,
The first wire guide is a joint driving device using a wire formed to be symmetrical to each other with respect to the extending direction of the first joint body The method of claim 1,
The first wire guide is a joint driving device using a wire formed to be inclined with respect to the extending direction of the first joint body. The method of claim 1,
The first wire guide is a joint driving device using a wire including a groove formed by being recessed from the outer surface of the first joint body. The method of claim 1,
The first wire guide is a joint driving device using a wire including a protrusion formed to protrude from the outer surface of the first joint body. The method of claim 1,
Joint driving apparatus using a wire further comprising a separation preventing portion so that the first wire is not separated from the outer surface of the first joint body in a part of the first wire guide. The method of claim 1,
A joint driving device using a wire in which a through hole through which the first wire passes is formed in the first joint body and the second joint body so that the first wire is guided to the driving unit by the through hole. The method of claim 8,
When the first wire is pulled by forming a knot larger than the through hole diameter at one end of the first wire fixed to the second joint body, or by coupling a clamp larger than the through hole diameter, it is separated from the through hole Joint drive device using a wire that is fixed to prevent it. The method of claim 1,
Joint drive device using a wire comprising a restoring force member for providing a restoring force so that the first body rotates in a direction opposite to the direction of rotation by the first wire. The method of claim 1,
One end is fixed to the second joint body, and the other end is arranged to be pulled by the driving unit, and when pulled, the first joint body is rotated around the first hinge axis in a direction opposite to the rotation direction by the first wire. A second wire partially surrounding the outer surface of the first articulating body so as to rotate, and
When the second wire is pulled, the joint driving device using a wire further comprising a second wire guide formed on the outer surface of the first joint body so that the second wire is mounted on the outer surface of the first joint body. The method of claim 11,
The first wire guide and the second wire guide is a joint driving device using a wire formed to be symmetrical to each other with respect to the extension direction of the first joint body. The method of claim 11,
The first wire guide and the second wire guide are formed to be inclined in an extension direction of the first joint body, the joint driving device using wires formed in opposite directions to each other. The method of claim 11,
The first wire guide and the second wire guide is a joint driving device using a wire positioned adjacent to each other in the extension direction of the first joint body. The method of claim 11,
The first wire guide and the second wire guide is a joint driving device using a wire formed by crossing each other. The method according to any one of claims 1 to 15,
A third joint body rotatably coupled about the second joint body and the second hinge axis, and positioned closer than the second joint body based on the driving unit;
One end is fixed to the third joint body, and the other end is arranged to be pulled by the driving unit, and when pulled, a part of the second joint body surrounds the outer surface of the second joint body so that the second joint body rotates around the second hinge axis. The third wire to be placed and
When the third wire is pulled, the joint driving device using a wire including a third wire guide formed on the outer surface of the second joint body so that the third wire is mounted on the outer surface of the second joint body. The method of claim 16,
The first hinge axis and the second hinge axis joint drive device using a wire that is not parallel to each other. Driving unit;
First articular body;
A second joint body rotatably coupled about the first joint body and the third hinge axis and positioned closer to the first joint body with respect to the driving part;
One end is fixed to the first joint body, and the other end is arranged to be pulled by the driving unit, and when pulled, a portion of the first joint body and the second joint body rotates about the third hinge axis. A fifth wire disposed to surround the outer surface of the body;
When the fifth wire is pulled, a fifth wire guide formed on the outer surface of the first joint body so that the fifth wire is mounted on the outer surface of the first joint body, and
When the fifth wire is pulled, including a sixth wire guide formed on the outer surface of the second joint body so that the fifth wire is mounted on the outer surface of the second joint body,
The fifth wire extends from the one end of the first joint body toward the second joint body via the third hinge axis, and is then wrapped and disposed along the sixth wire guide, and again via the first hinge axis. It is extended toward the third joint body and then wrapped and disposed along the fifth wire guide, and then extended toward the second joint body via the third hinge axis and then connected to the driving part, and pulled by the driving part. Joint drive device using a losing wire. The method of claim 18,
The fifth wire is a joint driving device using a wire connected to the driving unit in an eight-shape shape in which directions along the fifth wire guide and the sixth wire guide are opposite to each other. The method of claim 18,
The fifth wire guide and the sixth wire guide is a joint driving device using a wire that is formed to be inclined in the extension direction of the first joint body and the second joint body. The method of claim 18,
The fifth wire guide and the sixth wire guide are joint driving apparatus using wires that are formed to be symmetrical to each other with respect to the third hinge axis.

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