KR102298240B1 - Control system of articulated robot, and articulated robot comprising the same - Google Patents

Abstract

The present invention relates to an articulated robot control system and an articulated robot including the same, and more particularly, to an articulated robot control system for controlling the movement of an articulated robot including a plurality of joints, the articulated robot a wire portion comprising at least two wires connected to any one of a plurality of joints; A first wire pulley rotating in a first direction, a second wire pulley rotating in a direction opposite to a direction in which the first wire pulley rotates, and the first wire pulley disposed between the first wire pulley and the second wire pulley a pulley and a speed reducer for adjusting the rotation speed of the second wire pulley, and a wire control unit connected to each of the wires; a brake unit for controlling rotation of the first wire pulley and the second wire pulley; and a switch unit disposed on the articulated robot and electrically connected to the brake unit to lock or unlock the brake unit.

Description

Control system of articulated robot, and articulated robot comprising the same

The present invention relates to an articulated robot control system and an articulated robot including the same.

Robot technology or robot industry is divided into very diverse fields such as industrial robots, entertainment robots, and educational robots, and articulated robots are applied in almost all robot fields.

The articulated robot is a type of robot in which a plurality of joint members sharing a rotation axis are coupled to each other.

As an example, the joints of the robot having a plurality of joint members may drive rotational motion in the plurality of joint assemblies by an operation such as pulling the wire by connecting the wire to each, and also according to the operation of the motor connected to the wire It may drive rotational motion between the articulation assemblies.

As a related art in this regard, Korean Patent Registration No. 10-1668714 discloses a robot joint mechanism, and in detail, a plurality of driving forces interconnecting a plurality of joint parts and a driving part and providing a driving force provided from the driving part to each joint part. A plurality of pulley assemblies having a plurality of pulleys disposed opposite to each other in the providing member and each joint part and guiding the movement of the driving force providing member interconnected to the joint part and the driving part in order to adjust the rotation angle of each joint part according to the driving force of the driving part A robot joint mechanism has been disclosed, and Korean Patent Laid-Open No. 10-2005-0045316 discloses an articulated robot driven by a small actuator module and in which driving force is transmitted through a connection member directly connected to the drive shaft of the actuator module. have done

Also, as a related technology, Korean Patent Registration No. 10-1207853 discloses an actuator module adaptable to various joint shapes and a joint structure using the same, and in detail, in the actuator module used in the joint part of the articulated robot, the electronic an actuator body comprising a unit and a driving unit; and a speed reducer coupled to the actuator body to change the speed and torque generated by the actuator body.

On the other hand, among these articulated robots, articulated robots used in the medical industry are generally used for surgery or procedures, and mobility is emphasized in a narrow human body. Due to the nature of these robots moving in a narrow space, miniaturization is essential, and in driving the rotational motion of the joint assembly through the wire, it is important to closely control the tension of the wire and the rotation of the joint assembly. The disclosed methods for controlling the joints have a problem in that they are difficult to manipulate for use as surgical aids in that each joint must be manually manipulated.

Republic of Korea Patent Registration No. 10-1668714 Republic of Korea Patent No. 10-1207853

The object of the present invention is

An object of the present invention is to provide an articulated robot control system and an articulated robot including the same.

In order to achieve the above purpose,

One embodiment of the present invention is

An articulated robot control system that controls the movement of an articulated robot including a plurality of joints,

a wire unit including at least two wires connected to any one of a plurality of joints of the articulated robot;

A first wire pulley rotating in a first direction, a second wire pulley rotating in a direction opposite to a direction in which the first wire pulley rotates, and the first wire pulley disposed between the first wire pulley and the second wire pulley a pulley and a speed reducer for adjusting the rotation speed of the second wire pulley, and a wire control unit connected to each of the wires;

a brake unit for controlling rotation of the first wire pulley and the second wire pulley; and

A switch unit disposed on the articulated robot and electrically connected to the brake unit to lock or unlock the brake unit; including,

Provides an articulated robot control system.

In this case, the reducer may rotate the first wire pulley and the second wire pulley at a rotation ratio of n:m (n, m is an integer, n<m).

In addition, the articulated robot control system may include a plurality of the wire unit and the wire control unit.

In addition, the wire may include an elastic body.

In addition, the wire control unit may further include a first fixing unit for fixing one end of the wire.

In addition, the articulated robot control system may further include a second fixing unit disposed at the joint of the articulated robot and fixing the other end of the wire.

In addition, the articulated robot control system may include a base for fixing one end of the articulated robot, and the wire control unit and the brake unit may be disposed inside the base.

In addition, the switch unit may include a handle member and a button member.

In addition, the first wire pulley includes at least two first grooves for accommodating the at least two wires,

In addition, the second wire pulley may include at least two second grooves for accommodating the at least two wires.

On the other hand, another embodiment of the present invention,

an arm portion including a plurality of joints that rotate or move in translation and a plurality of links connected to each of the plurality of joints; and

Including; a control system for controlling the movement of the arm unit;

The control system is

a wire portion including at least two wires connected to any one of a plurality of joints of the arm portion;

A first wire pulley rotating in a first direction, a second wire pulley rotating in a direction opposite to a direction in which the first wire pulley rotates, and the first wire pulley disposed between the first wire pulley and the second wire pulley a pulley and a speed reducer for adjusting the rotation speed of the second wire pulley, and a wire control unit connected to each of the wires;

a brake unit for controlling rotation of the first wire pulley and the second wire pulley; and

a switch unit disposed on the arm unit and electrically connected to the brake unit to lock or release the brake unit;

Provides an articulated robot.

In this case, the control system may include a plurality of the wire unit and the wire control unit.

In addition, each of the plurality of joints may include at least two third grooves for accommodating the at least two wires.

In addition, the wire control unit may include a first fixing unit for fixing one end of the wire.

In addition, the joint may include a second fixing unit for fixing the other end of the wire.

In addition, the articulated robot may further include a base for fixing one end of the arm part.

The articulated robot control system of the present invention includes a wire part, and through the wire part, the force can be supplemented so that the user can use the articulated robot with less force.

In addition, the movement of the entire joint can be electronically locked or released by using the on-off switch, and when used for surgery or medical purposes, there is an advantage of excellent convenience in use.

In addition, by controlling the movement of the wire connected to the joint by using the reducer and the elastic body, it is possible to prevent an abrupt load from being applied to the joint of the articulated robot during unlocking, and it is possible to improve the stability of use.

In addition, it is possible to stably maintain the locked state against a high load.

1 is a schematic diagram showing an articulated robot according to an embodiment of the present invention;
2 is a schematic diagram showing a state in which the wire part of the articulated robot control system according to an embodiment of the present invention is connected to the joints of the articulated robot;
3 is a front view showing a wire control unit of the articulated robot control system according to an embodiment of the present invention;
4 is a top view showing a wire control unit of an articulated robot control system according to an embodiment of the present invention;
5 is a schematic diagram showing a switch unit of an articulated robot control system according to an embodiment of the present invention;
6 is a schematic diagram showing a third groove of the articulated robot according to an 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 to which the present application pertains can easily implement them. However, the present invention may be implemented in various different forms and is not limited to the embodiments described below. In addition, in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted. Throughout the present specification, when a part is “connected” with another part, it is not only “directly connected” but also “electrically connected” with another element interposed therebetween. include In addition, throughout the specification of the present invention, that a certain member is located “on” another member includes not only a case in which a member is in contact with another member but also a case in which another member is present between the two members.

Throughout the specification of the present invention, when a part "includes" a component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

One embodiment of the present invention is

An articulated robot control system that controls the movement of an articulated robot including a plurality of joints,

a wire unit including at least two wires connected to any one of a plurality of joints of the articulated robot;

A first wire pulley rotating in a first direction, a second wire pulley rotating in a direction opposite to a direction in which the first wire pulley rotates, and the first wire pulley disposed between the first wire pulley and the second wire pulley a pulley and a speed reducer for adjusting the rotation speed of the second wire pulley, and a wire control unit connected to each of the wires;

a brake unit for controlling rotation of the first wire pulley and the second wire pulley; and

A switch unit disposed on the articulated robot and electrically connected to the brake unit to lock or unlock the brake unit; including,

It is possible to provide an articulated robot control system.

The articulated robot control system according to an embodiment of the present invention is a system for controlling an articulated robot used to use an auxiliary instrument for surgery or medical use, and the size of the system is larger than that of a conventional control system for controlling an articulated robot. and weight can be reduced, making the articulated robot more compact.

Hereinafter, an articulated robot control system according to an embodiment of the present invention will be described in detail for each configuration with reference to the drawings.

1 is a schematic diagram showing an articulated robot including an articulated robot control system according to an embodiment of the present invention.

The articulated robot control system according to an embodiment of the present invention may include a wire unit 200 including at least two wires 201 connected to any one of a plurality of joints of the articulated robot.

FIG. 2 is a diagram showing the wire part 200 of the articulated robot control system according to an embodiment of the present invention. As shown in FIG. 2, a diagram showing the wire part 200 connected to any one of the plurality of joints. am.

The articulated robot control system according to an embodiment of the present invention connects at least two wires 201 per joint and connects the wire control unit 100 to each of the wires 201, so that the joint more stably can be controlled

The articulated robot control system according to an embodiment of the present invention may include a plurality of wire units 200 .

For example, the articulated robot control system according to an embodiment of the present invention may include a total of 10 wires 201 such that two wires 201 are connected per one joint to control the five-axis articulated robot. have.

The articulated robot control system according to an embodiment of the present invention may include a wire control unit 100 .

The articulated robot control system may include a base part 500 for fixing one end of the articulated robot, and the wire control part 100 may be disposed inside the base part 500 .

3 is a front view showing the wire control unit 100 according to an embodiment of the present invention, as shown in FIG. 3, the wire control unit 100 is a first wire pulley 101 rotating in a first direction, A second wire pulley 102 that rotates in a direction opposite to the direction in which the first wire pulley rotates, is disposed between the first wire pulley and the second wire pulley and rotates the first wire pulley and the second wire pulley It may include a speed reducer 103, which adjusts the speed.

The wire control unit 100 is a member for more precisely controlling the movement of the joint, and controls the movement of the joint by controlling the movement of at least two wires 201 connected to each joint of the articulated robot. can Specifically, by reducing the rotational speed of the first wire pulley 101, by controlling the movement of the wire 201 connected to the first wire pulley 101 and the joint connected to the wire 201, It can prevent the sudden movement of the articulated robot and increase the stability of use.

The first wire pulley 101 and the second wire pulley 102 may have different rotational speeds by the speed reducer 103 disposed between the first wire pulley 101 and the second wire pulley 102 . .

The reducer 103 includes a first bearing for rotating the first wire pulley 101 in a first direction and a second bearing for rotating the second wire pulley 102 in a second direction. may include The first bearing and the second bearing may rotate in engagement with each other to rotate the first wire pulley 101 and the second wire pulley 102 at a constant rotation ratio.

Preferably, the reducer 103 may rotate the first wire pulley and the second wire pulley at a rotation ratio of n:m (n, m is an integer, n<m). In this case, the ratio of n and m may be 8:1 to 12:1, more preferably 10:1.

Here, the reduction ratio of the speed reducer may be determined through the rotation ratio.

For example, when the switch unit 400 is turned on to release the lock of the brake unit 300, the second wire pulley 102 rotates counterclockwise 10 times. One wire pulley 101 may rotate once in a clockwise direction, and in this case, a rotation ratio of the first wire pulley and the second wire pulley may be 1:10, and a reduction ratio may be 10.

Through this, even when the brake unit 300 is unlocked, the first wire pulley 101 can rotate at a lower speed, thereby improving the use stability of the articulated robot.

In the articulated robot control system according to an embodiment of the present invention, at least two wires 201 may be connected to each joint of the articulated robot, and the wire control unit 100 may be connected to each of the wires 201 .

In addition, the wire part 200 may include a plurality of the wire part 200 and the wire control part 100 connected to the wire part 200 so that the plurality of joints are connected.

As an example, FIG. 4 is a view showing the upper surface of the wire control unit 100 for controlling the movement of the 5-axis articulated robot. In order to control the movement of the 5-axis articulated robot as shown in FIG. The articulated robot control system according to the embodiment may include a total of 10 wires 201 and a total of 10 wire control units such that two wires are connected to each of the five joints and the wire control unit is connected to each of the wires. .

That is, the articulated robot control system 1 according to an embodiment of the present invention is connected to the 1-1 wire and the 1-2 wire, the 1-1 wire and the 1-2 wire connected to the first joint, respectively. a 1-1 wire control unit and a 1-2 wire control unit connected to each other; a second 2-1 wire and a 2-2 wire connected to the joint, a 2-1 wire control unit and a 2-2 wire control unit connected to each of the 2-1 wire and the 2-2 wire; a 3-1 th wire and a 3-2 wire connected to the third joint, a 3-1 th wire control unit and a 3-2 th wire control unit connected to the 3-1 th wire and the 3-2 th wire, respectively; 4-1 th wire and 4-2 wire connected to the fourth joint, 4-1 th wire control unit and 4-2 th wire control unit connected to the 4-1 th wire and 4-2 th wire, respectively; and 5-1 th wire and 5-2 wire connected to the fifth joint, 5-1 th wire control unit and 5-2 th wire control unit connected to the 5-1 th wire and 5-2 th wire, respectively ; may be included.

Meanwhile, the wire control unit 100 may further include a first fixing unit 106 for fixing one end of the wire 201 . The wire 201 is fixed to the first fixing part 106 at one end, and after sequentially connecting the second wire pulley 102, the reducer 103, and the first wire pulley 101, the articulated robot The other end may be fixed by the second fixing part 600 formed in the joint of the.

The first wire pulley 101 includes at least two first groove portions 104 for receiving the at least two wires 201 , and the second wire pulley 102 includes the at least two wires 201 . It may include at least two second grooves 105 for accommodating them.

The first groove portion 104 and the second groove portion 105 are for preventing the wire 201 from being deviated from the path, thereby improving control efficiency.

In addition, the wire 201 may include an elastic body 202 , and the load of the wire 201 is reduced by the elastic force of the elastic body 202 , thereby improving stability against a high load.

As shown in FIG. 2 , the elastic body 202 may be disposed on the wire 200 disposed between the first fixing part 105 and the second wire pulley 102 .

The elastic body 202 may be a spring, but is not limited thereto, and other materials having elasticity may be used.

The articulated robot control system according to an embodiment of the present invention may include a brake unit 300 for controlling rotation of the first wire pulley 101 and the second wire pulley 102 .

The brake 300 is a means for controlling the rotation of the first wire pulley 101 and the second wire pulley 102, and a method of controlling the rotation of a rotation shaft connecting the first wire pulley and the second wire pulley As such, it is possible to control the rotation of the first wire pulley 101 and the second wire pulley 102 .

For example, when the brake 300 is formed in a locked state, the rotation of the first wire pulley 101 and the second wire pulley 102 may be stopped, and the brake 300 may be set to an unlocked state. When formed, the first wire pulley 101 and the second wire pulley 102 may be rotated.

The articulated robot control system according to an embodiment of the present invention can improve the limit load of the brake 300 by connecting the brake 300 to the reducer 103 .

The brake unit 300 may have an improved load limit according to Equation 1 below.

<Equation 1>

(T _out : final load limit value, T _b = limit weight of brake, b = reduction ratio of reducer, μ: reduction efficiency)

Here, the final load limit value may be a load value at which the holder part or end effector of the articulated robot supports the object, and the limit weight of the brake is the total weight value at which the brake part supports the articulated robot and the object. and the deceleration efficiency may be an efficiency value according to the speed reducer.

In this case, the brake 300 may be disposed adjacent to the wire control unit 100 , but is electrically connected to the switch unit 400 to turn the switch unit 400 on or off. ), it is possible to lock or unlock the brake 300 , thereby performing or stopping the rotation of the first wire pulley 101 and the second wire pulley 102 .

The articulated robot control system according to an embodiment of the present invention is disposed on the articulated robot, is electrically connected to the brake unit 300, and includes a switch unit 400 that locks or releases the brake unit 300. may include

The switch unit 400 is a member for electrically locking or unlocking the brake unit 300, and by turning on/off the switch unit disposed on the articulated robot, the user locks or locks the joints of the articulated robot at once. It can be turned off to increase the usability. In particular, it is possible to effectively control an articulated robot used for medical or surgical purposes.

The switch unit 400 may be disposed on the articulated robot, and as shown in FIG. 1 , it may be disposed at a position adjacent to the hand part or end effector of the articulated robot so that the user's operation convenience is high. have.

In addition, the switch unit 400 according to an embodiment of the present invention may further include a handle member 401 and a button member 402 as shown in FIG. 5 .

The switch 400 may form the switch unit 400 in an on or off state through the button member 402 .

For example, by pressing the button member 402 to position the switch unit 400 in an on state, the brake unit 300 may be unlocked.

The articulated robot control system according to an embodiment of the present invention can prevent an abrupt load from being added to the joints of the articulated robot by applying most of the load to one or more of the brake unit, the reducer, and the elastic body when the brake unit is unlocked. can

Another embodiment of the present invention is

an arm portion including a plurality of joints that rotate or move in translation and a plurality of links connected to each of the plurality of joints; and

Including; a control system for controlling the movement of the arm unit;

The control system is

a wire portion including at least two wires connected to any one of a plurality of joints of the arm portion;

A first wire pulley rotating in a first direction, a second wire pulley rotating in a direction opposite to a direction in which the first wire pulley rotates, and the first wire pulley disposed between the first wire pulley and the second wire pulley a pulley and a speed reducer for adjusting the rotation speed of the second wire pulley, and a wire control unit connected to each of the wires;

a brake unit for controlling rotation of the first wire pulley and the second wire pulley; and

a switch unit disposed on the arm unit and electrically connected to the brake unit to lock or release the brake unit;

An articulated robot can be provided.

Hereinafter, the articulated robot according to an embodiment of the present invention will be described in detail for each configuration.

The articulated robot is an articulated robot including a multi-joint robot control system and a plurality of joints according to an embodiment of the present invention, and may be an articulated robot used for surgical assistance.

The articulated robot may include an arm unit including a plurality of joints that rotate or move in translation and a plurality of links connected to each of the plurality of joints. In this case, the arm part may include 4 to 6 joints, but is not limited thereto.

In addition, the articulated robot may include a wire unit 201 including at least two wires.

In this case, the wire 201 may include an elastic body 202 , and the load of the wire 201 is reduced by the elastic force of the elastic body 202 , thereby improving stability against a high load.

As shown in FIG. 2 , the elastic body 202 may be disposed on the wire 200 disposed between the first fixing part 105 and the second wire pulley 102 .

The elastic body 202 may be a spring, but is not limited thereto, and other materials having elasticity may be used.

In addition, each of the wires 201 has one end fixed to the first fixing unit 106 included in the wire control unit, and the second end disposed at any one joint among a plurality of joints of the articulated robot. It may be fixed to the fixing unit 600 . That is, one end of the wire 201 is fixed to the first fixing part 106 , and the second wire pulley 102 , the reducer 103 , and the first wire pulley 101 are sequentially connected, and then the other end It may be fixed by the second fixing part 600 .

At this time, the wire 201 includes an elastic body in a portion disposed between the first fixing part 106 and the second wire pulley 102, thereby reducing the load applied to the joints of the articulated robot when unlocking. can be reduced

The articulated robot may include a base part 500 for fixing one end of the articulated robot, and the wire control part 100 and the brake part 400 of the control system may be included in the base part 500 . have.

The wire control unit 100 includes a first wire pulley 101 rotating in a first direction, a second wire pulley 102 rotating in a direction opposite to the direction in which the first wire pulley rotates, the first wire pulley and It is disposed between the second wire pulley and may include a reducer 103 for adjusting the rotation speed of the first wire pulley and the second wire pulley.

The wire control unit 100 is a member for more precisely controlling the movement of the joint, and controls the movement of the joint by controlling the movement of at least two wires 201 connected to each joint of the articulated robot. can Specifically, by reducing the rotational speed of the first wire pulley 101, by controlling the movement of the wire 201 connected to the first wire pulley 101 and the joint connected to the wire 201, It can prevent sudden movement of the articulated robot and increase the stability of use.

In addition, the articulated robot includes a plurality of wire parts 201 and a wire control part, through which the wire part 200 and the wire control part 100 can be connected to each joint of the articulated robot.

That is, at least two wires 201 may be connected to each joint of the articulated robot, and each of the wires 201 includes a first wire pulley 102 and a second wire pulley 102 of the wire control unit 100 . ) and the reducer 103 may be connected. Through this, it is possible to minimize the load applied to each joint, it is possible to improve the stability of use.

The first wire pulley 101 and the second wire pulley 102 may have different rotational speeds by the speed reducer 103 disposed between the first wire pulley 101 and the second wire pulley 102 . .

The reducer 103 includes a first bearing for rotating the first wire pulley 101 in a first direction and a second bearing for rotating the second wire pulley 102 in a second direction. may include The first bearing and the second bearing may rotate in engagement with each other to rotate the first wire pulley 101 and the second wire pulley 102 at a constant rotation ratio.

Preferably, the reducer 103 may rotate the first wire pulley and the second wire pulley at a rotation ratio of n:m (n, m is an integer, n<m). In this case, the ratio of n and m may be 8:1 to 12:1, more preferably 10:1. Here, the reduction ratio of the speed reducer may be determined through the rotation ratio.

In addition, each of the first wire pulley, the second wire pulley, and the joint may include first to third grooves. Through this, since the wire is positioned inside the first to third grooves, it is possible to prevent the wire from deviating from the path, and it is possible to improve the control effect by the wire control unit.

In addition, the articulated robot includes a brake unit 300 that controls rotation of the first wire pulley 101 and the second wire pulley 102 and a switch unit 400 electrically connected to the brake unit 300 . may include, and through this, it is possible to lock or unlock a plurality of joints at the same time, thereby increasing ease of use.

That is, the brake 300 is a means for controlling the rotation of the first wire pulley 101 and the second wire pulley 102, and controls the rotation of a rotation shaft connecting the first wire pulley and the second wire pulley. In this way, the rotation of the first wire pulley 101 and the second wire pulley 102 can be controlled.

For example, when the brake 300 is formed in a locked state, the rotation of the first wire pulley 101 and the second wire pulley 102 may be stopped, and the brake 300 may be set to an unlocked state. When formed, the first wire pulley 101 and the second wire pulley 102 may be rotated.

The articulated robot can improve the limit load of the brake 300 by connecting the brake 300 with the reducer 103 .

In this case, the brake 300 may be disposed adjacent to the wire control unit 100 , but is electrically connected to the switch unit 400 to turn the switch unit 400 on or off. ), it is possible to lock or unlock the brake 300 , thereby performing or stopping the rotation of the first wire pulley 101 and the second wire pulley 102 .

In addition, the switch unit 400 is a member for electrically locking or unlocking the brake unit 300 , and by turning on/off the switch unit disposed on the arm unit, the user simultaneously locks or locks the joint. It can be turned off to increase the usability. In particular, it is possible to effectively control an articulated robot used for medical or surgical purposes.

The switch part 400 may be disposed on the arm part, and as shown in FIG. 1 , it is disposed adjacent to the hand part or the end effector part of the arm part so that the user's operation convenience is high. can be

In addition, as shown in FIG. 5 , the switch unit 400 may further include a handle member 401 and a button member 402 .

The control system can prevent an abrupt load from being added to the joints of the articulated robot by applying most of the load to at least one of the brake unit, the reducer, and the elastic body when the brake unit is unlocked.

The articulated robot according to an embodiment of the present invention may be an articulated robot that can be used for surgery or medical purposes. The articulated robot can electronically control the locking or unlocking of the brake unit, so control can be easy, and when the lock is released, a load is applied to the brake unit and the reducer, so that the arm unit of the articulated robot Alternatively, it is possible to minimize the load added to the joint, it is possible to improve the stability of use.

100: wire control unit
100 (1-1): 1-1 wire control unit
100 (1-2): first 1-2 wire control unit
100 (2-1): 2-1 wire control unit
100 (2-2): 2-2 wire control unit
100 (3-1): 3-1 wire control unit
100 (3-2): 3-2 wire control unit
100 (4-1): 4-1 wire control unit
100 (4-2): 4-2 wire control unit
100 (5-1): 5-1 wire control unit
100 (5-2): 5-2 wire control unit
101: first wire pulley
102: second wire pulley
103: reducer
104: first groove
105: second groove
106: first fixing part
200: wire
201: elastic body
300: brake unit
400: switch unit
401: no handle
402: no button
500: base
600: third groove

Claims (15)

An articulated robot control system that controls the movement of an articulated robot including a plurality of joints,
A first wire pulley rotating in a first direction, a second wire pulley rotating in a direction opposite to a direction in which the first wire pulley rotates, and the first wire pulley disposed between the first wire pulley and the second wire pulley a wire control unit including a pulley and a reducer for controlling the pulley and the second wire pulley to rotate at a predetermined rotation ratio;
a wire having one end connected to the wire control unit to connect the first wire pulley, the reducer, and the second wire pulley, and the other end connected to any one of a plurality of joints of the articulated robot, the wire including a spring;
a brake unit connected to the reducer and controlling rotation of the first wire pulley and the second wire pulley; and
A manual articulated robot control system comprising a; disposed on the articulated robot and electrically connected to the brake unit to lock or unlock the brake unit.
The method of claim 1,
The reducer rotates the first wire pulley and the second wire pulley at a rotation ratio of n: m (n, m is an integer, n < m),
Manual articulated robot control system.
The method of claim 1,
The articulated robot control system includes a plurality of wires and a plurality of wire control units connected to each of the plurality of wires, and at least two wires control the movement of any one of the plurality of joints of the articulated robot,
Manual articulated robot control system.
delete The method of claim 1,
The wire control unit further comprises a first fixing unit for fixing one end of the wire,
Manual articulated robot control system.
The method of claim 1,
It is disposed at the joints of the articulated robot and further comprises a second fixing part for fixing the other end of the wire,
Manual articulated robot control system.
The method of claim 1,
Includes a base for fixing one end of the articulated robot,
The wire control part and the brake part are disposed inside the base part,
Manual articulated robot control system.
The method of claim 1,
The switch unit includes a handle member and a button member,
Manual articulated robot control system.
The method of claim 1,
The first wire pulley includes a first groove for accommodating the wire,
The second wire pulley comprises at least a second groove for receiving the wire,
Manual articulated robot control system.
an arm unit including a plurality of joints that rotate or move in translation and a plurality of links connected to each of the plurality of joints; and
Including; a manual control system for controlling the movement of the arm part,
The control system is
A first wire pulley rotating in a first direction, a second wire pulley rotating in a direction opposite to a direction in which the first wire pulley rotates, and the first wire pulley disposed between the first wire pulley and the second wire pulley a wire control unit including a pulley and a reducer for controlling the pulley and the second wire pulley to rotate at a predetermined rotation ratio;
a wire having one end connected to the wire control unit to connect the first wire pulley and the speed reducer to the second wire pulley, and the other end connected to any one of a plurality of joints of the arm unit, the wire including a spring;
a brake unit connected to the reducer and controlling rotation of the first wire pulley and the second wire pulley; and
a switch unit disposed on the arm unit and electrically connected to the brake unit to lock or release the brake unit;
articulated robot.
11. The method of claim 10,
the control system
A plurality of wires and a plurality of wire control units connected to each of the plurality of wires, wherein at least two wires control the movement of any one of the plurality of joints of the articulated robot,
articulated robot.
12. The method of claim 11,
each of said plurality of joints comprising at least two third grooves for receiving said at least two wires;
articulated robot.
11. The method of claim 10,
The wire control unit comprises a first fixing unit for fixing one end of the wire,
articulated robot.
11. The method of claim 10,
The joint comprises a second fixing part for fixing the other end of the wire,
articulated robot.
11. The method of claim 10,
The articulated robot further includes a base for fixing one end of the arm part,
The wire control part and the brake part are disposed inside the base part,
articulated robot.

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