KR20160111775A - Elbow Joint Assembly of Robot Arm - Google Patents

Elbow Joint Assembly of Robot Arm Download PDF

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Publication number
KR20160111775A
KR20160111775A KR1020150036886A KR20150036886A KR20160111775A KR 20160111775 A KR20160111775 A KR 20160111775A KR 1020150036886 A KR1020150036886 A KR 1020150036886A KR 20150036886 A KR20150036886 A KR 20150036886A KR 20160111775 A KR20160111775 A KR 20160111775A
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South Korea
Prior art keywords
fixing member
wire
curved surface
surface portion
rotation
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KR1020150036886A
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Korean (ko)
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KR101693248B1 (en
Inventor
김용재
전형석
정용준
Original Assignee
한국기술교육대학교 산학협력단
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Priority to KR1020150036886A priority Critical patent/KR101693248B1/en
Priority to PCT/KR2016/002517 priority patent/WO2016148463A1/en
Priority to US15/558,199 priority patent/US10744638B2/en
Priority to CN201680016604.2A priority patent/CN107666990B/en
Publication of KR20160111775A publication Critical patent/KR20160111775A/en
Application granted granted Critical
Publication of KR101693248B1 publication Critical patent/KR101693248B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

According to an embodiment of the present invention, a robot arm elbow joint assembly comprises: a fixing member connected to an upper arm part having a first curved surface unit formed on a circumference while having a circular arc formed as at least one part; a rotational member connected to a forearm part, having a second curved surface unit formed on the circumference while having a circular arc formed as at least one part to be in contact with the first curved part, and rotating along the first curved surface unit; at least one pair of first pulleys arranged on an eccentric side of a rotational member and the fixing member with reference to a rotation center point of the first and second curved units; at least one pair of second pulleys arranged on the other eccentric side of the fixing member and the rotational member with reference to the rotation center point of the first and second curved surfaces; a first wire unit wound around the first pulley pair having a side extended to a rear part of the fixing member; and a second wire unit wound on the second pulley pair having an end extended to the rear part of the fixing member.

Description

Elbow Joint Assembly of Robot Arm [0002]

The present invention relates to an elbow joint assembly of a robot arm, and more particularly, to an elbow joint assembly of a robot arm having a simple and lightweight structure while significantly increasing strength and rigidity.

Since Unimate was first used in automotive assembly in 1962, robotic engineering has become a vital technology in production, service, medical, exploration, military, and aerospace fields thanks to rapid technology development and the spread of its application offerings. I got it.

Conventional robots were intended to perform simple repetitive tasks at high speed and precise precision. However, in recent years, there have been many researches on robots that can be remotely connected to share a space with people, surgical robots that facilitate various operations such as laparoscopic surgery, And various types of robots, such as industrial robots that enable contact, are being developed.

Especially, recently developed Baxtor robot has ability to detect and adapt human force so that it can move robot directly and direct work, and it is attracted attention as next generation robot that can cooperate with robot in the same work space have.

However, Baxtor robots sacrifice robustness, rigidity, precision and operation speed in order to secure such safety, and their performance is lower than that of conventional industrial robots.

Therefore, there is a demand for a robot technology that can sense an external force, is safe in contact and collision, and satisfies high strength, rigidity, precision, and operation speed.

To accomplish this, the technology to realize the robot 's joint structure similar to that of the human arm with high degree of freedom is emerging as a core research task, and research results reflecting the achievement are also being announced.

However, the robot joint structure studied so far has a problem that its structure is very complicated in order to have sufficient strength and rigidity while having many degrees of freedom, and there is a problem that performance is degraded when the structure is simplified.

Therefore, a method for solving such problems is required.

Disclosure of Invention Technical Problem [8] Accordingly, the present invention has been made to solve the above-mentioned problems of the conventional art, and it is an object of the present invention to provide an elbow joint assembly of a robot arm that has high strength and rigidity and has multiple degrees of freedom, .

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

In order to accomplish the above object, the present invention provides an elbow joint assembly for a robot arm, comprising: a fixing member connected to an upper arm and having a first curved portion formed at an at least part of a circumference thereof, A rotation member having a second curved surface portion formed by an arc contacting with the first curved surface portion and rotating along the first curved surface portion, and a second center of gravity of the fixing member and the second curved surface portion with respect to the rotation center point of the first curved surface portion and the second curved surface portion, The first and second curved portions and the second curved portion are provided on at least one pair of first pulleys provided on one eccentric side of the rotary member, At least a pair of second pulleys, a first wire portion wound on the pair of first pulleys, one side of which is extended to the rear side of the fixing member, and a pair of second pulleys, And a second wire portion extending to the rear side of the fixing member.

The actuator may further include an actuator disposed behind the fixing member and rotating the first and second wire portions by linearly moving the first wire portion and the second wire portion in directions opposite to each other.

And a secondary pulley disposed between the driving unit and the first pulley of the fixing member and the second pulley of the driving unit and the fixing member to change the extension direction of the first wire unit and the second wire unit have.

And the auxiliary pulley may include a plurality of wire receiving grooves into which the first wire portion and the second wire portion are inserted.

The plurality of wire receiving grooves may be formed to be rotatable independently of each other.

And a second wire extending from the driving unit to the other joint assembly provided at the front of the rotary member so as not to interfere with the relative rotation of the fixing member and the rotary member, And may further include a plurality of connection pulleys for changing the direction.

At this time, a plurality of other wire portions may be provided and may be connected to intersect between the plurality of connection pulleys.

And a support bar connecting the rotation center points of the first curved surface portion and the second curved surface portion to each other and supporting the fixing member and the rotary member.

And a rotation assist member which is provided to cross the circumference of the fixing member and the rotation member at the same time at the contact points of the first curved surface portion and the second curved surface portion and to induce rolling motion between the fixing member and the rotation member .

Further, an insertion groove into which the rotation assistant member is inserted may be formed around the fixing member and the rotary member.

The above and other objects, features, and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings.

First, it has high strength and rigidity, has excellent precision and can perform quick work.

Second, since the structure has a simple structure compared to the strength and rigidity, it is possible to reduce the weight and greatly reduce the manufacturing cost.

Third, since the driving unit is provided outside the joint, there is an advantage that it does not interfere with the movement of the elbow joint.

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

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing the basic principles of strength and stiffness amplification structures for implementing the present invention;
FIG. 2 illustrates an elbow joint assembly of a robot arm according to a first embodiment of the present invention; FIG.
FIG. 3 is a view showing a robot arm according to a first embodiment of the present invention in which the elbow joint assembly of the robot arm is rotated; FIG.
FIG. 4 is a view showing the relationship between the lengths of the first wire portion and the second wire portion according to the rotation of the rotary member in the elbow joint assembly of the robot arm according to the first embodiment of the present invention; FIG.
FIG. 5 is a side view of an elbow joint assembly of a robot arm according to a second embodiment of the present invention; FIG.
FIG. 6 is a side view of an elbow joint assembly of a robot arm according to a second embodiment of the present invention; FIG.
FIGS. 7 and 8 are views illustrating a driving operation of an elbow joint assembly of a robot arm according to a second embodiment of the present invention;
9 is a view illustrating an internal structure of an elbow joint assembly of a robot arm according to a second embodiment of the present invention;
FIG. 10 is a view illustrating a fixing member of an elbow joint assembly of a robot arm according to a second embodiment of the present invention; FIG.
11 is a view showing a rotation assistant member wound around a fixing member and a rotating member in an elbow joint assembly of a robot arm according to a second embodiment of the present invention; And
12 is a detailed view of a first connection pulley in an elbow joint assembly of a robot arm according to a second embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In describing the present embodiment, the same designations and the same reference numerals are used for the same components, and further description thereof will be omitted.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram showing a principle of a basic strength and stiffness amplification structure for implementing the present invention. Fig.

1, a structure for amplifying strength and rigidity for realizing the present invention includes an actuator 10, an output unit 20, and an actuator 20 connected to the actuator 10 and the output unit 20 And a wire (30).

Particularly, the output unit 20 includes a stationary pulley 22 in a fixed state and a moving pulley 24 moving according to the linear movement of the wire 30 by driving the actuator 10, Is wound on the fixed pulley 22 and the moving pulley 24 a plurality of times.

The tensile force T of the actuator and the rigidity K of the wire 30 are set so as to be equal to or less than the number of times the wire 30 moves between the fixed pulley 22 and the moving pulley 24, Is amplified to T out and K out as shown in the following equation.

T out = nT

K out = n²K

As shown in the above equation, the tension is amplified in proportion to n, and the stiffness is amplified in proportion to the square of n. Since high rigidity is an essential element for precise control, it is an important feature that compensates for the decrease in rigidity when the wire 30 is used, and the amplification of the tension has an advantage of increasing the maximum load.

In the case of the present invention, the elbow joint assembly of the robot arm is implemented by using the above-described strength and rigidity amplification structure, and the following description will be given.

FIG. 2 is a view showing an elbow joint assembly 100 of a robot arm according to a first embodiment of the present invention. FIG. 3 is a perspective view of the elbow joint assembly 100 of the robot arm according to the first embodiment of the present invention. Fig.

2 and 3, the elbow joint assembly 100 of the robot arm according to the first embodiment of the present invention includes a fixing member 120, a rotary member 130, a first pulley 140 , A second pulley 150, a first wire portion 160a, a second wire portion 160b, and a driving portion.

Specifically, the fixing member 120 is formed so as to have a first curved surface portion formed with an arc at least a part of its periphery, and at least a part of the circumferential portion of the rotating member 130 is formed as a circular arc contacted with the first curved surface portion Two curved portions, and is rotated along the first curved portion.

In the present embodiment, the fixing member 120 and the rotary member 130 are formed in a circular shape as a whole, but only a part of the entire circumference may be formed as an arc. The second curved surface portion of the rotating member 130 may be moved in a rolling manner in contact with the first curved surface portion of the fixing member 120.

At least one pair of the first pulleys 140 is provided, and the first pulleys 140 and the second pulleys 140 are provided on the eccentric side of the fixing member and the rotating member, respectively, with respect to the center point of the first curved portion and the second curved portion. At least one pair of the second pulleys 150 is also provided on the eccentric side of the fixing member and the rotary member with respect to the center point of the first curved portion and the second curved portion.

In the present embodiment, the first pulley 140 is positioned above the center of the fixing member 120 and the moving member 130 with reference to the drawing, and the second pulley 150 is positioned on the upper side of the fixing member 120 and the moving member 130, (120) and the movable member (130).

The first wire portion 160a is wound on the pair of first pulleys 140a and 140b a predetermined number of times and one side of the first wire portion 160a extends to the rear of the fixing member 120. [ The second wire portion 160b is wound on the pair of second pulleys 150a and 150b a predetermined number of times and one side extends to the rear side of the fixing member 120. [

The driving unit is disposed behind the fixing member 120 and linearly moves the first wire portion 160a and the second wire portion 160b in opposite directions to rotate the rotating member 130 And an actuator (not shown).

Hereinafter, the term "rear" refers to a traveling direction from the rotary member 130 to the fixed member 120 side, and the forward direction refers to a traveling direction from the stationary member 120 to the rotary member 130 side.

The first wire portion 160a and the second wire portion 160b are integrally formed to form one circulating wire 160. The first wire portion 160a and the second wire portion 160b are wound around the circulation member 110 Respectively. The circulation member 110 is a component that circulates the circulation wire 110 as it is rotated in one direction or the other direction by the first actuator.

That is, in this embodiment, the circulating wire 160 is wound on the pair of first pulleys 140a and 140b and the second pulleys 150a and 150b on both sides in a state of being wound on the circulation member 110, .

3, when the circulation member 110 is rotated in one direction, the length of the first wire portion 160a is shortened and the first pulley 140b provided on the rotation member 130 is fixed to the fixing member 120 to the first pulley 140a. The second wire portion 160a has a longer length and the second pulley 150b provided on the rotating member 130 moves away from the second pulley 150a provided on the fixing member 120. [

Accordingly, the rotary member 130 rotates and moves around the fixing member 120, and rotational motion of the elbow joint can be realized.

Also, when the circulation member 110 is rotated in the other direction, the rotation member 130 will move in the opposite direction to the above-described driving.

The elbow joint assembly 100 of the robot arm according to the present invention has an advantage that it can change the linear motion to the rotational motion with a simple structure compared with the conventional art, and can have sufficient rigidity and strength.

In the present embodiment, a pair of rotations (not shown) are provided on the circumference of the rotary member 130 and the fixing member 120 so as to move along the correct path when the rotary member 130 and the fixing member 120 relatively rotate And auxiliary members 125a and 125b may be provided. Since the relative rotation directions of the rotating member 130 and the fixing member 120 are opposite to each other, the pair of rotation assistants 125a and 125b are rotated in the direction of rotation of the rotating member 130 and the fixing member 120, It has a crossed state with respect to the contact point.

That is, the first rotation assist member 125a extends to cover the upper side of the fixing member 120 and extends to the lower side of the rotary member 130 at a contact point of the rotary member 130 and the fixing member 120, The second rotation assist member 125b extends to cover the lower side of the fixing member 120 and extends from the contact point of the rotation member 130 and the fixing member 120 to the upper side of the rotation member 130. [

At this time, the rotation assist members 125a and 125b may be formed in a wire form, but may be implemented in various forms such as a belt.

4 is a view showing a change in length of a first wire portion and a second wire portion according to rotation of a rotary member 130 in an elbow joint assembly 100 of a robot arm according to a first embodiment of the present invention .

The distance between the first pulley and the second pulley corresponding to each other is W and the diameter of the rotating member 130 and the fixing member 120 is denoted by W and the rotating member 130 is rotated by? The length L 1 of the first wire portion wound on the pair of first pulleys and the length L 2 of the second wire portion wound on the pair of second pulleys satisfy the following relational expression do.

Figure pat00001

Figure pat00002

As can be seen from the above equation, since the first wire portion and the second wire portion move symmetrically with respect to each other, the movement of the first wire portion and the second wire portion can be controlled using only one actuator.

Therefore, in the above-described embodiment, the first wire portion and the second wire portion are formed of one circulating wire, and the circulating wire is driven by only the rotation of the circulating member by the first actuator.

Hereinafter, embodiments in which the present invention is more specifically described will be described. 5 and 6 show an actual implementation of the elbow joint assembly of the robot arm according to the second embodiment of the present invention.

FIG. 5 is a view showing one side of an elbow joint assembly of a robot arm according to a second embodiment of the present invention, FIG. 6 is a side view of an elbow joint assembly of a robot arm according to a second embodiment of the present invention to be.

In the case of the second embodiment of the present invention shown in Figs. 5 to 6, the fixing member 120 of the first embodiment, the rotary member 130, the first pulley 140, the second pulley 150 A first wire portion 160a, and a second wire portion 160b. The fixing member 120 is connected to the upper arm 102 and the rotary member 130 is connected to the forearm 104.

In the second embodiment of the present invention, the fixing member 120 and the rotary member 130 do not have a completely circular shape but only a part of the fixing member 120 and the fixing member 120 are formed as a circular arc, And the rotary member 130 has a second curved surface portion 132. Therefore, the rotary member 130 can be rotated by the length of the first curved surface portion 122 and the second curved surface portion 132, and joint movements corresponding to a human's elbow can be realized by using the same .

On the other hand, in the case of this embodiment, connection pulleys 170a, 170b, 170c, and 170d may be further provided. The connection pulleys 170a, 170b, 170c, and 170d change the extending direction so that the other wires extending from the driving unit to the other joint side such as the wrist do not interfere with the relative rotation of the fixing member 120 and the rotating member 130 Lt; / RTI >

Specifically, in this embodiment, the second connection pulley 170b is provided at the center point of the first curved surface portion of the fixing member 120, and the first connection pulley 170a is provided at the rear of the second connection pulley 170b Respectively.

The third connection pulley 170c is provided at the center point of the second curved surface portion of the rotary member 130 and the fourth connection pulley 170d is provided at the front of the third connection pulley 170c.

7 and 8, the other wire portions 175a and 175b are connected to each other so as to intersect each other between adjacent connection pulleys 170a to 170d so that the upper arm portion 102 and the forearm portion 104 The lengths of the other wire portions 175a and 175b are not changed irrespective of the angle.

Therefore, the driving force can be transmitted to the other joint side without being interfered with the driving of the elbow joint assembly.

9 is a view showing the internal structure of an elbow joint assembly of a robot arm according to a second embodiment of the present invention.

As shown in FIG. 9, in this embodiment, a support bar 180 connecting the first and second curved surface portions 122 and 132 to each other is provided.

The support bar 180 supports the fixing member 120 and the rotary member 130 to prevent the fixing member 120 and the rotary member 130 from separating from each other during the relative rotation of the fixing member 120 and the rotary member 130, And the forearm 104 to each other. In the case of the present embodiment, a hollow is formed inside to support the support bar 180.

The fixing member 120 and the rotary member 130 can be stably and relatively rotated about both ends of the support bar 180 as an axis.

In the present embodiment, a driving unit (not shown) provided behind the fixing member 120, a first pulley 140a of the fixing member 120, and a second pulley 140a of the driving unit and the fixing member 120, And an auxiliary pulley 151 provided between the first wire portion 160a and the second wire portion 160b to change the extending direction of the first wire portion 160a and the second wire portion 160b.

When the auxiliary pulley 151 is not provided, the first wire portion 160a and the second wire portion 160b are connected to the first pulley 140a and the second pulley 160b as the rotary member 130 rotates, 150a. Therefore, in order to prevent the first wire portion 160a and the second wire portion 160b from being affected by the rotation of the rotary member 130 in the present embodiment, the first wire portion 160a and the second wire portion 160b And an auxiliary pulley 151 for changing the extension direction of the wire portion 160b.

The auxiliary pulley 151 may be provided on both the outer side and the inner side of the fixing member 120.

FIG. 10 is a view showing a state of a fixing member 120 in an elbow joint assembly of a robot arm according to a second embodiment of the present invention, and FIG. 11 is a cross-sectional view of the elbow joint of the robot arm according to the second embodiment of the present invention. 125b are wound around the fixing member 120 and the rotary member 130 in the assembly shown in FIG.

As described above, a pair of rotations (not shown) are provided around the rotating member 130 and the fixing member 120 so as to move along the correct path when the rotating member 130 and the fixing member 120 relatively rotate And auxiliary members 125a and 125b may be provided. The pair of rotation assistant members 125a and 125b have a state in which the pair of rotation assistant members 125a and 125b are intersected with respect to the contact point of the rotation member 130 and the fixing member 120 Has already been described.

In this embodiment, an insertion groove 124 into which the rotation assistant members 125a and 125b are inserted is formed around the fixing member 120 and the rotary member 130. In addition, That is, the rotation assistant members 125a and 125b do not interfere with the rotation of the fixing member 120 and the rotation member 130 because they are inserted into the insertion groove 124 and do not protrude outward.

In this embodiment, both ends of the insertion groove 124 are provided with fixing portions 126a and 126b for fixing both sides of the rotation assistant members 125a and 125b, respectively. That is, since the fixing portions 126a and 126b are provided, the rotation assistant members 125a and 125b may be formed so as to enclose only the portion corresponding to the first curved portion 122 or the second curved portion 132.

FIG. 12 is a detailed view of a first connection pulley 170a in an elbow joint assembly of a robot arm according to a second embodiment of the present invention.

12, in this embodiment, the first connection pulley 170a is rotatable with respect to the rotary shaft 171, and a plurality of wire receiving grooves 172 are formed side by side.

Therefore, in this embodiment, a plurality of wire portions can be wound simultaneously by only one first connection pulley 170a, and thus the structure can be further simplified. That is, in the present embodiment, the first connection pulley 170a may include a plurality of pulleys formed with one wire receiving groove 172 and connected in a lateral direction, and they may be individually rotated to be.

The same can be applied to the first connection pulley 170a as well as other connection pulleys, the first pulley, the second pulley, and the auxiliary pulley.

It will be apparent to those skilled in the art that the present invention can be embodied in other specific forms without departing from the spirit or scope of the invention as defined in the appended claims. It is obvious to them. Therefore, the above-described embodiments are to be considered as illustrative rather than restrictive, and the present invention is not limited to the above description, but may be modified within the scope of the appended claims and equivalents thereof.

100: Robot arm elbow joint assembly
110: circulation member 120: fixing member
122: first curved surface portion 130: rotating member
132: second curved portion 140: first pulley
150: second pulley 151: connecting pulley
160a: first wire portion 160b: second wire portion
170a to 170d: connection pulley 180: support bar

Claims (10)

A fixing member connected to the upper arm portion and having a first curved surface portion at least a part of which is formed as an arc;
A rotary member connected to the forearm and having a second curved surface portion formed by an arc of which at least a portion of the circumference is in contact with the first curved surface portion and is rotated along the first curved surface portion;
At least one pair of first pulleys provided on one side of the fixing member and the eccentric side of the rotating member with respect to a rotation center point of the first curved surface portion and the second curved surface portion;
At least one pair of second pulleys provided on the other side of the fixing member and the eccentric portion of the rotating member with respect to the center of rotation of the first curved portion and the second curved portion;
A first wire portion wound on the pair of first pulleys and having one side extended to the rear side of the fixing member; And
A second wire portion wound on the pair of second pulleys and having one side extended to the rear side of the fixing member;
The elbow joint assembly of the robot arm comprising: The method according to claim 1,
And an actuator which is provided behind the fixing member and linearly moves the first wire portion and the second wire portion in opposite directions to rotate the rotary member. 3. The method of claim 2,
Further comprising an auxiliary pulley which is provided between the driving unit and the first pulley of the fixing member and between the driving unit and the second pulley of the fixing member to change the extending direction of the first wire unit and the second wire unit, Elbow joint assembly. The method of claim 3,
And the auxiliary pulley includes a plurality of wire receiving grooves into which the first wire portion and the second wire portion are inserted. 5. The method of claim 4,
Wherein the plurality of wire receiving grooves are individually rotatable. 3. The method of claim 2,
The other wire extending from the driving unit to the other joint assembly provided at the front of the rotating member is provided in the fixing member and the rotating member so as to prevent interference with the relative rotation of the fixing member and the rotating member, The elbow joint assembly further comprising a plurality of connection pulleys. The method according to claim 6,
Wherein a plurality of the other wire portions are provided, and are connected to intersect between the plurality of connection pulleys. The method according to claim 1,
Further comprising a support bar connecting the rotation center points of the first curved surface portion and the second curved surface portion to each other and supporting the fixation member and the rotatable member. The method according to claim 1,
And a rotation assist member for simultaneously rolling the fixing member and the rotation member crossing at the contact point between the first curved surface portion and the second curved surface portion and guiding the rolling motion between the fixing member and the rotation member Includes a robot arm elbow joint assembly. 10. The method of claim 9,
And an insertion groove into which the rotation assistant member is inserted is formed around the fixing member and the rotary member.
KR1020150036886A 2015-03-17 2015-03-17 Elbow Joint Assembly of Robot Arm KR101693248B1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
KR1020150036886A KR101693248B1 (en) 2015-03-17 2015-03-17 Elbow Joint Assembly of Robot Arm
PCT/KR2016/002517 WO2016148463A1 (en) 2015-03-17 2016-03-14 Robot arm
US15/558,199 US10744638B2 (en) 2015-03-17 2016-03-14 Robot arm
CN201680016604.2A CN107666990B (en) 2015-03-17 2016-03-14 Robot arm

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Application Number Priority Date Filing Date Title
KR1020150036886A KR101693248B1 (en) 2015-03-17 2015-03-17 Elbow Joint Assembly of Robot Arm

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023214837A1 (en) * 2022-05-04 2023-11-09 네이버랩스 주식회사 Robot joint device
KR20230171102A (en) * 2022-06-13 2023-12-20 블루로빈 주식회사 Rolling contact joint and Robot comprising the same

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100131338A (en) * 2009-06-05 2010-12-15 주식회사 이턴 Surgical instrument
KR20130112981A (en) * 2012-04-02 2013-10-15 삼성전자주식회사 Driving device usable with robot arm and robot arm

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100131338A (en) * 2009-06-05 2010-12-15 주식회사 이턴 Surgical instrument
KR20130112981A (en) * 2012-04-02 2013-10-15 삼성전자주식회사 Driving device usable with robot arm and robot arm

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023214837A1 (en) * 2022-05-04 2023-11-09 네이버랩스 주식회사 Robot joint device
KR20230155713A (en) * 2022-05-04 2023-11-13 네이버랩스 주식회사 Joint apparatus for robot
KR20230171102A (en) * 2022-06-13 2023-12-20 블루로빈 주식회사 Rolling contact joint and Robot comprising the same
WO2023243803A1 (en) * 2022-06-13 2023-12-21 서울대학교산학협력단 Rolling contact joint and robot comprising same

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