WO2009145388A1 - Bras de robot et robot équipé de ce bras - Google Patents

Bras de robot et robot équipé de ce bras Download PDF

Info

Publication number
WO2009145388A1
WO2009145388A1 PCT/KR2008/004937 KR2008004937W WO2009145388A1 WO 2009145388 A1 WO2009145388 A1 WO 2009145388A1 KR 2008004937 W KR2008004937 W KR 2008004937W WO 2009145388 A1 WO2009145388 A1 WO 2009145388A1
Authority
WO
WIPO (PCT)
Prior art keywords
nodes
joint
robot
joint driving
arm
Prior art date
Application number
PCT/KR2008/004937
Other languages
English (en)
Inventor
Ho Sub Yoon
Jae Yeon Lee
Dae Hwan Hwang
Byung Ju Yi
Se Min Oh
Original Assignee
Electronics And Telecommunication Research Institute
Industry-University Cooperation Foundation Hanyang University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Electronics And Telecommunication Research Institute, Industry-University Cooperation Foundation Hanyang University filed Critical Electronics And Telecommunication Research Institute
Publication of WO2009145388A1 publication Critical patent/WO2009145388A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0286—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by chains, cables or ribbons
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm

Definitions

  • the present disclosure relates to a robot arm and a robot including the same, and more particularly, to a robot arm and a robot including the same which can absorb impulse caused by external force.
  • Robots for example, a robot for caring for an infant, a study assisting robot, a guide robot, a security robot, a health assisting robot and an advertisement robot have been developed which provide services to people and engage directly or indirectly in human life.
  • HRI human robot interaction
  • an object of the present invention is to provide a robot arm which is capable of absorbing external impulse.
  • Another object of the present invention is to provide a robot which can absorb external impulse.
  • a robot arm in accordance with an aspect of the present invention includes: a plurality of nodes; an elastic number for connecting the adjacent nodes among the plurality of the nodes to form a joint; and a joint driving wire for passing through and connecting the nodes, wherein the elastic number is contracted by the pull of the joint driving wire so that the joint is bent.
  • a robot arm in accordance with another aspect of the present invention includes: a plurality of nodes; a coil type spring for connecting the adjacent nodes of the nodes to form a joint; a plurality of joint driving wires, fixed to the foremost one of the nodes, for passing through the nodes; and a hand disposed in the foremost one of the nodes, wherein the coil type spring is contracted by an engagement of the joint driving wires so that the joint is bent.
  • a robot in accordance with another aspect of the present invention includes: a body; an arm supported by the body, the arm including: a plurality of nodes; an elastic number for connecting the adjacent nodes among the plurality of the nodes to form a joint; and a plurality of joint driving wires for passing through and connecting the nodes; and a driver, disposed in the body, for engaging the joint driving wires for the joint to be bent by the contraction of the elastic number.
  • FIG. 1 is a perspective view illustrating a robot arm and a robot including the same according to an embodiment of present invention
  • FIG. 2 is a perspective view illustrating the expansion portion of an arm of FIG. 1;
  • FIG. 3 is a cross-sectional view of an arm of FIG. 2;
  • FIG. 4 is a schematic view for describing the operation of a robot of FIG. 1 ;
  • FIG. 5 is a perspective view of an arm for describing an arm and a robot including the same according to another embodiment of the present invention
  • FIG. 6 is a perspective view of an arm for describing an arm and a robot including the same according to further embodiment of the present invention
  • FIG. 7 is a perspective view of an arm for describing an arm and a robot including the same according to further embodiment of the present invention
  • FIG. 8 is a perspective view of an arm for describing an arm and a robot including the same according to further embodiment of the present invention.
  • FIG. 1 is a perspective view illustrating a robot arm and a robot including the same according to an embodiment of present invention.
  • FIG. 2 is a perspective view illustrating the expansion portion of an arm of FIG. 1.
  • FIG. 3 is a cross-sectional view of an arm of FIG. 2.
  • FIG. 4 is a schematic view for describing the operation of a robot of FIG. 1.
  • a robot 10 according to an embodiment of the present invention includes a body 100, an arm 300 supported by the body 100, and a driver 200 included in the body 100 to drive the arm 300.
  • the body 100 can support the arm included in its one side and include the driver 200 for driving the arm 300. Unlike in FIG. 1, the body 100 may further include a moving means and easily move at any place.
  • the driver 200 includes at least one controller 220, at least one direct current (DC) motor 210 connected to the at least one controller 220, screws 230_l, 230_2 and 230_3 engaged with each of the DC motors 210, nuts 240_l, 240_2 and 240_3 coupled to the respective screws 230_l, 230_2 and 230_3, and a remote control (RC) motor 250.
  • DC direct current
  • a driver 200 is engaged with a first to third joint driving wires 330_l, 330_2 and 330_3 described below to bend or restore a joint of the arm 300. Processes that the driver 200 drives the arm 300 through the first to third joint driving wires 330_l, 330_2 and 330_3 will be described in detail with reference to FIG. 4.
  • the arm 300 includes a plurality of nodes 310, an elastic member 320, the first to third joint driving wires 330_l, 330_2 and 330_3, a backbone 340, a hand 370, and a hand driving wire (see 350 in FIG. 2).
  • the nodes 310 are spaced apart at certain intervals to form a framework of the arm 300.
  • Each of the nodes 310 is formed in a cylindrical shape and made of plastic material for reducing its weight, but is not limited to this embodiment.
  • a through-hole H may be formed in each of the nodes 310.
  • the backbone 340 described below may be formed to pass through the through-hole H.
  • the adjacent nodes 310 are connected to the elastic member 320, for example, a coil type spring.
  • the elastic member 320 forms a joint of the arm 300.
  • a plurality of coil type springs are provided between each of the nodes 310, and the elastic member 320 may connect the adjacent nodes 310.
  • the arm 300 having the substantially same shape as that of the arm 300 of FIG. 1 and FIG. 2 may be provided.
  • a coupling scheme of the nodes 310 and the elastic member 320 may be modified in various manners.
  • Such an elastic member 320 can absorb external force. For example, since the elastic member 320 absorbs impulse when a person collides with the arm 300, the person and the robot 10 can be protected against the impulse.
  • the first to third joint driving wires 330_l, 330_2 and 330_3 pass through and connect the nodes 310.
  • the first to third joint driving wires 330_l, 330_2 and 330_3 may be fixed to the foremost one of the nodes 310.
  • the first to third joint driving wires 330_l, 330_2 and 330_3 do not pass through the foremost node 310 and may be fixed.
  • the first to third joint driving wires 330_l, 330_2 and 330_3 are spaced apart at the substantially same intervals and may be provided to pass through each of the nodes 310. That is, as illustrated in FIG.
  • the first to third joint driving wires 330_l, 330_2 and 330_3 may be spaced apart at intervals of approximately 120 degrees about the center of each of the nodes 310.
  • the present invention is not limited to this embodiment in which the number of the joint driving wires 330_l, 330_2 and 330_3 is three, but the number of the joint driving wires may increase or decrease if necessary.
  • rings are provided in the sidewall of each of the nodes 310 so that each of the joint driving wires 330_l, 330_2 and 330_3 may be provided to pass through the rings.
  • the backbone 340 is provided to pass through the through-hole H of each of the nodes 310 and support the nodes 310, and can maintain the framework of the arm 300. Since the backbone 340 is made of a flexible material, it may support the nodes 310 and simultaneously be bent together with a joint when the joint provided by the elastic member 320 is bent. Moreover, the backbone 340 is hollow, and a hand driving wire 350 described below may be provided to pass through the hollow of the backbone 340. Meanwhile, the backbone 340 may be omitted. For example, in case where the strength of the elastic member 320 forming the joint is high, the backbone 340 may be omitted because the elastic member 320 can support the nodes 310.
  • the hand 370 is provided in the foremost one of the nodes 310 and may be provided in various shapes according to the uses of the robot 10.
  • a hand driving wire 350 connected to the hand 370 can supply power to the hand to drive the hand.
  • Such a hand driving wire 350 may be provided in the hollow of the backbone 340, but is not limited to this embodiment and may be provided in the outside of the backbone 340. Alternately, in case where the backbone 340 is omitted, the hand driving wire 350 may pass through the nodes 310 and be connected to the hand 370.
  • Each of the controllers 220 receives external control signals necessary for driving through an electric line 225, and drives each of the DC motors 210 according to the external control signals. For example, each of the controllers 220 can control the rotational speeds and rotational directions of the DC motors 210 according to the external control signals. Moreover, the DC motors 210 may be controlled for engaging the joint driving wires 330_l, 330_2 and 330_3.
  • the DC motors 210 may vary rotational speeds and rotational directions according to the control of the controller 220.
  • the screws 230_l, 230_2 and 230_3 operate in engagement with the DC motors. Accordingly, the nuts 240_l, 240_2 and 240_3 coupled to the respective screws 230_l, 230_2 and 230_3 move in the length directions of the screws 230_l, 230_2 and 230_3 when the screws 230_l, 230_2 and 230_3 rotate, and thus pull or push the joint driving wires 330_l, 330_2 and 330_3 fixed to the nuts 240_l, 240_2 and 240_3 in the length directions of the screws 230_l, 230_2 and 230_3.
  • 330_3 are spaced apart at intervals of approximately 120 degrees about the center of each of the nodes 310, the arm 300 can move in all directions such as upside, downside, the left and the right according to the push degree and/or pull degree of the first to third joint driving wires 330_l, 330_2 and 330_3-
  • the RC motor 250 manipulates a connection number 254 to pull or push the hand driving wire 350.
  • the hand 370 can be driven by the pull and/or push of the hand driving wire 350.
  • the acceleration and deceleration of the RC motor 250 is controlled, and the RC motor 250 can minutely control the pull speed and/or push speed of the hand driving wire 350. Therefore, the RC motor 250 can minutely control the operation of the hand 370.
  • the robot 10 may further include a sensor 270 and a sensor plate 260.
  • the sensor 270 may further include a sensor 270 and a sensor plate 260.
  • the robot 10 detects the motion of the arm 300 according to the location relationship between the sensor 270 and the sensor plate 260 and can control the arm 300 on the basis of the detecting motion.
  • All the elements of the driver 200 are provided in the body 100.
  • the DC motor 210 having a large weight is provided in the lower portion of the driver 200 so that it balances the weight of the robot 10.
  • the pulleys 260_l and 260_2 and the first to third joint driving wires 330_l, 330_2 and 330_3 are used. Consequently, since the DC motor 210 having a large weight is not provided in the arm 310, a weight of the arm 300 can be minimized. Lightening of the arm 300 can also minimize power consumption necessary for the driving of the arm 300.
  • the inner configuration of the driver 200 and a method of pulling the first to third joint driving wires 330_l, 330_2 and 330_3 are not limited to the above- described embodiment, but can be implemented in various manners.
  • FIG. 5 is a perspective view of an arm for describing an arm and a robot including the same according to another embodiment of the present invention.
  • the same reference numerals are used to refer to the same elements as those of FIG. 2, the detailed description of the same elements is omitted for convenience.
  • the first to third joint driving wires 330_l, 330_2 and 330_3 of an arm 301 are provided to pass through the hollow of the coil type spring 320.
  • the first to third joint driving wires 330_l, 330_2 and 330_3 can be protected against external force by the coil type spring 320.
  • the backbone 340 may be omitted, and the hand driving wire 350 may be provided in the outside of the backbone 340.
  • the arm 301 and the robot including the same include the elastic member 320 absorbing impulse, they can enhance the stabilities of the robot and/or people.
  • FIG. 6 is a perspective view of an arm for describing an arm and a robot including the same according to further embodiment of the present invention.
  • the same reference numerals are used to refer to the same elements as those of FIG. 2, the detailed description of the same elements is omitted for convenience.
  • a plurality of elastic members 321, 322 and 323 can connect the adjacent nodes 310.
  • the elastic members 321, 322 and 323 may be first to third coil type springs 321, 322 and 323, respectively.
  • the respective first to third joint driving wires 330_l, 330_2 and 330_3 may be provided to pass through the hollows of the first to third coil type springs 321, 322 and 323.
  • the backbone 340 may be omitted, and the hand driving wire 350 may be provided in the outside of the backbone 340.
  • FIG. 7 is a perspective view of an arm for describing an arm and a robot including the same according to further embodiment of the present invention.
  • the same reference numerals are used to refer to the same elements as those of FIGs. 2 and 6, the detailed description of the same elements is omitted for convenience.
  • a plurality of elastic members 320 to 323 can connect the adjacent nodes 310 while winding the first to third joint driving wires 330_l, 330_2 and 330_3, respectively.
  • the respective first to third joint driving wires 330_l, 330_2 and 330_3 may be included to pass through the hollows of the first to third coil type springs 321, 322 and 323.
  • FIG. 8 is a perspective view of an arm for describing an arm and a robot including the same according to further embodiment of the present invention.
  • the same reference numerals are used about the same elements as those of FIG. 2, the detailed description of the same elements is omitted for convenience.
  • the backbone 340 performs the functions of the elastic members 320 to 323. That is, the backbone 340 connects the adjacent nodes 310 to form a joint, and can also support the nodes 310.
  • Such a backbone 340 may be flexible and be made of an elastic material.
  • the robot arm of the present invention absorbs impulses, the present invention can ensure the stabilities of robots and humans.
  • the present invention relates to a robot arm and a robot including the same which can absorb impulse caused by external force.

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

Abstract

La présente invention concerne un bras de robot et un robot équipé de ce bras. Le bras de robot comprend une pluralité de nœuds, une pièce élastique et un câble de commande d’articulation. La pièce élastique relie les nœuds adjacents parmi une pluralité de nœuds afin de former une articulation. Le câble de commande d’articulation est disposé de manière à traverser les nœuds. La pièce élastique se contracte ou se détend sous l’effet de la traction exercée par le câble de commande d’articulation, ce qui permet à l’articulation de fléchir.
PCT/KR2008/004937 2008-05-30 2008-08-25 Bras de robot et robot équipé de ce bras WO2009145388A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2008-0050837 2008-05-30
KR1020080050837A KR20090124552A (ko) 2008-05-30 2008-05-30 로봇 암 및 이를 포함하는 로봇

Publications (1)

Publication Number Publication Date
WO2009145388A1 true WO2009145388A1 (fr) 2009-12-03

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ID=41377244

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Application Number Title Priority Date Filing Date
PCT/KR2008/004937 WO2009145388A1 (fr) 2008-05-30 2008-08-25 Bras de robot et robot équipé de ce bras

Country Status (2)

Country Link
KR (1) KR20090124552A (fr)
WO (1) WO2009145388A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102310405A (zh) * 2010-07-05 2012-01-11 扬州大学 一种角度放大并联机构
US20150273698A1 (en) * 2014-03-28 2015-10-01 Nathaniel Bender Care apparatus
US9662197B2 (en) 2015-01-15 2017-05-30 Electronics And Telecommunications Reserach Institute Artificial muscle
US9919433B2 (en) 2010-03-31 2018-03-20 Industry-University Cooperation Foundation Hanyang University Erica Campus One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same
JP2019030927A (ja) * 2017-08-07 2019-02-28 日本電気株式会社 ロボットアーム、制御方法およびプログラム
CN111872977A (zh) * 2020-07-31 2020-11-03 北方工业大学 一种仿大象鼻子连续机器人的实验平台

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2987652A1 (fr) * 2015-06-23 2016-12-29 Covidien Lp Instrument chirurgical et connecteur d'entrainement d'instrument pour l'utilisation avec des systemes chirurgicaux robotiques
CN112535614B (zh) * 2020-12-04 2023-05-12 济南国科医工科技发展有限公司 一种多自由度并联式康复机器人关节
KR102659758B1 (ko) * 2021-06-16 2024-04-23 경북대학교 산학협력단 미세조작이 가능한 로봇팔

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2171076A (en) * 1985-02-19 1986-08-20 Nat Nuclear Corp Ltd Manipulable devices
WO1987001645A1 (fr) * 1985-09-24 1987-03-26 Didier Lorin De La Grandmaison Bras flexible, notamment pour robot
JPH1170488A (ja) * 1997-08-28 1999-03-16 Fujitsu Ltd 柔軟湾曲駆動モジュール
JP2005059110A (ja) * 2003-08-18 2005-03-10 Oki Electric Ind Co Ltd 多関節装置
US7175648B2 (en) * 2003-11-18 2007-02-13 Granit Medical Innovations, Llc Deep endoscopic staple and stapler

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2171076A (en) * 1985-02-19 1986-08-20 Nat Nuclear Corp Ltd Manipulable devices
WO1987001645A1 (fr) * 1985-09-24 1987-03-26 Didier Lorin De La Grandmaison Bras flexible, notamment pour robot
JPH1170488A (ja) * 1997-08-28 1999-03-16 Fujitsu Ltd 柔軟湾曲駆動モジュール
JP2005059110A (ja) * 2003-08-18 2005-03-10 Oki Electric Ind Co Ltd 多関節装置
US7175648B2 (en) * 2003-11-18 2007-02-13 Granit Medical Innovations, Llc Deep endoscopic staple and stapler

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
OH, SE-MIN: "Soft arm design for imitation of Human Gesture for Human-Robot Interaction", MASTER'S THESIS. HANYANG UNIVERSITY, February 2008 (2008-02-01), KOREA *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9919433B2 (en) 2010-03-31 2018-03-20 Industry-University Cooperation Foundation Hanyang University Erica Campus One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same
US10695917B2 (en) 2010-03-31 2020-06-30 Industry-University Cooperation Foundation Hanyang University Erica Campus One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same
CN102310405A (zh) * 2010-07-05 2012-01-11 扬州大学 一种角度放大并联机构
US20150273698A1 (en) * 2014-03-28 2015-10-01 Nathaniel Bender Care apparatus
US9662197B2 (en) 2015-01-15 2017-05-30 Electronics And Telecommunications Reserach Institute Artificial muscle
JP2019030927A (ja) * 2017-08-07 2019-02-28 日本電気株式会社 ロボットアーム、制御方法およびプログラム
JP7069592B2 (ja) 2017-08-07 2022-05-18 日本電気株式会社 ロボットアームおよびロボット
CN111872977A (zh) * 2020-07-31 2020-11-03 北方工业大学 一种仿大象鼻子连续机器人的实验平台

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Publication number Publication date
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