WO2016117874A1

WO2016117874A1 - Robot joint apparatus utilizing wires and modular robot joint system utilizing wires

Info

Publication number: WO2016117874A1
Application number: PCT/KR2016/000336
Authority: WO
Inventors: 정현환; 정주노
Original assignee: 고려대학교 산학협력단
Priority date: 2015-01-19
Filing date: 2016-01-13
Publication date: 2016-07-28
Also published as: KR20160089204A; KR101710256B1

Abstract

The present invention relates to a robot joint apparatus utilizing wires and a modular robot joint system utilizing wires. The robot joint apparatus according to the present invention comprises: a main frame; a joint module rotatably disposed on the main frame to move a joint; first and second wires each having one end connected to the joint module; a first wire driving module connected to the other end of the first wire to pull on same so that the joint module rotates clockwise; and a second wire driving module connected to the other end of the second wire to pull on same so that the joint module rotates counterclockwise, wherein the first and second wire driving modules pull on the first and second wires, respectively, to control the rigidity of the joint movements of the joint module by means of the tension created by the first and second wires, and corresponding to the first and second wire driving modules driving in the opposite directions, the joint module moves a joint in the clockwise or counterclockwise direction due to the pulling power of any one from among the first wire and second wire. Accordingly, a movement in the joint can be generated by structuring a joint by means of a combination of tensions of two strands of wire, comprising the first wire and second wire forming a pair, and the tension applied to the joint module allows the structural joint rigidity to be controlled.

Description

Robot joint device using wire and modular robot joint system using wire

The present invention relates to a robot joint device using a wire and a modular robot joint system using a wire, and more particularly, to implement a joint motion of the robot using a pair of wires, and to adjust the rigidity through the tension of the wire In addition, the present invention relates to a robot joint apparatus using a wire that can manufacture a robot joint in a modular form, and a modular robot joint system using a wire.

Robots are used throughout the manufacturing industry and are increasingly being used in service areas. In particular, as robots are used in manufacturing and service sites, robot driving ranges and human activity areas overlap, and safety of robots in these overlapping areas is also important.

Therefore, various safety robot technologies have been developed for minimizing damage caused by collisions in the overlapping activity areas of humans and robots. An example of this is a variable rigid robot joint system, that is, a technology for controlling the rigidity of the robot joint.

On the other hand, although the robot belongs to high precision machinery, it is difficult to implement a micro-scale super precision structure due to nonlinear characteristics such as frictional force of the joints, and thus, a precision control system using an expensive ultra-precision stage device or a direct drive motor This situation is taking over. Therefore, if a single robot can be implemented with high precision and multiple tasks can be performed at the same time, the utilization of the robot will be increased.

In the case of a general robot joint driving technology, a method of driving a joint by driving a motor directly connected to a joint or connecting a wire wound with a pulley to a joint is widely used. The joint driving device disclosed in Korean Patent No. 10-1257379 discloses an example of joint driving using a pulley.

In general, a robot joint driven through a wire connection has a merit in terms of design because it can lightly design a link part and arrange joint structures at various positions.

However, in the case of a robot joint using a conventional wire, the joint is configured to drive the pulley by rotating the joint stiffness to a low level due to the elasticity of the wire, there is a disadvantage that there is no room to change the rigidity in other ways .

This low joint stiffness not only adversely affects mechanical precision, but also causes the performance of the controller to degrade. In addition, in the case of the robot joint using a conventional wire, the position of the drive motor and the joint structure is different, the connection structure can not be easily changed, there is a disadvantage that a complex control scheme for controlling the complex connection structure and joints, This acts as a cause of maintenance difficulty.

However, in the case of a normal robotic joint system in which the drive motor is directly connected to the joint, the structural accuracy is detrimental, while the output joint driven by the wire has little interference with gears or other friction, so the accuracy of the control is determined by the resolution of the sensor. If the above-mentioned disadvantages of the same robot joints using wires are compensated for in that they can be raised to a level, they may exhibit better performance than other types of robot joints.

Accordingly, the present invention has been made to solve the above problems, to implement a joint motion of the robot using a pair of wires, to adjust the rigidity through the tension of the wire, the production of robot joints in the form of a module It is an object of the present invention to provide a robotic joint apparatus using wires and a modular robotic joint system using wires.

According to the present invention, the main frame, a joint module rotatably installed in the main frame and joint motion, one side and the first wire and the second wire connected to the joint module, respectively, the first wire A first wire driving module connected to the other side of the wire and pulling the first wire so that the joint module rotates in a clockwise direction; and a second wire connected to the other side of the second wire so that the joint module rotates in a counterclockwise direction A first wire drive module for pulling a; The first wire drive module and the second wire drive module respectively pull the first wire and the second wire to adjust the rigidity of the joint motion of the joint module by the tension formed on the first wire and the second wire. To; The joint module is turned clockwise or counterclockwise by a pulling force of any one of the first wire and the second wire according to the driving in the opposite direction of the first wire drive module and the second wire drive module. It is achieved by a robot joint device using a wire, characterized in that the joint movement.

Here, the first wire driving module is a first driving motor for generating a rotational force, and the other side of the first wire is wound in a forward and reverse rotation according to the forward and reverse rotation of the first drive motor to pull the first wire or The unwind comprises a first pulley; The second wire drive module is a second drive motor for generating a rotational force, and the other side of the second wire is wound in the forward and reverse rotation according to the forward and reverse rotation of the second drive motor to pull or unwind the second wire It can include two pulleys.

In addition, the joint module may be rotatably installed in an axis with respect to the main frame in a direction crossing the longitudinal direction of the robot joint.

The main frame may include a first support frame rotatably supporting the first pulley and the second pulley on the one side in the longitudinal direction, and the first pulley and the second pulley of the first support frame. A second support frame extending in the longitudinal direction from an opposite surface of the support frame to rotatably support the articulation module; The first support frame has a first wire through hole through which the first wire passes so that the first wire from the first pulley can be connected to the joint module, and the second wire from the second pulley is connected to the joint. A second wire through hole through which the second wire passes may be formed to be connectable to the module.

A first borden cable installed in at least one region between the first pulley and the first wire through hole to guide the movement path of the first wire with the first wire inserted therein; The cable may further include a second borden cable installed in at least one region between the second pulley and the second wire through hole to guide the movement path of the second wire with the second wire inserted therein.

The joint module may include a first rotation arm and a first rotation arm which are rotatably installed on both sides of the second support frame with the second support frame interposed therebetween in the direction of the rotation axis of the joint module. 2 rotating arms; The first pulley and the second pulley are installed in the first support frame along a rotation axis direction of the joint module; The first wire from the first pulley is connected to any one of the first rotational arm and the second rotational arm in an intersecting direction, and the second wire from the second pulley is the first rotation. It may be connected to the other one of the arm and the second rotary arm located in the cross direction.

The main frame further includes a partition frame disposed between the first pulley and the second pulley and having first and second barrier walls through which the first wire and the second wire pass, respectively. To; The first wire from the first poly is connected to one of the first rotary arm and the second rotary arm through the first partition wall through hole and the first wire through hole; The second wire from the second poly may be connected to the other of the first rotary arm and the second rotary arm through the second partition wall through hole and the second wire through hole.

In addition, the first borden cable is installed between the first wire through hole and the first partition wall through hole to guide the movement path of the first wire; The second borden cable may be installed between the second wire through hole and the second partition wall through hole to guide the movement path of the second wire.

And a first guide pulley installed between the first rotary arm and the second support frame to be rotatable independently of the rotation of the first rotary arm, and rotatably independent of the rotation of the second rotary arm. A second guide pulley installed between a second rotary arm and the second support frame; When the joint module rotates more than a predetermined angle in the counterclockwise direction, the first wire is guided by the independent rotation of the first guide pulley over the first guide pulley to guide the movement path of the first wire, and the joint module When the clockwise rotation is a predetermined angle or more, the movement path of the second wire may be guided by the independent rotation of the second guide pulley over the second guide pulley.

Here, the joint module may be installed to be rotatable about the main frame in the longitudinal direction of the robot joint.

The first pulley and the second pulley are installed on the main frame to be rotatable about the longitudinal direction; The articulation module includes a torsion shaft module installed on the main frame to be rotatable in the longitudinal direction between the first pulley and the second pulley, and a torsion plate connected to the torsion shaft module to rotate. ; The first wire and the second wire may be connected to the radially outer side of the torsion shaft module, respectively, and may be connected to positions for rotating the torsion shaft module in opposite directions when moving in the pulling direction.

On the other hand, the above object according to another embodiment of the present invention, the first robot joint device, the second robot joint device, the first robot joint device and the second robot joint device mutually along the longitudinal direction of the robot joint A link frame connecting in a spaced state; The first robot joint apparatus and the second robot joint apparatus include a main frame, a joint module rotatably installed on the main frame, and a first wire and a second wire connected to one side of the joint module. And a first wire driving module connected to the other side of the first wire to pull the first wire so that the joint module rotates in a clockwise direction, and connected to the other side of the second wire so that the joint module is counterclockwise. A first wire drive module for pulling said second wire to rotate; The first wire drive module and the second wire drive module respectively pull the first wire and the second wire to adjust the rigidity of the joint motion of the joint module by the tension formed on the first wire and the second wire. To; The joint module is turned clockwise or counterclockwise by a pulling force of any one of the first wire and the second wire according to the driving in the opposite direction of the first wire drive module and the second wire drive module. It is also achieved by a modular robotic joint system using wires characterized by articulation.

In addition, the first driving motor and the second driving motor of the first robot joint apparatus and the second robot joint apparatus may be located in a space between the first robot joint apparatus and the second robot joint apparatus. Can be installed on the frame.

Here, the at least one joint module of the first robot joint apparatus and the second robot joint apparatus may be rotatably installed with respect to the main frame as the axis intersecting the longitudinal direction of the robot joint.

In addition, the at least one joint module of the first robot joint apparatus and the second robot joint apparatus may be installed so that the robot joint is rotatable in the longitudinal direction with respect to the main frame.

According to the configuration as described above, according to the present invention can form a joint structure by using a combination of the tension of the two pairs of the first wire and the second wire to generate a joint movement, and applied to the joint module It is possible to adjust the structural joint stiffness from the losing tension.

In addition, by using tendon driving of the first wire driving module and the second wire driving module, the position control performance of the joint is improved as compared with the conventional pulley joint system or the motor direct joint system, thereby enabling precise control.

1 is a view showing the configuration of a robot joint apparatus according to a first embodiment of the present invention,

2 to 5 are diagrams for explaining the robot joint apparatus according to a second embodiment of the present invention,

6 to 8 are views for explaining a robot joint apparatus according to a third embodiment of the present invention,

9 to 11 show examples of the modular robotic joint system according to the present invention.

The present invention relates to a robot joint apparatus using a wire and a modular robot joint system using a wire. Robot joint device using a wire according to the present invention is a main frame, a joint module rotatably installed in the main frame and joint movement, the first wire and the second wire is connected to one side of the joint module, respectively, A first wire driving module connected to the other side of the first wire and pulling the first wire to rotate the joint module clockwise; and connected to the other side of the second wire to rotate the joint module counterclockwise; A first wire drive module for pulling a second wire; The first wire drive module and the second wire drive module respectively pull the first wire and the second wire to adjust the rigidity of the joint motion of the joint module by the tension formed on the first wire and the second wire. To; The joint module is turned clockwise or counterclockwise by a pulling force of any one of the first wire and the second wire according to the driving in the opposite direction of the first wire drive module and the second wire drive module. Characterized in that the joint movement.

Hereinafter, with reference to the accompanying drawings will be described in detail embodiments according to the present invention.

First Example

1 is a view showing the configuration of the robot joint apparatus 10 according to the first embodiment of the present invention. Referring to FIG. 1, the robot joint apparatus 10 according to the first embodiment of the present invention may include a main frame 11, a joint module 12, a first wire 13a, a second wire 13b, The first wire drive module 14 and the second wire drive module 15 are included.

The joint module 12 is rotatably installed in the main frame 11. In the joint structure, the joint module 12 has a structure of performing joint motion relative to the main frame 11 according to the driving of the first wire driving module 14 and the second wire driving module 15.

One side of the first wire 13a is connected to the joint module 12, and the other side of the first wire 13a is connected to the first wire driving module 14. Similarly, one side of the second wire 13b is connected to the joint module 12, and the other side of the second wire 13b is connected to the joint module 12.

Here, the first wire drive module 14 may be pulled by the first wire 13a (A1 direction) to rotate the joint module 12 in a clockwise direction (A direction), and the second wire drive module 15 may be The second wire 13b is pulled (B2 direction) to rotate the joint module 12 in the counterclockwise direction (B direction).

At this time, when the first wire drive module 14 pulls the first wire 13a to rotate the joint module 12 clockwise, the second wire drive module 15 releases the second wire 13b. (A2 direction) Allows the articulation module 12 to rotate clockwise. Similarly, when the second wire drive module 15 pulls the second wire 13b to rotate the joint module 12 counterclockwise, the first wire drive module 14 releases the first wire 13a. (B1 direction) Allows the articulation module 12 to rotate counterclockwise.

That is, the rotation of the first wire drive module 14 and the second wire drive module 15 is driven in the opposite direction, wherein at least one of the first wire 13a and the second wire 13b is a joint module. Pull (12) clockwise or counterclockwise to rotate in that direction.

According to the configuration as described above, by using a combination of the tension of the pair of two wires of the first wire 13a and the second wire 13b to form a joint structure to generate the movement of the joint, the joint module From the tension applied to (12), the structural joint stiffness can be adjusted.

That is, the initial stiffness of the joint can be adjusted by the tension in which the first wire driving module 14 and the second wire driving module 15 initially pull the joint module 12, and during the joint movement, the first wire ( Of the 13a) and the second wire 13b, the tension of the wire on the pulley side is adjusted through the control of the corresponding drive module, thereby making it possible to adjust the structural rigidity.

In addition, by using tendon driving of the first wire drive module 14 and the second wire drive module 15, the position control performance of the joint is improved compared to a conventional joint system using a pulley, thereby enabling precise control. In more detail, in the conventional joint system using a pulley, it is difficult to finely adjust by the rigidity of the wire, so it is not suitable for supporting a large force, but in the case of the robot joint apparatus 10 according to the present invention, a combination of two wires This is solved by.

2nd Example

Hereinafter, the robot joint apparatus 100 according to the second embodiment of the present invention will be described in detail with reference to FIGS. 2 to 5.

Robot joint device 100 according to a second embodiment of the present invention, as shown in Figures 2 to 5, the main frame 110, the first wire 131, the second wire 132, the first The wire drive module 140 and the second wire drive module 150 are included.

As in the first embodiment, the articulation module 120 is rotatably installed on the main frame 110. As shown in FIG. 5, the joint module 120 according to the second exemplary embodiment of the present invention is installed to be rotatable about an axis intersecting the longitudinal direction of the robot joint with respect to the main frame 110. do. That is, the joint motion to rotate in the vertical or horizontal direction, such as the elbow joint of the person is provided.

One side of the first wire 131 is connected to the joint module 120, and the other side of the first wire 131 is connected to the first wire driving module 140. Similarly, one side of the second wire 132 is connected to the joint module 120, and the other side of the second wire 132 is connected to the joint module 120. Here, the first wire drive module 140 may pull the first wire 131 to rotate the joint module 120 in a clockwise direction, and the second wire drive module 150 may pull the second wire 132. The joint module 120 is rotated counterclockwise.

At this time, when the first wire driving module 140 pulls the first wire 131 to rotate the joint module 120 in the clockwise direction, the second wire driving module 150 releases the second wire 132. Enable articulation module 120 to rotate clockwise. Similarly, when the second wire drive module 150 pulls the second wire 132 to rotate the joint module 120 counterclockwise, the first wire drive module 140 releases the first wire 131. The articulation module 120 allows it to rotate counterclockwise.

That is, the rotation of the first wire driving module 140 and the second wire driving module 150 are driven in opposite directions, and at this time, any one of the first wire 131 and the second wire 132 is a joint module. Pull 120 in a clockwise or counterclockwise direction to rotate it in that direction.

The first wire driving module 140 may include a first driving motor 141 and a first pulley 142. Here, the other side of the first wire 131 is wound around the first pulley 142. Then, the first pulley 142 is rotated in the forward and reverse direction by the rotational force of the first drive motor 141, the first wire 131 is wound around the first pulley 142, the first wire 131 is pulled, The first wire 131 is released from the first pulley 142.

Similarly, the second wire driving module 150 may include a second driving motor 151 and a second pulley 152. Here, the other side of the second wire 132 is wound around the second pulley 152. Then, the second pulley 152 is rotated in the forward and reverse directions by the rotational force of the second drive motor 151, so that the second wire 132 is wound around the second pulley 152 to pull the second wire 132, The second wire 132 is released from the second pulley 152.

Meanwhile, the main frame 110 may include a first support frame 111 and a second support frame 112. The first support frame 111 supports the first pulley 142 and the second pulley 152 rotatably in the longitudinal direction of the robot joint apparatus 100 according to the present invention. In the present invention, it is assumed that the first support frame 111 is provided in a pair spaced apart from each other, and the first pulley 142 and the second pulley 152 are rotatably installed therebetween.

In addition, the first driving motor 141 and the second driving motor 151 on opposite sides of the first pulley 142 and the second pulley 152 with any one of the pair of first supporting frames 111 interposed therebetween. Is installed, for example to be provided to rotate the first pulley 142 and the second pulley 152, respectively.

The second support frame 112 extends in the longitudinal direction from opposite surfaces of the first pulley 142 and the second pulley 152 of the first support frame 111 to rotatably support the articulation module 120. In the present invention, for example, the second support frame 112 is connected to one of the pair of first support frames 111 on the opposite side where the first drive motor 141 and the second drive motor 151 are installed.

Here, the first support frame 111, as shown in Figures 2 and 3, the first wire through hole 111a and the second wire through hole 112a may be formed. The first wire 131 from the first pulley 142 passes through the first wire through hole 111a and is connected to the joint module 120. In addition, a second wire 132 from the second pulley 152 passes through the second wire through hole 112a and is connected to the joint module 120.

Meanwhile, the joint module 120 may include a first rotary arm 121 and a second rotary arm 122. The first rotary arm 121 and the second rotary arm 122 are rotatable on both sides of the second support frame 112 with the second support frame 112 interposed therebetween in the direction of the rotation axis of the joint module 120. Is installed. Here, the first rotary arm 121 and the second rotary arm 122 may be axially coupled to each other so as to rotate in synchronization with one rotation of the other. Alternatively, the first rotary arm 121 and the second rotary arm 122 are each independently rotatably installed on the second support frame 112, and are connected through the connecting plate 123 so that any one rotation is different. It can be arranged to be synchronized with one.

In addition, the first wire arm 121 and the second wire arm 122 are respectively connected to the first wire 131 and the second wire 132 to connect the first wire 131 and the second wire 132. 122a are formed to respectively fasten the first wire 131 and the second wire 132.

On the other hand, the first pulley 142 and the second pulley 152 according to the second embodiment of the present invention, as shown in Figure 4, the rotation axis direction of the joint module 120 to the first support frame 111 For example, to be installed along. At this time, the first wire 131 from the first pulley 142 is located in the direction of the intersection of the first rotary arm 121 and the second rotary arm 122, that is, the first rotation in FIG. The second wire 132 connected to the arm 121 and the second pulley 152 is positioned in the direction in which the first rotary arm 121 and the second rotary arm 122 intersect each other, that is, FIG. It is connected to the second rotary arm 122 at 4.

Here, the main frame 110 according to the second embodiment of the present invention may include a partition frame 115 disposed between the first pulley 142 and the second pulley 152. The partition frame 115 spatially separates the first pulley 142 and the second pulley 152 between the pair of first support frames 111.

At this time, as described above, the first pulley 142 and the second pulley 152 has a configuration connected to the first rotary arm 121 and the second rotary arm 122 in the direction intersecting, respectively, the partition frame 115 is formed with a first partition wall through hole 115a and a second partition wall through hole 115b through which the first wire 131 and the second wire 132 pass, respectively.

As a result, the first wire 131 passes through the first barrier wall 115a of the barrier rib frame 115 and the first wire passage hole of the first support frame 111 in a state in which the first wire 131 is wound around the first pulley 142. It is connected to the first wire coupling portion 121a of the first rotary arm 121 through 111a. Similarly, in the state in which the second wire 132 is wound around the first pulley 142, the second partition wall through hole 115b of the partition frame 115 and the second wire through hole 112a of the first support frame 111 are formed. ) Is connected to the second wire coupling portion 122a of the second rotary arm 122.

On the other hand, the robot joint apparatus 100 according to the second embodiment of the present invention guides the movement path of the first borden cable 161 and the second wire 132 to guide the movement path of the first wire 131. The second boron cable 162 may be included.

The first borden cable 161 is installed in at least one region between the first pulley 142 and the first wire through hole 111a, and the first wire 131 is inserted into the first wire 131. Guide your travel path. In the present invention, the first Borden cable 161 is installed between the first wire through hole 111 a and the first partition wall through hole 115 a to guide the movement path of the first wire 131.

The second borden cable 162 is installed in at least one region between the second pulley 152 and the second wire through hole 112a, and the second wire 132 is inserted into the second wire 132. Guide your travel path. In the present invention, the second borden cable 162 is installed between the second wire through hole 112a and the second partition wall through hole 115b to guide the movement path of the second wire 132.

According to the above configuration, in addition to the first pulley 142 and the second pulley 152 on which the first wire 131 and the second wire 132 are wound, the first rotary arm is a short copper wire without any additional configuration of the pulley. By being connected to the 121 and the second rotary arm 122, respectively, the joint structure is simplified and provides an advantage of easy maintenance.

In addition, by forming a path of the first wire 131 and the second wire 132 by using the first borden cable 161 and the second borden cable 162, the movement path of the wire in the existing robot joint system The pulleys that were installed to be replaced can be removed, providing the advantages of simplifying and maintaining joint structure.

Meanwhile, the robot joint apparatus 100 according to the second exemplary embodiment of the present invention includes a first guide pulley 171 and a second guide pulley 172 as shown in FIGS. 2, 4, and 5. can do.

The first guide pulley 171 is installed between the first rotary arm 121 and the second support frame 112 to be rotatable independently of the rotation of the first rotary arm 121. The second guide pulley 172 is installed between the second rotary arm 122 and the second support frame 112 to be rotatable independently of the rotation of the second rotary arm 122.

Referring to the configuration of the second guide pulley 172 with reference to Figure 5, when the joint module 120 is rotated more than a predetermined angle in the clockwise direction, the second wire 132 is the axis of rotation of the joint module 120 It comes in contact with the structure forming the. At this time, the second wire 132 between the second wire through hole 112a and the second wire engaging portion 122a of the second rotary arm 122 is caught by the second guide pulley 172, and As the second guide pulley 172 rotates and guides the movement of the second wire 132 independently, the movement of the second wire 132 is possible without friction with other structures.

Similarly, when the joint module 120 rotates more than a predetermined angle in the counterclockwise direction, the first wire 131 is in contact with the structure forming the rotation axis of the joint module 120. At this time, the first wire 131 between the first wire through hole 111a and the first wire engaging portion 121a of the first rotary arm 121 is placed on the first guide pulley 171, Since the first guide pulley 171 rotates and guides the movement of the first wire 131 independently, the first wire 131 can be moved without friction with other structures.

The third Example

Hereinafter, the robot joint apparatus 300 according to the third embodiment of the present invention will be described in detail with reference to FIGS. 6 to 8.

As shown in FIGS. 6 to 8, the robot joint apparatus 300 according to the third exemplary embodiment of the present invention includes a main frame 310, a first wire 331, a second wire 332, and a first wire. The wire driving module 340 and the second wire driving module 350 is included.

As in the first embodiment, the joint module 320 is rotatably installed on the main frame 310. The joint module 320 according to the third embodiment of the present invention is an example in which the main frame 310 is rotatably installed in the longitudinal direction of the robot joint. That is, when taking the wrist joint of a person as an example, it is provided to be rotatable in a torsional motion form.

One side of the first wire 331 is connected to the joint module 320, and the other side of the first wire 331 is connected to the first wire driving module 340. Similarly, one side of the second wire 332 is connected to the joint module 320, and the other side of the second wire 332 is connected to the joint module 320. Here, the first wire driving module 340 by pulling the first wire 331 may rotate the joint module 320 in the clockwise direction, the second wire driving module 350 by pulling the second wire 332 The joint module 320 is rotated counterclockwise.

At this time, when the first wire driving module 340 pulls the first wire 331 to rotate the joint module 320 clockwise, the second wire driving module 350 releases the second wire 332. Allow articulation module 320 to rotate clockwise. Similarly, when the second wire drive module 350 pulls the second wire 332 to rotate the joint module 320 counterclockwise, the first wire drive module 340 releases the first wire 331. Allow the articulation module 320 to rotate counterclockwise.

That is, rotation of the first wire driving module 340 and the second wire driving module 350 are driven in opposite directions, and at this time, any one of the first wire 331 and the second wire 332 is a joint module. Pull 320 in a clockwise or counterclockwise direction to rotate in the corresponding direction.

As illustrated in FIGS. 6 and 7, the first wire driving module 340 may include a first driving motor 341 and a first pulley 342. Here, the other side of the first wire 331 is wound around the first pulley 342. Then, the first pulley 342 is rotated in the forward and reverse directions by the rotational force of the first driving motor 341, and the first wire 331 is wound around the first pulley 342 to pull the first wire 331, or The first wire 331 is released from the first pulley 342.

Similarly, the second wire driving module 350 may include a second driving motor 351 and a second pulley 352. Here, the other side of the second wire 332 is wound on the second pulley 352. Then, the second pulley 352 is rotated in the forward and reverse directions by the rotational force of the second driving motor 351, so that the second wire 332 is wound around the second pulley 352 to pull the second wire 332, The second wire 332 is released from the second pulley 352.

Here, the main frame 310 according to the third embodiment of the present invention includes a pair of the first support frame 311, the first pulley 342 and the second pulley 352 is a robot joint apparatus 300 For example, it is installed between the pair of first support frames 311 of the main frame 310 to be rotatable in the longitudinal direction of the main frame 310.

In addition, the joint module 320 according to the third embodiment of the present invention may include a torsion shaft module 321 and a torsion plate 322. The torsion shaft module 321 is rotatably installed along the longitudinal direction of the robot joint apparatus 300 between the first pulley 342 and the second pulley 352. In addition, the torsion plate 322 is connected to the torsion shaft module 321 and axially rotates in synchronization with the rotation of the torsion shaft module 321, whereby the joint motion of the robot joint apparatus 300 according to the third embodiment of the present invention. That is, torsional motion.

Here, the first wire 331 and the second wire 332 is connected to the radially outer side of the torsion shaft module 321, respectively, as shown in Figure 6 and 8, the radius of the torsion shaft module 321 A connection portion 321a for connecting the first wire 331 and the second wire 332 is provided outside the direction. In addition, the connection part 321a may be formed in the connection holes 321b and 321c to which the first wire 331 and the second wire 332 are respectively connected.

At this time, the first wire 331 and the second wire 332 is connected to the position to rotate the torsion shaft module 321 in the opposite direction when moving the connecting portion of the torsion shaft module 321, respectively. That is, as shown in FIG. 8, the first wire 331 and the second wire 332 are connected by being connected to the same angle at the outer diameter of the torsion shaft module 321 or to different positions within a 180 degree range. The torsion shaft module 321 is rotated in different directions when pulling.

According to the configuration as described above, as in the above-described first embodiment, the joint structure is formed by forming a joint structure using a tension combination of two pairs of the first wire 331 and the second wire 332 It is possible to generate the, it is possible to adjust the structural joint stiffness from the tension applied to the joint module (320).

That is, the first wire driving module 340 and the second wire driving module 350 may initially adjust the stiffness of the joint by the tension of pulling the joint module 320, and during the joint movement, the first wire ( The tension of the wire on the pulley side of the 331 and the second wire 332 can be adjusted through the control of the corresponding drive module, thereby making it possible to adjust the structural rigidity.

In addition, by using tendon driving of the first wire driving module 340 and the second wire driving module 350, the position control performance of the joint is improved compared to the conventional joint system using the pulley, thereby enabling precise control.

Modular Robotic Joint System

Hereinafter, the modular robot joint system 1 according to the present invention will be described in detail with reference to FIGS. 9 to 11.

Referring to FIG. 9, the modular robot joint system 1 according to the present invention includes a first robot joint apparatus 100, a second robot joint apparatus 300, and a connection frame. The link frame 500 connects the first robot joint apparatus 100 and the second robot joint apparatus 300 to be spaced apart from each other along the longitudinal direction of the robot joint.

Here, the first robot joint apparatus 100 and the second robot joint apparatus 300 may be configured of the above-described robot joint apparatus (100,300). That is, the robot

joint apparatus

100, 300 according to the present invention is modularized, and the link frame 500 interconnects the two robot

joint apparatuses

100, 300, thereby providing a modular robot joint system 1 having a plurality of joint structures. Can be made.

In the embodiment shown in FIG. 9, the robot joint apparatus 100 according to the second embodiment and the robot joint apparatus 300 according to the third embodiment are connected by a link frame 500, and one side of the robot joint apparatus 100 is connected. As an example, a modular robot joint system 1 having a joint structure rotating about an axis intersecting the longitudinal direction and having a joint structure on which the other side is torsionally moved is implemented.

Here, the first robot joint apparatus 100, the first driving motor and the second driving motor constituting the second robot joint apparatus 300 are formed by the link frame 500 when connected by the link frame 500. In the spaced space between the first robot joint apparatus 100 and the second robot joint apparatus 300 to be.

At this time, the first drive motor and the second drive motor constituting the first robot joint apparatus 100, the first drive motor and the second drive motor constituting the second robot joint apparatus 300, that is, four drive motors. Is arranged to be located in four directions with respect to the cross section, it is possible to minimize the space in the link frame 500.

FIG. 10A illustrates a robot joint device 100 according to a second embodiment and a robot joint device 300 according to a third embodiment connected by a link frame 500 as shown in FIG. 9. An example is shown, and FIG. 10B illustrates an example in which the robot joint apparatus 100 according to the second embodiment is disposed on both sides of the link frame 500, respectively.

An example of a configuration in which a plurality of modular robot joint systems 1 of FIG. 11 are connected is shown, and FIG. 11A shows a second embodiment of the modular robot joint system 1 shown in FIG. 9. 11 shows a configuration in which the robot joint devices 100 are directly connected, and FIG. 11 (b) shows the relationship between the robot joint devices 300 according to the third embodiment in the modular robot joint system 1 shown in FIG. 9. Shows the configuration of direct connection.

As described above, the modular robot joint system 1, like the robot joint apparatus 100 according to the second embodiment of the present invention, has a module that rotates in a direction intersecting the longitudinal direction of the robot joint with the axis, and Like the robot joint apparatus 300 according to the third embodiment, the joint is modularized into a module that rotates in the longitudinal direction, and the two modules are connected through the link frame 500, but selectively on both sides of the link frame 500. By application, various articulated structures can be realized through selection and replacement of modules.

The present invention described above is not limited to the above-described embodiment and the accompanying drawings, and various substitutions, modifications, and changes are possible within the scope without departing from the technical spirit of the present invention. It will be evident to those who have knowledge of.

[Description of the code]

1: modular robotic joint system

10,100,300: robot joint device 11,110,310: main frame

12,120,320: Joint Module

13a, 131, 331: first wire 13b, 132b332: second wire

14,140,340: first wire drive module

15,150,350: second wire drive module

111,311: First supporting frame 111a: First wire through hole

112: second support frame 112a: second wire through hole

115: partition wall frame 115a: first partition wall passing hole

115b: First partition wall passage hole 121: First rotating arm

121a: first wire coupling portion 122: second rotation arm

122a: second wire coupling portion 123: connection plate

141,341: first drive motor 142,342: first pulley

151,351: second drive motor 152,352: second pulley

161: first borden cable 162: second borden cable

171: first guide pulley 172: second guide pulley

321: torsion shaft module 322: torsion plate

The present invention is applicable throughout the manufacturing industry, and can be applied to service sites, disaster relief, and the like.

Claims

With the main frame,

A joint module rotatably installed on the main frame and performing joint movement;

A first wire and a second wire each of which is connected to the joint module;

A first wire driving module connected to the other side of the first wire and pulling the first wire such that the joint module rotates in a clockwise direction;

A first wire driving module connected to the other side of the second wire and pulling the second wire such that the joint module rotates in a counterclockwise direction;

The first wire drive module and the second wire drive module respectively pull the first wire and the second wire to adjust the rigidity of the joint motion of the joint module by the tension formed on the first wire and the second wire. To;

The joint module is turned clockwise or counterclockwise by a pulling force of any one of the first wire and the second wire according to the driving in the opposite direction of the first wire drive module and the second wire drive module. Robot joint device using a wire, characterized in that the joint movement.
The method of claim 1,

The first wire drive module

A first drive motor generating a rotational force,

A first pulley that pulls or unwinds the first wire by forward and reverse rotation according to the forward and reverse rotation of the first driving motor while the other side of the first wire is wound;

The second wire drive module

A second drive motor generating a rotational force,

And a second pulley for pulling or releasing the second wire by forward and reverse rotation according to the forward and reverse rotation of the second driving motor while the other side of the second wire is wound.
The method of claim 2,

The articulation module is a robot joint device using a wire, characterized in that the main frame is rotatably installed in the direction that intersects the longitudinal direction of the robot joint.
The method of claim 3,

The main frame

A first support frame configured to rotatably support the first pulley and the second pulley on the one side in the longitudinal direction;

A second support frame extending in the longitudinal direction from opposite surfaces of the first pulley and the second pulley of the first support frame to rotatably support the articulation module;

The first support frame

A first wire through hole through which the first wire passes so that the first wire from the first pulley can be connected to the joint module;

And a second wire through-hole through which the second wire passes so that the second wire from the second pulley can be connected to the joint module.
The method of claim 4, wherein

A first borden cable installed in at least one region between the first pulley and the first wire through hole to guide the movement path of the first wire with the first wire inserted therein;

And a second borden cable installed in at least one region between the second pulley and the second wire through hole to guide the movement path of the second wire with the second wire inserted therein. Robot joint device using a wire.
The method of claim 5,

The articulation module

And a first rotary arm and a second rotary arm rotatably installed on both sides of the second support frame with the second support frame interposed therebetween in the direction of the rotation axis of the joint module, and rotatably installed in mutual synchronization. ;

The first pulley and the second pulley are installed in the first support frame along a rotation axis direction of the joint module;

The first wire from the first pulley is connected to any one of the first rotational arm and the second rotational arm in an intersecting direction, and the second wire from the second pulley is the first rotation. Robot joint device using a wire, characterized in that connected to the other one of the arm and the second rotation arm located in the cross direction.
The method of claim 6,

The main frame

A partition wall frame disposed between the first pulley and the second pulley, the partition wall frame having first and second partition wall through holes through which the first wire and the second wire pass, respectively;

The first wire from the first poly is connected to one of the first rotary arm and the second rotary arm through the first partition wall through hole and the first wire through hole;

The second wire from the second poly is connected to the other one of the first rotary arm and the second rotary arm through the second partition wall through hole, the second wire through hole using a wire Robotic articulation device.
The method of claim 7, wherein

The first borden cable is installed between the first wire through hole and the first partition wall through hole to guide a movement path of the first wire;

And the second borden cable is installed between the second wire through hole and the second partition wall through hole to guide the movement path of the second wire.
The method of claim 6,

A first guide pulley installed between the first rotary arm and the second support frame to be rotatable independent of the rotation of the first rotary arm;

A second guide pulley installed between the second rotary arm and the second support frame to be rotatable independent of the rotation of the second rotary arm;

When the joint module is rotated more than a predetermined angle in the counterclockwise direction, the first wire is guided by the independent rotation of the first guide pulley over the first guide pulley, the movement path of the first wire is guided,

When the joint module is rotated more than a predetermined angle in the clockwise direction, the second wire is a wire path, characterized in that the movement path of the second wire is guided by the independent rotation of the second guide pulley over the second guide pulley Robot joint device using.
The method of claim 2,

The articulation module is a robot joint device using a wire, characterized in that rotatably installed in the longitudinal axis of the robot joint with respect to the main frame.
The method of claim 10,

The first pulley and the second pulley are installed on the main frame to be rotatable about the longitudinal direction;

The articulation module

A torsion shaft module installed in the main frame to be rotatable in the longitudinal direction between the first pulley and the second pulley;

A torsion plate connected to the torsion shaft module to rotate;

The first wire and the second wire is connected to the radially outer side of the torsion shaft module, respectively, the wires, characterized in that connected to the position to rotate the torsion shaft module in the opposite direction when moving in each pulling direction Robot joint device used.
A first robotic joint device,

A second robotic joint device,

A link frame connecting the first robot joint apparatus and the second robot joint apparatus to be spaced apart from each other along the longitudinal direction of the robot joint;

The first robot joint device and the second robot joint device

With the main frame,

A joint module rotatably installed on the main frame and performing joint movement;

A first wire and a second wire each of which is connected to the joint module;

A first wire driving module connected to the other side of the first wire and pulling the first wire such that the joint module rotates in a clockwise direction;

A first wire driving module connected to the other side of the second wire and pulling the second wire such that the joint module rotates in a counterclockwise direction;

The first wire drive module and the second wire drive module respectively pull the first wire and the second wire to adjust the rigidity of the joint motion of the joint module by the tension formed on the first wire and the second wire. To;

The joint module is turned clockwise or counterclockwise by a pulling force of any one of the first wire and the second wire according to the driving in the opposite direction of the first wire drive module and the second wire drive module. Modular robot joint system using a wire, characterized in that the joint movement.
The method of claim 12,

The first wire drive module

A first drive motor generating a rotational force,

A first pulley that pulls or unwinds the first wire by forward and reverse rotation according to the forward and reverse rotation of the first driving motor while the other side of the first wire is wound;

The second wire drive module

A second drive motor generating a rotational force,

Modular robot joint system using a wire, characterized in that it comprises a second pulley for pulling or releasing the second wire by forward and reverse rotation according to the forward and reverse rotation of the second drive motor while the other side of the second wire is wound .
The method of claim 13,

The first driving motor and the second driving motor of the first robot joint apparatus and the second robot joint apparatus are

The modular robot joint system, characterized in that installed in the main frame to be located in the space between the first robot joint device and the second robot joint device.
The method of claim 13,

The at least one joint module of the first robot joint apparatus and the second robot joint apparatus may be rotatably installed in an axis with respect to the main frame in a direction intersecting with a longitudinal direction of the robot joint. Modular robotic joint system.
The method of claim 15,

The main frame

A first support frame configured to rotatably support the first pulley and the second pulley on the one side in the longitudinal direction;

A second support frame extending in the longitudinal direction from opposite surfaces of the first pulley and the second pulley of the first support frame to rotatably support the articulation module;

The first support frame

A first wire through hole through which the first wire passes so that the first wire from the first pulley can be connected to the joint module;

And a second wire through hole through which the second wire passes so that the second wire from the second pulley can be connected to the joint module.
The method of claim 16,

A first borden cable installed in at least one region between the first pulley and the first wire through hole to guide the movement path of the first wire with the first wire inserted therein;

And a second borden cable installed in at least one region between the second pulley and the second wire through hole to guide the movement path of the second wire with the second wire inserted therein. Modular Robotic Joint System Using Wire.
The method of claim 17,

The articulation module

And a first rotary arm and a second rotary arm rotatably installed on both sides of the second support frame with the second support frame interposed therebetween in the direction of the rotation axis of the joint module, and rotatably installed in mutual synchronization. ;

The first pulley and the second pulley are installed in the first support frame along a rotation axis direction of the joint module;

The first wire from the first pulley is connected to any one of the first rotational arm and the second rotational arm in an intersecting direction, and the second wire from the second pulley is the first rotation. Modular robot joint system using a wire, characterized in that connected to the other one of the arm and the second rotational arm in the cross direction.
The method of claim 18,

The main frame

A partition wall frame disposed between the first pulley and the second pulley, the partition wall frame having first and second partition wall through holes through which the first wire and the second wire pass, respectively;

The first wire from the first poly is connected to one of the first rotary arm and the second rotary arm through the first partition wall through hole and the first wire through hole;

The second wire from the second poly is connected to the other one of the first rotary arm and the second rotary arm through the second partition wall through hole, the second wire through hole using a wire Modular Robotic Joint System.
The method of claim 18,

The first borden cable is installed between the first wire through hole and the first partition wall through hole to guide a movement path of the first wire;

And the second borden cable is installed between the second wire through hole and the second partition wall through hole to guide the movement path of the second wire.
The method of claim 18,

A first guide pulley installed between the first rotary arm and the second support frame to be rotatable independent of the rotation of the first rotary arm;

A second guide pulley installed between the second rotary arm and the second support frame to be rotatable independent of the rotation of the second rotary arm;

When the joint module is rotated more than a predetermined angle in the counterclockwise direction, the first wire is guided by the independent rotation of the first guide pulley over the first guide pulley, the movement path of the first wire is guided,

When the joint module is rotated more than a predetermined angle in the clockwise direction, the second wire is a wire path, characterized in that the movement path of the second wire is guided by the independent rotation of the second guide pulley over the second guide pulley Modular Robotic Joint System
The method of claim 13,

The joint module is a modular robot joint system using a wire, characterized in that the robot joint is rotatably installed in the longitudinal direction with respect to the main frame.
The method of claim 22,

The first pulley and the second pulley are installed on the main frame to be rotatable about the longitudinal direction;

The articulation module

A torsion shaft module installed in the main frame to be rotatable in the longitudinal direction between the first pulley and the second pulley;

A torsion plate connected to the torsion shaft module to rotate;

The first wire and the second wire is connected to the radially outer side of the torsion shaft module, respectively, the wires, characterized in that connected to the position to rotate the torsion shaft module in the opposite direction when moving in each pulling direction Modular robotic joint system.