WO2020235707A1 - Action robot - Google Patents

Abstract

An action robot according to one embodiment of the present invention can comprise: joints for rotatably connecting actuating units to a body; spiral springs for providing elastic force in the direction in which joints unfold; and wires connected to actuating units so as to pull the actuating units or joints in the direction in which the joints bend. A joint can comprise: a rotary body fastened to the actuating unit; a joint shaft which is formed on the rotary body and to which the spiral spring is connected; a joint shaft support unit for rotatably supporting the joint shaft on one side of the rotary body; and a spring accommodation cover in which the spiral spring is embedded and which is arranged on the other side of the rotary body.

Description

Action robot

The present invention relates to an action robot, and more particularly, to an action robot including at least one joint.

As robot technology develops, a method of constructing a robot by modularizing joints or wheels has been used. For example, a number of actuator modules constituting a robot are electrically and mechanically connected and assembled to make various types of robots such as dogs, dinosaurs, humans, and spiders.

A robot that can be manufactured by assembling such a plurality of actuator modules is generally referred to as a modular robot. Each actuator module constituting the modular robot has a motor inside, and the robot's motion is executed according to the rotation of the motor. The motion of such a robot is a concept that collectively refers to the movement of a robot such as motion and dance.

Recently, as robots for entertainment have emerged, interest in robots for entertainment and people's interest is increasing. For example, techniques are being developed to dance to music or to take motion or facial expressions to a story (a fairy tale, etc.).

This means that a number of motions suitable for music or fairy tale are set in advance, and when music or fairy tale is played in an external device, the action robot performs motion by executing a preset motion accordingly.

One problem to be solved by the present invention is to provide an action robot having a small tension required for a wire.

Another problem to be solved by the present invention is to provide an action robot in which the exposure of the elastic member is minimized.

An action robot according to an embodiment of the present invention includes a joint rotatably connecting a movable part to a body; A spiral spring providing an elastic force in a direction in which the joint is extended; And a wire connected to the movable part and pulling the movable part or the joint in a direction in which the joint is bent. The joint, a rotating body fastened to the movable part; A joint shaft formed on the rotating body and connected to the spiral spring; A joint shaft support part rotatably supporting the joint shaft at one side of the rotating body; And a spring receiving cover in which the spiral spring is embedded and disposed on the other side of the rotating body.

An open hole through which the joint shaft passes may be formed in the spring receiving cover.

In the movable part, a cover part protruding from the movable part and covering the spring receiving cover may be formed.

The cover part may cover the joint shaft.

Based on the length direction of the joint shaft, the length of the joint shaft support portion may be shorter than the length of the spring receiving cover.

A wire guide groove for guiding the wire may be formed in the rotating body.

The wire guide groove may be located between the joint shaft support and the spring receiving cover.

The joint shaft may include a first shaft protruding from one surface of the rotating body and supported by the joint shaft support portion; And a second shaft protruding from the other surface of the rotating body and to which the spiral spring is connected.

The length of the second shaft may be longer than the length of the first shaft.

The second shaft may have a groove recessed in a radially inward direction of the second shaft and into which an end of the spiral spring is fitted.

The spring receiving cover includes: a cover body having an open hole through which the joint shaft passes; And a protrusion protruding from the cover body in a radially outward direction.

A connector for connecting the joint to the body may be further included, and a mounting groove in which the protrusion is mounted may be formed in the connector.

A fixing groove to which an end of the spiral spring is fixed may be formed in the protrusion.

A fixing groove to which an end of the spiral spring is fixed may be formed inside the mounting groove.

The joint shaft support part may be formed integrally with the connector or may be fastened to the connector.

A hollow through which the wire passes may be formed in the connector, and the hollow may face the rotating body.

The spring receiving cover may further include a protrusion that is stepped from the protrusion and located inside the connector.

The connector may include a first connecting body having a locking groove into which the protrusion is inserted; And a second connecting body fastened to the first connecting body and covering the locking groove.

A sub joint rotatably connecting a sub movable part to the movable part; A sub-wire connected to the sub-movable part and pulling the movable part in a direction in which the sub-joint is bent may be further included, and a wire guide hole through which the sub-wire passes may be formed in the rotating body.

At least a portion of the wire guide hole may be positioned between the joint shaft support part and the spiral spring.

According to a preferred embodiment of the present invention, the spiral spring has a relatively small force required to deform by the same angle compared to the torsion spring. Accordingly, the force required for the wire rotating the joint to which the spiral spring is connected can be reduced.

In addition, since the spiral spring is embedded in the spring receiving cover, exposure of the spiral spring can be reduced.

In addition, since an open hole through which the joint shaft passes is formed in the spring receiving cover, the spring receiving cover may cover the spiral spring and at the same time rotatably support the joint shaft.

In addition, the cover portion may cover the spring receiving cover and the joint shaft. Accordingly, the spiral spring, the spring receiving cover, and the joint shaft can be protected from the outside, and the appearance of the action robot can be improved in design.

Further, based on the length direction of the joint shaft, the length of the joint shaft support portion may be shorter than the length of the spring receiving cover. Thus, while the spring receiving cover secures a space for accommodating the spiral spring, the joint can be kept compact with respect to the direction of the joint axis.

In addition, the wire guide groove formed in the rotating body may be located between the joint shaft support and the spring receiving cover. Thereby, the wire can be guided without interfering with the spiral spring located at the side of the rotating body.

In addition, the joint shaft includes a first shaft and a second shaft protruding in opposite directions from the rotating body, the first shaft is supported by the joint shaft support, and a spiral spring may be connected to the second shaft. The length of the second axis may be longer than the length of the first axis. As a result, the joint shaft can be prevented from unnecessarily lengthening while the joint shaft has a sufficient length for the elastic force of the spiral spring to be connected.

In addition, a groove into which the end of the spiral spring is fitted may be formed in the second shaft. This allows the spiral spring to be smoothly connected to the second shaft.

In addition, the protrusion of the spring receiving cover may be mounted in the mounting groove of the connector. Therefore, the spring receiving cover is fixed to the connector without rotating, so that the joint shaft can be rotatably supported.

In addition, a fixing groove in which an end of the spiral spring is fixed may be formed in each of the protruding portion of the spring receiving cover and the mounting groove of the connector. Therefore, when the movable part rotates, one end of the spiral spring rotates together with the joint shaft and the other end is fixed to the fixing groove, so that the spiral spring can be elastically deformed.

In addition, the joint shaft support may be formed integrally with the connector or be fastened to the connector to stably support the joint shaft.

In addition, a hollow through which the wire passes is formed in the connector, and the hollow may face the rotating body. Thus, the wire can be smoothly guided by the wire guide groove formed in the rotating body.

In addition, the spring receiving cover may further include a protrusion that is stepped from the protrusion and located inside the connector. The protrusion may be inserted into the locking groove formed in the first connecting body and covered by the second connecting body. This allows the spring receiving cover to be firmly fastened to the connector.

In addition, a wire guide hole through which the sub wire pulling the sub joint passes may be formed in the rotating body. Accordingly, even if the rotating body rotates, the sub wire can be smoothly guided to the sub joint.

In addition, at least a portion of the wire guide hole may be located between the joint shaft support and the spiral spring. Accordingly, the sub wire can be guided smoothly without interference with the joint shaft support and the spiral spring.

1 is a perspective view of an action robot according to an embodiment of the present invention.

2 is an exploded perspective view of an action robot according to an embodiment of the present invention.

3 is a view as viewed from the rear of the figure module according to the embodiment of the present invention.

4 is an exploded perspective view of a figure module according to an embodiment of the present invention.

5 is a perspective view of an inner frame and an inner cover body according to an embodiment of the present invention.

6 is a view as viewed from the rear of the inner frame and the inner cover body according to an embodiment of the present invention.

7 is a cross-sectional view showing the inside of a figure according to an embodiment of the present invention.

8 is a bottom view of a figure according to an embodiment of the present invention.

9 is a view as viewed from the front inside the figure according to the embodiment of the present invention.

10 is a view as viewed from the rear of the inside of a figure according to an embodiment of the present invention.

11A and 11B are views for explaining an action of pulling a wire according to an embodiment of the present invention.

12 is a perspective view of an arm assembly according to an embodiment of the present invention.

13 is a view as viewed from the rear of the arm assembly according to the embodiment of the present invention.

14 is an exploded perspective view of an arm assembly according to an embodiment of the present invention.

15 is a view showing the interior of the arm assembly according to an embodiment of the present invention.

FIG. 16 is an enlarged view of the periphery of the first wire fixing member of the arm assembly shown in FIG. 15.

FIG. 17 is an enlarged view of the periphery of the second wire fixing member of the arm assembly shown in FIG. 15.

18 is a cross-sectional view of an arm assembly according to an embodiment of the present invention cut in a direction perpendicular to a rotation axis of a shoulder joint.

19 is a cross-sectional view of an arm assembly according to an embodiment of the present invention taken in a direction perpendicular to an axis of rotation of an elbow joint.

20 is a view for explaining a connection relationship between the shoulder joint and the upper arm according to an embodiment of the present invention.

21 is a view showing a connector and a shoulder joint according to an embodiment of the present invention.

22 is a diagram illustrating a configuration of a first connecting body according to an embodiment of the present invention.

23 is a view for explaining the configuration of a spring receiving cover according to an embodiment of the present invention.

Hereinafter, specific embodiments of the present invention will be described in detail together with the drawings.

1 is a perspective view of an action robot according to an embodiment of the present invention, FIG. 2 is an exploded perspective view of an action robot according to an embodiment of the present invention, and FIG. 3 is a view viewed from the rear of a figure module according to an embodiment of the present invention to be.

The action robot 1 according to an embodiment of the present invention may include a figure module 10 and a base module 300 supporting the figure module 10 from the lower side.

The figure module 10 may include a figure 100 and a figure base 180 supporting the figure 100 from the lower side.

The figure 100 may have a shape similar to that of a human body. However, it is not limited thereto, and it is possible to have an animal or other shape.

The figure 100 may include a head unit 109, a body 120, a movable assembly 200, and a foot 170. However, in the present specification, since the figure 100 is described as an example in the shape of a person, the movable assembly 200 will be referred to as an arm assembly 200 below.

The head unit 109 may have a shape corresponding to a human head. The head unit 109 may be connected from the upper side of the body 120. The head unit 109 may include a support bar 115 connected to the body 120. The support bar 115 may correspond to the neck of the human body.

The body 120 may have a shape corresponding to a human body. The body 120 may be fixed and immobile. A space in which various parts are built may be formed inside the body 120.

The body 120 may include an upper body 130 and a lower body 140.

The inner space of the upper body 130 and the inner space of the lower body 140 may communicate with each other.

The upper body 130 may have a shape corresponding to the upper body of a person. The arm assembly 200 may be connected to the upper body 130. Arm assembly connection holes 130A to which the arm assembly 200 is connected may be formed on both sides of the upper body 130.

In addition, a head connection hole 130B to which the head unit 109 is connected may be formed on the upper body 130. The support bar 115 may pass through the head connection hole 130B.

The lower body 140 may have a shape corresponding to the lower body of a person. The lower body 140 may include a pair of legs 140A and 140B.

The upper body 130 and the lower body 140 may be fastened to be separated from each other. Accordingly, assembly of the body 130 is simplified, and parts disposed inside the body 130 can be easily maintained.

Arm assemblies 200 may be connected to both sides of the body 120. In more detail, the pair of arm assemblies 200 may be connected to both sides of the upper body 130, respectively.

The pair of arm assemblies 200 may include a light arm assembly 200A corresponding to a right arm of a person and a left arm assembly 200B corresponding to a left arm of a person. The light arm assembly 200A and the left arm assembly 200B may each move independently.

The arm assembly 200 may be rotatable with respect to the body 120.

The foot 170 may be connected to the lower part of the lower body 140, that is, the lower part of the legs 140A and 140B. The feet 170 may be supported by the figure base 180.

Some of the lower ends of the feet 170 may be spaced apart from the upper surface of the figure base 180 to form an inclined portion 175 forming a predetermined gap. The inclined portion 175 may be formed at the lower end of the rear side of the foot 170. This allows the feet 170 to move with respect to the figure base 180.

The figure base 180 may support the foot 170 from the lower side. The figure base 180 may be fastened to the base module 300 from the upper side of the base module 300.

The figure base 180 may have a substantially circular hollow shape.

The base module 300 may support the figure module 10 from the lower side. In more detail, the base module 300 may support the figure base 180 from the lower side.

The figure base 180 may be detachably fastened to the base module 300.

The base module 300 may include a driving module 400 and an acoustic module 500.

The driving module 400 may be located under the figure module 10. The driving module 400 may be coupled to the figure module 10, more specifically, the figure base 180.

The driving module 400 may be embedded in the acoustic module 500.

The driving module 400 may drive the figure module 10. The driving module 400 may include a controller that controls the overall operation of the figure module 10 and a driving mechanism that operates the figure module 10.

The acoustic module 500 may form the appearance of the base module 300.

The acoustic module 500 may include a housing 510, a top cover 512, and a speaker (not shown).

The housing 510 may have a box shape with an open top surface. The driving module 400 may be disposed inside the housing 510.

The top cover 512 may cover the open upper surface of the housing 510.

The top cover 512 may have an upper and lower opening hole 513 formed therethrough. The figure base 180 may be located in the open hole 513. That is, the size and shape of the open hole 513 may correspond to the figure base 180. The opening hole 513 may have a size in which the driving module 400 cannot escape.

The speaker may be built into the housing 510. A plurality of sound holes 511 through which sound of a speaker is emitted may be formed in the housing 510.

The figure 100 may move according to the sound from the speaker of the acoustic module 500. The figure 100 may be set to take different actions for each music emitted from the speaker.

4 is an exploded perspective view of a figure module according to an embodiment of the present invention.

At least one of the upper body 130 and the lower body 140 of the figure 100 is detachably fastened from the front body 131 and 141 and the rear body 132 and 142 of the front body 131 and 141 ) Can be included.

For example, the upper body 130 may include a front upper body 131 and a rear upper body 132 that are detachably fastened back and forth. An inner space of the upper body 130 may be formed between the front upper body 131 and the rear upper body 132. In addition, the lower body 140 may include a front lower body 141 and a rear lower body 142 that are detachably fastened back and forth. An inner space of the lower body 140 may be formed between the front lower body 141 and the rear lower body 142.

First arm assembly connection grooves 131A may be formed on both sides of the front upper body 131, and second arm assembly connection grooves 132A may be formed on both sides of the rear upper body 132. When the front upper body 131 and the rear upper body 132 are coupled to each other, the first arm assembly connection groove 131A and the second arm assembly connection groove 132A are combined with the arm assembly connection hole 130A (Fig. 3). Reference) can be formed.

A first head connection groove 131B may be formed on the front upper body 131, and a second head connection groove 132B may be formed on the rear upper body 132. When the front upper body 131 and the rear upper body 132 are fastened to each other, the first head connection groove 131B and the second head connection groove 132B together form a head connection hole 130B (see FIG. 3). Can be formed.

The head 30 may include a head fixing part 116 that is fastened to at least one of an inner frame 150 and an inner cover body 160 to be described later. The head fixing part 116 may be located inside the upper body 130. In more detail, the head fixing part 116 may be positioned between the front upper body 131 and the rear upper body 132.

The head fixing part 116 may be integrally formed with the support bar 115 (see FIG. 3) of the head unit 109 or may be fastened with the support bar 115. Thereby, the head unit 109 can be firmly fastened to the body 130.

Meanwhile, the arm assembly 200 may include an upper arm part 210, a forearm part 220, and a hand part 230. In addition, the arm assembly 200 may include at least one joint 201 and 202. In more detail, the arm assembly 200 may include a shoulder joint 201 and an elbow joint 202.

Since the arm assembly 200 includes at least one joint 201 and 202, the arm assembly 200 may implement various operations. That is, each of the upper arm part 210 and the forearm part 220 may be a movable part that is moved by the joints 201 and 202.

The upper arm 210 may correspond to a portion between the shoulder and the elbow of a person's arm. The forearm 220 may correspond to a portion between the elbow and the wrist of a person's arm. The hand part 230 may correspond to a hand and a wrist of a person.

The shoulder joint 201 may rotate the upper arm 210 with respect to the body 120. The upper arm 210 is rotated by the shoulder joint 201 and may open or tighten the armpit.

The elbow joint 202 may rotate the forearm 220 with respect to the upper arm 210. The forearm 220 may be rotated by the elbow joint 202 to fold or unfold the elbow.

The arm assembly 200 may further include a connector 260 connected to the body 120. The connector 260 may connect the shoulder joint 201 and the body 120.

The connector 260 may be rotatably connected to the body 120. That is, the connector 260 may rotate the shoulder joint 201 and the upper arm 210 with respect to the body 120. In this case, the axis of rotation of the connector 260 may be perpendicular to the axis of rotation of the shoulder joint 201. In more detail, the axis of rotation of the shoulder joint 201 may be formed long in the front and rear direction, and the axis of rotation of the connector 260 may be formed long in the left and right direction.

The entire arm assembly 200 may be rotated by the connector 260 and the arm may be rotated.

The configurations of the light arm assembly 200A and the left arm assembly 200B may be the same.

Meanwhile, the figure 100 may further include an inner frame 150. The inner frame 150 may be located inside the body 120.

The inner frame 150 may serve as a skeleton of the figure 100.

The inner frame 150 may support the head unit 109 and the arm assembly 200.

The inner frame 150 is. It may include a body frame 151 at least partially positioned inside the upper body 130, and a pair of leg frames 154 at least partially positioned inside the lower body 140 and connected to the body frame 151. have.

The body frame 151 and the leg frame 154 may be integrally formed. However, it is not limited thereto.

The lower end of the leg frame 154 may be fastened to the figure base 180. The foot 170 may surround a portion of the lower side of the leg frame 154.

The detailed configuration of the inner frame 70 will be described in detail later.

Meanwhile, the figure 100 may further include a tube 178. The tube 178 may be located inside the body 120, more specifically, the lower body 140. The tube 178 may be mounted on the inner frame 150. In more detail, the tube 178 may be mounted on the leg frame 154.

The tube 178 may be elongated vertically.

The tube 178 may include a flexible material. Accordingly, the tube 178 can be easily mounted on the leg frame 154 in a curved state. The tube 178 may guide a wire W (refer to FIG. 9) that drives the figure 100. The wire (W) will be described in detail later.

A plurality of tubes 178 may be provided. Each of the plurality of tubes 178 may guide one wire (W).

The figure 100 may further include an elastic member 179. The elastic member 179 may be located inside the body 120, more specifically, the lower body 140. The elastic member 179 may be mounted on the inner frame 150. In more detail, the elastic member 179 may be mounted on the leg frame 154.

The elastic member 179 may be a coil spring. The elastic member 179 may be vertically disposed. The elastic member 179 may be disposed to surround a lower portion of the outer circumference of the tube 178.

The elastic member 179 may be connected to a wire W3 (refer to FIG. 9) that rotates the connector 260 of the female assembly 200. This will be described in detail later.

Meanwhile, the figure 100 may further include wire supporters 158 and 159.

The wire supporters 158 and 159 may support the wire. In more detail, the wire W passing through the tube 178 may contact the wire supporters 158 and 159. As a result, the wire W can be held taut by tension.

The wire supporters 158 and 159 may be mounted on the inner frame 150. The wire supporters 158 and 159 may be mounted in front of the inner frame 150.

In more detail, the wire supporters 158 and 159 may be mounted on the body frame 151. The wire supporters 158 and 159 may be fixed to the inner frame 150 or may be rotatably mounted on the inner frame 150.

The wire supporters 158 and 159 may have a substantially circular hollow cylinder shape. The wire supporters 158 and 159 may be formed long in front and rear.

The wire supporters 158 and 159 may include a main supporter 158 and a sub supporter 159. The sub supporter 159 may be provided with a pair spaced from the left and right.

The diameter of the main supporter 158 may be larger than the diameter of the sub supporter 159.

The main supporter 158 may be positioned above the sub supporter 159. That is, the vertical distance from the upper end of the inner frame 150 to the main supporter may be closer than the vertical distance from the upper end of the inner frame to the sub supporter.

In the left and right direction, the main supporter 158 may be mounted on the central portion of the inner frame 150, and the sub supporter 159 may be mounted on the side portion of the inner frame 150.

Meanwhile, the figure 100 may further include an inner cover body 160.

The inner cover body 160 may be fastened to the inner frame 150. The inner cover body 160 may be fastened in front of the inner frame 150, more specifically, the body frame 151.

The inner cover body 160 may prevent the wire supporters 158 and 159 mounted on the inner frame 150 from being separated from the front.

The inner cover body 160 may be located inside the body 120. The inner cover body 160 may be positioned between the inner frame 150 and the front upper body 131.

The inner cover body 160 may support the head unit 109 and the arm assembly 200 together with the inner frame 150.

Meanwhile, the figure base 180 may include a lower plate 181 and a base cover 182.

The lower plate 181 may have a substantially disk shape. The lower plate 181 may form the bottom surface of the figure base 180.

The base cover 182 may have an inner space and open a bottom surface. The base cover 182 may cover the lower plate 181 from the upper side. The base cover 182 may form a circumferential surface and an upper surface of the figure base 180.

The upper surface of the base cover 182 may be formed with an inner frame 150, in more detail, a fastening groove 183 to which the lower end of the leg frame 154 is fastened. The fastening groove 183 may be formed by the upper surface of the base cover 182 being recessed downward.

The figure base 180 may include a plurality of power transmission units 190 and 194 that transmit the driving force of the driving module 400 to the figure 100.

The plurality of power transmission units 190 and 194 may include at least one of a seesaw lever 190 and a pusher 194. Hereinafter, a case in which both the seesaw lever 190 and the pusher 194 are built in the figure base 180 will be described as an example.

At least one seesaw lever 190 may be built into the figure base 180. The seesaw lever 190 may be disposed on the upper side of the lower plate 181 and covered by the base cover 182.

Each seesaw lever 190 may operate like a seesaw. That is, when one end of the seesaw lever 190 descends, the other end rises, and when one end of the seesaw lever 190 rises, the other end may descend.

A wire W (refer to FIG. 9) may be connected to one end of the seesaw lever 190. The other end of the seesaw lever 190 may be pushed up by the driving module 400 described above. Accordingly, one end of the seesaw lever 190 to which the wire W is connected may descend and the wire W may be pulled, thereby driving the figure 100.

A wire passage hole 183B through which the wire W connected to one end of the seesaw lever 190 passes may be formed on the upper surface of the base cover 182. The wire through hole 183B may be formed in the fastening groove 183.

The wire W connected to the seesaw lever 190 may pass through the wire passage hole 183B and extend into the tube 178 mounted on the inner frame 150.

A pusher 194 that pushes the foot 170 upward may be built into the figure base 180. The pusher 194 is disposed on the upper side of the lower plate 181 and may be covered by the base cover 182.

The pusher 194 may be pressed upward by the driving module 400 described above. In addition, an inner elastic member 199 that provides a downward elastic force to the pusher 194 may be provided inside the figure base 180.

A through hole 184 through which the pusher 194 protrudes upward may be formed on the upper surface of the base cover 182. A portion of the pusher 194 may protrude upward through the through hole 184 to push the foot 170. As a result, the figure 100 can implement the movement of crackling feet.

5 is a perspective view of an inner frame and an inner cover body according to an embodiment of the present invention, FIG. 6 is a view viewed from the rear of the inner frame and the inner cover body according to an embodiment of the present invention, and FIG. 7 is an implementation of the present invention It is a cross-sectional view showing the inside of a figure according to an example.

As described above, the inner frame 150 may include a body frame 151 and a pair of leg frames 154 connected to the lower side of the body frame 151.

A main supporter mounting portion 151A on which the main supporter 158 is mounted may be formed on the body frame 151. The main supporter mounting part 151A may protrude forward from the body frame 151. The main supporter mounting portion 151A may be inserted into a hollow formed in the main supporter 158.

The body frame 151 may include an upper frame 152 and a lower frame 153 connecting the upper frame 152 and the leg frame 154.

The upper frame 152 may be formed to be long left and right. The upper frame 152 may have a shape in which a substantially circular hollow cylinder is cut in the longitudinal direction. The front surface of the upper frame 152 may be open, and the rear surface may be formed to be convex rearward.

Rear locking projections 152A may be formed at both ends of the upper frame 152 to prevent the arm assembly 200 from being separated from the left and right directions. The rear locking protrusions 152A may protrude from the inner surface of the upper frame 152 in a radially inward direction.

A rear avoiding groove 152D for avoiding interference with the main supporter 158 may be formed in the upper frame 152. The rear avoidance groove 152D may be formed by cutting a central portion of the lower front end of the upper frame 152.

The lower frame 153 may be positioned between the upper frame 152 and the leg frame 154.

The left and right lengths of the lower frame 153 may be shorter than the left and right lengths of the upper frame 152.

The upper frame 152, the lower frame 153, and the leg frame 154 may be integrally formed.

The lower frame 153 may be provided with a sub supporter mounting portion 153A on which the sub supporter 159 is mounted. The sub supporter mounting portion 153A may protrude forward from the lower frame 153. The sub supporter mounting portion 153A may be inserted into a hollow formed in the sub supporter 159.

The leg frame 154 may be long vertically. A pair of leg frames 154 may be provided.

A plurality of fitting grooves 157 into which the tube 178 is mounted may be formed in the leg frame 154. Each fitting groove 157 may be formed to be long vertically. The fitting groove 157 may be formed by bending, and the tube 178 may be bent and fitted to fit the shape of the fitting groove 157. However, the present invention is not limited thereto, and the fitting groove 157 may be formed vertically and the tube 178 may be vertically fitted without bending.

Some of the plurality of fitting grooves 157 may be formed in the front portion of the leg frame 154, and other portions may be formed in the rear portion of the leg frame 154. That is, some of the plurality of tubes 178 may be mounted in the front of the leg frame 154, and other parts may be mounted in the rear.

For example, the plurality of tubes 178 is a first tube 178A, a second tube 178B, a third tube 178C, a fourth tube 178D, a fifth tube 178E, and a sixth tube 178F. ), a seventh tube 178G and an eighth tube 178H.

The first tube 178A and the second tube 178B may be disposed in front of the one leg frame 154 (eg, the left leg frame). That is, the first tube 178A and the second tube 178B may be positioned between the one leg frame 154 and the front lower body 141. Further, the first tube 178A may be disposed inside the second tube 178B.

The third tube 178C and the fourth tube 178D may be disposed on the rear surface of the other leg frame 154 (eg, the right leg frame). That is, the third tube 178C and the fourth tube 178D may be positioned between the other leg frame 154 and the rear lower body 142. Further, the third tube 178C may be disposed inside the fourth tube 178D.

The fifth tube 178E and the sixth tube 178F may be disposed on the front surface of the other leg frame 154. That is, the fifth tube 178E and the sixth tube 178F may be positioned between the other leg frame 154 and the front lower body 141. In addition, the fifth tube 178E may be disposed inside the sixth tube 178F.

The seventh tube 178G and the eighth tube 178H may be disposed on the rear surface of the one leg frame 154. That is, the seventh tube 178G and the eighth tube 178H may be positioned between the one leg frame 154 and the rear lower body 142. Also, the seventh tube 178G may be disposed inside the eighth tube 178H.

A rear hole 152C through which a wire W3 (refer to FIG. 9) for rotating the connector 260 of the arm assembly 200 may pass may be formed in the upper frame 152. The rear hole 152C may be a long hole formed long in the circumferential direction of the upper frame 152. A pair of rear holes 152C spaced apart from each other may be formed. The pair of rear holes 152C may be located opposite to each other based on the main supporter 158.

The wire W3 (refer to FIG. 9) for rotating the connector 260 of the arm assembly 200 passes through the tube 178 mounted on the rear part of the leg frame 154 and is formed in the upper frame 152 It can pass through (152C) and enter into the interior of the upper frame 152.

The body frame 151 has a rear guide groove 151C for guiding a wire W1 (W2) (see FIG. 9) for rotating the shoulder joint 201 and the elbow joint 202 of the arm assembly 200. I can. The rear guide groove 151C may be formed between the upper frame 152 and the lower frame 153. The rear guide groove 151C may have a pair of left and right spaced apart. The pair of rear guide grooves 151C may be located opposite to each other with respect to the main supporter 158.

The wires W1 and W2 for rotating the shoulder joint 201 and the elbow joint 202 of the arm assembly 200 pass through the tube 178 mounted on the rear portion of the leg frame 154 and pass through the rear guide groove ( It may pass through 151C and enter into the upper frame 152.

A pair of elastic members 179 may be mounted on the leg frame 154. Hereinafter, a case where the elastic member 179 is disposed in front of the leg frame 154 will be described as an example, but is not limited thereto.

The upper end of the elastic member 179 may be connected to a wire W3 (see FIG. 9) that rotates the connector 260 of the arm assembly 200, and the lower end may be fixed to the leg frame 154. In more detail, an elastic member fixing portion 155B to which a lower end of the elastic member 179 is fixed may be formed under each leg frame 154.

Therefore, when tension is applied to the wire W3, the wire W3 can pull the elastic member 179 upward and the elastic member 179 can be tensioned. When the tension applied to the wire W3 is removed, the elastic member 179 is contracted by the restoring force of the elastic member 179 and the wire W3 can be pulled downward.

The pair of elastic members 179 may include a first elastic member 179A mounted on the one leg frame 154 and a second elastic member 179B mounted on the other leg frame 154. .

The first elastic member 179A may surround the lower outer circumference of the first tube 178A, and the second elastic member 179B may surround the lower outer circumference of the fifth tube 178E.

The first elastic member 179A may be connected to a wire W3 that rotates the connector 260 of any one arm assembly 200B, and the second elastic member 179B is a member of the other arm assembly 200A. It may be connected to the wire W3 for rotating the connector 260. This will be described in detail later.

A foot connection groove 155A to which the foot 170 is connected may be formed under the leg frame 154. In more detail, the foot connection groove 155A may be formed long in the circumferential direction of the lower leg frame 154.

The foot connection groove 155A may be formed on the outer side and the inner side of the lower leg frame 154, respectively. The inner portion may mean a portion facing the other leg frame 154, and the outer portion may mean an opposite side of the inner portion.

A base fastening part 156 fastened to the figure base 180 may be formed at the lower end of the leg frame 154. In more detail, the base fastening part 156 may be inserted into the fastening groove 183 formed on the upper surface of the base cover 182.

Meanwhile, the inner cover body 160 may be fastened to the inner frame 150 in front of the inner frame 151.

The inner cover body 160 may include an upper cover body 161 and a lower cover body 162. The upper cover body 161 and the lower cover body 162 may be integrally formed.

The upper cover body 161 may be formed to be long left and right. The upper cover body 161 may have a shape in which a substantially circular hollow cylinder is cut in the longitudinal direction. The rear surface of the upper cover body 161 may be open, and the front surface may be formed to be convex rearward.

The upper cover body 161 may have a substantially symmetrical shape with the upper frame 152. The upper cover body 161 may be coupled to the upper frame 152 to form an arm assembly mounting portion to which the connector 260 of the arm assembly 200 is mounted. The arm assembly mounting portion may have a substantially hollow cylindrical shape, and connectors 260 of each arm assembly 200 may be mounted at both ends.

Front locking projections 161A may be formed at both ends of the upper cover body 161 to prevent the arm assembly 200 from being separated in the left and right directions. The front locking protrusion 161A may protrude from the inner surface of the upper cover body 161 in a radially inward direction.

The front locking projection 161A may be formed at a position corresponding to the rear locking projection 152A formed on the upper frame 152. The front locking projection 161A and the rear locking projection 152A may prevent the arm assembly 200 from being separated in the left and right directions.

A front hole 161C through which a wire W3 (refer to FIG. 9) for rotating the connector 260 of the arm assembly 200 passes may be formed in the upper cover body 161. The front hole 161C may be a long hole formed long in the circumferential direction of the upper cover body 161. The front hole 161C may have a pair of left and right spaced apart. The pair of front holes 161C may be located on opposite sides of the main supporter 158.

The front hole 161C may face the rear hole 152C formed in the upper frame 152 in the front-rear direction.

The wire W3 for rotating the connector 260 of the arm assembly 200 can pass through the front hole 161C formed in the upper cover body 161 and go out to the outside of the upper cover body 161, and the leg frame ( It may be connected to the elastic member 179 mounted on the 154.

In the inner cover body 160, a front guide groove 160C for guiding a wire W1 (W2) (refer to FIG. 9) for rotating the shoulder joint 201 and the elbow joint 202 of the arm assembly 200 is formed. Can be. The front guide groove 160C may be formed between the upper cover body 161 and the lower cover body 162. The front guide groove 160C may be formed with a pair of left and right spaced apart. A pair of front guide grooves 160C may be located opposite to each other based on the main supporter 158.

The wires W1 and W2 for rotating the shoulder joint 201 and the elbow joint 202 of the arm assembly 200 pass through the tube 178 mounted on the front part of the leg frame 154 and pass through the front guide groove ( 160C) and may enter into the interior of the upper cover body 161.

The front guide groove 160C may communicate with the rear guide groove 150C formed in the body frame 151. The front guide groove 160C may form a guide hole through which the wires W1 and W2 pass together with the rear guide groove 150C.

An upper hole 161B through which the wire W passes may be formed in the upper cover body 161. The upper hole 161B may be formed by vertically penetrating the upper surface of the upper cover body 161. Any one wire (W) is connected to the head unit 109 through the upper hole (161B), it is possible to drive the head unit 109.

An avoidance groove 152B located under the upper hole 161B may be formed in the upper frame 151. The avoidance groove 152B may prevent the wire W passing through the upper hole 161B from interfering with the upper frame 151. It goes without saying that it is possible to form an avoidance hole instead of the avoidance groove 152B in the upper frame 161.

A front avoidance groove 161D for avoiding interference with the main supporter 158 may be formed in the upper cover body 161. The front avoidance groove 161D may be formed by cutting a central portion of the lower rear end of the upper cover body 161.

The front avoidance groove 161D may be formed at a position corresponding to the rear avoidance groove 152D formed in the upper frame 151. The front avoidance groove 161D may form an opening in which the main supporter 158 is located together with the rear avoidance groove 152D.

The lower cover body 162 may be connected to the lower side of the upper cover body 161. The lower cover body 162 may be fastened to the lower frame 153 in front of the lower frame 153.

The left and right lengths of the lower cover body 162 may be shorter than the left and right lengths of the upper cover body 151.

The lower cover body 162 may be provided with a separation preventing portion 163 connected to the sub supporter mounting portion 153A formed on the lower frame 153. A pair of separation prevention units 163 may be provided. The separation preventing part 163 may protrude from both sides of the lower cover body 162, respectively. When the lower cover body 162 and the lower frame 153 are fastened, the separation prevention part 163 may contact the front end of the sub supporter mounting part 153A. Accordingly, the separation preventing unit 163 may prevent the sub supporter 159 mounted on the sub supporter mounting unit 153A from being separated forward.

Hereinafter, a configuration related to the fastening of the inner frame 150 and the inner cover body 160 will be described.

An upper fastening hole 151B may be formed in the main supporter mounting portion 151A of the inner frame 150, and a tube upper through hole 162A corresponding to the upper fastening hole 151B is formed in the inner cover body 160. Can be formed.

The upper fastening hole 151B may be longly penetrated back and forth from the front end of the main supporter mounting portion 151A to the rear surface of the main frame 150. The upper through hole 162A may be formed by penetrating the inner cover body 160 back and forth. The fastening member C2 (refer to FIG. 7) such as a screw may pass through the upper through hole 162A and be fastened to the upper fastening hole 151B.

In addition, a lower fastening hole 154A may be formed in the lower part of the lower frame 153 of the inner frame 150, and a lower through hole corresponding to the lower fastening hole 154A may be formed in the lower part of the lower cover body 162 (162C) can be formed.

The lower fastening hole 154A may be located below the upper fastening hole 151B, and the lower through hole 162C may be located below the upper through hole 162A.

The lower fastening hole 154A may elongately penetrate the lower portion of the lower frame 153 back and forth. The lower through hole 162C may be formed by penetrating the lower part of the lower cover body 162 back and forth. The fastening member C3 (refer to FIG. 7) such as a screw may pass through the lower through hole 162C and be fastened to the lower fastening hole 154A.

Hereinafter, a configuration related to fastening of the front upper body 131 and the rear upper body 132 will be described with reference to FIG. 7.

A first hollow portion 131A protruding rearward may be formed in the front upper body 131, and a second hollow portion 132A protruding forward may be formed in the rear upper body 132. The first hollow portion 131A and the second hollow portion 132A may be positioned on a straight line in the front-rear direction. The rear end of the first hollow portion 131A and the front end of the second hollow portion 132A may contact each other. The fastening member C1 such as a screw may pass through one of the first hollow portion 131A and the second hollow portion 132A and be fastened to the other.

The inner frame 150 and the inner cover body 160 may be formed with avoidance holes 153B and 162B for avoiding interference with at least one of the first hollow portion 131A and the second hollow portion 132A. . In more detail, in the lower frame 153 of the inner frame 150, a rear avoiding hole 153B may be formed through front and rear penetration. In the lower cover body 162 of the inner cover body 160, a front avoiding hole 162B corresponding to the rear avoiding hole 153B may be formed through front and rear penetration.

The rear avoiding hole 153B may be positioned between the upper fastening hole 151B and the lower fastening hole 154A in the vertical direction. The front avoiding hole 162B may be positioned between the upper through hole 162A and the lower through hole 162C in the vertical direction.

Hereinafter, the head unit will be described in more detail with reference to FIG. 7.

The head unit 109 may include a head 110, a head connector 114, and a head inner frame 117.

The head 110 may be located on the upper side of the body 120.

The head 110 may include a head case 111 and a head cover 112. The head 110 may further include a fastening body 113 for fastening the head case 111 and the head cover 112 to each other.

The head case 111 may form the exterior of the head 110. The head case 111 may have a shape corresponding to the face and head of the human body.

The head cover 112 may be fastened from the upper side of the head case 111. The head cover 112 may have a shape corresponding to the hairstyle of the human body. In more detail, the fastening body 113 may be fastened to the bottom of the head cover 112, and the fastening body 113 may be fastened to and fixed to the head case 111.

The head connector 114 may be fastened to the body 120. The head connector 114 may connect the head unit 109 to the body 120.

The head connector 114 may include the support bar 115 and the head fixing part 116 described above.

The support bar 115 is formed to be elongated vertically and may correspond to the neck of the human body. The support bar 115 may be formed long from the body 120 to the inside of the head 110.

The head fixing part 116 may be located inside the body 120. The head fixing part 116 may be connected to the lower end of the support bar 115. The head fixing part 116 may be fixed between the inner frame 150 and the inner cover body 160 and the body 120.

In more detail, the head fixing part 116 may include a front fixing part connected to the lower front part of the support bar 115 and a rear fixing part connected to the lower rear part of the support bar 115. The front fixing part and the rear fixing part may be spaced back and forth. The front fixing part may be located between the front upper body 131 and the inner cover body 160, and the rear fixing part may be located between the rear upper body 132 and the inner frame 150.

The head inner frame 117 may be disposed inside the head 110, more specifically, the head case 111. The head inner frame 117 has an open bottom surface, an inner space, and may be formed vertically.

At least a portion of the support bar 115 may be located inside the head inner frame 117, and the head inner frame 117 may be connected to the support bar 115 in a tiltable manner. In addition, the head inner frame 117 may be fastened to the head 110. Accordingly, the head 110 and the head inner frame 117 may be tilted based on the support bar 115, and an operation in which the figure 100 raises its head may be implemented.

8 is a bottom view of a figure according to an embodiment of the present invention.

The base fastening portion 156 formed at the lower end of the leg frame 150 may be located under the tube 178.

A base fastening hole 156A that is fastened to the figure base 180 may be formed in the base fastening part 156. The base fastening hole 156A may be formed in the center of the base fastening part 156.

A wire avoidance groove 157 may be formed in the base fastening part 156 to prevent interference of the wire W (refer to FIG. 9) entering the tube 178. Of course, it is possible to form a wire avoiding hole instead of the wire avoiding groove 157.

The lower end of the tube 178 may face the wire avoidance groove 157. Therefore, the wire W can enter the tube 178 without interfering with the base fastening portion 156.

A plurality of wire avoidance grooves 157 may be formed in each leg frame 154. The number of wire avoidance grooves 157 may be the same as the number of tubes 178 mounted on the leg frame 154. For example, four wire avoidance grooves 157 may be formed in each leg frame 154.

An insertion groove 171 into which a pusher 194 (refer to FIG. 4) protruding upward of the figure base 180 may be formed on the bottom of the foot 170. The insertion groove 171 may be formed by being recessed upward from the bottom surface of the foot 170. Insertion groove 171 may be formed in the front of the bottom of the foot (170).

9 is a view as viewed from the front inside the figure according to the embodiment of the present invention, Figure 10 is a view as viewed from the rear inside the figure according to the embodiment of the present invention.

Figure 100 may include at least one wire (W). The material of the wire W may vary according to need. However, in order to minimize the break of the wire (W) and improve the reliability of the product, it is preferable that the wire (W) contains a material having high strength.

The arm assembly 200 may be connected to the seesaw lever 190 (see FIG. 4) built into the figure base 180 by a wire W passing through the tube 178. One end of the seesaw lever 190 descends and pulls the wire W to drive the arm assembly 200.

In more detail, each of the shoulder joint 201 and the elbow joint 202 of the light arm assembly 200A is a wire (W) passing through the tube 178 mounted on the left leg frame 154 among the plurality of tubes 178 ) Can be connected. The left leg frame 154 may be positioned within the left leg 140B (see FIG. 3 ).

The connector 260 of the light arm assembly 100A may be connected by a wire W passing through the tube 178 mounted on the right leg frame 154 among the plurality of tubes 178. In addition, the wire (W) may be connected to the elastic member (179B) mounted on the right leg frame 154. The right leg frame 154 may be positioned within the right leg 140A (see FIG. 3 ).

Each of the shoulder joint 201 and the elbow joint 202 of the left arm assembly 200B may be connected by a wire W passing through the tube 178 mounted on the right leg frame 154 among the plurality of tubes 178. have.

The connector 260 of the left arm assembly 200B may be connected by a wire W passing through the tube 178 mounted on the left leg frame 154 among the plurality of tubes 178. In addition, the wire (W) may be connected to the elastic member 179A mounted on the left leg frame 154.

Hereinafter, for convenience of description, the wire W connected to the light arm assembly 200A will be described. In addition, since the configurations of the right arm assembly 100A and the left arm assembly 100B are symmetrical to each other, a person of ordinary skill in the art can easily understand the driving method of the left arm assembly 200B.

The first wire W1, the second wire W2, and the third wire W3 may be connected to the arm assembly 200 according to the present embodiment.

The first wire W1 may be connected to the upper arm part 210 or the shoulder joint 201 of the arm assembly 200. The first wire W1 may pull the upper arm 210 or the first shoulder joint 201 in the direction in which the shoulder joint 201 is bent.

The second wire W2 may be connected to the forearm 220 or the elbow joint 202 of the arm assembly 200. The second wire W2 may pull the forearm 220 or the elbow joint 202 in a direction in which the elbow joint 202 is bent.

The third wire W3 may be connected to the connector 260 of the female assembly 200. The third wire W3 may pull the connector 260 downward at a position eccentric with respect to the rotation axis of the connector 260. That is, the third wire W3 may rotate the connector 260 in one direction or the other direction.

That is, the first wire W1 and the second wire W2 may rotate the joints 201 and 202, and the third wire W3 may rotate the connector 260. Accordingly, the first wire W1 and the second wire W2 may be referred to as joint wires, and the third wire W3 may be referred to as a connector wire.

The first wire W1 may pass through any one tube 178 located on the opposite leg of the arm assembly 200. The second wire W2 may pass through the other tube 178 located on the opposite leg of the arm assembly 200. The third wire W3 may pass through any one tube 178 located on the same leg as the arm assembly 200.

That is, the first wire W1 and the second wire W2 connected to the light arm assembly 200A may pass through the tube 178 disposed on the left leg frame 154. In addition, the third wire W3 connected to the light arm assembly 200A may pass through the tube 178 disposed on the right leg frame 154.

For example, the first wire W1 connected to the light arm assembly 200A may pass through the first tube 178A and may be connected to the shoulder joint 201 or the upper arm 210. The first wire W1 may be supported in contact with the sub supporter 157 and the main supporter 158.

The second wire W2 connected to the light arm assembly 200A may pass through the second tube 178B and may be connected to the elbow joint 202 or the forearm 220. The second wire W2 may be supported by contacting the sub supporter 157 and the main supporter 158.

The third wire W3 connected to the light arm assembly 200A sequentially passes through the third tube 178C, the rear hole 152C, and the front hole 161C (see FIG. 6), and the second elastic member 179B. Can be connected to A portion between the rear hole 152C and the front hole 161C in the longitudinal direction of the third wire W3 may be connected to the connector 260.

Conversely, the first wire W1 and the second wire W2 connected to the left arm assembly 200B may pass through the tube 178 disposed on the right leg frame 154. In addition, the third wire W3 connected to the left arm assembly 200B may pass through the tube 178 disposed on the left leg frame 154.

For example, the first wire W1 connected to the left arm assembly 200B may pass through the sixth tube 178F and may be connected to the shoulder joint 201 or the upper arm 210. The first wire W1 may be supported in contact with the sub supporter 157 and the main supporter 158.

The second wire W2 connected to the left arm assembly 200B passes through the fourth tube 178D and may be connected to the elbow joint 202 or the forearm 220. The second wire W2 may be supported by contacting the sub supporter 157 and the main supporter 158.

The third wire W3 connected to the left arm assembly 200B sequentially passes through the seventh tube 178G, the rear hole 152C, and the front hole 161C (see FIG. 6), and the first elastic member 179A. Can be connected to A portion between the rear hole 152C and the front hole 161C in the longitudinal direction of the third wire W3 may be connected to the connector 260.

The third wire W3 may be connected to the elastic member 179 by a wire connector WG3. However, it goes without saying that the third wire W3 may be directly connected to the elastic member 179.

11A and 11B are views for explaining an action of pulling a wire according to an embodiment of the present invention. In more detail, FIG. 11A is a diagram illustrating a state in which the wire is not pulled, and FIG. 11B is a diagram illustrating a state in which the wire is pulled downward.

The above-described driving module 400 (refer to FIG. 2) may include a lifter 430 and a rod 439.

The lifter 430 may be located under the figure base 180 (see FIG. 2 ).

The lifter 430 may lift the rod 439. In more detail, the lifter 430 may include a motor 431 and a lever 432 connected to the motor 431 to rotate and press the rod 439 upward.

The rod 439 may be long vertically. The lower end of the rod 439 may be pressed upward by the lever 432, and the upper end of the rod 439 may press the seesaw lever 190 upward.

As described above, the seesaw lever 190 may be built into the figure base 180 (see FIG. 2 ).

The seesaw lever 190 may include a first lever part 191, a second lever part 192, and a center part 193.

A wire W may be connected to the first lever part 191. The first lever part 191 may include one end of the seesaw lever 190. The first lever part 191 may extend in one direction from the center part 193.

The second lever part 192 may be pressed by the rod 439. The second lever part 192 may include the other end of the seesaw lever 190. The second lever portion 192 may extend in a direction opposite to the first lever portion 191 from the center portion 193.

The center portion 193 may be positioned between the first lever portion 191 and the second lever portion 192. The center part 193 may connect the first lever part 191 and the second lever part 192 to each other. A rotation shaft 194 may be provided in the center part 193. The seesaw lever 190 may rotate around the rotation shaft 194 to operate like a seesaw.

When the lifter 430 raises the rod 439, the upper end of the rod 439 presses the second lever part 192 upward, and the seesaw lever 190 can rotate around a rotation axis. That is, the second lever part 192 may rise and the first lever part 191 may fall. Accordingly, the wire W connected to the first lever part 191 may be pulled downward.

12 is a perspective view of an arm assembly according to an embodiment of the present invention, FIG. 13 is a view viewed from the rear of the arm assembly according to an embodiment of the present invention, and FIG. 14 is an exploded perspective view of the arm assembly according to an embodiment of the present invention to be.

The arm assembly 200 includes an upper arm part 210, a forearm part 220, a hand part 230, a shoulder joint 201, an elbow joint 202, a shoulder elastic member 250, and an elbow elastic member. 280 and a connector 260 may be included.

However, including the case where the figure 100 is not in the shape of a human, the upper arm 210 is a first movable part, the forearm 220 is a second movable part, the shoulder joint 201 is a first joint, and the elbow joint ( 202 may be referred to as a second joint, the shoulder elastic member 250 as a first elastic member, and the elbow elastic member 280 may be referred to as a second elastic member. In addition, since the connector 260 is rotatably fastened to the body 120, the connector 260 may be referred to as a third movable part.

The upper arm 210 may correspond to a portion between the shoulder and the elbow of a person's arm.

The upper arm 210 may have a circular bar shape that is elongated in one direction.

The upper arm part 210 may include a first upper arm part 210A and a second upper arm part 210B that are fastened to be separated from each other. Each of the first upper arm portion 210A and the second upper arm portion 210B may be formed to be elongated in the length direction of the upper arm portion 210.

A cover part 211 may be formed on the upper arm part 210 to cover the spring receiving cover 251 to be described later. The cover part 211 may be formed to protrude rearward from an end of the upper arm part 210 on the body 120 (see FIG. 2 ).

The cover part 211 may include a first cover part 211A and a second cover part 211B that are detachably fastened to each other. The first cover portion 211A may be formed on the first upper arm portion 210, and the second cover portion 211B may be formed on the second upper arm portion 210B.

The forearm 220 may correspond to a portion between the elbow and the wrist of a person's arm.

The forearm 220 may have a circular bar shape that is elongated in one direction.

The forearm 220 may include a first forearm part 220A and a second forearm part 220B that are fastened to be separated from each other. Each of the first forearm 220A and the second forearm 220B may be formed to be long in the length direction of the forearm 220.

A hand mounting part 221 on which the hand part 230 is mounted may be formed on the forearm 220. The hand mounting part 221 may be formed at an outer end of the forearm 220.

The hand part 230 may correspond to a hand and a wrist of a person. In more detail, the hand unit 230 may include a hand 231 and a wrist 232 connected to the hand 231.

The wrist 232 may have an approximately circular hollow cylinder shape. The outer diameter of the wrist 232 may be the same or similar to the outer diameter of the forearm 220.

The hand 231 may be connected to one side of the wrist 232, and the hand mounting portion 221 of the forearm 220 may be fastened to the opposite side. The hand mounting part 221 may be inserted into the wrist 232 to be fastened.

The shoulder joint 201 may rotate the upper arm 210 with respect to the body 120 (see FIG. 2 ). In more detail, the shoulder joint 201 may rotate the upper arm 210 with respect to the connector 260.

The upper arm 210 is rotated by the shoulder joint 201 and may open or tighten the armpit.

The shoulder joint 201 may include a rotating body 240, a shoulder joint shaft 243 and 244, a joint shaft support part 256, and a spring receiving cover 251.

The rotating body 240 may be fastened to the upper arm 210. The rotating body 240 may be positioned between the first upper arm portion 210A and the second upper arm portion 210B. At least a portion of the rotating body 240 may be embedded in the upper arm 210. The rotating body 240 may rotate together with the upper arm 210.

The rotating body 240 may include a rotating part 241 provided with shoulder joint shafts 243 and 244, and an upper arm fastening part 242 connected to the rotating part 241 and connected to the upper arm 210.

The rotating part 241 may have a cylindrical shape disposed approximately back and forth. That is, the circumference of the rotating part 241 may be formed to be round. Shoulder joint shafts 243 and 244 may protrude from the front and rear surfaces of the rotating part 241.

The rotating part 241 may be positioned between the joint shaft support part 256 and the spring receiving cover 251 with respect to the front-rear direction.

A recessed portion (not shown) depressed forward may be formed on the rear surface of the rotating portion 241, and a part of the shoulder elastic member 250 may be located at the recessed portion.

The upper arm fastening part 242 may be formed so as to face the forearm 220 around the rotating part 241. The upper arm fastening portion 242 is preferably formed integrally with the rotating portion 241, but is not limited thereto.

The upper arm fastening part 242 may be fastened to the upper arm part 210. In more detail, the upper arm fastening part 242 may be inserted and fastened between the first upper arm part 210A and the second upper arm part 210B.

The shoulder joint shafts 243 and 244 may protrude back and forth from the rotating body 240. The rotating body 240 may rotate around the shoulder joint shafts 243 and 244.

The shoulder joint shafts 243 and 244 may include a first shaft 243 and a second shaft 244.

The first shaft 243 may protrude from one surface of the rotating body 240. In more detail, the first shaft 243 may protrude forward from the front surface of the rotating part 241. The first shaft 243 may be connected to the joint shaft support part 256, and may be supported by the joint shaft support part 256.

The second shaft 244 may protrude from the other surface of the rotating body 240. In more detail, the second shaft 244 may protrude rearward from the rear surface of the rotating part 241. In more detail, the second shaft 244 may protrude rearward from the inside of the depression formed on the rear surface of the rotating part 241. The second shaft 244 is connected to the shoulder elastic member 250 and may be supported by the spring receiving cover 251.

The joint shaft support part 256 may have an approximately circular ring shape. The joint shaft support part 256 may rotatably support the shoulder joint shafts 243 and 244 at one side of the rotating body 240.

The joint shaft support part 256 may be located in front of the rotating body 240, more specifically, the rotating part 241. The first shaft 243 may be inserted into the joint shaft support part 256.

The joint shaft support part 256 may be integrally formed with the first connecting body 261. However, the present invention is not limited thereto, and the joint shaft support part 256 may be fastened to the first connecting body 261.

The shoulder elastic member 250 may provide an elastic force in the direction in which the shoulder joint 201 is unfolded.

The shoulder elastic member 250 may be located at the rear of the rotating body 240, more specifically, the rotating part 241. The shoulder elastic member 250 may be connected to the shoulder joint shafts 243 and 244, and in more detail, the second shaft 244.

The shoulder elastic member 250 may be a spiral spring. In this case, the inner end 250A of the shoulder elastic member 250 may be connected to the shoulder joint shafts 243 and 244. Further, the outer end 250B of the shoulder elastic member 250 may be fixed to at least one of the spring receiving cover 251 or the first connecting body 261. The inner end 250A may be located in the center of the spiral shape, and the outer end 250B may be formed to protrude outward from the spiral shape.

The shoulder elastic member 250 may be embedded in the spring receiving cover 251.

The spring receiving cover 251 may rotatably support the shoulder joint shafts 243 and 244 at the other side of the rotating body 240.

In more detail, the spring receiving cover 251 may rotatably support the second shaft 244. The spring receiving cover 251 may be located at the rear of the rotating body 240, in more detail, the rotating part 241. The spring receiving cover 251 may cover the shoulder elastic member 250 from the rear and support the shoulder joint shafts 243 and 244.

Meanwhile, the elbow joint 202 may rotate the forearm 220 relative to the upper arm 210. The forearm 220 may be rotated by the elbow joint 202 to fold or unfold the elbow.

The elbow joint 202 may include an outer joint portion 271, an inner joint portion 272, and an elbow joint shaft 270.

The outer joint portion 271 may be formed on one of the upper arm portion 210 and the forearm portion 220, and the inner joint portion 272 may be formed on the other one of the upper arm portion 210 and the forearm portion 220. Hereinafter, the case where the outer joint portion 271 is formed on the upper arm portion 210 and the inner joint portion 272 is formed on the forearm portion 220 will be described as an example.

The outer joint part 271 may be formed at an end of the upper arm part 210 on the forearm part 220 side. The outer joint portion 271 may be integrally formed with the upper arm portion 210, but is not limited thereto.

The outer joint portion 271 may have a disk shape formed to be convex outwardly.

The outer joint portion 271 may be provided with a pair spaced apart from each other. In more detail, any one of the pair of outer joint portions 271 may be formed on the first upper arm portion 210A, and the other may be formed on the second upper arm portion 210B.

The inner joint 272 may be formed at an end of the upper arm 210 side of both ends of the forearm 220. The inner joint 272 may be integrally formed with the forearm 220, but is not limited thereto.

The inner joint portion 272 may have an approximately circular ring or a hollow cylinder shape.

The inner joint portion 272 may be positioned between the pair of outer joint portions 271.

The inner joint portion 272 may include a first inner joint portion 272A and a second inner joint portion 272B that are fastened to be separated from each other. In more detail, the pair of inner joint portions 272 may include a first inner joint portion 272A formed on the first forearm portion 220A and a second inner joint portion 272B formed on the second forearm portion 220B.

The elbow joint shaft 270 passes through the inner joint portion 272 and may connect the pair of outer joint portions 271 to each other.

The elbow joint shaft 270 may be formed to protrude from one outer joint portion 271 toward the other outer joint portion 271. The forearm 220 and the inner joint 272 connected thereto may rotate around the elbow joint axis 270.

The elbow elastic member 280 may provide an elastic force in the direction in which the elbow joint 202 is unfolded.

The elbow elastic member 280 may be embedded in the inner joint portion 272. That is, the elbow elastic member 280 may be positioned between the first inner joint portion 272A and the second inner joint portion.

The elbow elastic member 280 may be connected to the elbow joint shaft 270.

The elbow elastic member 280 may be a spiral spring. In this case, the inner end 280A of the elbow elastic member 280 may be connected to the elbow joint shaft 270. In addition, the outer end 280B of the elbow elastic member 280 may be fixed to the forearm 220. The inner end 280A may be located in the center of the spiral shape, and the outer end 280B may be formed to protrude outward from the spiral shape.

Meanwhile, the connector 260 may rotatably connect the arm assembly 200 to the body 120 (see FIG. 2 ). The connector 260 may be connected to at least one of the shoulder joint 202 or the upper arm 210. By the connector 260, the entire arm assembly 200 rotates, and the arm may be rotated, or an operation may be performed that extends forward or backward.

The connector 260 may include a first connecting body 261 and a second connecting body 266 fastened to the first connecting body 261.

The first connecting body 261 may be connected to at least one of the shoulder joint 202 or the upper arm 210. The joint shaft support part 256 described above may be provided on the first connecting body 261.

In more detail, the first connecting body 261 may include a first part 262 and a second part 263 connected to the first part 262 and to which the second connecting body 266 is fastened. have.

One side of the first part 262 may face the upper arm part 210 and the other side may face the body 120. The joint shaft support part 256 may be connected to the one surface of the first part 262, and the second part 263 may be connected to the other surface.

The second part 263 may have a substantially circular hollow cylinder shape. The second part 263 may protrude toward the body 120 from the first part 262. The second part 263 may be integrally formed with the first part 262, but is not limited thereto.

A rotation preventing portion 263B may be formed on the outer surface of the second part 263 to prevent relative rotation from occurring between the second part 263 and the second connecting body 266. The rotation preventing part 263B may be formed to protrude from the outer circumference of the second part 263 in a radially outward direction.

A rotation preventing groove (not shown) into which the rotation preventing part 263B is inserted may be formed on an inner surface of the second connecting body 266. Therefore, the second connecting body 266 and the first connecting body 261 may rotate together.

The second connecting body 266 may have a substantially circular hollow cylinder shape. The second connecting body 266 may be fastened with the second part 263 of the first connecting body 261. The second part 263 can be fastened by being inserted into the second connecting body 266.

A large diameter portion 267 may be formed in the connector 260, in more detail, in the second connecting body 266. The large diameter portion 267 may extend radially outward from the outer periphery of the second connecting body 266. The large diameter portion 267 may be formed at an end portion of the second connecting body 266 on the body 120 (see FIG. 2 ).

A wire groove 267A formed long in the circumferential direction of the large-diameter portion 267 may be formed in the large-diameter portion 267. The third wire W3 described above may be caught in the wire groove 267A.

In addition, a fixing groove 267B may be formed on one surface of the second connecting body 266 to communicate with the wire groove 267A and through which the third wire W3 passes. The one surface may be a surface facing the body 120.

The arm assembly 200 may further include a fastening member 268 fastened to the connector 260.

The fastening member 268 may be fastened to the second connecting body 266. The fastening member 268 may prevent the third wire W3 from slipping with respect to the connector 260. In addition, the fastening member 268 may fasten the second connecting body 266 and the first connecting body 261.

The fastening member 268 includes a body portion 268A fastened to the second connecting body 268 and a head portion 268B connected to the body portion 268A and in contact with the one surface of the second connecting body 266 It may include.

The head portion 268B of the fastening member 268 may press the wire W3 which contacts the one surface of the second connecting body 266 and passes through the fixing groove 267B. Accordingly, no slip occurs between the third wire W3 and the connector 260, and the third wire W3 may smoothly rotate the connector 260.

A wire passage 269 through which the wire W passes may be formed in the fastening member 268. The wire passage 269 may long penetrate from the head portion 268B to the body portion 268B. That is, the wire passage 269 may be formed long in the length direction of the fastening member 268.

The wire passage 269 may communicate with the hollow of the connector 260. The first wire W1 and the second wire W2 described above may pass through the hollow of the wire passage 269 and the connector 260 to pull the upper arm part 210 and the forearm part 220, respectively.

15 is a view showing the interior of the arm assembly according to an embodiment of the present invention, FIG. 16 is an enlarged view showing the periphery of the first wire fixing member of the arm assembly shown in FIG. 15, and FIG. 17 is FIG. 18 is an enlarged view of the periphery of the second wire fixing member of the illustrated arm assembly, and FIG. 18 is a cross-sectional view of the arm assembly according to an embodiment of the present invention taken in a direction perpendicular to the axis of rotation of the shoulder joint, and FIG. A cross-sectional view of the arm assembly according to the embodiment taken in a direction perpendicular to the axis of rotation of the elbow joint.

18 and 19, the axis of rotation of the connector 260 may be perpendicular to the axis of rotation of the shoulder joint 201 and the axis of rotation of the elbow joint 202, respectively. For example, the axis of rotation of the connector 260 is formed to be long left and right, the axis of rotation of the shoulder joint 201 is formed to be long back and forth, and the axis of rotation of the elbow joint 202 may be formed to be long vertically.

The first wire W1 and the second wire W2 may enter into the arm assembly 200 through the wire passage 269 from the inside of the body 120 (see FIG. 2 ).

The wire passage 269 may be formed in the fastening member 268. The wire passage 269 may be a circular hollow formed long in the length direction of the fastening member 268.

A hollow 265 communicating with the wire passage 269 may be formed inside the connector 260. In more detail, the hollow 265 may be formed inside the first connecting body 261.

A wire avoidance groove 241A and a wire guide hole 242A communicating with the hollow 265 may be formed inside the rotating body 240 of the shoulder joint 201.

The wire avoiding groove 241A may be formed by a portion of the circumferential surface of the rotating part 241 being recessed inward. The wire avoiding groove 241A may be formed so that the second wire W2 and the rotating body 240 do not interfere when the rotating body 240 rotates. The wire avoidance groove 241A may be formed at a position corresponding to the armpit of the human body.

The wire guide hole 242A may communicate with the wire avoiding groove 241A. The wire guide hole 242A may be formed through the wire avoiding groove 241A to the end of the upper arm fastening part 242.

The first wire W1 and the second wire W2 may sequentially pass through the wire passage 269 and the hollow 265.

The first wire W1 may be connected to the rotating body 240 or the first wire connector WG1 mounted on the upper arm 210. For example, a mounting groove 242B (refer to FIG. 16) to which the first wire connector WG1 is mounted may be formed under the upper arm fastening portion 242 of the rotating body 240. The first wire connector WG1 may be covered from the lower side by the upper arm part 210.

A first wire guide groove 245 (refer to FIG. 16) may be formed on the outer surface of the rotating body 240. The first wire guide groove 245 may be formed on the bottom surface of the rotating body 240. The first wire guide groove 245 may communicate with the wire avoiding groove 241A. The first wire guide groove 245 may guide the first wire W1 passing through the wire passage 269 and the hollow 265 to the first wire connector WG1.

When the shoulder joint 201 is rotated in the direction in which the shoulder joint 201 is bent by the tension of the first wire W1, the shoulder elastic member 250 may be elastically deformed. In more detail, the outer end 250B (see FIG. 14) of the shoulder elastic member 250, which is a spiral spring, is kept fixed to at least one of the connector 260 or the spring receiving cover 251, and the inner end ( 250A) may rotate together with the upper arm 210 while being fitted into the groove 244A formed in the second shaft 244.

When the tension of the first wire W1 is removed, the shoulder joint 201 may be extended by the restoring force of the shoulder elastic member 250.

Meanwhile, the upper arm portion 210 may include a first limiter 218, and the forearm portion 220 may include a second limiter 228. The first limiter 218 and the second limiter 228 may limit the rotation range of the elbow joint 202.

The first limiter 218 may form a part of an end portion of the upper arm 210 on the elbow joint 202 side. The second limiter 228 may form a part of an end portion of the forearm 220 on the elbow joint 202 side.

The first limiter 218 and the second limiter 228 may be positioned outside the elbow joint 202 with respect to a direction in which the elbow joint 202 is bent.

When the elbow joint 202 is bent, the first limiter 218 and the second limiter 228 may be separated and spaced apart from each other. On the other hand, when the elbow joint 202 is fully extended, the first limiter 218 and the second limiter 228 may contact each other. As a result, the range of motion of the elbow joint 202 may be limited as in the human elbow.

The upper arm portion 210 may include an upper arm inclined portion 219, and the forearm portion 220 may include a forearm inclined portion 229. The upper arm inclined portion 219 and the forearm inclined portion 229 may be spaced apart from each other.

The upper arm inclined part 219 may be formed to be inclined in a direction from the outer circumference of the upper arm part 210 toward the outer circumference of the inner joint part 272. The forearm inclined portion 229 may be formed to be inclined from the outer circumference of the forearm portion 220 toward the outer circumference of the inner joint portion 272.

The upper arm inclined portion 219 may form a part of an end portion of the upper arm portion 210 at the elbow joint 202 side. The forearm inclined portion 229 may form a part of an end portion of the forearm 220 on the side of the elbow joint 202.

In addition, the upper arm inclined portion 219 and the forearm inclined portion 229 may be located inside the elbow joint 202 with respect to the direction in which the elbow joint 202 is bent. Accordingly, when the elbow joint 202 is bent, the upper arm inclined portion 219 and the forearm inclined portion 229 may be close to each other.

Meanwhile, referring to FIG. 17, a second wire guide groove 272C for guiding the second wire W2 may be formed in the elbow joint 202.

The second wire guide groove 272C may be formed on the outer circumference of the inner joint portion 272. The second wire guide groove 272C may be elongated in the circumferential direction of the inner joint portion 272. The second wire guide groove 272C may face between the upper arm inclined portion 219 and the forearm inclined portion 229. That is, the second wire guide groove 272C may be formed in a portion between the upper arm inclined portion 219 and the forearm inclined portion 229 of the outer circumference of the inner joint portion 272.

A first open groove 217 may be formed in the upper arm part 210 and a second open groove 227 may be formed in the forearm part 220. The first opening groove 217 may communicate the wire guide hole 242A and the second wire guide groove 272C. The second opening groove 227 may communicate with the second wire guide groove 272C and the mounting groove 220C in which the second wire connector WG2 is mounted.

That is, the second wire W2 passing through the wire guide hole 242A is sequentially passed through the first open groove 217, the second wire guide groove 272C, and the second open groove 227 to obtain a second wire. It can be connected to the wire connector (WG2).

The first open groove 217 may be formed between the outer circumference of the inner joint portion 272 and the first inclined portion 219. The second open groove 338 may be formed between the outer circumference of the inner joint portion 272 and the second inclined portion 229.

A mounting groove 220C (see FIG. 17) into which the second wire connector WG2 is mounted may be formed in the forearm 220.

In addition, a spring fitting groove 274 through which the outer end 280B of the elbow elastic member 280 passes may be formed in the inner joint portion 272. An elbow elastic member pressing part 273 may be formed on the forearm 220 to press the outer end 280B of the elbow elastic member 280 in the rotational direction of the forearm 220.

When the elbow joint 202 is rotated in the direction in which the elbow joint 202 is bent by the tension of the second wire W2, the elbow elastic member 280 may be elastically deformed. In more detail, the inner end 280A (refer to FIG. 17) of the elbow elastic member 280 is inserted into the groove 270A formed in the elbow joint shaft 270 and is maintained in a fixed state, and the outer end 280B is the forearm It is pressed by the elbow elastic member pressing portion 273 in the state of being inserted into the spring fitting groove 273 formed in the 220 and can rotate together with the forearm 220.

When the tension of the second wire W2 is removed, the elbow joint 202 may be extended by the restoring force of the elbow elastic member 280.

Meanwhile, a wire groove 267A may be formed on the outer circumference of the connector 260. In more detail, the wire groove 267A may be formed on the outer circumference of the second connecting body 266. The wire groove 267A may be located inside the body 120 (see FIG. 2 ).

The wire groove 267A may be formed long in the circumferential direction of the connector 260. That is, the wire groove 267A may have a circular ring shape.

The third wire W3 may be fitted in the wire groove 267A. The third wire W3 may wrap approximately the upper half of the circumference of the wire groove 267A.

When the third wire W3 is pulled downward, the connector 260 may rotate with respect to the body 120 (see FIG. 2 ).

The third wire W3 may be connected to the elastic member 179 (see FIG. 9 ). In more detail, the third wire W3 may be connected to the third wire connector WG3, and the third wire connector WG3 may be connected to the elastic member 179. However, of course, a configuration in which the third wire W3 is directly connected to the elastic member 179 is also possible.

Hereinafter, the operation of the arm assembly 200 will be described.

When the first wire W1 is pulled by the seesaw lever 190 (see FIGS. 11A and 11B ), the first wire W1 can pull the upper arm 210 or the shoulder joint 201, and the upper arm 210 ) And the shoulder joint 201 can be rotated and bent with respect to the connector 260. In this case, since the inner end 250A of the shoulder elastic member 250 is rotated and the outer end 250B is fixed, the shoulder elastic member 250 may be elastically deformed.

If the seesaw lever 190 does not pull the first wire W1, the upper arm portion 110 and the shoulder joint 201 may rotate due to the restoring force of the shoulder elastic member 250 to be opened with respect to the connector 260.

When the second wire W2 is pulled by the seesaw lever 190 (see FIGS. 11A and 11B ), the second wire W2 can pull the forearm 220 or the elbow joint 202, and the forearm 220 ) And the elbow joint 202 may be rotated and bent with respect to the upper arm 210. In this case, since the inner end 280A of the elbow elastic member 280 is fixed and the outer end 280B is rotated, the elbow elastic member 280 may be elastically deformed.

If the seesaw lever 190 does not pull the second wire W2, the forearm 210 and the elbow joint 280 may be rotated by the restoring force of the elbow elastic member 280 to be opened with respect to the upper arm 210.

When the third wire W3 is pulled by the seesaw lever 190 (see FIGS. 11A and 11B), the third wire W3 moves the connector 260 in one direction with respect to the body 120 (for example, It can be rotated by rotating backward). In this case, the elastic member 179 (see FIG. 9) may be elastically deformed and tensioned.

If the seesaw lever 190 does not pull the third wire W3, the elastic member 179 may be compressed by the restoring force and pull the third wire W3. Accordingly, the third wire W3 may rotate the connector 260 in the opposite direction (eg, forward rotation) with respect to the body 120.

20 is a view for explaining the connection relationship between the shoulder joint and the upper arm according to an embodiment of the present invention, Figure 21 is a view showing a connector and a shoulder joint according to an embodiment of the present invention, Figure 22 is a view of the present invention It is a view for explaining the configuration of a first connecting body according to an embodiment, and FIG. 23 is a view for explaining the configuration of a spring receiving cover according to an embodiment of the present invention.

As described above, the first connecting body 261 may include a first part 262 and a second part 263 connected to the first part 262 and fastened to the second connecting body 266. have.

The first part 262 may be formed at an outer end of the second part 263. The first part 262 may be formed to extend radially outward from the outer periphery of the second part 263.

The first part 262 may be located outside the body 120. The first part 262 may cover or block the arm assembly connection hole 130A formed in the body 120 from the outside.

The second part 263 may have a hollow cylinder shape that is elongated to the left and right. The second part 263 may be located inside the body 120. The second part 263 may pass through the arm assembly connection hole 130A formed in the body 120.

The first part 262 may have a protrusion 264 protruding from the opposite side of the second part 263. The joint shaft support part 256 may be connected to the protrusion part 264. That is, the protrusion 264 may connect the first part 262 and the joint shaft support part 256. The joint shaft support part 256 may be connected to the front edge of the protrusion part 264.

The protrusion 264 may include a concave surface 264A facing the rotating body 240. In more detail, the concave surface 264A may face the outer circumference of the rotating part 241. Due to the concave surface 264A, the rotating body 240 may rotate smoothly without interfering with the protrusion 264.

A hollow 265 may be formed inside the first connecting body 261. The hollow 265 may extend to the concave surface 264A. The hollow 265 may face between the joint shaft support part 256 and the shoulder elastic member 250.

A mounting groove 262A in which the protrusion 254 of the spring receiving cover 251 is mounted may be formed in the first connecting body 261. The mounting groove 262A may be formed in the first part 262 and the protrusion 264. The mounting groove 262A may be recessed from the rear of the outer circumference of the first part 262 in a radially inward direction of the first part 262.

A first fixing groove 262B to which the outer end 250B of the shoulder elastic member 250 is fixed may be formed inside the mounting groove 262A. The first fixing groove 262B may face the second fixing groove 254A formed in the protrusion 254 of the spring receiving cover 251.

A locking groove 263A into which the protrusion 255 of the spring receiving cover 251 is inserted may be formed in the first connecting body 261. The locking groove 263A may be formed in the second part 263. The locking groove 263A may be recessed from the outer circumference of the second part 263 in the radially inner direction of the second part 263. The locking groove 263A may be formed at the rear portion of the second part 263 and may communicate with the mounting groove 262A.

The second connecting body 266 may be located inside the body 120. The second connecting body 266 may surround the second part 263 of the first connecting body 261. That is, the second part 263 may be inserted into the second connecting body 266.

The second connecting body 266 may cover the locking groove 263A. Accordingly, the protrusion 255 of the spring receiving cover 251 fitted in the locking groove 263A may be located inside the second connecting body 266. Accordingly, the spring receiving cover 251 may not be separated from the connector 260.

Meanwhile, the spring receiving cover 251 may cover the shoulder elastic member 250 from the rear. The spring receiving cover 251 may rotatably support the joint shaft, more specifically, the second shaft 244 at the rear of the rotating body 240. An open hole 252A through which the second shaft 244 passes may be formed on the rear surface of the spring receiving cover 251.

Based on the length direction of the joint shafts 243 and 244, the length of the spring receiving cover 251 may be longer than the length of the joint shaft support part 256. Further, the length of the second shaft 244 may be longer than the first shaft 243 (see FIG. 19 ). This is because the shoulder elastic member 250 is embedded in the spring receiving cover 251 and connected to the second shaft 244.

A groove 244A may be formed in the second shaft 244, which is recessed in the radially inward direction of the second shaft 244 and into which the inner end portion 250A of the shoulder elastic member 250 is fitted.

The second shaft 244 may pass through the open hole 252A. The cover part 211 of the upper arm part 210 may cover the spring receiving cover 251 and the second shaft 244 from the rear.

The spring receiving cover 251 may include a cover body 252 in which the opening hole 252A is formed, and a protrusion 254 protruding from the cover body 252 in a radially outward direction. The spring receiving cover 251 may further include a protrusion 254 and a protrusion 255 stepped.

The cover body 252 may have a hollow cylinder shape with an approximately open front surface. The opening hole 252A may be formed on the rear surface of the cover body 252.

The protrusion 254 may protrude from the cover body 252 toward the body 120 of the figure 100. The protrusion 254 may cover the outer end 250B of the shoulder elastic member 250 from the rear.

A second fixing groove 254A to which the outer end 250B of the shoulder elastic member 250 is fitted and fixed may be formed in the protrusion 254. The second fixing groove 254A may face the connector 260, more specifically, the first fixing groove 262B formed in the first connecting body 261. That is, a part of the front side of the outer end portion 250B of the shoulder elastic member 250 may be fitted and fixed in the first fixing groove 262B, and a portion of the rear portion may be fitted and fixed in the second fixing groove 254A.

The protrusion 255 may extend from the protrusion 254 toward the body 120 of the figure 100. The protrusion 255 may be stepped forward with respect to the protrusion 254.

The protrusion 255 may be fitted into the locking groove 263A formed in the first connecting body 261 and may be covered from the rear by the second connecting body 266. That is, the protrusion 255 may be located inside the connector 260.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments.

The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.

Claims (20)

1. A joint rotatably connecting the movable part to the body;

   A spiral spring providing an elastic force in a direction in which the joint is extended; And

   A wire connected to the movable part and pulling the movable part or the joint in a direction in which the joint is bent,

   The joint,

   A rotating body fastened to the movable part;

   A joint shaft formed on the rotating body and connected to the spiral spring;

   A joint shaft support part rotatably supporting the joint shaft at one side of the rotating body; And

   An action robot including a spring receiving cover in which the spiral spring is embedded and disposed on the other side of the rotating body.
2. The method of claim 1,

   Action robot in which an open hole through which the joint shaft passes is formed in the spring receiving cover.
3. The method of claim 2,

   In the movable part, a cover part protruding from the movable part and covering the spring receiving cover is formed.
4. The method of claim 3,

   The cover part is an action robot covering the joint axis.
5. The method of claim 1,

   Based on the length direction of the joint shaft, the length of the joint shaft support portion is shorter than the length of the spring receiving cover.
6. The method of claim 1,

   An action robot having a wire guide groove for guiding the wire in the rotating body.
7. The method of claim 6,

   The wire guide groove is an action robot located between the joint shaft support and the spring receiving cover.
8. The method of claim 1,

   The joint axis,

   A first shaft protruding from one surface of the rotating body and supported by the joint shaft support; And

   An action robot comprising a second shaft protruding from the other surface of the rotating body and to which the spiral spring is connected.
9. The method of claim 8,

   The length of the second axis is longer than the length of the first axis action robot.
10. The method of claim 8,

    The second shaft is recessed in a radially inward direction of the second shaft and a groove is formed in which the end of the spiral spring is fitted.
11. The method of claim 1,

    The spring receiving cover,

    A cover body having an open hole through which the joint shaft passes; And

    An action robot comprising a protrusion protruding from the cover body in a radially outward direction.
12. The method of claim 11,

    Further comprising a connector for connecting the joint to the body,

    An action robot having a mounting groove in which the protrusion is mounted on the connector.
13. The method of claim 12,

    An action robot having a fixing groove in which the end of the spiral spring is fixed in the protrusion.
14. The method of claim 12,

    An action robot having a fixing groove in which the end of the spiral spring is fixed inside the mounting groove.
15. The method of claim 12,

    The joint shaft support part is formed integrally with the connector or is an action robot fastened to the connector.
16. The method of claim 12,

    The connector is formed with a hollow through which the wire passes,

    The hollow action robot toward the rotating body.
17. The method of claim 12,

    The spring receiving cover,

    Action robot further comprising a protrusion that is stepped from the protrusion and located inside the connector.
18. The method of claim 17,

    The connector,

    A first connecting body having a locking groove into which the protrusion is inserted; And

    An action robot comprising a second connecting body that is fastened to the first connecting body and covers the locking groove.
19. The method of claim 1,

    A sub joint rotatably connecting a sub movable part to the movable part;

    Further comprising a sub wire connected to the sub movable part to pull the movable part in a direction in which the sub joint is bent,

    An action robot having a wire guide hole through which the sub wire passes through the rotating body.
20. The method of claim 19,

    At least a part of the wire guide hole is an action robot located between the joint shaft support and the spiral spring.

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