WO2023017872A1

WO2023017872A1 - Motion transmission mechanism and robot using same

Info

Publication number: WO2023017872A1
Application number: PCT/KR2021/010724
Authority: WO
Inventors: 김용재; 김도윤
Original assignee: 한국기술교육대학교 산학협력단
Priority date: 2021-08-12
Filing date: 2021-08-12
Publication date: 2023-02-16

Abstract

A motion transmission mechanism, according to the present invention, has a plurality of pulleys connected to each other and rotating with a degree of freedom about a joint, the motion transmission mechanism comprising: a main frame which has a space formed and is provided with a downwardly extending connection shaft; a joint part which is connected to the connection shaft so as to be tilted with respect to the main frame; a driving pulley part which is provided in the space so as to be axially coupled to the main frame and rotates by receiving a driving force from an actuator; and a driven pulley part which, in accordance with the rotation of the driving pulley part, slidingly moves with respect to the connection shaft or rotates in the same direction as the driving pulley part and thus rotates the joint part.

Description

Movement transmission mechanism and robot using the same

The present invention relates to a motion transmission mechanism and a robot using the same, and more particularly, to a motion transmission mechanism in which a plurality of pulleys are connected to each other to rotate with a degree of freedom around a joint and a robot using the same.

Recently, research on a motion transmission mechanism having a joint including degrees of freedom and a robot including the same has been actively conducted.

Specifically, various research institutes such as Carnegie Mellon Univ, Michigan Technology University, Arizona State University, and MIT have developed a simple structure while maintaining light weight, wide operating angle, and high control performance through mechanisms using polymer cables or mechanisms using parallel links. , research on commercialization applied to lower leg prostheses or prostheses with mass production and durability is being actively conducted.

However, mechanisms using polymer cables and conduits that are currently being studied have structural limitations in that actuators that transmit driving force must be separately disposed outside, and differential drive mechanisms using polymer cables are not suitable for transmitting high torque and The downside is that the angle is limited.

That is, the motion transmission mechanism using a wire is easy to reduce weight, but has a disadvantage in that it is difficult to transmit high torque and the structure is complicated.

In addition, the motion transmission mechanism using a parallel link has a simple structure and can have high strength and rigidity, but has a problem in that it is difficult to reduce the weight of the distal end and is not suitable for disposing an actuator that transmits a driving force above the knee.

Therefore, to solve these problems, there is a need for a method that has the advantages of both the wire drive and the parallel link drive method, but is lightweight through a simple structure and does not limit the position of the actuator that transmits the driving force.

The present invention is an invention made to solve the above-mentioned problems of the prior art,

Provides a lightweight motion transmission mechanism with two degrees of freedom while maintaining a wide operating angle and high controllability through a simple structure including a driving pulley that can rotate independently, a driven pulley, and a plurality of wires in which tension is maintained. .

In addition, the motion transmission mechanism of the present invention can vary the length of the wire and the distance between the driving pulley and the driven pulley while maintaining a wide operating angle and high control performance, and the position of the actuator that transmits the driving force can also be varied provides a mechanism for transmission of motion.

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

The motion transmission mechanism of the present invention for achieving the above object is a motion transmission mechanism in which a plurality of pulleys are connected to each other and rotated with a degree of freedom around a joint, and a main space is formed and a connecting shaft extending downward is provided. A frame, a joint part connected to the connecting shaft and tilted with respect to the main frame, a driving pulley part provided in the space so as to be shaft-coupled to the main frame and rotated by receiving a driving force from an actuator; And it may include a driven pulley that slides with respect to the connecting shaft in response to the rotation of the drive pulley or rotates in the same direction as the drive pulley to rotate the joint unit.

Here, assuming that the imaginary vertical line connecting the main frame and the connecting axis is the Z axis, the joint part is rotated based on a virtual X axis orthogonal to the Z axis or a virtual Y axis orthogonal to the X axis. can be provided.

In addition, the joint unit may include a first joint connected to the connection shaft so as to be capable of rolling with respect to the X-axis; a second joint having an upper portion coupled to the first joint so as to be pitchable with respect to the Y-axis; and a third joint symmetrical to one side and the other side in the Y-axis direction with respect to the second joint, and provided to be capable of tilting in the Y-axis direction at the second joint.

In addition, the driven pulley unit includes a first driven pulley coupled to a third joint provided on the one side; and a second driven pulley coupled to a third joint provided on the other side.

In addition, the driving pulley unit may include a plurality of unit driving pulley members coaxially coupled to the main frame.

Here, the unit driving pulley member includes a first unit pulley, a second unit pulley provided on one side of the first unit pulley to be rotatable independently of the first unit pulley, and a first unit pulley provided on one side of the second unit pulley. a third unit pulley coupled to the first unit pulley to rotate in the same direction as the unit pulley; and a fourth unit pulley provided on one side of the third unit pulley and coupled to the second unit pulley to rotate in the same direction as the second unit pulley.

In this case, the first unit pulley, the second unit pulley, the third unit pulley, and the fourth unit pulley may be continuously arranged in one direction.

In addition, the first driven pulley and the second driven pulley may be connected to the unit driving pulley member by a wire.

Here, the wire is a first wire connecting the first driving pulley and the first driven pulley, a second wire connecting the second driving pulley and the first driven pulley, and the third driving pulley and the second driven pulley. A third wire connecting the pulleys and a fourth wire connecting the fourth driving pulley and the second driven pulley may be included.

In addition, when the driving pulley unit rotates in the same direction as the first driving pulley, the second driving pulley, the third driving pulley, and the fourth driving pulley, the first driven pulley and the second driven pulley are pitched. ), and when the first drive pulley, the third drive pulley, the second drive pulley, and the fourth drive pulley rotate in opposite directions, the first driven pulley and the second driven pulley rotate in opposite directions to each other. It can slide.

Also, a motion object may be coupled to a lower end of the second joint.

On the other hand, the robot using the motion transmission mechanism of the present invention for achieving the above object can support the main frame and the ground provided with a space formed and a connecting shaft extending downward, and rotated with respect to the main frame. A support part connected to the connecting shaft, a driving pulley part provided in the space so as to be shaft-coupled to the main frame and rotating by receiving a driving force from an actuator, sliding movement with respect to the connecting shaft in response to rotation of the driving pulley part or the driving pulley It may include a driven pulley for rotating the support unit by rotating in the same direction as the unit.

The motion transmission mechanism of the present invention for solving the above problems maintains a wide operating angle and high controllability through a simple structure including a drive pulley that can rotate independently, a driven pulley, and a plurality of wires in which tension is maintained. It can have a motion transmission mechanism having two degrees of freedom while being lightweight.

In addition, the motion transmission mechanism of the present invention can have various lengths and has a driven pulley that is maintained in parallel during operation, so it can be applied to the lightweight 2DOF ankle of a humanoid robot and applied to various parts including lightweight prosthetic limbs or prosthetic hands It has the effect that this is possible.

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

1 is a diagram showing a configuration for a motion transmission mechanism according to an embodiment of the present invention;

Figure 2 is a view showing the joint portion of the motion transmission mechanism according to an embodiment of the present invention;

Figure 3 is an exploded perspective view showing a driving pulley of the motion transmission mechanism according to an embodiment of the present invention;

4 is a cross-sectional view of a drive pulley of a motion transmission mechanism according to an embodiment of the present invention;

Figure 5 is a view for explaining the driven pulley of the motion transmission mechanism according to an embodiment of the present invention;

Figure 6 is a diagram showing a configuration in which the main frame is omitted to show wires connected to the drive pulley and the driven pulley of the motion transmission mechanism according to an embodiment of the present invention;

Figure 7 is a view explaining a joint portion rotated relative to the virtual Y-axis of the motion transmission mechanism according to an embodiment of the present invention;

Figure 8 is a view for explaining a joint portion rotated relative to the virtual X-axis of the motion transmission mechanism according to an embodiment of the present invention;

9 is a view for explaining the kinematics of the motion transmission mechanism according to an embodiment according to the driving of the actuator of the present invention;

10 is a diagram for explaining a robot using a motion transmission mechanism according to another embodiment of the present invention.

*<Description of code>

100: joint part

200: drive pulley

300: driven pulley

400: wire

500: guide unit

600: mainframe

Hereinafter, a preferred embodiment of the present invention in which the object of the present invention can be realized in detail will be described with reference to the accompanying drawings. In describing the present embodiment, the same name and the same reference numeral are used for the same configuration, and additional description thereof will be omitted.

1 is a view showing a configuration for a motion transmission mechanism according to an embodiment of the present invention, Figure 2 is a view showing a joint portion of the motion transmission mechanism according to an embodiment of the present invention, Figure 3 is an embodiment of the present invention 4 is an exploded perspective view showing a drive pulley of a motion transmission mechanism according to an embodiment of the present invention, and FIG. 4 is a cross-sectional view of a drive pulley of a motion transmission mechanism according to an embodiment of the present invention, and FIG. 5 is a motion transmission according to an embodiment of the present invention. 6 is a view showing a configuration in which a main frame is omitted to show wires connected to a drive pulley and a driven pulley of a motion transmission mechanism according to an embodiment of the present invention, and FIG. 7 is a view illustrating a joint part rotated on the basis of a virtual Y-axis of the motion transmission mechanism according to an embodiment of the present invention, and FIG. 8 is a view illustrating rotation on the basis of the virtual X-axis of the motion transmission mechanism according to an embodiment of the present invention. Figure 9 is a view for explaining the kinematics of the motion transmission mechanism according to one embodiment according to the driving of the actuator of the present invention, Figure 10 is a motion transmission according to another embodiment of the present invention It is a drawing for explaining a robot using a mechanism.

First, as shown in FIG. 1, the motion transmission mechanism according to an embodiment of the present invention is a motion transmission mechanism in which a plurality of pulleys are connected to each other and rotated with a degree of freedom around a joint. It may include a unit 200, a driven pulley unit 300, and a main frame 600.

The main frame 600 may be provided with a connecting shaft 660 to which the joint unit 100 can be connected.

In addition, the main frame 600 may have a body formed above the connection shaft 660, and a space 620 may be formed in the body so that the drive pulley 200 may be disposed.

Specifically, the body of the main frame 600 may have a 'c' shape with an open top, and a connecting shaft 660 may protrude from the opposite side of the open area, that is, to the lower part.

At this time, the connecting shaft 660 may be formed in a cylindrical shape, and if the guide part 500 to be described below performs a sliding function, the structure, shape, material, etc. may be varied, and the scope of rights is not limited due to this. is of course

In addition, a through hole 640 may be formed in the body of the main frame 600 so that the driving pulley 200 can be axially coupled thereto.

Specifically, a pair of through holes 640 may be provided so that both sides of the drive pulley 200 are shaft-coupled to the main frame 600 to rotate, and an actuator (not shown) is installed outside the through hole 640 to the main frame. (600).

At this time, if the actuator (not shown) is connected to the drive pulley 200 through the through hole 640 and performs a function of transmitting a driving force to the drive pulley 200, the structure, shape, material, etc. may vary, Of course, this does not limit the scope of rights.

However, for more detailed description, as an example, a harmonic gear is connected between the drive pulley 200 and the actuator connected through the through hole 640, so that the power from the axis of the actuator to the axis of the drive pulley 200 When transmitting, the driving force can be transmitted by reducing the rotational speed.

Here, the joint part 100 may be connected to the lower part of the main frame 600, and in detail, the joint part 100 may be provided so as to be able to tilt to the connecting shaft 660 formed at the lower part of the main frame 600.

Hereinafter, the joint unit 100 tilted with respect to the main frame 600 assuming virtual X, Y, and Z axes through FIG. 2 will be described in detail.

Assuming that the virtual vertical line connecting the above-described main frame 600 with an open top and the connecting shaft 660 connected to the lower part of the main frame 600 is the Z axis, the joint part 100 is the virtual vertical line Z It may be arranged to be rotated on the basis of a virtual X-axis orthogonal to the axis, or rotated on the basis of a virtual Y-axis orthogonal to the X-axis.

In detail, the joint unit 100 may include a first joint 120 , a second joint 140 , and a third joint 160 .

Here, the first joint 120 may be hinged to the connecting shaft 660 based on the virtual X axis in the vertical direction based on the virtual Z axis, and specifically, the lower part of the connecting shaft 600 is based on the virtual Z axis It may be in the shape of an inverted 'Y', bifurcated along the X-axis.

Here, a through hole may be formed in the inverted 'Y' shaped connecting shaft 660 , and the first joint 120 may be rotatably coupled to the through hole.

At this time, the lower shape of the connecting shaft 600 is the structure if the first joint 120 is rotated and the second joint 140 to be described later is hinged to the first joint 120 and can rotate in the virtual Y-axis direction may vary, and this does not limit the scope of rights.

However, a method of hinge coupling through a form as shown in FIG. 2 would be convenient.

The second joint 140 may be hinged to rotate between the first joints 120 .

Specifically, the second joint 140 may be hinged between the first joints 120 so as to rotate based on a virtual Y-axis perpendicular to the aforementioned virtual X-axis.

That is, the first joint 120 and the second joint 140 are pivotally coupled in a direction perpendicular to each other, and the assembly is hinged to the connecting shaft 660 located at the lower end of the main frame 600 As a result, the joint unit 100 can be rolled in the X-axis direction with respect to the main frame 600 and pitched in the Y-axis direction.

In other words, the joint part 100 can be operated with two degrees of freedom with respect to the main frame 600 by the hinge coupling of the connecting shaft 660, the first joint 120, and the second joint 140 described above.

Here, the third joint 160 may be provided to be symmetrical to one side and the other side in the imaginary Y-axis direction around the second joint 140 .

In this case, the third joint 160 may be tiltably provided to the second joint 140 in the Y-axis direction.

In addition, the third joint 160 may be coupled to the second joint so as to rotate along the second joint 140 based on the first joint 120 based on a virtual Y axis.

Specifically, at both ends of the second joint 140 along the Y-axis direction, through-holes are formed in the same direction as the through-holes formed in the above-described connecting shaft 660, and of the third joint 160 formed in a cross (+) shape The (-) part is hinged to the through holes formed at both ends of the second joint 140, so that the third joint 160 can be tiltably connected in the Y-axis direction with respect to the second joint 140.

At this time, the (l) shape formed perpendicular to the (-) part of the third joint 160 may be fixed to the driven pulley 300 to be described later.

According to this combination, the driven pulley 300 can be tilted in the Y-axis direction on the second joint 140, and the first joint 120 can be rotated together with the second joint 140 based on the Y-axis. can

In addition, a motion object may be connected to the lower end of the second joint 140 having the configuration described above.

Specifically, the exercise object may be a foot member (not shown) supporting the ground, and is preferably designed in consideration of the force received from the ground and the load received by the hinge joint portion of the joint unit 100.

The above-described tilt of the driven pulley 300 and the motion object will be described later, and the driving pulley 200 that transmits the driving force to the driven pulley 300 will be described in detail.

Referring to the exploded perspective view of FIG. 3 and the cross-sectional view of FIG. 4, the drive pulley 200 rotates by receiving driving force from an actuator (not shown) and is formed in the main frame 600 so as to be axially coupled to the main frame 600 ( 620, and the driving pulley unit 200 may include a unit driving pulley member 220.

The unit drive pulley member 220 may be formed in plurality and coaxially coupled to the main frame 600 .

As described above, through-holes 640 formed to face each other may be provided in the body of the main frame 600, and each of the two unit drive pulley members 220 among the plurality of unit drive pulley members 220 is formed. One side may be inserted into a pair of through holes 640 and axially coupled.

Specifically, the unit drive pulley member 220 may include a first unit pulley 222 , a second unit pulley 224 , a third unit pulley 226 , and a fourth unit pulley 228 .

At this time, one side of the first unit pulley 222 may be rotatably coupled to the through hole 640 formed on one side of the main frame 600, and may be provided to be rotatable by an actuator (not shown) from the outside. there is.

A detailed look at the first unit pulley 222, the second unit pulley 224, and the third unit pulley 226, which are sequentially arranged with each other, will be described below.

A second unit pulley 224 is formed on one side of the first unit pulley 222 to be axially coupled to the first unit pulley 222, and between the first unit pulley 222 and the second unit pulley 224 The bearings (B) may be coupled so that they can rotate independently of each other.

In addition, the third unit pulley 226 is formed on one side of the second unit pulley 224 and is coupled to the first unit pulley 222 by a connecting member 226a penetrating the second unit pulley 224. The unit pulley 222 and the third unit pulley 226 may rotate in the same direction.

At this time, a cutout groove may be formed in the second unit pulley 224 so that the connecting member 266a can pass through, and the cutout groove is the second unit pulley 224 that rotates independently of the third unit pulley 222 that rotates. As long as interference between the connecting members 226a does not occur, the structure, shape, material, etc. may vary, and thus the scope of rights is not limited.

In addition, the fourth unit pulley 228 may be provided on one side of the third unit pulley 226 and coupled to the second unit pulley 224 to rotate in the same direction as the second unit pulley 224 .

At this time, the fourth unit pulley 228 may be coupled to the second unit pulley 224 through the extension shaft 228a passing through the through hole of the third unit pulley 226 .

In addition, a plurality of bearings B are formed in the through hole of the third unit pulley 226 along the longitudinal direction of the through hole, and the third unit pulley 226 rotates independently of the fourth unit pulley 228; Interference between extension shafts 228a of the fourth unit pulley 226 penetrating through the through holes of the unit pulley 226 can be minimized.

The driven pulley 300 rotates the joint 100 by sliding about the connection shaft 660 in response to the rotation of the drive pulley 200 described above or by rotating in the same direction as the drive pulley 200. Here's how to learn more about it:

As shown in FIG. 5, the driven pulley 300 is coupled to the third joint 160 previously described in FIG. can be rotated

Specifically, the driven pulley unit 300 receives driving force from the drive pulley unit 200 and can be symmetrically formed on one side and the other side around the position of the connecting shaft 660 and coupled to the third joint to drive the pulley unit 200 ) may be pitched together with the second joint 140 based on the virtual Y-axis according to the rotation of .

In addition, as described above with reference to FIG. 2, the drive pulley 200 can be coupled to be tiltable in the Y-axis direction with respect to the second joint 140, and the first driven pulley 320 and the second driven pulley ( 340) may be included.

Here, the first driven pulley 320 may be coupled to the third joint 160 provided on one side with respect to the connecting shaft 660 so as to be tiltable in the Y-axis direction, and also to the third joint 160 provided on the other side. The second driven pulley 340 may be coupled to tilt in the Y-axis direction.

The motion transmission mechanism 10 having the configuration described above may further include a guide unit 500 .

At this time, the first driven pulley 320 and the second driven pulley 340 connected to the third joint 160 may be slid in a virtual Z-axis direction along the connecting shaft 660 by the guide unit 500 .

Specifically, when a wire 400 to be described later is connected between the drive pulley 200 and the driven pulley 300 to transmit driving force from the drive pulley 200 to the driven pulley 300, the guide unit ( 500) is provided with a fixing member fixed to the connecting shaft 660, and a bolt member is fixed to one side and the other side of the fixing member to protrude.

At this time, the guide member is coupled along the outer circumferential surfaces of the driven

pulleys

320 and 340, respectively, to prevent the wire 400 from leaving the driven pulley 300, and one side at the top is one side and the other side of the fixing member. It may be provided so that it can be slid in contact with.

In addition, the guide member may be provided with a long hole provided at a portion in contact with one side and the other side of the fixing member so that the bolt member slides along the long hole.

At this time, the long hole may vary in shape, material, and size as long as the range of sliding in the Z direction of the first driven pulley 320 and the second driven pulley 340 with respect to the connecting shaft 660 can be set. However, when the guide member 500 slides in the Z-axis direction, it will be convenient that both ends of the long hole are curved in the Z-axis direction in order to minimize abrasion of the long hole and the bolt.

As the guide part 500 slides along the connecting shaft 660, the driven

pulleys

320 and 340 coupled to the lower part of the guide part 500 are also constrained in the virtual Y-axis direction, so that the virtual movement along the guide part 500 can be slid in the Z-axis direction of

As described above, the movement of the first driven pulley 320 and the second driven pulley 340 provided to be tilted at the third joint 160 in the virtual Y-axis direction can be restricted by the guide unit 500.

Therefore, when the first driven pulley 320 and the second driven pulley 340 are horizontal to each other based on the plane where the virtual X axis and the virtual Y axis meet, when the first driven pulley 320 descends, the joint The second joint 140 of the part 100 is tilted in the opposite direction of the first driven pulley 320 that has descended on the basis of the virtual X axis, and the second driven pulley 340 is moved to a position higher than the initial position. can

The detailed operation process of the guide part 500 will be described later, and the drive pulley part 200 and the driven pulley part 300 are connected to each other through a wire 400 through FIG. A detailed description of the configuration for transmitting and receiving the driving force by being connected to is as follows.

The wire 400 connects between the plurality of unit drive pulley members 220 and the first driven pulley 320 and the second driven pulley 340, and the first driven pulley ( 320) and the second driven pulley 340 may be rotated or slid in a virtual Z-axis direction.

Specifically, the wire 400 may include a first wire 420, a second wire 440, a third wire 460, and a fourth wire 480.

The first wire 420 may connect the first driving pulley 222 and the first driven pulley 320, and the second wire 440 may connect the second driving pulley 224 and the first driven pulley 320. can

At this time, the third wire 460 can connect the third driving pulley 226 and the second driven pulley 340, and the fourth wire 480 connects the fourth driving pulley 228 and the second driven pulley 340. can connect

Here, for detailed description, it is assumed that the position where the first wire 420 and the fourth wire 480 are formed in FIG. 6 is on the 'front side' of the position where the second wire 440 and the third wire 460 are formed. Assuming, the first wire 420 is fixed to the rear side of the first drive pulley 222 and wound toward the front side, and the wound wire is reconnected to the front side of the first driven pulley 320 so that the first drive pulley 222 ) It is possible to transmit the driving force to the front side of the first driven pulley 320 in response to the rotation of.

In addition, the second wire 440 is fixed to the front side of the second driving pulley 224 and wound around the rear side, and the wound wire is connected to the rear side of the first driven pulley 320 again to form the second driving pulley 224. In response to rotation, driving force may be transmitted to the rear side of the first driven pulley 320 .

In addition, the third wire 460 is fixed to the front side of the third drive pulley 226 and wound around the rear side, and the wound wire is connected to the rear side of the second driven pulley 340 again to form the third drive pulley 226. In response to rotation, driving force may be transmitted to the rear side of the second driven pulley 340 .

In addition, the fourth wire 480 is fixed to the front side of the fourth driving pulley 228 and is wound from the rear side to the front side along the fourth driving pulley 228, and then the fourth driving pulley 228 is wound on the front side. It is connected to the front side of the second driven pulley 340 again and can transmit driving force to the front side of the second driven pulley 320 in response to the rotation of the fourth driving pulley 226 .

Here, if the driven pulley 300 slides with respect to the connecting shaft 660 according to the rotation of the driving pulley 200 or the driven pulley 300 rotates in the same direction as the driving pulley 200, the driving pulley Of course, the scope of rights is not limited due to the fixed position of the wire 400 fixed and wound around the unit 200 and connected to the driven pulley unit 300.

However, it will be convenient that the first, second, third, and

fourth wires

420, 440, 460, and 480 are wound around the drive pulley 200 by a predetermined length in response to rotation by receiving driving force from the actuator.

As shown in FIG. 7, a closer look at the principle of pitching based on the virtual Y-axis direction of the motion transmission mechanism 10 having the above configuration based on the rotation of the drive pulley 200 As follows.

First, when the first drive pulley 222, the second drive pulley 224, the third drive pulley 226, and the fourth drive pulley 228 rotate in the same direction, the first and second driven

pulleys

320 and 340 May be pitched based on the virtual Y-axis in the same direction as the first drive pulley 222, the second drive pulley 224, the third drive pulley 226, and the fourth drive pulley 228.

As described above, for more detailed description, the position where the first wire 420 and the fourth wire 480 shown in FIG. 7 are formed is higher than the position where the second wire 440 and the third wire 460 are formed. It can be assumed that it is on the 'front side' and the drive pulley 200 is on the 'top' of the driven pulley 300.

For example, assuming that the first drive pulley 222, the second drive pulley 224, the third drive pulley 226, and the fourth drive pulley 228 are all rotated forward by the same angle, the first drive pulley ( 222) and the first wire 420 connecting the first driven pulley 320 may move downward.

Likewise, the fourth wire 480 connecting the fourth drive pulley 228 and the second driven pulley 340 may move downward.

At this time, the second wire 440 connecting the second driving pulley 224 and the first driven pulley 320 and the third wire 460 connecting the third driving pulley 226 and the second driven pulley 340 is moved upward so that the second joint 140 and the first and second driven

pulleys

320 and 340 connected to the first joint 120 can rotate in all directions relative to the Y axis.

Conversely, assuming that the first driving pulley 222, the second driving pulley 224, the third driving pulley 226, and the fourth driving pulley 228 are all rotated rearward by the same angle, one joint 120 The connected second joint 140 and the first and second driven

pulleys

320 and 340 can rotate rearward with respect to the Y axis.

That is, for the same reason as described above, pitching of the second joint 140 is possible with respect to the Y-axis.

Meanwhile, as shown in (a) and (b) of FIG. 8, the first driving pulley 222, the third driving pulley 226, the second driving pulley 224, and the fourth driving pulley 228 are opposite to each other. When rotated in the direction, as described above in FIG. 2, the first driven pulley 320 and the second driven pulley 340 can slide in opposite directions to each other, and accordingly, the second driven pulley 320 connected to the first joint 120 The joint 140 may roll based on the X axis.

Therefore, the motion transmission mechanism 10 having the configuration as described above has a wide movable angle and a wide movable angle and It has the effect of being able to have lightweight 2 degrees of freedom while maintaining high controllability.

The motion transmission mechanism 10 as described above can be represented by Equation 1 below.

here

is an angle at which the second joint 140 rotates with respect to the virtual X axis from the initial position,

is an angle at which the second joint 140 and the driven pulley 300 are rotated based on the imaginary Y axis from the initial position,

Is the radius of the driven pulley 300,

Is the distance between the first driven pulley 320 and the second driven pulley 340,

Is the radius of the drive pulley 200,

is the angle at which the second drive pulley 224 and the fourth drive pulley 228 rotated along the axis of rotation from the initial position by receiving the driving force from the actuator A,

Is an angle at which the first drive pulley 222 and the third drive pulley 226 rotated along the axis of rotation from the initial position by receiving the driving force from the actuator A.

At this time, if the above Equation 1 is satisfied, the length of the wire 400 or the distance between the driving pulley 200 and the driven pulley 300 may vary, and thus the scope of rights is not limited.

At this time, if the joint part 100 can be tilted at a desired angle in response to the rotation of the drive pulley 200 receiving the driving force of the actuator A, as shown in FIG. 9, it is provided on both sides of the main frame 600 It can be coupled to the main frame 600, and in some cases, the actuator (A) can be provided in the vicinity of the knee in a shape different from that shown in the drawings, of course, all of these contents belong to the scope of the present invention I'd say it's natural.

Meanwhile, the motion transmission mechanism 10 having the configuration and positional relationship as described above may include a motion object (not shown).

Such a motion object may be specifically coupled to the lower end of the joint unit 100, and more specifically, may be coupled to the lower end of the second joint 140.

At this time, the motion object coupled to the lower end of the second joint 140 may perform a function of supporting the ground or holding an object, and if the function as described above is performed, various structures, shapes, materials, etc. It can be done, and the scope of rights is not limited by this, of course.

However, for a more detailed explanation, the lower leg prosthetic robot 20 including the motion transfer mechanism will be described through the bar shown in FIG. 10 .

The lower leg prosthetic robot 20 including a motion transmission mechanism according to another embodiment of the present invention may largely include a main frame 1600, a support part 1100, a driving pulley part 1200, and a driven pulley part 1300. And the drive pulley 1200 and the driven pulley 1300 may be connected by a wire 1400.

Also, the driven pulley 1300 may be slid in a virtual Z-axis direction by the guide 1500 .

Here, the main frame 1600, the drive pulley 1200, the driven pulley 1300, the wire 1400, and the guide 1500 are the main frame 600 and the drive pulley of the motion transmission mechanism 10 described above. (200), the driven pulley unit 300, the wire 400, and the guide unit 500 are identical in structure and function, so their descriptions are omitted and only the other parts will be described.

The support part 1100 may largely include a support member 1120 and a joint member 1140.

Here, the joint member 1140 performs a function of connecting the support member 1120 and the connecting shaft 1660 so that the support member 1120 tilts with respect to the main frame 1600, and the structure is the above-described motion transmission mechanism 10 Since it is identical and similar to the joint 100 of ), its structure will be omitted.

In addition, the support member 1120 may be formed at the lower end of the joint member 1140 and serves to support the ground.

At this time, if the support member 1120 performs a function of supporting the ground, the structure, shape, material, etc. may be varied, and thus, the scope of rights is not limited.

At this time, assuming that the wire 1400 bears all the loads, the method for reducing the load received by the joint member 1140 may vary, but the size of the bearing (not shown) coupled to the joint member 1140 and A method for adjusting the length of the support member 1120 would be simple.

On the other hand, the upper part of the main frame 1600 can be worn, for example, near the user's calf and used as a lower knee prostheses, extending the distance between the drive pulley 1200 and the driven pulley 1300 and connecting thereto. By extending the length of the wire 1400 to be the actuator can be changed to a prosthetic structure connected to the lower portion near the knee, of course, it is natural that the scope of rights is not limited by the coupling position of the actuator.

As described above, the preferred embodiments according to the present invention have been reviewed, and the fact that the present invention can be embodied in other specific forms without departing from the spirit or scope in addition to the above-described embodiments is a matter of ordinary knowledge in the art. It is self-evident to them. Therefore, the embodiments described above are to be regarded as illustrative rather than restrictive, and thus the present invention is not limited to the above description, but may vary within the scope of the appended claims and their equivalents.

Claims

As a motion transmission mechanism in which a plurality of pulleys are connected to each other and rotated with a degree of freedom around a joint,

A main frame in which a space is formed and a connection shaft extending downward is provided;

a joint part connected to the connecting shaft and tilted with respect to the main frame;

a drive pulley provided in the space so as to be axially coupled to the main frame and rotated by receiving a driving force from an actuator; and

Including a driven pulley that slides with respect to the connecting shaft in response to the rotation of the drive pulley or rotates in the same direction as the drive pulley to rotate the joint unit

movement transmission mechanism.
According to claim 1,

the joint part

Assuming that the virtual vertical line connecting the main frame and the connection axis is the Z axis,

characterized in that it is rotated based on a virtual X axis orthogonal to the Z axis or rotated based on a virtual Y axis orthogonal to the X axis

movement transmission mechanism.
According to claim 2,

the joint part

a first joint connected to the connection shaft so as to be capable of rolling on the basis of the X axis;

a second joint having an upper portion coupled to the first joint so as to be pitchable with respect to the Y-axis; and

And a third joint symmetrical to one side and the other in the Y-axis direction around the second joint, and provided to be tiltable in the Y-axis direction at the second joint.

movement transmission mechanism.
According to claim 3,

The driven pulley part

a first driven pulley coupled to a third joint provided on the one side; and

Characterized in that it comprises a second driven pulley coupled to the third joint provided on the other side

movement transmission mechanism.
According to claim 4,

The drive pulley

Characterized in that it comprises a plurality of unit drive pulley members coaxially coupled to the main frame

movement transmission mechanism.
According to claim 5,

The unit driving pulley member is

a first unit pulley;

a second unit pulley provided on one side of the first unit pulley to be rotatable independently of the first unit pulley;

a third unit pulley provided on one side of the second unit pulley and coupled to the first unit pulley to rotate in the same direction as the first unit pulley; and

A fourth unit pulley provided on one side of the third unit pulley and coupled to the second unit pulley to rotate in the same direction as the second unit pulley,

Characterized in that the first unit pulley, the second unit pulley, the third unit pulley, and the fourth unit pulley are continuously arranged in one direction.

movement transmission mechanism.
According to claim 6,

The first driven pulley and the second driven pulley

Characterized in that connected to the unit drive pulley member and the wire

movement transmission mechanism.
According to claim 7,

the wire

A first wire connecting the first drive pulley and the first driven pulley, a second wire connecting the second drive pulley and the first driven pulley, and connecting the third drive pulley and the second driven pulley Characterized in that it comprises a third wire and a fourth wire connecting the fourth driving pulley and the second driven pulley

movement transmission mechanism.
According to claim 8,

The drive pulley

When the first drive pulley, the second drive pulley, the third drive pulley, and the fourth drive pulley rotate in the same direction, the first driven pulley and the second driven pulley are pitched,

When the first driving pulley, the third driving pulley, the second driving pulley, and the fourth driving pulley are rotated in opposite directions, the first driven pulley and the second driven pulley slide in opposite directions to each other. characterized by

movement transmission mechanism.
According to claim 9,

Characterized in that the movement object is coupled to the lower end of the second joint

movement transmission mechanism.
A main frame in which a space is formed and a connection shaft extending downward is provided;

A support portion connected to the connecting shaft to support the ground and to be rotated with respect to the main frame;

a drive pulley provided in the space so as to be axially coupled to the main frame and rotated by receiving a driving force from an actuator; and

Comprising a driven pulley for rotating the support by sliding with respect to the connecting shaft in response to the rotation of the driving pulley or rotating in the same direction as the driving pulley

A lower leg prosthetic robot including a motion transmission mechanism.
According to claim 11,

the support

a support member for supporting the ground; and

A joint member connecting the support member and the connecting shaft so that the support member tilts with respect to the main frame.

A lower leg prosthetic robot including a motion transmission mechanism.
According to claim 12,

The joint member

Assuming that the virtual vertical line connecting the main frame and the connection axis is the Z axis,

Characterized in that the support member is provided to be rotated based on a virtual X axis orthogonal to the Z axis or rotated based on a virtual Y axis orthogonal to the X axis

A lower leg prosthetic robot including a motion transmission mechanism.
According to claim 13,

The joint member

a first joint connected to the connection shaft so that the support member can roll with respect to the X-axis;

a second joint having an upper part coupled to the first joint and a lower part coupled to the support member so that the support member can be pitched with respect to the Y-axis; and

And a third joint symmetrical to one side and the other in the Y-axis direction around the second joint, and provided to be tiltable in the Y-axis direction at the second joint.

A lower leg prosthetic robot including a motion transmission mechanism.
According to claim 14,

The driven pulley part

a first driven pulley coupled to a third joint provided on the one side; and

Characterized in that it comprises a second driven pulley coupled to the third joint provided on the other side

A lower leg prosthetic robot including a motion transmission mechanism.
According to claim 15,

The drive pulley

Characterized in that it comprises a plurality of unit drive pulley members coaxially coupled to the main frame

A lower leg prosthetic robot including a motion transmission mechanism.
According to claim 16,

The unit driving pulley member is

a first unit pulley;

a second unit pulley provided on one side of the first unit pulley to be rotatable independently of the first unit pulley;

a third unit pulley provided on one side of the second unit pulley and coupled to the first unit pulley to rotate in the same direction as the first unit pulley; and

A fourth unit pulley provided on one side of the third unit pulley and coupled to the second unit pulley to rotate in the same direction as the second unit pulley,

Characterized in that the first unit pulley, the second unit pulley, the third unit pulley, and the fourth unit pulley are continuously arranged in one direction.

A lower leg prosthetic robot including a motion transmission mechanism.
According to claim 17,

The first driven pulley and the second driven pulley

Characterized in that connected to the unit drive pulley member and the wire

A lower leg prosthetic robot including a motion transmission mechanism.
According to claim 18,

the wire

A first wire connecting the first drive pulley and the first driven pulley, a second wire connecting the second drive pulley and the first driven pulley, and connecting the third drive pulley and the second driven pulley Characterized in that it comprises a third wire and a fourth wire connecting the fourth driving pulley and the second driven pulley

A lower leg prosthetic robot including a motion transmission mechanism.
According to claim 19,

The drive pulley

When the first drive pulley, the second drive pulley, the third drive pulley, and the fourth drive pulley rotate in the same direction, the first driven pulley and the second driven pulley are pitched,

When the first drive pulley, the third drive pulley, the second drive pulley, and the fourth drive pulley are rotated in opposite directions, the first driven pulley and the second driven pulley slide in opposite directions to each other characterized by

A lower leg prosthetic robot including a motion transmission mechanism.
According to claim 20,

the actuator

It is fixed to the outside of the main frame and transmits a driving force to the driving pulley through a through hole formed in the main frame.

A lower leg prosthetic robot including a motion transmission mechanism.
According to claim 21,

The actuator is provided in plurality,

Characterized in that the neighboring unit drive pulley members receive driving force from different actuators

A lower leg prosthetic robot including a motion transmission mechanism.