WO2023106731A1

WO2023106731A1 - Tension maintenance structure of joint driving wire

Info

Publication number: WO2023106731A1
Application number: PCT/KR2022/019369
Authority: WO
Inventors: 권동수; 김창균
Original assignee: 주식회사 로엔서지컬
Priority date: 2021-12-10
Filing date: 2022-12-01
Publication date: 2023-06-15
Also published as: KR20230088140A; KR102643038B1

Abstract

The present invention relates to a tension maintenance structure of a joint driving wire for assisting stable movement of artificial joints, the structure comprising: a driving unit having a plurality of artificial joints, each of the artificial joints involving a rotational degree of freedom; a wire unit having a wire for supporting the outside of the driving unit; and a tension adjustment unit for adjusting the length of the wire unit.

Description

Structure for maintaining the tension of the joint drive wire

The present invention relates to a structure for maintaining tension of a joint driving wire. More specifically, when rotational displacement of a plurality of artificial joints relative to each other occurs, the required length of a wire supporting them changes. At this time, slack may be generated in the wire or tension may be increased. This relates to a structure for maintaining tension of a joint drive wire that compensates for such an unnecessary effect.

Patent Document 001 relates to a joint driving device using a wire. A joint driving device using a wire according to an exemplary embodiment of the present invention includes a driving unit; first articular body; a second joint body rotatably coupled to the first joint body about a first hinge axis and located closer to the first joint body with respect to the driving unit; One end is fixed to the second joint body, and the other end is disposed so as to be pulled by the driving unit, and when pulled, a portion of the first joint body is rotated around the first hinge axis, and wraps around the outer surface of the first joint body Provided, including a first wire disposed and a first wire guide formed on the outer surface of the first joint body so that the first wire is mounted on the outer surface of the first joint body when the first wire is pulled.

Patent Document 002 relates to a joint driving device, which has a base, a protrusion connected to the base through a first rotation shaft, and into which the first rotation shaft is inserted, and having one end of a first wire and a second wire fixed to the outside of the protrusion. A second link connected to one end of the first link through a second rotation shaft, facing the first link and having a protrusion into which the second rotation shaft is inserted, and having one end of the third wire fixed to the outside of the protrusion. A joint driving device for a robot comprising a link is proposed as an embodiment. According to the present invention, it is possible to minimize the number of motors and batteries required to drive the joint of the multi-link structure, and accordingly, the joint for the robot can be implemented in a small size and light weight. In addition, by increasing the power output compared to the space occupied by the multiple links, the effect of increasing the driving force of the joint end device for robots is provided.

Patent Document 003 relates to a wire connection structure for a robot joint, which includes a plurality of wires for driving joints of a robot and a connecting member that contacts the wires and guides a movement path of the wires according to rotation of the joints. A rotating assembly; wherein the connecting member is provided with a rotating shaft on a central vertical line of a vertical cross section, and proceeds in a clockwise or counterclockwise direction from the lower end to the upper end in contact with the wire, thereby rotating the wire and the wire from the rotating shaft. The distance to each point of the contacted outer edge increases sequentially. Since the moving path of the wire in contact with the connecting member is guided through the connecting member having the shape as described above, the wire is prevented from being stretched in the process of pulling or unwinding the wire, so that more precise manipulation of the wire is possible. In addition, it is possible to rotate the rotating assembly by connecting one drive motor to a pair of wires in contact with the connecting member, providing an effect that is economical and can simplify the structure.

Patent Document 004 relates to a modular robot joint system using wires and a robot joint device using wires. A robot joint device according to the present invention includes a main frame, a joint module rotatably installed on the main frame and performing joint motion, a first wire and a second wire having one side connected to the joint module, respectively, and the first wire A first wire driving module connected to the other side of the joint module and pulling the first wire so that the joint module rotates clockwise, and the second wire connected to the other side of the second wire so that the joint module rotates counterclockwise. a second wire driving module that pulls; The first wire driving module and the second wire driving module pull the first wire and the second wire, respectively, to adjust the stiffness of the joint motion of the joint module by the tension formed in the first wire and the second wire. and; As the first wire driving module and the second wire driving module are driven in opposite directions, the joint module moves clockwise or counterclockwise by a pulling force of any one of the first wire and the second wire. It is characterized by joint movement. Accordingly, it is possible to create joint motion by forming a joint structure using a tension combination of the first wire and the second wire of the pair, and to adjust the structural joint stiffness from the tension applied to the joint module This provides possible effects.

[Prior art literature]

[Patent Literature]

(Patent Document 1) KR 10-2239114 (registration date: April 06, 2021)

(Patent Document 2) KR 10-1280356 (registration date: June 25, 2013)

(Patent Document 3) KR 10-2047327 (registration date: November 15, 2019)

(Patent Document 4) KR 10-1710256 (registration date: February 20, 2017)

An object of the present invention is to provide a wire tension maintaining structure that compensates for the generation of slack or the increase in tension of a support wire that changes according to the rotation of an artificial joint.

The present invention relates to a structure for maintaining tension of a joint drive wire for assisting stable movement of an artificial joint, and includes a plurality of artificial joints, each of which includes a driving unit having a rotational degree of freedom; an outer side of the driving unit. A wire unit having a wire supporting the; and a tension adjusting unit for adjusting the length of the wire unit.

The present invention relates to a structure for maintaining tension of a joint drive wire for assisting stable movement of an artificial joint, and in the above-described invention, the wire portion includes a support wire for supporting the drive unit; and a control wire for adjusting the length of the support wire.

The present invention relates to a structure for maintaining the tension of a joint drive wire for assisting the stable movement of an artificial joint, and in the above-described invention, the tension control unit capstone pulley for changing the direction of the wire; configuration comprising a made up of

The present invention relates to a structure for maintaining the tension of a joint drive wire for assisting stable movement of an artificial joint, and in the above-described invention, the tension control unit includes an adjustment module for adjusting the length of the control wire. made up of

The present invention relates to a structure for maintaining tension of a joint drive wire for assisting stable movement of an artificial joint, and in the above-described invention, the control module is a first gear that rotates coaxially with the capstone pulley; a second gear that rotates circumscribed with the first gear; and a slider connected to the second gear in a Scotch-Yoke manner to convert the rotational motion of the second gear into a linear reciprocating motion.

The present invention relates to a structure for maintaining the tension of a joint drive wire for assisting stable movement of an artificial joint, and in the above-described invention, the second gear includes a crank ball, and the slider is inscribed with the crank ball. A ring that delivers driving force while being provided; and an adjusting member integrally formed with the ring and reciprocating by the driving force.

The present invention relates to a structure for maintaining the tension of a joint drive wire for assisting the stable movement of an artificial joint, and in the above-described invention, the radius of the capstone pulley

, the radius of the first gear

, the radius of the second gear

And Half (d) of the width of the artificial joint is a structure for maintaining the tension of the joint driving wire that satisfies the following relational expression.

[관계식][relational expression]

The present invention relates to a structure for maintaining tension of a joint drive wire for assisting stable movement of an artificial joint, and in the above-described invention, the control module is a first gear that rotates coaxially with the capstone pulley; a second gear that rotates circumscribed with the first gear; and a slide connected to the second gear in a slide-crank manner to convert rotational motion of the second gear into linear reciprocating motion.

The present invention relates to a structure for maintaining tension of a joint drive wire for assisting stable movement of an artificial joint, and in the above-described invention, the control module is a first gear that rotates coaxially with the capstone pulley; a second gear that rotates circumscribed with the first gear; and a pinion that is connected to the second gear in a rack & pinion manner and converts the rotational motion of the second gear into a linear motion.

According to the present invention, it is possible to prevent generation of slack or increase in tension of a wire by compensating for a change in length of a support wire for rotation of a driving unit such as an artificial joint. Through this, it is possible to secure stable driving durability of the artificial joint.

1 is a cross-sectional view showing before and after driving of a driving unit according to an embodiment of the present invention.

2 is a conceptual diagram illustrating the operation of a control module using a scorch-yoke method according to an embodiment of the present invention.

3 is a conceptual diagram illustrating the operation of a control module using a scorch-yoke method according to another embodiment of the present invention.

4 is a conceptual diagram illustrating the operation of a control module using a crank-slide method according to an embodiment of the present invention.

5 is a conceptual diagram illustrating the operation of a control module using a rack and pinion method according to an embodiment of the present invention.

Figure 6 shows a graph of the rotation angle of the capstone pulley according to an embodiment of the present invention.

Hereinafter, the most preferred embodiment of the present invention will be described in detail in order to explain the present invention in detail to the extent that those skilled in the art can easily practice the present invention.

Numbers cited in the examples below are not limited to the referenced subject and can be applied to all examples. An object that exhibits the same purpose and effect as the configuration presented in the embodiment corresponds to an equivalent replacement object. The high-level concept presented in the examples includes sub-concept objects that are not described.

(Embodiment 1-1) A structure for maintaining tension of a joint driving wire for assisting stable movement of an artificial joint, comprising: a driving unit 100 having a plurality of artificial joints, each of which includes a rotational degree of freedom; , a wire unit 200 having a wire supporting the outside of the drive unit 100; and a tension adjusting unit 300 for adjusting the length of the wire unit 200.

(Embodiment 1-2) In Embodiment 1-1, the drive unit 100 includes a first joint 110 and a second joint 120 whose outer sides are in contact with each other.

(Example 1-3) In Example 1-2, the outer sides of the first and second joints 120 are formed as curved surfaces.

(Example 1-4) In Example 1-3, the curved surface is formed with a constant curvature.

The present invention may relate to a structure for maintaining tension of a joint drive wire for assisting stable movement of an artificial joint. The present invention may include a driving unit 100, a wire unit 200, and a tension adjusting unit 300. The driving unit 100 may include a first joint 110 and a second joint 120 . However, in some cases, the third and fourth joints may be further included, but only the two joints will be described since the technical concept of the present invention for two joints can be applied even when a plurality of joints are included. .

The wire unit 200 may include a wire supporting an artificial joint. The wire may support the outer surface of the artificial joint.

The tension adjusting unit 300 may be configured to prevent slack or increase in tension of the wire by adjusting the length of the wire unit 200 according to the driving of the driving unit 100 .

The outer sides of the first joint 110 and the second joint 120 may come into contact with each other. The outside of contact can be defined as a junction. The joint portion may be formed as a curved surface and may have a constant curvature. Referring to FIG. 1 , the junction may be formed with a constant curvature having a radius of R.

(Example 2-1) In Example 1-1, the wire part 200 includes a support wire 210 supporting the driving part 100; and a control wire 220 for adjusting the length of the support wire 210.

The wire unit 200 of the present invention may include a support wire 210 and a control wire 220 . The support wire 210 may be a wire that supports the driving unit 100 such as an artificial joint. The control wire 220 may be a part integrally formed with the support wire 210, and the length of the support wire 210 may be automatically adjusted according to the adjustment of the length of the control wire 220.

(Example 2-2) In Example 2-1, the support wire 210 is a first support wire 211 located in the rotation center direction when the plurality of artificial joints are rotated; and

and a second support wire 212 located on the opposite side of the first wire.

(Example 2-3) In Example 2-2, when the plurality of artificial joints are rotated, the length of the first wire decreases and the length of the second wire increases.

Referring to FIG. 1 , the support wire 210 may be divided into a first support wire 211 and a second support wire 212 . The first support wire 211 may be a support wire 210 positioned in the direction of the center of rotation when the artificial joint rotates, and the second support wire 212 may be a support wire 210 positioned on the opposite side thereof.

Therefore, when the first and second joints 120 are inclined to each other, the length of the first support wire 211 may decrease and the length of the second support wire 212 may increase.

(Example 2-4) In Example 2-1, the support wire 210 includes a variable part 213 whose length changes according to the rotation of the driving part 100; regardless of the rotation of the driving part 100. Invariant portion 214, the length of which does not change; includes.

(Embodiment 2-5) In Embodiment 2-4, the wire part 200 includes a fixed node 215 dividing the variable part 213 and the constant part 214.

The support wire 210 of the present invention may be divided into a variable part 213 and a constant part 214. The variable part 213 and the constant part 214 can be distinguished by a fixed node 215. Referring to FIG. 1 , it can be seen that a total of four variable parts 213 may exist, and the original length of the variable parts 213 is 4B in total. Referring to FIG. 1(b), the artificial joints may be inclined to each other. At this time, the length of the constant portion 214 is the same, but the length of the variable portion 213 may be changed.

The present invention may be an invention for compensating for the change in the length of the variable part 213 in the tension adjusting part 300 to minimize the change in the length of the total wire, thereby preventing the slack of the wire and blocking the increase in tension.

(Example 3-1) In Example 2-1, the tension adjusting unit 300 includes a capstone pulley 310 for changing the direction of the wire.

(Example 3-2) In Example 3-1, the capstone pulley 310 is formed in a cylindrical shape.

(Example 3-3) In Example 3-2, the wire is partially wound along the circumference of the capstone pulley 310 .

The tension adjusting unit 300 of the present invention may include a capstone pulley 310. Capstone pulley 310 may serve to change the direction of the wire. Referring to FIG. 1 , as the direction of the wire is changed along the capstone pulley 310, it may be divided into a first support wire 211 and a second support wire 212. The capstone pulley 310 may have a cylindrical shape, and a portion of the wire may be wound along the circumference of the capstone pulley 310 . However, since the capstone pulley 310 alone cannot compensate for the variable length of the variable portion 213, the purpose can be achieved by the control module 400 as will be described later.

(Example 4-1) In Example 3-1, the tension adjusting unit 300 includes a control module 400 for adjusting the length of the control wire 220.

(Example 4-2) In Example 4-1, the control module 400 includes a first gear 410 rotating coaxially with the capstone pulley 310; A second gear 420 that rotates circumscribed; A slider connected to the second gear 420 in a Scotch-Yoke method to convert the rotary motion of the second gear 420 into linear reciprocating motion (430);

The tension adjusting unit 300 of the present invention may include the adjusting module 400. The control module 400 may be configured to automatically adjust the length of the support wire 210 by adjusting the length of the control wire 220 .

The capstone pulley 310 and the first gear 410 may rotate at the same angular velocity with the same axis of rotation, but the radius may be configured differently according to the setting. The second gear 420 may rotate at the same tangential speed as that of the first gear 410 while externally contacting the first gear 410 . In addition, a slider 430 may be connected to the second gear 420 in a scorch-yoke manner to convert the rotational motion of the second gear 420 into a linear reciprocating motion.

(Example 4-3) In Example 4-2, the second gear 420 includes a crank hole 421, and the slider 430 is in internal contact with the crank hole 421 to apply a driving force. It includes a ring 431 that receives and delivers; and an adjusting member 432 formed integrally with the ring 431 and reciprocating by the driving force.

The second gear 420 may be formed with a crank hole 421 . The slider 430 may include a ring 431 and an adjusting member 432 . Referring to FIG. 2 or 3 , the crank hole 421 may be located in contact with the closed inner surface of the ring 431 . The crank ball 421 may rotate integrally with the second gear 420, and the ring 431 may be provided with a driving force by the crank ball 421. By this driving force, the adjusting member 432 can perform linear reciprocating motion.

(Example 4-4) In Example 4-2, the slider 430 adjusts the length of the control wire 220 by the reciprocating motion.

(Embodiment 4-5) In Embodiment 4-2, the control module 400 is fixed as a criterion for dividing the wire part 200 into the support wire 210 and the control wire 220. Support hole 440; includes.

(Example 4-6) In Example 4-5, the support hole 440 includes a first support hole 441 and a second support hole 442, and is integrally formed with the slider 430. and an adjusting ball 433 that reciprocates between the first and second support holes 441 and 442.

(Example 4-7) In Example 4-6, the control hole 433 is connected to the control wire 220 to adjust the length of the control wire 220 according to the reciprocating motion of the slider 430. can assist

The slider 430 of the present invention can perform linear reciprocating motion by the crank ball 421 . A control wire 220 is connected to one end of the slider 430, and the length of the control wire 220 can be adjusted by reciprocating motion of the slider 430. Referring to FIG. 2 , when an upward displacement of the slider 430 occurs, the length of the control wire 220 increases and the length of the support wire 210 may automatically decrease. Conversely, referring to FIG. 3 , when the slider 430 is displaced downward, the length of the control wire 220 decreases and the length of the support wire 210 may increase.

In addition, the adjustment module may include a support hole 440 and an adjustment hole 433 . Referring to FIG. 2 or 3 , the support hole 440 may be configured as a pair, and may be a criterion for distinguishing the control wire 220 and the support wire 210. The adjusting ball 433 may perform the same reciprocating motion as the reciprocating motion of the adjusting member 432 in a direction perpendicular to the line connecting the pair of support holes 440 . Since the control ball 433 and the control wire 220 are connected, the length of the control wire 220 can be adjusted by the displacement of the control ball 433 .

(Example 5-1) In Example 4-1, the control module 400 includes a first gear 410 rotating coaxially with the capstone pulley 310; A second gear 420 that rotates circumscribedly; a slide that is connected to the second gear 420 in a slide-crank manner and converts the rotational motion of the second gear 420 into linear reciprocating motion. (450);

(Example 5-2) In Example 5-1, a crankshaft 422 having one end fixed to the center of the second gear 420 is included, and one end is attached to the other end of the crankshaft 422. A link structure 460 is coupled and the other end is coupled to the slide 450; includes.

(Example 5-3) In Example 5-2, the slide 450 is connected to the control wire 220, and the length of the control wire 220 is adjusted by the reciprocating motion of the link structure 460. Adjust.

In the present invention, the method of adjusting the length of the control wire 220 may be diversified. In the above-described embodiment, the rotational motion of the second gear 420 may be converted into linear reciprocating motion of the slider 430 by the scorch-yoke coupling method. However, this method is not the only one that can be used, and as shown in FIG. 4 , the rotational motion of the second gear 420 can be converted into linear reciprocating motion of the slide 450 in a slide-crank method.

Specifically, the link may include a crankshaft 422 having one end fixed to the center of the second gear 420, one end coupled to the tartan of the crankshaft 422, and the other end coupled to the slide 450. Structure 460 may be included. Since the slide 450 is connected to the control wire 220, the length of the control wire 220 can be adjusted as the slide 450 reciprocates. When the length of the control wire 220 is adjusted, the length of the support wire 210 is naturally adjusted to compensate for the change in length due to joint drive.

(Example 6-1) In Example 4-1, the control module 400 includes a first gear 410 rotating coaxially with the capstone pulley 310; A second gear 420 that rotates externally; a pinion 470 that is connected to the second gear 420 in a rack and pinion method and converts the rotational motion of the second gear 420 into linear motion. );

(Example 6-2) In Example 6-1, the control wire 220 is coupled to one end of the pinion 470 and the control wire 220 is rotated by the rotation of the second gear 420. length is adjustable.

Referring to FIG. 5 , as a method of converting the rotational motion of the second gear 420 into a linear linear motion, a rack and pinion method may be used. Specifically, the role of the rack can be performed by the second gear 420 of the present invention, and the pinion 470 can be converted into linear motion by meshing with the second gear 420. The control wire 220 is coupled to one end of the pinion 470, so that the control wire 220 may be displaced while the pinion 470 is engaged with the rotation of the second gear 420, thereby generating the control wire It can be used as one of the length adjustment methods of (220).

Hereinafter, various embodiments of the present invention will be described using specific formulas for the invention of adjusting the length of the control wire 220 in a typical scorch-yoke method among methods for adjusting the length of the control wire 220.

Referring to Figure 1 (a), the first joint 110 and the second joint 120 may be supported by a wire unit 200, specifically a support wire 210.

Referring to Figure 1 (b), the first joint 110 and the second joint 120 are driven and an extension line with respect to the rotation center

When forming an angle of , the support wire 210 close to the center of rotation may be the first support wire 211, and the support wire 210 on the other side may be the second support wire 212. The first variable portion 213a of the first support wire 211 has a length

, the length of the second variable portion 213b of the second support wire 212

In this case, the lengths of the first and second variable parts 213 are varied by the driving of the joint as shown in the following equation.

(However, R means the joint radius of the artificial joint, and B means the length of the portion constituting the variable portion 213 of the support wire 210. In addition, d is the first and second joints 110, 120) The variable portion 213 of the support wire 210 may be determined by setting, and the length of the support wire 210 other than the variable portion 213 is irrelevant to the rotation of the artificial joint. can be kept constant (see Figure 1)

Accordingly, when the artificial joint rotates, the required lengths of the first and second variable parts 213 may be changed.

If R<B, then

Therefore, the length of the required wire is reduced and slack may occur in the wire,

If R > B, then

Therefore, the required length of the wire is increased, so that tension and tension of the wire may increase.

In the present invention, when slack is generated in the support wire 210 or tension is increased by driving the artificial joint corresponding to the driving unit 100, durability of the artificial joint may not be sufficiently secured, and the artificial joint may be freely driven. may be limited. Therefore, the present invention is intended to block generation of slack or increase in tension of the support wire 210 even when the driving unit 100 is driven through the tension adjusting unit 300 .

The tension adjusting unit 300 of the present invention may include a capstone pulley 310, a first gear 410, a second gear 420, and a slider 430. The capstone pulley 310 is also shown in FIG. 1 , and may be configured to divide the wire into a first support wire 211 and a second support wire 212 while changing the direction of the wire.

Referring to FIG. 2 , the first gear 410 may rotate coaxially with the capstone pulley 310 and may have a radius different from that of the capstone pulley 310 . 2 shows that it is formed with a smaller radius than the capstone pulley 310.

The second gear 420 may be configured to circumscribe the first gear 410 . The second gear 420 circumscribed with the first gear 410 may rotate at the same linear velocity as the linear velocity of the outer circumferential surface of the first gear 410, and thus rotate by the same arc length.

In addition, the second gear 420 is formed with a crank ball 421, and the crank ball 421 is integrally formed with the second gear 420 to rotate together with the second gear 420.

The slider 430 may be formed in a Scotch-yoke coupling relationship with the second gear 420 . The slider 430 may include a ring 431 and an adjustment member 432, and the ring 431 may be formed in a configuration that is inscribed with the crank hole 421. The adjusting member 432 may be integrally formed with the ring 431, and may perform linear reciprocating motion by rotation of the crank ball 421.

Referring to FIGS. 2 and 3 , an adjustment hole 433 may be formed at one end of the adjustment member 432 . The control ball 433 may be configured to be fastened with the wire, and the control ball 433 may be displaced by the reciprocating motion of the control member 432, and the wire may also be displaced in the same way. there is. A portion of the wire having the same displacement as the displacement of the control hole 433 may be defined as the control wire 220 in the present invention. Therefore, a wire other than the control wire 220 may be the support wire 210 , and the support wire 210 may serve to support the driving unit 100 .

Therefore, the present invention is the "change in required wire length" as described above by the driving of the artificial joint.

It may be a technique to eliminate slack generation and tension increase of the support wire 210 by compensating for " by changing the length of the control wire through the tension adjusting unit 300.

Hereinafter, changes in the lengths of the support wire 210 and the control wire 220 due to joint drive will be described through specific formulas.

1, when the first joint 110 and the second joint 120 do not form a straight line and form a predetermined angle, the angle formed by the extension line of the dividing line of the variable part 213

can be said At this time, the length of the first variable portion 213a of the first support wire 211 is reduced as in the following equation, and the capstone pulley 310

must be rotated counterclockwise by an angle of The relational expression for this can be described as follows.

(step,

is the radius of the capstone pulley 310.)

here,

cast

Expressed as an expression for , it is as follows.

and

The above relational expression for

and

If the relationship graph of is represented using an electronic terminal such as a computer, it can be represented as shown in FIG.

Referring to Figure 6,

and

It can be confirmed that there is a linear relationship within a small error range. In addition, as the length B value of the configuration constituting the variable portion 213 of the support wire 210 is greater than the joint radius R value of the artificial joint

and

It can be seen that the relationship of is closer to a linear relationship.

thus,

and

is a linear relationship

can be approximated by If this is expressed as a formula, it is as follows.

Now, using constraints

and

The linear relation of

The X value that becomes the coefficient of can be determined.

Therefore, the value of X and its

and

The linear relationship of can be expressed as:

Accordingly, generated according to the driving of the artificial joint

"Changes in required wire length"

" can be expressed approximately as follows.

The present invention may relate to a technique capable of compensating for the above necessary wire length change by adjusting the length of the control wire 220 through the tension control unit 300.

2 and 3, the rotation angle of the capstone pulley 310

Accordingly, the second gear 420 rotates, and the height of the crank ball 421 may be changed by the rotation of the second gear 420 .

The location of the crank hole 421 may be formed at a distance away from the center of the second gear 420 by 2 (BR) . The reason for this formation may be to conveniently compensate for a "change in required wire length" later.

As the height of the crank ball changes, the slider 430 may have the same height displacement.

The adjustment member 432 may be formed with an adjustment hole 433, and the length of the adjustment wire 220 fastened to the adjustment ball 433 may be adjusted by the height displacement of the slider 430.

1) In the case of B>R (however, R means the joint radius of the artificial joint, and B means the length of the portion constituting the variable portion 213 of the support wire 210. See FIG. 1)

Referring to FIG. 2, the capstone pulley 310

When rotated by, the height of the control ball 433 increases as follows.

Accordingly, "change in the length of the control wire 220

" is equal to twice the height change of the control ball 433 as shown in the following formula.

(step,

is the radius of the first gear 410,

Is the radius of the second gear 420.)

The present invention relates to the "change in required wire length" caused by rotation according to the driving of an artificial joint.

"Change in the length of the control wire 220"

It may be a technique for preventing wire slack and preventing tension increase by compensating for ".

Required wire length change for "1) B>R case"

is a negative number and slack is generated in the support wire 210, and the length of the control wire 220 is changed accordingly.

becomes a positive number and can compensate for this.

2) In the case of B<R (however, R means the joint radius of the artificial joint, and B means the length of the variable portion 213 of the support wire 210. See FIG. 1)

Referring to FIG. 3, the capstone pulley 310

When rotated by, the height of the control ball 433 decreases as follows.

Accordingly, "change in the length of the control wire 220

(step,

is the radius of the first gear 410,

Is the radius of the second gear 420.)

Unlike "1) B>R", "2) B <R case", the capstone pulley 310

Rotate by , the change in required wire length

is a positive number and the tension of the support wire 210 increases, and accordingly the length of the control wire 220 changes

can be a negative number to compensate for this.

Putting this together, the following equation

class

When the sum of is 0, it is possible to minimize the change in the total length of the support wire 210 and the control wire 220 caused by the drive of the joint.

이를 만족하는 텐션 유지 구조체의 제원은 아래의 조건과 같다.The specifications of the tension maintaining structure that satisfies this are as follows.

That is, in conclusion, if the configurations of the tension maintaining structure of the present invention satisfy the above specification conditions, it is possible to prevent the slack of the wire and eliminate the increase in tension as effectively as possible.

Accordingly, the present invention compensates for the change in length of the support wire for rotation of a drive unit such as an artificial joint, thereby preventing generation of slack or increase in tension of the wire, thereby ensuring stable driving durability of the artificial joint. .

Although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and is common in the art to which the present invention pertains without departing from the gist of the present invention claimed in the claims. Of course, various modifications and implementations are possible by those with knowledge of, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

[Description of code]

100: driving unit 110: first joint

120: second joint 200: wire part

210: support wire 211: first support wire

212: second support wire 213: variable part

214: constant part 215: fixed node

300: tension control unit 310: capstone pulley

400: control module 410: first gear

420: second gear 421: crank ball

430: slider 431: hook

432: control member 433: control ball

440: support hole 450: slide

460: link structure 470: pinion

Claims

In the structure for maintaining the tension of the joint drive wire for assisting the stable movement of the artificial joint,

a driving unit 100 having a plurality of artificial joints, each of which includes a rotational degree of freedom;

A wire unit 200 having a wire supporting the outside of the driving unit 100; and

Tension control unit 300 for adjusting the length of the wire unit 200; tension maintaining structure of the joint drive wire comprising a.
The method of claim 1,

The wire part 200 includes a support wire 210 supporting the driving part 100; and

Control wire 220 for adjusting the length of the support wire 210; tension holding structure of the joint driving wire containing.
The method of claim 2,

The tension control unit 300 is a capstone pulley 310 for changing the direction of the wire; tension maintaining structure of the joint drive wire including.
The method of claim 3,

The tension control unit 300 is a control module 400 for adjusting the length of the control wire 220; tension maintaining structure of the joint drive wire including.
The method of claim 4,

The control module 400 includes a first gear 410 rotating coaxially with the capstone pulley 310;

a second gear 420 rotating circumscribed with the first gear 410; and

A slider 430 connected to the second gear 420 in a Scotch-Yoke manner to convert the rotational motion of the second gear 420 into a linear reciprocating motion; retention structure.
The method of claim 5,

The second gear 420 includes a crank ball 421;

The slider 430 includes a ring 431 that receives and transmits driving force while inscribed with the crank hole 421; and

The tension holding structure of the joint driving wire including; formed integrally with the ring 431 and reciprocating by the driving force.
The method of claim 6,

Radius of the capstone pulley
, the radius of the first gear
, the radius of the second gear
And Half (d) of the width of the artificial joint is a structure for maintaining the tension of the joint driving wire that satisfies the following relational expression.

[relational expression]
The method of claim 5,

The control module 400 includes a first gear 410 rotating coaxially with the capstone pulley 310;

a second gear 420 rotating circumscribed with the first gear 410; and

The second gear 420 and the slide-crank (Slide-Crank) is connected to the slide 450 for converting the rotational motion of the second gear 420 into a linear reciprocating motion; tension of the joint drive wire including retention structure.
The method of claim 5,

The control module 400 includes a first gear 410 rotating coaxially with the capstone pulley 310;

a second gear 420 rotating circumscribed with the first gear 410; and

The second gear 420 and the pinion 470 connected in a Rack & Pinion method to convert the rotational motion of the second gear 420 into a linear motion; a structure for maintaining tension of a joint drive wire including .