WO2024122730A1 - Dispositif d'articulation rotatif pour entraîner un câble de robot pouvant être porté sur soi - Google Patents

Dispositif d'articulation rotatif pour entraîner un câble de robot pouvant être porté sur soi Download PDF

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Publication number
WO2024122730A1
WO2024122730A1 PCT/KR2022/021142 KR2022021142W WO2024122730A1 WO 2024122730 A1 WO2024122730 A1 WO 2024122730A1 KR 2022021142 W KR2022021142 W KR 2022021142W WO 2024122730 A1 WO2024122730 A1 WO 2024122730A1
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WO
WIPO (PCT)
Prior art keywords
cable
rotary joint
wearable robot
joint device
driven rotary
Prior art date
Application number
PCT/KR2022/021142
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English (en)
Korean (ko)
Inventor
서정욱
정혜인
임승범
최원태
Original Assignee
경북대학교 산학협력단
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Application filed by 경북대학교 산학협력단 filed Critical 경북대학교 산학협력단
Publication of WO2024122730A1 publication Critical patent/WO2024122730A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links

Definitions

  • the present invention relates to a cable-driven rotary joint device for a wearable robot. More specifically, the present invention relates to a cable-driven rotary joint device for a wearable robot, and more specifically, to enable two-way cable driving of the joint using only one motor and to enable amplification of torque through repetitive routing applied to the rolling joint. This relates to an improved cable-driven rotary joint device for wearable robots.
  • These robots are composed of a plurality of joint assemblies to enable joint movements similar to the joint movements of the human body, and robot joint wires (or cables) having a plurality of joint assemblies are connected to form a plurality of joint assemblies through actions such as pulling the wire. Rotational movement can be activated.
  • a method of connecting a motor to each of the wires and operating a rotational movement between the joint assemblies according to the operation of the motor may be used.
  • the rotary joints of existing wearable robots generally have problems in that motors, including reducers and sensors, are directly connected, which increases the volume of the joints, causing limitations in movement, and increases the moment of inertia, making it difficult to move lightly and quickly.
  • Patent Document 1 Collision detection device for an articulated robot disclosed in Publication No. 10-2015-0080050 (published on July 9, 2015) and collision detection method using the same
  • the present invention was created to solve the above problems, and is a wearable robot that enables two-way cable driving of joints using only one motor and amplification of torque through repetitive routing applied to rolling joints.
  • the purpose is to provide a cable-driven rotary joint device.
  • the cable-driven rotary joint device for a wearable robot of the present invention to achieve the above object,
  • a link member installed and linked to the joint portion
  • It is characterized in that it includes a cable driving part that is connected to the other side of the driving cable and drives the driving cable to drive the link member.
  • the cable driving unit includes a fixing member fixed to the base; an operating member installed to operate in conjunction with the fixing member; a drive motor installed on the fixing member; and a pulley coupled to the drive motor; It further includes a motor cable, one side of which is installed on the pulley, and both ends of which are installed on the operating member to operate the operating member.
  • both ends of the drive cable are fixedly installed on the operating member.
  • the fixing member and the operating member are in contact with each other to form a rolling surface that allows rolling movement, and an intermediate link is provided at the center of the fixing member and the operating member to maintain the distance between the rolling surfaces.
  • the intermediate link is rotated by the drive motor.
  • the center of the operating member and the fixing member further includes a pair of gears that are engaged and driven.
  • a sun gear installed at the center of the fixing member; a planetary gear installed at the center of the operating member and engaged with the sun gear; It further includes a ring gear that meshes with the planetary gear and causes the planetary gear to rotate.
  • the cable driving unit includes a fixing member fixed to the base; a drive motor installed on the fixing member; a pair of non-circular rotating bodies driven by the driving motor; Pulleys each installed on the non-circular rotating body; wherein both ends of the drive cable are respectively installed on the pulleys and driven.
  • the non-circular rotating body is made of one of a non-circular gear and a cam.
  • the drive cable is installed separately into two first and second cables, and one end of the first and second cables is connected to the link member, and is connected by a reciprocating routed cable for torque amplification.
  • the other ends of the first and second cables are connected to the operating member and are connected to each other by a reciprocating routed cable for speed amplification.
  • a gravity compensation spring for mechanical gravity compensation is installed in the base, and one end of the first gravity compensation spring is extended to the link member to form a gravity compensation cable, and the gravity compensation cable reciprocates. It consists of routed cables.
  • the joint part is made of one of a rotary joint, a continuum joint, and a rolling joint.
  • bidirectional cable driving of the joint is possible using only one motor, torque can be amplified through repetitive routing cables applied to the rolling joint, and rotation is possible based on a single rotation axis.
  • FIG. 1 is a configuration diagram of a cable-driven rotary joint device for a wearable robot according to a first embodiment of the present invention.
  • Figure 2 is a detailed view of the cable driving part of Figure 1.
  • Figure 3 is a configuration diagram of a cable driving part of a cable-driven rotary joint device for a wearable robot according to a second embodiment of the present invention.
  • Figure 4 is a configuration diagram of a cable driving part of a cable-driven rotary joint device for a wearable robot according to a third embodiment of the present invention.
  • Figure 5 is a configuration diagram of a cable driving part of a cable-driven rotary joint device for a wearable robot according to a fourth embodiment of the present invention.
  • Figure 6 is a configuration diagram of the cable driving part of the cable-driven rotary joint device for a wearable robot according to the fifth embodiment of the present invention.
  • Figure 7 is a configuration diagram of the cable driving part of the cable-driven rotary joint device for a wearable robot according to the sixth embodiment of the present invention.
  • Figure 8 is a configuration diagram of a cable-driven rotary joint device for a wearable robot according to a seventh embodiment of the present invention.
  • Figure 1 shows a configuration diagram of a cable-driven rotary joint device for a wearable robot according to a first embodiment of the present invention.
  • Figure 2 shows a detailed view of the cable drive part of Figure 1.
  • the cable-driven rotary joint device for a wearable robot includes one base 120 and a rotatable or driveable installation on one side of the base 120.
  • It is configured to include drive cables 121 and 123 and a link member 140 installed and connected to (or linked to) the first joint portion 120a.
  • the base 120 corresponds to the upper arm
  • the first joint portion ( 120a) may correspond to the elbow
  • the link member 140 may correspond to the forearm.
  • the cable driving unit 1 may correspond to a shoulder.
  • the cable drive unit 1 includes a fixing member 20a fixed to the base 120 and an operating member installed to operate in conjunction with the fixing member 20a. (20), an actuator or drive motor (M) installed on the fixing member (20a), and a spool or pulley (105), one side of which is installed on the pulley (105) and both ends of which are installed on the operating member (20) for operation. It is configured to include a motor cable 111 that operates the member 20.
  • the drive cables 121 and 123 are installed separately into two first and second cables 121 and 123, and one end of the first and second cables 121 and 123 is fixedly installed on the operating member 20 of the cable drive unit 1.
  • first and second cables 121 and 123 are connected to the link member 140 and installed to drive the link member 140.
  • the other end of the first cable 121 of the drive cables 121 and 123 may be extended in the form of a routing cable 192 on one side of the link member 140, and the other end of the second cable 123 may be formed to extend to one side of the link member 140. Similarly, on the other side of the link member 140, it may be formed to extend in the form of a routing cable 191.
  • the fixing member 20a and the operating member 20 may contact each other to form a rolling surface 21 that allows rolling movement.
  • the cable drive unit 1 corresponding to the motor drive side joint may be formed in the form of a rolling joint. Because of this, a rolling motion can be performed through the portion where the fixing member 20a formed as the rolling surface 21 and the operating member 20 come into contact with each other.
  • a gravity compensation spring 122 is installed on the base 120 for mechanical gravity compensation, and one end of the gravity compensation spring 122 is extended and installed on the link member 140 to form a gravity compensation cable 193. can do.
  • the gravity compensation cable 193 is made up of a reciprocating routed cable, enabling torque amplification.
  • Figure 3 shows a cable driving unit of a cable-driven rotary joint device for a wearable robot according to a second embodiment of the present invention.
  • the cable-driven rotary joint device for a wearable robot connects the other ends of the first and second cables 121a and 123a of the cable drive unit 3 to the operating member 20. It can be installed connected, but can be installed connected with a round-trip routed cable to amplify speed.
  • a roller, pulley, or idler 11 may be installed to wind the first and second cables 121a and 123a into a reciprocating routed cable.
  • Figure 4 shows a cable driving unit of a cable-driven rotary joint device for a wearable robot according to a third embodiment of the present invention.
  • the cable-driven rotary joint device for a wearable robot includes a fixing member 20a and an operating member to maintain the distance between the rolling surface 21 of the cable driving unit 4.
  • An intermediate link (carrier) 41 is provided at the center of (20), and this intermediate link (41) can be rotated by a drive motor (M).
  • Figure 5 shows a cable driving unit of a cable-driven rotary joint device for a wearable robot according to a fourth embodiment of the present invention.
  • the cable driving unit 5 of the cable-driven rotary joint device for a wearable robot may further include a pair of gears 42.
  • the pair of gears 42 may be added to the above-described third embodiment of FIG. 4 to enable constant or stable rotation. there is.
  • Figure 6 shows a cable driving unit of a cable-driven rotary joint device for a wearable robot according to a fifth embodiment of the present invention.
  • a sun gear 93 installed at the center of the fixing member 20a and , a planetary gear 92 installed in the center of the operating member 20 and meshed with the sun gear 93, and a ring gear meshed with the planetary gear 92 to enable the planetary gear 92 to perform a certain circular motion ( 91) is included.
  • the operating member 20 makes a constant rolling motion.
  • the difference from the first embodiment is the pulley 105.
  • the motor cable 111 instead of the motor cable 111, a different configuration was applied to ensure stable movement.
  • Figure 7 shows the cable driving unit of the cable-driven rotary joint device for a wearable robot according to the sixth embodiment of the present invention.
  • the cable drive unit 7 of the cable-driven rotary joint device for a wearable robot includes a fixing member 80 fixed to the base 120, and this fixing member 80. ), a driving motor (M) installed in the drive motor (M), a pair of non-circular rotating bodies (82) rotationally driven by the driving motor (M), and a pulley or roller (81) each installed on the non-circular rotating bodies (82) It is composed including.
  • both ends of the drive cables 121 and 123 are respectively installed on the pulley 81 and driven.
  • non-circular rotating body 82 may be formed of a non-circular gear or cam.
  • drawing number 11 which is not explained in the drawing, indicates a roller, pulley, or idler that guides the cable.
  • Figure 8 shows the second joint of the cable-driven rotary joint device for a wearable robot according to the seventh embodiment of the present invention.
  • the seventh embodiment of FIG. 8 differs from the first embodiment of FIG. 1 only in the configuration of the main portion of the second joint, which will be described later, and other configurations are the same, and description of the same configuration will be omitted here. .
  • the second joint portion 120b of the cable-driven rotary joint device for a wearable robot according to the seventh embodiment of the present invention may be configured as a continuum joint.
  • the base 120 and the link member 140a are connected with a connecting member 61 made of a flexible or soft material, so that the link member 140a is driven (or moved).
  • the material of the connecting member 61 is not limited to a specific material as long as it is elastic and durable (eg, polyurethane, etc.).
  • first joint 120a of FIG. 1 is a link-type rotary joint
  • second joint 120b is a continuum joint.
  • first and second joints 120a and 120b it is possible to configure a rolling joint capable of rolling movement like the cable drive unit of the various embodiments already described above, and the rolling joint includes a gear, an intermediate link, Or/and a reciprocating routing cable may be further configured.
  • the cable-driven rotary joint device for a wearable robot according to the present invention as described above is composed of a lightweight rotary joint configuration capable of cable driving and can be applied to wearable robots, and is used in various types of industrial manipulators, walking robots, service robots, etc. It can be easily applied to robots.
  • the cable-driven rotary joint device for a wearable robot is equipped with two joints connected in series in a wearable robot, a cable drive device and a gravity compensation device for driving them, and one drive motor (or actuator). Bidirectional cable operation of the joint is possible using only (M).
  • the cable-driven rotary joint device for wearable robots can amplify torque or speed through repetitive routing cables applied to general rolling joints, and rotates about a single rotation axis, making it very suitable for wearable robots.
  • the cable-driven rotary joint device for a wearable robot can operate independent joints by eliminating motion interference between joints even when applied to a plurality of joints connected in series.
  • the cable-driven rotary joint device for a wearable robot has the characteristics of a general rotary joint and is therefore suitable for the application of a mechanical gravity compensation mechanism.

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

Abstract

La présente invention se rapporte à un dispositif d'articulation rotatif pour entraîner un câble de robot pouvant être porté sur soi, le dispositif étant amélioré de telle sorte qu'un seul moteur est utilisé pour entraîner de manière bidirectionnelle un câble d'articulation et un couple peut être amplifié à travers un routage répété appliqué à une articulation à roulement. La présente invention concerne le dispositif d'articulation rotatif pour entraîner un câble de robot pouvant être porté sur soi, comprenant : une base; une partie articulation disposée au niveau de la base; un élément de liaison prévu pour être relié à la partie articulation; un câble d'entraînement dont un côté est raccordé à l'élément de liaison de sorte que l'élément de liaison est entraîné; et une partie d'entraînement de câble à laquelle l'autre côté du câble d'entraînement est raccordé de sorte que le câble d'entraînement est entraîné, ce qui permet à l'élément de liaison d'être entraîné.
PCT/KR2022/021142 2022-12-09 2022-12-23 Dispositif d'articulation rotatif pour entraîner un câble de robot pouvant être porté sur soi WO2024122730A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2022-0171374 2022-12-09
KR1020220171374A KR20240086143A (ko) 2022-12-09 2022-12-09 웨어러블 로봇용 케이블 구동 회전 관절 장치

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WO2024122730A1 true WO2024122730A1 (fr) 2024-06-13

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PCT/KR2022/021142 WO2024122730A1 (fr) 2022-12-09 2022-12-23 Dispositif d'articulation rotatif pour entraîner un câble de robot pouvant être porté sur soi

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WO (1) WO2024122730A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5590355B2 (ja) * 2010-03-24 2014-09-17 株式会社安川電機 ロボットハンド及びロボット装置
KR101482746B1 (ko) * 2013-10-17 2015-01-14 한국과학기술원 무활차 관절의 케이블 구동 장치
KR101637255B1 (ko) * 2014-12-30 2016-07-08 한국기술교육대학교 산학협력단 로봇관절 어셈블리를 포함하는 로봇 암
KR20180122310A (ko) * 2018-11-02 2018-11-12 한국과학기술원 관절 어셈블리
KR20200002583A (ko) * 2018-06-29 2020-01-08 한국전자통신연구원 내시경 케이블 구동 장치

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20150080050A (ko) 2013-12-30 2015-07-09 전자부품연구원 다관절로봇의 충돌 감지 장치 및 이를 이용한 충돌 감지 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5590355B2 (ja) * 2010-03-24 2014-09-17 株式会社安川電機 ロボットハンド及びロボット装置
KR101482746B1 (ko) * 2013-10-17 2015-01-14 한국과학기술원 무활차 관절의 케이블 구동 장치
KR101637255B1 (ko) * 2014-12-30 2016-07-08 한국기술교육대학교 산학협력단 로봇관절 어셈블리를 포함하는 로봇 암
KR20200002583A (ko) * 2018-06-29 2020-01-08 한국전자통신연구원 내시경 케이블 구동 장치
KR20180122310A (ko) * 2018-11-02 2018-11-12 한국과학기술원 관절 어셈블리

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