WO2024144228A1 - Structure de maintien de tension de fil permettant d'assister un mouvement stable d'un joint artificiel au moyen d'une liaison ou d'un double disque - Google Patents

Structure de maintien de tension de fil permettant d'assister un mouvement stable d'un joint artificiel au moyen d'une liaison ou d'un double disque Download PDF

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Publication number
WO2024144228A1
WO2024144228A1 PCT/KR2023/021625 KR2023021625W WO2024144228A1 WO 2024144228 A1 WO2024144228 A1 WO 2024144228A1 KR 2023021625 W KR2023021625 W KR 2023021625W WO 2024144228 A1 WO2024144228 A1 WO 2024144228A1
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WO
WIPO (PCT)
Prior art keywords
wire
adjustment
link
yoke
maintaining structure
Prior art date
Application number
PCT/KR2023/021625
Other languages
English (en)
Korean (ko)
Inventor
백현우
권동수
이동호
김준환
공덕유
Original Assignee
주식회사 로엔서지컬
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020220183887A external-priority patent/KR20240102127A/ko
Priority claimed from KR1020220189914A external-priority patent/KR20240106833A/ko
Application filed by 주식회사 로엔서지컬 filed Critical 주식회사 로엔서지컬
Publication of WO2024144228A1 publication Critical patent/WO2024144228A1/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

Definitions

  • 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 one end of a first wire and a second wire are fixed to the outside of the protrusion.
  • a second wire is connected to one link and one end of the first link through a second rotation shaft, has a protrusion facing one end of the first link into which the second rotation shaft is inserted, and one end of a third wire is fixed to the outside of the protrusion.
  • a joint driving device for a robot including a link is proposed as an embodiment.
  • the number of motors and batteries required to drive a joint of a multi-link structure can be minimized, and thus the joint for a robot can be implemented in a compact and lightweight manner.
  • it provides the effect of increasing the driving force of the joint end devices for robots by increasing the power output compared to the space occupied by the multiple links.
  • Patent document 003 relates to a wire connection structure for robot joints, and includes a plurality of wires that drive the joints of the robot and a connection member that contacts the wires and guides the movement path of the wires according to the rotation of the joints. It includes a rotating assembly, wherein the connecting member is provided with a rotating shaft on a central vertical line of the vertical cross-section, and moves clockwise or counterclockwise from the bottom in contact with the wire to the top, from the rotating shaft to the wire. The distance to each point of the outer border being contacted increases sequentially. Since the movement path of the wire in contact with the connecting member is guided through the connecting member having the above shape, sagging of the wire is prevented during the process of pulling or unwinding the wire, thereby enabling more precise manipulation of the wire.
  • the rotating assembly can be rotated by connecting one drive motor to a pair of wires in contact with the connecting member, providing an economical and structural simplification effect.
  • the present invention relates to a wire tension maintaining structure for assisting stable movement of an artificial joint, comprising a plurality of artificial joints, each of the artificial joints comprising: a driving unit containing a rotational degree of freedom; supporting the outside of the driving unit; It consists of a configuration including a wire portion provided with a wire; and a tension adjustment portion that adjusts the length of the wire portion.
  • the present invention relates to a wire tension maintaining structure for assisting stable movement of an artificial joint.
  • the tension adjusting unit is configured to include an adjusting module that adjusts the length of the adjusting wire.
  • the present invention relates to a wire tension maintaining structure for assisting stable movement of an artificial joint.
  • the adjustment module includes a first sliding pulley on which a portion of the first adjustment wire is wound; and a first adjustment module including a second sliding pulley on which a portion of the second adjustment wire is wound.
  • the present invention relates to a wire tension maintaining structure for assisting stable movement of an artificial joint.
  • the length of the first link and the second link are configured to be the same.
  • the present invention relates to a wire tension maintaining structure for assisting stable movement of an artificial joint.
  • the linear displacement of the first sliding pulley and the second sliding pulley is perpendicular to the linear displacement of the rack. It consists of a configuration that operates properly.
  • the present invention relates to a wire tension maintaining structure for assisting stable movement of an artificial joint.
  • the adjustment wire is configured to be connected to the outside of the reel.
  • R is the radius of curvature of the joint
  • d is half the width of the driving part
  • B is the length of the variable part
  • Figure 2 is a cross-sectional view of an adjustment module according to an embodiment of the present invention.
  • Figure 4 is a cross-sectional view of an adjustment module according to another embodiment of the present invention.
  • Figure 5 is a cross-sectional view showing the operating state of the control module when the driving unit is tilted according to another embodiment of the present invention.
  • FIG. 6 is a detailed cross-sectional view showing in detail the operating state of the control module according to an embodiment of the present invention.
  • Figure 8 is a perspective view of a guide according to an embodiment of the present invention.
  • Figure 9 is a perspective view of a third control module and a fourth control module according to an embodiment of the present invention.
  • Figure 12 is a cross-sectional view before and after the driving unit is tilted while wires are connected to the third and fourth adjustment modules according to another embodiment of the present invention.
  • Example 1-4 In Example 1-3, the curved surface is formed to have a constant curvature.
  • the first adjustment module 410 includes a first sliding pulley 411, a first link 414, a second sliding pulley 412, a second link 415, and a pivot shaft. It may include (416).
  • the positions of the first sliding pulley 411 and the second sliding pulley 412 are expressed as top and bottom, but this is not an absolute standard, and the positions of the first adjustment wire 221 and the second adjustment wire 222 It may be determined depending on relative location.
  • Example 5-1 a portion of the wire whose direction has been changed by the first support hole 310 is wound around the first sliding pulley 411, and the second support hole A portion of the wire whose direction has been changed by 320 is wound around the second sliding pulley 412.
  • Example 4-4 the radius of the reel 421 is The radius of the gear 422 is , the lengths of the first link and the second link , the rotation angle of the driving unit is , the rotation angle of the reel When said, the following relational expression is satisfied.
  • the radius of the reel 421 and the gear 422, the rotation angle of the first link 414, the second link 415, and the drive unit 100, and the rotation of the reel 421 Angle , the relationship between the width of the first joint 110 and the second joint 120, the radius of curvature of the joint, and the length of the variable portion can be specified.
  • the first sliding pulley 411 may be located at the bottom and the second sliding pulley 412 may be located at the top.
  • the first adjustment wire 221 and the second adjustment wire 222 are adjusted by the first adjustment module 410.
  • the length decreases.
  • the first sliding pulley 411 may be located at the top and the second sliding pulley 412 may be located at the bottom.
  • the first adjustment wire 221 and the second adjustment wire 222 are adjusted by the first adjustment module 410.
  • the length increases.
  • the rotation angle of the reel 421 and the gear 422 may be driven by a separate electric motor (not shown).
  • the rotation angle of the reel 421 according to an embodiment of the present invention can be determined by considering the rotation angle of the driving unit.
  • the control module 400 includes a rotatable first disk 511; and a first crank hole protruding from one surface of the first disk 511.
  • a third adjustment module 510 including a first yoke 513 that converts the rotational movement of the first crank hole 512 into linear movement; and a rotatable second disk 521; and a second crank hole 522 protruding from one surface of the second disk 521; and a third crank hole 523
  • a fourth control module 520 including a second yoke 524 that converts the rotational movement of the second crank hole 522 and the third crank hole 523 into linear motion; and a third yoke 525 Includes ;
  • Example 7-2 In Example 7-1, the third adjustment module 510 extends from one side of the first yoke 513 in a direction parallel to the linear movement of the first yoke 513.
  • a first shaft 514 is formed;
  • control pulley 515 includes a first winding portion 516 around which the first control wire 221 and the second control wire 222 can be wound. It includes a second winding portion 517.
  • Example 7-5 In Example 7-3, the lengths of the first control wire 221 and the second control wire 222 are varied by the linear movement of the control pulley 515.
  • the first crank hole 512 may be configured to protrude from one surface of the first disk 511. As the first disk 511 rotates, the first crank hole 512 may rotate at the same angular speed as the first disk 511.
  • the first yoke 513 may be formed by being in contact with the first crank hole 512. The rotational displacement of the first crank hole 512 may be converted to a linear displacement of the first yoke 513.
  • a single control pulley 515 is expressed as including a first winding part 516 and a second winding part 517, but the control pulley ( 515) It may be composed of two pieces, and a first winding part 516 and a second winding part 517 may be provided on each of the first pulley and the second pulley.
  • This difference in configuration can be interpreted as an equivalent technical scope by those skilled in the art.
  • the second crank hole 522 and the third crank hole 523 may be configured to protrude from one surface of the second disk 521.
  • the second yoke 524 may be formed by being in contact with the second crank hole 522.
  • the rotational displacement of the second crank hole 522 may be converted to a linear displacement of the second yoke 524.
  • the positions of the second crank hole 522 and the third crank hole 523 may be formed at opposite positions, that is, opposite positions based on the center of the second disk 521.
  • Example 8-4 In Example 8-1, the first control wire 221 is fastened to the end of the second shaft 526, and the second control wire 222 is connected to the third shaft. It is fastened to the end of 527.
  • the first disk 511 and the second disk 521 rotate to crank Linear displacement of the first yoke 513, second yoke 524, and third yoke 525 may be generated by the ball.
  • the length of the first adjustment wire 221 decreases by the third adjustment module 510. do.
  • the fourth adjustment module 520 reduces the length of the first adjustment wire 221.
  • the result of whether the first control wire 221 and the second control wire 222 increase or decrease, and further, how much they increase or decrease, may be determined depending on the configuration of the control module 400.
  • Example 9-1 In Example 7-1, when the driving unit 100 is not tilted, the line connecting the center of the first disk 511 and the first crank hole 512 and the second The line connecting the crank hole 522 and the third crank hole 523 is vertical.
  • a line connecting the center of the first disk 511 and the first crank hole 512 and a line connecting the second crank hole 522 and the third crank hole 523 Not only are they perpendicular to each other, but the phases of the initial positions of the first, second, and third crank holes (512, 522, and 523) are It may need to be provided in the location of .
  • the phase at the position of the right horizontal line based on Figure 4 is set to 0, and the counterclockwise direction is set as the direction in which the phase increases.
  • Example 9-2 In Example 9-1, the driving units 100 are connected to each other. When rotating by an angle of, the first disk 511 and the second disk 521 each rotates as much as
  • Example 9-3 In Example 9-1, it includes an electric motor capable of rotating the first disk 511 and the second disk 521,
  • the magnitude of the rotational displacement of the first disk 511 and the second disk 521 caused by the electric motor is the same.
  • Rotational displacement of the first disk 511 and the second disk 521 may occur as much as half the tilt angle of the first joint and the second joint.

Landscapes

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

Abstract

La présente invention se rapporte à une structure de maintien de tension de fil permettant d'assister un mouvement stable d'un joint artificiel au moyen d'une liaison ou d'un double disque, comprenant une pluralité de joints artificiels, chacun des joints artificiels comprenant : une unité d'entraînement (100) comprenant un degré de liberté de rotation ; une unité de fil (200) comportant un fil qui supporte l'extérieur de l'unité d'entraînement (100) ; et une unité de commande de tension (300) qui règle la longueur de l'unité de fil (200).
PCT/KR2023/021625 2022-12-26 2023-12-26 Structure de maintien de tension de fil permettant d'assister un mouvement stable d'un joint artificiel au moyen d'une liaison ou d'un double disque WO2024144228A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020220183887A KR20240102127A (ko) 2022-12-26 2022-12-26 이중 디스크를 이용한 관절 구동 와이어의 장력 유지 구조체
KR10-2022-0183887 2022-12-26
KR1020220189914A KR20240106833A (ko) 2022-12-29 2022-12-29 링크를 이용한 인공 관절의 안정적인 움직임을 보조하기 위한 와이어 텐션 유지 구조체
KR10-2022-0189914 2022-12-29

Publications (1)

Publication Number Publication Date
WO2024144228A1 true WO2024144228A1 (fr) 2024-07-04

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PCT/KR2023/021625 WO2024144228A1 (fr) 2022-12-26 2023-12-26 Structure de maintien de tension de fil permettant d'assister un mouvement stable d'un joint artificiel au moyen d'une liaison ou d'un double disque

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Country Link
WO (1) WO2024144228A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11156770A (ja) * 1997-11-28 1999-06-15 Dainippon Screen Mfg Co Ltd 基板保持装置
KR101482746B1 (ko) * 2013-10-17 2015-01-14 한국과학기술원 무활차 관절의 케이블 구동 장치
JP2015159844A (ja) * 2014-02-26 2015-09-07 オリンパス株式会社 弛み補正機構、マニピュレータ及びマニピュレータシステム
JP2016512961A (ja) * 2013-02-08 2016-05-12 オリンパス株式会社 マニピュレータ
JP6265853B2 (ja) * 2014-07-10 2018-01-24 オリンパス株式会社 医療用機器

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11156770A (ja) * 1997-11-28 1999-06-15 Dainippon Screen Mfg Co Ltd 基板保持装置
JP2016512961A (ja) * 2013-02-08 2016-05-12 オリンパス株式会社 マニピュレータ
KR101482746B1 (ko) * 2013-10-17 2015-01-14 한국과학기술원 무활차 관절의 케이블 구동 장치
JP2015159844A (ja) * 2014-02-26 2015-09-07 オリンパス株式会社 弛み補正機構、マニピュレータ及びマニピュレータシステム
JP6265853B2 (ja) * 2014-07-10 2018-01-24 オリンパス株式会社 医療用機器

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