KR102194508B1 - Robot Mechanism - Google Patents

Abstract

The robot mechanism according to an embodiment includes a first shaft having an elastic member provided on one side and one end of a transmission link connected to the other side, and a second shaft to which the first shaft and the other end of the transmission link are coupled. A first body; And a second body including a first link interlockingly rotated with the first axis through an elastic member housing accommodating the elastic member at one end and a second link connected to the second axis for interlocking pivoting. It can be done by doing.

Description

Robot Mechanism

The present invention relates to a robot mechanism, and more specifically, to a robot mechanism capable of operating while wearing a part of the body on a cut cutter.

It is common to expect that the number of amputated patients will decrease as they enter advanced countries. However, although the number of amputated patients due to traffic accidents or industrial accidents due to industrial accidents decreases, the number of amputated patients for treatment purposes due to aging is increasing. For example, the number of patients with diabetes mellitus, peripheral vascular disease, or malignant tumors is increasing as they enter an aging society.

Accordingly, robot mechanisms, such as prosthetic limbs or prosthetic limbs, have been developed to solve the discomfort of these amputated patients. These robot mechanisms can be largely divided into aesthetic and functional types. In particular, with the development of robot technology, functional robot mechanisms are being developed that replace body functions.

Such a robot mechanism should have multiple degrees of freedom to simulate the motion of the body, and in the case of a finger, it should be designed to be able to grip according to the shape of an object. In addition, in consideration of the fact that it is worn on the human body, it should be equipped with convenience.

Accordingly, the inventors of the present invention have invented a robot mechanism having multiple degrees of freedom and convenience to wear corresponding to the movement of the body.

One technical problem to be solved by the present invention is to provide a robot mechanism that is under actuating.

Another technical problem to be solved by the present invention is to provide a robot mechanism capable of adaptive grasp according to the shape of an object.

Another technical problem to be solved by the present invention is to provide a robot mechanism that simulates finger motion.

Another technical problem to be solved by the present invention is to provide a robot mechanism that simulates wrist motion.

Another technical problem to be solved by the present invention is to provide a robot mechanism having excellent wearability.

The technical problem to be solved by the present invention is not limited to the above.

In the robot mechanism according to an embodiment of the present invention, an elastic member is provided on one side, and a first shaft to which one end of a transmission link is connected to the other side, and a first shaft to which the other end of the transmission link is coupled. A first body including two axes; And a second body including a first link interlockingly rotated with the first axis through an elastic member housing accommodating the elastic member at one end and a second link connected to the second axis for interlocking pivoting. It can be done by doing.

According to an embodiment, as the rotational force of the first shaft rotates the elastic member housing through the elastic member, the first link may be rotated.

According to an embodiment, the elastic member housing may have a fastening hole to which the elastic member is coupled, and the elastic member may have a coil part and a linear part mounted in the fastening hole.

According to an embodiment, even when the rotation of the first link is stopped, the first shaft may continuously rotate according to the deformation of the elastic member.

According to an embodiment, when the first axis rotates according to the deformation of the elastic member, the second axis may pivot with respect to the first axis.

According to an embodiment, as the elastic member is deformed and restored, the first link may be restored to an initial position.

According to an embodiment, when the first gear that transmits the rotational force of the first actuator and the third shaft is provided, the second gear and the second gear that receive the rotational force from the first gear rotate the third axis , A rotating fifth gear, provided on the first shaft, a third gear receiving rotational force from the second gear and transmitting it to the first axis, and receiving rotational force from the fifth gear and transmitting it to the first axis It may further include a fourth gear.

According to an embodiment, further comprising a first actuator, provided between the first body and the first actuator, further comprising a coupling housing to which the first body is coupled, provided in the coupling housing, the It may further include an elastic member allowing movement in a direction different from the rotation direction of the first link.

According to an embodiment, at one end of the second body, a third body that rotates according to the pivoting of the second link is provided, and despite the rotation of the first axis, the first body of the second body When the linkage rotation of the link is stopped, the third body may rotate independently of the second body according to the pivoting of the second link connected to the second shaft.

According to an embodiment, further comprising a connection module coupled to one side of the first body, the connection module: a second actuator to generate a rotational force, the first pulley is fastened; A second pulley facing the first pulley in a first direction; A first rolling contact spaced apart from each other by a predetermined distance, wherein a 3-1 pulley facing the first pulley and the first body direction, and a 4-1 pulley facing the second pulley and the first body direction are disposed part; A 5-1 pulley disposed from the first rolling contact portion in a direction of the first body and facing the 3-1 pulley in a direction of the first body, and a direction of the 4-1 pulley and the first body A second rolling contact portion on which a 6-1 opposing pulley is disposed; And a wire sequentially connecting the first pulley, the 4-1 pulley, and the 6-1 pulley, and sequentially connecting the second pulley, the 3-1 pulley, and the 5-1 pulley. It may include.

According to an embodiment, the second rolling contact portion may rotate relative to the first rolling contact portion according to the tension control of the wire by the rotational force of the second actuator.

According to an embodiment, further comprising a wearing module fastened to one side of the body remaining after being cut, the wearing module: a soft cover directly fastened to one side of the remaining body and a hard cover covering the soft cover, The hard cover may be provided with a wire track through which a wire for supplying electricity to a first actuator that provides rotational force to the first shaft is mounted.

The robot mechanism according to an embodiment may provide a large degree of freedom with a small actuator through insufficient driving.

The robot mechanism according to an embodiment may enable adaptive motion to be implemented because the rotation of another body can be continued even when rotation of one body is stopped through deformation of the elastic member.

The robot mechanism according to an embodiment may provide a rotational force with a stable and strong force through tension control of a wire connected to pulleys formed on the rolling contact portions.

The robot mechanism according to an embodiment may provide convenience to wear by having a soft cover that is firstly worn and a hard cover that is worn secondly.

1 shows a schematic diagram of a robot mechanism according to an embodiment of the present invention.
2 is a perspective view for explaining an end module according to an embodiment of the present invention.
3 to 6 are diagrams for specifically explaining a connection relationship between a first body and a second body according to an embodiment of the present invention.
7 and 8 are views for explaining a method of operating a robot mechanism according to an embodiment of the present invention.
9 to 11 are views for explaining a connection module according to an embodiment of the present invention.
12 and 13 are views for explaining a fastening module according to an embodiment of the present invention.
14 is a view for explaining an example of wearing a fastening module according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the technical idea of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In the present specification, when a component is referred to as being on another component, it means that it may be formed directly on the other component or that a third component may be interposed between them. In addition, in the drawings, the shape and size are exaggerated for effective description of technical content.

In addition, in various embodiments of the present specification, terms such as first, second, and third are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another component. Accordingly, what is referred to as a first component in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein also includes its complementary embodiment. In addition, in the present specification,'and/or' is used to mean including at least one of the elements listed before and after.

In the specification, expressions in the singular include plural expressions unless the context clearly indicates otherwise. In addition, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, elements, or a combination of the features described in the specification, and one or more other features, numbers, steps, and configurations It is not to be understood as excluding the possibility of the presence or addition of elements or combinations thereof. In addition, in the present specification, "connection" is used to include both indirectly connecting a plurality of constituent elements and direct connecting.

Further, in the following description of the present invention, when it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted.

1 shows a schematic diagram of a robot mechanism according to an embodiment of the present invention.

Referring to FIG. 1, a robot mechanism 1000 according to an embodiment of the present invention may include at least one of a terminal module 100, a connection module 200, and a wearing module 300.

The distal module 100 according to an exemplary embodiment may function as an end-effector and may, for example, serve as a cut finger. That is, it is possible to perform a bending and spreading operation of the finger. In addition, the distal module 100 may implement an adaptive motion in which an arbitrary object is gripped, but finger links rotate independently of each other according to the shape of the object.

The connection module 200 according to an embodiment is disposed between the end module 100 and the wearing module 300, and may have at least one degree of freedom. For example, the connection module 200 may have a rotational motion range of -90 degrees to +90 degrees with one degree of freedom.

The wearing module 300 according to an exemplary embodiment may be worn on one side of the body remaining after cutting, and may have improved wear convenience and a wire track on which wires are mounted.

Hereinafter, each module will be described in detail.

2 is a perspective view illustrating a terminal module according to an embodiment of the present invention, and FIGS. 3 to 6 are diagrams for specifically explaining a connection relationship between a first body and a second body according to an embodiment of the present invention. It is a drawing. For reference, FIG. 3 is an enlarged upward view for explaining the connection relationship between the first body and the second body in detail, and FIG. 4 is an enlarged downward view. In addition, FIG. 5 is a view in which the first body and the elastic member housing are omitted to describe the internal structure, and FIG. 6 is a view in which other configurations are omitted in order to describe in detail the transmission link, the fourth gear, and the fifth gear.

2 to 6, the end module 100 according to an embodiment of the present invention may include a first body 110, a second body 160, and a third body 180.

First body 110

A first actuator 105 that generates a rotational force may be connected to the first body 110, and the second body 160 may be in a predetermined direction by the rotational force of the first actuator 105, for example, a finger It can rotate in the inward direction, which is the bending direction. In addition, the third body 300 may be connected to one side of the second body 160 and rotate in the inward direction according to the rotational force of the first actuator 105. In this case, the third body 180 may rotate in an inward direction independently from the second body 160. Hereinafter, each configuration will be described in detail.

The first body 110 may couple the first actuator 105 and the coupling housing 112 to each other. The first actuator 105 may generate a rotational force in a predetermined direction. A first gear 120 may be connected to one end of the first actuator 105. Accordingly, the first gear 120 may rotate in conjunction with the rotation of the first actuator 105. As shown in FIG. 2, the first actuator 105 may be coupled through one side of the coupling housing 112.

An elastic member 114 may be provided on one side of the coupling housing 112. The elastic member 114 may provide an allowable motion range in which the first body 110 can move about the AB axis (see FIG. 3) with respect to the first actuator 105. This means that movement corresponding to the abduction and adduction of the finger can be provided.

A first shaft 132, a second shaft 134, and a third shaft 130 may be disposed on one side of the first body 110. For example, the first shaft 132, the second shaft 134, and the third shaft 130 may extend in the width direction of the first body 110.

However, the first shaft 132 and the third shaft 130 may extend from one end of the first body 110 to the other end, and the second shaft 134 may extend to a predetermined length. .

In addition, a 2-1 gear 122, a 2-2 gear 124, a third gear 126, a fourth gear 128, and a fifth gear 129 are provided in the first body 110 Can be. In addition, the first body 110 may include an elastic member 140 as shown in FIG. 5 and a transmission link 152 as shown in FIG. 6. Hereinafter, these configurations will be described. In this case, for convenience of explanation, the first to third axes will be described.

The first shaft 132 includes the third gear 126, the elastic member 140, the elastic member housing 164 of the second link 160, the transmission link 152, and the fourth gear 128. Bonding, for example, can be axially coupled.

For example, a third gear 126 may be shaft-coupled to one end of the first shaft 132, and a fourth gear 128 may be provided at the other end of the first shaft 132.

In addition, an elastic member 140 is disposed on one side of the third gear 126 of the first shaft 132, and the elastic member 140 is accommodated in the elastic member housing 164 of the second link 160. I can.

The elastic member 140 may include, for example, a coil part 142, a first linear part 146 and a second linear part 144 integrally formed with the coil part 142 interposed therebetween. have. To this end, the elastic member 140 may be formed of a torsion spring.

The coil part 142 may be accommodated in the elastic member housing 164, and a fastening hole 166 in which the second linear part 144 is disposed may be formed in the elastic member housing 164. have. In addition, the first linear portion 146 may be exposed to the outside of the elastic member housing 164 to be coupled.

When the third gear 126 rotates, the first shaft 132 rotates, and as the first shaft 132 rotates, the elastic member 140 may rotate. As the elastic member 140 rotates, the second linear portion 166 of the elastic member 140 rotates the elastic member housing 164, so that the first link 162 may rotate. . That is, a bending motion can be implemented.

On the other hand, when the first link 162 can no longer rotate, for example, even when the first link 162 contacts an object, when the third gear 126 continuously rotates, the first When the rotation of the link 162 is stopped, as the elastic member 140 deforms, the third gear 126 and the first shaft 132 may continuously rotate. This means that the second body 160 and the third body 180 including the first link 162 rotate independently of each other to implement an adaptive motion. That is, even when the rotation of the second body 160 is stopped, the third body 180 may further rotate. A detailed description of this will be described later.

The transmission link 152 may perform a function of transmitting the rotational motion of the first shaft 132 to the second shaft 134. To this end, one end of the transfer link 152 may be connected to the first shaft 132, and the other end of the transfer link 152 may be connected to the second shaft 134. Accordingly, the second axis 134 is interlocked with the first axis 132 as one end of the transmission link 152 is pivoted around the first axis 132 So you can pivot.

The transmission link 152 is connected to one end of the second link 168 of the second body 160 from the second shaft 134, and the other end of the second link 168 is a third body When connected to 180, the third body 180 may rotate by pivoting of the transmission link 152.

Continuing to look at the first shaft 132, a fourth gear 128 may be provided on the first shaft 132.

Meanwhile, the 2-1 gear 122, the 2-2 gear 124, and the fifth gear 129 may be shaft-coupled to the third shaft 130.

The 2-1 gear 122 may rotate by meshing with the first gear 120 of the first actuator 105. That is, the rotational force of the first actuator 105 may be transmitted to the 2-1 gear 122. When the 2-1 gear 122 rotates, the third shaft 130 connected to the 2-1 gear 122 may rotate together. To this end, the 2-1 gear 122 may be formed of a bevel gear corresponding to the first gear 120.

The 2-2 gear 124 is provided on one side of the 2-1 gear 122 and may transmit the rotational force applied to the third shaft 130 to the third gear 126 described above. Accordingly, the third gear 126 can rotate.

The fifth gear 129 may be provided on the third shaft 130 and may be disposed to face the 2-2 gear 124. For example, the fifth gear 129 may be provided at one end of the third shaft 130, and the 2-2 gear 124 may be provided at the other end of the third shaft 130. have.

Since the fifth gear 129 is also axially coupled to the third shaft 130, the third shaft 130 may rotate by rotation.

The fifth gear 129 may mesh with the fourth gear 128. Accordingly, the rotational force applied to the first shaft 136 may be transmitted to the fourth gear 128 through the fifth gear 129. The first shaft 132 axially coupled to the fourth gear 128 may rotate by the rotational force applied to the fourth gear 128. Accordingly, the first link 162 of the second body 160 connected to the first shaft 132 may also rotate. In addition, as the transmission link 152 connected to the first shaft 132 pivots, the second link 168 of the second body 160 connected to the second shaft 134 and the second shaft 134 ) Can also be pivoted.

According to an embodiment, the gears may have a structure in which one side is cut. For example, as shown in FIG. 6, a part of the fourth gear 128 and the fifth gear 129 may be cut. Accordingly, since the rotation space required for rotation of the fourth gear 128 and the fifth gear 129 can be minimized, mechanical interference between each component can be minimized. In this case, the degree to which the fourth gear 128 and the fifth gear 129 are cut may be determined according to the rotation radius of the second and third bodies 160 and 180.

Second body 160

As described above, the second body 160 may rotate with respect to the first body 110 and may include a first link 162 and a second link 168.

One end of the first link 162 may be shaft-coupled to rotate in conjunction with the rotation of the first shaft 132. More specifically, as described above, an elastic member housing 164 is provided at one end of the first link 162, and the elastic member housing 164 is connected to the first shaft through the elastic member 140. Can be connected with (132).

One end of the second link 168 may be coupled to the second shaft 134 to pivot around the first shaft 132.

The other end of the first link 162 is connected to a fourth shaft 165 provided on one side of the third body 180, and the other end of the second link 168 is connected to the third body 180 ) May be connected to the fifth shaft 169 provided on one side of the).

Accordingly, the first link 162, the first shaft 132, the transfer link 152, the second shaft 134, the second link 168, the fifth shaft 169, and A parallelogram link structure to which the fourth shaft 165 is connected may be formed.

Third body 180

The third body 180 may be provided on one side of the second body 160. That is, the first body 110, the second body 160, and the third body 180 may be connected in series. However, this is only for convenience of description, and the technical idea of the present invention is not limited to the number of bodies.

The third body 180 can be rotated by rotation of the first link 162 connected through the fourth shaft 165 and pivoting of the second link 168 connected through the fifth shaft 169. I can. In this case, the fifth shaft 169 may be connected to the third body 180 through the third link 182.

The structure of the terminal module 100 according to an embodiment of the present invention has been described above. Hereinafter, a method of operating the terminal module 100 according to an embodiment of the present invention will be described with reference to FIGS. 7 and 8.

7 and 8 are views for explaining a method of operating a robot mechanism according to an embodiment of the present invention.

First, the first actuator 105 may rotate according to a control signal. In this case, the first gear 120 may rotate according to the rotation of the first actuator 105. The rotational force of the first gear 120 may be transmitted to the third shaft 130 through the 2-1 gear 122. Accordingly, the third shaft 130 may be rotated in a predetermined direction, for example, in a direction in which the body can perform a bending motion of a finger (in the direction ① in FIG. 7 ).

As the third shaft 130 rotates, it may be transmitted to the second-second gear 124 and the fifth gear 129 coupled to both ends of the third shaft 130.

When the 2-2 gear 124 rotates, the third gear 126 meshed with the 2-2 gear 124 may rotate. When the third gear 126 rotates, the first shaft 132 coupled to the third gear 126 can rotate in the same direction as the third shaft 130 (in the direction ② in FIG. 7). have.

As the first shaft 132 rotates, the elastic member 140 rotates, and the rotation of the linear portion of the elastic member 140 rotates the elastic member housing 164. Accordingly, the first link 162 on which the elastic member housing 164 is formed may also rotate. Accordingly, the first link 162 may rotate in the same direction as the first shaft 132 (in the direction ③ in FIG. 7 ).

On the other hand, by the rotation of the fifth gear 129, the fourth gear 128 meshed with the fifth gear 129 also rotates. By the rotation of the fourth gear 128, a rotational force is transmitted to the first shaft 132, and the rotational force of the first shaft 132 rotates by pivoting the second shaft 134 through the transmission link 152. I can make it. Accordingly, the second link 168 connected to the second shaft 134 may also rotate by pivoting. The third body 180 may rotate in the direction ④ shown in FIG. 7 by pivoting of the second link 168.

Accordingly, the second and third bodies 160 and 180 can perform rotational movements such as bending movements.

Meanwhile, when the object Obj contacts the first link 162 of the second body 160 as shown in FIG. 8 during rotation of the second and third bodies 160 and 180, the The rotation of the first link 162 is stopped.

In this case, even when the rotation in the direction ③ of the first link 162 is stopped, the first shaft 132 may continuously rotate. Specifically, the rotational force applied to the first shaft 132 does not further rotate the first link 162, but can be further rotated (refer to ②-1 in FIG. 8) through the deformation of the elastic member 140. have. In addition, even when the rotation in the direction ③ of the first link 162 is stopped, since the first shaft 132 rotates, the transmission link 152 and the second shaft 134 connected to the transmission link 152 are also It can be rotated further (refer to ②-2 in Fig. 8).

Accordingly, the interior angle of the parallelogram link structure may be changed. That is, since the second axis 134 pivots around the first axis 132, the second axis 134 pivots in the counterclockwise direction of FIG. 8 with respect to the first axis 132. Accordingly, since the second link 168 is pushed, the fifth axis 169 is also pivoted in the counterclockwise direction of FIG. 8 with respect to the fourth axis 165. Accordingly, the third link 182 connected to the fifth shaft 169 may rotate in the direction ④'of FIG. 8.

Accordingly, the second body 160 and the third body 180 may independently rotate. This means that the distal modules 100 according to an embodiment have separate degrees of freedom to independently rotate according to the shape of an object. That is, two degrees of freedom can be generated through one actuator. From another perspective, it means that adaptive motion is possible.

According to an embodiment, since the second body 160 and the third body 180 receive rotational force through gears, the rotational force may be provided with high transmission efficiency.

On the other hand, when the application of the rotational force through the first actuator 105 is stopped, the shape of the elastic member 140 deformed by contact with the object Obj is restored, and restoring energy may be released. Accordingly, the first link 162 may be restored to an initial position.

The terminal module 100 according to an embodiment of the present invention has been described above. Hereinafter, a connection module according to an embodiment of the present invention will be described with reference to FIGS. 9 to 11.

9 to 11 are views for explaining a connection module according to an embodiment of the present invention. For reference, FIG. 10 shows a viewpoint S1 of FIG. 9, and FIG. 11 shows a viewpoint S2 of FIG. 9.

The connection module 200 according to an embodiment of the present invention may be provided at one end of the terminal module 100. The connection module 200 may generate a rotational motion corresponding to the wrist of the body.

9 to 11, the connection module 200 includes at least one of a case 210, a first rolling contact unit 220, a second rolling contact unit 230, and a connection unit 250. I can. For example, the case 210, the first rolling contact unit 220, the second rolling contact unit 230, and the connection unit 250 may be sequentially disposed in the direction of the terminal module 100. Hereinafter, each configuration will be described.

The case 210 may be combined with one end of the wearing module 300 to be described later. In this case, a separate connection part may be provided between the case 210 and the wearing module 300, and the case 210 and the wearing module 300 may be connected through the connection part.

A second actuator may be accommodated in the case 210. A first pulley 212 may be provided on the rotation axis of the second actuator. In addition, the first pulley 212 may be provided with a second pulley 214 spaced apart in the thickness direction of the case 210. In addition, a frame 211 extending in the direction of the end module 100 may be coupled to the case 210.

The first rolling contact part 220 is disposed adjacent to the case 210 and may have a triangular shape in which a soft vertex is formed at a center in the direction of the end module 100.

Referring to FIG. 10, on one side of the first rolling contact part 220 in the S1 direction, a 3-1 pulley 222 and a 3-1 pulley 222 and the thickness direction (first pulley 212) And the 4-1 pulley 224 spaced apart from the second pulley 214 may be provided. That is, the 3-1 pulley 222 and the 4-1 pulley 224 are respectively in the direction of the end module 100 from the first pulley 212, the second pulley 214 and the case 210 Can be placed oppositely.

Referring to FIG. 11, on one side of the first rolling contact part 220 in the S2 direction, a 3-2 pulley 223 and a 3-2 pulley 223 and a 4-2 spaced apart in the thickness direction. A pulley 225 may be provided. In this case, the 3-1 pulley 222 and the 3-2 pulley 223 may be provided on the same virtual axis. In addition, the 4-1 pulley 224 and the 4-2 pulley 225 may also be provided on the same virtual shaft.

The first rolling contact part 220 may be coupled to the frame 211 through a first pin 221. In addition, the first rolling contact part 220 may be connected to the case 210 through a predetermined connection member. Accordingly, the first rolling contact part 220 may be fixed to be non-rotating with respect to the case 210.

The second rolling contact part 230 is provided to face the first rolling contact part 220, and the second rolling contact part 230 has a triangular shape in which a soft vertex is formed in the center in the direction of the case 210. Can have.

Referring to FIG. 10, on one side of the second rolling contact part 230 in the S1 direction, a 5-1 pulley 232 and a 5-1 pulley 232 and the thickness direction (the first pulley 212 and A 6-1 pulley 234 spaced apart from the second pulley 214 may be provided. That is, the 5-1 pulley 232 and the 6-1 pulley 234 face each of the 3-1 pulley 222 and the 4-1 pulley 224, but in the case 210 It may be disposed opposite to the end module 100 direction.

Referring to FIG. 11, on one side of the second rolling contact part 230 in the S2 direction, the 5-2 pulley 233 and the 5-2 pulley 233 and the thickness direction (the first pulley 212) And the 6-2th pulley 235 spaced apart from each other in the direction of separation of the second pulley 214 may be provided. That is, the 5-2 pulley 233 and the 6-2 pulley 235 face each of the 3-2 pulley 223 and the 4-2 pulley 225, but in the case 210 It may be disposed opposite to the end module 100 direction.

The second rolling contact part 230 may be rotatably coupled to the frame 211 through a second pin 231.

In addition, a seventh pulley 244 and an eighth pulley 242 may be provided on the second rolling contact part 230 to mediate a wire path between a pulley formed in the S1 direction and a pulley formed in the S2 direction.

A connection part 250 to which the end module 100 is coupled may be provided on one side of the second rolling contact part 230.

Referring to FIG. 10, according to an embodiment, a wire 270 may be formed as an outer peripheral surface of a pulley. The wire 270 sequentially passes through the first pulley 212, the second pulley 214, the 3-1 pulley 222, and the 5-1 pulley 232 in the S1 direction, and the seventh pulley 244 ) Through the S2 direction. Referring to FIG. 11, the wire 270 that has passed through the seventh pulley 244 may pass through the 5-2 pulley 233 and may be formed on the outer peripheral surface of the 3-2 pulley 223.

Further, referring again to FIG. 10, the wire 270 sequentially passes through the first pulley 212, the 4-1 pulley 224, and the 6-1 pulley 234 in the S1 direction, and the eighth pulley You can go to the S2 direction through (242). Referring to FIG. 11, the wire 270 passing through the eighth pulley 242 may pass through the 6-2th pulley 235 and may be formed on the outer peripheral surface of the 4-2th pulley 225. In addition, the wire 270 may be cross-formed in an X shape between the 3-2 pulley 223 and the 4-2 pulley 225.

10 and 11, when a rotational force is generated in the second actuator, the first pulley 212 rotates, so that the tension of the wire 270 formed on the outer peripheral surfaces of the first to eighth pulleys do. Accordingly, the second rolling contact unit 230 may rotate around the second pin 231. For example, it can rotate from -90 degrees to +90 degrees in the R direction. Accordingly, the connection unit 250 connected to the second rolling contact unit 230 may also rotate in association with it in the R direction. Therefore, the terminal module 100 connected to the connection part 250 can also be rotated.

According to an embodiment, the rotational force of the actuator is not directly transmitted from the first pulley 212 to the 5-1 pulley 232 and the 6-1 pulley 234, but the 3-1 pulley 222 And it is transmitted through the 4-1 pulley 224.

At this time, the 3-1 pulley 222 and the 4-1 pulley 224 are separated by a separation distance or more between the 5-1 pulley 232 and the 6-1 pulley 234, In the second actuator, despite the change in the rotation angle of the second rolling contact portion 230, the tension of the wire 270 directed to the 5-1 pulley 232 and the 6-1 pulley 234, Can be kept strong.

In addition, since the wire 270 is formed from the S1 surface to the S2 surface that is the opposite surface of the S1, the wire 270 may provide a stronger rotational force to the second rolling contact unit 230.

On the other hand, between the 4-1 pulley 224 to the 5-1 pulley 232, a fixed wire for maintaining a relative position between the first rolling contact unit 220 and the second rolling contact unit 230 may be connected. have. In this case, the fixing wire is provided between the 4-1 pulley 224 to the 5-1 pulley 232, and may penetrate between the first pin 221 and the second pin 231.

Also, a fixed wire for maintaining a relative position between the first rolling contact unit 220 and the second rolling contact unit 230 may be connected between the 3-2 pulley 223 and the 6-2 pulley 235. . In this case, the fixing wire is provided between the 3-2 pulley 223 to the 6-2 pulley 235, and may penetrate between the first pin 221 and the second pin 231.

The connection module according to an embodiment of the present invention has been described above with reference to FIGS. 9 to 11. Hereinafter, a wearing module according to an embodiment of the present invention will be described with reference to FIGS. 12 to 14.

12 and 13 are views for explaining a fastening module according to an embodiment of the present invention, and FIG. 14 is a view for explaining an example of wearing a fastening module according to an embodiment of the present invention.

The wearing module 300 according to an embodiment of the present invention may be connected to one end of the connection module 200, for example, to the case 210. The wearing module 300 may be worn on one side of the body remaining after being cut, for example, on an upper arm portion between the shoulder and an elbow or a forearm portion below the elbow.

Referring to FIGS. 12 to 14, the wearing module 300 according to an embodiment may include hard covers 310 and 330 and a soft cover 340 illustrated in FIG. 14A.

The hard covers 310 and 330 may include a first hard cover 310 and a second hard cover 330 that rotates with respect to the first hard cover 310. A fastening part 315 is provided at one end of the first hard cover 310, and a second hard cover 330 may be connected to one side of the fastening part 315 to rotate.

The fastening part 315 may be directly or indirectly connected to the case 210 which is one end of the connection module 200.

As the first hard cover 310 and the second hard cover 330 rotate relative to each other, wearing convenience may be improved. For example, as shown in Fig. 14(a), in a state where the second hard cover 330 is opened with respect to the first hard cover 310, a part of the arm left after being cut is put in, and Fig. 14(b) As shown in ), the second hard cover 330 can be closed.

Referring to FIG. 13, an electric wire track 320 may be provided on the first hard cover 310. An electric wire, for example, an electric wire for driving the above-described first and/or second actuator, may be accommodated and arranged in the electric wire track 320.

The first hard cover 310 and the second hard cover 330 may be made of a material having a predetermined rigidity. Through this, it is possible to protect the remaining arm after being cut that is accommodated inside from an external impact.

Referring to FIG. 14, the soft cover 340 may directly wrap a part of the body. To this end, the soft cover 340 may be formed of a Velcro-type strap to adjust the fastening strength according to the size of the body. Accordingly, the irregular cut portion can be entirely wrapped, and the fixing force can be improved.

The soft cover 340 may directly contact the skin. In order to improve the fit, the soft cover 340 may be made of a softer material than the first and second hard covers 310 and 330.

According to an example, a sleeve (not shown) may be provided between the soft cover 340 and the skin. The sleeve may be made of a softer material than the soft cover 340. This takes into account that the skin of the patient remaining after the amputation is more sensitive than that of ordinary people.

According to this, the user may first wear the sleeve and then the soft cover 340 on the sleeve. Thereafter, as shown in FIGS. 14A and 14B, the soft cover 340 may be fixed in the spaces of the first and second hard covers 310 and 330.

In the description of the robot mechanism according to an embodiment of the present invention described above, it is assumed that a part of the arm is amputated, but the robot mechanism according to an embodiment may be applied to a patient whose other part of the body is amputated. Of course.

In addition, the robot mechanism according to an embodiment may be applied not only to a body amputated patient, but also to a home and/or industrial robot.

In the above, the present invention has been described in detail using preferred embodiments, but the scope of the present invention is not limited to specific embodiments, and should be interpreted by the appended claims. In addition, those who have acquired ordinary knowledge in this technical field should understand that many modifications and variations can be made without departing from the scope of the present invention.

1000: robot mechanism 100: end module
110: first body 132: first axis
134: second axis 130: third axis
120: first gear 122: 2-1 gear
124: second-2 gear 126: third gear
128: fourth gear 129: fifth gear
140: elastic member 152: transmission link
160: second body 162: first link
164: elastic member housing 166: fastening hole
165: fourth axis 169: fifth axis
168: second link 180: third body
200: connection module 210: case
220: first rolling contact unit 230: second rolling contact unit
300: wearing module 310: first hard cover
320: electric wire track 330: second hard cover
340: soft cover

Claims (12)

A first body provided with an elastic member on one side and including a first shaft to which one end of the transmission link is connected to the other side, and a second shaft to which the first shaft and the other end of the transmission link are coupled;
A second body including a first link interlockedly rotated with the first shaft through an elastic member housing accommodating the elastic member at one end and a second link connected to the second shaft for interlocking pivoting; And
Including; provided at one end of the second body, a third body rotating according to the pivoting of the second link,
When the interlocking rotation of the first link of the second body is stopped despite the rotation of the first axis, the third body becomes the second body according to the pivoting of the second link connected to the second axis. Rotating independently of the, robotic mechanism. The method of claim 1,
As the rotational force of the first axis rotates the elastic member housing through the elastic member, the first link is rotated. The method of claim 2,
The elastic member housing has a fastening hole to which the elastic member is coupled,
The elastic member has a coil portion and a linear portion mounted in the fastening hole, the robot mechanism. The method of claim 1,
The first shaft, even in a state in which the rotation of the first link is stopped, continuously rotates according to the deformation of the elastic member. The method of claim 4,
When the first axis rotates according to the deformation of the elastic member, the second axis pivots about the first axis. The method of claim 4,
In accordance with the deformation restoration of the elastic member, the first link is restored to an initial position. The method of claim 1,
A first gear that transmits the rotational force of the first actuator,
A fifth gear provided on a third shaft, which rotates when the second gear and the second gear that receive rotational force from the first gear rotate the third shaft,
A third gear provided on the first shaft and receiving rotational force from the second gear and transmitting it to the first axis, and a fourth gear receiving rotational force from the fifth gear and transmitting it to the first axis. That, the robotic mechanism. The method of claim 1,
Further comprising a first actuator,
Further comprising a coupling housing provided between the first body and the first actuator, the first body coupled,
The robot mechanism is provided in the coupling housing, further comprising an elastic member that allows movement in a direction different from the rotation direction of the first link. delete The method of claim 1,
Further comprising a connection module coupled to one side of the first body,
The connection module is:
A second actuator to generate a rotational force and to which the first pulley is fastened;
A second pulley facing the first pulley in a first direction;
A first rolling contact spaced apart from each other by a predetermined distance, wherein a 3-1 pulley facing the first pulley and the first body direction, and a 4-1 pulley facing the second pulley and the first body direction are disposed part;
A 5-1 pulley disposed from the first rolling contact portion in a direction of the first body and facing the 3-1 pulley in a direction of the first body, and a direction of the 4-1 pulley and the first body A second rolling contact portion on which the 6-1 opposing pulley is disposed; And
The first pulley, the 4-1 pulley, and the 6-1 pulley are sequentially connected, and the second pulley, the 3-1 pulley, and the 5-1 pulley are sequentially connected, a wire Including, robotic mechanism. The method of claim 10,
According to the tension control of the wire by the rotational force of the second actuator,
The robot mechanism, wherein the second rolling contact portion rotates relative to the first rolling contact portion. The method of claim 1,
Further comprising a wearing module fastened to one side of the body remaining after being cut,
The wearing module is:
A soft cover directly fastened to one side of the remaining body and a hard cover covering the soft cover,
The hard cover is provided with a wire track on which a wire for supplying electricity to a first actuator that provides rotational force to the first shaft is mounted.

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