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KR-102962753-B1 - Tension maintenance structure of joint drive wire using double disks

KR102962753B1KR 102962753 B1KR102962753 B1KR 102962753B1KR-102962753-B1

Abstract

The present invention relates to a wire tension maintaining structure for assisting stable movement of an artificial joint using a double disc, and specifically comprises a plurality of artificial joints, wherein each of the artificial joints has a rotational degree of freedom; a driving part having a wire that supports the outer side of the driving part; and a tension adjusting part that adjusts the length of the wire part (200).

Inventors

  • 권동수
  • 김준환
  • 백현우

Assignees

  • 주식회사 로엔서지컬

Dates

Publication Date
20260508
Application Date
20221226

Claims (11)

  1. In a wire tension maintaining structure for assisting stable movement of an artificial joint using a double disc, A driving unit (100) having a plurality of artificial joints, each of which has a degree of rotational freedom; A wire section (200) having a wire that supports the outer side of the driving section (100); It includes a tension adjustment unit (300) for adjusting the length of the wire portion (200); The above wire section (200) includes a support wire (210) that supports the driving section (100); and It includes an adjustment wire (220) for adjusting the length of the support wire (210); The tension adjustment unit (300) includes an adjustment module (400) that adjusts the length of the adjustment wire (220), and The above support wire (210) is composed of a first support wire and a second support wire, and The above adjustment wire (220) is composed of a first adjustment wire connected to the first support wire and a second adjustment wire connected to the second support wire, and The above control module is A first control module (410) comprising a first rotatable disk (411), a first crank hole (412) protruding from one surface of the first disk (411), and a first yoke (413) that converts the rotational motion of the first crank hole (412) into linear motion; and A second control module (420) comprising a rotatable second disk (421), a second crank hole (422) and a third crank hole (423) protruding from one surface of the second disk (421), a second yoke (424) that converts the rotational motion of the second crank hole (422) into linear motion, and a third yoke (425) that converts the rotational motion of the third crank hole (423) into linear motion; The first adjustment module (410) further includes a first shaft (414) extending from one side of the first yoke and a pulley (415) formed integrally with the first shaft (414). The second adjustment module (420) further includes a second shaft (426) extending from one side of the second yoke (424) and a third shaft (427) extending from one side of the third yoke (425). The first adjustment wire (221) is wound onto the pulley and connected to the end of the second shaft (426). The second adjustment wire (222) is wound onto the pulley and connected to the end of the third shaft (427). The above adjustment wire (220) is a wire tension maintaining structure whose length is adjusted by the linear displacement of the first yoke (413), the second yoke (424), and the third yoke (425).
  2. In claim 1, The pulley (415) is a wire tension maintaining structure comprising a first winding section (416) and a second winding section (417) in which the first adjustment wire (221) and the second adjustment wire (222) can each be wound.
  3. In claim 1, The displacement of the second yoke (424) and the third yoke (425) generated by the rotation of the second disk (421) is a wire tension maintaining structure driven in opposite directions.
  4. In claim 1, When the above drive unit (100) is not tilted, the line connecting the center of the first disk (411) and the first crank hole (412) and the line connecting the second crank hole (422) and the third crank hole (423) form a vertical wire tension maintaining structure.
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Description

Tension maintenance structure of joint drive wire using double disks The present invention relates to a tension-maintaining structure for a joint drive wire using a double disc. More specifically, when rotational displacement occurs between multiple artificial joints, the required length of the wire supporting them changes. At this time, slack may occur in the wire or tension may increase, and the invention relates to a tension-maintaining structure for a joint drive wire that compensates for such unnecessary effects. 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 comprises: a driving unit; a first joint body; a second joint body rotatably coupled to the first joint body around a first hinge axis and positioned closer to the first joint body with respect to the driving unit; one end of which is fixed to the second joint body and the other end is arranged to be pulled by the driving unit, wherein when pulled, the first joint body rotates around the first hinge axis The invention provides a first wire that is positioned so that a portion of the first joint body wraps around the outer surface of the first joint body, and a first wire guide formed on the outer surface of the first joint body so that the first wire is supported on the outer surface of the first joint body when the first wire is pulled. Patent Document 002 relates to a joint drive device and proposes, as an embodiment, a robot joint drive device comprising: a base; a first link connected to the base via a first rotation axis and having a protrusion into which the first rotation axis is inserted, wherein one end of a first wire and one end of a second wire are fixed to the outside of the protrusion; and a second link connected to one end of the first link via a second rotation axis, facing the one end of the first link and having a protrusion into which the second rotation axis is inserted, wherein one end of a third wire is fixed to the outside of the protrusion. According to the present invention, the number of motors and batteries required to drive a joint with a multi-link structure can be minimized, thereby enabling the robot joint to be implemented in a compact and lightweight manner. Furthermore, it provides the effect of increasing the driving force of a robot joint end device by increasing the power output relative to the space occupied by the multi-link. Patent Document 003 relates to a wire connection structure for a robot joint, comprising a plurality of rotating assemblies including a plurality of wires that drive a joint of a robot and a connecting member that contacts the wires and guides the movement path of the wires according to the rotation of the joints; wherein the connecting member has a rotation axis provided on a central vertical line of a vertical cross-section, and as it proceeds clockwise or counterclockwise from the bottom where it contacts the wires to the top, the distance from the rotation axis to each point on the outer edge that contacts the wires increases sequentially. Since the movement path of the wires in contact with the connecting member is guided through the connecting member having such a shape, sagging of the wires is prevented during the process of pulling or releasing the wires, thereby enabling more precise wire manipulation. In addition, by connecting a single driving motor to a pair of wires in contact with the connecting member to rotate the rotating assembly, it provides the effects of being economical and allowing for structural simplification. Patent Document 004 relates to a robot joint device using a wire and a modular robot joint system using a wire. The robot joint device according to the present invention comprises a main frame, a joint module rotatably installed on the main frame and performing joint movement, a first wire and a second wire each having one end connected to the joint module, a first wire driving module connected to the other end of the first wire to pull the first wire so that the joint module rotates clockwise, and a second wire driving module connected to the other end of the second wire to pull the second wire so that the joint module rotates counterclockwise; wherein the first wire driving module and the second wire driving module each pull the first wire and the second wire to adjust the stiffness of the joint movement of the joint module by the tension formed in the first wire and the second wire; and wherein the joint module performs joint movement in a clockwise or counterclockwise direction by the pulling force of either the first wire or the second wire according to the mutually opposite driving of the first wire driving module and the second wire driving module. Accordingly, by utilizing the tension combination of a pair of first and second wires, a joint structure can be formed to generate joint movement, and the effect of being able to control s