Power transmission system for driving robot joints

Abstract

The present invention provides a power transmission system for driving a robot joint. The power transmission system for driving a robot joint of an exemplary embodiment of the present invention is a system for driving a joint of a robot, which includes: a driving part, including a first driving unit and a second driving unit; a first force transmission part, including a first sheath and a first wire, the first sheath has a specified length, flexibility and is formed by a hollow shape, the first wire is inserted into the first sheath, one end is fixed to the joint of the robot and the other end is connected to the first driving unit; and a second force transmission part, including a second sheath and a second wire, the second sheath has a specified length, flexibility and is formed by a hollow shape, the second wire is inserted into the second sheath, one end is fixed to the joint of the robot and the other end is connected to the second driving unit, when the first driving unit provides force to the first wire side along the first direction, the second driving unit provides force to the second wire side along the second direction which is the opposite direction of the first direction.

Description

Technical Field

[0001] The present invention relates to a surgical robot, and more particularly, to a power transmission system for driving a joint of the robot. Background Art

[0002] Recently, as the application range of robots in various fields such as industry and medicine has been expanding, various driving methods have been developed. In addition to directly attaching actuators to robot joints, power is transmitted through various methods such as belts, chains, and wires.

[0003] Among such driving methods, the simplest method is to directly attach the actuator to the link structure, but this method has the disadvantage that the actuator itself is very heavy.

[0004] In order to compensate for this, a dual-input cable driving method has been proposed in which the actuator is fixed to the ground and force is transmitted using two flexible cables.

[0005] However, the conventional cable driving method described above is a method of driving only when both motors pull the cables. Therefore, in order to transmit driving force to the object, one motor needs to provide a force that can simultaneously pull the master cable and the slave cable, which are two cables.

[0006] Therefore, when driving, each motor needs to pull the main cable with a very large force, so a motor with a large output is required, which has a problem of reduced accuracy.

[0007] At the same time, in the case of the existing driving method, a force is applied to the main cable by directly pulling it through the motor, so there is no big problem. However, the slave cable driven by the force applied to the main cable is not inserted into the sheath, and the part exposed to the outside is loose and bends or a large gap is generated, thereby reducing the accuracy.

[0008] Therefore, a solution is needed that can reduce the gap without causing the cable to become loose and bend.

[0009] Furthermore, since such a cable is inserted through a body part, it is used as a disposable product that cannot be recycled in order to prevent infection of the patient. After the cable is separated from the driving device after use, it needs to be replaced with a new cable, but there is the inconvenience of having to connect the cable to the driving device again. Summary of the invention

[0010] Technical issues

[0011] The present invention is used to solve the above-mentioned problems, and its object is to provide a power transmission system for driving a robot joint as follows: by controlling the movement of slave cables, the power transmission amount can be increased and the control accuracy can be improved.

[0012] Furthermore, the present invention provides a cassette-type power transmission system for driving a robot joint that facilitates replacement of disposable cables.

[0013] The purpose of the present invention is not limited to the above-mentioned purpose, and a person skilled in the art can clearly understand other purposes not mentioned through the following description.

[0014] Technical Solution

[0015] In order to achieve the above-mentioned purpose, an embodiment of the present invention can provide a power transmission system for driving a robot joint, which is a system for driving the joints of a robot, comprising: a driving part, comprising a first driving unit and a second driving unit; a first force transmission part, comprising a first sheath and a first wire, the first sheath having a specified length, flexibility and being formed by a hollow shape, the first wire being inserted into the first sheath, one end being fixed to the joint of the robot and the other end being connected to the first driving unit; and a second force transmission part, comprising a second sheath and a second wire, the second sheath having a specified length, flexibility and being formed by a hollow shape, the second wire being inserted into the second sheath, one end being fixed to the joint of the robot and the other end being connected to the second driving unit, when the first driving unit provides force to the first wire side along a first direction, the second driving unit provides force to the second wire side along a second direction which is the opposite direction of the first direction.

[0016] When the first driving unit applies force to the first wire in a direction of pulling the first wire, the second driving unit may provide force to the second wire in a direction of pushing the second wire; when the second driving unit applies force to the second wire in a direction of pulling the second wire, the first driving unit may provide force to the first wire in a direction of pushing the first wire.

[0017] When the first driving unit provides force to the first wire in a direction of pulling the first wire and the second driving unit provides force to the second wire in a direction of pushing the second wire, the magnitude of the force provided by the second driving unit to the second wire side can be adjusted based on the friction force generated between the second wire and the second sheath.

[0018] The magnitude of the maximum force provided by the second driving unit to the second wire side may be equal to the magnitude of the friction force generated between the second wire and the second sheath.

[0019] In the case where the first driving unit provides force to the first wire in a direction of pulling the first wire and the second driving unit provides force to the second wire in a direction of pushing the second wire, the magnitude of the force provided by the first driving unit to the first wire side may be the same as the sum of the friction force generated between the first wire and the first sheath and the force of moving the robot joint itself.

[0020] When the first driving unit provides a force to the first wire in a direction of pulling the first wire and the second driving unit provides a force to the second wire in a direction of pushing the second wire, a lead-out length of the first wire led out from the end of the first sheath toward the outside may be relatively longer than an introduction length of the second wire introduced from the end of the second sheath toward the inside of the second sheath.

[0021] When the first driving unit provides a force to the first wire in a direction of pulling the first wire and the second driving unit provides a force to the second wire in a direction of pushing the second wire, a portion of the total length of the second sheath including the end portion of the second sheath into which the second wire is introduced can be in a state of being prevented from wandering together with the second wire.

[0022] Furthermore, the present invention can provide a power transmission method for driving a robot joint, which is a cable power transmission method for driving the joints of a robot, comprising: a first driving unit, one end of which is fixed to the robot joint and connected to the other end of a first wire inserted into a first sheath to provide a force for pulling or pushing the first wire along the length direction of the first sheath; and a second driving unit, one end of which is fixed to the robot joint and connected to the other end of a second wire inserted into a second sheath to provide a force for pulling or pushing the second wire along the length direction of the second sheath, wherein when the first driving unit provides a force to the first wire side along a first direction, the second driving unit provides a force to the second wire side along a second direction which is an opposite direction to the first direction.

[0023] The power transmission system for driving the robot joint may further include: a main body; a first elastic part, one end of which is fixed to the main body, and the other end of which is fixed to the first driving unit, surrounding the other end of the first line; and a second elastic part, one end of which is fixed to the main body, and the other end of which is fixed to the second driving unit, surrounding the other end of the second line, and the first driving unit and the second driving unit can perform linear motion.

[0024] The power transmission system for driving the robot joint may further include a control unit arranged on the main body, and the control unit may control the first drive unit in such a manner that the first drive unit provides force to the first line along a first direction, and may control the second drive unit in such a manner that the second drive unit provides force to the second line along a second direction which is opposite to the first direction.

[0025] A first wire hole through which the first wire passes and a second wire hole through which the second wire passes may be formed at one side of the main body.

[0026] The above-mentioned first driving unit may include: a first driving motor for generating a driving force; and a first moving part, receiving the driving force of the above-mentioned first driving motor to perform linear movement, and the above-mentioned second driving unit may include: a second driving motor for generating a driving force; and a second moving part, receiving the driving force of the above-mentioned second driving motor to perform linear movement.

[0027] The main body may include: a first guide hole for guiding the first moving part; and a second guide hole for guiding the second moving part.

[0028] The first elastic portion and the second elastic portion may receive a force in the first direction to be contracted and may receive a force in the second direction to be expanded.

[0029] Furthermore, another cassette-type power transmission system for driving a robot joint according to an embodiment of the present invention is a power transmission system for driving the joints of a robot, which may include: a housing; a first driving part, which is arranged inside the housing and performs linear motion; and a cassette, which is inserted into the housing, and the cassette includes: a shell; a moving part, which is accommodated in the shell and connected to the first driving part to perform linear motion; a force transmission part, which includes a sheath and a wire, the sheath has a specified length, flexibility and is formed by a hollow shape, the wire is inserted into the sheath, one end of which is fixed to the joint of the robot, and the other end of which is fixed to the moving part and passes through the shell; and an elastic part, one end of which is fixed to the shell and the other end of which is fixed to the moving part, surrounding the wire, and the cassette can be combined with the housing in a detachable manner.

[0030] The present invention may further include a second driving unit for moving the first driving unit in such a manner that the first driving unit is connected to the moving unit or separated from the moving unit.

[0031] The above-mentioned first driving part may include: a driving main body part, which can move inside the above-mentioned shell; a first motor, which is arranged in the above-mentioned driving main body part; and a disassembly part, which is connected to the above-mentioned first motor, performs linear motion through the driving force of the above-mentioned first motor, and is combined with the above-mentioned moving part in a disassembly manner.

[0032] The second driving part may include: a second motor disposed on the housing; and a connecting part connected to the second motor to perform linear motion through the driving force of the second motor.

[0033] The detachable portion may include a protrusion protruding from an outer side surface of the detachable portion, and the movable portion may include a detachable groove into which the protrusion of the detachable portion is inserted.

[0034] The cassette may have a hole through which the force transmission portion passes.

[0035] The housing may include a guide hole for guiding movement of the moving part.

[0036] The elastic portion may be expandable in a first direction and may be contractable in a second direction which is an opposite direction to the first direction.

[0037] Effects of the Invention

[0038] According to the embodiment of the present invention, the driving unit provides driving force to the slave cable side to offset the friction force generated in the slave cable, thereby achieving a power transmission amount equal to or higher than the conventional level even if a small driving force is provided to the master cable side.

[0039] Furthermore, according to the embodiments of the present invention, a gap in the slave cable can be reduced or prevented by offsetting the friction force generated on the slave cable side, thereby having an advantage that control accuracy can be improved.

[0040] Furthermore, the cassette including the cables is detachably coupled to the housing, so that the cables used in surgery can be easily replaced.

[0041] Furthermore, there is a risk of infection when connecting the conventional cables to the driving device, but by inserting the cassette into the housing to drive the cables, the hygiene management of the surgical robot driving device can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram showing a power transmission system for driving a robot joint according to an embodiment of the present invention.

[0043] Figure 2 for Figure 1 Operation status diagram.

[0044] Figure 3 for Figure 2 Magnified view of section “A”.

[0045] Figure 4 To show Figure 1 2 is an operating state diagram of a case where the force pushing from the drive unit toward the line side is too large.

[0046] Figure 5 A diagram showing a robot joint driving cable driving device that can be used as a driving unit in a robot joint driving power transmission system according to an embodiment of the present invention.

[0047] Figure 6 To show Figure 5 Diagram of the state in which the main structures are separated.

[0048] Figure 7 To observe from another direction Figure 6 .

[0049] Figure 8 To show Figure 6 A partial cross-sectional view of a state in which the wire is wound around a roller.

[0050] Fig. 9 To show Figure 8 Operational status diagram of the situation where the motor pulls the wire.

[0051] Fig.10 To show Figure 8 Operating state diagram for the case where the motor pushes the wire.

[0052] Fig.11 A schematic diagram showing a state in which a power transmission system for driving a robot joint according to an embodiment of the present invention is applied to an endoscopic surgery system.

[0053] Fig.12 A diagram briefly showing a power transmission system for driving a robot joint according to another embodiment of the present invention.

[0054] Fig.13 for Fig.12 Operation status diagram.

[0055] Fig.14 It is a perspective view showing a cassette-type power transmission system for driving a robot joint according to another embodiment of the present invention.

[0056] Fig.15 It is a three-dimensional view briefly showing the structure of a cassette-type power transmission system for driving a robot joint according to another embodiment of the present invention.

[0057] Fig.16 A front view schematically showing the structure of a cassette-type power transmission system for driving a robot joint according to another embodiment of the present invention.

[0058] Fig.17 A top view briefly showing the structure of a power transmission system for driving a robot joint according to another embodiment of the present invention.

[0059] Fig.18A side view schematically showing the structure of a power transmission system for driving a robot joint according to another embodiment of the present invention.

[0060] Fig.19 A perspective view showing a cassette of a cassette-type power transmission system for driving a robot joint according to yet another embodiment of the present invention.

[0061] Fig. 20 A side view of a cassette of a cassette-type power transmission system for driving a robot joint according to yet another embodiment of the present invention.

[0062] Fig.21 A diagram briefly showing the structure of a cassette of a cassette-type power transmission system for driving a robot joint according to yet another embodiment of the present invention.

[0063] Fig. 22 A side view of a first driving portion of a cassette-type power transmission system for driving a robot joint according to yet another embodiment of the present invention.

[0064] Description of Reference Numerals

[0065] 100: Power transmission system for robot joint drive

[0066] 110a: first driving unit 112a: first driving motor

[0067] 114a: first roller 110b: second driving unit

[0068] 112b: second drive motor 114b: second roller

[0069] 120: first force transmission part 121: first sheath

[0070] 122: First line 130: Second force transmission unit

[0071] 131: Second sheath 132: Second line

[0072] 140: Control unit 150: Sheath frame

[0073] 160: Cable clamp

[0074] 200, 200a, 200b: Cable drive device for driving robot joints

[0075] 210: body 212: configuration hole

[0076] 220: driving motor 230: driving roller

[0077] 232: first receiving slot 234: placement slot

[0078] 240: load measuring part 242: second receiving groove

[0079] 250: Cover 251: Cover

[0080] 252: guide groove 252a: first guide groove

[0081] 252b: Second guide groove

[0082] 300: Power transmission system for robot joint drive

[0083] 310: Main body 361: First drive unit

[0084] 371: second driving unit 320: first force transmission unit

[0085] 321: First Sheath 322: First Line

[0086] 330: second force transmission part 331: second sheath

[0087] 332: second line 340: first elastic part

[0088] 350: Second elastic part

[0089] 400: Cassette-type power transmission system for robot joint drive

[0090] 410: housing 420: first drive unit

[0091] 430: Box DETAILED DESCRIPTION

[0092] Hereinafter, various embodiments are described in more detail with reference to the accompanying drawings. The embodiments of the present invention may be modified in various ways. Specific embodiments may be described in the accompanying drawings and may be described in detail in the detailed description. However, the specific embodiments disclosed in the accompanying drawings are only used to facilitate the understanding of the various embodiments. Therefore, the technical concept is not limited to the specific embodiments disclosed in the accompanying drawings, and includes all equivalent technical solutions or alternative technical solutions included in the concept and technical scope of the present invention.

[0093] Terms including ordinal numbers such as first and second may be used to describe various structural elements, and such structural elements are not limited to the terms described above. The terms described above are used to distinguish one structural element from another structural element.

[0094] In the embodiments of the present invention, it is to be understood that the terms "including" or "having" are used to specify the existence of features, numbers, steps, actions, structural elements, components or combinations thereof recorded in the embodiments of the present invention, rather than excluding the existence or additional possibility of one or more other features or numbers, steps, actions, structural elements, components or combinations thereof in advance. When a structural element is referred to as being "connected" or "coupled" to another structural element, it can be understood as being directly connected or directly coupled to the other structural element, and it can also be understood as the presence of other structural elements in the middle. On the contrary, when a structural element is referred to as being "directly connected" or "directly coupled" to another structural element, it should be understood as the absence of other structural elements in the middle.

[0095] On the other hand, the "module" or "unit" of the structural element used in the embodiments of the present invention performs at least one function or action. Furthermore, the "module" or "unit" may perform a function or action by hardware, software, or a combination of hardware and software. Furthermore, "multiple modules" or "multiple units" other than the "module" or "unit" that needs to be executed on specific hardware or executed on at least one processor may be integrated into at least one module. Unless otherwise defined in the context, a singular expression includes a plural expression.

[0096] In addition, when describing the embodiments of the present invention, when it is determined that the detailed description related to the related well-known function or structure unnecessarily obscures the gist of the present invention, the detailed description thereof will be shortened or omitted.

[0097] The robot joint driving power transmission system 100 of one embodiment of the present invention is used to implement a double input sheath-tendon power transmission mechanism, such as Figure 1 and Figure 2 As shown, it includes a driving part, a first force transmission part 120 and a second force transmission part 130 .

[0098] That is, in a power transmission system 100 for driving a robot joint according to an embodiment of the present invention, the driving part may include a first driving unit 110a and a second driving unit 110b, the first driving unit 110a is directly connected to the first force transmission part 120 to provide driving force to the first force transmission part 120, and the second driving unit 110b may be directly connected to the second force transmission part 130 to provide driving force to the second force transmission part 130.

[0099] In the present invention, the first force transmission part 120 and the second force transmission part 130 may adopt the following sheath-tendon mechanism: the tendon is inserted into the sheath in a manner that the tendon can move along the length direction inside the sheath.

[0100] That is, the first force transmission unit 120 may include: a first sheath 121 having a predetermined length and flexibility and formed in a hollow shape; and a first wire 122 inserted into the first sheath 121. In the above case, the first wire 122 may be inserted into the first sheath 121 in a manner that both ends are exposed outside the first sheath 121, and one end of the two ends of the first wire 122 exposed outside may be fixed to the controlled object 10 and the other end may be fixed to the first driving unit 110a.

[0101] Similarly, the second force transmission unit 130 may include: a second sheath 131 having a predetermined length and flexibility and formed in a hollow shape; and a second wire 132 inserted into the second sheath 131. In the above case, the second wire 132 may be inserted into the second sheath 131 in a manner that both ends are exposed outside the second sheath 131, and one end of the two ends of the second wire 132 exposed outside may be fixed to the controlled object 10 and the other end may be fixed to the second driving unit 110b.

[0102] In addition, the first driving unit 110a may include a first driving motor 112a and a first roller 114a rotatably coupled to the first driving motor 112a, and one end of the first wire 122 may be fixedly coupled to the first roller 114a.

[0103] Similarly, the second driving unit 110b may include a second driving motor 112b and a second roller 114b rotatably coupled to the second driving motor 112b, and one end of the second wire 132 may be fixedly coupled to the second roller 114b.

[0104] In the present invention, the control object 10 may be a driving joint of a robot, and the driving joint of the robot may be a driving joint for driving the finger of the robot or the wrist of the robot in a robot arm. Furthermore, the first sheath 121 and the second sheath 131 may be coil-shaped tubes formed of a metal material in a manner that maintains the overall shape and flexibility while bearing the tension applied to the first wire 122 and the second wire 132. However, the shape and material of the first sheath 121 and the second sheath 131 are not limited thereto, and may be applied to all shapes and materials used as sheaths in known sheath-tendon mechanisms.

[0105] At the same time, the robot joint driving power transmission system 100 of an embodiment of the present invention may also include a control unit 140 for driving the overall action of the first driving unit 110a and the second driving unit 110b, and the control unit 140 may control the driving of the first driving unit 110a and the second driving unit 110b based on the input signal of the user. At the same time, the control unit 140 may control the magnitude of the force provided from the first driving unit 110a to the first line 122 and the magnitude of the force provided from the second driving unit 110b to the second line 132 based on the input signal of the user.

[0106] As described above, in the power transmission system 100 for driving a robot joint according to an embodiment of the present invention, the first force transmission part 120 of which the end of the first wire 122 is connected to the first driving unit 110a and the second force transmission part 130 of which the end of the second wire 132 is connected to the second driving unit 110b can be connected to each other through the control object 10. When the driving force is provided from the first driving unit 110a to the first wire 122 side or from the second driving unit 110b to the second wire 132 side under the control of the control unit 140, the first wire 122 and the second wire 132 can move along the length direction inside the first sheath 121 and the second sheath 131. Thus, the control object 10 can be rotated or moved to a position desired by the user.

[0107] In this case, differently from the existing dual-input sheath-tendon mechanism, in a power transmission system 100 for driving a robot joint in one embodiment of the present invention, the first drive unit 110a and the second drive unit 110b can simultaneously provide driving force to the first force transmission part 120 and the second force transmission part 130, and the magnitude of the driving force provided from the first drive unit 110a and the second drive unit 110b to the first force transmission part 120 and the second force transmission part 130 can be controlled by the control part 140.

[0108] That is, Figure 2 and Figure 3 As shown, in a power transmission system 100 for driving a robot joint according to an embodiment of the present invention, when the first driving unit 110a provides force to the first line 122 side along a first direction, the second driving unit 110b may provide force to the second line 132 side along a second direction which is opposite to the first direction.

[0109] Similarly, in the power transmission system 100 for driving a robot joint according to an embodiment of the present invention, when the second drive unit 110b provides force to the second line 132 side along the first direction, the first drive unit 110a can provide force to the first line 122 side along the second direction which is the opposite direction of the first direction.

[0110] In the present invention, the first direction is defined as the direction of the force of the first driving unit 110a pulling the first wire 122 or the direction of the force of the second driving unit 110b pulling the second wire 132, and the second direction is defined as the direction of the force of the first driving unit 110a pushing the first wire 122 or the direction of the force of the second driving unit 110b pushing the second wire 132.

[0111] Meanwhile, the first wire 122 and the second wire 132 may switch between the role of the master cable and the role of the slave cable according to the direction of the force provided from the first driving unit 110a and the second driving unit 110b.

[0112] That is, when the first wire 122 moves along the first direction and the second wire 132 moves along the second direction, the first wire 122 may function as a master cable and the second wire 132 may function as a slave cable. Conversely, when the first wire 122 moves along the second direction and the second wire 132 moves along the first direction, the second wire 132 may function as a master cable and the first wire 122 may function as a slave cable.

[0113] Specifically, when the first driving unit 110a provides a force T1 to the first wire 122 along the first direction, the second driving unit 110b may provide a force T2 to the second wire 132 along the second direction. Figure 2 As shown, the control object 10 connected to the end of the first wire 122 and the end of the second wire 132 can be rotated toward the first direction.

[0114] On the contrary, when the second driving unit 110b provides a force in the first direction to the second wire 132, the first driving unit 110a may provide a force in the second direction to the first wire 122. Thus, the control object 10 connected to the end of the first wire 122 and the end of the second wire 132, respectively, may be rotated toward the second direction.

[0115] That is, in the power transmission system 100 for driving a robot joint according to one embodiment of the present invention, when a force T1 in the first direction of pulling the wire is provided to any one side of the first wire 122 and the second wire 132 that performs the function of the main cable, a force T2 in the second direction of pushing the wire can be provided to the remaining side of the wire that performs the function of the slave cable.

[0116] In other words, in the power transmission system 100 for driving a robot joint according to an embodiment of the present invention, a pulling force T1 is provided to the line side that performs the action of the main cable by the driving unit, and at the same time, an active pushing force T2 is provided to the line side that performs the action of the slave cable by the driving unit, thereby compensating for the friction force T3 generated by contact with the sheath during the movement of the line that performs the action of the slave cable inside the sheath.

[0117] Therefore, in the robot joint driving power transmission system 100 according to an embodiment of the present invention, even if the wire that performs the function of the main cable is pulled with a small force, the movement of the control object 10 can be changed to a desired position.

[0118] In the following, for the sake of convenience of explanation, a process in which the first wire 122 performs the role of a main cable for controlling the movement of the control object 10 and the second wire 132 performs the role of a slave cable is taken as an example for explanation. In the opposite case in which the second wire 132 performs the role of a main cable for controlling the movement of the control object 10 and the first wire 122 performs the role of a slave cable, only the direction and magnitude of the force provided to the first wire 122 and the direction and magnitude of the force provided to the second wire 132 are converted to each other, but the numerical values ​​are the same, so the detailed explanation will be omitted.

[0119] Specifically, Figure 2 and Figure 3 As shown, in the case where the first driving unit 110 a provides a force T1 in a first direction to the first wire 122 , the second driving unit 110 b may provide a force T2 in a second direction to the second wire 132 .

[0120] In the situation described above, the magnitude of the force T2 in the second direction provided by the second driving unit 110b to the second wire 132 side can be set based on the friction force T3 generated between the second wire 132 and the second sheath 131 when the second wire 132 moves to the side of the controlled object 10 along the length direction of the second sheath 131.

[0121] Preferably, the magnitude of the force T2 in the second direction provided by the second driving unit 110b to the second wire 132 side can be provided to be the same as the magnitude of the friction force T3 generated between the second wire 132 and the second sheath 131 when the second wire 132 moves to the side of the controlled object 10 along the length direction of the second sheath 131.

[0122] Therefore, if the magnitude of the force T1 in the first direction provided by the first driving unit 110a to the first wire 122 side is the same as the sum of the friction force T11 generated between the first wire 122 and the first sheath 121 when the first wire 122 is moved to the first driving unit 110a side along the length direction of the first sheath 121 and the force T12 used to move the control object 10 itself, the control object 10 can be changed to the position desired by the staff.

[0123] In this case, the maximum magnitude of the force T2 in the second direction provided by the second driving unit 110b to the second wire 132 side may be equal to the magnitude of the friction force T3 generated between the second wire 132 and the second sheath 131 when the second wire 132 moves to the control object 10 side along the length direction of the second sheath 131. In addition, the maximum magnitude of the force T2 in the second direction provided by the second driving unit 110b to the second wire 132 side may be smaller than the magnitude of the force T1 in the first direction provided by the first driving unit 110a to the first wire 122 side.

[0124] The reason is that, Figure 4 As shown, if the maximum magnitude of the force T2 in the second direction provided by the second driving unit 110b to the second wire 132 side is greater than the friction force T3 generated between the second wire 132 and the second sheath 131, the portion of the second wire 132 connected to the control object 10 and exposed from the end of the second sheath 131 may loosen and bend, and when the force T1 pulling the first wire 122 is removed, a gap may be generated on the second wire 132 side.

[0125] In addition, in the power transmission system 100 for driving a robot joint according to an embodiment of the present invention, when providing a pushing force from the line side of the cable, the end of the sheath can be fixed to the driving unit 110a, 110b to prevent the line from sagging and move smoothly into the inside of the sheath.

[0126] For example, when the first driving unit 110a provides a force in a first direction to the first wire 122 and the second driving unit 110b provides a force in a second direction to the second wire 132, the second sheath 131 may be in a state where a portion of the length B of the total length including the end portion where the second wire 132 is introduced is prevented from wandering together with the second wire 132.

[0127] As a non-limiting example, the second sheath 131 can be fixed in a state where a portion of the total length B including the end portion of the second wire 132 introduced therein is inserted into a guide groove 252 formed along a direction parallel to the length direction on the second driving unit 110b side, and the guide groove 252 can be formed in a manner that a portion of the length B of the second sheath 131 and a portion of the second wire 132 exposed to the outside are placed together (see Figure 8 ).

[0128] Therefore, when the second driving unit 110b provides a force in the second direction to the second wire 132 side, a portion of the length of the second wire 132 exposed to the outside from the end of the second sheath 131 can be directly moved along the guide groove 252 to the second sheath 131 side, thereby preventing the second wire 132 from sagging on the end side of the second sheath 131 in advance.

[0129] As described above, in the power transmission system 100 for driving a robot joint according to one embodiment of the present invention, a driving force for actively pushing the wire is provided by a driving unit to the wire side that performs the action of the slave cable to offset the friction force generated between the wire that performs the action of the slave cable and the sheath. Thus, even if a small driving force is provided to the wire side that performs the action of the master cable, a power transmission amount that is at or above the same level as before can be achieved.

[0130] Furthermore, according to the present invention, there is an advantage that a backlash in the slave cable can be reduced or prevented by offsetting the friction force generated on the slave cable side, thereby improving control accuracy.

[0131] In addition, in the robot joint driving power transmission system 100 according to an embodiment of the present invention, the first driving unit 110 a and the second driving unit 110 b can be embodied by a robot joint driving cable driving device 200 .

[0132] For example, the first driving unit 110a and the second driving unit 110b may be Figures 5 to 7 The cable driving device 200 for driving the robot joint shown is in a state where the sheath frame 150 to which the sheaths 121 and 131 are fixed and the wire clamp 160 to which the ends of the wires 122 and 132 are fixed. The cable driving device 200 for driving the robot joint rotates the driving roller 230 by driving the motor 220, thereby providing a force for pulling the wires 122 and 132 to the outside of the sheaths 121 and 131 or pushing them to the inside of the sheaths 121 and 131.

[0133] In this embodiment, the sheaths 121 and 131 may be the first sheath 121 or the second sheath 131 as described above, and the wires 122 and 132 may be the first wire 122 or the second wire 132 as described above.

[0134] Furthermore, in the power transmission system 100 for driving a robot joint as described above, the first drive motor 112a and the first roller 114a constituting the first drive unit 110a may be the drive motor 220 and the drive roller 230 described later. Furthermore, in the power transmission system 100 for driving a robot joint as described above, the second drive motor 112b and the second roller 114b constituting the second drive unit 110b may also be the drive motor 220 and the drive roller 230 described later.

[0135] In this case, the sheaths 121 and 131 can be fixed to the sheath frame 150 in such a manner that both end sides protrude from the sheath frame 150 by a specified length, and the wires 122 and 132 are fixed to the control object 10 at one end and then pass through the sheaths 121 and 131 fixed to the sheath frame 150, and are then fixed to the wire clamp 160 at the other end.

[0136] In the above state, the sheath frame 150 and the cable clamp 160 may be mounted on the robot joint driving cable driving device 200 .

[0137] To this end, the robot joint driving cable driving device 200 according to an embodiment of the present invention may include a body 210 , a driving motor 220 , a driving roller 230 , and a load measuring unit 240 .

[0138] Specifically, the body 210 may function as a fixture for installing the driving motor 220 , the driving roller 230 , and the load measuring unit 240 .

[0139] For example, the driving motor 220 may be fixed to one side of the body 210 , and a disposition hole 212 having a shape corresponding to the driving roller 230 may be formed to dispose the driving roller 230 .

[0140] Also, the driving roller 230 may be rotated by the driving force provided by the driving motor 220 and may be rotatably disposed in the disposition hole 212 . A first receiving groove 232 for receiving the wire clip 160 may be formed at one side of the driving roller 230 .

[0141] In the above case, the driving motor 220 may include a speed reducer, and the driving roller 230 may be rotatably coupled to the speed reducer.

[0142] Therefore, if Fig. 9 and Fig.10As shown, when the wire clamp 160 is installed in the first receiving groove 232, when the driving roller 230 rotates in one direction or the opposite direction, the wire clamp 160 fixed with the ends of the wires 122 and 132 is also rotated by the driving roller 230, thereby pulling or pushing the wires 122 and 132.

[0143] In this case, one side of the configuration hole 212 may be formed in an open shape so that the first receiving groove 232 is exposed to the outside. Thus, when the first receiving groove 232 is configured to be located on the side of the configuration hole 212 formed in an open shape, the wire clip 160 may be easily installed on the side of the first receiving groove 232 through the open portion.

[0144] Furthermore, the driving roller 230 may be formed with a placement groove 234 introduced inwardly along the circumferential direction to accommodate the thickness of the wires 122 and 132. Thus, the wires 122 and 132 may be wound around the driving roller 230 at least once according to the placement groove 234 while passing through a portion of the total length of the sheaths 121 and 131, and the ends of the wires 122 and 132 may be fixed to the wire clamp 160 side, thereby smoothly transmitting force to the wires 122 and 132 side through rotation.

[0145] Meanwhile, even if the driving roller 230 rotates in one direction or the opposite direction to draw the wires 122 and 132 out of the sheaths 121 and 131 , the wires 122 and 132 are guided in the winding direction according to the placement groove 234 , thereby smoothly transmitting force to the wires 122 and 132 side.

[0146] The driving motor 220 can be driven in a positive direction or a reverse direction by the control of a control unit, and the control unit can be the control unit 140 as described above.

[0147] The load measuring unit 240 may be fixedly disposed on one side of the body 210, and a second receiving groove 242 may be formed on one side for receiving the sheath frame 150. That is, the sheath frame 150 coupled with a portion of the length of the sheaths 121 and 131 may be detachably mounted and fixed in the second receiving groove 242.

[0148] The load measuring portion 240 may be a load sensor, and the second receiving groove 242 may be directly formed on one side of the load sensor, or may be formed on an additional component fixedly coupled to the load sensor.

[0149] For example, the load measuring unit 240 may be disposed at one side of the driving roller 230 so that when the sheath frame 150 is installed in the second receiving groove 242 , the wires 122 , 132 exposed to the outside through the sheaths 121 , 131 are extended in a straight line to the wire clamp 160 side.

[0150] Therefore, in the load measuring portion 240, when the sheath frame 150 is installed in the second receiving groove 242 and the wire clamp 160 is installed in the first receiving groove 232, when the wire clamp 160 is rotated by rotating the driving roller 230 to provide force to the wires 122 and 132, the force applied to the sheath frame 150 can be measured, and the force of the sheaths 121 and 131 can be measured by the force applied to the sheath frame 150.

[0151] In the above case, according to the relationship between action and reaction, the force applied to the wires 122 and 132 and the force applied to the sheaths 121 and 131 are the same force. Therefore, the force applied to the wires 122 and 132 can be easily measured by measuring the force applied to the sheath frame 150.

[0152] Thus, based on the magnitude of the load applied to the sheath frame 150 , the force applied to the wires 122 and 132 by the driving motor 220 may be accurately controlled by the control of the control unit 140 .

[0153] Therefore, in the power transmission system 100 for driving a robot joint as described above, the magnitude of the pulling force applied to the wire side that performs the action of the main cable and the magnitude of the pushing force applied to the wire side that performs the action of the slave cable can be appropriately adjusted, thereby accurately compensating for the friction force generated between the wire that performs the action of the slave cable and the sheath.

[0154] In this case, the cable driving device 200 for driving a robot joint according to an embodiment of the present invention may include a cover 250, so that when a force is applied to the side of the wires 122, 132 along a second direction which is a direction for pushing the wires 122, 132 into the interior of the sheaths 121, 131 by the driving of the driving motor 220, the wires 122, 132 are not bent by the applied force and the wires 122, 132 are accurately entered into the interior of the sheaths 121, 131.

[0155] That is, a cable driving device 200 for driving a robot joint according to an embodiment of the present invention may include a cover 250. In an initial state in which the wire clamp 160 and the sheath frame 150 are respectively installed in the first receiving groove 232 and the second receiving groove 242 and the first receiving groove 232 is located in the open part of the configuration hole 212, the cover 250 has a cover surface 251 that simultaneously covers the upper part of the first receiving groove 232 and the second receiving groove 242.

[0156] Thus, the wire clip 160 and the sheath frame 150 respectively mounted in the first receiving groove 232 and the second receiving groove 242 are pressed by the cover surface 251 , thereby preventing them from being separated from the first receiving groove 232 and the second receiving groove 242 .

[0157] The cover 250 as described above can be combined with the body 210 in a detachable manner, and one side can be combined with the body 210 in a rotatable manner.

[0158] In this case, if Figure 7 As shown, the cover surface 251 may include a guide groove 252 formed therein, and when the sheath frame 150 is installed in the second receiving groove 242, a protruding portion B of the sheaths 121 and 131 protruding from the sheath frame 150 toward the driving roller 230 side and a portion of the wires 122 and 132 exposed to the outside from the ends of the protruding portion B of the sheaths 121 and 131 may be placed simultaneously.

[0159] That is, the guide groove 252 may include: a first guide groove 252a for accommodating the protruding portion B of the sheath 121, 131; and a second guide groove 252b for accommodating the wires 122, 132 exposed to the outside from the end of the protruding portion B of the sheath 121, 131. The first guide groove 252a and the second guide groove 252b may be formed in a connected manner.

[0160] Meanwhile, the bottom surface of the first guide groove 252 a and the bottom surface of the second guide groove 252 b may be formed as height difference surfaces.

[0161] Therefore, if Figure 8 As shown, when the sheath frame 150 is installed in the second receiving groove 242 , the protruding portion B of the sheaths 121 and 131 protruding from the sheath frame 150 toward the driving roller 230 may be connected to the end side of the first receiving groove 232 .

[0162] Therefore, in a cable driving device 200 for driving a robot joint according to an embodiment of the present invention, even if force is applied to the side of the wires 122, 132 along the second direction which is the direction for pushing the wires 122, 132 to the interior of the sheaths 121, 131 by the drive of the drive motor 220, the wires 122, 132 can directly enter the interior of the sheaths 121, 131 through the end of the protruding portion B of the sheaths 121, 131 placed in the first guide groove 252a in a state where the moving direction of the wires 122, 132 is restricted by the second guide groove 252b, thereby allowing the wires 122, 132 to accurately enter the interior of the sheaths 121, 131 without being bent by the applied force even if force is applied in the direction for pushing the wires 122, 132.

[0163] Therefore, in the cable driving device 200 for driving a robot joint according to one embodiment of the present invention, even if force is applied to the side of the wires 122, 132 along the second direction which is the direction for pushing the wires 122, 132 into the interior of the sheaths 121, 131 by the driving of the driving motor 220, side effects such as loss of force or bending of the wires do not occur during the process of the wires 122, 132 entering into the interior of the sheaths 121, 131, so that the load measuring unit 240 can accurately measure the force applied to the sheath frame 150.

[0164] As described above, in the cable driving device 200 for driving a robot joint according to one embodiment of the present invention, when the sheath frame 150 is installed in the second receiving groove 242 and the wire clamp 160 is installed in the first receiving groove 232 by the structure as described above, when a pulling force is provided to the wires 122 and 132 by the driving motor 220, a pushing force can also be accurately applied to the wires 122 and 132.

[0165] Therefore, the robot joint driving cable driving device 200 according to an embodiment of the present invention can be adopted as the driving units 110a, 110b for implementing the robot joint driving power transmission system 100 as described above.

[0166] In addition, the robot joint driving power transmission system 100 described above may constitute an endoscopic surgery system, and the driving unit of the robot joint driving power transmission system 100 described above may be constituted by the robot joint driving cable driving device 200 described above.

[0167] For example, Fig.11 As shown, the power transmission system 100 for driving a robot joint may include: a first force transmission part 120, including a first driving unit 110a, a second driving unit 110b, a first sheath 121 and a first wire 122; and a second force transmission part 130, including a second sheath 131 and a second wire 132. The above-mentioned first driving unit 110a and the second driving unit 110b may be composed of the cable driving device 200 for driving a robot joint as described above.

[0168] In the above case, the first force transmission unit 120 including the first sheath 121 and the first wire 122, and the second force transmission unit 130 including the second sheath 131 and the second wire 132 can directly adopt the above structure, and the robot joint driving cable driving device 200 can directly adopt the above robot joint driving cable driving device 200. Therefore, a detailed description thereof will be omitted.

[0169] In this case, the first force transmission part 120 and the second force transmission part 130 can be inserted into the protective tube 20 inserted into the patient's body through the patient's mouth, the first wire 122 can be fixed on the side of the wire clamp 160, one end of the wire clamp 160 is connected to the driving joint of the robot as the control object 10 and the other end is set in the first robot joint driving cable driving device 200a, and the second wire 132 can be fixed on the side of the wire clamp 160, one end of the wire clamp 160 can be connected to the driving joint 10 of the robot and the other end is set in the second robot joint driving cable driving device 200b. In this case, the endoscope device can be fixed to the driving joint of the robot as the control object 10.

[0170] In the above-described state, the operator operates the first robot joint driving cable driving device 200a and the second robot joint driving cable driving device 200b through the control unit 140, and can push the second wire 132 while pulling the first wire 122, or can push the first wire 122 while pulling the second wire 132.

[0171] Therefore, the driving joints of the robot serving as the above-mentioned control object 10 can be accurately changed to the direction and position desired by the operator, and the endoscopic equipment fixed on the above-mentioned control object 10 can also be accurately changed to the direction and position desired by the operator, thereby improving the accuracy of the operation.

[0172] At the same time, the wire clamp 160 and the sheath frame 150 are installed in the first receiving groove 232 and the second receiving groove 242 in a detachable manner, so that after use, they can be easily removed together with the first force transmission part 120 and the second force transmission part 130 and can be replaced with unused products. The first robot joint driving cable driving device 200a and the second robot joint driving cable driving device 200b that provide driving force can be simply reused without worrying about contamination.

[0173] In addition, as an application example of the robot joint driving power transmission system 100 as described above or the robot joint driving power transmission system 100 including the robot joint driving cable driving device 200, an endoscopic surgery system is illustrated, but the present invention is not limited to this. As long as it is a robotic arm that performs a grasping operation or a driving joint of a robot used to drive it, it can be applied and can be widely used in medical, household, industrial, etc.

[0174] Fig.12 A diagram briefly showing a power transmission system for driving a robot joint according to another embodiment of the present invention is shown in FIG. Fig.13 for Fig.12 Operation status diagram.

[0175] Reference Fig.12 and Fig.13 A power transmission system 300 for driving a robot joint according to another embodiment of the present invention is used to embody a dual-input sheath-tendon power transmission mechanism, including a main body 310, a driving part including a first driving unit 360 and a second driving unit 370, a first force transmission part 320, a second force transmission part 330, a first elastic part 340 and a second elastic part 350.

[0176] The main body 310 can accommodate the first driving unit 360, the second driving unit 370, the first elastic part 340 and the second elastic part 350. The main body 310 can be made of plastic or metal, or other rigid and corrosion-resistant materials.

[0177] The first driving unit 360 may be disposed on the main body 310 . The first driving unit 360 may include a first driving motor 361 and a first moving unit 362 .

[0178] The first driving motor 361 may be installed at the main body 310. The first driving motor 361 may receive power to generate driving force.

[0179] The first moving part 362 may receive the driving force of the first driving motor 361 to perform linear motion. For example, the first moving part 362 may move along the first direction ① or along the second direction ② which is the opposite direction of the first direction ① according to the driving force of the first driving motor 361.

[0180] According to an embodiment of the present invention, the main body 310 may have a first guide hole 312 for guiding the first moving part 362. The first moving part 362 may move along the first guide hole 312 in the first direction ① or the second direction ②.

[0181] The second driving unit 370 may be disposed on the main body 310 . The second driving unit 370 may include a second driving motor 371 and a second moving unit 372 .

[0182] The second driving motor 371 may be installed at the main body 310. The second driving motor 371 may receive power to generate driving force.

[0183] The second moving part 372 may receive the driving force of the second driving motor 371 to perform linear motion. For example, the second moving part 372 may move along the first direction ① or along the second direction ② which is the opposite direction of the first direction ① according to the driving force of the second driving motor 371.

[0184] According to an embodiment of the present invention, the main body 310 may have a second guide hole 313 for guiding the second moving part 372. The second guide hole 313 may be formed in parallel with the first guide hole 312. The second moving part 372 may move along the second guide hole 313 in the first direction ① or the second direction ②.

[0185] The first force transmission part 320 and the second force transmission part 330 may adopt a sheath-tendon mechanism inserted into the inside of the sheath to enable the tendon to move along the length direction inside the sheath.

[0186] The first force transmission part 320 may include a first sheath 321 and a first wire 322. The first sheath 321 has a predetermined length and flexibility and may be formed in a hollow shape. The first wire 322 may be inserted into the first sheath 321. The first wire 322 may be inserted into the first sheath 321 in such a manner that both ends of the first wire 322 are exposed to the outside of the first sheath 321. One end of the both ends of the first wire 322 may be fixed to the joint 10 of the robot. The other end of the both ends of the first wire 322 passes through the side 311 of the main body 310 and may be fixed to the first moving part 362 of the first driving unit 360.

[0187] The second force transmission part 330 may include a second sheath 331 and a second wire 332. The second sheath 331 has a predetermined length and flexibility and may be formed in a hollow shape. The second wire 332 may be inserted into the second sheath 331. The second wire 332 may be inserted into the second sheath 331 in such a manner that both ends of the second wire 332 are exposed to the outside of the second sheath 331. One end of the both ends of the second wire 332 may be fixed to the joint 10 of the robot. The other end of the both ends of the second wire 332 passes through the side 311 of the main body 310 and may be fixed to the second moving part 372 of the second driving unit 370.

[0188] According to yet another embodiment of the present invention, a first wire hole through which the first wire 322 passes and a second wire hole through which the second wire 332 passes may be formed on one side 311 of the main body 310 .

[0189] According to yet another embodiment of the present invention, the joint 10 of the robot may be a driving joint for driving a finger of the robot or a wrist of the robot in a robotic arm.

[0190] Furthermore, the first sheath 321 and the second sheath 331 may be coil-shaped tubes formed of a metal material having flexibility while maintaining the overall shape under the tension applied to the first wire 322 and the second wire 332. However, the shapes and materials of the first sheath 321 and the second sheath 331 are not limited thereto, and all shapes and materials used as sheaths in known sheath-tendon mechanisms may be applied.

[0191] In addition, the robot joint driving power transmission system 300 of another embodiment of the present invention may further include a control unit for controlling the overall motion of the first driving unit 360 and the second driving unit 370, and the control unit may control the driving of the first driving unit 360 and the second driving unit 370 based on the input signal of the user. In addition, the control unit may control the magnitude of the force provided from the first driving unit 360 to the first wire 322 and the magnitude of the force provided from the second driving unit 370 to the second wire 332 based on the input signal of the user. The control unit may control the first driving unit 360 in a manner that the first driving unit 360 provides a force in a first direction ① to the first wire 322, and control the second driving unit 370 in a manner that the second driving unit 370 provides a force in a second direction ② to the second wire 332.

[0192] Furthermore, the first force transmission part 320 and the second force transmission part 330 may be connected to each other through the joint 10 of the robot, and when the first driving unit 360 provides a driving force to the first wire 322 or the second driving unit 370 provides a driving force to the second wire 332 under the control of the control part, the first wire 322 and the second wire 332 may move along the length direction inside the first sheath 321 and the second sheath 331. Thus, the joint 10 of the robot may rotate or move to a position desired by the user.

[0193] According to another embodiment of the present invention, differently from the existing dual-input sheath-tendon mechanism, the first driving unit 360 and the second driving unit 370 can provide driving force to the first force transmission part 320 and the second force transmission part 330 at the same time, and the magnitude of the driving force provided from the first driving unit 360 and the second driving unit 370 to the first force transmission part 320 and the second force transmission part 330 can be controlled by the control part.

[0194] like Fig.13As shown, in a power transmission system 300 for driving a robot joint according to another embodiment of the present invention, when the first driving unit 360 provides force to the first line 322 along the first direction ①, the second driving unit 370 may provide force to the second line 332 along the second direction ②. Similarly, in a power transmission system 300 for driving a robot joint according to another embodiment of the present invention, when the second driving unit 370 provides force to the second line 332 along the first direction ①, the first driving unit 360 may provide force to the first line 322 along the second direction ②.

[0195] Furthermore, the first wire 122 and the second wire 132 may switch between the role of the main cable and the role of the slave cable according to the direction of the force provided from the first driving unit 360 and the second driving unit 370. That is, when the first wire 322 moves the first length a along the first direction ① and the second wire 332 moves the first length a along the second direction ②, the first wire 322 may function as the main cable and the second wire 332 may function as the slave cable. On the contrary, when the first wire 322 moves the first length a along the second direction ② and the second wire 332 moves the first length a along the first direction ①, the second wire 332 may function as the main cable and the first wire 322 may function as the slave cable.

[0196] In a power transmission system 300 for driving a robot joint according to another embodiment of the present invention, while providing a pulling force to the line side that performs the function of the main cable through the driving unit, an active pushing force is provided to the line side that performs the function of the slave cable through the driving unit, so that the line that performs the function of the slave cable can compensate for the friction force generated by contact with the sheath during the movement inside the sheath. Thus, in a power transmission system 300 for driving a robot joint according to another embodiment of the present invention, even if the line that performs the function of the main cable is pulled with a small force, the movement of the joint 10 of the robot can be changed to a desired position. For example, if the magnitude of the force in the second direction ② provided by the first driving unit 360 to the first line 322 is the same as the sum of the friction force generated between the first line 322 and the first sheath 321 when the first line 322 is moved along the length direction of the first sheath 321 through the first driving unit 360 and the magnitude of the force T12 used to move the joint 10 of the robot, the joint 10 of the robot can be changed to the position desired by the staff.

[0197] As described above, in a power transmission system 300 for driving a robot joint in another embodiment of the present invention, a driving force for actively pushing the wire is provided by a driving unit to the wire side that performs the action of the slave cable to offset the friction force generated between the wire that performs the action of the slave cable and the sheath. Thus, even if a small driving force is provided to the wire side that performs the action of the master cable, a power transmission amount that is at or above the same level as before can be achieved.

[0198] Furthermore, according to the present invention, there is an advantage that a backlash in the slave cable can be reduced or prevented by offsetting the friction force generated on the slave cable side, thereby improving control accuracy.

[0199] The first elastic part 340 may surround the other end of the first wire 322. For example, the other end of the first wire 322 refers to a portion of the entire first wire 322 that is disposed inside the main body 310. One end of the first elastic part 340 is fixed to the inner side of the main body 310, and the other end of the first elastic part 340 may be fixed to the first moving part 362 of the first driving unit 360. The first elastic part 340 may be formed in a tube shape. The first elastic part 340 may be formed of various materials that maintain a tube shape as a whole and have elasticity.

[0200] As the first moving portion 362 moves along the first direction ①, the first elastic portion 340 may contract, and as the first moving portion 362 moves along the second direction ②, the first elastic portion 340 may stretch. Even if the first wire 322 moves along the first direction ① or the second direction ② via the first moving portion 362, the first elastic portion 340 may maintain a state of surrounding the first wire 322. Thus, the first elastic portion 340 may prevent the first wire 322 from sagging inside the main body 310.

[0201] The second elastic portion 350 may surround the second wire 332 disposed inside the main body 310. One end of the second elastic portion 350 may be fixed to the inner side of the main body 310, and the other end of the second elastic portion 350 may be fixed to the second moving portion 372 of the second driving unit 370. The second elastic portion 350 may be formed in a tube shape. The second elastic portion 350 may be formed of various materials that maintain a tube shape as a whole and have elasticity. In addition, the second elastic portion 350 may be arranged side by side with the first elastic portion 340.

[0202] As the second moving portion 372 moves along the first direction ①, the second elastic portion 350 may contract, and as the second moving portion 372 moves along the second direction ②, the second elastic portion 350 may stretch. Even if the second wire 332 moves along the first direction ① or the second direction ② via the second moving portion 372, the second elastic portion 350 may maintain a state of surrounding the second wire 332. Thus, the second elastic portion 350 may prevent the second wire 332 from sagging inside the main body 310.

[0203] Fig.14 This is a perspective view showing a cassette-type power transmission system for driving a robot joint according to another embodiment of the present invention. Fig.15 This is a perspective view briefly showing the structure of a cassette-type power transmission system for driving a robot joint according to another embodiment of the present invention. Fig.16 This is a front view briefly showing the structure of a cassette-type power transmission system for driving a robot joint according to another embodiment of the present invention. Fig.17 This is a top view briefly showing the structure of a cassette-type power transmission system for driving a robot joint according to another embodiment of the present invention. Fig.18 A side view schematically showing the structure of a cassette-type power transmission system for driving a robot joint according to another embodiment of the present invention.

[0204] Reference Figures 14 to 18 A cassette-type power transmission system 400 for driving a robot joint according to another embodiment of the present invention may include a housing 410 , a first driving unit 420 , and a cassette 430 .

[0205] The housing 410 may contain the first driving unit 420, the cassette 430, and the second driving unit 440 described later. The housing 410 may be formed of plastic or metal. Furthermore, the housing 410 is not limited to being formed of plastic or metal, and may be formed of various materials having rigidity and corrosion resistance. An insertion hole 411a for inserting the cassette 430 into the housing 410 may be formed on one side 411 of the housing 410. Furthermore, a display for displaying the state of the cassette-type power transmission system 400 for driving a robot joint may be configured on the one side 411 of the housing 410.

[0206] The first driving unit 420 may be disposed inside the housing 410. The first driving unit 420 may be driven along the first direction ① (refer to Fig.13 ) or the second direction ② (refer to Fig.13) to perform linear motion. The above-mentioned first driving unit 420 may be composed of a plurality of parts. The above-mentioned plurality of first driving units 420 may include one of the above-mentioned plurality of first driving units 421 facing one side surface of the above-mentioned cassette 430 and another one of the above-mentioned plurality of first driving units 422 facing the other side surface of the above-mentioned cassette 430. The above-mentioned another one of the plurality of first driving units 422 may be arranged symmetrically with the above-mentioned one of the plurality of first driving units 421 across the above-mentioned cassette 430. The above-mentioned one of the plurality of first driving units 421 may be composed of 4 parts, and the above-mentioned another one of the plurality of first driving units 422 may be composed of 4 parts. However, the above-mentioned one of the plurality of first driving units 421 and the above-mentioned another one of the plurality of first driving units 422 are not limited to being composed of 4 parts, and may be composed of various numbers such as 2 or 6 parts. The above-mentioned first driving unit 420 will be described later with reference to the accompanying drawings.

[0207] The cassette 430 may be inserted into the housing 410 through the insertion hole 411a. The cassette 430 may include a force transmission portion 439 (see Fig.21 ) and an elastic portion 438. The above-mentioned cassette 430 will be described below with reference to the accompanying drawings.

[0208] The cassette 430 can be detachably combined with the housing 410. As described above, the cassette 430 is detachably combined with the housing 410. Therefore, in the surgical robot driving system 400 according to the embodiment of the present invention, the force transmission part 439 (see Fig.21 ) for ease of replacement.

[0209] The cassette-type power transmission system 400 for driving a robot joint according to another embodiment of the present invention may further include a second driving unit 440 .

[0210] The second driving unit 440 moves the first driving unit 420 along the third direction ③ or the fourth direction ④ which is the opposite direction of the third direction ③ in such a manner that the first driving unit 420 can be connected to the cassette 430 or separated from the cassette 430. The third direction ③ may be a direction perpendicular to the first direction ①. The second driving unit 440 may be composed of a plurality of units. The plurality of second driving units 440 may be composed of a plurality of units. The plurality of second driving units 440 may include one 441 of the plurality of second driving units arranged on the opposite side of the cassette 430 across one 421 of the plurality of first driving units and another 442 of the plurality of second driving units arranged on the opposite side of the cassette 430 across another 422 of the plurality of first driving units.

[0211] One of the plurality of second driving parts 441 may include a second motor 441a and a connecting part 441b. The second motor 441a may be disposed at the bottom 412 of the housing 410. The connecting part 441b is connected to the second motor 441a and may perform linear motion along the third direction ③ or the fourth direction ④ by the driving force of the second motor 441a. The connecting part 441b may be connected to one of the plurality of first driving parts 421.

[0212] One of the plurality of second driving parts 441 may connect one of the plurality of first driving parts 421 to the cassette 430 by moving one of the plurality of first driving parts 421 along the fourth direction ④. Also, one of the plurality of second driving parts 441 may separate one of the plurality of first driving parts 421 from the cassette 430 by moving one of the plurality of first driving parts 421 along the third direction ③.

[0213] Another one 442 of the plurality of second driving parts may include a second motor 442a and a connecting part 442b. The second motor 442a may be disposed at the bottom 412 of the housing 410. The connecting part 442b is connected to the second motor 442a and may perform linear motion along the third direction ③ or the fourth direction ④ by the driving force of the second motor 442a. The connecting part 442b may be connected to another one 422 of the plurality of first driving parts.

[0214] Another one of the plurality of second driving parts 442 may connect another one of the plurality of first driving parts 422 to the cassette 430 by moving another one of the plurality of first driving parts 422 along the third direction ③. Also, another one of the plurality of second driving parts 442 may separate another one of the plurality of first driving parts 422 from the cassette 430 by moving another one of the plurality of first driving parts 422 along the fourth direction ④.

[0215] When the cassette 430 is inserted into or separated from the housing 410 , the second driving unit 440 may control whether the first driving unit 420 is connected to the cassette 430 .

[0216] According to another embodiment of the present invention, one 441 of the plurality of second driving units and another 442 of the plurality of second driving units may be driven simultaneously.

[0217] Fig.19 This is a perspective view of a cassette of a cassette-type power transmission system for driving a mechanical joint according to another embodiment of the present invention. Fig. 20A side view of a cassette of a cassette-type power transmission system for driving a robot joint according to another embodiment of the present invention is shown. Fig.21 A diagram briefly showing the structure of a cassette of a cassette-type power transmission system for driving a robot joint according to another embodiment of the present invention is provided. Fig. 22 A side view of a first driving portion of a cassette-type power transmission system for driving a robot joint according to yet another embodiment of the present invention.

[0218] Reference Figures 19 to 22 In yet another embodiment of the present invention, the above-mentioned box 430 of the robot joint driving cable power transmission system may include a shell 431, moving parts 435, 436, 437, a force transmission part 439 and an elastic part 438.

[0219] The housing 431 may contain the moving parts 435, 436, 437, the force transmission part 439, and the elastic part 438. The housing 431 may be formed of plastic or metal. Furthermore, the housing 431 is not limited to being formed of plastic or metal, and may be formed of various materials having rigidity and corrosion resistance. The housing 431 may include a handle 432 grasped by a user's hand or a mechanism.

[0220] The housing 431 may include a guide hole 434 for guiding the movement of the moving parts 435, 436, and 437. The guide hole 434 may be formed in a slit shape. The guide hole 434 may be composed of a plurality of guide holes. The plurality of guide holes 434 may be formed side by side.

[0221] The moving parts 435, 436, 437 may be accommodated in the housing 431. The moving parts 435, 436, 437 may be connected to the first driving part 420. The moving parts 435, 436, 437 may receive the driving force of the first driving part 420 to perform linear motion along the first direction ① or the second direction ②. The moving parts 435, 436, 437 may be exposed to the outside of the housing 431 through the guide hole 434. The moving parts 435, 436, 437 may include a first moving part 435, a second moving part 436 and a third moving part 437. The first moving part 435, the second moving part 436 and the third moving part 437 may be arranged side by side.

[0222] The force transmission part 439 may include a sheath 439a and a wire 439b.

[0223] The sheath 439 a has a predetermined length and flexibility and may be formed in a hollow shape. A portion of the sheath 439 a is accommodated in the housing 431 , and another portion of the sheath 439 a may be exposed outside the housing 431 .

[0224] Furthermore, the sheath 439 a may be the same as or similar to the first sheath 321 and the second sheath 331 of the aforementioned embodiment.

[0225] The wire 439b can be inserted into the sheath 439a. One end of the wire 439b is fixed to the robot joint 10 (see Fig.12 ), the other end of the wire 439b may be fixed to the first moving part 435. The other end of the wire 439b may be moved along the first direction ① or the second direction ② by the movement of the first moving part 435.

[0226] Furthermore, the line 439 b may be the same as or similar to the first line 322 and the second line 332 of the aforementioned embodiment.

[0227] The elastic part 438 may be accommodated in the housing 431. One end of the elastic part 438 may be fixed to the housing 431, and the other end of the elastic part 438 may be fixed to the first moving part 435. The elastic part 438 may be extended along the first direction ① and contracted along the second direction ② by the movement of the first moving part 435.

[0228] Furthermore, according to another embodiment of the present invention, the elastic portion 438 may be fixed to the second movable portion 436 and the third movable portion 437. Furthermore, according to another embodiment of the present invention, the elastic portion 438 may penetrate the second movable portion 436 and the third movable portion 437.

[0229] Furthermore, the elastic portion 438 may be the same as or similar to the elastic portion 438 in the aforementioned embodiment.

[0230] In yet another embodiment of the present invention, the first driving unit 421 of the cassette-type power transmission system for driving a robot joint may include a driving body 421 a , a first motor 423 , and detachable parts 425 , 426 , and 427 .

[0231] The driving body 421a can be driven by the driving force of the second driving unit 440 in the housing 410 ( Fig.16 ) moves along the third direction ③ or the fourth direction ④. The driving body 421a can be connected to the connecting portion 441b (refer to Fig.17 ) combined with.

[0232] The first motor 423 may be disposed on the driving body 421 a.

[0233] The disassembly parts 425, 426, 427 may be disposed on the driving main body 421a. The disassembly parts 425, 426, 427 may be connected to the first motor 423. The disassembly parts 425, 426, 427 may be linearly moved along the first direction ① or the second direction ② by the driving force of the first motor 423. The disassembly parts 425, 426, 427 may be combined with the moving parts 435, 436, 437 in a disassembly manner.

[0234] The detachable parts 425, 426, 427 may include protrusions 425a, 425b, 426a, 426b, 427a, 427b protruding from the outer side surfaces of the detachable parts 425, 426, 427. In addition, the movable parts 435, 436, 437 may include detachable grooves 435b, 436b, 437b into which the protrusions 425a, 425b, 426a, 426b, 427a, 427b are inserted.

[0235] The detachable parts 425, 426, 427 may include a first detachable part 425, a second detachable part 426, and a third detachable part 427. The first detachable part 425, the second detachable part 426, and the third detachable part 427 may be arranged side by side.

[0236] As the protrusions 425a and 425b of the first detachable portion 425 are inserted into or separated from the detachable groove 435b of the first movable portion 435, the first detachable portion 425 can be detachably combined with the first movable portion 435.

[0237] As the protrusions 426a and 426b of the second detachable portion 426 are inserted into or separated from the detachable groove 436b of the second movable portion 436, the second detachable portion 426 can be combined with the second movable portion 436 in a detachable manner.

[0238] As the protrusions 427a and 427b of the third detachable portion 427 are inserted into or separated from the detachable groove 437b of the third movable portion 437, the third detachable portion 427 can be combined with the third movable portion 437 in a detachable manner.

[0239] Furthermore, the cassette 430 may further include a first fixing portion 431b. The first fixing portion 431b may be exposed on the side of the housing 431 through a fixing hole 431a formed on the side of the housing 431. Furthermore, the first driving portion 420 may include a second fixing portion 428. The second fixing portion 428 may include fixing protrusions 428a and 428b. Furthermore, fixing grooves corresponding to the fixing protrusions 428a and 428b may be formed in the first fixing portion 431b. The fixing protrusions 428a and 428b of the second fixing portion 428 may be inserted into the fixing grooves of the first fixing portion 431b to firmly combine the first driving portion 420 with the cassette 430.

[0240] The above-mentioned disassembly and assembly parts 425, 426, 427 can receive the driving force of the above-mentioned first motor 423 to move along the above-mentioned first direction ① or the above-mentioned second direction ②. After the above-mentioned moving parts 435, 436, 437 are connected to the above-mentioned disassembly and assembly parts 425, 426, 427, the above-mentioned moving parts 435, 436, 437 can move along the above-mentioned first direction ① or the above-mentioned second direction ② together with the above-mentioned disassembly and assembly parts 425, 426, 427. In addition, the above-mentioned wire 439b can move along the above-mentioned first direction ① or the above-mentioned second direction ② together with the above-mentioned moving parts 435, 436, 437. The joint 10 of the above-mentioned robot connected to the above-mentioned wire 439b (refer to Fig.12 ) can be driven by movement of the above-mentioned line 439b.

[0241] An embodiment of the present invention has been described above, but the concept of the present invention is not limited to the embodiment presented in this specification. A person of ordinary skill who understands the concept of the present invention can easily propose other embodiments within the same scope of the concept by adding, changing, deleting, or appending structural elements, which are also included in the scope of the concept of the present invention.

Claims

1. A power transmission system for driving a robot joint, which is a cable power transmission system for driving a robot joint, characterized in that: include: A driving unit, comprising a first driving unit and a second driving unit; a first force transmission part, comprising a first sheath and a first wire, wherein the first sheath has a predetermined length, flexibility and is hollow, the first wire is inserted into the first sheath, one end of the first wire is fixed to the joint of the robot and the other end is connected to the first driving unit; and The second force transmission part includes a second sheath and a second wire, wherein the second sheath has a predetermined length, flexibility and is hollow, the second wire is inserted into the second sheath, one end of the second wire is fixed to the joint of the robot and the other end is connected to the second driving unit. When the first driving unit applies force to the first line side along a first direction, the second driving unit applies force to the second line side along a second direction which is an opposite direction to the first direction. Wherein, when the first driving unit provides a force to the first wire in a direction of pulling the first wire and the second driving unit provides a force to the second wire in a direction of pushing the second wire, the magnitude of the force provided by the second driving unit to the second wire side is adjusted based on the friction force generated between the second wire and the second sheath, The magnitude of the maximum force provided by the second driving unit to the second wire side is equal to the magnitude of the friction force generated between the second wire and the second sheath.

2. The power transmission system for driving a robot joint according to claim 1, characterized in that: In a case where the first driving unit applies a force to the first wire in a direction of pulling the first wire, the second driving unit applies a force to the second wire in a direction of pushing the second wire. In a case where the second driving unit applies a force to the second wire in a direction of pulling the second wire, the first driving unit applies a force to the first wire in a direction of pushing the first wire.

3. The power transmission system for driving a robot joint according to claim 1, characterized in that: When the first driving unit provides force to the first wire in a direction of pulling the first wire and the second driving unit provides force to the second wire in a direction of pushing the second wire, the magnitude of the force provided by the first driving unit to the first wire side is the same as the sum of the friction force generated between the first wire and the first sheath and the force of moving the robot joint itself.

4. The power transmission system for driving a robot joint according to claim 1, characterized in that: When the first driving unit provides a force to the first wire in a direction of pulling the first wire and the second driving unit provides a force to the second wire in a direction of pushing the second wire, a portion of the total length of the second sheath including the end portion of the second sheath into which the second wire is introduced is in a state of being prevented from wandering together with the second wire.

5. The power transmission system for driving a robot joint according to claim 1, characterized in that: Also includes: Main body; A first elastic portion, one end of which is fixed to the main body, and the other end of which is fixed to the first driving unit, surrounding the other end of the first wire; and A second elastic part, one end of which is fixed to the main body, and the other end of which is fixed to the second driving unit, surrounds the other end of the second wire, The first driving unit and the second driving unit perform linear motion.

6. The power transmission system for driving a robot joint according to claim 5, characterized in that: It also includes a control unit configured in the main body. The control unit controls the first drive unit to apply force to the first wire in a first direction, and controls the second drive unit to apply force to the second wire in a second direction opposite to the first direction.

7. The power transmission system for driving a robot joint according to claim 5, characterized in that: A first wire hole through which the first wire passes and a second wire hole through which the second wire passes are formed on one side of the main body.

8. The power transmission system for driving a robot joint according to claim 7, characterized in that: The first driving unit comprises: A first driving motor, for generating driving force; and The first moving part receives the driving force of the first driving motor to perform linear motion. The second driving unit comprises: A second driving motor for generating driving force; and The second moving part receives the driving force of the second driving motor to perform linear motion.

9. The power transmission system for driving a robot joint according to claim 8, characterized in that: The main body comprises: A first guide hole, used to guide the first moving part; and The second guide hole is used to guide the second moving part.

10. The power transmission system for driving a robot joint according to claim 6, characterized in that: The first elastic part and the second elastic part are contracted by receiving a force along the first direction, and are extended by receiving a force along the second direction.

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