Sealed joint driving device using cable

Abstract

The present invention relates to a sealed joint driving device using a cable, comprising: a body having multiple power devices; an arm unit configured to make three-axis motions by means of rotational power transferred from the power devices; an elbow joint for connecting the body and the arm unit; and multiple cables for transferring the rotational power generated by the power devices to the arm unit.

Description

Enclosed joint drive device using cables

[0001] The present invention relates to a closed joint drive device using cables that can drive a three-degree-of-freedom joint with a minimum of cables and simplify a tension control structure.

[0002]

[0003] Conventional multi-degree-of-freedom robot joint devices are composed of multiple single-degree-of-freedom joints that include motors and reducers.

[0004] Therefore, the distal mass increases, reducing the payload and posing a risk when interacting with people.

[0005] To solve this problem, a prior art (publication number 10-2023-0155714) proposed a method of driving by placing a heavy motor and part of a reducer on the upper frame and a light 3-degree-of-freedom joint structure on the distal end, and connecting them with cables.

[0006] This conventional joint structure has the advantage of increasing the payload and improving safety when interacting with people, as the heavy motor is located in the upper frame, reducing the mass of the distal end.

[0007] In addition, it overcomes the shortcomings of the existing cable-driven mechanism and achieves a wide operating angle and low frictional resistance.

[0008] However, the joint structure is complex, with low torsional rigidity and durability, and difficult assembly. Furthermore, a sealed structure is impossible, and cable tension adjustment is difficult.

[0009] Therefore, there is an emerging need to develop a new technology that can simplify the cable structure and tension control structure for three-axis motion control.

[0010]

[0011] The present invention has been devised to solve the problems described above, and an object of the present invention is to provide a closed joint drive device using cables capable of minimizing the number of cables for three-axis motion control.

[0012] In addition, the present invention provides a closed-type structure device using a cable that is easy to design, operate, and produce by simplifying the tension control structure of the cable.

[0013]

[0014] In order to achieve the above-described purpose, the present invention provides a closed joint drive device using a cable, comprising: a body (100) provided with a plurality of power devices; an arm (200) that moves in three axes by a rotational force transmitted from the power devices; an elbow joint (300) connecting the body (100) and the arm (200); and a plurality of cables (400) that transmit the rotational force generated by the power devices to the arm (200).

[0015] In addition, the body (100) is characterized by including a first power unit (110) positioned on one side in the thickness direction; a second power unit (120) positioned facing the first power unit (110) on the other side in the thickness direction; a third power unit (130) positioned spaced apart from the first power unit (110) and the second power unit (120); a first slider (140) positioned between the first power unit (110) and the third power unit (130); and a second slider (150) positioned between the second power unit (120) and the third power unit (130).

[0016] In addition, the above-mentioned female part (200) is characterized by including a gear module (210) formed by a plurality of bevel gears located on one side in the longitudinal direction, and a female part pulley module (220) located on the other side in the longitudinal direction and around which a cable is wound.

[0017] In addition, the gear module (210) is characterized by including a first bevel gear (211) positioned on the upper side; a second bevel gear (212) positioned on the lower side to face the first bevel gear (211); and a third bevel gear (213) connecting the first bevel gear (211) and the second bevel gear (212).

[0018] In addition, the cable (400) includes a first cable (410) having one longitudinal side and the other longitudinal side respectively coupled to the first bevel gear (211) and the first power unit (110) and spanning the first slider (140); a second cable (420) having one longitudinal side and the other longitudinal side respectively coupled to the second bevel gear (212) and the first power unit (110) and spanning the first slider (140); a third cable (430) having one longitudinal side and the other longitudinal side respectively coupled to the first bevel gear (211) and the second power unit (120) and spanning the second slider (150); and a fourth cable (440) having one longitudinal side and the other longitudinal side respectively coupled to the second bevel gear (211) and the second power unit (120) and spanning the second slider (150). It is characterized by including a fifth cable (450) having longitudinal ends connected to the first slider (140) and the second slider (150) and spanning the third power unit (130).

[0019] In addition, the first cable (410) and the third cable (430) are coupled to the first bevel gear (211) in different directions, the second cable (420) and the fourth cable (440) are coupled to the second bevel gear (212) in different directions, the first cable (410) and the second cable (420) are coupled to the first power unit (110) in different directions, and the third cable (430) and the fourth cable (440) are coupled to the second power unit (120) in different directions.

[0020] In addition, the arm pulley module (220) is characterized by including a first pulley (221) around which the first cable (410) is wound; a second pulley (222) around which the second cable (420) is wound; a third pulley (223) around which the third cable (430) is wound; and a fourth pulley (224) around which the fourth cable (440) is wound.

[0021] In addition, the elbow joint (300) is characterized by including a fifth pulley (310) over which the first cable (410) is passed; a sixth pulley (320) over which the second cable (420) is passed; a seventh pulley (330) over which the third cable (430) is passed; and an eighth pulley (340) over which the fourth cable (440) is passed.

[0022] In addition, the arm (200) is characterized by including a front housing (230) to which the gear module (210) is coupled; a ninth pulley (240) coupled to the first bevel gear (211); a tenth pulley (250) coupled to the second bevel gear (212); a pair of front covers (260) coupled to the upper and lower sides of the front housing (230); and a pair of first O-rings (270) sealing the coupling surface of the front housing (230) and the front cover (260).

[0023] In addition, the third bevel gear (213) is characterized in that a first wire output hole (213-1) is formed in the center, and the front housing (230) is characterized in that a second wire output hole (231) corresponding to the first wire output hole (213-1) is formed.

[0024] In addition, the front housing (230) is characterized by including a plurality of first cable guide holes (232) formed to extend longitudinally along the edge.

[0025] In addition, the above-mentioned female part (200) is characterized by including a rear housing (280) to which the above-mentioned female part pulley module (220) is coupled; and a pair of rear covers (290) coupled to the left and right sides of the rear housing (280).

[0026] In addition, the rear housing (280) is characterized by including a first rear housing (281) positioned at the center and having a third wire output hole (281-1) formed therein; a second rear housing (282) having fitting holes formed so that the left and right sides of the first rear housing (281) fit into fastening lips (282-1) formed spaced apart from each other on the left and right sides; a second O-ring (283) for sealing between the first rear housing (281) and the second rear housing (282); and a third O-ring for sealing the joint surface of the second rear housing (282) and the rear cover (290).

[0027] In addition, the rear housing (280) is characterized by including a first cable guide (285) that forms a second cable guide hole (285-1) into which a cable passing through the first cable guide hole (232) is inserted.

[0028] In addition, it is characterized by including a connecting body (500) connecting the above-mentioned female part (200) and the above-mentioned elbow joint (300).

[0029] In addition, the connecting body (500) is characterized in that it is rotatably connected to the arm (200) and elbow joint (300).

[0030] In addition, the connecting body (500) is characterized in that a third cable guide hole is formed longitudinally inside it.

[0031] In addition, the connecting body (500) is characterized by having a truss structure.

[0032] In addition, the elbow joint (300) is characterized by including a joint body (350) to which the fifth pulley (310), the sixth pulley (320), the seventh pulley (330), and the eighth pulley (340) are coupled; a joint cover (360) coupled to the left and right sides of the joint body (350); and a fourth O-ring (370) sealing the joint portion of the joint body (350) and the connecting body (500) or body (100).

[0033] In addition, the connecting body (500) and the body (100) are characterized in that they are rotatably connected to one side and the other side of the longitudinal direction of the elbow joint (300), respectively.

[0034] In addition, it is characterized in that it includes a tension control cable connecting the connecting body (500) and the body (100), and a cable fitting groove (390) into which the tension control cable is fitted is formed in the connecting body (500) and the body (100).

[0035] In addition, the joint cover (360) is characterized by including a window portion (361) formed of a transparent material.

[0036] In addition, the body (100) is characterized by including an upper body (160) rotatably coupled to the elbow joint (300); a lower body (170) to which the first power device (110), the second power device (120), the third power device (130), the first slider (140), and the second slider (150) are coupled.

[0037] In addition, the body (100) is characterized by including an elbow actuation power device (A) accommodated therein; an elbow actuation link (B) having one longitudinal side eccentrically coupled to a rotational axis of the elbow actuation power device and pushed or pulled in the longitudinal direction in response to the operation of the elbow actuation power device, and the other longitudinal side coupled to the elbow joint (300).

[0038] In addition, the lower body (170) is characterized by including a base plate (171) on which the first slider (140) and the second slider (150) are coupled so as to be able to slide in the longitudinal direction, and a third power device is fixedly coupled between the first slider (140) and the second slider (150); a fastening plate (172) located on the left and right sides of the base plate (171) and on which the first power device (110) and the second power device (120) are coupled; an 11th pulley (173) coupled to a protrusion of the first power device (110); a 12th pulley coupled to a protrusion of the second power device (120); and a 13th pulley (174) coupled to a protrusion of the third power device (130).

[0039] In addition, the first slider (140) is characterized by including a first coupling plate (143) to which the 14th pulley (141) and the 15th pulley (142) are coupled on the left and right sides; a first slider cover (144) to which the first coupling plate (143) is accommodated; and a first cable fixing means (145) to which the end of the 5th cable (450) is fastened.

[0040] In addition, the first slider (150) is characterized by including a second coupling plate (153) to which the 16th pulley (151) and the 17th pulley (152) are coupled on the left and right sides; a second slider cover (154) to which the second coupling plate (153) is accommodated; and a second cable fixing means (155) to which the end of the 5th cable (450) is fastened.

[0041] In addition, the body (100) is characterized by including a tension control module that controls the tension of the fifth cable (450).

[0042]

[0043] The sealed joint drive device using cables of the present invention can implement three-axis movement using only four cables, and thus has the advantage of simplifying the power transmission structure.

[0044] Additionally, since tension adjustment of all cables can be done through a single tension adjustment module, there is an advantage in that the configuration for tension adjustment can be simplified.

[0045] Additionally, since the device has a sealed structure, it has the advantage of high resistance to water and dust.

[0046] In addition, since the wire output hole for power supply is formed in the center, there is an advantage of not requiring a separate configuration for wiring.

[0047]

[0048] Fig. 1 is a perspective view showing a sealed joint drive device using a cable according to the present invention.

[0049] Figures 2 to 5 are conceptual diagrams for explaining the three-axis movement of a closed joint drive device using a cable according to the present invention.

[0050] Figures 6 to 15 are drawings for explaining the female part of the sealed joint drive device using a cable according to the present invention.

[0051] Fig. 16 is a plan view and a bottom view for explaining the structure of a pulley constituting the female pulley module of a closed joint drive device using a cable according to the present invention.

[0052] Fig. 17 is a drawing for explaining the connecting body of the sealed joint drive device using a cable according to the present invention.

[0053] Figures 18 to 25 are drawings for explaining the elbow joint of the sealed joint drive device using a cable according to the present invention.

[0054] Figure 26 is a conceptual diagram for explaining the operation of the elbow joint of the sealed joint drive device using a cable according to the present invention.

[0055] Figures 27 to 31 are drawings for explaining the body of a sealed joint drive device using a cable according to the present invention.

[0056]

[0057] Advantages and features of embodiments of the present invention, and methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various different forms. These embodiments are provided only to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

[0058] When describing embodiments of the present invention, detailed descriptions of known functions or configurations will be omitted if they are deemed to unnecessarily obscure the gist of the invention. Furthermore, the terms described below are defined in light of their functions in the embodiments of the present invention and may vary depending on the intent or custom of the user or operator. Therefore, their definitions should be based on the overall content of this specification.

[0059] Hereinafter, a closed joint drive device (1000) using a cable according to the present invention will be described with reference to the attached drawings.

[0060] In addition, this study was conducted with the support of the Civil-Military Technology Cooperation Project conducted by the Civil-Military Cooperation Promotion Agency with funds from the government of the Republic of Korea (Ministry of Trade, Industry and Energy and Defense Acquisition Program Administration) (Agreement No. UM22207RD2).

[0061] Additionally, the bevel gears described below are recommended gears and may include all other gears as well as bevel gears, and it is of course possible for the bevel gears described below to be implemented with cables as illustrated in US4903536A.

[0062] FIG. 1 is a perspective view showing a closed joint drive device using a cable of the present invention, FIGS. 2 to 5 are conceptual diagrams for explaining the three-axis movement of the closed joint drive device using the cable of the present invention, FIGS. 6 to 15 are diagrams for explaining the arm of the closed joint drive device using the cable of the present invention, FIG. 16 is a plan view and a bottom view for explaining the structure of a pulley constituting the arm pulley module of the closed joint drive device using the cable of the present invention, FIG. 17 is a diagram for explaining a connecting body of the closed joint drive device using the cable of the present invention, FIGS. 18 to 25 are diagrams for explaining an elbow joint of the closed joint drive device using the cable of the present invention, FIG. 26 is a conceptual diagram for explaining the operation of the elbow joint of the closed joint drive device using the cable of the present invention, and FIGS. 27 to 31 are diagrams for explaining the body of the closed joint drive device using the cable of the present invention.

[0063] Referring to FIGS. 1 to 5, a sealed joint drive device (1000) using a cable of the present invention may include a body (100) equipped with a plurality of power devices, an arm (200) that moves in three axes by a rotational force transmitted from the power devices, an elbow joint (300) connecting the body (100) and the arm (200), and a plurality of cables (400) that transmit a rotational force generated by the power devices to the arm (200).

[0064] To explain in detail, a special structure is implemented that can move the arm (200) in three axes using multiple cables (400).

[0065] In addition, since the design and manufacturing of the device become much easier when the number of cables for implementing three-axis motion is minimized, the present invention has implemented a drive system capable of minimizing the number of cables (400), and this special structure will be described in detail below.

[0066] Referring to FIGS. 2 to 5, the body (100) may include a first power unit (110) positioned on one side in the thickness direction, a second power unit (120) positioned facing the first power unit (110) on the other side in the thickness direction, a third power unit (130) positioned spaced apart from the first power unit (110) and the second power unit (120), a first slider (140) positioned between the first power unit (110) and the third power unit (130), and a second slider (150) positioned between the second power unit (120) and the third power unit (130).

[0067] In addition, the above-mentioned female part (200) may include a gear module (210) formed by a plurality of bevel gears located on one side in the longitudinal direction, and a female part pulley module (220) located on the other side in the longitudinal direction and around which a cable is wound.

[0068] In addition, the gear module (210) may include a first bevel gear (211) positioned on the upper side, a second bevel gear (212) positioned on the lower side to face the first bevel gear (211), and a third bevel gear (213) connecting the first bevel gear (211) and the second bevel gear (212).

[0069] In addition, the cable (400) comprises a first cable (410) which is connected to the first bevel gear (211) and the first power unit (110) at one and the other longitudinal sides, respectively, and spans the first slider (140), a second cable (420) which is connected to the second bevel gear (212) and the first power unit (110) at one and the other longitudinal sides, respectively, and spans the first slider (140), a third cable (430) which is connected to the first bevel gear (211) and the second power unit (120) at one and the other longitudinal sides, respectively, and spans the second slider (150), a fourth cable (440) which is connected to the second bevel gear (211) and the second power unit (120) at one and the other longitudinal sides, respectively, and spans the second slider (150), and a second cable (440) which is connected to the second bevel gear (211) and the second power unit (120) at one and the other longitudinal sides, respectively, and spans the second slider (150), and a second cable (440) which is connected to the first It may include a fifth cable (450) coupled to the slider (140) and the second slider (150) and coupled to the third power unit (130).

[0070] To explain in detail, a plurality of bevel gears (211, 212, 213) constituting a gear module (210) and an arm pulley module (200) are connected to a plurality of power devices (110, 120, 130) provided inside a body (100) by a plurality of cables (410, 420, 430, 440, 450), so that the arm (200) can rotate in the yaw direction, roll direction, and pitch direction according to the rotation of the power devices.

[0071] Here, the direction can be defined as rotation around the X-axis, the pitch direction as rotation around the Y-axis, and the roll direction as clockwise or counterclockwise rotation around the Z-axis. Below, the movement of the arm (200) corresponding to the operation of the power device will be specifically described.

[0072] Referring to FIG. 3, when the first power unit (110) and the second power unit (120) are driven clockwise, the pulley coupled to the first slider (140) and the pulley coupled to the second slider (150) rotate correspondingly.

[0073] At this time, the upper first cable (410) and third cable (430) are released and the lower second cable (420) and fourth cable (440) are pulled, so that the arm pulley module (220) rotates counterclockwise around the Y-axis, causing the front side of the arm (200) to descend.

[0074] And, when the first power unit (110) and the second power unit (120) are driven counterclockwise, the arm pulley module (220) rotates clockwise around the Y-axis by the same principle, and the front side of the arm (200) rises.

[0075] Referring to FIG. 4, when the first power unit (110) is driven counterclockwise and the second power unit (120) is driven clockwise, the pulley coupled to the first slider (140) and the pulley coupled to the second slider (150) rotate in opposite directions.

[0076] At this time, since the first cable (410) and the fourth cable (440) are pulled and the second cable (420) and the third cable (430) are released, no pitch rotation about the Y axis of the arm pulley module (220) is created.

[0077] And, when the first bevel gear (211) and the second bevel gear (212) rotate in opposite directions to rotate the third bevel gear (213), a rotation in the yaw direction centered on the X-axis occurs, causing the arm (200) to rotate clockwise.

[0078] In addition, when the first power unit (110) is driven clockwise and the second power unit (120) is driven counterclockwise by the same principle, the third bevel gear (213) rotates counterclockwise and the arm (200) also rotates counterclockwise.

[0079] Referring to FIG. 5, when the third power unit (130) is driven counterclockwise, the first slider (140) is pulled to the rear side where the third power unit is located, and the second slider (150) moves to the front side.

[0080] And, when the first slider (140) moves to the rear, the first cable (410) and the second cable (420) connected to the first slider (140) are pulled, and when the second slider (150) moves to the front, the third cable (430) and the fourth cable (440) connected to the second slider (150) are released, so that the first bevel gear (211) and the second bevel gear (212) rotate clockwise around the Z-axis, causing the arm (200) to turn to the left.

[0081] In addition, when the third power device (130) is rotated clockwise by the same principle, the arm (200) rotates to the right.

[0082] Ultimately, the arm (200) rotates in the yaw (front / back), pitch (left / right), and roll (up / down) directions in response to the rotational directions of the first power unit (110), second power unit (120), and third power unit (130).

[0083] At this time, in order to implement the three-axis movement of the arm (200) with a minimum number of cables, the first cable (410) and the third cable (430) must be coupled to the first bevel gear (211) in different directions, the second cable (420) and the fourth cable (440) must be coupled to the second bevel gear (212) in different directions, the first cable (410) and the second cable (420) must be coupled to the first power unit (110) in different directions, and the third cable (430) and the fourth cable (440) must be coupled to the second power unit (120) in different directions.

[0084] Above, different directions means that when one is wound clockwise and then coupled so that the end can be pulled in response to the rotation, the other is wound counterclockwise and then coupled so that the end can be pulled in response to the rotation.

[0085] In addition, the arm pulley module (220) may include a first pulley (221) around which the first cable (410) is wound, a second pulley (222) around which the second cable (420) is wound, a third pulley (223) around which the third cable (430) is wound, and a fourth pulley (224) around which the fourth cable (440) is wound.

[0086] That is, the first to fourth cables are wound around the first to fourth pulleys so that the pitch direction rotation described above can be performed in response to the pulling and releasing of the cables.

[0087] In addition, the elbow joint (300) may include a fifth pulley (310) over which the first cable (410) is passed, a sixth pulley (320) over which the second cable (420) is passed, a seventh pulley (330) over which the third cable (430) is passed, and an eighth pulley (340) over which the fourth cable (440) is passed, and the first to fourth cables may be combined in a form over which they are passed over the fifth to eighth pulleys.

[0088] Referring to FIGS. 6 to 15, the arm (200) may include a front housing (230) to which the gear module (210) is coupled, a ninth pulley (240) coupled to the first bevel gear (211), a tenth pulley (250) coupled to the second bevel gear (212), a pair of front covers (260) coupled to the upper and lower sides of the front housing (230), and a pair of first O-rings (270) sealing the coupling surface of the front housing (230) and the front cover (260).

[0089] To explain in detail, a plurality of bevel gears constituting a gear module (210) are coupled to a front housing (230) so as to be able to rotate at a certain position, and a ninth pulley (240) and a tenth pulley (250) to which a cable is coupled are coupled to a first bevel gear (211) and a second bevel gear (212), so that the bevel gear coupled to the pulley can rotate in response to the pulling and releasing of the cable.

[0090] In addition, a first O-ring (270) is combined with the joint surface of the front housing (230) and the front cover (260) that seal the first bevel gear (211), the second bevel gear (212), the ninth pulley (240), and the tenth pulley (250) by being combined with each other, so that the inflow of moisture and foreign substances from the outside can be restricted.

[0091] At this time, the third bevel gear (213) may have a first wire output hole (213-1) formed in the center, and the front housing (230) may have a second wire output hole (231) formed corresponding to the first wire output hole (213-1).

[0092] To explain in detail, a separate grapher device can be combined on the front side of the dark section (200), and since power is required for the operation of this grapher device, a first wire output hole (213-1) and a second wire output hole (231) through which wires pass are formed in the center of the third bevel gear (213) and the front housing (230).

[0093] Additionally, the front housing (230) may have a plurality of first cable guide holes (232) formed to extend longitudinally along the edge.

[0094] To explain in detail, in the case of the present invention, since three cables are used for the three-axis control of the arm (200), four first cable guide holes (232) are created on the front housing (230) into which four cables are inserted.

[0095] At this time, the first cable guide hole (232) may include a movement passage forming hole (232-1) located in the center and a cable mounting hole (232-2) formed on the left and right sides of the movement passage forming hole (232-1).

[0096] In addition, the arm (200) may include a rear housing (280) to which the arm pulley module (220) is coupled, and a pair of rear covers (290) coupled to the left and right sides of the rear housing (280).

[0097] In addition, the rear housing (280) may include a first rear housing (281) positioned at the center and having a third wire output hole (281-1) formed therein, a second rear housing (282) having fitting holes formed so that the left and right sides of the first rear housing (281) fit into fastening lips (282-1) formed spaced apart from each other on the left and right sides, a second O-ring (283) sealing between the first rear housing (281) and the second rear housing (282), and a third O-ring sealing the joint surface of the second rear housing (282) and the rear cover (290).

[0098] To explain in detail, the first pulley (221), the second pulley, the third pulley (223), and the fourth pulley (224) are coupled to the first rear housing (281) so that they can rotate at a certain position.

[0099] In addition, a second O-ring is coupled to the joint surface of the first rear housing (281) and the second rear housing (282), and a third O-ring is coupled between the second rear housing (282) and the rear cover (290) to seal the joint area.

[0100] In addition, the rear housing (280) may be coupled with a first cable guide (285) that forms a second cable guide hole (285-1) into which a cable passing through the first cable guide hole (232) is inserted, and the front housing and the rear housing may be coupled in such a manner that the first cable guide (285) is inserted into the first cable guide hole (232).

[0101] Referring to Fig. 16, a cable fixing member (CN) may be formed on one side and the other side of the cable in the direction of thickness to which the end of the cable is fixedly connected, and after the cable is inserted into the cable fixing member (CN), a member for preventing the cable from coming off may be attached to the end.

[0102] At this time, the pulleys on which the cable fixing portion (CN) is formed may include the ninth pulley (240) and the tenth pulley (250) coupled to the first bevel gear (211) and the second bevel gear (212), and the pulleys coupled to the first power unit (110) and the second power unit (120).

[0103] Referring to FIG. 17, the sealed joint drive device (1000) using a cable of the present invention may include a connecting body (500) connecting the arm portion (200) and the elbow joint (300).

[0104] In addition, the connecting body (500) is rotatably connected to the arm portion (200) and the elbow joint (300), and a third cable guide hole is formed longitudinally inside to allow the cable to move through the connecting body (500).

[0105] At this time, it is recommended that the connecting body (500) have a truss structure to minimize weight while maintaining a certain level of durability.

[0106] Referring to FIGS. 18 to 27, the connecting body (500) and the body (100) are rotatably connected to one side and the other side of the longitudinal direction of the elbow joint (300), respectively, so that the elbow joint (300) can be angle-adjusted in the up-and-down direction.

[0107] At this time, the elbow joint (300) may include a joint body (350) to which the fifth pulley (310), sixth pulley (320), seventh pulley (330), and eighth pulley (340) are coupled, a joint cover (360) coupled to the left and right sides of the joint body (350), and a fourth O-ring (370) that seals the joint portion of the joint body (350) and the connecting body (500) or body (100).

[0108] To explain in detail, the fifth pulley (310) to the eighth pulley (340) are rotatably coupled to the joint body (350) so as to support and guide the cable to be attached.

[0109] In addition, the joint part of the joint body (350) and the connecting body (500) body (100) can be sealed by the fourth O-ring (370).

[0110] A tension control cable connecting the above connecting body (500) and the body (100) may be included, and a cable fitting groove (390) into which the tension control cable is fitted may be formed in the connecting body (500) and the body (100).

[0111] In addition, the body (100) may include an elbow actuation power device (A) accommodated therein, and an elbow actuation link (B) whose longitudinal side is eccentrically coupled to a rotational axis of the elbow actuation power device and is pushed or pulled in the longitudinal direction in response to the operation of the elbow actuation power device, and whose longitudinal side is coupled to the elbow joint (300).

[0112] That is, when the elbow operating power device (A) rotates clockwise and pulls the elbow operating link (B), the connecting body (500) rises as shown in the center of Fig. 26 and on the right side of Fig. 26, and when it rotates counterclockwise, the connecting body (500) descends as shown on the left side of Fig. 26.

[0113] In order to adjust the angle of the elbow joint (300), the connecting body (500) and the body (100) are joined to the elbow joint (300) in a rolling joint manner, and the connecting body (500) and the body (100) joined in a rolling manner are connected to each other with a tension adjustment cable (C) to always maintain a constant tension.

[0114] At this time, it goes without saying that the tension control cable may include a plate connecting the connecting body (500) and the body (100) as shown in Fig. 26.

[0115] In addition, a cable fitting groove (390) into which a tension adjustment cable is fitted is formed on the upper side of the elbow joint (300), so that the tension adjustment cable does not come out of the set position.

[0116] In addition, a cable fixing groove (CH) to which a tension adjustment cable is connected may be formed in the connecting body (500) and the body (100), and a link assembly groove (LH) to which an elbow operating link (B) is coupled may be formed in the elbow joint (300).

[0117] In addition, the joint cover (360) may be formed with a window portion (361) made of a transparent material, and a guide pulley (SP) for guiding a cable may be coupled to the body (100).

[0118] In addition, the connecting body (500) and the body (100) may be connected with a fifth O-ring (FO) and a sixth O-ring (SO) on the surface where the joint cover (360) is connected, respectively, and a central wire output hole (MH) may be formed in the center of the joint body (350).

[0119] Including FIGS. 27 to 31, the body (100) may include an upper body (160) rotatably coupled to the elbow joint (300), and a lower body (170) to which the first power device (110), the second power device (120), the third power device (130), the first slider (140), and the second slider (150) are coupled.

[0120] And, the lower body (170) may include a base plate (171) to which the first slider (140) and the second slider (150) are coupled so as to be able to slide in the longitudinal direction, and a third power device is fixedly coupled between the first slider (140) and the second slider (150), a fastening plate (172) located on the left and right sides of the base plate (171) and to which the first power device (110) and the second power device (120) are coupled, an 11th pulley (173) coupled to a protrusion of the first power device (110), a 12th pulley coupled to a protrusion of the second power device (120), and a 13th pulley (174) coupled to a protrusion of the third power device (130).

[0121] To explain in detail, a plurality of power devices are fixedly connected to the lower body (170), and cables are respectively connected to a plurality of pulleys connected to the rotational shafts of the power devices, so that the cables can be pulled or released in response to the operation of the power devices.

[0122] And, since the first slider (140) and the second slider (150) must be able to move in the longitudinal direction of the lower body (170), the first slider (140) and the second slider (150) are connected to the base plate (171) so that they can slide forward and backward.

[0123] At this time, the first slider (140) may include a first coupling plate (143) to which the 14th pulley (141) and the 15th pulley (142) are coupled on the left and right sides, a first slider cover (144) to which the first coupling plate (143) is accommodated, and a first cable fixing means (145) to which the end of the 5th cable (450) is fastened.

[0124] In addition, the first slider (150) may include a second coupling plate (153) to which the 16th pulley (151) and the 17th pulley (152) are coupled on the left and right sides, a second slider cover (154) to which the second coupling plate (153) is accommodated, and a second cable fixing means (155) to which the end of the 5th cable (450) is fastened.

[0125] That is, the first cable (410) can be coupled to the 14th pulley (141), the second cable (420) can be coupled to the 15th pulley (142), the third cable (430) can be coupled to the 16th pulley (151), and the fourth cable (440) can be coupled to the 17th pulley (152).

[0126] In addition, although not shown in the drawing, the body (100) may be equipped with a tension control module for controlling the tension of the fifth cable (450), and this tension control module may control the tension of the fifth cable (450) by pushing or pulling the fifth cable (450), but the tension may be controlled in various ways other than this, and is not limited thereto.

[0127] The present invention is not limited to the above-described embodiments, and the scope of application is diverse. It goes without saying that anyone with ordinary skill in the art can make various modifications without departing from the gist of the present invention as claimed in the claims.

Claims

1. A body (100) equipped with multiple power devices; An arm (200) that moves in three axes by the rotational force transmitted from the above power device; and A cable-based joint drive device, comprising a plurality of cables (400) that transmit rotational force generated by the power device to the arm (200).

2. In paragraph 1, The above-mentioned female part (200) includes a gear module (210) formed by a plurality of gears located on one side in the longitudinal direction, and a plurality of female part pulley modules (220) located on the other side in the longitudinal direction and around which a cable is wound; A cable-based joint drive device characterized in that a plurality of the above cables (400) are wound around an arm pulley module (220) and connected to a plurality of power devices and gears constituting a gear module (210).

3. In paragraph 2, A cable-based joint drive device characterized in that the above cables (400) are four in number, and the four cables (400) are coupled in different directions to a plurality of gears and a plurality of power devices constituting a gear module (210).

4. In paragraph 1, The body (100) has a first power device (110) positioned on one side in the thickness direction; A second power unit (120) positioned facing the first power unit (110) on the other side in the thickness direction; A cable-operated joint drive device, comprising a third power device (130) spaced apart from the first power device (110) and the second power device (120).

5. In paragraph 4, The above-mentioned female part (200) includes a gear module (210) positioned on one side in the length direction and formed by a plurality of gears; A cable-based joint drive device, comprising: an arm pulley module (220) positioned on the other side in the longitudinal direction and having a cable wound thereon; 6. In paragraph 5, The above gear module (210) includes a first bevel gear (211) located on the upper side; A second bevel gear (212) positioned facing the first bevel gear (211) on the lower side; A cable-based joint drive device, comprising a third bevel gear (213) connecting the first bevel gear (211) and the second bevel gear (212).

7. In paragraph 6, The above cable (400) comprises a first cable (410) having one longitudinal side and the other longitudinal side respectively connected to a first bevel gear (211) and a first power unit (110); A second cable (420) having one longitudinal side and the other longitudinal side respectively connected to a second bevel gear (212) and a first power unit (110); A third cable (430) having one longitudinal side and the other longitudinal side respectively connected to the first bevel gear (211) and the second power unit (120); A cable-based joint drive device, comprising a fourth cable (440) having one longitudinal side and the other longitudinal side respectively coupled to a second bevel gear (211) and a second power unit (120).

8. In paragraph 7, The above body (100) includes a first slider (140) positioned between the first power unit (110) and the third power unit (130); A cable-operated joint drive device, comprising a second slider (150) positioned between the second power device (120) and the third power device (130).

9. In paragraph 8, A joint drive device using a cable, wherein the cable (400) includes a fifth cable (450) having longitudinal ends connected to the first slider (140) and the second slider (150) and spanning the third power device (130).

10. In paragraph 8, A cable-based joint drive device, characterized in that the first cable (410) and the second cable (420) are spanned over the first slider (140), and the third cable (430) and the fourth cable (440) are spanned over the second slider (150).

11. In paragraph 8, A joint drive device using a cable, comprising an elbow joint (300) connecting the body (100) and the arm (200).

12. In paragraph 7, The first cable (410) and the third cable (430) are connected to the first bevel gear (211) in different directions, The second cable (420) and the fourth cable (440) are connected to the second bevel gear (212) in different directions, The first cable (410) and the second cable (420) are connected to the first power device (110) in different directions, A cable-based joint drive device, characterized in that the third cable (430) and the fourth cable (440) are coupled to the second power device (120) in different directions.

13. In paragraph 7, The above-mentioned female pulley module (220) comprises a first pulley (221) around which the first cable (410) is wound; A second pulley (222) around which the second cable (420) is wound; A third pulley (223) around which the third cable (430) is wound; A joint drive device using a cable, comprising a fourth pulley (224) around which the fourth cable (440) is wound.

14. In paragraph 11, The above elbow joint (300) is a fifth pulley (310) over which the first cable (410) is passed; The sixth pulley (320) over which the second cable (420) is passed; The seventh pulley (330) over which the third cable (430) is passed; A cable-based joint drive device, comprising an eighth pulley (340) over which the fourth cable (440) is crossed.

15. In paragraph 8, The above-mentioned female part (200) is a front housing (230) to which the gear module (210) is coupled; A ninth pulley (240) coupled to the first bevel gear (211); A 10th pulley (250) coupled to the second bevel gear (212); A pair of front covers (260) coupled to the upper and lower sides of the front housing (230); A cable-based joint drive device, comprising a pair of first O-rings (270) sealing the joint surface of the front housing (230) and the front cover (260).

16. In paragraph 15, A cable-based joint drive device, characterized in that the third bevel gear (213) has a first wire output hole (213-1) formed in the center, and the front housing (230) has a second wire output hole (231) formed corresponding to the first wire output hole (213-1).

17. In paragraph 15, A cable-based joint drive device, wherein the front housing (230) includes a plurality of first cable guide holes (232) formed to extend longitudinally along an edge.

18. In paragraph 15, The above-mentioned female part (200) has a rear housing (280) to which the above-mentioned female part pulley module (220) is coupled; A cable-operated joint drive device, comprising a pair of rear covers (290) coupled to the left and right sides of the rear housing (280).

19. In paragraph 18, The above rear housing (280) is positioned in the center and has a first rear housing (281) in which a third wire output hole (281-1) is formed; A second rear housing (282) having a fitting hole formed into which the left and right sides of the first rear housing (281) fit into the connecting lip (282-1) formed spaced apart on the left and right sides; A second O-ring (283) sealing between the first rear housing (281) and the second rear housing (282); A cable-based joint drive device, comprising a third O-ring that seals the joining surface of the second rear housing (282) and the rear cover (290).

20. In paragraph 18, A cable-based joint drive device, wherein the rear housing (280) includes a first cable guide (285) forming a second cable guide hole (285-1) into which a cable passing through the first cable guide hole (232) is inserted.

21. In paragraph 11, A joint drive device using a cable, comprising a connecting body (500) connecting the above arm portion (200) and the elbow joint (300).

22. In paragraph 21, A cable-based joint drive device, characterized in that the above connecting body (500) is rotatably connected to the above arm (200) and elbow joint (300).

23. In paragraph 21, A cable-based joint drive device, characterized in that the above connecting body (500) has a third cable guide hole formed longitudinally inside.

24. In paragraph 21, A cable-based joint drive device, characterized in that the above-mentioned connecting body (500) has a truss structure.

25. In paragraph 21, The above elbow joint (300) is a joint body (350) to which the fifth pulley (310), sixth pulley (320), seventh pulley (330), and eighth pulley (340) are connected; Joint cover (360) coupled to the left and right sides of the above joint body (350); A cable-based joint drive device, comprising a fourth O-ring (370) that seals the joint between the joint body (350) and the connecting body (500) or body (100).

26. In paragraph 21, A cable-based joint drive device, characterized in that the above-mentioned connecting body (500) and the above-mentioned body (100) are rotatably connected to one side and the other side of the longitudinal direction of the above-mentioned elbow joint (300), respectively.

27. In paragraph 21, It includes a connecting body (500) and a tension control cable connecting the body (100); A cable-based joint drive device, characterized in that a cable insertion groove (390) into which a tension adjustment cable is inserted is formed in a connecting body (500) and a body (100).

28. In paragraph 25, A cable-based joint drive device, wherein the above joint cover (360) includes a window portion (361) formed of a transparent material.

29. In paragraph 11, The above body (100) comprises an upper body (160) rotatably connected to the elbow joint (300); A cable-based joint drive device, comprising a lower body (170) to which the first power device (110), the second power device (120), the third power device (130), the first slider (140), and the second slider (150) are coupled.

30. In paragraph 29, The above body (100) comprises an elbow-operated power device (A) accommodated inside; A cable-based joint drive device, comprising an elbow drive link (B) having one longitudinal side eccentrically connected to a rotational axis of the elbow drive power device and pushed or pulled in the longitudinal direction in response to operation of the elbow drive power device, and the other longitudinal side connected to the elbow joint (300).

31. In paragraph 29, The lower body (170) above includes a base plate (171) to which the first slider (140) and the second slider (150) are coupled so as to be able to slide in the longitudinal direction, and a third power device is fixedly coupled between the first slider (140) and the second slider (150); A fastening plate (172) positioned on the left and right sides of the base plate (171) and to which the first power unit (110) and the second power unit (120) are coupled; An 11th pulley (173) coupled to a protrusion of the first power device (110); A 12th pulley coupled to the protrusion of the second power device (120); A cable-operated joint drive device, comprising a 13th pulley (174) coupled to a protrusion of a third power unit (130).

32. In paragraph 9, The above first slider (140) has a first coupling plate (143) to which the 14th pulley (141) and the 15th pulley (142) are coupled on the left and right sides; A first slider cover (144) in which the first coupling plate (143) is accommodated; A joint drive device using a cable, comprising a first cable fixing means (145) to which an end of the fifth cable (450) is connected.

33. In paragraph 9, The second slider (150) has a second coupling plate (153) to which the 16th pulley (151) and the 17th pulley (152) are coupled on the left and right sides; A second slider cover (154) in which the second coupling plate (153) is accommodated; A joint drive device using a cable, comprising a second cable fixing means (155) to which an end of the fifth cable (450) is connected.

34. In paragraph 8, A cable-based joint drive device, wherein the body (100) includes a tension control module that controls the tension of the fifth cable (450).

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