Joint driving apparatus and gripper comprising same

Abstract

Provided are a joint driving apparatus and a gripper comprising same, the joint driving apparatus comprising: a first planetary gear set including a first sun gear, a first ring gear, and a first planetary gear rotating between the first sun gear and the first ring gear; a first joint portion including a first-1 link and a first-2 link having lower ends respectively connected to any two of the first sun gear, the first ring gear, and the first planetary gear; a second joint portion including a second-1 link, wherein upper ends of the first-1 link and the first-2 link are respectively link-coupled to two different points of a lower end of the second-1 link; a first driving unit and a second driving unit respectively rotating gears connected to the first-1 link and the first-2 link from among the first sun gear, the first ring gear, and the first planetary gear; and a control unit controlling the first driving unit and the second driving unit.

Description

Joint driving device and gripper including the same

[0001] The present invention relates to a joint driving device and a gripper including the same, and more specifically, to a joint driving device capable of independently controlling the movement of each joint and a gripper including the same.

[0002] Robot end-effector technology plays a crucial role in performing tasks, including in service robots, industrial robots, and other automation industries.

[0003] Currently, since specialized grippers must be used depending on the type of task, multiple robot grippers are required to perform a single process. Therefore, if there were a single gripper capable of performing all various tasks, a highly efficient robotic process could be achieved.

[0004] Furthermore, humanoid robots are being developed to perform actions similar to humans, and to enhance the sophistication of these robots, the development of robotic hands capable of precise movements like a human hand is essential.

[0005] Representative driving methods of robot grippers developed to date can be classified into wire (tendon) drive, direct motor connection, and link methods.

[0006] Among robot grippers, robot hands that mimic a human hand primarily use wire or direct motor connection methods to achieve high degrees of freedom.

[0007] Wire-driven systems have the advantage of enabling precise movements similar to those of a human hand. However, while achieving multiple degrees of freedom requires the use of numerous wires, the assembly of these wires is difficult and complex, resulting in disadvantages in manufacturing and maintenance. Additionally, because multiple motors are required to manipulate the wires, although the fingers themselves can be made the same size as a human hand, the large volume of the motors located in the wrist area hinders miniaturization and prevents modularization.

[0008] In addition, in the case of the direct motor drive method, the size of the gripper segments is determined by the size of the motor, and there are limitations to miniaturization.

[0009] In contrast, the link method eliminates the need for multiple motors to manipulate the wires, thereby resolving the drawbacks of the wire-driven method and offering the advantage of modularity. However, using links presents disadvantages: it is difficult to implement perfectly independent movement for each joint, it is harder to increase degrees of freedom compared to other methods, and the mechanical design is complex.

[0010] Relevant prior art literature includes Korean Published Patent No. 10-2013-0110973, U.S. Published Patent No. 2018-0311827, and Korean Published Patent No. 10-2020-0098941.

[0011] The problem that the present invention aims to solve is to provide a joint drive device that can independently control the movement of each joint by individually controlling the movement of a link according to the rotation of a sun gear and the movement of another link according to the movement of a planetary gear using a planetary gear set.

[0012] In addition, the invention aims to provide a joint drive device capable of independently controlling the movement of each joint by utilizing a planetary gear set and a belt-pulley mechanism that drives the planetary gear set, thereby controlling the rotation of the remaining gears by rotating any two of the sun gear, ring gear, and planetary gears constituting the planetary gear set.

[0013] In addition, the invention aims to provide a joint drive device capable of independently controlling the movement of each joint by utilizing a planetary gear set and a worm gear drive mechanism that drives the planetary gear set, thereby controlling the rotation of the remaining gears by rotating any two of the sun gear, ring gear, and planetary gears constituting the planetary gear set.

[0014] In addition, the aim is to provide a gripper and a robot hand with a simple mechanism configuration and independent driving of each joint by arranging multiple joint driving devices in parallel.

[0015] The joint drive device according to one embodiment for realizing the purpose of the present invention described above includes a first planetary gear set, a first segment, a second segment, a second drive unit, and a control unit. The first planetary gear set includes a first sun gear, a first ring gear, and a first planetary gear that rotates between the first sun gear and the first ring gear. The first segment includes a first-1 link and a first-2 link, the lower ends of which are respectively connected to any two of the first sun gear, the first ring gear, or the first planetary gear. The second segment includes a second-1 link, the upper ends of which are respectively linked to two different points of the lower end, to which the first-1 link and the first-2 link are respectively linked. The second drive unit rotates any two of the first sun gear, the first ring gear, or the first planetary gear. The control unit controls the first drive unit and the second drive unit.

[0016] In one embodiment, the lower end of the first-1 link extends to the axis of the first sun gear and rotates together with the first sun gear, and the lower end of the first-2 link is linked to the axis of the second planetary gear, and the first driving unit can rotate the first sun gear and the second driving unit can rotate the first ring gear.

[0017] In one embodiment, the control unit can control the first driving unit or the second driving unit to independently control the joint movement of the first segment and the second segment.

[0018] In one embodiment, the lower portion of the 2-1 link may be bent, and the upper portions of the 1-1 link and the 1-2 link may be linked at the ends of the bent lower portion.

[0019] In one embodiment, the first drive unit or the second drive unit may include a motor, a driving pulley that rotates by receiving driving force from the motor, a driven pulley that rotates together with the gear to be rotated among the first sun gear, the first ring gear, and the first planetary gear, and a belt connecting the driving pulley.

[0020] In one embodiment, a first ring gear driven pulley is formed on the radial outer surface of the first ring gear, and a first sun gear driven pulley may be formed on the outer surface of an extension shaft that rotates together with the first sun gear on one axial side of the first sun gear.

[0021] In one embodiment, a first planetary gear driven pulley may be formed on the outer surface of a support plate that rotatably supports the shaft of the first planetary gear, or a first planetary gear driven pulley may be formed on the outer surface of an extension shaft that rotates together with the support plate on one side in the axial direction of the support plate.

[0022] In one embodiment, the first driving unit or the second driving unit may include a motor, a driving worm gear that rotates by receiving driving force from the motor, and a driven worm gear that is gear-coupled with the driving worm gear and rotates together with the gear to be rotated among the first sun gear, the first ring gear, and the first planetary gear.

[0023] In one embodiment, a second driven worm gear may be formed on the radial outer surface of the first ring gear, and a first driven worm gear may be formed on the outer surface of an extension extending axially from the first sun gear.

[0024] In one embodiment, a driven worm gear may be formed on the outer surface of a support plate that rotatably supports the shaft of the first planetary gear, or a driven worm gear may be formed on the outer surface of an extension extending axially from the support plate.

[0025] In one embodiment, the joint drive device may further include a second planetary gear set comprising a second sun gear, a second ring gear, and a second planetary gear that rotates and revolves between the second sun gear and the second ring gear, a third drive unit that rotates any one of the second sun gear, the second ring gear, or the second planetary gear, and a third joint unit comprising a third link that is linked to the upper end of the second joint unit and performs joint movement. The lower portion of the above-mentioned 2-1 link is connected to any one of the above-mentioned 2 sun gear, 2 ring gear, or 2 planetary gear, and the above-mentioned 2-2 link is further included, the lower portion of which is connected to any one of the above-mentioned 2 sun gear, 2 ring gear, or 2 planetary gear to which the above-mentioned 2-1 link is not connected, and the upper portions of the above-mentioned 2-1 link and the above-mentioned 2-2 link are link-coupled at two different points of the lower portion of the above-mentioned 3 link, and the above-mentioned 3 driving unit can rotate the remaining gear among the above-mentioned 2 sun gear, 2 ring gear, or 2 planetary gear to which the above-mentioned 2-1 link and the above-mentioned 2-2 link are not connected.

[0026] In one embodiment, the control unit can control the first driving unit, the second driving unit, or the third driving unit to independently control the joint movement of the first segment, the second segment, and the third segment.

[0027] In one embodiment, the lower portion of the third link is bent, and the upper portions of the 2-1 link and the 2-2 link can be linked at the two ends of the bent lower portion.

[0028] In one embodiment, the third drive unit may include a motor, a driving pulley that rotates by receiving driving force from the motor, a driven pulley that rotates together with the gear to be rotated among the second sun gear, the second ring gear, and the second planetary gear, and a belt connecting the driving pulley.

[0029] In one embodiment, the third drive unit may include a motor, a driving worm gear that rotates by receiving driving force from the motor, a driven worm gear that rotates in gear coupling with the driving worm gear on the rotation axis of the first planetary gear set, a driving pulley that rotates together with the driven worm gear coaxially, the second sun gear, the second ring gear, a driven pulley that rotates together with the gear to be rotated among the second planetary gears, and a belt connecting the driving pulley and the driven pulley.

[0030] In one embodiment, the joint drive device further comprises a second planetary gear set including a second sun gear, a second ring gear, and a second planetary gear that rotates and revolves between the second sun gear and the second ring gear, a third drive unit that rotates the second ring gear, and a third link that is linked to the upper end of the second link and performs joint movement. The lower end of the second-1 link extends to the axis of the second sun gear and rotates together with the second sun gear, and the second link further comprises a second-2 link whose lower end is linked to the axis of the second planetary gear, and the upper ends of the second-1 link and the second-2 link may be linked to two different points on the lower end of the third link.

[0031] In one embodiment, the first driving unit may include a 4-1 link and a 4-2 link, each linked to the lower end of the 1-1 link at points on both sides parallel to the axis of the first sun gear in a direction orthogonal to the axis of the first sun gear, a 4-1 link rotation module linked to the lower end of the 4-1 link to rotate the lower end of the 4-1 link, and a 4-2 link rotation module linked to the lower end of the 4-2 link to rotate the lower end of the 4-2 link.

[0032] In one embodiment, the 4-1 link rotation module includes a first motor, a first worm gear that rotates by the rotation of the first motor, a first worm wheel that rotates in the axial direction of the first sun gear by gearing with the first worm gear, and a 5-1 link that rotates by being coupled to the shaft of the first worm wheel and has the lower end of the 4-1 link linked to the bent end portion. The 4-2 link rotation module may include a second motor, a second worm gear that rotates by the rotation of the second motor, a second worm wheel that rotates in the axial direction of the first sun gear by gearing with the second worm gear, and a 5-2 link that rotates by being coupled to the shaft of the second worm wheel and has the lower end of the 4-2 link linked to the bent end portion.

[0033] In one embodiment, the control unit can control the movement of the 4-1 link and the 4-2 link to be the same or different by controlling the first-1 link to move in a two-axis direction.

[0034] In one embodiment, the lower part of the first link may further include a pivot frame that is linked at both sides parallel to the axis of the first sun gear and has an intermediate part that is rotatably coupled to a housing.

[0035] As described above, according to the joint driving device and the gripper including the same of the present invention, there is an advantage that the movement of each joint can be independently controlled.

[0036] In addition, there is an advantage that the movement of each joint can be independently controlled based on the planetary gear set and the belt-pulley mechanism that drives the planetary gear set.

[0037] In addition, there is an advantage that the movement of each joint can be independently controlled based on the planetary gear set and the worm gear drive mechanism that drives the planetary gear set.

[0038] In addition, there is an advantage that the drive unit can be configured compactly based on the worm gear drive mechanism.

[0039] In addition, it has the advantage of simple configuration and design due to its link and gear-based power transmission method.

[0040] FIG. 1 is a perspective view of a joint driving device according to one embodiment of the present invention.

[0041] FIG. 2 illustrates the operation of the first planetary gear set so that the PIP joint rotates while the MCP joint is fixed in FIG. 1.

[0042] FIG. 3 illustrates the operation of the joint driving device of FIG. 1 according to FIG. 2.

[0043] FIG. 4 illustrates the operation of the first planetary gear set so that the MCP joint rotates while the PIP joint is fixed in FIG. 1.

[0044] FIG. 5 illustrates the operation of the joint driving device of FIG. 1 according to FIG. 4.

[0045] FIG. 6 illustrates the operation of the first planetary gear set so that the MCP joint and the PIP joint rotate together in FIG. 1.

[0046] FIG. 7 illustrates the operation of the joint driving device of FIG. 1 according to FIG. 6.

[0047] FIG. 8 is a perspective view of a joint driving device according to another embodiment of the present invention.

[0048] FIG. 9 illustrates the operation of the joint drive device of FIG. 8 in which the first joint, the second joint, and the third joint rotate together around the MCP joint.

[0049] FIG. 10 illustrates the operation of the joint drive device of FIG. 8, which rotates only between the first joint and the second joint around the PIP joint.

[0050] FIG. 11 illustrates the operation of the joint drive device of FIG. 8, which rotates only between the second and third segments around the DIP joint.

[0051] FIG. 12 illustrates the operation of the joint drive device of FIG. 8, in which each segment rotates around the MCP joint and the PIP joint.

[0052] FIG. 13 illustrates the operation of the joint drive device of FIG. 8, in which each segment rotates around the MCP joint and the DIP joint.

[0053] FIG. 14 illustrates the operation of the joint drive device of FIG. 8, in which each segment rotates around the PIP joint and the DIP joint.

[0054] FIG. 15 illustrates the operation of the joint drive device of FIG. 8, in which each segment rotates sequentially around the MCP joint, PIP joint, and DIP joint.

[0055] FIG. 16 illustrates an example of a first driving unit.

[0056] FIG. 17 is a perspective view illustrating an entire joint drive unit combining the first drive unit of FIG. 8 and FIG. 16.

[0057] FIGS. 18 and FIGS. 19 are perspective views of a joint drive device simulating a real finger according to FIG. 8, and FIG. 20 is a side view of FIG. 19.

[0058] FIG. 21 is a perspective view illustrating the belt connection of the drive unit that drives the first planetary gear set and the second planetary gear set in FIG. 18.

[0059] Fig. 22 is a side view of Fig. 21, and Fig. 23 is a top view of Fig. 21.

[0060] FIG. 24 is a perspective view of the first joint portion including the first planetary gear set in FIG. 19, and FIG. 25 is an exploded perspective view of FIG. 24.

[0061] FIG. 26 is a perspective view illustrating another embodiment of the first joint part.

[0062] FIGS. 27 and FIGS. 28 are different perspective views of a joint drive device simulating a real finger according to FIG. 8, and FIG. 29 is a side view of FIG. 28.

[0063] FIG. 30 is a perspective view of the first joint portion including the first planetary gear set in FIG. 27.

[0064] FIG. 31 is an exploded perspective view of FIG. 30, and FIG. 32 is a cross-sectional view of FIG. 30.

[0065] FIG. 33 is a perspective view of the second joint portion including the second planetary gear set in FIG. 27, and FIG. 34 is an exploded perspective view of FIG. 33.

[0066] FIGS. 35 and FIGS. 36 are drawings illustrating the belt connection of the drive unit that drives the second ring gear of the second planetary gear set in FIG. 27.

[0067] The present invention is susceptible to various modifications and may take various forms, and embodiments are to be described in detail in the text. However, this is not intended to limit the invention to the specific disclosed forms, and it should be understood that the invention includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention. Similar reference numerals have been used for similar components in the description of each figure. Terms such as "first," "second," etc., may be used to describe various components, but said components should not be limited by said terms.

[0068] The above terms are used solely for the purpose of distinguishing one component from another. The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "consisting of" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0069] Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the attached drawings.

[0070] A joint actuation device according to one embodiment of the present invention can be used as a device that simulates joint movement between human bones (joints), and as an example, can be used as a device that simulates a human finger. In the following description, a human finger will be used as an example.

[0071] The finger consists of three segments (each segment described later as the first segment, the second segment, and the third segment) connected from the palm and three joints (the first joint, the second joint, and the third joint). The first joint, described below, corresponds to the MCP (Metacarpophalangeal) joint, which is the joint between the palm and the finger, the second joint corresponds to the PIP (Proximal Interphalangeal) joint between the first segment and the second segment, and the third joint corresponds to the DIP (Distal Interphalangeal) joint between the second segment and the third segment.

[0072] Hereinafter, with reference to FIGS. 1 to 7, a joint driving device composed of a first joint and a second joint according to an embodiment of the present invention will be described first.

[0073] FIG. 1 is a perspective view of a joint driving device according to one embodiment of the present invention.

[0074] A joint driving device according to one embodiment of the present invention may be configured to include a first planetary gear set (140), a first segment (110), a second segment (120), a first driving unit (160), a second driving unit (170), and a control unit (not shown).

[0075] The first planetary gear set (140) is formed at a position corresponding to the MCP joint and can be driven by the first driving unit (160) and the second driving unit (170). As described below, in this embodiment, the driving of the first sun gear (141) and the first ring gear (142) constituting the first planetary gear set (140) is controlled by the first driving unit (160) and the second driving unit (170), respectively, thereby allowing the joint movement between the MCP joint at the bottom of the first segment (110) and the PIP joint between the first segment (110) and the second segment (120) to be controlled independently. For reference, the terms "upper" and "lower" or "upper" and "lower" below refer to the direction above as the upper direction and the direction below as the lower direction based on the drawing shown in FIG. 1, respectively, and do not refer to the upper and lower directions based on the actual ground.

[0076] The first planetary gear set (140) may be configured to include a first sun gear (141) positioned in the center, a first ring gear (142) rotating around the first sun gear (141), and a first planetary gear (143) rotating between the first sun gear (141) and the first ring gear (142). The first planetary gear (143) may rotate and revolve between the first sun gear (141) and the first ring gear (142). In the drawing, one first planetary gear (143) is positioned between the first sun gear (141) and the first ring gear (142), but to increase driving stability, multiple first planetary gears (143) may be positioned at equal intervals in the circumferential direction. In this embodiment, a separate drive unit is not connected to the first planetary gear (143), and the first planetary gear (143) rotates and revolves between the first sun gear (141) and the first ring gear (142) by the rotation of the first sun gear (141) or the first ring gear (142).

[0077] The first node (110) may be configured to include a first-1 link (111) and a first-2 link (112).

[0078] The first-1 link (111) and the first-2 link (112) can be arranged in parallel. The first-1 link (111) can be connected to the first sun gear (141). The first-1 link (111) can be formed to extend along the axis of the first sun gear (141) and rotate together with the first sun gear (141). At this time, the first-1 link (111) can be formed to extend in a direction perpendicular to the axis of the first sun gear (141). The first-1 link (111) can be formed integrally with the axis of the first sun gear (141) or coupled to the axis of the first sun gear (141) so as to rotate together with the axis of the first sun gear (141). The upper end of the first-1 link (111) can be linked to the lower end of the second-1 link (121) constituting the second joint (120).

[0079] The lower end of the first-2 link (112) can be connected to the first planetary gear (143). The lower end of the first-2 link (112) can be connected to the shaft of the first planetary gear (143). The lower end of the first-2 link (112) can be linked to the shaft of the first planetary gear (143). Additionally, the upper end of the first-2 link (112) can be linked to the lower end of the second-1 link (121).

[0080] At this time, the lower end point of the 2-1 link (121) to which the upper end of the 1-1 link (111) is linked and the lower end point of the 2-1 link (121) to which the upper end of the 1-2 link (112) is linked may be different and spaced apart from each other. At this time, it is preferable to make the distance between the two points equal to the distance between the axis of the 1 sun gear (141) and the axis of the 1 planetary gear (143) so that the 1-1 link (111) and the 1-2 link (112) are arranged parallel to each other. As illustrated, the lower end of the 2-1 link (121) is bent, and the upper ends of the 1-1 link (111) and the 1-2 link (112) can be linked at points on both sides of the bent lower end. The upper part of the 1-1 link (111) can be linked to the bent portion of the 2-1 link (121), and the upper part of the 1-2 link (112) can be linked to the end of the bent portion of the 2-2 link (122).

[0081] The second segment (120) is configured to include a second-1 link (121), and the upper portions of the first-1 link (111) and the first-2 link (112) are linked at two spaced points on the lower portion of the second-1 link (121) so that it can rotate by receiving power from the first-1 link (111) and the first-2 link (112).

[0082] The first drive unit (160) rotates the first sun gear (141). Thus, the first-1 link (111) can be rotated around the axis of the first sun gear (141). As described below, the first drive unit (160) may be configured to transmit power to the first-1 link (111) to rotate it, or it may be configured to directly rotate the first sun gear (141).

[0083] The second drive unit (170) rotates the first ring gear (142).

[0084] Accordingly, the first-1 link (111) rotates around the axis of the first sun gear (141) by the first drive unit (160). Additionally, when the first sun gear (141) or the first ring gear (142) is rotated by the first drive unit (160) or the second drive unit (170), the first planetary gear (143) positioned between them can be rotated. At this time, the first planetary gear (143) revolves around the first sun gear (141) along with rotation, so that the relative position of the first planetary gear (143) changes relative to the rotation of the first sun gear (141), and the first-2 link (112) linked to the first planetary gear (143) maintains parallelism with the first-1 link (111), but the distance and relative position between the two links (111, 112) may change.

[0085] The control unit controls the driving of the first driving unit (160) and the second driving unit (170). As described below, the rotation of the first sun gear (141) or the first ring gear (142) can be controlled by controlling the first driving unit (160) or the second driving unit (170), thereby allowing the joint movement of the first segment (110) or the second segment (120) to be controlled independently.

[0086]

[0087] Hereinafter, with reference to FIGS. 2 to 7 and FIG. 1, it will be explained that the joint movement of the first joint part (110) and the second joint part (120) of the joint driving device described above is controlled independently.

[0088] FIG. 2 illustrates the operation of a first planetary gear set so that the PIP joint rotates while the MCP joint is fixed in FIG. 1, FIG. 3 illustrates the operation of the joint drive device of FIG. 1 according to FIG. 2, FIG. 4 illustrates the operation of a first planetary gear set so that the MCP joint rotates while the PIP joint is fixed in FIG. 1, FIG. 5 illustrates the operation of the joint drive device of FIG. 1 according to FIG. 4, FIG. 6 illustrates the operation of a first planetary gear set so that the MCP joint and the PIP joint rotate together in FIG. 1, FIG. 7 illustrates the operation of the joint drive device of FIG. 1 according to FIG. 6.

[0089] FIGS. 2 and 3 describe the control of an operation in which only the second segment (120) is rotated by the rotation of the PIP joint while the first segment (110) remains fixed. The first driving unit (160) and the second driving unit (170) are controlled, but as shown in FIG. 2, the first sun gear (141) is not rotated, and only the first ring gear (142) is rotated 120 degrees counterclockwise. At this time, the first planetary gear (143) can revolve 90 degrees counterclockwise around the first sun gear (141) due to the rotation of the first ring gear (142). At this time, the rotation angle of the first planetary gear (143) due to the rotation of the first ring gear (142) may vary depending on the gear ratio between the first sun gear (141), the first planetary gear (143), and the first ring gear (142).

[0090] As described above, the first-1 link (111) extends along the axis of the first sun gear (141) and rotates together with the first sun gear (141). Therefore, in FIG. 2, the first sun gear (141) does not rotate, so the position of the first-1 link (111) is fixed. Additionally, since the first-2 link (112) is linked to the first planetary gear (143), the first planetary gear (143) rotates 90 degrees counterclockwise due to revolution, so that the first planetary gear (143), which was to the right of the first sun gear (141), is positioned at the upper center of the first sun gear (141). As shown in FIG. 3, the first-1 link (111) and the first-2 link (112) overlap, but the first-2 link (112) moves upward relative to the first-1 link (111). Accordingly, the link connection point between the lower part of the 2-1 link (121) and the upper part of the 1-2 link (112) rotates counterclockwise around the connection point between the lower part of the 2-1 link (121) and the upper part of the 1-1 link (111), so that the 2-1 link (121) constituting the 2-1 link (120) can rotate 90 degrees counterclockwise while the 1-1 link (110) remains unrotated.

[0091] FIGS. 4 and 5 describe the control of the operation of rotating the first segment (110) and the second segment (120) together around the MCP joint. As shown in FIG. 4, the first driving unit (160) and the second driving unit (170) are controlled such that the first sun gear (141) is rotated 90 degrees counterclockwise and the first ring gear (142) is also rotated 90 degrees counterclockwise. At this time, due to the rotation of the first sun gear (141) and the first ring gear (142), the first planetary gear (143) can also revolve 90 degrees counterclockwise around the first sun gear (141).

[0092] As described above, the first-1 link (111) extends along the axis of the first sun gear (141) and rotates together with the first sun gear (141). Therefore, as the first sun gear (141) rotates 90 degrees counterclockwise in FIG. 5, the first-1 link (111) also rotates 90 degrees counterclockwise. Additionally, since the first-2 link (112) is linked to the first planetary gear (143), the first planetary gear (143) also rotates 90 degrees counterclockwise due to revolution, so that the first planetary gear (143), which was on the right side of the first sun gear (141), is positioned at the upper center of the first sun gear (141). When the first sun gear (141) rotates 90 degrees counterclockwise, the first planetary gear (143) also rotates 90 degrees counterclockwise, so the relative position of the first planetary gear (143) relative to the rotation of the first sun gear (141) can always be the same. Therefore, while the first-1 link (111) rotates 90 degrees around the axis of the first sun gear (141), the relative position of the first-2 link (112) relative to the first-1 link (111) is the same, so as shown in FIG. 5, when the first node (110) rotates around the MCP joint, the first node (110) and the second node (120) can rotate counterclockwise while maintaining a straight line with the PIP joint fixed.

[0093] FIGS. 6 and 7 describe the control of the operation of rotating the first segment (110) and the second segment (120) together around the MCP joint and the PIP joint. As shown in FIG. 6, the first driving unit (160) and the second driving unit (170) are controlled such that the first sun gear (141) is rotated 90 degrees counterclockwise, and the first ring gear (142) is also rotated 210 degrees counterclockwise. At this time, due to the rotation of the first sun gear (141) and the first ring gear (142), the first planetary gear (143) can revolve 180 degrees counterclockwise around the first sun gear (141).

[0094] As described above, the first-1 link (111) extends to the axis of the first sun gear (141) and rotates together with the first sun gear (141). Therefore, in FIG. 7, since the first sun gear (141) rotates 90 degrees counterclockwise, the first-1 link (111) also rotates 90 degrees counterclockwise. Additionally, since the first-2 link (112) is linked to the first planetary gear (143), the first planetary gear (143) also rotates 180 degrees counterclockwise due to revolution. At this time, when the first sun gear (141) rotates 90 degrees counterclockwise, the first planetary gear (143) rotates 180 degrees counterclockwise, so the first planetary gear (143) rotates an additional 90 degrees counterclockwise relative to the rotation of the first sun gear (141). Accordingly, when the first-1 link (111) rotates 90 degrees around the axis of the first sun gear (141), the first-2 link (112) moves relative to the first-1 link (111), so that when the first segment (110) rotates 90 degrees counterclockwise around the MCP joint as shown in FIG. 7, the second segment (120) can additionally rotate 90 degrees counterclockwise around the PIP joint.

[0095] In the above-described embodiment described with reference to FIGS. 1 to 7, the first sun gear (141) and the first ring gear (142) are each rotated by the first drive unit (160) and the second drive unit (170), respectively, and the output of the first-1 link (111) connected to the first sun gear (141) and the first-2 link (112) connected to the first planetary gear (143) is controlled.

[0096] At this time, since controlling the rotation of any two gears among the first sun gear (141), the first ring gear (142), and the first planetary gear (143) allows for the control of the rotation of the remaining gears, the input is not limited to the aforementioned embodiment and may be modified into other combinations. For example, the first drive unit (160) and the second drive unit (170) may be configured to rotate the first sun gear (141) and the first planetary gear (143), or to rotate the first ring gear (142) and the first planetary gear (143).

[0097] In addition, although the outputs, the first-1 link (111) and the first-2 link (112), are described in this embodiment as being connected to the first sun gear (141) and the first planetary gear (143), respectively, they are not limited to the above-described embodiment and may be configured to be connected to any two other combinations of the first sun gear (141), the first ring gear (142), and the first planetary gear.

[0098]

[0099] Hereinafter, a joint driving device according to another embodiment of the present invention will be described. FIG. 8 is a perspective view of a joint driving device according to another embodiment of the present invention.

[0100] In this embodiment, a joint driving device composed of a first joint part (110), a second joint part (120), and a third joint part (130) is described.

[0101] In this embodiment, a configuration related to the third node (130) is added to the embodiment described above with reference to FIG. 1. Therefore, redundant descriptions regarding the configuration of the embodiment described above with reference to FIG. 1 will be omitted, and the description will focus on the configuration added in relation to this embodiment.

[0102] The joint driving device according to the present embodiment may be configured to include a first planetary gear set (140), a second planetary gear set (150), a first segment (110), a second segment (120), a third segment (130), a first driving unit (160), a second driving unit (170), a third driving unit (180), and a control unit (not shown).

[0103] In this embodiment, the first joint (110), the second joint (120), and the third joint (130) are formed sequentially, and as described below, each joint (110, 120, 130) can perform independent joint movements through the MCP joint at the lower end of the first joint (110), the PIP joint between the first joint (110) and the second joint (120), and the DIP joint between the second joint (120) and the third joint (130).

[0104] The configuration of the first planetary gear set (140), the first segment (110), the first driving unit (160), and the second driving unit (170) is the same as the configuration described above with reference to FIG. 1.

[0105] The second planetary gear set (150) is formed at a position corresponding to the PIP joint. The second planetary gear set (150), like the first planetary gear set (140), may be configured to include a second sun gear (151) positioned in the center, a second ring gear (152) rotating around the second sun gear (151), and a second planetary gear (153) rotating between the second sun gear (151) and the second ring gear (152). The second planetary gear (153) can rotate and revolve between the second sun gear (151) and the second ring gear (152). In the drawing, one second planetary gear (153) is positioned between the second sun gear (151) and the second ring gear (152), but to increase driving stability, multiple second planetary gears (153) may be positioned at equal intervals. In this embodiment, the second planetary gear (153) is not connected to a separate drive unit and rotates and revolves between the second sun gear (151) and the second ring gear (152) by the rotation of the second sun gear (151) or the second ring gear (152).

[0106] The third drive unit (180) rotates the second ring gear (152).

[0107] The second planetary gear set (150) can be driven by the first drive unit (160), the second drive unit (170), and the third drive unit (180). This will be described later.

[0108] In this embodiment as well, similar to the previously described embodiment, the driving of the second sun gear (151) and the second ring gear (152) constituting the second planetary gear set (150) can be controlled to additionally and independently control the joint movement between the DIP joint between the second segment (120) and the third segment (130).

[0109] The second segment (120) may be configured to include a second-1 link (121) and a second-2 link (122).

[0110] The second-1 link (121) and the second-2 link (122) may be arranged in parallel. Similar to the second-1 link (121) of the previously described embodiment, the lower end of the second-1 link (121) may be linked to two points spaced apart from each other, such as the upper end of the first-1 link (111) and the first-2 link (112). In this embodiment as well, the second-1 link (121) may be extended along the axis of the second sun gear (151) and rotate together with the second sun gear (151). At this time, the second-1 link (121) may be extended in a direction perpendicular to the axis of the second sun gear (151). The link connection between the upper end of the first-1 link (111) and the lower end of the second-1 link (121) may be formed on the axis of the second sun gear (151). The upper part of the second-1 link (121) can be linked to the lower part of the third link (131) that constitutes the third segment (130).

[0111] The lower end of the second-2 link (122) is linked to the shaft of the second planetary gear (153). The link connection between the upper end of the first-2 link (112) and the lower end of the second-1 link (121) can be formed on the shaft of the second planetary gear (153). Thus, as illustrated, the upper end of the first-2 link (112), the lower end of the second-1 link (121), and the lower end of the second-2 link (122) can be linked to the shaft of the second planetary gear (153). Additionally, the upper end of the second-2 link (122) can be linked to the lower end of the third link (131). At this time, the point on the lower end of the third link (131) where the upper end of the second-1 link (121) is linked and the point on the lower end of the third link (131) where the upper end of the second-2 link (122) is linked can be different and spaced apart from each other. At this time, it is preferable to make the distance between the two points equal to the distance between the axis of the second sun gear (151) and the axis of the second planetary gear (153) so that the second-1 link (121) and the second-2 link (122) are arranged parallel to each other. As illustrated, the lower end of the third link (131) is bent, and the upper ends of the second-1 link (121) and the second-2 link (122) can be linked to points on both sides of the bent lower end. The upper end of the second-1 link (121) can be linked to the bent portion of the third link (131), and the upper end of the second-2 link (122) can be linked to the end of the bent portion of the third link (131).

[0112] The third segment (130) is configured to include a third link (131), and the upper portions of the second-1 link (121) and the second-2 link (122) are linked at two spaced points on the lower portion of the third link (131) so as to receive power from the second-1 link (121) and the second-2 link (122).

[0113] As described above, when the first drive unit (160) and the second drive unit (170) are controlled to rotate the second-1 link (121) around the axis of the second sun gear (151), the second sun gear (151) rotates together. Therefore, the rotation of the second sun gear (151) can be controlled by controlling the first drive unit (160) and the second drive unit (170).

[0114] Accordingly, the second planetary gear set (150) can be controlled by the control of the first drive unit (160), the second drive unit (170), or the third drive unit (180). When the second sun gear (151) or the second ring gear (152) rotates, the second planetary gear (153) positioned between them revolves by rotation, and when the position of the second planetary gear (153) changes relative to the rotation of the second sun gear (151), the second-2 link (122) maintains parallelism with the second-1 link (121), but the distance and relative position between the two links (121, 122) may change. Accordingly, the third link (131), which is linked to the second-1 link (121) and the second-2 link (122) respectively at two spaced-apart points at the bottom, rotates.

[0115] The PIP joint drive between the first node (110) and the second node (120) by the first planetary gear set (140) and the DIP joint drive between the second node (120) and the third node (130) by the second planetary gear set (150) described with reference to FIGS. 2 to 7 have the same principle.

[0116] The control unit controls the driving of the first driving unit (160), the second driving unit (170), and the third driving unit (180). The rotation of the first sun gear (141) and the first ring gear (142) is controlled by the control of the first driving unit (160) and the second driving unit (170), respectively. The rotation of the second sun gear (151) is controlled by combining the control of the first driving unit (160) and the second driving unit (170), and the rotation of the second ring gear (152) is controlled by the control of the third driving unit (180). Accordingly, in this embodiment, the joint movement of the first joint (110), the second joint (120), or the third joint (130) can be independently controlled by controlling the driving of the first driving unit (160), the second driving unit (170), and the third driving unit (180).

[0117] The configuration for the rotation of the PIP joint centered on the second planetary gear set (150) can be modified in various combinations of input and output. That is, since controlling the rotation of any two gears among the second sun gear (151), the second ring gear (152), and the second planetary gear (153) allows for the control of the rotation of the remaining gears, the combination of two gears to which the second-1 link (121) and the second-2 link (122) are respectively connected among the second sun gear (151), the second ring gear (152), and the second planetary gear (153), and the selection of the gear rotated by the third drive unit (180) can be modified in various ways according to the various input and output combinations of the MCP joint. At this time, it is preferable for the third drive unit (180) to rotate the remaining gear to which the second-1 link (121) and the second-2 link (122) are not connected.

[0118] Hereinafter, with reference to FIGS. 9 to 15 and FIG. 8, the operation of controlling the joint movements of the first joint section (110), the second joint section (120), and the third joint section (130) of the joint driving device described above independently will be explained.

[0119] FIG. 9 illustrates the operation of the joint drive device of FIG. 8 in which the first segment (110), the second segment (120), and the third segment (130) rotate together around the MCP joint; FIG. 10 illustrates the operation of the joint drive device of FIG. 8 in which only the first segment (110) and the second segment (120) rotate around the PIP joint; FIG. 11 illustrates the operation of the joint drive device of FIG. 8 in which only the second segment (120) and the third segment (130) rotate around the DIP joint; FIG. 12 illustrates the operation of the joint drive device of FIG. 8 in which each segment rotates around the MCP joint and the PIP joint; FIG. 13 illustrates the operation of the joint drive device of FIG. 8 in which each segment rotates around the MCP joint and the DIP joint; FIG. 14 illustrates the operation of the joint drive device of FIG. 8 in which each segment rotates around the PIP joint and the DIP joint; and FIG. 15 illustrates the MCP joint, the PIP joint, and the DIP joint The operation of the joint drive device of Fig. 8 is illustrated, in which each segment rotates sequentially around the center.

[0120] As illustrated in FIG. 9, and as described with reference to FIG. 4 and FIG. 5, the first sun gear (141) is rotated, but the first drive unit (160) and the second drive unit (170) are controlled so that the relative position of the first planetary gear (143) is the same as the rotation of the first sun gear (141), and the second ring gear (152) is controlled not to rotate by the third drive unit (180), so that the first segment (110), the second segment (120), and the third segment (130) can be rotated around the MCP joint while maintaining a straight line. That is, only the MCP joint can be driven while the other joints remain fixed.

[0121] As illustrated in FIG. 10, when the first sun gear (141) is not rotated by the first drive unit (160), the first-1 link (111) is fixed and does not rotate. At this time, when the first ring gear (142) is rotated by the second drive unit (170), the PIP joint rotates while the MCP joint remains fixed, causing the second segment (120) to rotate counterclockwise. Although the first sun gear (141) is fixed and does not rotate, the second sun gear (151) rotates because the first ring gear (142) rotates and the second-1 link (121) rotates. At this time, when the second sun gear (151) rotates, if the second ring gear (152) is rotated so that the relative position of the second planetary gear (153) is the same as the rotation of the second sun gear (151), the DIP joint does not rotate. In other words, only the PIP joint can be driven while the other joints remain fixed.

[0122] As illustrated in FIG. 11, if the first sun gear (141) is not rotated by the first drive unit (160), the first-1 link (111) does not rotate and remains fixed. At this time, if the first ring gear (142) is not rotated by the second drive unit (170), the second-1 link (121) does not rotate and the second sun gear (151) does not rotate. Therefore, the MCP joint and the PIP joint do not rotate. At this time, if the second ring gear (152) is rotated by the third drive unit (180), the relative position of the second planetary gear (153) changes relative to the rotation of the second sun gear (151), so the third segment (130) can be rotated around the DIP joint. That is, only the DIP joint can be driven while the other joints remain fixed.

[0123] As illustrated in FIG. 12, when the first sun gear (141) is rotated by the first drive unit (160) and the first ring gear (142) is rotated by the second drive unit (170) such that the relative position of the first planetary gear (143) is different relative to the rotation of the first sun gear (141), the second node (120) also rotates around the PIP joint when the first node (110) rotates around the MCP joint. When the second-1 link (121) rotates and the second sun gear (151) rotates under the control of the first drive unit (160) and the second drive unit (170), and the second ring gear (152) is rotated by the third drive unit (180) such that the relative position of the second planetary gear (153) is the same relative to the rotation of the second sun gear (151), the DIP joint does not rotate. In other words, the MCP joint and PIP joint can be driven simultaneously while only the DIP joint is fixed.

[0124] As illustrated in FIG. 13, when the first sun gear (141) is rotated by the first drive unit (160) and the first ring gear (142) is rotated by the second drive unit (170) such that the relative position of the first planetary gear (143) is the same as the rotation of the first sun gear (141), the PIP joint can be fixed when the first segment (110) rotates around the MCP joint. At this time, since the second sun gear (151) does not rotate, the third segment (130) can be rotated around the DIP joint by rotating the second ring gear (152) by the third drive unit (180). That is, the MCP joint and the DIP joint can be driven simultaneously while only the PIP joint is fixed.

[0125] As illustrated in FIG. 14, if the first sun gear (141) is not rotated by the first drive unit (160), the first-1 link (111) is fixed and does not rotate. At this time, if the first ring gear (142) is rotated by the second drive unit (170), the relative position of the first planetary gear (143) relative to the first sun gear (141) changes, and the PIP joint rotates while the MCP joint remains fixed, causing the second segment (120) to rotate counterclockwise. Since the second-1 link (121) rotates, the second sun gear (151) also rotates. If the second ring gear (152) is rotated by the third drive unit (180) so that the relative position of the second planetary gear (153) relative to the rotation of the second sun gear (151) changes, the third segment (130) can be rotated around the DIP joint. In other words, the PIP joint and DIP joint can be driven simultaneously while only the MCP joint is fixed.

[0126] Furthermore, as illustrated in FIG. 15, by combining the operations described above with reference to FIG. 9 to 11, the MCP joint, PIP joint, and DIP joint can be controlled to operate sequentially.

[0127] In this way, by appropriately controlling the first driving unit (160), the second driving unit (170), or the third driving unit (180) by the control unit, the operation of each joint can be controlled independently.

[0128] FIG. 16 illustrates an example of a first driving unit (160), and FIG. 17 is a perspective view illustrating a complete joint driving device combining the first driving unit (160) of FIG. 8 and FIG. 16.

[0129] As described above, the first driving unit (160) rotates the first-1 link (111). With reference to FIGS. 16 and 17, the configuration of the first driving unit (160) according to one embodiment of the present invention will be described in detail.

[0130] The first drive unit (160) may be configured to include a 4-1 link (201-1), a 4-2 link (201-2), a 4-1 link rotation module (210-1), and a 4-2 link rotation module (210-2).

[0131] The 4-1 link (201-1) and the 4-2 link (201-2) are linked to the lower end of the 1-1 link (111). The 4-1 link (201-1) and the 4-2 link (201-2) can be linked to each other at points on both sides parallel to the axis of the 1st sun gear (141), in a direction perpendicular to the axis of the 1st sun gear (141). To facilitate the linking, a connecting part (1111) protruding on both sides in a direction parallel to the axis of the 1st sun gear (141) can be formed at the lower end of the 1-1 link (111).

[0132] The 4-1 link rotation module (210-1) is linked to the lower end of the 4-1 link (201-1) to rotate the 4-1 link (201-1). Additionally, the 4-2 link rotation module (210-2) is linked to the lower end of the 4-2 link (201-2) to rotate the 4-2 link (201-2).

[0133] The 4-1 link (201-1) and the 4-2 link (201-2) are arranged symmetrically on both sides with respect to the 1-1 link (111). By controlling the movement of the 4-1 link (201-1) and the 4-2 link (201-2) so that they are symmetrical, and rotating the 4-1 link (201-1) and the 4-2 link (201-2) simultaneously, the 1-1 link (111) can be rotated back and forth around the lower part coupled to the shaft of the 1 sun gear (141).

[0134] In addition, if the movements of the 4-1 link (201-1) and the 4-2 link (201-2) on both sides are controlled differently so as not to be symmetrical, the 1-1 link (111) can be rotated left and right around the lower end of the 1-1 link (111) within a predetermined range of motion. That is, the motion of wiggling fingers left and right can be implemented at the MCP joint. That is, the 1st driving unit (160) can control the movement of the 1-1 link (111) in two-axis directions.

[0135] Since the 4-1 link rotation module (210-1) and the 4-2 link rotation module (210-2) have the same configuration, only the 4-1 link rotation module (210-1) will be described. The 4-1 link rotation module (210-1) may be configured to include a first motor (211-1), a first worm gear (212-1), a first worm wheel (213-1), and a 5-1 link (214-1). The first worm gear (212-1) rotates by the rotation of the first motor (211-1). The first worm wheel (213-1) is gear-coupled with the first worm gear (212-1) and can rotate in the axial direction of the first sun gear (141) by the rotation of the first worm gear (212-1) as illustrated. The 5-1 link (214-1) is connected to the axis of the 1st worm wheel (213-1) and is bent. The lower end of the 4-1 link (201-1) is linked to the end of the bent 5-1 link (214-1).

[0136] Accordingly, the 5-1 link (214-1) can be rotated in both directions according to the rotation direction of the 1st motor (211-1), and the position of the 4-1 link (201-1) can be controlled according to the position of the 5-1 link (214-1).

[0137] The 4-2 link rotation module (210-2) may be configured to include a second motor (211-2), a second worm gear (212-2), a second worm wheel (213-2), and a 5-2 link (214-2) with the same configuration as the 4-1 link rotation module (210-1).

[0138] FIG. 17 illustrates a configuration that combines the configuration of the first drive unit (160) described with reference to FIG. 16 and the joint drive unit described with reference to FIG. 8, wherein a pivot frame (220) may be additionally formed to support the two-axis movement of the first-1 link (111). The pivot frame (220) is linked to the lower end of the first-1 link (111) at points on both sides parallel to the axis of the first sun gear (141). Thus, the pivot frame does not cause interference when the first-1 link (111) rotates around the axis of the first sun gear (141). The pivot frame (220) is a 'C'-shaped frame with both ends linked, and the middle part of the pivot frame is rotatably connected to a housing (230). The pivot frame (220) and the housing (230) may be connected by a ball joint. Accordingly, the above-mentioned pivoting frame enables the first-1 link (111) to move in two axes while stably supporting the first-1 link (111).

[0139] Although not illustrated, a gripper capable of grasping objects can be constructed by arranging the joint drive devices described with reference to FIGS. 1 to 17 in parallel. As an example, a human hand can be implemented using the joint drive devices.

[0140] Hereinafter, with reference to FIGS. 18 to 26, a joint driving device that mimics a finger and includes a driving part (160, 170, 180) of a belt-pulley mechanism will be described.

[0141] In the following description, points that overlap with the above-mentioned content will be omitted, and the description will focus on the configuration of the drive unit (160, 170, 180) formed by the belt-pulley mechanism.

[0142] FIGS. 18 and FIGS. 19 are perspective views of a joint drive device simulating a real finger according to FIGS. 8, FIGS. 20 is a side view of FIGS. 19, FIGS. 21 is a perspective view showing the belt connection of a drive unit that drives the first planetary gear set and the second planetary gear set in FIGS. 18, FIGS. 22 is a side view of FIGS. 21, FIGS. 23 is a top view of FIGS. 21, FIGS. 24 is a perspective view of a first joint part including the first planetary gear set in FIGS. 19, FIGS. 25 is an exploded perspective view of FIGS. 24, and FIGS. 26 is a perspective view showing another embodiment of the first joint part.

[0143] For reference, in FIGS. 18 to 20, the belts (167-1, 167-2, 177, 187) constituting the drive unit (160, 170, 180) are not shown, and the connection of the belts (167-1, 167-2, 177, 187) is separately shown in FIGS. 21 to 23.

[0144] As described above with reference to FIG. 8, in this embodiment, the first drive unit (160) is configured to rotate the first sun gear (141) constituting the first planetary gear set (140), the second drive unit (170) is configured to rotate the first ring gear (142) constituting the first planetary gear set (140), and the third drive unit (180) is configured to rotate the second ring gear (152) constituting the second planetary gear set (150). However, as described above, since the rotation of any two of the sun gear, ring gear, and planetary gear constituting the planetary gear set can be controlled to control the rotation of the remaining gears, the position of the gear to which the gears rotated by each drive unit and the links constituting the first segment (110) and the second segment (120) are connected is not limited to what is shown and can be modified.

[0145] The first drive unit (160), the second drive unit (170), and the third drive unit (180) may all be configured to include a motor (161, 171, 181), a driving pulley (162, 172, 182), a driven pulley (165, 175, 185), and a belt (167-1, 167-2, 177, 187). In this embodiment, the first drive unit (160), the second drive unit (170), and the third drive unit (180) are all formed as a belt-pulley mechanism, but are not necessarily limited thereto, and any one of the drive units may be formed in a form other than a belt-pulley mechanism.

[0146] As illustrated in FIG. 18, a first ring gear driven pulley (175) that rotates together with the first ring gear (142), a first sun gear driven pulley (165) that rotates together with the first sun gear (141), and a first idler pulley (191) that rotates freely may be axially arranged in the first joint (MCP joint). The rotational structure of the first sun gear driven pulley (165), the first ring gear driven pulley (175), and the first idler pulley (191) together with the first sun gear (141), the first ring gear (142), and the first planetary gear (143) constituting the first planetary gear set (140) will be described later with reference to FIG. 24 and FIG. 25.

[0147] Additionally, in the second joint (PIP joint), a second ring gear driven pulley (185) that rotates together with the second ring gear (152), a second sun gear driven pulley (193) that rotates together with the second sun gear (151), and a second idler pulley (192) that rotates freely are arranged in the axial direction, with the same structure as the first joint, and the configuration is identical except for the difference in the arrangement direction. In this embodiment, the second joint is formed with the same structure as the first joint, but as described later, since the belt is not mounted on the second sun gear driven pulley (193) and the second idler pulley (192) in this embodiment, the configuration of the second sun gear driven pulley (193) and the second idler pulley (192) may be omitted. Therefore, the first joint and the second joint do not necessarily need to be formed with the same structure.

[0148] First, to describe the first drive unit (160), a first worm gear (163) is formed on the shaft of the first motor (161) and rotates, and can rotate the first sun gear driving pulley (162) which is gear-coupled with the first worm gear (163). In this embodiment, two connecting pulleys (168, 169) are arranged between the first sun gear driving pulley (162) and the first sun gear driven pulley (165), and the first sun gear driving pulley (162) and the first connecting pulley (168) are connected by a first-1 belt (167-1), and the second connecting pulley (169), which is arranged in parallel on one side of the first connecting pulley (168) and rotates together, and the first sun gear driven pulley (165) are connected by a first-2 belt (167-2). Accordingly, the first motor (161) can be rotated to rotate the first sun gear driven pulley (165) by means of a belt-pulley mechanism, thereby rotating the first sun gear (141) together. The connecting pulleys (168, 169) are installed by the arrangement relationship between the first sun gear driving pulley (162) and the first sun gear driven pulley (165) or by an interference structure between them, and may be omitted depending on the design.

[0149] To explain the second drive unit (170), a second worm gear (173) is formed on the shaft of the second motor (171) and rotates, and the first ring gear driving pulley (172), which is gear-coupled with the second worm gear (173), can be rotated. The first ring gear driving pulley (172) and the first ring gear driven pulley (175) are connected by a second belt (177). Therefore, by rotating the second motor (171), the first ring gear driven pulley (175) is rotated by the belt-pulley mechanism, and the first ring gear (142) can be rotated together.

[0150] To explain the third drive unit (180), a third worm gear (183) is formed on the shaft of the third motor (181) and rotates, and can rotate the second ring gear driving pulley (182) which is gear-coupled with the third worm gear (183). At this time, the third belt (187) connects the second ring gear driving pulley (182) and the second ring gear driven pulley (185) of the second joint part, and is connected through the first idler pulley (191) of the first joint part.

[0151] If the third belt (187) directly connects the second ring gear driving pulley (182) and the second ring gear driven pulley (185) of the second joint section without passing through the first idler pulley (191), the third belt (187) will become loose or break depending on the position when the position of the second joint section changes due to the rotation of the first joint section. However, if the third belt (187) is connected between the second ring gear driving pulley (182) and the second ring gear driven pulley (185) by bending through the first idler pulley (191) located in the first joint section, the tension of the third belt (187) can be maintained constant because the distance between the second ring gear driving pulley (182) and the first idler pulley (191) and the distance between the first idler pulley (191) and the second ring gear driven pulley (185) are maintained constant even if the position of the second joint section changes due to the rotation of the first joint section.

[0152] In this embodiment, the third belt (187) is formed as a single belt, but it may be formed separately into a belt connecting the second ring gear driving pulley (182) and the first idler pulley (191) and a belt connecting the first idler pulley (191) and the second ring gear driven pulley (185).

[0153] When power is transmitted by a belt-pulley mechanism as in the present invention, power can be transmitted without being significantly affected by the left-right movement of the fingers, even if a configuration (not shown) that moves the fingers left and right within a predetermined range is added.

[0154] Referring to FIGS. 24 and 25, the detailed configuration of the first joint portion is described as follows: First, a first ring gear driven pulley (175) may be formed on the radial outer surface of the first ring gear (142). That is, the first ring gear (142) and the first ring gear driven pulley (175) may be formed integrally in a single part.

[0155] The first sun gear (141) is positioned at the rotational center of the first ring gear (142), and the first planetary gear (143) may be positioned between the first sun gear (141) and the first ring gear (142). In this embodiment, three first planetary gears (142) are positioned at equally divided locations. Support plates (205, 206) that support both ends of the rotational axis of the first planetary gear (143) are positioned on both open sides of the first ring gear (142). A hole (2051, 2061) into which a planetary gear power transmission shaft (202) is inserted is formed on one side in the radial direction of both support plates (205, 206). As the first planetary gear (143) moves in orbit, both support plates (205, 206) rotate, and thus the planetary gear power transmission shaft (202) can also rotate together with both support plates (205, 206) while inserted into them. The aforementioned first-second link (112) can be connected to both ends of the planetary gear power transmission shaft (202).

[0156] An extension shaft that rotates together with the first sun gear (141) may be formed on one side of the axial direction of the first sun gear (141), and a first sun gear driven pulley (165) may be formed on the outer surface of the extension shaft. In this embodiment, the part forming the first sun gear (141) and the part forming the first sun gear driven pulley (165) are coupled together so that the first sun gear (141) and the first sun gear driven pulley (165) can rotate together.

[0157] The first sun gear (141) has an extension portion (1411) formed that extends in one direction in the axial direction, and the extension portion (1411) can protrude outward from the support plate (206) in one direction through a hole (2062) formed in the center of the support plate (206). A hole (1413) into which a rotation shaft (201) is inserted is formed at the rotation center of the first sun gear (141).

[0158] A first sun gear driven pulley (165) is inserted into the extension (1411). A hole (1654) penetrating in the radial direction is formed in the first sun gear driven pulley (165), and a hole (1412) is formed in the extension (1411) at a corresponding position. Additionally, a groove (2011) is formed in the rotation shaft at a corresponding position. Therefore, by inserting a screw or pin into the hole (1654, 1412) so that the end is fitted into the groove (2011), the rotation shaft (201), the first sun gear driven pulley (165), and the first sun gear (141) can rotate as a single unit.

[0159] An arc-shaped hole (1653) is formed in the first sun gear driven pulley (165), and a planetary gear power transmission shaft (202) is inserted into the hole (1653) so that when the first planetary gear (143) revolves, the planetary gear power transmission shaft (202) can move along the arc-shaped hole (1653). That is, in this embodiment, if the rotation of the first sun gear (141) is controlled by the first driving unit (160) and the rotation of the first ring gear (142) is controlled by the second driving unit (170), the planetary gear power transmission shaft (202), which is the output shaft, can be rotated around the rotation axis (201) using this as input to drive the first-second link (112).

[0160] The first sun gear driven pulley (165) has an extension portion (1651) that extends axially to one side, and a first idler pulley (191) is inserted and positioned on the outer circumference of the extension portion (1651) with a bearing in between. Accordingly, the first idler pulley (191) can rotate freely.

[0161] As described above, the pulley configuration of the second joint (PIP joint) is identical to that of the first joint, except that the arrangement order of the second ring gear driven pulley (185), the second sun gear driven pulley (193), and the second idler pulley (192) is reversed left and right. Additionally, since belts are not mounted on the second sun gear driven pulley (193) and the second idler pulley (192) in this embodiment, the above configuration may be omitted.

[0162] The second sun gear (151) can be rotated by the rotation of the first-1 link (111) and the first-2 link (112) according to the control of the first drive unit (160) and the second drive unit (170), and the second ring gear (152) can be rotated according to the control of the third drive unit (180). Accordingly, when the rotation of the second sun gear (151) and the second ring gear (152) is controlled according to the control of the first drive unit (160), the second drive unit (170), and the third drive unit (180), the planetary gear power transmission shaft (202), which is the output shaft of the second joint unit, can be rotated around the rotation axis (201) using this as an input, just like the first joint unit, thereby driving the second-2 link (122) coupled to the planetary gear power transmission shaft (202).

[0163] With reference to FIGS. 24 and 25, the configuration described above drives the first-2 link (112) or the second-2 link (122) with the rotation of the planetary gear (revolution) as the output, using the rotation of the ring gear driven pulley and the sun gear driven pulley as the input. However, the present invention is not limited thereto, and if any two of the sun gears (141, 151), ring gears (142, 152), and planetary gears (143, 153) constituting the planetary gear set (140, 150) are rotated as inputs, the rotation of the remaining gears can be rotated as outputs, so the inputs and outputs can be varied in various ways.

[0164] For example, as shown in FIG. 26, the sun gear driven pulley and planetary gear driven pulley can be used as input pulleys to rotate the sun gear and planetary gear, and the ring gear can be rotated to control the output shaft.

[0165] The planetary gear driven pulley may be formed on the outer surface of a support plate (205) that rotatably supports the shaft of the planetary gear, or, as shown in FIG. 26, on the outer surface of an extension shaft that extends axially from the support plate (205, 206) and rotates together with the support plate (205, 206).

[0166] Although not illustrated, a gripper capable of grasping objects can be constructed by arranging the joint actuation devices described above in parallel. As an example, a human hand can be implemented using the aforementioned joint actuation devices.

[0167] Hereinafter, with reference to FIGS. 27 to 36, a joint driving device that mimics a finger and includes a driving unit (160, 170, 180) based on a worm gear driving mechanism will be described.

[0168] In the following description, points that overlap with the above-mentioned content will be omitted, and the description will focus on the configuration of the drive unit (160, 170, 180) formed by the worm gear drive mechanism.

[0169] FIGS. 27 and FIGS. 28 are different perspective views of a joint drive device simulating a real finger according to FIGS. 8, FIGS. 29 is a side view of FIGS. 28, FIGS. 30 is a perspective view of a first joint part including a first planetary gear set in FIGS. 27, FIGS. 31 is an exploded perspective view of FIGS. 30, FIGS. 32 is a cross-sectional view of FIGS. 30, FIGS. 33 is a perspective view of a second joint part including a second planetary gear set in FIGS. 27, FIGS. 34 is an exploded perspective view of FIGS. 33, and FIGS. 35 and FIGS. 36 are drawings illustrating a belt connection of a drive part that drives the second ring gear of the second planetary gear set in FIGS. 27.

[0170] For reference, the belt (187-1) connection constituting the third drive unit (180) is not shown in FIGS. 27 to 29, and the belt (187-1) connection is shown separately in FIGS. 35 to 36.

[0171] As described above with reference to FIG. 8, in this embodiment, the first drive unit (160) is configured to rotate the first sun gear (141) constituting the first planetary gear set (140), the second drive unit (170) is configured to rotate the first ring gear (142) constituting the first planetary gear set (140), and the third drive unit (180) is configured to rotate the second ring gear (152) constituting the second planetary gear set (150). However, as described above, since the rotation of any two of the sun gear, ring gear, and planetary gear constituting the planetary gear set can be controlled to control the rotation of the remaining gears, the positions of the gears to which the links constituting the first node (110) and the second node (120) are connected and which are rotated by each drive unit (160, 170, 180) are not limited to those illustrated and can be modified.

[0172] The first drive unit (160), the second drive unit (170), and the third drive unit (180) may each be configured to include a motor (161, 171, 181), a driving worm gear (162-1, 172-1, 182-1), and a driven worm gear (165-1, 175-1, 185-1). In this embodiment, the first drive unit (160), the second drive unit (170), and the third drive unit (180) are all formed as worm gear driving mechanisms, but are not necessarily limited thereto, and any one of the drive units may be formed in a form other than a worm gear driving mechanism.

[0173] Additionally, a belt-pulley mechanism is additionally formed in the third drive unit (180). That is, the third drive unit (180) may further include a driving pulley (186-1), a driven pulley (187-1), and a belt (188).

[0174] As illustrated in FIG. 30, a second driven worm gear (175-1) that rotates together with a first ring gear (142) and a first driven worm gear (165-1) that rotates together with a first sun gear (141) may be arranged axially along the coaxial line in the first joint (MCP joint). Additionally, a third driven worm gear (185-1) for rotating the second ring gear (152) of the second joint (PIP joint) axially along the coaxial line and a driving pulley (186-1) that rotates together with the third driven worm gear (185-1) may be arranged.

[0175] The detailed rotational structure of the first joint portion, which includes the first sun gear (141), the first ring gear (142), and the first planetary gear (143) constituting the first planetary gear set (140), as well as the first driven worm gear (165-1), the second driven worm gear (175-1), the third driven worm gear (185-1), and the driving pulley (186-1), will be described later with reference to FIGS. 30 to 32.

[0176] Additionally, a second sun gear (151), a second ring gear (152), and a second planetary gear (153) constituting a second planetary gear set (150) are formed in the second joint (PIP joint), and a driven pulley (187-1) that rotates together with the second ring gear (152) is formed. The detailed rotational structure of the second joint, including the second planetary gear set (150) and the driven pulley (187-1), will be described later with reference to FIGS. 33 and 34.

[0177] First, the first drive unit (160) can be described as including a first motor (161), a first driving worm gear (162-1), and a first driven worm gear (165-1). The first driving worm gear (162-1) is formed on the shaft of the first motor (161) and rotates, and the first driving worm gear (162-1) is gear-coupled with the first driven worm gear (165-1). Thus, by controlling the rotation of the first motor (161), the rotation of the first sun gear (141), which rotates together with the first driven worm gear (165-1), can be controlled.

[0178] To describe the second drive unit (170), the second drive unit (170) may be configured to include a second motor (171), a second driving worm gear (172-1), and a second driven worm gear (175-1). The second driving worm gear (172-1) is formed on the shaft of the second motor (171) and rotates, and the second driving worm gear (172-1) is gear-coupled with the second driven worm gear (175-1). Thus, by controlling the rotation of the second motor (171), the rotation of the first ring gear (142), which rotates together with the second driven worm gear (175-1), can be controlled.

[0179] To describe the third drive unit (180), the third drive unit (180) may be configured to include a third motor (181), a third driving worm gear (182-1), a third driven worm gear (185-1), a driving pulley (186-1), a driven pulley (187-1), and a belt (188). The third driving worm gear (182-1) is formed on the shaft of the third motor (181) and rotates, and the third driving worm gear (182-1) is gear-coupled with the third driven worm gear (185-1) located at the first joint. At this time, when the third driven worm gear (185-1) rotates, the driving pulley (186-1) located on one side rotates together. In the second joint, a driven pulley (187-1) that rotates together with the second ring gear (152) is formed, and a belt (188) is connected between the driving pulley (186-1) of the first joint and the driven pulley (187-1) of the second joint to transmit power. Accordingly, power is transmitted in the order of the third motor (181), the third driving worm gear (182-1), the third driven worm gear (185-1), the driving pulley (186-1), the belt (188), the driven pulley (187-1), and the second ring gear (152), so that the rotation of the third motor (181) can be controlled to control the rotation of the second ring gear (152) that rotates together with the driven pulley (187-1).

[0180] At this time, since the position of the second joint part changes due to the rotation of the first joint part, it is not possible to directly transmit power to the second ring gear (152) by placing a third driven worm gear in the second joint part. Accordingly, in the present invention, the third driving part (180) receives power from the motor (181) by the worm gear driving mechanism in the first joint part, and additionally places a belt-pulley mechanism between the first joint part and the second joint part to transmit power, so that power can be transmitted to the second ring gear (152) even if the position of the second joint part changes due to the rotation of the first joint part.

[0181] In the case where power is transmitted by a worm gear driving mechanism as in the present invention, the driving worm gear (162-1, 172-1, 182-1) formed on the motor shaft directly gears with the driven worm gear (165-1, 175-1, 185-1) formed on the first joint to transmit power, so the driving unit can be configured compactly.

[0182] Referring to FIGS. 30 to 32, the detailed configuration of the first joint portion is described as follows: First, a second driven worm gear (175-1) may be formed on the radial outer surface of the first ring gear (142). The first ring gear (142) and the second driven worm gear (175-1) may be formed integrally in a single part. Alternatively, as shown in FIG. 32, the part on which the first ring gear (142) is formed and the part on which the second driven worm gear (175-1) is formed may be formed separately and joined together radially with a screw or pin. Accordingly, the first ring gear (142) and the second driven worm gear (175-1) rotate as a single unit.

[0183] The first sun gear (141) is positioned at the rotational center of the first ring gear (142), and the first planetary gear (143) may be positioned between the first sun gear (141) and the first ring gear (142). In this embodiment, three first planetary gears (142) are positioned at equally divided locations. Support plates (205, 206) that support both ends of the rotational axis of the first planetary gear (143) are positioned on both open sides of the first ring gear (142). A hole (2051, 2061) into which a planetary gear power transmission shaft (202) is inserted is formed on one side in the radial direction of both support plates (205, 206). As the first planetary gear (143) moves in orbit, both support plates (205, 206) rotate, and thus the planetary gear power transmission shaft (202) can also rotate together with both support plates (205, 206) while inserted into them. The aforementioned first-second link (112) can be connected to both ends of the planetary gear power transmission shaft (202).

[0184] An extension (1411) extending axially is formed on one side of the first sun gear (141), and a first driven worm gear (165-1) may be formed on the outer surface of the extension (1411). In this embodiment, a part on which the first sun gear (141) is formed and a part on which the first driven worm gear (165-1) is formed are formed separately, and the first driven worm gear (165-1) is inserted and positioned on the extension (1411), and is radially coupled to each other by a screw or pin so that the first sun gear (141) and the first driven worm gear (165-1) rotate together.

[0185] The above extension (1411) can protrude outward from the support plate (206) in one direction through a hole (2062) formed in the center of the one-sided support plate (206). A hole (1413) into which a rotation axis (201) is inserted is formed at the rotation center of the first sun gear (141).

[0186] A hole (1654) penetrating in the radial direction is formed in the first driven worm gear (165-1), and a hole (1412) is formed in the extension part (1411) at a corresponding position. Additionally, a groove (2011) is formed in the rotation shaft (201) at a corresponding position. Accordingly, by inserting a screw or pin into the hole (1654, 1412) so that the end is fitted into the groove (2011), the rotation shaft (201), the first driven worm gear (165-1), and the first sun gear (141) can rotate as a single unit.

[0187] A hole (1653) penetrating in an arc shape is formed on the side of the first driven worm gear (165-1), and a planetary gear power transmission shaft (202) is inserted into the hole (1653) so that when the first planetary gear (143) revolves, the planetary gear power transmission shaft (202) can move along the arc-shaped hole (1653). That is, in this embodiment, if the rotation of the first sun gear (141) is controlled by the first driving unit (160) and the rotation of the first ring gear (142) is controlled by the second driving unit (170), the planetary gear power transmission shaft (202), which is the output shaft, can be rotated around the rotation axis (201) using this as input to drive the first-second link (112).

[0188] The first driven worm gear (165-1) has an extension (1651) formed that extends axially to one side, and a third driven worm gear (185-1) and a driving pulley (186-1) are inserted and arranged on the outer surface of the extension (1651) with a bearing in between. Accordingly, the third driven worm gear (185-1) and the driving pulley (186-1) can rotate freely on the extension (1651).

[0189] The third driven worm gear (185-1) and the driving pulley (186-1) are arranged side by side in the axial direction and rotate together. In this embodiment, the part on which the third driven worm gear (185-1) is formed and the part on which the driving pulley (186-1) is formed are formed in a form that is mutually joined by a screw or a pin, but they may also be formed as a single unit.

[0190] In this embodiment, the second sun gear (151) can be rotated by driving the first-1 link (111) and the first-2 link (112) according to the control of the first drive unit (160) and the second drive unit (170), and the second ring gear (152) can be rotated according to the control of the third drive unit (180). Accordingly, when the rotation of the second sun gear (151) and the second ring gear (152) is controlled according to the control of the first drive unit (160), the second drive unit (170), and the third drive unit (180), the planetary gear power transmission shaft (212), which is the output shaft of the second joint unit, can be rotated around the rotation axis (211) using this as an input, just like the first joint unit, thereby driving the second-2 link (122) coupled to the planetary gear power transmission shaft (212).

[0191] The above configuration drives the first-2 link (112) by using the rotation of the first sun gear (141) and the first ring gear (142) as input and the rotation (revolution) of the first planetary gear as output, through the rotation of the first sun gear (141) and the second driven worm gear (175-1) at the first joint. However, it is not limited to this, and in the present invention, if any two of the first sun gear (141), the first ring gear (142), and the first planetary gear (143) constituting the first planetary gear set (140) are rotated as input, the rotation of the remaining gear can be rotated as output, so the input and output can be varied in various ways.

[0192] Although not illustrated, when the first planetary gear (143) is used as an input, a driven worm gear may be formed on the outer surface of a support plate (205, 206) that rotatably supports the shaft of the first planetary gear (143). Alternatively, a driven worm gear may be formed on the outer surface of an extension extending axially from the support plate (205, 206), just as the first driven worm gear (162-1) is formed on the extension (1411) of the first sun gear (141).

[0193] Referring to FIGS. 33 and 34, the detailed configuration of the second joint portion is described as follows: First, a driven pulley (187-1) may be formed on the radial outer surface of the second ring gear (152). The second ring gear (152) and the driven pulley (187-1) may be formed integrally in a single part. Alternatively, the part on which the second ring gear (152) is formed and the part on which the driven pulley (175-1) is formed may be formed separately and configured to be joined together radially by a screw or pin. Thus, the second ring gear (152) and the driven pulley (187-1) rotate together.

[0194] The second sun gear (151) is positioned at the rotational center of the second ring gear (152), and a second planetary gear (153) may be positioned between the second sun gear (151) and the second ring gear (152). In this embodiment, three second planetary gears (152) are positioned at equally divided positions. Support plates (215, 216) that support both ends of the rotation axis of the first planetary gear (143) are positioned on both sides of the second planetary gear (153). A hole (2151, 2161) into which a planetary gear power transmission shaft (212) is inserted is formed on one side in the radial direction of both support plates (215, 216). As the second planetary gear (143) moves in orbit, both support plates (215, 216) rotate, and thus the planetary gear power transmission shaft (212) can also rotate together with both support plates (215, 216) while inserted into them. The aforementioned first-2 link (112), second-1 link (121), and second-2 link (122) can be connected to both ends of the planetary gear power transmission shaft (212).

[0195] As shown in FIGS. 35 and 36, the driving pulley (186-1) of the first joint and the driven pulley (187-1) of the second joint are arranged vertically relative to each other and connected by a belt (188) to transmit power.

[0196] Although not illustrated, a gripper capable of grasping objects can be constructed by arranging multiple joint actuation devices described above in parallel. As an example, a human hand can be implemented using the aforementioned joint actuation devices.

[0197] Although embodiments of the present invention have been described above with reference to the attached drawings, those skilled in the art will understand that the present invention may be implemented in other specific forms without changing its technical concept or essential features. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive.

Claims

1. A first planetary gear set comprising a first sun gear, a first ring gear, and a first planetary gear rotating between the first sun gear and the first ring gear; A first segment comprising a first-1 link and a first-2 link, each connected to any two of the first sun gear, the first ring gear, or the first planetary gear; A second node portion comprising a 2-1 link to which the upper portions of the 1-1 link and the 1-2 link are link-connected at two different points of the lower portion, respectively; A first drive unit and a second drive unit that each rotate any two of the first sun gear, the first ring gear, or the first planetary gear; and A joint driving device characterized by including a control unit that controls the first driving unit and the second driving unit.

2. In Paragraph 1, The lower portion of the first-1 link above extends to the axis of the first sun gear and rotates together with the first sun gear, and The lower portion of the first and second links is linked to the shaft of the second planetary gear, and The first driving unit rotates the first sun gear, and An articulating drive device characterized by the second driving unit rotating the first ring gear.

3. In Paragraph 1, A joint driving device characterized in that the above-described control unit controls the first driving unit or the second driving unit to independently control the joint movement of the first segment and the second segment.

4. In Paragraph 1, A joint drive device characterized in that the lower portion of the above-mentioned 2-1 link is bent, and the upper portions of the above-mentioned 1-1 link and the above-mentioned 1-2 link are linked at the two end points of the bent lower portion.

5. In Paragraph 1, An articulated drive device characterized in that the first drive unit or the second drive unit comprises a motor, a driving pulley that rotates by receiving driving force from the motor, and a belt connecting the driving pulley and the driven pulley that rotates together with the gear to be rotated among the first sun gear, the first ring gear, and the first planetary gear.

6. In Paragraph 5, A first ring gear driven pulley is formed on the radial outer surface of the first ring gear, and An articulated drive device characterized by having a first sun gear driven pulley formed on the outer surface of an extension shaft that rotates together with the first sun gear on one side of the axial direction of the first sun gear.

7. In Paragraph 5, An articulated drive device characterized by having a first planetary gear driven pulley formed on the outer surface of a support plate that rotatably supports the shaft of the first planetary gear, or a first planetary gear driven pulley formed on the outer surface of an extension shaft that rotates together with the support plate on one side in the axial direction of the support plate.

8. In Paragraph 1, An articulated drive device characterized in that the first drive unit or the second drive unit comprises a motor, a driving worm gear that rotates by receiving driving force from the motor, and a driven worm gear that is gear-coupled with the driving worm gear and rotates together with the gear to be rotated among the first sun gear, the first ring gear, and the first planetary gear.

9. In Paragraph 8, A second driven worm gear is formed on the radial outer surface of the first ring gear, and An articulated drive device characterized by having a first driven worm gear formed on the outer surface of an extension portion extending axially from the first sun gear.

10. In Paragraph 8, An articulated drive device characterized by having a driven worm gear formed on the outer surface of a support plate that rotatably supports the shaft of the first planetary gear, or having a driven worm gear formed on the outer surface of an extension extending axially from the support plate.

11. In Paragraph 1, A second planetary gear set comprising a second sun gear, a second ring gear, and a second planetary gear that rotates and revolves between the second sun gear and the second ring gear; A third drive unit that rotates any one of the second sun gear, the second ring gear, or the second planetary gear; and It further includes a third segment comprising a third link that is linked to the upper part of the second segment and performs joint movement, and The lower end of the above 2-1 link is connected to any one of the above 2 sun gear, the 2 ring gear, or the above 2 planetary gear, and The above-mentioned second segment further includes a second-2 link, the lower portion of which is connected to any one of the second sun gear, second ring gear, or second planetary gear to which the second-1 link is not connected. The upper portions of the 2-1 link and the 2-2 link are linked to two different points at the lower portion of the 3rd link, and An articulated drive device characterized in that the third drive unit rotates the remaining gear among the second sun gear, the second ring gear, or the second planetary gear, where the second-1 link and the second-2 link are not connected.

12. In Paragraph 11, A joint driving device characterized in that the above-described control unit controls the first driving unit, the second driving unit, or the third driving unit to independently control the joint movement of the first joint, the second joint, and the third joint.

13. In Paragraph 11, A joint drive device characterized in that the lower portion of the third link is bent, and the upper portions of the second-1 link and the second-2 link are linked at the two end points of the bent lower portion.

14. In Paragraph 11, An articulated drive device characterized by comprising a third drive unit including a motor, a driving pulley that rotates by receiving driving force from the motor, and a belt connecting the driving pulley and the driven pulley that rotates together with the gear to be rotated among the second sun gear, the second ring gear, and the second planetary gear.

15. In Paragraph 11, An articulated drive device characterized by comprising: a motor; a driving worm gear that rotates by receiving driving force from the motor; a driven worm gear that rotates in gear coupling with the driving worm gear on the rotation axis of the first planetary gear set; a driving pulley that rotates together with the driven worm gear in coaxial direction; the second sun gear; the second ring gear; a driven pulley that rotates together with the gear to be rotated among the second planetary gears; and a belt connecting the driving pulley and the driven pulley.

16. In Paragraph 1, A second planetary gear set comprising a second sun gear, a second ring gear, and a second planetary gear that rotates and revolves between the second sun gear and the second ring gear; A third drive unit that rotates the second ring gear; and It further includes a third segment comprising a third link that is linked to the upper part of the second segment and performs joint movement, and The lower end of the above 2-1 link extends to the axis of the above 2 sun gear and rotates together with the above 2 sun gear, and The above-mentioned second segment further includes a second-2 link, the lower portion of which is linked to the shaft of the second planetary gear. A joint drive device characterized by the upper portions of the 2-1 link and the 2-2 link being linked to two different points on the lower portion of the 3rd link.

17. In Paragraph 1, The above first driving unit is, A joint drive device characterized by comprising: a 4-1 link and a 4-2 link, each linked to a lower portion of the 1-1 link at points on both sides parallel to the axis of the 1-1 sun gear in a direction perpendicular to the axis of the 1-1 sun gear; a 4-1 link rotation module linked to the lower portion of the 4-1 link to rotate the lower portion of the 4-1 link; and a 4-2 link rotation module linked to the lower portion of the 4-2 link to rotate the lower portion of the 4-2 link.

18. In Paragraph 17, The above 4-1 link rotation module comprises a first motor, a first worm gear that rotates by the rotation of the first motor, a first worm wheel that rotates in the axial direction of the first sun gear by gear coupling with the first worm gear, and a 5-1 link that rotates by being coupled to the shaft of the first worm wheel and has the lower end of the 4-1 link linked to the bent end portion. An articulated driving device characterized in that the above-mentioned 4-2 link rotation module comprises a second motor, a second worm gear that rotates by the rotation of the second motor, a second worm wheel that rotates in the axial direction of the first sun gear by gear coupling with the second worm gear, and a 5-2 link that rotates by being coupled to the shaft of the second worm wheel and has the lower end of the 4-2 link linked to the bent end portion.

19. In Paragraph 18, A joint drive device characterized by the above-described control unit controlling the first motor or the second motor to control the movement of the 4-1 link and the 4-2 link to be the same or different, thereby controlling the movement of the 1-1 link in a two-axis direction.

20. In Paragraph 17, An articulated drive device characterized by further including a pivot frame that is link-coupled to the lower portion of the first link at both points parallel to the axis of the first sun gear and has a middle portion rotatably coupled to a housing.

Images