WO2020017867A1 - Dispositif d'articulation intégré imprimable par une imprimante tridimensionnelle - Google Patents

Dispositif d'articulation intégré imprimable par une imprimante tridimensionnelle Download PDF

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Publication number
WO2020017867A1
WO2020017867A1 PCT/KR2019/008772 KR2019008772W WO2020017867A1 WO 2020017867 A1 WO2020017867 A1 WO 2020017867A1 KR 2019008772 W KR2019008772 W KR 2019008772W WO 2020017867 A1 WO2020017867 A1 WO 2020017867A1
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WO
WIPO (PCT)
Prior art keywords
contact
bodies
state
output
dimensional printer
Prior art date
Application number
PCT/KR2019/008772
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English (en)
Korean (ko)
Inventor
조규진
이해민
박종후
Original Assignee
서울대학교산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020190008799A external-priority patent/KR102252871B1/ko
Application filed by 서울대학교산학협력단 filed Critical 서울대학교산학협력단
Publication of WO2020017867A1 publication Critical patent/WO2020017867A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators

Definitions

  • the present invention relates to an integrated joint mechanism that can be output to a three-dimensional printer, and more particularly, the body moving in contact with each other is molded integrally through a three-dimensional printer, a single output process using a three-dimensional printer without assembly It relates to an integral articulation device capable of forming articulation devices.
  • an artificial joint must be applied to a robot to realize human-like movement.
  • Three-dimensional printing technology is used to precisely generate such an artificial joint.
  • three-dimensional printing technologies are being advanced day by day, so that the finished product itself, which includes various functions such as a robot's arm or leg, can be produced through a three-dimensional printer.
  • the technical problem to be achieved by the present invention is that at least two bodies moving in contact with each other are integrally output by a three-dimensional printer while being spaced apart from each other and connected by a connection part, and then deformed to be in contact with each other in a state supported by the connection part. Then, it is to provide an integrated joint mechanism that can be output to a three-dimensional printer, which allows the bodies to move in contact with each other.
  • an embodiment of the present invention includes a plurality of bodies output in a first state spaced apart from each other and deformed to a second state in contact with each other, and the plurality of bodies spaced from each other in a first state.
  • An integrated joint mechanism including a connection portion connected in a state and deformed in a second state to support a state in which the plurality of bodies are in contact with each other, which is integrally output to a three-dimensional printer, and the second in the first state by external action.
  • an integrated joint mechanism that can be output to a three-dimensional printer that can be transformed into a state.
  • the plurality of bodies each having a cloud surface to move in contact with each other, the cloud surface is output in a first state spaced apart while facing each other, the cloud surface is contacted by an external action
  • the first body and the second body in contact with the movement by the force generated through the deformation in the state to support the movement.
  • the first body and the second body are in contact with each other is formed to be able to bend on the cloud surface, the first body and the second body, the direction in which the connecting portion in contact with each other
  • a guide portion is formed in contact with the connection to guide the deformation to provide a force.
  • the guide portion has an arc shape at least partially.
  • the connecting portion is formed in the form of a string having a flat surface, which is tensioned when contacting the guide portion.
  • the cloud surface is provided with teeth.
  • the plurality of bodies each have a cloud surface in contact with each other, the cloud surface is output in a first state spaced apart, the first surface is deformed to a second state in contact with the cloud surface A body and a second body, wherein the connection part comprises a first connection part and a second connection part, and the first connection part is connected to both ends of an upper surface of the first body and a lower surface of the second body, and the second Both ends of the connecting portion are connected to the lower surface of the first body and the upper surface of the second body so as to intersect with the first connecting portion, and each of the first connecting portion and the second connecting portion is acted on at least one end by an external action.
  • the first body and the second body are deformed, the first body and the second body are deformed in contact with each other, and the first body and the second body are deformed by a force provided by the deformation. each other The movement in the abutted state is supported.
  • each of the first connecting portion and the second connecting portion is formed to be pulled in a direction opposite to the direction in which the first body and the second body move in contact with each other.
  • an output step of outputting an integrated joint mechanism including a plurality of bodies in a spaced apart form and a connecting portion capable of supporting the plurality of bodies in abutted form in a state of being integrated through a three-dimensional printer; And it provides a method of manufacturing an integrated joint mechanism by a three-dimensional printer comprising a deformation step, the deformation of the plurality of bodies in a spaced form in contact with the contact form.
  • artificial joints can be manufactured using 3D printing technology, and thus, joints having similar effects to conventional joints can be realized without assembly. Accordingly, the robot manufacturing process can be simplified and the process cost can be reduced.
  • FIG. 1 is a schematic view for explaining the configuration of an integrated joint mechanism that can be output to a three-dimensional printer according to an embodiment of the present invention.
  • FIG. 2 is a view illustrating an embodiment of an integrated joint mechanism output to a three-dimensional printer according to an embodiment of the present invention.
  • FIG. 3 is a view for explaining another embodiment of the integrated joint mechanism shown in FIG.
  • FIG. 4 is a view for explaining the operation of the implementation example shown in Figure 2 through a model.
  • FIG. 5 is a view for explaining another embodiment of the integrated joint mechanism output to the three-dimensional printer according to an embodiment of the present invention.
  • FIGS. 6 and 7 are views showing a finger structure having an integrated joint mechanism that can be output to a three-dimensional printer according to an embodiment of the present invention.
  • FIG. 8 is a view illustrating an integrated joint mechanism that can be output to a three-dimensional printer according to another embodiment of the present invention.
  • FIG. 9 is a flowchart illustrating a procedure of a method of manufacturing an integrated articulation apparatus output to a three-dimensional printer according to another embodiment of the present invention.
  • first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.
  • first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.
  • FIG. 1 is a schematic diagram of an integrated joint mechanism of the bending joint form, which can be output to a three-dimensional printer according to an embodiment of the present invention.
  • the unitary joint apparatus 100 includes a first body 110, a second body 120, and a connection unit 130.
  • the first body 110 and the second body 120 is a part forming a joint that moves in contact with each other, and has a cloud surface 140 in which the movement occurs while partially contacting each other.
  • the first body 110 and the second body 120 contact each other through the cloud surface 140, and the integrated joint mechanism 100 may perform a bending motion.
  • the connecting unit 130 integrally connects the first body 110 and the second body 120 to enable the integrated output to a three-dimensional printer. Since the first body 110, the second body 120, and the connecting portion 130 are integrally output to the 3D printer, the integrated joint mechanism is made of one and the same material. However, in a three-dimensional printer that produces two or more materials having different characteristics simultaneously in a single process, each part may be formed of different materials. In this case, the connection part 130 may be formed using a relatively flexible material as compared to the first body 110 and the second body 120.
  • the connector 130 maintains the integral joint mechanism to perform the movement while maintaining the contact with each other while the integral joint mechanism is deformed so that the first body 110 and the second body 120 contact each other. Function Therefore, the first body 110 and the second body 120 allows the movement in contact with each other.
  • a state in which the first body 110 and the second body 120 are spaced apart from each other is defined as a first state, and the first body 110 and the second body 120 are in contact with each other so that the movement is performed. It is defined as a second state abutted to occur.
  • the connection part 130 is not deformed in the first state, and the movement is performed while the first body 110 and the second body 120 maintain contact with each other in the second state. If so, the connector 130 is deformed to allow relative displacement, ie, movement, between the first body 110 and the second body 120.
  • the first and second states are described in more detail below with reference to FIG. 2, wherein the state shown in FIG. 1 shows that the integral articulation mechanism is in a second state.
  • the connecting portion 130 may be formed in a wire or string form, and referring to FIG. 2, the connecting portion 130 may be formed in a string form. Both ends of the connector 130 are integrally formed with the first body 110 and the second body 120.
  • each of the first body 110 and the second body 120 is provided with a guide portion 150.
  • the guide part 150 guides deformation of the connection part 130 during the movement of the integrated joint mechanism. Referring to FIG. 1, when the integrated joint mechanism moves in the bending direction, the connecting portion 130 is deformed in the winding direction of the guide portion 150, thereby being stretched, thereby extending the first body 110 and the second body.
  • the contact force may be provided so that the 120 may contact each other even under external action.
  • Guide portion 150 is at least partly formed in an arc is advantageous for the bending motion.
  • FIG. 2 is a view for explaining an embodiment of an integrated joint mechanism output to a three-dimensional printer according to an embodiment of the present invention
  • the integrated joint mechanism is output in the first state of the upper side, the lower side by the external action It is deformed into two states and the movement occurs as the two bodies come into contact.
  • the external action used in the present specification may be to apply an external force such as gravity or tensile force, or to apply external energy such as thermal energy, but is not limited thereto, and may be a predetermined force, energy, or external power source applied from the outside. It should be interpreted as including all of the actions provided by the energy source.
  • the unitary joint apparatus 100 includes two bodies 110 and 120 such that there is a minute gap between the rolling surfaces 140 in contact with each other during movement. ) Are spaced apart from each other, and both ends include connecting portions 130 integrally formed with the bodies 110 and 120, respectively. Since it is connected integrally through the connecting unit 130, it can be produced by a single printing using a three-dimensional printer.
  • the guide part 150 is formed in an arc shape on the lower side of the connection part 130 in each of the first body 110 and the second body 120.
  • the guide part 150 is moved.
  • the connecting portion 130 In contact with the connecting portion 130.
  • the connecting portion 130 provides a force in a direction in which the first body 110 and the second body 120 in contact with each other, The guide part 150 guides the deformation of the connection part 130.
  • the body 110 and 120 are changed to a second state in which the bodies 110 and 120 come into contact with each other by external action.
  • the connecting portion 130 is brought into contact with the guide portion 150 and guided along the guide portion 150. The force generated when the connecting portion 130 is tensioned enables the movement between the two bodies 110 and 120 while maintaining contact between the two bodies 110 and 120.
  • the integrated joint mechanism is a plurality of bodies which are output to be spaced apart from each other, but deformed in contact with each other by an external action to be rotated with respect to each other, a plurality of bodies spaced from each other It may be implemented to include a flexible connecting portion that is integrally formed with the connected bodies while connecting to each other and is supported in abutting form when the plurality of bodies are deformed into abutting form.
  • the flexible connection means that the output is made to be deformable when output to the three-dimensional printer.
  • the connecting portion may have a wire or string form.
  • the connection portion may be implemented in various forms that can support the movement of the bodies in contact with each other through the force generated by the deformation.
  • the plurality of bodies may be the first body 110 and the second body 120, but are not necessarily limited thereto.
  • the plurality of bodies may be output in a form spaced apart from each other, but may be deformed in a contact form in the spaced form by an external action.
  • the unitary articulation mechanism is implemented to include a first body 21, a second body 22, and a connection 24 connecting the three bodies and the three bodies. May be
  • the plurality of bodies are the first body 110 and the second body 120, they have a rolling surface 140 in contact with each other.
  • the connecting portion 130 functions to support the first body 110 and the second body 120 to rotate while maintaining a contact state with each other on the cloud surface 140.
  • the guide unit 150 when the first body 110 and the second body 120 is a bending motion is generated with respect to each other, by providing a force in the opposite direction of the bending motion, the first body The 110 and the second body 120 may be allowed to exercise while maintaining the contact with each other. Therefore, when the magnitude of the external action is reduced, the first body 110 and the second body 120 are restored to the position before the movement is started by the connector 130.
  • connection unit 130 is a view showing the operation of the joint mechanism by using a model that actually implements the integrated joint mechanism shown in FIG. 2, wherein the bodies 110 and 120 output in a spaced state from each other are connected to each other by the connection unit 130. It supports the joint form while supporting the contact form.
  • FIG. 5 illustrates an example in which the teeth 145 are formed on the cloud surface 140 as a modification of the unitary joint mechanism according to the embodiment of the present invention.
  • Teeth 145 are formed on each of the rolling surfaces 140 of the first body 110 and the second body 120 to perform a gear movement, thereby preventing sliding at the rolling surface 140 during the bending motion of the integral joint mechanism. The bending movement is possible.
  • the unitary joint mechanism 100 is firm against the force applied to the joint from the outside because the two bodies 110 and 120 make contact, and a large bending of the joint when the connecting portion 130 is formed in a thin and long string shape Angle can be implemented.
  • the unitary joint mechanism 100 may define a shape in which the connection part 130 is deformed through the shape design of the guide part 150, and set bending characteristics of the joint.
  • the unitary joint mechanism 100 can firmly support the compressive force applied from the outside because the rolling surface 140 of the two bodies can make contact and transmit the force in the vertical direction.
  • the shape of the cloud surface 140 provided in the first body 110 and the second body 120 may determine the movement path of the joint. Since the deformation of the connecting portion 130 occurs according to the bending of the joint, the bending characteristic of the integrated joint mechanism 100 is determined according to the flexibility of the connecting portion 130.
  • the connecting portion 130 formed in a thin and long form may be implemented to be well bent joints, and the connecting portion 130 formed in a thick and short form may be applied to a harder joint.
  • the guide part 150 is a surface making contact with the connection part 130 according to the bending of the joint, and serves to define a deformation of the connection part 130 generated by the bending of the joint in a specific shape intended. Through this, the integral joint mechanism 100 prevents the deformation of the connecting portion 130 is sharply bent in a specific portion to improve the firmness.
  • the integral joint mechanism 100 relates to a bending joint that can be integrally manufactured using a three-dimensional printer, and thus can be applied to robots, mechanical structures, and other structures in which the bending joint is used.
  • FIG. 7 are diagrams for explaining the use of the integrated joint mechanism that can be output to a three-dimensional printer according to an embodiment of the present invention.
  • a robot finger structure having a total of three bending joints using the integrated joint mechanism 100 is disclosed.
  • FIG. 7 some symbols of FIG. 6 and some shapes shown in FIG. 6 are omitted.
  • the teeth or actuators shown in FIG. 6 are omitted for the sake of brevity.
  • the robot finger structure shown in FIG. 7 and the robot finger structure shown in FIG. 6 show the same structure with only different states. However, as shown in FIG. 7, the robot finger structure may be formed without teeth.
  • the robot finger has four bodies 210, 220, 230, and 240, and two bodies adjacent to each other, for example, the first body 210 and the second body 220 are connected through the first connection part 330.
  • the second body 220 and the third body 230 are connected through the second connection part 340
  • the third body 230 and the fourth body 240 are the third connection part 350.
  • the first to third connection parts 330, 340, and 350 are the same as the connection part 130 described with reference to FIGS. 1 to 5, and the respective bodies 210, 220, 230, and 240 are described with reference to FIG. 2.
  • the guide portion 450 is formed in the same manner.
  • the actuator 600 is connected to implement the movement of the robot finger.
  • One end of the actuator is connected to the first body 210 and extends through the second to fourth bodies 220, 230, and 240.
  • the actuator 600 is pulled from the fourth body 240 side, the robot finger is bent and retracted in the same manner as the finger bending motion of the human body.
  • the actuator 600 is loosened, the robot finger is extended again.
  • a plurality of bodies moving in contact with each other may be integrally output by the 3D printer in a state in which the bodies are spaced apart from each other and connected by a connection part.
  • the plurality of bodies may be deformed to abut each other while being supported by the connecting portion to form a robot finger structure, and the robot finger structure may be formed in FIG. 7C.
  • a plurality of bodies may move in contact with each other, such as being pinched or restored through an actuator.
  • the structure of the robot finger or the robot hand having the robot finger can be manufactured at a time by a three-dimensional printer, there is no need to perform a separate assembly process. That is, by using the integrated joint mechanism 100, it is possible to manufacture a robot finger structure, etc. very easily in a single manufacturing process of the three-dimensional printing it can significantly reduce the manufacturing cost and time, such as the number of robots.
  • the integrated joint mechanism 100 is a medical robot, rehabilitation robot, cultural industry (such as moving figure using three-dimensional printing), research and development in general (moving prototypes simple production). It can be applied to military exploration robots (low cost, no assembly, suitable for the manufacture and production of small robots).
  • the unitary joint mechanism 100 according to the present invention is a joint having two bodies having a rolling surface and a flexible strap connecting the two bodies, and the two bodies are in contact with each other without slipping. Because it works in conjunction with the friction is very small, it is possible to implement a variety of joint movement depending on the shape of the body.
  • the integrated joint mechanism 100 according to the present invention can be produced at a time by using a three-dimensional printing technology, it is possible to implement a joint having an effect similar to a conventional joint without assembly.
  • the plurality of bodies may include a first body 110 and a second body 120, and the connection part 130 may include a first connection part 131 and a second connection part 132.
  • first connector 131 is connected to the upper surface of the first body 110 and the lower surface of the second body 120
  • second connector 132 is connected to the lower surface and the second body of the first body 110 ( It may be connected to the upper surface of 120.
  • each of the first connector 131 and the second connector 132 is at least one side connected to the bodies 110 and 120, and in the embodiment of FIG. 8, the first body 110 and the external body acting on both sides.
  • the second body 110 is deformed to be in contact with the spaced apart state (upper view of FIG. 8) (lower view of FIG. 8).
  • the first body 110 and the second body 110 are rotated on the rolling surface 140 in contact with each other while being supported by the first connector 131 and the second connector 132.
  • the rolling surface 140 functions as the guide part 150 to guide the tension of the first and second connection parts 132.
  • the two body (110, 120) is output in a state in which the spaced apart Afterwards, the two bodies 110 and 120 may be deformed into contact with each other by the external action.
  • the first connecting portion 131 and the second connecting portion 132 constituting the connecting portion 130 by deformation support the two bodies (110, 120) in contact with each other, the two bodies (110, 120) is a cloud surface 140 Can be rotated on
  • the first and second connectors 131 and 132 are formed such that at least one end thereof is pulled in the opposite direction in which the two bodies 110 and 120 contact. Therefore, when at least one end of each of the first and second connectors 131 and 132 is pulled by an external action, the two bodies 110 and 120 contact each other.
  • FIG. 9 is a flowchart illustrating a procedure of a method of manufacturing an integrated joint apparatus output to a 3D printer according to another embodiment of the present invention.
  • the method of manufacturing the integrated joint apparatus according to the present embodiment may be described with reference to FIGS. 1 to 8. Since the manufacturing method using the integrated joint mechanism 100 described with reference, the description overlapping with the above description will be omitted.
  • a method of manufacturing an integrated joint mechanism by a three-dimensional printer outputs an integrated joint mechanism including a plurality of bodies in a spaced apart form and a connection portion capable of supporting the plurality of bodies in contact with each other.
  • the first state and the state in which the bodies are in contact with each other in contact with each other are defined as the second state, thereby implementing the present invention.
  • the manufacturing method of the integrated joint mechanism by the three-dimensional printer which concerns on an example includes outputting an integrated joint mechanism in a 1st state, and deforming to a 2nd state.
  • the plurality of bodies output in the form spaced apart from each other is output in a state of being integrated with the connection portion. Therefore, it is possible to output in a single output process by the three-dimensional printer.
  • the plurality of bodies may include a first body and a second body spaced apart from each other.
  • the connection part is output integrally with the first body and the second body with one end coupled to the first body and the other end coupled to the second body.
  • the guide part for guiding the deformation of the connection part may be formed in each of the first body and the second body, and a tooth may be formed in the cloud surface where the first body and the second body contact each other.
  • the plurality of bodies are deformed into a second state abutting each other by external action. At this time, the plurality of bodies can move in contact with each other by the force provided from the deformed connection portion.
  • the force provided by the actuator or the like may act as an external force for the integral joint mechanism to deform from the first state to the second state, or may also act as a driving force for joint motion in the second state.
  • the joint motion in one direction is generated by the force of the actuator, and when the force applied by the actuator decreases, the joint motion in the opposite direction is generated by the restoring force of the deformed connection part.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)

Abstract

Un des modes de réalisation de la présente invention concerne un dispositif d'articulation intégré formé pour pouvoir être imprimé en trois dimensions, et comportant: une pluralité de corps, qui sont imprimés sous forme séparée et sont modifiés pour passer d'une forme séparée à un forme en contact au moyen d'une opération externe de façon à pouvoir pivoter; et une partie de liaison reliée à la pluralité de corps et soutenant la pluralité de corps qui ont été modifiés pour adopter une forme en contact au moyen de l'opération externe.
PCT/KR2019/008772 2018-07-17 2019-07-16 Dispositif d'articulation intégré imprimable par une imprimante tridimensionnelle WO2020017867A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20180083098 2018-07-17
KR10-2018-0083098 2018-07-17
KR1020190008799A KR102252871B1 (ko) 2018-07-17 2019-01-23 3차원 프린터로 출력 가능한 일체형 관절 기구
KR10-2019-0008799 2019-01-23

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WO2020017867A1 true WO2020017867A1 (fr) 2020-01-23

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3932045A (en) * 1973-03-05 1976-01-13 Purdue Research Foundation Rolling contact joint
US4558911A (en) * 1983-12-21 1985-12-17 California Institute Of Technology Rolling contact robot joint
KR20130112435A (ko) * 2012-04-04 2013-10-14 삼성전자주식회사 보행 로봇의 발
US20140140757A1 (en) * 2008-12-31 2014-05-22 Spinex Tec, Llc Flexible Joint Arrangement Incorporating Flexure Members
CN205363947U (zh) * 2016-01-18 2016-07-06 天津大学 一种由柔性丝线连接的滚动铰链
US20170248802A1 (en) * 2014-09-24 2017-08-31 Materialise N.V. 3d printed eyewear frame with integrated hinge and methods of manufacture

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3932045A (en) * 1973-03-05 1976-01-13 Purdue Research Foundation Rolling contact joint
US4558911A (en) * 1983-12-21 1985-12-17 California Institute Of Technology Rolling contact robot joint
US20140140757A1 (en) * 2008-12-31 2014-05-22 Spinex Tec, Llc Flexible Joint Arrangement Incorporating Flexure Members
KR20130112435A (ko) * 2012-04-04 2013-10-14 삼성전자주식회사 보행 로봇의 발
US20170248802A1 (en) * 2014-09-24 2017-08-31 Materialise N.V. 3d printed eyewear frame with integrated hinge and methods of manufacture
CN205363947U (zh) * 2016-01-18 2016-07-06 天津大学 一种由柔性丝线连接的滚动铰链

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