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Title:
A JOINT APPARATUS WITH ADJUSTABLE RANGE OF MOTION
Document Type and Number:
WIPO Patent Application WO/2009/051394
Kind Code:
A3
Abstract:
A joint apparatus with adjustable range of motion that may adjust the center and range of reciprocating motion is provided. The joint apparatus with adjustable range of motion, includes: first and second drive units; a conical motion unit being connected to the first drive unit to reciprocate the first drive unit or the second drive unit; and a motion range adjusting unit being connected to the second drive unit and the conical motion unit to adjust the range of reciprocating motion of the first drive unit or the second drive unit, wherein the conical motion unit comprises a first rotation unit, a connection angle decision member, and a connection unit being connected to the connection angle decision member and the motion range adjusting unit to reciprocate the first drive unit or the second drive unit.

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Inventors:
YIM JIN WHAN (KR)
Application Number:
PCT/KR2008/006066
Publication Date:
July 02, 2009
Filing Date:
October 15, 2008
Export Citation:
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Assignee:
ROBOMECH CO LTD (KR)
YIM JIN WHAN (KR)
International Classes:
B25J17/00
Foreign References:
KR20070009542A2007-01-18
JPS59197904A1984-11-09
JP2001129784A2001-05-15
Attorney, Agent or Firm:
LEE, Jae Hwa (Duckchun B/D718-10 Yoksam 1-dong,Kangnam-ku, Seoul 135-081, KR)
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Claims:

[CLAIMS] [Claim 1 ]

A joint apparatus with adjustable range of motion, comprising: first and second drive units; a conical motion unit being connected to the first drive unit to reciprocate the first drive unit or the second drive unit; and a motion range adjusting unit being connected to the second drive unit and the conical motion unit to adjust the range of reciprocating motion of the first drive unit or the second drive unit, wherein the conical motion unit comprises a first rotation unit being connected to the first drive unit, a connection angle decision member being connected to the rotation unit and being driven by the motion range adjusting unit to determine a connection angle of the first drive unit and the second drive unit, and a connection unit being connected to the connection angle decision member and the motion range adjusting unit to reciprocate the first drive unit or the second drive unit. [Claim 2]

The joint apparatus of claim 1 , wherein the first drive unit comprises: a first housing including protrusion members with a guide hole that face each other; and a first drive source being installed in the first housing, wherein the second drive unit is connected to the guide holes formed in the protrusion members of the first housing via a pin. [Claim 3] The joint apparatus of claim 1, wherein the second drive unit comprises:

a second housing including protrusion members with a guide hole that face each other and including a hollow guide member inside; and a second drive source being installed in the second housing, wherein the first drive unit is connected to the guide holes formed in the protrusion members of the second housing via a pin. [Claim 4]

The joint apparatus of claim 3, wherein the hollow guide member installed in the second housing includes a first uneven guide member guiding a movement of the motion range adjusting unit. [Claim 5]

The joint apparatus of claim 1, wherein the rotation unit of the conical motion unit comprises- a first insertion member being connected to the first drive unit; and a rotation member being connected to the first insertion member and including protrusion members with a guide hole that face each other, wherein the connection angle decision member is connected to the guide holes formed in the protrusion members of the rotation member via a pin. [Claim 61

The joint apparatus of claim 1, wherein a guide hole is formed in one side of the connection angle decision member of the conical motion unit and another guide hole is formed in another side thereof to face the guide hole, and the rotation unit is connected to the guide hole formed in the one side via a pin, and the connection unit is connected to the other guide hole formed in the other side via the pin.

[Claim 7]

The joint apparatus of claim 1 , wherein the connection unit of the conical motion unit comprises^ a first connection member being connected to the connection angle decision member and including a guide hole in its one side and a second insertion member in its another side! a second connection member being connected to the second insertion member of the first connection member and including a plurality of orthogonal guide holes; and a third connection member being connected to the second connection member and the motion range adjusting unit and including protrusion members with a guide hole that are formed in its one side and another side to face each other, wherein the connection angle decision member is pin-connected to the guide hole formed in the first connection member via a pin, the second insertion member of the first connection member is pin-connected to any one of the guide holes formed in the second connection member, the second connection member is pin-connected to the guide hole formed in the one side of the third connection member, and the motion range adjusting unit is pin- connected to the guide hole formed in the other protrusion member that is formed in another side of the third connection member. [Claim 8]

The joint apparatus of claim 1 , wherein the motion range adjusting unit comprises: a linear transfer instrument being connected to the second drive unit;

and a movement member being movably connected to the linear transfer instrument and the connection unit of the conical motion unit, wherein a guide hole is formed in the movement member, and the connection unit of the conical motion unit is connected to the guide hole formed in the guide member via a pin. [Claim 9]

The joint apparatus of claim 8, wherein the linear transfer instrument comprises: a screw shaft being connected to the second drive unit; and a nut movement member being installed to the screw shaft and being connected to the movement member to move the movement member via the screw shaft, wherein an outer circumferential surface of the nut movement member includes a second uneven guide member to be received in the first uneven guide member of the hollow guide member and thereby be advanced and retreated. [Claim 10]

A joint apparatus with adjustable range of motion, comprising: first and second drive units; a conical motion unit being connected to the first drive unit to reciprocate the first drive unit or the second drive unit; and a motion range adjusting unit being connected to the second drive unit and the conical motion unit to adjust the range of reciprocating motion of the first drive unit or the second drive unit,

wherein the conical motion unit comprises a first rotation unit being connected to the first drive unit, a connection angle decision member being connected to the rotation unit and being driven by the motion range adjusting unit to determine a connection angle of the first drive unit and the second drive unit, and a connection unit being connected to the connection angle decision member and the motion range adjusting unit to reciprocate the first drive unit or the second drive unit, and the motion range adjusting unit comprises a plurality of linear transfer units being connected to the second drive unit, and a movement unit being connected to the plurality of linear transfer units and the conical motion unit to adjust a connection angle of the connection angle decision member. [Claim 11 ]

The joint apparatus of claim 10, wherein the first drive unit comprises: a first housing including protrusion members with a guide hole that face each other; and a first drive source being installed in the first housing, wherein the motion range adjusting unit is connected to the guide holes formed in the first housing via a pin.

[Claim 12] The joint apparatus of claim 10, wherein the second drive unit comprises: a second housing including protrusion members with a guide hole that face each other and including a hollow guide member inside! and a plurality of second drive sources being installed in the second housing to be connected to the plurality of linear transfer units of the motion range

adjusting unit, wherein the movement unit of the motion range adjusting unit is connected to the guide holes formed in the second housing via a pin.

[Claim 13] The joint apparatus of claim 10, wherein each of the linear transfer units of the motion range adjusting unit comprises: a linear transfer instrument being connected to the second drive unit; and a connecting link member being connected to the linear transfer instrument and including protrusions with a guide hole that are formed in its one side and another side to face each other, wherein the linear transfer instrument comprises a screw shaft being connected to the second drive unit and a nut movement member being installed to the screw shaft and including a guide hole, and the movement unit is pin- connected to the guide hole formed in the nut movement member, and the linear transfer instrument and the movement unit are pin-connected to the guide holes of the protrusion members formed in one side and the other side of the connecting link member, respectively.

[Claim 14] The joint apparatus of claim 10, wherein the movement unit of the motion range adjusting unit comprises: a movement member being connected to the plurality of linear transfer units and including sliding bars in its both sides; and a plurality of wheel members including sliding grooves to be installed in the sliding bars of the sliding member,

wherein a plurality of guide holes is formed in the movement member and connects the plurality of linear transfer units and the connection unit of the conical motion unit via pins, and the plurality of wheel members is connected to the first housing of the first drive unit and the second housing of the second drive unit via pins, respectively. [Claim 15]

A joint apparatus with adjustable range of motion, comprising", first and second drive units; a conical motion unit being connected to the first drive unit to reciprocate the first drive unit or the second drive unit; and a motion range adjusting unit being connected to the second drive unit and the conical motion unit to adjust the range of reciprocating motion of the first drive unit or the second drive unit, wherein the conical motion unit comprises a first rotation unit being connected to the first drive unit, a connection angle decision member being connected to the rotation unit and being driven by the motion range adjusting unit to determine a connection angle of the first drive unit and the second drive unit, and a connection unit being connected to the connection angle decision member and the motion range adjusting unit to reciprocate the first drive unit or the second drive unit, and the motion range adjusting unit comprises a plurality of reciprocating motion transforming units being connected to the second drive unit and a movement unit being connected to the plurality of reciprocating motion transforming units and the conical motion unit to adjust a connection angle of the connection angle decision unit.

[Claim 16]

The joint apparatus of claim 15, wherein each of the reciprocating motion transforming units of the motion range adjusting unit comprises: a pinion being connected to the second drive unit; and a gear being connected to the pinion and the movement unit to move the movement unit. [Claim 17]

The joint apparatus of claim 16, wherein a guide hole is formed in one side of the gear, a sliding bar is formed in another side thereof and is connected to the movement unit, and the guide hole is connected to the second housing via a pin. [Claim 18]

The joint apparatus of claim 16, wherein an offset pin is formed in one side of the gear at an offset location spaced apart from a rotation central axis and is connected to the movement unit, and the guide hole is formed in another side of the gear and is connected to the second housing via a pin. [Claim 19]

The joint apparatus of claim 15, wherein the movement unit of the motion range adjusting unit comprises: a movement member being connected to the reciprocating motion transforming unit and the conical motion unit and including sliding grooves in its both sides and a guide hole in the orthogonal direction with respect to the both sides; and a bearing being movably installed in any one of the sliding grooves formed in the movement member and including a guide hole,

wherein the sliding bar of the gear is movably installed in another one of the sliding grooves formed in the movement member, the third connection member of the connection unit is connected to the guide hole formed in the movement member via a pin, and an offset pin of the gear is connected to the guide hole formed in the bearing via the pin.

Description:

[DESCRIPTION] [Invention Title]

A JOINT APPARATUS WITH ADJUSTABLE RANGE OF MOTION [Technical Field] The present invention relates to a joint apparatus with adjustable range of motion, and more particularly, to a joint apparatus with adjustable range of motion that may adjust the center and range of reciprocating motion. [Background Art]

Hereinafter, a conventional joint apparatus will be described with reference to FIG. 1.

The conventional joint apparatus includes a plurality of axes, that is, a first axis 1 , a second axis 2, and a third axis 3. Generally, in order to make an axial end move along the orbit on the spherical surface and to maintain the posture of the axial end, a rotation A of the first axis 1 , a rotation B of the second axis 2, and a rotation C of the third axis 3 may be combined using a rotation power generator such as a motor and the like. Specifically, the axial end of the third axis 3 may move along the orbit on the spherical surface by the rotations A and B of the first axis 1 and the second axis 2. The posture of the axial end of the third axis 3 may be maintained by the rotation C of the third axis. In the case of the conventional joint apparatus, the center of joint is fixed for each axis. Therefore, when changing a central axis, a number of joints is increased, enlarging the structure of the joint apparatus.

[Disclosure] [Technical Problem]

An aspect of the present invention provides a joint apparatus with adjustable range of motion that may be compactly constructed by enabling the center and range of reciprocating motion to be adjusted in a single joint portion. [Technical solution]

According to a first embodiment of the present invention, there is provided a joint apparatus with adjustable range of motion, including: first and second drive units; a conical motion unit being connected to the first drive unit to reciprocate the first drive unit or the second drive unit; and a motion range adjusting unit being connected to the second drive unit and the conical motion unit to adjust the range of reciprocating motion of the first drive unit or the second drive unit, wherein the conical motion unit includes a first rotation unit being connected to the first drive unit, a connection angle decision member being connected to the rotation unit and being driven by the motion range adjusting unit to determine a connection angle of the first drive unit and the second drive unit, and a connection unit being connected to the connection angle decision member and the motion range adjusting unit to reciprocate the first drive unit or the second drive unit. According to a second embodiment of the present invention, there is provided a joint apparatus with adjustable range of motion, including: first and second drive units; a conical motion unit being connected to the first drive unit to reciprocate the first drive unit or the second drive unit; and a motion range adjusting unit being connected to the second drive unit and the conical motion unit to adjust the range of reciprocating motion of the first drive unit or the

second drive unit, wherein the conical motion unit includes a first rotation unit being connected to the first drive unit, a connection angle decision member being connected to the rotation unit and being driven by the motion range adjusting unit to determine a connection angle of the first drive unit and the second drive unit, and a connection unit being connected to the connection angle decision member and the motion range adjusting unit to reciprocate the first drive unit or the second drive unit, and the motion range adjusting unit includes a plurality of linear transfer units being connected to the second drive unit, and a movement unit being connected to the plurality of linear transfer units and the conical motion unit to adjust a connection angle of the connection angle decision member.

According to a third embodiment of the present invention, there is provided a joint apparatus with adjustable range of motion, including: first and second drive units; a conical motion unit being connected to the first drive unit to reciprocate the first drive unit or the second drive unit; and a motion range adjusting unit being connected to the second drive unit and the conical motion unit to adjust the range of reciprocating motion of the first drive unit or the second drive unit, wherein the conical motion unit includes a first rotation unit being connected to the first drive unit, a connection angle decision member being connected to the rotation unit and being driven by the motion range adjusting unit to determine a connection angle of the first drive unit and the second drive unit, and a connection unit being connected to the connection angle decision member and the motion range adjusting unit to reciprocate the first drive unit or the second drive unit, and the motion range adjusting unit includes a plurality of reciprocating motion transforming units being connected

to the second drive unit and a movement unit being connected to the plurality of reciprocating motion transforming units and the conical motion unit to adjust a connection angle of the connection angle decision unit.

[Advantageous Effects] A joint apparatus with adjustable range of motion may be compactly constructed by enabling the center and range of reciprocating motion to be adjusted in a single joint portion. [Description of Drawings]

FIG. 1 is a perspective view of a conventional joint", FIG. 2 is a perspective view of a joint apparatus with adjustable range of motion according to a first embodiment of the present invention;

FIG. 3 is an exploded perspective view oi the joint apparatus shown in FIG. 2;

FIG. 4 is an exploded perspective view of a conical motion unit and a motion range adjusting unit shown in FIG. 3;

FIG. 5 is a perspective view of a joint apparatus with adjustable range of motion according to a second embodiment of the present invention;

FIG. 6 is an exploded perspective view of the joint apparatus shown in FIG. 5; FIG. 7 is an exploded perspective view of a conical motion unit and a motion range adjusting unit shown in FIG. 6;

FIG. 8 is a perspective view of a joint apparatus with adjustable range of motion according to a third embodiment of the present invention;

FIG. 9 is an exploded perspective view of the joint apparatus shown in FIG. 7; and

FIG. 10 is an exploded perspective view of a conical motion unit and a motion range adjusting unit shown in FIG. 9. [Best Mode]

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. The embodiments are described below in order to explain the present invention by referring to the figures.

<First embodiment > Hereinafter, a joint apparatus with adjustable range of motion according to the first embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 2 is a perspective view of a joint apparatus with adjustable range of motion according to the first embodiment of the present invention, FIG. 3 is an exploded perspective view of the joint apparatus shown in FIG. 2, and FIG. 4 is an exploded perspective view of a conical motion unit and a motion range adjusting unit shown in FIG. 3. In particular, in order to more explicitly show the configuration of a movement unit 420 and a gear 412, FIG. 4 illustrates an enlarged view of a state where each of the movement unit 420 and the gear 412 is viewed from direction K in a dotted circular portion.

As shown in FIGS. 2 through 4, the joint apparatus with adjustable range of motion according to the first embodiment includes first and second drive units 10 and 20, a conical motion unit 100, and a motion range adjusting unit

200. The first and the second drive units 10 and 20 may generate drive force

to drive the conical motion unit 100 or the motion range adjusting unit 200.

The conical motion unit 100 is connected to the first drive unit 10 to reciprocate the first drive unit or the second drive unit 20. The motion range adjusting unit 200 is connected to the second drive unit 20 and the conical motion unit 100 to adjust the range of reciprocating motion of the first drive unit 10 or the second drive unit 20.

Hereinafter, the joint apparatus with adjustable range of motion according to the first embodiment constructed as above will be described further in detail. The first drive unit 10 includes a first housing 11 and a first drive source 12.

Protrusion members Ha with a guide hole h are formed in the first housing 11 to face each other. FIGS. 2 through 4 are cross-sectional views of the first housing 11 and thus only the single protrusion member 11a is shown. However, the first housing 11 is formed of a hollow cylindrical member and thus another protrusion member 11a is provided in a location facing the protrusion member 11 shown in FIGS. 2 through 4. The second drive unit 20 is connected to the guide hole h formed in the protrusion member 11a of the first housing 11 via a pin p. The first drive source 12 is installed in the first housing 11 to generate the drive force. In order to generate the drive force, the first drive source 12 may adopt a motor.

The second drive unit 20 includes a second housing 21 and a second drive source 22.

Like the first housing 11, protrusion members 21a with a guide hole h are formed in the second housing 21 to face each other. The protrusion

members 21a formed in the second housing 21 are provided to face each other like the first housing 11. The first drive unit 10 is connected to the guide hole h formed in the protrusion member 21a via the pin p. A hollow guide member 23 is installed in the second housing 21. The hollow guide member 23 includes a first uneven guide member 23a to guide movement of the motion range adjusting unit 200. The second drive source 22 is installed in the second housing 21 to generate the drive force. In order to generate the drive force, the second drive source 22 may adopt a motor.

The conical motion unit 11 includes a rotation unit 110, a connection angle decision member 120, and a connection unit 130.

The rotation unit 110 is connected to the first drive unit 10 to transform the drive force of the first drive unit 10 to a linear transfer motion, and includes a first insertion member 111 and a rotation member 112. The first insertion member 111 is connected to the first drive unit 10 and the rotation member 112 is connected to the first insertion member 111. Protrusion members with a guide hole h are formed in the rotation member 112 to face each other. The connection angle decision unit 120 is connected to the guide holes formed in the protrusion members 112a of the rotation member 112 via a pin p. The connection angle decision member 120 is connected to the rotation unit 110 and is driven by the motion range adjusting unit 200 to determine a connection angle of the first drive unit 10 and the second drive unit 20, A guide hole h is formed in one side of the connection angle decision member 120 and another guide hole h is formed in another side thereof. The rotation unit 110 is pin-connected to the guide hole h formed in the one side of the

connection angle decision member 120, and the connection unit 130 is pin- connected to the other guide hole h formed in the other side thereof.

The connection unit 130 is connected to the connection angle decision member 120 and the motion range adjusting unit 200 to reciprocate the first drive unit 10 or the second drive unit 20. The connection unit 130 includes a first connection member 131, a second connection member 132, and a third connection member 133.

The first connection member 131 is connected to the connection angle decision member 120. A guide hole to be pin-connected with the connection angle decision member 120 is formed in one end of the first connection member 131 and a second insertion member 131a is installed in another end thereof.

The second connection member 132 is connected to the second insertion member 131a of the first connection member 131 and includes a plurality of orthogonal guide holes h. The second insertion member 131a of the first connection member 131 is pin-connected to any one of the guide holes h formed in the second connection member 132 and the third connection member 133 is pin-connected to another guide hole h.

The third connection member 133 is connected to the second connection member 132 and the motion range adjusting unit 200. Protrusion members 133a with a guide hole h are formed in one side and another side of the third connection member 133 to face each other. The second connection member 132 is pin-connected to the guide hole h formed in the one side of the third connection member 133 and the motion range adjusting unit 200 is pin- connected to the other guide hole h formed in the other side thereof.

The motion range adjusting unit 200 includes a linear transfer instrument 210 and a movement member 220.

The linear transfer instrument 210 is connected to the second drive unit 20 and includes a screw shaft 211 and a nut movement member 212. The screw shaft 211 is connected to the second drive unit 20. The nut movement member 212 is installed to the screw shaft 211 and is connected to the movement member 220 to move the movement member 220 via the screw shaft 211. A second uneven guide member 212a is formed in the outer circumferential surface of the nut movement member 212 to be guided to the first uneven guide member 23a of the hollow guide member 23 and thereby be advanced and retreated.

The movement member 220 is connected to the linear transfer instrument 210 and the connection unit 130 of the conical motion unit 100 and thereby is moved. A guide hole h is formed in the movement member 220. The connection unit 130 of the conical motion unit 100 is pin-connected to the guide hole h formed in the movement member 220.

Hereinafter, an operation of the joint apparatus with adjustable range of motion according to the first embodiment of the present invention constructed as above will be described. The first drive source 12 of the first drive unit 10 is driven for reciprocating motion by the conical motion unit 100. When the first drive source 12 is driven, the rotation unit 110 of the conical motion unit 100 may perform rotary motion according to a rotational direction of the first drive source 12. When the rotation unit 110 performs rotary motion, the connection unit 130 connected to the rotation unit 110 and the connection angle decision

member 120 may perform rotary motion. The connection unit 130 includes the first connection member 131, the second connection member 132, and the third connection member 133, which are pin-connected to each other. The third connection member 133 may perform rotary motion by the first connection member 131 and the second connection member 132. According to the rotary motion of the third connection member 133, the first drive unit 10 or the second drive unit 20 may perform reciprocating motion. Specifically, when the first drive unit 10 is fixed, the second drive unit 20 may perform reciprocating motion according to the rotary motion of the connection unit 130. Conversely, when the second drive unit 20 is fixed, the first drive unit 10 may perform reciprocating motion according to the rotary motion of the connection unit 130, whereby the first and the second drive units 10 and 20 may perform reciprocating motion with 1 degree of freedom by the first drive unit 10.

Initially, the motion range adjusting unit 200 is driven in order to adjust the range of reciprocating motion of the first and the second drive units 10 and 20. The motion range adjusting unit 200 is driven by the second drive unit 20. When the second drive source 22 of the second drive unit 20 is driven, the linear transfer instrument 210 of the motion range adjusting unit 200 connected thereto may transform the rotary motion of the second drive source 22 to an advance and retreat motion. When the linear transfer instrument 210 performs the advance and retreat motion, the movement member 220 connected to the linear transfer instrument 210 may also perform the advance and retreat motion in interoperation therewith.

When the movement member 220 moves into the direction of an arrow indicator al of FIG. 2, the connection angle decision member 120 pin-

connected to the connection unit 130 may move into the direction of an arrow indicator bl. When consecutively moving the movement member 220 and the connection angle decision member 120 into the direction of the arrow indicators al and bl, the first drive unit 10 and the second drive unit 20 may be positioned in the nearly horizontal state. When reciprocating the first drive unit 10 or the second drive unit 20 via the conical motion unit 100, the range of reciprocating motion may become narrow.

When the movement member 220 moves into the direction of the arrow indicator al, the connection angle decision member 120 pin-connected to the connection unit 130 may move into the direction of the arrow indicator bl. When consecutively moving the movement member 220 into the direction of the arrow indicator al, the connection angle decision member 120 may be positioned in the horizontal state. Specifically, a location of the pin p connected to the rotation unit 110 and a location of the pin connected to the connection unit 130 in the connection angle decision member 120 may become the horizontal state. When the connection angle decision member 120 is horizontally positioned, the first drive unit 10 and the second drive unit 20 may be positioned in the horizontal state, whereby the first drive unit 10 or the second drive unit 20 may perform reciprocating motion by the conical motion unit 100 in a state where the range of reciprocating motion is narrow.

Conversely, when the movement member 220 moves into the direction of an arrow indicator of a2, the connection angle decision member 120 pin- connected to the connection unit 130 may move into the direction of an arrow indicator b2. When consecutively moving the movement member 220 into the direction of the arrow indicator a2, the connection angle decision member 120

may be positioned in the horizontal state. Specifically, a location of the pin p connected to the rotation unit 110 and a location of the pin p connected to the connection unit 130 in the connection angle decision member 120 may become the vertical state. When the connection angle decision member 120 is positioned in the vertical state, the first drive unit 10 or the second drive unit 20 may perform reciprocating motion by the conical motion unit 100 in a state where the range of reciprocating motion is maximum.

As described above, when adjusting the connection angle of the first drive unit 10 and the second drive unit 20 by adjusting the location of the connection angle decision member 120, the motion range adjusting unit 200 may adjust the connection angle by using the pin connecting the first drive unit 10 and the second drive unit 20 as an axis. <Second embodiment

Hereinafter, a configuration and operation of a joint apparatus with adjustable range of motion according to the second embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 5 is a perspective view of a joint apparatus with adjustable range of motion according to the second embodiment of the present invention, FIG. 6 is an exploded perspective view of the joint apparatus shown in FIG. 5, and FIG. 7 is an exploded perspective view of a conical motion unit and a motion range adjusting unit shown in FIG. 6.

As shown in FIG. 5 through 7, the joint apparatus with adjustable range of motion according to the second embodiment includes first and second drive units 10 and 20, a conical motion unit 100, and a motion range adjusting unit 300.

The first and the second drive units 10 and 20 may generate drive force to drive the conical motion unit 100 or the motion range adjusting unit 300. The conical motion unit 100 is connected to the first drive unit 10 to reciprocate the first drive unit or the second drive unit 20. The motion range adjusting unit 300 is connected to the second drive unit 20 and the conical motion unit 100 to adjust the range of reciprocating motion of the first drive unit 10 or the second drive unit 20.

Hereinafter, the joint apparatus with adjustable range of motion according to the second embodiment constructed as above will be described further in detail.

The first drive unit 10 includes a first housing 11 and a first drive source 12. Protrusion members 11a with a guide hole h pin-connected with the motion range adjusting unit 300 are formed in the first housing 11 to face each other. The first drive source 12 is installed in the first housing 11 to generate the drive force. In order to generate the drive force, the first drive source 12 may adopt a motor.

The second drive unit 20 includes a second housing 21 and a plurality of second drive sources 22. Protrusion members 21a with a guide hole h pin- connected with a movement unit 320 of the motion range adjusting unit 300 are formed in the second housing 21 to face each other. The plurality of drive sources 22 is installed in the second housing 21 and connected to a plurality of linear transfer units 310 of the motion range adjusting unit 300, respectively.

The conical motion unit 100 includes a rotation unit 110, a connection angle decision member 120, and a connection unit 130. The rotation unit 110 is connected to the first drive unit 10. The connection angle decision member

120 is connected to the rotation unit 110 and is driven by the motion range adjusting unit 300 to determine the connection angle of the first drive unit 10 and the second drive unit 20. The connection unit 130 is connected to the connection angle decision member 120 and the motion range adjusting unit 300 to reciprocate the first drive unit 10 or the second drive unit 20. The above configuration of the conical motion unit 100 is the same as the aforementioned configuration of the conical motion unit 100 of the joint apparatus with adjustable range of motion according to the first embodiment and thus further detailed descriptions will be omitted here. The motion range adjusting unit 300 includes the plurality of linear transfer units 310 and the movement unit 320.

The plurality of linear transfer units 310 is connected to the second drive unit 20. Specifically, the plurality of linear transfer units 310 is connected to the plurality of second drive sources 22 of the second drive unit 20, respectively. Each of the plurality of linear transfer units 310 includes a linear transfer instrument 311 and a connecting link member 312. The linear transfer instrument 311 is connected to the second drive unit 20, and includes a screw shaft 311a and a nut movement member 311b. The screw shaft 311a is connected to the second drive unit 20. The nut movement member 311b is installed to the screw shaft 311a and includes a guide hole h that is pin- connected to the movement member 320. The connecting link member 312 is connected to the linear transfer instrument 311 and includes protrusion members 312a with a guide hole h in its both sides to face each other. The linear transfer instrument 311 and the movement unit 320 are pin-connected to the guide holes formed in one side and another side of the connecting link

member 312.

The movement unit 320 is connected to the plurality of linear transfer units 310 and the conical motion unit 100 to adjust the connection angle of the connection angle decision member 120, and includes a movement member 321 and a plurality of wheel members 322. The movement member 321 is connected to the plurality of linear transfer units 310 and includes sliding bars 321a in its both sides. A plurality of guide holes h that is pin-connected with the plurality of linear transfer units 310 and the connection unit 130 of the conical motion unit 100 is formed in the movement member 321. Each of the plurality of wheel members 322 includes a sliding groove 322a installed in the sliding bar 321a and includes a guide hole h pin-connected with the first housing 11 of the first drive unit 10 and the second housing 21 of the second drive unit 20.

Hereinafter, an operation of the joint apparatus with adjustable range of motion according to the second embodiment of the present invention constructed as above will be described.

The reciprocating motion of the first drive unit 10 or the second drive unit 20 by the conical motion unit 100 is the same as the aforementioned reciprocating motion of the joint apparatus with adjustable range of motion according to the first embodiment and thus further detailed descriptions related thereto will be omitted here.

Hereinafter, the operation of adjusting the connection angle of the first drive unit 10 or the second drive unit 20 via the motion range adjusting unit 300 to thereby adjust the motion center movement and the range of motion will be described.

Any one drive source 22 among the plurality of second drive sources 22 of the second drive unit 20 is driven in order to adjust the motion center movement and the range of motion. When any one drive source 22 among the plurality of second drive sources 22 is driven, the linear transfer instrument 311 of the linear transfer unit 310 connected thereto may transform the rotary motion of the second drive source 22 to an advance and retreat motion to thereby move a connecting link member 312 into the direction of an arrow indicator al of FIG. 5. When the connecting link member 312 is moved, the movement member 321 of the movement unit 320 may move into the direction of the arrow indicator al along the sliding grooves 322a where the sliding bars 321a are formed in the plurality of wheel members 322.

When the movement member 321 moves into the direction of the arrow indicator al, the pin connecting the connection angle decision member 120 and the movement member 321 may move into the direction of an arrow indicator bl, whereby the connection angle of the first drive unit 10 and the second drive unit 20 is enlarged. Specifically, when moving the movement member 321 into the direction of the arrow indicator al via the linear transfer instrument 311 by consecutively driving the plurality of second drive sources 22, the center of reciprocating motion may move and the connection angle of the first drive unit 10 and the second drive unit 20 may become a nearly horizontal state. When the connection angle of the first drive unit 10 and the second drive unit 20 becomes the horizontal state, the reciprocating motion range of the first drive unit 10 or the second drive unit 20 may be minimized.

When maximizing the reciprocating motion range of the first drive unit 10 or the second drive unit 20, another drive source 22 among the plurality of

second drive sources 22 of the second drive unit 20 is driven. When the other drive source 22 is driven, the linear transfer instrument 311 of the linear transfer unit 310 connected thereto may move the connecting link member 312 into the direction of an arrow indicator a2. When the connecting link member 312 moves into the direction of the arrow indicator a2, the pin connecting the connection angle decision member 120 and the rotation unit 1 10 may move into the direction of the arrow indicator bl , whereby the connection angle of the first drive unit 10 and the second drive unit 20 may become narrow again. When moving the movement member 321 into the direction of the arrow indicator a2 by consecutively performing the above operation, the center of the reciprocating motion may move and the connection angle of the first drive unit 10 and the second drive unit 20 may become a nearly vertical state. When the connection angle of the first drive unit 10 and the second drive unit 20 becomes the vertical state, the reciprocating motion range of the first drive unit 10 or the second drive unit 20 may be maximized.

As described above, when adjusting the connection angle of the first drive unit 10 and the second drive unit 20 by adjusting the location of the connection angle decision member 120, the motion range adjusting unit 300 may adjust the connection angle by using the pin the plurality of wheel members 322, and the first and second housings 1 1 and 12 as an axis. <Third embodiment

Hereinafter, a configuration of a joint apparatus with adjustable range of motion according to the third embodiment of the present invention will be described with reference to the accompanying drawings. FIG. 8 is a perspective view of a joint apparatus with adjustable range of

motion according to the third embodiment of the present invention, FIG. 9 is an exploded perspective view of the joint apparatus shown in FIG. 7, and FIG. 10 is an exploded perspective view of a conical motion unit and a motion range adjusting unit shown in FIG. 9. As shown in FIGS. 8 through 10, the joint apparatus with adjustable range of motion according to the third embodiment includes first and second drive units 10 and 20, a conical motion unit 100, and a motion range adjusting unit 400.

The first and the second drive units 10 and 20 may generate drive force to drive the conical motion unit 100 and the motion range adjusting unit 300.

The conical motion unit 100 is connected to the first drive unit 10 to reciprocate the first drive unit or the second drive unit 20. The motion range adjusting unit 300 is connected to the second drive unit 20 and the conical motion unit 100 to adjust the range of reciprocating motion of the first drive unit 10 or the second drive unit 20.

Hereinafter, the joint apparatus with adjustable range of motion according to the third embodiment constructed as above will be described further in detail.

The above configuration of the first and the second drive units 10 and 20 of the third embodiment will be the same as the aforementioned first and the second drive units 10 and 20 of the joint apparatus with adjustable range of motion according to the second embodiment and thus further detailed descriptions related thereto will be omitted here.

The conical motion unit 100 includes a rotation unit 110, a connection angle decision member 120, and a connection unit 130. The rotation unit 110

is connected to the first drive unit 10. The connection angle decision member 120 is connected to the rotation unit 110 and is driven by the reciprocating motion adjusting unit 400 to determine the connection angle of the first drive unit 10 and the second drive unit 20. The connection unit 130 is connected to the connection angle decision member 120 and the motion range adjusting unit 400 to reciprocate the first drive unit 10 or the second drive unit 20. The configuration of the conical motion unit 100 constructed as above is the same as the aforementioned configuration of the conical motion unit 100 of the joint apparatus with adjustable range of motion according to the second embodiment and thus further detailed description related thereto will be omitted here.

The motion range adjusting unit 400 includes a plurality of reciprocating motion transforming units 410 and a movement unit 420.

The plurality of reciprocating motion transforming units 410 is connected to the second drive unit 20. Specifically, the plurality of reciprocating motion transforming units 410 is connected to the plurality of second drive sources 22 of the second drive unit 20, respectively. Each of the reciprocating motion transforming units 410 includes a pinion 411 and a gear 412. The pinion 411 is connected to the second drive unit 20. Specifically, the pinion 411 is connected to the second drive source 22 of the second drive unit 20. The gear 412 is connected to the pinion 411 and the movement unit 420 to move the movement unit 420. Among the plurality of gears 412, the gear 412 that is provided in one reciprocating motion transforming unit 420 among the plurality of reciprocating motion transforming units 410 includes a guide hole h in its one side that is pin-connected to the second housing 21 and

includes a sliding bar 412a in its another side that is connected to the movement unit 420. Another gear 412 that is connected to another reciprocating motion transforming unit 410 among the plurality of reciprocating motion transforming units 410 includes an offset pin 402b in its one side that is connected to the movement unit 420 in an offset location si separated from a rotational central axis s, and includes a guide hole h in its another side that is pin-connected to the second housing 21.

The movement unit 420 is connected to the plurality of reciprocating motion transforming units 410 and the conical motion unit 100 to adjust the connection angle of the connection angle decision member 120. The movement unit 420 includes a movement member 421 and a bearing 422. The movement member 421 is connected to the reciprocating motion transforming unit 410 and the conical motion unit 100. The movement member 421 includes a sliding groove 421a in each of both sides. A guide hole h that is pin- connected to the third connection member 133 of the connection unit 130 is formed in an orthogonal direction. The bearing 422 is installed in any one of the sliding grooves 421a formed in the movement member 421. The sliding bar 412a of the gear 412 is movably installed in another sliding groove 421a. The bearing 422 is movably installed in any one of the sliding grooves 421a formed in the movement member 421 and includes a guide hole h that is connected with the offset pin 412b of the gear 412.

Hereinafter, an operation of the joint apparatus with adjustable range of motion according to the third embodiment constructed above will be described. The reciprocating motion of the first drive unit 10 or the second drive unit 20 by the conical motion unit 100 will be the same as the aforementioned

reciprocating motion of the joint apparatus with adjustable range of motion according to the second embodiment and thus further detailed description related thereto will be omitted here.

Hereinafter, the operation of adjusting the motion center movement and the motion range by adjusting the connection angle of the first drive unit 10 or the second drive unit 20 via the motion range adjusting unit 400 will be described.

In order to adjust the motion center movement and the motion range, the plurality of second drive sources 22 of the second drive unit 20 is driven. Each of the plurality of reciprocating motion transforming units 410 includes the pinion 411 and the gear 412 to transform the reciprocating motion direction. Specifically, the pinion 411 is rotated by the second drive source 22 to rotate the gear 412 into the opposite direction to the rotational direction of the second drive source 22 or the pinion 411. When the gear 412 is rotated, the rotation member 421 of the movement unit 420 may advance or retreat.

When the gear 412 is rotated by the pinion 411, the advance and retreat motion of the movement member 421 may rotate the offset pin 412b formed in the gear 412. When the offset pin 412b is rotated, the bearing 422 connected to the offset pin 412b may move by the rotation angle. When the bearing 422 moves, the movement member 421 may perform the advance and retreat motion along the sliding bar 412a formed in the gear 412 via the movement of the bearing 422 whereby the motion center is moved. Here, the distance of the motion center motion may be determined based on the offset location si of the offset pin 412b formed in the gear 412. The gear 412 is pin-connected to the first housing 11 and the second housing 21.

The connection angle of the connection angle decision member

120 may be determined by the movement member 421 that performs the advance and retreat motion according to rotation of the gear 412. For example, when the movement member 421 moves the motion center into the direction of an arrow indicator al of FIG. 8 via the gear 412, the pin connecting the connection angle decision member 120 and the connection unit 130 may move into the direction of an arrow indicator bl, whereby the connection angle decision member 120 may adjust the motion range to enlarge the connection angle of the first drive unit 10 and the second unit 20. Conversely, when the movement member 421 moves the motion center into the direction of an arrow indicator a2 of FIG. 8 via the movement member 412, the pin connecting the connection angle decision member 120 and the connection member 130 may move into the direction of an arrow indicator b2 whereby the connection angle decision member 120 may adjust the motion range to make the connection angle of the first drive unit 10 and the second drive unit 20 narrow.

As described above, when adjusting the connection angle of the first drive unit 10 and the second drive unit 20 by determining the location of the connection angle decision member 120, the motion range adjusting unit 400 may adjust the connection angle by using the pin connecting the first and the second housings 11 and 21 as an axis.

As described above with reference to the first through the third embodiments, the joint apparatus with adjustable range of motion may be more compactly constructed by enabling the center of reciprocating motion and the motion range to be adjusted in a single joint portion.

[Industrial Applicability]

A joint apparatus with adjustable range of motion according to the present invention may be applicable to a robot, an industrial instrument, an actuator, and the like that includes an axis or a joint capable of changing the rotary motion direction.

Although a few embodiments of the present invention have been shown and described, the present invention is not limited to the described embodiments. Instead, it would be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.