[DESCRIPTION] [Invention Title]

JOINT APPARATUS WITH MULTI-DEGREE OF FREEDOM [Technical Field] The present invention relates to a joint apparatus with multi-degree of freedom, and more particularly, to a joint apparatus with multi-degree of freedom that may increase the degree of freedom according to a number of rotation power generators in a single joint portion.

[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.

However, the conventional joint apparatus requires a joint for each axis and thus the structure of the joint apparatus is enlarged.

[Disclosure] [Technical Problem]

An aspect of the present invention provides a joint apparatus with compact multi-degree of freedom by increasing the degree of freedom according to a number of rotation power generators installed in a single joint portion. [Technical solution]

According to a first embodiment of the present invention, there is provided a joint apparatus with multi-degree of freedom, including: a housing; a plurality of drive sources being installed in the housing; first and second rotation units being connected to the plurality of drive sources, respectively, to perform rotary motion; and a reciprocating motion unit being connected to each of the first and the second rotation units to multi-directionally perform reciprocating motion, wherein the reciprocating motion unit includes a first rotary motion transforming unit being connected to the first rotation unit to perform rotary motion, a second rotary motion transforming unit being connected to the second rotation unit to perform rotary motion in a different direction from rotary motion of the first rotary motion transforming unit, a connecting link member being connected to each of the housing and the second rotary motion transforming unit to perform rotary motion, and a reciprocating motion member being connected to each of the connecting link member and the second rotary motion transforming unit to multi-directionally perform reciprocating motion.

According to a second embodiment of the present invention, there is provided a joint apparatus with multi-degree of freedom, including: a housing;

a plurality of drive sources being installed in the housing; a plurality of rotary motion transferring members being connected to the plurality of drive sources, respectively; first to third rotation units being connected to the plurality of rotary motion transferring members, respectively, to perform rotary motion; and a reciprocating motion unit being connected to each of the first to the third rotation units to multi-directionally perform reciprocating motion, wherein the reciprocating motion unit includes a first rotary motion transforming unit being connected to the first rotation unit to perform rotary motion, a second rotary motion transforming unit being connected to the second rotation unit to perform rotary motion in a different direction from the rotary motion of the first rotary motion transforming unit, a connecting link member being connected to each of the third rotation unit and the first rotary motion transforming unit to perform rotary motion, and a reciprocating motion member being connected to each of the connecting link member and the second rotary motion transforming unit to multi-directionally perform reciprocating motion.

[Advantageous Effects]

A joint apparatus with multi-degree of freedom according to the present invention may be constructed to increase the degree of freedom according to a number of rotation power generators installed in a single joint portion. Therefore, it is possible to more compactly manufacture the joint apparatus. [Description of Drawings]

FIG. 1 is a perspective view of a conventional joint; FIG. 2 is a perspective view of a joint apparatus according to a first embodiment of the present invention;

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

FIG. 4 is an enlarged-exploded perspective view of a reciprocating motion unit shown in FIG. 3; FIG. 5 is a cross-sectional view of the joint apparatus shown in FIG. 3;

FIG. 6 is a perspective view of a joint apparatus according to a second embodiment of the present invention!

FIG. 7 is an exploded perspective view of the joint apparatus shown in FIG. 6; FIG. 8 is an enlarged-exploded perspective view of a reciprocating motion unit shown in FIG. 7; and

FIG. 9 is a cross-sectional view of the joint apparatus shown in FIG. 7. [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 multi-degree of freedom 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 according to the first embodiment of the present invention, FIG. 3 is an exploded perspective view of the joint apparatus shown in FIG. 2, FIG. 4 is an enlarged-exploded perspective

view of a reciprocating motion unit shown in FIG. 3, and FIG. 5 is a cross-sectional view of the joint apparatus shown in FIG. 3.

As shown in FIGS. 2 through 5, the joint apparatus with multi-degree of freedom includes a housing 10, a plurality of drive sources 20, first and second rotation units 30 and 40, and a reciprocating motion unit 50.

The housing 10 may generally support the joint apparatus with multi- degree of freedom. The housing 10 includes a housing member 11 and an installation member 12.

The housing member 11 includes protrusion members 11a with a guide hole h that face each other. A connecting link member 53 is connected to the guide holes formed in the protrusion members 11a via a pin. The housing member 11 is formed of a cylindrical member. As shown in FIG. 5, the installation member 12 is provided in the housing member 11. A plurality of first installation holes 12a is formed in one side of the installation member 12 and a plurality of second installation holes 12b is formed in another side of the installation member 12. The drive sources 20 are installed in the first installation holes 12a. The first and the second rotation units 30 and 40 are installed in the second installation holes 12b.

The plurality of drive sources 20 is installed in the housing 10 and may adopt a motor to generate the rotation power.

The first and the second rotation units 30 and 40 are connected to the plurality of drive sources 20, respectively, to perform rotary motion. The first rotation unit 30 includes a connection member 31, a rotation member 32, and a tilted protrusion member 33. The second rotation unit 40 includes a connection member 41, a rotation member 42, and a tilted protrusion member

43.

The connecting members 31 and 41 are connected to the drive sources 20, respectively. The rotation members 32 and 42 are installed on the connection members 31 and 41, and are in a disk type. The tilted protrusion members 33 and 43 are installed on the rotation members 32 and 42 to perform rotary motion in association with the rotation members 32 and 42. Guide holes h are formed in the tilted protrusion members 33 and 43, respectively, to be connected with first and second rotary motion transforming units 51 and 52 of the reciprocating motion unit 50, respectively. The reciprocating motion unit 50 is connected to each of the first and the second rotation units 30 and 40 to multi-directionally perform rotary motion. The rotary motion unit 50 includes the first rotary motion transforming unit 51, the second rotary motion transforming unit 52, a connecting link member 53, and a reciprocating motion member 54. The first rotary motion transforming unit 51 is connected to the first rotation unit 30 to perform rotary motion. The second rotary motion transforming unit 52 is connected to the second rotation unit 40 to perform rotary motion in a different direction from the rotary motion of the first rotary motion transforming unit 51. The first and the second rotary motion transforming units 51 and 52 may be constructed in a yoke shape, or in a T shape as shown in FIGS. 3 and 4, or may be constructed only in the yoke shape. When constructing the first and the second rotary motion transforming units 51 and 52 only in the yoke shape, each of the first and the second rotary motion transforming units 51 and 52 may include a first insertion guide member 51 a and a yoke member 51b. The first insertion guide member 51a is connected

to any one of the first rotation unit 30 and the second rotation unit 40. The yoke member 51b is installed in the first insertion guide member 51a and includes facing guide holes h. The connecting link member 53 and the reciprocating motion member 54 are connected to the guide holes h formed in the yoke member 51b.

The first rotary motion transforming unit 51 is connected to the reciprocating motion member 54, whereas the second rotary motion transforming unit 52 is not connected to the reciprocating motion member 54. Therefore, the second rotary motion transforming unit 54 may be constructed in the T shape. Specifically, when constructing the second rotary motion transforming unit 52 in the T shape, the second rotary motion transforming unit 52 includes a second insertion guide member 52a and a hollow member 52b. The second insertion guide member 52a is connected to any one of the first rotation unit 30 and the second rotation unit 40. The hollow member 52b is provided to be orthogonal with respect to the second insertion guide member 52a and includes a guide hole h. The connection link member 53 is pin- connected to the guide hole h formed in the hollow member 52b.

The connecting link member 53 is connected to each of the housing 10 and the second rotary motion transforming unit 52 to perform rotary motion. The connecting link member 53 is in a polygonal shape. A plurality of guide holes h is formed in the connecting link member 53 to face each other. The housing 10, the reciprocating motion member 54, and the second rotary motion transforming unit 52 are pin-connected to the plurality of guide holes h formed in the connecting link member 53. The reciprocating motion member 54 is connected to each of the

connecting link member 53 and the second rotary motion transforming unit 52 to multi-directionally perform rotary motion. A plurality of orthogonal guide holes h is formed in the reciprocating motion member 54. The first rotary motion transforming unit 51 and the connecting link member 53 are pin- connected to the plurality of guide holes h, respectively.

Hereinafter, an operation of the joint apparatus with multi-degree of freedom according to the first embodiment of the present invention constructed as above will be described.

When rotating the drive source 20 connected to the first rotation unit 30 among the plurality of drive sources 20, the first rotation unit 30 may perform rotary motion by the drive source 20. When the first rotation unit 30 performs rotary motion, the first rotary motion transforming unit 51 of the reciprocating motion unit 50 connected to the first rotation unit 30 may perform rotary motion by the first rotation unit 30. When the first rotary motion transforming unit 51 performs rotary motion, the reciprocating motion member 54 may perform reciprocating motion by using the pin p connected with the connecting link member 53 as a rotational axis.

When rotating the drive source 20 connected to the second rotation unit 40 among the plurality of drive sources 20, the second rotation unit 40 may perform rotary motion by the drive source 20. When the second rotation unit 40 performs rotary motion, the second rotary motion transforming unit 52 of the reciprocating motion unit 50 connected to the second rotation unit 40 may perform rotary motion in a different direction from the rotary motion of the first rotary motion transforming unit 51. When the second rotary motion transforming unit 52 performs rotary motion, the reciprocating motion member

54 may perform reciprocating motion by using the pin p connected with the housing 10 and the connecting link member 53 as a rotational axis.

As described above, when consecutively driving the plurality of drive sources 20, the reciprocating motion member 54 may perform reciprocating motion having 2degrees of freedom in different directions by the first rotary motion transforming unit 51 and the second rotary motion transforming unit 52. <Second embodiment

Hereinafter, a joint apparatus with multi-degree of freedom according to the second embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 6 is a perspective view of a joint apparatus according to a second embodiment of the present invention, FIG. 7 is an exploded perspective view of the joint apparatus shown in FIG. 6, FIG. 8 is an enlarged-exploded perspective view of a reciprocating motion unit shown in FIG. 7, and FIG. 9 is a cross- sectional view of the joint apparatus shown in FIG. 7.

As shown in FIGS. 6 through 9, the joint apparatus with multi-degree of freedom includes a housing 110, a plurality of drive sources 120, a plurality of rotary motion transferring members 130, first to third rotation units 140, 150, and 160, and a reciprocating motion unit 170. Hereinafter, a configuration thereof will be described.

The housing 110 may generally support the joint apparatus with multi- degree of freedom. The housing 110 includes a housing member 111 and an installation member 112.

The housing member 111 is formed in a cylindrical shape, The installation member 112 is provided in the housing member 111. A plurality of

first installation holes 112a is formed in an edge of the installation member

112 and a second installation hole 112b is formed in the center of the installation member 112. The plurality of drive sources 120 is installed in the plurality of first installation holes 112a of the installation member 112, respectively. The first to the third rotation units 140, 150, and 160 are installed in the second installation hole 112b.

The plurality of drive sources 120 is installed in the housing 110 and each thereof may adopt a motor in order to generate rotation power.

The plurality of rotary motion transferring members 130 is connected to rotational axes (reference numerals are not shown) of the plurality of drive sources 120, respectively, and each thereof may adopt a gear.

The first to the third rotation units 140, 150, and 160 are connected to the plurality of rotary motion transferring members 130, respectively, to perform reciprocating motion. The first rotation unit 140 includes a first insertion guide member 141, a first rotation member 142, and a first tilted member 143.

The first insertion guide member 141 is connected to the housing 110 and includes a stopper member 141a on its one side. A guide hole h is formed in the first insertion guide member 141. The first rotation unit 140 is inserted into the guide hole h and thereby is connected thereto. The first rotation member 142 is installed in one side of the first insertion guide member and is connected to any one of the rotary motion transferring members 130. The first rotation member 142 adopts a gear in order to be connected to any one of the rotary motion transferring members 130 adopting the gear. The first tilted member 143 is installed in another side of the first insertion guide member 141

and is titled in a " <" shape. The first tilted member 143 includes a guide hole h into which the second rotation unit 150 is inserted.

The second rotation unit 150 includes a hollow rotation unit 151 and a tilted rotation unit 152. A guide hole h is formed in the hollow rotation unit 151 and the first rotation unit 140 is inserted into the guide hole h. The hollow rotation unit

151 is connected another one of the rotary motion transferring members 130 to perform reciprocating motion. The hollow rotation unit 151 includes a second insertion guide member 151a, a second rotation member 151b, and a first tilted rotation member 151c.

The second insertion guide member 151a is inserted into the first rotation unit 140 and thereby is connected thereto. The second rotation member 151b is installed in one side of the second insertion guide member

151a and is connected to the other one of the rotary motion transferring members 130. The second rotation member 151b adopts a gear in order to be connected to the other one of the rotary motion transferring members 130.

The first tilted rotation member 151c is installed in another side of the second insertion guide member 151a and adopts a tilted gear.

The tilted rotation unit 152 is connected to each of the first rotation unit 140 and the hollow rotation unit 151. The tilted rotation unit 152 includes a third insertion guide member 152a, a second tilted rotation member 152b, and a second tilted member 152c.

The third insertion guide member 152a is inserted into the first rotation unit 140 and thereby is connected thereto. The second tilted rotation member 152b is installed in one side of the third insertion guide member 152a and is

connected to the hollow rotation unit 151. Specifically, the second tilted rotation member 152b adopts a tilted gear in order to be connected to the first tilted rotation member 151c of the hollow rotation unit 151. The second tilted member 152c is installed in another side of the third insertion guide member 152a and includes a guide hole in its one side. The second tilted member 152c is tilted in the " <" shape and a second rotary motion transforming unit 172 is connected to the guide hole h formed in the second tilted member 152c via the pin p.

The third rotation unit 160 includes an inner housing member 161 and a third rotation member 162.

The inner housing member 161 is connected to the housing 110 and includes protrusion members 161a facing each other and a third installation hole 161b. A connecting link member 173 of the reciprocating motion unit 170 is pin-connected to a guide hole h formed in the protrusion member 161a. The third rotation unit 162 is provided in the inner housing member 161 and adopts a gear in order to be connected to still another one of the rotary motion transferring members 130. A fourth installation hole 162a connected through to the third installation hole 161b is formed in the third rotation member 162. The second rotation unit 150 is installed in the third and the fourth installation holes 161b and 162a.

The reciprocating motion unit 170 is connected to each of the first to the third rotation units 140, 150, and 160 to perform reciprocating motion. The reciprocating motion unit 170 includes the first rotary motion transforming unit 171, the second rotary motion transforming unit 172, the connecting link member 173, and a reciprocating motion member 174.

The first rotary motion transforming unit 171 is connected to the first rotation unit 140 to perform rotary motion. The second rotary motion transforming unit 172 is connected to the second rotation unit 150 to perform rotary motion in a different direction from the rotary motion of the first rotary motion transforming unit 171.

The first rotary motion transforming unit 171 includes a fourth insertion guide member 171a and a yoke member 171b. The second rotary motion transforming unit 172 includes a fourth insertion guide member 172a and a yoke member 172b. The fourth insertion guide members 171a and the 172a are connected to any one of the first rotation unit 140 and the second rotation unit 150. A fifth installation hole 171c is formed in the fourth insertion guide member 171a of the first rotary motion transforming unit 171 , among the fourth insertion guide members 171a and 172a. The second rotation unit 150 is inserted into the fifth installation hole 171c and thereby is connected thereto. The yoke members 171b and 172b are installed in the fourth insertion guide members 171a and 172a, respectively, and include facing guide holes h. The connecting link member 173 or the reciprocating motion member 174 is connected to the guide holes h formed in the yoke members 171b and 172b. The connecting link member 173 is connected to each of the third rotation unit 160 and the first rotary motion transforming unit 171 to perform rotary motion. The connecting link member 173 is formed in a polygonal shape. A plurality of guide holes h is formed in the connecting link member 173 in the polygonal shape to face each other. The third rotation unit 160, the second rotary motion transforming unit 172, and the reciprocating motion

member 174 are pin-connected to the plurality of guide hoes h formed in the connecting link member 173.

The reciprocating motion member 174 is connected to the connecting link member 173 and the second rotary motion transforming unit 172 to multi- directionally perform reciprocating motion. A plurality of orthogonal guide holes is formed in the reciprocating motion member 174. The first rotary motion transforming unit 171 and the connecting link member 173 are pin- connected to the plurality of guide holes h, respectively.

Hereinafter, an operation of the joint apparatus with multi-degree of freedom according to the second embodiment of the present invention constructed as above will be described.

When driving any one of the drive sources 120, one of the rotary motion transferring members 130 connected thereto may perform rotary motion. When one of the rotary motion transferring members 130 performs rotary motion, the first rotation member 142 of the first rotation unit 140 screw- coupled with one of the rotary motion transferring members 130 may performs rotary motion by the rotary motion transferring member 130. When the first rotation unit 140 performs rotary motion, the first rotary motion transforming unit 171 inserted into the first tilted member 143 may perform rotary motion by the first rotation unit 140. The rotating first rotary motion transforming unit 171 may perform reciprocating motion by using the pin p connecting the reciprocating motion member 174, the connecting link member 173, and the third rotation unit 160 as a rotational axis.

When driving another one of the drive sources 120, another one of the rotary motion transferring members 130 connected thereto may perform rotary

motion. When the other one of the rotary motion transferring members

130 performs rotary motion, the second rotation member 151b screw-coupled with the other one of the rotary motion transferring members 130 may perform rotary motion, whereby the hollow rotation unit 151 performs rotary motion by using the first insertion guide member 141 of the first rotation unit 140 as the rotational axis. When the hollow rotation unit 151 performs rotary motion, the second tilted rotation member 152b of the tilted rotation unit 152 screw- coupled with the tilted rotation unit 152 may perform rotary motion, whereby the second rotation unit 150 may perform rotary motion by the rotary motion of the second tilted rotation member 152b. When the second rotation unit 150 performs rotary motion, the second rotary motion transforming unit 172 pin- connected to the guide hole h formed in the second tilted member 152c of the tilted rotation unit 152 may perform rotary motion. The second rotary motion transforming unit 172 enables the reciprocating motion member 174 to perform reciprocating motion in a different direction from the reciprocating direction of the reciprocating motion member 174 by the first rotary motion transforming unit 171, by using the pin connecting the connecting link member 173 and the reciprocating motion member 174 as the rotational axis.

When driving still another one of the drive sources 120, still another one of the rotary motion transferring members 130 connected thereto may perform rotary motion. When still another one of the rotary motion transferring members 130 performs rotary motion, the third rotation member 162 screw- coupled with the rotary motion transferring member 130 may perform rotary motion, whereby the third rotation unit 160 may perform rotary motion. When the third rotation unit 160 performs rotary motion, the connecting link member

173 connected to the inner housing member 173 may perform rotary motion. The rotating connecting link member 173 enables the reciprocating motion member 174 to perform reciprocating motion in a different direction from the reciprocating motion of the reciprocating motion member 174 by the first rotary motion transforming unit 171 or the second rotary motion transforming unit 172.

As described above, when driving the plurality of drive sources 120 to reciprocate the reciprocating motion member 174, and in instance, individually selecting one of the drive sources 120 and driving the selected drive source 120, the reciprocating motion member 174 may be constructed to have one degree of freedom by the first to third rotation units 140, 150, and 160. Also, when sequentially driving the plurality of drive sources 120 at the same time, the reciprocating motion member 174 may be constructed to have three degrees of freedom, that is, multi-degree of freedom by the first to the third rotation units 140, 150, and 160. [Industrial Applicability]

A joint apparatus with multi-degree of freedom 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 a 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.