WO2010079915A2 - Joint mechanism for robot - Google Patents

Abstract

The joint mechanism for a robot of the present invention is configured to include a drive shaft that has an inclined plate; a connector one end whereof is inserted and installed into the inclined plate to slide upon rotation of the inclined plate, and the other end whereof has a through hole formed thereon; a shaft in the center whereof a through hole is formed, that achieves mutual connection with the connector by a pin and limits the movement of the connector to conical movements; a base member at one end whereof a drive shaft is installed to allow rotation and the shaft is inserted and installed into both ends to allow rotation; and a drive source for driving the drive shaft.

Description

Robotic Joints

The present invention relates to a robot joint mechanism, and in particular, to a rigid, lightweight rigidity to prevent deformation or breakage of the components, and to a robot joint mechanism that can convert the rotational movement provided to the drive shaft into a rotary reciprocating motion.

Conventionally, the reciprocating rotary power unit 50a is filed by the present applicant as Korean Patent Application No. 2007-75492, and as shown in FIGS. 1 and 2, the power generator 20a installed inside the housing 10a. In this case, the rotating shaft 22a of the power generator 20a is rotated. Since the rotating shaft 22a is connected to the connecting portion 36a of the inclined plate member 30a, when the inclined plate member 30a rotates, the connecting portion 36a also rotates accordingly. Since the guide protrusion 44a of the C-shaped member 40a is fitted into the hole 34a of the inclined surface 32a of the inclined plate member 30a, the C-shaped member 40a is rotated when the inclined plate member 30a is rotated. Guide protrusions (44a) of the will be a conical motion. When the inclined plate member 30a is rotated 90 degrees, the guide protrusion 44a of the C-shaped member 40a performs a conical motion, and the yokes 46a and 46a of the C-shaped member 40a are inclined. Will be leveled at.

On the other hand, when the inclined plate member 30a is rotated 90 degrees again, the yoke 46a, 46a of the C-shaped member 40a is inclined in a horizontal state. When the inclined plate member 30a is rotated 90 degrees again, the yokes 46a and 46a of the C-shaped member 40a become horizontal in the inclined state. In addition, when the inclined plate member 30a is rotated 90 degrees, the yoke 46a and 46a of the C-shaped member 40a are inclined in a horizontal state. Therefore, the guide projection 44a of the C-shaped member 40a rotatably fitted into the hole 34a of the inclined surface 32a of the inclined plate member 30a is conical (that is, the axis of the guide projection 44a is conical). ), The C-shaped member 40a is constrained by the pin 72a so that the pin 72a rotates about the pin 70a, so that the output shaft 60a reciprocates with the pin 72a. You exercise. In Fig. 2, reference numeral 12a is a side portion, and 14a, 16a, 42a, 62a are large and small through and through holes.

However, such a conventional reciprocating rotational power device has a yoke 46a and a guide projection 44a as two fixed points on the C-shaped member 40a that converts the rotational movement into a reciprocating rotational movement, and the bending force therebetween. If the C-shaped member 40a is deformed or damaged when a large force is applied. That is, since the structure between the yoke 46a and the guide protrusion 44a is in the form of a bent plate, the structure is vulnerable to the bending force.

In addition, the conventional reciprocating rotary power unit has a disadvantage in that it is difficult to apply to a portion requiring a large force transmission because the structure is vulnerable to the bending force.

The present invention has been made in view of the problems of the prior art, and its object is to apply a joint mechanism for a robot that can be applied to a portion that requires the transfer of large force.

The robot joint mechanism of the present invention includes a drive shaft having an inclined plate; A connector having one end inserted into the inclined plate and having a through hole formed at the other end thereof so as to perform a sliding motion when the inclined plate rotates; A shaft formed at a center thereof, interconnected with the connector by pins, and a shaft for limiting the motion of the connector to conical motion; A base member rotatably inserted at one side thereof and rotatably inserted at both ends thereof; It consists in the point which consists of a drive source for driving a drive shaft.

Robot joint mechanism according to another embodiment of the present invention and the drive shaft formed in the shape of a disk; An inclined plate installed on the drive shaft and integrally formed with a pin on one side thereof; A driving member having a through hole formed at one side thereof, and a protrusion formed at the other side thereof; Side plates respectively connected to the protrusions of the driving member; A bearing shaft fixing member connected to the side plate and having a bearing shaft formed at one side thereof; It is composed of a motor connected to the drive shaft.

Robot joint mechanism according to another embodiment of the present invention includes a drive shaft having an inclined plate; A driving member having a through hole formed at one side thereof so as to insert a bearing through the pin, and a groove for fitting the end of the pin at the other side thereof; A connecting shaft having a through hole formed at one side thereof to be inserted into the pin, and a protrusion formed at the other side thereof; A plurality of bearings respectively installed inside and outside the connecting shaft; It consists of a drive source connected to a drive shaft.

The robot joint mechanism of the present invention has an advantage of improving the rigidity of the connector because it can provide a structure in which shear force is applied in two different directions at two points.

In addition, the robot joint mechanism of the present invention has the advantage that it is easy to commercialize and easy to maintain because it is easy to precisely make the configuration and precisely.

1 and 2 are a perspective view of a conventional reciprocating rotary power unit,

3 to 5 is a perspective view showing a joint mechanism for a robot according to a first embodiment of the present invention,

6 to 11 is a perspective view showing a joint mechanism for a robot according to a second embodiment of the present invention,

12 to 14 is a perspective view showing a joint mechanism for a robot according to a third embodiment of the present invention,

15 to 17 is a perspective view showing a joint mechanism for a robot according to a fourth embodiment of the present invention,

18 to 21 is a perspective view showing a joint mechanism for a robot according to a fifth embodiment of the present invention,

22 is a perspective view showing a robot joint mechanism according to a sixth embodiment of the present invention.

An embodiment of a joint mechanism for a robot of the present invention will be described with reference to the accompanying drawings.

The robot joint mechanism according to the first embodiment of the present invention includes a drive shaft 10, a connector 14, a shaft 20, a base member 30, and a drive source 40.

First, in the robot joint mechanism, as shown in FIGS. 3 and 4, the drive shaft 10 includes the inclined plate 12. The inclined plate 12 has a through hole 13 formed at one side thereof. The connector 14 is fitted into the through hole 13. At the time of rotation of the inclined plate 12, the connector 14 is inserted into the inclined plate 12 so as to slide. The angle α between the connector 14 and the axis center of the drive shaft 10 is in the range of 0 degrees to 90 degrees. In addition, a through hole 15 for inserting the pin 22 to be described later is formed in the connector 14, and a through hole is almost formed at the center thereof to insert the pin 22 to be described later in the shaft 20. 25 is formed. The through hole 15 of the connector 14 and the through hole 25 of the shaft 20 coincide with each other and the pin 22 is fitted to connect the connector 14 and the shaft 20. The shaft 20 limits the motion of the connector 14 to conical motion. In addition, bearings 24 and 24 are installed at both ends of the shaft 20 at predetermined intervals, respectively.

As shown in FIG. 4, one side of the base member 30 is rotatably inserted into the drive shaft 10, and the shaft 20 is inserted through the bearing 24 at both ends thereof. That is, the bearing 24 fitted to the shaft 20 is inserted into the through holes (not shown) formed at both ends thereof. The lower portion of the base member 30 is provided with a drive source 40 for driving the drive shaft 10 inserted through. The drive shaft 10 is interconnected to an axis (not shown) of the drive source 40. The cross-sectional shape of the shaft 20 may be variously configured as circular, elliptical, square, polygonal, ring, etc., as shown in FIG. 5, which is appropriately desired by the user to reinforce the rigidity of the shaft 20. You can choose the form.

The robot joint mechanism according to the first embodiment of the present invention configured as described above rotates the driving shaft 10 and the inclined plate 12 connected thereto when the driving source 40 is operated. At this time, the rear end of the connector 14 (the part where the connector 14 is fitted into the through hole 13 of the inclined plate 12) is conical with respect to the shaft center of the connector 14 fitted in the inclined plate 12. Since the shaft 20 is limited to the pin 22 by the rotary motion.

The robot joint mechanism according to the second embodiment of the present invention includes a drive shaft 50, an inclined plate 60, a drive member 70, and a side plate 80; A bearing shaft fixing member 90; First and second supports 100 and 110; Bracket 120; A motor 124; It consists of the first and second housings 130 and 140.

As shown in FIGS. 6 to 8, the joint mechanism for a robot according to the second embodiment of the present invention includes a drive shaft 50 having a disc shape, and a seating portion 52 is integrally formed on one side thereof. . In addition, the seating portion 52 is provided with an inclined plate 60, the pin 62 is formed integrally rotatably on the inclined plate 60. The seating part 52 and the inclined plate 60 may also be integrally formed according to a user's request. The angle β between the pin 62 of the inclined plate 60 and the axis center of the drive shaft 50 is 0 to 90 degrees depending on the range of the reciprocating rotational motion. As shown in FIG. 22, the driving member 70 has a through hole 72 formed at one side thereof so as to insert the pin 62, and protrusions 74 formed at the other side thereof. That is, the through holes 72 are formed on both surfaces of the driving member 70 facing each other, and the protrusions 74 are formed on the surfaces facing each other.

As shown in FIG. 8, a bearing 76 is fitted to the protrusion 74, and a side plate 80 is rotatably connected thereto. The bearing 76 may use one of several types of bearings but may not be installed in some cases. As shown in FIG. 9, bearing shaft fixing members 90 and 90 are formed between the plurality of side plates 80 and 80 to form bearing shafts 92 by inserting bearings 94. However, the side plates 80 and 80 and the bearing shaft fixing members 90 and 90 may be integrally formed with each other according to a user's request.

As shown in FIGS. 10 and 11, the first and second supports 100 and 110 are sequentially inserted into the bearing shaft 92 of the bearing shaft fixing member 90. The bracket 120 is installed inside the first support 100, and the drive shaft 50 is installed on the bracket 120. In addition, a motor 124 connected to the drive shaft 50 is installed below the bracket 120. A motor shaft (not shown) of the motor 124 is rotatably connected to the drive shaft 50. A connection portion 144 is installed between the second supports 110 and 110 to connect with another member (not shown). The first and second housings 130 and 140 are connected to the second supports 110 and 110 and the bracket 120, respectively.

In the joint mechanism for a robot according to the second embodiment of the present invention configured as described above, when the driving shaft 50 rotates, the pin 62 connected to the inclined plate 60 is pin 62 as shown in FIG. 6. The side of the pin 62 is conical to draw the side of the cone by using a point O on the axis extension line of) as the cone vertex. Conical motion of the pin 62 is to be transmitted to the drive member (70). At this time, since the force is transmitted to the driving member 70 through the entire side of the pin 62, the pin 62 is subjected to a shear force, the pin 62 is formed in a cylindrical shape of a straight line so that the shear force is very large. When the pin 62 is in a conical motion, the driving member 70 is reciprocally rotated about the axis of the pin 62. A bearing 76 is inserted between the drive member 70 and the pin 62 so that the drive member 70 can perform a reciprocating rotational motion about the axis of the pin 62. Accordingly, the second support 110 connected to the first support 100 inserted into the bearing shafts 92 and 92 is in a reciprocating rotational motion.

The joint mechanism for a robot according to the third embodiment of the present invention includes a driving shaft 210, a driving member 170, a connecting shaft 180, a plurality of bearings 190 and 192, and a driving source 230.

As shown in FIGS. 12 to 14, the robot joint mechanism according to the third embodiment of the present invention includes a driving shaft 210 integrally formed with the inclined plate 212, and a through hole 213 in the inclined plate 212. Is formed, a drive source 230 that is a motor for driving the drive shaft is connected to the lower portion of the drive shaft 210. In addition, the driving member 170 has a through hole 172 formed therein for inserting the bearing 178 through the pin 162 on one side thereof, and for fitting the end 166 of the pin 164 to the other side thereof. Grooves 174 are formed. That is, through holes 172 for fitting bearings 178 are formed at both sides of the driving member 170 facing each other, and grooves for respectively fitting the end portions 166 of the pins 164 at both sides facing each other ( 174 is formed.

As shown in FIG. 12, the connecting shaft 180 includes a through hole 182 for inserting the pin 164 on one side thereof, and protrusions 184 and 184 for fitting the bearings 192 and 192 on the other side thereof. do. In addition, a plurality of bearings 190 and 192 are installed inside and outside the connection shaft 180. That is, the pair of bearings 190 and 190 are installed to reduce friction between the driving member 170 and the connecting shaft 180 when the driving member 170 is installed inside the connecting shaft 180, and the other pair of bearings. The 192 and 192 are fitted to the protrusion 184 of the connecting shaft 180, respectively. In addition, the angle γ formed between the center of the shaft of the drive shaft 210 and the pin 162 is freely selected by the user according to the range of the required reciprocating rotation within a range of 0 to 90 degrees.

In the joint mechanism for a robot according to the third embodiment of the present invention configured as described above, when the driving source 230 operates, the driving shaft 210 rotates, and the pin 162 is the connector 14 of the first embodiment described above. As with the center of the axis, the cone will move. The cone motion of the pin 162 is converted into a reciprocating rotational motion of the drive member 170. In this case, since the pin 162 is fitted to the driving member 170 via the bearing 178, the pin 162 may reduce the friction between the pin 162 and the driving member 170. And, the force generated in the process of changing the rotational motion of the drive shaft 210 to the reciprocating rotational motion by the pin 162 acts as a shear stress, and because the cross-sectional shape of the pin 162 is circular can transfer a large force. have. The reciprocating rotational motion of the driving member 170 is transmitted to the connecting shaft 180 again, and the reciprocating rotational movement of the shaft (not shown) connected to the protrusion 184 connected to the connecting shaft 180. The driving member 170 has a structure that can reduce friction because it is fitted through the connecting shaft 180 and the bearing (190, 190) when assembled.

Joint mechanism for a robot according to a fourth embodiment of the present invention is the drive shaft 10, the connector 14, the shaft 20, the base member 30, the drive source 40, the U-shaped bracket 310 and the rotary power source ( 320).

The robot joint mechanism according to the fourth embodiment of the present invention is to be applied to the robot elbow described later, and the U-shaped bracket 310 and the rotational power source 320 are further configured in the first embodiment. For the robot joint mechanism similar to the first embodiment, the description thereof will be omitted, and only the difference will be described.

The U-shaped bracket 310 has through holes 312 formed at both ends thereof, and a connection part 314 is formed at the center thereof. The shaft 20 of the first embodiment is inserted into the through hole 312. That is, the shaft 20 inserted through the bearing 24 at both ends of the base member 30 of the first embodiment is inserted into the through holes 312 and 312 of the U-shaped bracket 310 of the fourth embodiment. The lower portion of the connection portion 314 is connected to the shaft 322 of the rotary power source 320 that is a motor. In addition, a bearing 318 is fitted to the outside of the connection portion 314, and a housing 330 is formed on the outside of the bearing 318.

The fourth embodiment combines one rotational power source 320 and the U-shaped bracket 310 with the first embodiment, which is a one-degree-of-freedom joint, installs a bearing 24 at the connection portion 314, and provides a bearing 24 By coupling the housing 330 to the outside of the) can be obtained a reciprocating rotational movement perpendicular to each other on one plane. Although only the first embodiment is shown here, the second and third embodiments are also applicable.

Applying the second embodiment to the fourth embodiment of the present invention, there is provided a drive shaft 50 having a seating portion 52 and formed in a disk shape; An inclined plate 60 installed at the seating part 52 and integrally formed with the pin 62 at one side thereof; A driving member 70 having a through hole 72 formed at one side thereof to be inserted into the pin 62, and a protrusion 74 formed at the other side thereof; A side plate 80 which is rotatably connected to each other by inserting a bearing 76 into the protrusion 74 of the driving member 70; A bearing shaft fixing member 90 connected to the side plate 80 and having a bearing shaft 92 formed by inserting a bearing 94 on one side thereof; A U-shaped bracket 310 having through holes 312 formed at both ends thereof so as to be inserted into the bearing shaft 92 of the bearing shaft fixing member 90; The shaft 322 is made of a rotational power source 320 connected to the U-shaped bracket.

Applying the third embodiment to the fourth embodiment of the present invention, there is provided a driving shaft 210 having an inclined plate 212; The through hole 172 is formed so that one side of each of the bearing 178 is inserted through the pin 162, the other side of the driving groove 174 is formed for fitting the end 166 of the pin 164 Member 170; A connecting shaft 180 having a through hole 182 formed at one side thereof to be inserted into the pin 164, and a protrusion 184 formed at the other side thereof; A plurality of bearings 190 and 192 respectively installed inside and outside the connecting shaft 180; A drive source 230 connected to the drive shaft 210; A U-shaped bracket 310 having through holes 312 formed at both ends thereof so as to be connected to the connecting shaft 180; The shaft 322 is made of a rotational power source 320 connected to the U-shaped bracket.

As shown in Figs. 15 to 17, the robot articulation apparatus according to the fourth embodiment of the present invention operates in the first embodiment, which is a single degree of freedom joint, because it is similar to the operation of the above-described first embodiment. Only the description will be given, and the application of the second and third embodiments will be omitted since the operation relationship is similar.

When the drive shaft 10 is rotated by the operation of the drive source 40, and the cone is moved around the axis center of the connector 14, as shown by the arrow in FIG. 17, the drive shaft 10 is connected to the shaft 20. 1 degree of freedom joint will reciprocate rotation. Then, the shaft 20 fitted to the U-shaped bracket 310 by the operation of the rotary power source 320 is capable of reciprocating rotational movement. Thus, by connecting the one degree of freedom joint and the U-shaped bracket 310 connected to the rotational power source 320, a reciprocating rotational motion perpendicular to each other on the same plane can be obtained.

The robot joint mechanism according to the fifth embodiment of the present invention includes a drive shaft 10, a connector 14, a shaft 20, a base member 30, a drive source 40, a U-shaped bracket 310, and a bearing 430. ), A worm 410, a worm gear 420, a first motor and a second motor 440, 450, and a frame 460.

As shown in FIGS. 18 to 21, the robot joint apparatus according to the fifth embodiment of the present invention fits the U-shaped bracket 310 to the shaft 20 of the first embodiment, and the base member 30. The lower portion of the bearing 430 to reduce the friction is to be installed. The worm 410 is rotatably inserted into the drive shaft 10. The worm 410 is gear-coupled with the worm gear 420 connected to the shaft 452 of the second motor 450. The drive shaft 10 and the worm 410 are rotatably connected to the first motor 440, and the worm gear 420 is rotatably connected to the second motor 450. In addition, the worm 410, the worm gear 420, and the bearing 430 are covered with the frame 460, and the frame 460 is provided to guide and confirm the smooth operation of the worm 410 and the worm gear 420. A plurality of long holes 462 are formed at predetermined intervals. The angle δ between the first and second motors 440 and 450 may be adjusted within a range of 0 to 90 degrees according to a user's request.

The robot joint mechanism according to the fifth embodiment of the present invention includes a second motor 450, a worm 410, a worm gear 420, and a bearing 430 that are rotational power sources in the one degree of freedom joint mechanism of the first embodiment. When combined with the frame 460, as shown by the arrow in Fig. 21 in the frame 460, it is possible to obtain a horizontal rotational motion and a vertical reciprocating rotational motion, so that the frame 460 performs two degrees of freedom. You can do it. Although only the first embodiment is shown here, the second and third embodiments are also applicable.

In the articulated robot mechanism according to the fifth embodiment of the present invention, when the first motor 440 and the second motor 450 are driven, the driving shaft 10 is rotated and inserted into the driving shaft 10. The worm 410 (inserted) and the worm gear 420 engaged with the worm 410 rotate. The worm 410 and the worm gear 420 have two axes intersected at right angles, and transmit the movement of gears between the right axes, thereby obtaining a large reduction ratio. In the rotational movement of the drive shaft 10, the inclined plate 12 connected to the drive shaft 10 rotates as in the first embodiment. At this time, the rear end of the connector 14 (the part where the connector 14 is fitted into the through hole 13 of the inclined plate 12) is conical with respect to the shaft center of the connector 14 fitted in the inclined plate 12. Since the shaft 20 is limited to the pin 22 by the rotary motion. In addition, the U-shaped bracket 310 fitted to the shaft 20 also has a reciprocating rotational motion, as indicated by arrows in FIG. 21.

Joint mechanism for a robot according to a sixth embodiment of the present invention comprises a robot elbow 500 and the robot shoulder 1000 large. The robot elbow part 500 applies the fourth embodiment, and the robot shoulder part 1000 applies the fifth embodiment.

The robot elbow part 500 of the sixth embodiment of the present invention includes a drive shaft 10 having an inclined plate 12; A connector (14) having one end inserted into the inclined plate (12) and a through hole (15) formed at the other end thereof in order to perform a sliding motion when the inclined plate (12) rotates; A through hole (25) formed at its center, interconnected with the connector (14) by a pin (22), and a shaft (20) for limiting the motion of the connector to conical motion; A base member 30 on which one side of the drive shaft 10 is rotatably inserted, and a shaft 20 inserted through a bearing 24 at both ends thereof; A drive source 40 for driving the drive shaft 10; A U-shaped bracket 310 having through holes 312 formed at both ends thereof so as to be inserted into the shaft 20; It consists of a rotational power source 320 connected to the U-shaped bracket by the shaft 322.

In addition, the robot shoulder portion 1000 of the sixth embodiment of the present invention includes a drive shaft 10 having an inclined plate 12; A connector (14) having one end inserted into the inclined plate (12) and a through hole (15) formed at the other end thereof in order to perform a sliding motion when the inclined plate (12) rotates; A through hole (25) formed at its center, interconnected with the connector (14) by a pin (22), and a shaft (20) for limiting the motion of the connector to conical motion; A base member 30 on which one side of the drive shaft 10 is rotatably inserted, and a shaft 20 inserted through a bearing 24 at both ends thereof; A U-shaped bracket 310 having through holes 312 formed at both ends thereof so as to be inserted into the shaft 20; A bearing 430 installed at a lower portion of the base member 30 to reduce friction; A worm 410 rotatably inserted into the drive shaft 10; A worm gear 420 geared to the worm 410 and to each other; A first motor 440 and a second motor 450 connected to the drive shaft 10 and the worm gear 420, respectively; Covering the worm 410, the worm gear 420 and the bearing 430, and consists of a frame 460 for guiding the smooth operation of the worm 410 and worm gear 420.

In the sixth embodiment, the 1 degree of freedom joint structure and the 2 degree of freedom joint structure are applied to the 7 degree of freedom robot arm. In addition, the one degree of freedom joint mechanism applied to the robot elbow part 500 and the robot shoulder part 1000 may independently apply the first to third embodiments described above. Since various embodiments have been described above sufficiently, the detailed description thereof will be omitted. Since the sixth embodiment is a combination of the fourth and fifth embodiments, the description of the operation will be omitted here.

The articulation mechanism for robots of the present invention can be widely applied to robots, general and industrial machines that apply such robots, and the like.

Claims (18)

A drive shaft 10 having an inclined plate 12; A connector (14) having one end inserted into the inclined plate (12) and a through hole (15) formed at the other end thereof in order to perform a sliding motion when the inclined plate (12) rotates; A through hole (25) formed at its center, interconnected with the connector (14) by a pin (22), and a shaft (20) for limiting the motion of the connector to conical motion; A base member 30 rotatably inserted at one side thereof, the base member 30 being rotatably inserted at both ends thereof; Robotic joint mechanism, characterized in that consisting of a drive source (40) for driving the drive shaft (10). The robot joint mechanism according to claim 1, wherein the shaft (20) inserted at both ends of the base member (30) is installed via a bearing (24). 2. The robotic joint mechanism according to claim 1, wherein the angle α between the connector and the axis center of the drive shaft is between 0 degrees and 90 degrees. According to claim 1, wherein the cross-sectional shape of the shaft is a robot joint mechanism, characterized in that any one of a circle, oval, square, polygon, ring. A drive shaft 50 formed in a disc shape; An inclined plate (60) installed on the drive shaft (50) and integrally formed with a pin (62) on one side thereof; A driving member 70 having a through hole 72 formed at one side thereof, and a protrusion 74 formed at the other side thereof; Side plates 80 connected to the protrusions 74 of the driving member 70, respectively; A bearing shaft fixing member 90 connected to the side plate 80 and having a bearing shaft 92 formed at one side thereof; Joint device for a robot, characterized in that consisting of a motor (124) connected to the drive shaft (50). A drive shaft 50 having a seating portion 52 and formed in a disk shape; An inclined plate 60 installed at the seating part 52 and integrally formed with a pin 62 at one side thereof; A driving member 70 having a through hole 72 formed at one side thereof to be inserted into the pin 62, and a protrusion 74 formed at the other side thereof; A side plate 80 which is rotatably connected to each other by inserting a bearing 76 into the protrusion 74 of the driving member 70; A bearing shaft fixing member (90) connected to the side plate (80) and having a bearing shaft (92) formed by inserting a bearing (94) on one side thereof; First and second supports 100 and 110 which are sequentially fitted to the bearing shaft 92 of the bearing shaft fixing member 90; A bracket 120 having one side of the driving shaft 50 and an outer side of the first supporting member 100 installed therein; A motor 124 installed below the bracket 120 and connected to the drive shaft 50; Joint device for a robot, characterized in that consisting of the first and second housings (130,140) connected to the second support (110) and the bracket (120), respectively. 7. The robot joint mechanism according to claim 5 or 6, wherein an angle? Between the pin of the inclined plate and the axis center of the drive shaft is 0 to 90 degrees. A drive shaft 210 having an inclined plate 212; The through hole 172 is formed so that one side of each of the bearing 178 is inserted through the pin 162, the other side of the driving groove 174 is formed for fitting the end 166 of the pin 164 Member 170; A connecting shaft 180 having a through hole 182 formed at one side thereof to be inserted into the pin 164, and a protrusion 184 formed at the other side thereof; A plurality of bearings (190,192) respectively installed inside and outside of the connecting shaft (180); Robotic joint mechanism, characterized in that consisting of a drive source 230 is connected to the drive shaft (210). The robot joint mechanism according to claim 8, wherein the angle γ between the drive shaft 210 and the pin 162 is 0 to 90 degrees depending on the range of the reciprocating rotational motion. A drive shaft 10 having an inclined plate 12; A connector (14) having one end inserted into the inclined plate (12) and a through hole (15) formed at the other end thereof in order to perform a sliding motion when the inclined plate (12) rotates; A through hole (25) formed at its center, interconnected with the connector (14) by a pin (22), and a shaft (20) for limiting the motion of the connector to conical motion; A base member 30 on which one side of the drive shaft 10 is rotatably inserted, and a shaft 20 inserted through a bearing 24 at both ends thereof; A drive source 40 for driving the drive shaft 10; A U-shaped bracket 310 having through holes 312 formed at both ends thereof so as to be inserted into the shaft 20; Robotic joint mechanism, characterized in that consisting of a rotating power source 320 is connected to the U-shaped bracket by the shaft (322). The robot joint of claim 10, wherein a connection portion 314 is formed at the center of the U-shaped bracket 310, and the connection portion 314 is covered with a housing 330 by inserting a bearing 318. Instrument. A drive shaft 50 having a seating portion 52 and formed in a disk shape; An inclined plate 60 installed at the seating part 52 and integrally formed with a pin 62 at one side thereof; A driving member 70 having a through hole 72 formed at one side thereof to be inserted into the pin 62, and a protrusion 74 formed at the other side thereof; A side plate 80 which is rotatably connected to each other by inserting a bearing 76 into the protrusion 74 of the driving member 70; A bearing shaft fixing member (90) connected to the side plate (80) and having a bearing shaft (92) formed by inserting a bearing (94) on one side thereof; A U-shaped bracket 310 having through holes 312 formed at both ends thereof so as to be inserted into the bearing shaft 92 of the bearing shaft fixing member 90; Robotic joint mechanism, characterized in that consisting of a rotating power source 320 is connected to the U-shaped bracket by the shaft (322). A drive shaft 210 having an inclined plate 212; The through hole 172 is formed so that one side of the bearing 178 through the pin 162 is inserted, the groove 174 for fitting the end 166 of the pin 164 on the other side is formed Member 170; A connecting shaft 180 having a through hole 182 formed at one side thereof to be inserted into the pin 164, and a protrusion 184 formed at the other side thereof; A plurality of bearings (190,192) respectively installed inside and outside of the connecting shaft (180); A drive source 230 connected to the drive shaft 210; A U-shaped bracket 310 having through holes 312 formed at both ends thereof so as to be connected to the connection shaft 180; Robotic joint mechanism, characterized in that consisting of a rotating power source 320 is connected to the U-shaped bracket by the shaft (322). A drive shaft 10 having an inclined plate 12; A connector (14) having one end inserted into the inclined plate (12) and a through hole (15) formed at the other end thereof in order to perform a sliding motion when the inclined plate (12) rotates; A through hole (25) formed at its center, interconnected with the connector (14) by a pin (22), and a shaft (20) for limiting the motion of the connector to conical motion; A base member 30 to which the drive shaft 10 is rotatably inserted at one side thereof, and the shaft 20 is inserted through the bearing 24 at both ends thereof; A U-shaped bracket 310 having through holes 312 formed at both ends thereof so as to be inserted into the shaft 20; A bearing 430 installed at a lower portion of the base member 30 to reduce friction; A worm 410 rotatably inserted into the drive shaft 10; A worm gear 420 geared to the worm 410 and to each other; A first motor 440 and a second motor 450 connected to the drive shaft 10 and the worm gear 420, respectively; Covering the worm 410, worm gear 420 and bearing 430, the robot joint mechanism, characterized in that consisting of a frame 460 for guiding the smooth operation of the worm 410 and worm gear 420. 15. The robotic joint mechanism according to claim 14, wherein the first and second motors (440, 450) have an angle δ formed therebetween in the range of 0 to 90 degrees. A drive shaft 10 having an inclined plate 12; A connector (14) having one end inserted into the inclined plate (12) and a through hole (15) formed at the other end thereof in order to perform a sliding motion when the inclined plate (12) rotates; A through hole (25) formed at its center, interconnected with the connector (14) by a pin (22), and a shaft (20) for limiting the motion of the connector to conical motion; A base member 30 on which one side of the drive shaft 10 is rotatably inserted, and a shaft 20 inserted through a bearing 24 at both ends thereof; A drive source 40 for driving the drive shaft 10; A U-shaped bracket 310 having through holes 312 formed at both ends thereof so as to be inserted into the shaft 20; Robot elbow portion 500 consisting of a rotational power source 320 is connected to the U-shaped bracket by the shaft 322; A drive shaft 10 having an inclined plate 12; A connector (14) having one end inserted into the inclined plate (12) and a through hole (15) formed at the other end thereof in order to perform a sliding motion when the inclined plate (12) rotates; A through hole (25) formed at its center, interconnected with the connector (14) by a pin (22), and a shaft (20) for limiting the motion of the connector to conical motion; A base member 30 on which one side of the drive shaft 10 is rotatably inserted, and a shaft 20 inserted through a bearing 24 at both ends thereof; A U-shaped bracket 310 having through holes 312 formed at both ends thereof so as to be inserted into the shaft 20; A bearing 430 installed at a lower portion of the base member 30 to reduce friction; A worm 410 rotatably inserted into the drive shaft 10; A worm gear 420 geared to the worm 410 and to each other; A first motor 440 and a second motor 450 connected to the drive shaft 10 and the worm gear 420, respectively; Covering the worm 410, the worm gear 420 and the bearing 430, consisting of a robot shoulder portion 1000 consisting of a frame 460 for guiding the smooth operation of the worm 410 and the worm gear 420 A robot joint mechanism characterized in that. A drive shaft 50 having a seating portion 52 and formed in a disk shape; An inclined plate 60 installed at the seating part 52 and integrally formed with a pin 62 at one side thereof; A driving member (70) formed at one side thereof so that the through hole (72) is inserted into the pin (62), and a protrusion (74) formed at the other side thereof; A side plate 80 which is rotatably connected to each other by inserting a bearing 76 into the protrusion 74 of the driving member 70; A bearing shaft fixing member (90) connected to the side plate (80) and having a bearing shaft (92) formed by inserting a bearing (94) on one side thereof; First and second supports 100 and 110 which are sequentially fitted to the bearing shaft 92 of the bearing shaft fixing member 90; A bracket 120 on which one side of the drive shaft 50 is installed, and a first support member 100 on an outer side thereof; A motor 124 installed below the bracket 120 and connected to the drive shaft 50; A robot elbow part 500 composed of first and second housings 130 and 140 connected to the second support 110 and the bracket 120, respectively; A drive shaft 10 having an inclined plate 12; A connector (14) having one end inserted into the inclined plate (12) and a through hole (15) formed at the other end thereof in order to perform a sliding motion when the inclined plate (12) rotates; A through hole (25) formed at its center, interconnected with the connector (14) by a pin (22), and a shaft (20) for limiting the motion of the connector to conical motion; A base member 30 on which one side of the drive shaft 10 is rotatably inserted, and a shaft 20 inserted through a bearing 24 at both ends thereof; A U-shaped bracket 310 having through holes 312 formed at both ends thereof so as to be inserted into the shaft 20; A bearing 430 installed at a lower portion of the base member 30 to reduce friction; A worm 410 rotatably inserted into the drive shaft 10; A worm gear 420 geared to the worm 410 and to each other; A first motor 440 and a second motor 450 connected to the drive shaft 10 and the worm gear 420, respectively; Covering the worm 410, the worm gear 420 and the bearing 430, consisting of a robot shoulder portion 1000 consisting of a frame 460 for guiding the smooth operation of the worm 410 and the worm gear 420 A robot joint mechanism characterized in that. A drive shaft 210 having an inclined plate 212; The through hole 172 is formed so that one side of each of the bearing 178 is inserted through the pin 162, the other side of the driving groove 174 is formed for fitting the end 166 of the pin 164 Member 170; A connecting shaft 180 having a through hole 182 formed at one side thereof to be inserted into the pin 164, and a protrusion 184 formed at the other side thereof; A plurality of bearings (190,192) respectively installed inside and outside of the connecting shaft (180); A robot elbow part 500 formed of a driving source 230 connected to the driving shaft 210; A drive shaft 10 having an inclined plate 12; A connector (14) having one end inserted into the inclined plate (12) and having a through hole (15) formed at the other end thereof in order to slide during the rotation of the inclined plate (12); A through hole (25) formed at its center, interconnected with the connector (14) by a pin (22), and a shaft (20) for limiting the motion of the connector to conical motion; A base member 30 on which one side of the drive shaft 10 is rotatably inserted, and a shaft 20 inserted through a bearing 24 at both ends thereof; A U-shaped bracket 310 having through holes 312 formed at both ends thereof so as to be inserted into the shaft 20; A bearing 430 installed at a lower portion of the base member 30 to reduce friction; A worm 410 rotatably inserted into the drive shaft 10; A worm gear 420 geared to the worm 410 and to each other; A first motor 440 and a second motor 450 connected to the drive shaft 10 and the worm gear 420, respectively; Covering the worm 410, the worm gear 420 and the bearing 430, consisting of a robot shoulder portion 1000 consisting of a frame 460 for guiding the smooth operation of the worm 410 and the worm gear 420 A robot joint mechanism, characterized in that.

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