# US 12,005,575 B2 · Power transmission system for driving robot joint > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,575 B2 - Document ID: US12005575B2 - Status: Granted - Kind: B2 - Application number: 17/434,592 - Filed: 2020-02-26 - Published: 2022-05-05 - Granted: 2024-06-11 - Earliest claimed: 2019-02-27 - Assignees: Korea University Research and Business Foundation; Endo Robotics Co., Ltd. - Applicants: Korea University Research and Business Foundation; Endo Robotics Co., Ltd. - Inventors: Daehie Hong; Byung Gon Kim; Jinwoo Choi; Chae Dong Lee; Jung Hyun Im; Hyuk Soon Choi; Jeonghan Kim - Web page: https://patentgrep.com/patent/US12005575B2 ## CPC - B25J 9/104: {with cables, chains or ribbons} - B25J 9/1045: {comprising tensioning means} - A61B 34/30: Surgical robots - A61B 34/71: {Manipulators operated by drive cable mechanisms} - B25J 9/126: {Rotary actuators} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - B25J 18/06: flexible - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A power transmission system for driving a robot joint includes a driving part including a first driving unit and a second driving unit, a first force transmission part including a first sheath formed to have a predetermined length, flexibility, and a hollow shape and a first wire which is inserted into the first sheath and of which one end is fixed to a joint of a robot and the other end is connected to the first driving unit, and a second force transmission part including a second sheath formed to have a predetermined length, flexibility, and a hollow shape and a second wire which is inserted into the second sheath and of which one end is fixed to the joint of the robot and the other end is connected to the second driving unit. ## Claims ### Claim 1 A power transmission system for driving a robot joint, which is a cable power transmission system for driving a joint of a robot, the power transmission system comprising: a driving part including a first driving unit and a second driving unit; a first force transmission part including a first sheath formed to have a predetermined length, flexibility, and a hollow shape and a first wire which is inserted into the first sheath and of which one end is fixed to a joint of a robot and the other end is connected to the first driving unit; and a second force transmission part including a second sheath formed to have a predetermined length, flexibility, and a hollow shape and a second wire which is inserted into the second sheath and of which one end is fixed to the joint of the robot and the other end is connected to the second driving unit, wherein, in a case in which the first driving unit provides a force to the first wire in a first direction, the second driving unit provides a force to the second wire in a second direction opposite to the first direction. ### Claim 2 (depends on 1) The power transmission system of claim 1, wherein: in a case in which the first driving unit applies a force to the first wire in a direction in which the first wire is pulled, the second driving unit provides a force to the second wire in a direction in which the second wire is pushed; and in a case in which the second driving unit applies a force to the second wire in a direction in which the second wire is pulled, the first driving unit provides a force to the first wire in a direction in which the first wire is pushed. ### Claim 3 (depends on 1) The power transmission system of claim 1, wherein, in a case in which the first driving unit provides a force to the first wire in a direction in which the first wire is pulled and the second driving unit provides a force to the second wire in a direction in which the second wire is pushed, a magnitude of the force provided to the second wire by the second driving unit is adjusted on the basis of a friction force generated between the second wire and the second sheath. ### Claim 4 (depends on 3) The power transmission system of claim 3, wherein a magnitude of a maximum force provided to the second wire by the second driving unit is the same as a magnitude of the friction force generated between the second wire and the second sheath. ### Claim 5 (depends on 1) The power transmission system of claim 1, wherein, in a case in which the first driving unit provides a force to the first wire in a direction in which the first wire is pulled and the second driving unit provides a force to the second wire in a direction in which the second wire is pushed, a magnitude of the force provided to the first wire by the first driving unit is the same as a sum of a magnitude of a friction force generated between the first wire and the first sheath and a magnitude of a force which moves the joint of the robot. ### Claim 6 (depends on 1) The power transmission system of claim 1, wherein, in a case in which the first driving unit provides a force to the first wire in a direction in which the first wire is pulled and the second driving unit provides a force to the second wire in a direction in which the second wire is pushed, a partial length, which includes an end portion of the second sheath into which the second wire is inserted, of an entire length of the second sheath is in a state in which movement of the partial length is prevented with the second wire. ### Claim 7 (depends on 1) The power transmission system of claim 1, further comprising: a body part; a first elastic part of which one end is fixed to the body part and the other end is fixed to the first driving unit and which wraps the other end of the first wire; and a second elastic part of which one end is fixed to the body part and the other end is fixed to the second driving unit and which wraps the other end of the second wire, wherein the first driving unit and the second driving unit move linearly. ### Claim 8 (depends on 7) The power transmission system of claim 7, further comprising a control part disposed in the body part, wherein the control part controls: the first driving unit to provide the force to the first wire in the first direction; and the second driving unit to provide the force to the second wire in the second direction opposite to the first direction. ### Claim 9 (depends on 8) The power transmission system of claim 8, wherein each of the first elastic part and the second elastic part receives a force in the first direction to contract and receives a force in the second direction to extend. ### Claim 10 (depends on 7) The power transmission system of claim 7, wherein a first wire hole through which the first wire passes and a second wire hole through which the second wire passes are formed in one side of the body part. ### Claim 11 (depends on 10) The power transmission system of claim 10, wherein: the first driving unit includes a first driving motor which generates a driving force and a first moving part which receives the driving force of the first driving motor to move linearly; and the second driving unit includes a second driving motor which generates a driving force and a second moving part which receives the driving force of the second driving motor to move linearly. ### Claim 12 (depends on 11) The power transmission system of claim 11, wherein the body part includes: a first guide hole which guides the first moving part; and a second guide hole which guides the second moving part. ### Claim 13 A cartridge type power transmission system for driving a robot joint, which is a power transmission system for driving a joint of a robot, the cartridge type power transmission system comprising: a housing; a first driving part disposed in the housing and moved linearly; and a cartridge inserted into the housing, wherein the cartridge includes a case, a moving part accommodated in the case, connected to the first driving part, and moved linearly, a force transmission part including a sheath formed to have a predetermined length, flexibility, and a hollow shape and a wire which is inserted into the sheath, of which one end is fixed to a joint of a robot and the other end is fixed to the moving part, and which passes through the case, and an elastic part of which one end is fixed to the case and the other end is fixed to the moving part and which wraps the wire, and the cartridge is detachably coupled to the housing. ### Claim 14 (depends on 13) The cartridge type power transmission system of claim 13, further comprising a second driving part which moves the first driving part so that the first driving part is connected to or separated from the moving part. ### Claim 15 (depends on 14) The cartridge type power transmission system of claim 14, wherein the first driving part includes: a driving body part which is movable in the housing; a first motor disposed in the driving body part; and a detachable part connected to the first motor, moved linearly by a driving force of the first motor, and detachably coupled to the moving part. ### Claim 16 (depends on 15) The cartridge type power transmission system of claim 15, wherein the second driving part includes: a second motor disposed in the housing; and a connection part connected to the second motor and moved linearly by a driving force of the second motor. ### Claim 17 (depends on 15) The cartridge type power transmission system of claim 15, wherein: the detachable part includes a protrusion protruding from an outer surface of the detachable part; and the moving part includes a detachable groove into which the protrusion of the detachable part is inserted. ### Claim 18 (depends on 17) The cartridge type power transmission system of claim 17, wherein the cartridge includes a hole through which the force transmission part passes. ### Claim 19 (depends on 17) The cartridge type power transmission system of claim 17, wherein the case includes a guide hole which guides movement of the moving part. ### Claim 20 (depends on 17) The cartridge type power transmission system of claim 17, wherein the elastic part extends in a first direction and contracts in a second direction opposite to the first direction.