Link unit and arm module having the same
An arm module having a structure capable of precisely moving each link unit while flexibly moving with sufficient stiffness includes a plurality of link units each having a ring shape, a plurality of joint units each disposed in a middle portion of a corresponding one of the plurality of link units to connect the plurality of link units, wherein the plurality of link units includes a first link unit, a second link unit disposed while being rotated with respect to the first link unit, the second link unit linked at an upper side of the first link unit while passing through a middle portion of the first link unit, and a third link unit disposed while being rotated with respect to the second link unit, the third link unit linked at an upper side of the second link unit while passing through a middle portion of the second link unit.
1. An arm module comprising:
a plurality of link units each having a ring shape; and
a plurality of joint units each in a middle portion of a corresponding one of the plurality of link units to connect the plurality of link units to one another, the plurality of link units including,
a first link unit,
a second link unit being rotated with respect to the first link unit, the second link unit linked at an upper side of the first link unit while passing through a middle portion of the first link unit, and
a third link unit being rotated with respect to the second link unit, the third link unit linked at an upper side of the second link unit while passing through a middle portion of the second link unit, wherein
each of the plurality of link units include a main frame, and a toothed part formed at an upper end portion and a lower end portion of the main frame.
2. The arm module of claim 1 , wherein the first link unit and the third link unit contact each other.
3. The arm module of claim 1 , wherein a cross section of the toothed part has a toothed shape.
4. The arm module of claim 3 , wherein the toothed part at an upper end portion of the first link unit contacts the toothed part at a lower end portion of the third link unit.
5. The arm module of claim 1 , wherein each of the plurality of link units comprises:
a plurality of protrusions protruding from a lateral side of the main frame; and
a plurality of through-holes formed at each of the plurality of protrusions, and allowing a cable, which is configured to rotate the link unit, to pass therethrough.
6. The arm module of claim 5 , wherein the plurality of through-holes of the first link unit is in line with the plurality of through-holes of the second link unit while being rotated with respect to the first link unit.
7. The arm module of claim 6 , wherein each of the plurality of link units further comprises:
a mounting hole provided at the main frame, and configured to allow the joint unit to be mounted therethrough.
8. The arm module of claim 7 , wherein the plurality of mounting holes comprises a upper mounting hole and a lower mounting hole that are provided at an upper portion and a lower portion of the main frame, respectively.
9. The arm module of claim 8 , wherein the joint unit comprises an upper joint unit mounted at the upper mounting hole, and a lower joint unit mounted at the lower mounting hole.
10. The arm module of claim 7 , wherein the joint unit comprises a main body, and a coupling bar configured to couple the joint unit to the link unit while being coupled to the main body.
11. The arm module of claim 9 , wherein the coupling bar is coupled to the main body while passing through the mounting hole.
12. An arm module comprising:
a plurality of link units each having a ring shape; and
a plurality of joint units each in a middle portion of a corresponding one of the plurality of link units to connect the plurality of link units to one another, wherein
two link units, which are adjacent to each other, among the plurality of link units are linked with each other such that the two link units are rotated with respect to each other, and
each of the two link units include a main frame, and a toothed part formed at an upper end portion and a lower end portion of the main frame.
13. The arm module of claim 12 , wherein the joint unit is between the two link units, which are adjacent to each other, among the plurality of link units to guide a rotation of the two link units.
14. An arm module comprising:
a plurality of link units linked together, each of the plurality of link units having a ring shape, wherein
the plurality of link units include,
a first link unit,
a second link unit linked with an upper side of the first link unit, and
a third link unit linked with a lower side of the first link unit,
each of the first link unit, the second link unit and the third link unit have a main frame, and a toothed part formed at an upper end portion and a lower end portion of the main frame, and
the toothed part formed at a lower end portion of the second link unit is configured to engage with the toothed part at an upper end portion of the third link unit.
15. The arm module of claim 14 , wherein:
the first link unit and the second link unit are linked while being rotatable with respect to each other, and
the first link unit and the third link unit linked while being rotatable with respect to each other.
16. A first link unit comprising:
a main frame having a middle portion thereof open in a ring shape to form an opening; and
a toothed part at an upper end portion and a lower end portion of the main frame, wherein
the first link unit is configured to link, via a joint unit in the middle portion, to a second link unit to form an arm module such that the first link unit and the second link unit are configured to rotate with respect to each other.
17. The first link unit of claim 16 , wherein the opening formed in the middle portion of the main frame is provided in an oval shape.
18. The first link unit of claim 16 , further comprising:
a plurality of protrusions protruding toward a lateral side from the main frame; and
a plurality of through-holes formed at an end portion of each of the plurality of protrusions.