CN113226243B - Extension type wearable robot system - Google Patents
Extension type wearable robot system Download PDFInfo
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- CN113226243B CN113226243B CN202080007237.6A CN202080007237A CN113226243B CN 113226243 B CN113226243 B CN 113226243B CN 202080007237 A CN202080007237 A CN 202080007237A CN 113226243 B CN113226243 B CN 113226243B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Abstract
The extended wearable robot system according to the present invention is applied to a walking automatic robot system (1), and is characterized by comprising: a robot weight supporter (130) for reducing a robot load and assisting up and down movement by a Counter-balance effect of a single-axis motion generated by up and down springs; and a biaxial movement supporter (140) stabilizing the movement of the center of gravity by translational movement of biaxial movement generated by left and right springs so that the left and right movement can be automatically performed, whereby when the wearable robot (1-1) performs walking movement, a Counter-Balancing/reverse force minimizing/translational movement/center of gravity stabilizing/size adjusting effect can be provided, and in particular, manufacturing costs can be reduced and also the structure can be simplified by employing springs assisting the up/down/left and right movement with a change in elastic coefficient in the effects of the robot weight supporter (130) and the biaxial movement supporter (140) as compared to the existing actuator device.
Description
Technical Field
The present invention relates to a wearable robot for walking training, and more particularly, to an extended wearable robot system that eliminates instability of movement of a center of gravity (Center of Gravity) of the wearable robot and weight load of the robot by a spring combination and provides convenience of wearing of the robot by a front robot loading method.
Background
In general, a wearable robot generates walking motions using an actuator (or a motor) as a power source, thereby enabling a walking trainer to walk in a state of reducing a load burden.
For this purpose, the wearable robot includes: a joint frame worn on the lower body of the walking trainer; and a motor or actuator for moving the joint portion of the joint frame for performing a walking motion.
Therefore, the wearable robot moves the knee part of the walker by the power of the actuator, thereby helping the walker to practice the walking pattern in situ.
As described above, the wearable robot reduces the load applied to the walker by the power of the actuator, and thus can effectively obtain a bipedal walking posture experience that contributes to the walker training by brain plasticity.
Disclosure of Invention
Technical problem to be solved
However, the wearable robot can provide only manual training by a lateral movement using an actuator power, and further cannot generate a repulsive force in the opposite direction that can assist the lateral movement, and thus is insufficient to stabilize the center of gravity movement.
Further, the wearable robot lifts the worn robot to perform walking exercise, and therefore, the weight of the robot is a load. Further, since the wearable robot is mounted by the rear robot mounting method, it is inconvenient for a walking trainer who is inconvenient to walk and move to wear the robot.
Therefore, the wearable robot has disadvantages in that it cannot provide convenience in use, has a low walking training effect, and cannot realize walking training in various ways.
In view of the above-described factors, an object of the present invention is to provide an extended wearable robot system that can stabilize a center of gravity movement by using translational movements of left and right springs and provide automatic training by the left and right movements while reducing a burden on up and down movements by robot weight compensation by using a Counter-Balancing Effect (Counter-Balancing Effect) of up and down springs, in particular, a front robot loading manner is realized by a two-degree-of-freedom manual mechanism device realized by a spring combination, thereby providing convenience of loading and wearing a robot to a user.
Technical proposal for solving the problems
In order to achieve the above object, an extended wearable robot system according to the present invention includes: a wearable robot that generates walking motion by actuator power; and a two-degree-of-freedom manual mechanism device that generates up-and-down movement associated with the wearable robot as a single-axis movement and left-and-right movement independent of the wearable robot as a double-axis movement, and that performs up-and-down movement direction tracking for the single-axis movement and left-and-right movement direction tracking for the double-axis movement, respectively, by a change in spring force.
According to a preferred embodiment, the two-degree-of-freedom manual mechanism device described above includes: the robot weight support is connected with the wearable robot so as to realize the single-axis motion; and a biaxial movement supporter which is separated from the wearable robot and is arranged in the space inside the wearable robot to realize the biaxial movement.
According to a preferred embodiment, the robot weight supporter includes: a vertical movement block connected to the wearable robot and configured to move vertically to compensate a weight of the robot for height adjustment of the wearable robot and walking movement of the wearable robot; a single-shaft elastic member elastically supporting a lower portion of the up-and-down moving block to generate the spring force variation along an up-and-down moving direction of the up-and-down moving block; and a vertical guide rod for guiding the vertical movement and fixing the position of the elastic uniaxial member by combining with the vertical moving block.
According to a preferred embodiment, the uniaxial elastic component is formed by combining a plurality of coil springs in a series arrangement and a parallel arrangement. The vertical guide rod and the uniaxial elastic member are respectively formed as a pair.
According to a preferred embodiment, the robot weight supporter has a fixing bracket for forming an up-and-down movement space of the up-and-down movement block, the fixing bracket being combined with a single shaft mounting frame for covering the robot weight supporter.
According to a preferred embodiment, the robot weight supporter includes: a left robot weight supporter connected to the wearable robot at the left side; and a right robot weight supporter connected to the wearable robot on the right side.
According to a preferred embodiment, the above-mentioned biaxial movement support comprises: a body adjuster that allows a left-right movement of the walking motion of the wearable robot and protrudes along an inner space of the wearable robot; a horizontal guiding rod for guiding the movement of the body regulator; a left and right moving block coupled to the horizontal guide bar with a space from the body adjuster; and a biaxial elastic member coupled to the horizontal guide rod and adapted to generate the spring force change along a left-right movement direction of the body regulator.
According to a preferred embodiment, the horizontal guide bar is separated into a moving bar and a support bar, and the biaxial elastic member and the body adjuster are coupled to the moving bar, and as one side portion of the left and right moving block is coupled to the moving bar, the other side portion is coupled to the support bar.
According to a preferred embodiment, the biaxial elastic member is formed of a coil spring located between the left and right moving block and the body regulator.
According to a preferred embodiment, the biaxial movement supporter is combined with a biaxial mounting frame for fixing both end portions of the horizontal guide bar.
According to a preferred embodiment, the above-mentioned biaxial movement support comprises: a left side horizontal movement support device positioned at the left side in the inner space of the wearable robot; and a right side horizontal movement supporter positioned at the right side in the inner space of the wearable robot.
According to a preferred embodiment, the two-degree-of-freedom manual mechanism device is combined with a robot frame having wires such that the harness is located in the inner space of the wearable robot.
ADVANTAGEOUS EFFECTS OF INVENTION
The extended wearable robot system of the present invention as described above achieves the following actions and effects by being associated with a wearable robot.
First, a two-degree-of-freedom manual mechanism device is realized by a simple mechanical structure of a spring combination by using a left-right/up-down combination of springs. Second, the dual degree of freedom manual mechanism device having translational motion of the left and right springs and Balancing Effect of the up and down springs provides convenience for the center of gravity movement stabilization of the wearable robot, robot weight compensation, and loading/wearing of the robot, so that all limitations of the existing wearable robot can be overcome and eliminated. Thirdly, the gravity center movement stabilization of the wearable robot is realized, so that the automatic walking training can be realized by stabilizing the left and right movement of the gravity center, and a higher walking training effect can be obtained. Fourth, the robot load is eliminated by the robot weight compensation of the wearable robot, so that various walking exercises can be provided. Fifth, the wearable robots are arranged in a front robot loading manner by a layout combination of the wearable robots and the dual-degree-of-freedom manual mechanism device, so that convenience of loading and wearing the robots by users can be maximized.
Drawings
Fig. 1 is an illustration of an extended wearable robotic system of the present invention as applied to a walking automated robotic system;
fig. 2 is a block diagram of a robot weight supporter (RWS, robot Weight Support) constituting a two-degree-of-freedom manual mechanism device of the extended wearable robot system of the present invention;
fig. 3 is a diagram of the working state of the Counter-Balancing Effect generating robot weight supporter (RWS, robo Weight Support) of the present invention;
fig. 4 is a block diagram of a left-right movement support of a two-degree-of-freedom manual mechanism device constituting the extended wearable robot system of the present invention;
fig. 5 is a view showing an operation state of the left and right movement support for generating the center of gravity movement stabilization according to the present invention;
fig. 6 is an exemplary view of the wearable robot arranged in a front robot loading manner by the two-degree-of-freedom manual mechanism device of the present invention.
Detailed Description
Hereinafter, examples of the present invention will be described in detail with reference to the accompanying drawings, and as an example, those skilled in the art to which the present invention pertains can realize the present invention by a variety of different embodiments, and therefore, the present invention is not limited to the examples described herein.
Referring to fig. 1, a wearable robot 1-1 and a two-degree-of-freedom manual mechanism device 120 constitute an extended wearable robot system, which constitutes a walking automation robot system 1 together with a walking training basic system.
Specifically, the wearable robot 1-1 and the two-degree-of-freedom manual mechanism device 120 have the following structures.
As an example, the wearable robot 1-1 is located in front of the treadmill 1-5 (i.e., in the direction of entering and moving), and includes: a pair of support links 2 positioned at the left and right sides of the running machine 1-5; and joint links 3 connected to the pair of support links 2, respectively. In particular, in a state where the robot frame 110 is fixed in position, the wearable robot 1-1 moves up and down to generate a walking motion, and an actuator for generating power for the walking motion is provided at a connection portion of the joint link 3.
Therefore, the wearable robot 1-1 has an arrangement of front robot loading systems corresponding to the positions of the walking trainers, and the arrangement of the front robot loading systems eliminates the drawbacks of the conventional arrangement of rear robot loading systems not corresponding to the positions of the walking trainers. In this case, "front" refers to the direction in which the trainee 100 wearing the wearable robot 1-1 looks.
As an example, the two-degree-of-freedom manual mechanism device 120 includes a robot weight supporter (RWS, robot Weight Support) 130 and a biaxial movement supporter 140.
The above-described robot weight supporter 130 correlates the up-and-down motion provided by the single-axis motion with the walking motion of the wearable robot 1-1 connected by the support link 2, and prevents the robot weight from being a load by using the robot weight compensation of the Counter-Balancing Effect. In contrast, the biaxial movement support 140 generates translational movement in which the left-right movement of the walking movement is changed to assist in the opposite direction in the inner space of the wearable robot 1-1, thereby stabilizing the movement of the center of gravity of the trainer due to the unstable left-right movement, and providing the automatic walking training and the high walking training effect by the stabilized movement of the center of gravity of the wearable robot 1-1.
In particular, in the robot weight supporter 130 and the biaxial movement supporter 140, the movement mechanism of the two degrees of freedom up and down/left and right assists the walking movement of the wearable robot 1-1 and stabilizes the movement by a combination of springs generating a repulsive force of the springs.
Accordingly, the above-described two-degree-of-freedom manual mechanism device 120 reduces costs and simplifies the structure by combining the robot weight supporter 130 and the biaxial movement supporter 140, thereby eliminating the drawbacks of the existing expensive actuator devices for assisting the walking movement of the wearable robot 1-1. Further, the above-described two-degree-of-freedom manual mechanism device 120 realizes the front robot loading method by the combination of the robot weight support 130 and the biaxial movement support 140, and eliminates the inconvenience of the conventional wearable robot 1-1 caused by the rear robot loading method. Thus, the robot weight supporter 130 and the biaxial movement supporter 140 may make the existing wearable robot system an extended type wearable robot system.
Further, the dual-degree-of-freedom manual mechanism device 120 further includes a motion supporter frame 150, the motion supporter frame 150 is configured to integrate the robot weight supporter 130 with the dual-axis motion supporter 140, and the motion supporter frame 150 may include a single-axis mounting frame 150-1, a dual-axis mounting frame 150-2, and a frame connecting member 150-3.
As an example, the single-axis mounting frame 150-1 is formed of a structure surrounding and coupled to the robot weight supporter 130, and has a function of preventing the robot weight supporter 130 from being exposed to the outside, in addition to a protective function, whereas the double-axis mounting frame 150-2 is formed of a structure surrounding and coupled to the double-axis moving supporter 140, and has a function of preventing the double-axis moving supporter 140 from being exposed to the outside, in addition to a protective function. The frame connecting member 150-3 includes bolts, nuts, and fixing brackets for connecting the single-axis mounting frame 150-1 and the double-axis mounting frame 150-2.
On the other hand, the above-mentioned walking training basic system includes a P-bar (parallel bar) 1-2, a robot controller 1-3, a display 1-4, a Treadmill (Treadmill) 1-5, a Harness (Harness) 50, a robot frame 110, and these structural elements are used as necessary devices of the walking automation robot system.
Accordingly, the structures of the P-bar (parallel bar) 1-2, the robot controller 1-3, the display 1-4, the Treadmill (Treadmill) 1-5, the Harness (Harness) 50, and the robot frame 110 in the above-described walking training basic system are exemplified as follows.
As an example, the P-shaped bars 1-2 are positioned on the left and right sides of the treadmill 1-5 (see FIG. 4) so that the trainee 100 on the treadmill 1-5 can grasp with the hand. The robot controller 1-3 is located on one of the left and right sides of the treadmill 1-5, and forms a circuit for an actuator of a joint of the wearable robot 1-1, a screen transmission of the display 1-4, a walking speed reproduction of the treadmill 1-5, a wire 31 of the harness 50, and the like. The display 1-4 is positioned in front of the running machine 1-5, and reproduces a picture under the control of the robot controller 1-3. The above-described running machine 1-5 is used to reproduce walking speed.
The P-shaped bar 1-2 is formed of a "J" -shaped bar, and is formed of a pair provided on both left and right sides of the wearable robot 1-1 on both left and right sides of the treadmill 1-5, and serves as a safety bar for walking exercise. The robot controller 1-3 is formed of a microcontroller (Micro Controller Unit) or a computer, and the robot controller 1-3 is loaded with logic or programs for adjusting wire tension, differentially reproducing walking speed, controlling screen reproduction, controlling actuators, and the like, and may have a matching chart for each control object.
The display 1-4 may be a display that reproduces a screen by controlling the robot controller 1-3 or a TV that reproduces a screen alone. The running machine 1-5 may be driven by the control of the robot controller 1-3 or independently driven.
As an example, the harness 50 includes a pad for loading the trainee 100 (see fig. 4), and the pad includes a harness strap connected to a harness plate connected to the wire 31 (see fig. 4).
As an example, the robot frame 110 is coupled to the two-degree-of-freedom manual mechanism device 120, and is positioned in front of the running machine 1-5, and a wire 31 connected to the harness 50 is incorporated therein. In particular, an electric winch (wlich) for adjusting the length of the wire 31 is built in the robot frame 110, and the robot controller 1-3 controls driving to adjust the height of the harness 50, and adjusts the intensity of walking training of the trainee 100 by adjusting the tension of the wire 31.
Hereinafter, the robot weight supporter 130 and the biaxial movement supporter 140 will be described in detail with reference to fig. 2 to 6.
First, fig. 2 and 3 illustrate detailed structures and operations of the robot weight supporter 130 and the biaxial motion supporter 140. Fig. 6 illustrates the trainee 100 in this case.
Referring to fig. 2, the robot weight supporter 130 includes a fixed bracket 131, a vertical guide rod 133, a single-axis elastic member 135, and an up-and-down moving block 137.
As an example, the fixing bracket 131 is coupled to the single shaft mounting frame 150-1 to provide an assembly space for the vertical guide rod 133, the single shaft elastic member 135, and the up-down moving block 137. The vertical guide rod 133 is vertically erected on the fixed bracket 131 and combined with the up-and-down moving block 137. The single-axis elastic member 135 surrounds the vertical guide rod 133 and elastically supports the lower end portion of the up-down moving block 137, thereby providing an elastic repulsive force generated by the movement of the up-down moving block 137. The up-and-down moving block 137 is connected to the support link 2 of the wearable robot 1-1, thereby allowing the wearable robot 1-1 in a fixed state to perform a single-axis movement in which the height is adjusted by the up-and-down position movement.
In particular, the fixing bracket 131 has a shape of a letter with one side opened so that the support link 2 of the wearable robot 1-1 is located at one side. The vertical guide bar 133 is formed of a pair of first and second bars 133a and 133b, and is coupled to the up-and-down moving block 137 with a space therebetween, thereby stably guiding the up-and-down movement of the up-and-down moving block 137. The uniaxial elastic member 135 is composed of a pair of a first elastic member 135a and a second elastic member 135b, and is coupled to the first lever 133a and the second lever 133b, respectively. In the up-and-down moving block 137, a connection flange 137a is formed in a protruding structure at the block body, and the connection flange 137a firmly maintains a connection state of the support link 2 of the wearable robot 1-1 and the up-and-down moving block 137 by providing a fastening space of a bolt and a nut.
Further, the first elastic member 135a and the second elastic member 135b are configured to arrange 6 coil springs in a series structure and a parallel structure, respectively. This is because the spring elastic coefficient values of the first elastic member 135a and the second elastic member 135b allow additional force to be transmitted to the wearable robot 1-1 in the opposite direction when the up-down moving block 137 moves downward, and the opposite direction additional force generates a reaction to the wearable robot 1-1 that breaks the stability of the walking motion.
Therefore, since the first elastic member 135a and the second elastic member 135b are formed of 6 coil springs having a series structure and a parallel structure, respectively, the generation of the reverse additional force can be minimized by using a lower elastic coefficient than the coil spring having 1 integrated series structure.
The up-and-down movement block 137 moves up and down while adjusting the height of the wearable robot 1-1 to compensate the weight of the robot for the up-and-down movement of the trainee 100 for the walking movement of the wearable robot 1-1, thereby mainly preventing the walking training of the trainee 100 wearing the wearable robot 1-1 from being affected or disturbed by the self weight of the robot.
On the other hand, the robot weight supporter 130 includes: left robot weight support 130A, located at the left position of treadmill 1-5, is protected by single axis mounting frame 150-1; and a right robot weight supporter 130B located at a right side position of the treadmill 1-5, protected by a separate single shaft mounting frame 150-1. In this case, the left robot weight supporter 130A and the right robot weight supporter 130B include a fixed bracket 131, a vertical guide rod 133, a single-axis elastic member 135, and an up-and-down moving block 137 as common components, respectively.
Accordingly, the left robot weight supporter 130A may adjust the height of the left portion of the wearable robot 1-1, the right robot weight supporter 130B may adjust the height of the right portion of the wearable robot 1-1, and the left robot weight supporter 130A and the right robot weight supporter 130B may stabilize the wearable robot 1-1 by generating a Counter-Balancing effect (Counter-Balancing) on the robot weight of the wearable robot 1-1 by a repulsive force of the left robot weight supporter 130A and the right robot weight supporter 130B.
Referring to fig. 3, the wearable robot 1-1 functions as a Counter-Balancing effect (Counter-Balancing) for the wearable robot 1-1 by being associated with the left and right robot weight supporters 130A and 130B, and can minimize repulsive force generated by the walking pattern movement of the trainee 100.
As an example, the above-described balancing effect realizes the walking pattern movement of the wearable robot 1-1 by the up-and-down movement of the left and right robot weight supporters 130A and 130B. That is, the downward movement performed by the walking mode movement of the wearable robot 1-1 lowers the up-and-down movement blocks 137 of the left and right robot weight supporters 130A and 130B, and the downward movement of the up-and-down movement blocks 137 stabilizes the downward movement of the wearable robot 1-1. Further, the upward movement of the wearable robot 1-1 by the walking mode movement causes the upward movement blocks 137 of the left and right robot weight holders 130A and 130B to rise, and the upward movement of the upward and downward movement blocks 137 stabilizes the upward movement of the wearable robot 1-1.
As an example, the above-described function of minimizing the repulsive force generation is achieved by the reaction of the elastic compression force generated by the downward movement of the up-and-down moving block 137 associated with the walking pattern movement of the wearable robot 1-1 by the uniaxial elastic members 135 of the left and right robot weight supporters 130A and 130B and the elastic restoring force generated by the upward movement to buffer the walking motion. That is, the first elastic member 135a and the second elastic member 135b, which are arranged in a series structure and a parallel structure among the 6 coil springs forming the uniaxial elastic member 135, absorb a large part of the additional force in the opposite direction of the vertical movement block 137 transmitted to the wearable robot 1-1, thereby stabilizing the movement of the wearable robot 1-1 that realizes the walking mode movement.
Therefore, when the wearable robot 1-1 performs up-and-down motion in accordance with the walking training of the trainee 100, the above-described action of minimizing the repulsive force generation compensates for the robot weight, which allows the trainee 100 wearing the wearable robot 1-1 to perform the walking training in a state not affected by the self weight.
Next, fig. 4 and 5 illustrate detailed structures and operations of the biaxial movement support 140. Fig. 6 illustrates the trainee 100 in this case.
Referring to fig. 4, the biaxial movement supporter 140 includes a horizontal guide rod 141, a biaxial elastic member 143, a left and right moving block 145, a body adjuster 147, a stopper 148, and an auxiliary spring 149.
As an example, the horizontal guide rod 141 is coupled to the biaxial mount frame 150-2, and coupled to the biaxial elastic member 143, the right and left moving block 145, and the body adjuster 147. The biaxial elastic member 143 is formed of a coil spring having a spring elastic coefficient and is combined with the horizontal guide rod 141. The left and right moving block 145 supports one side of the biaxial elastic member 143 and moves to the left or right in combination with the horizontal guide rod 141. The body adjuster 147 supports the other side of the biaxial elastic member 143 and moves to the left or right in combination with the horizontal guide rod 141. The stopper 148 is connected to the body adjuster 147, and restricts movement by coming into contact with the support link 2 of the wearable robot 1-1 when moving to the left or right. The auxiliary spring 149 provides a spring force to the body regulator 147.
In particular, the horizontal guide bar 141 includes a moving bar 141a and a support bar 141b spaced apart therefrom, the ends of the moving bar 141a and the support bar 141b are respectively fixed to the biaxial mount frame 150-2, and the moving bar 141a and the support bar 141b are aligned along the longitudinal direction of the biaxial mount frame 150-2.
The biaxial elastic member 143 is coupled to the moving rod 141 a. The left and right moving block 145 is coupled to the moving rod 141aIn combination with the support bar 141a to support one side of the biaxial elastic member 143. The body regulator 147 is combined with the moving rod 141a in the form of'The shape protrudes along the inner space of the wearable robot 1-1 to support the other side of the biaxial elastic member 143. The stopper 148 protrudes beyond the length of the body adjuster 147 in a state of being fixed to the coupling portion of the moving lever 141a of the body adjuster 147.
The assist spring 149 is formed of a torsion spring, and is located between the body adjuster 147 and the stopper 148.
Accordingly, the biaxial movement support 140 is independently present in the inner space of the wearable robot 1-1 in a state not associated with the wearable robot 1-1, and thus, when the trainee 100 wearing the wearable robot 1-1 moves in the walking mode, the movement left and right, which causes the unstable posture, is buffered and absorbed to play an auxiliary role, so that the center of gravity of the trainee 100 is stably maintained.
On the other hand, the biaxial movement supporter 140 includes: a left horizontal movement supporter 140A located at the left side in the inner space of the wearable robot 1-1; and a right side horizontal movement supporter 140B located at the right side in the inner space of the wearable robot 1-1. In this case, the left horizontal movement support 140A and the right horizontal movement support 140B include a horizontal guide rod 141, a biaxial elastic member 143, a left and right moving block 145, a body adjuster 147, a stopper 148, and an auxiliary spring 149 as common components, respectively.
Thus, the left side horizontal movement supporter 140A is ""shaped body regulator 147 and the right side horizontal movement support 140B">The body regulator 147 of the "shape" is facing to be in the order of +.>The shape occupies the inner space of the wearable robot 1-1. Accordingly, the above-described spaced apart movement of the left and right horizontal movement supporters 140A and 140B in opposite directions or the approaching movement in the same direction achieves the biaxial movement of the left and right positions. As a result, the left and right horizontal movement supporters 140A and 140B can stabilize the walking training posture of the trainee 100 in the inner space of the wearable robot 1-1 regardless of the size difference of the trainee 100.
Referring to fig. 5, the above-described wearable robot 1-1 is associated with the left and right horizontal movement supporters 140A and 140B, so that the translational movement and the center of gravity of the trainee 100 performing walking movement can be stabilized and the size of the trainee 100 can be adjusted in a state where the wearable robot 1-1 is worn.
As an example, the body adjuster 147 grips the left and right horizontal movement supporters 140A and 140B of the trainee 100 wearing the wearable robot 1-1 in a fixed state, and absorbs and buffers the left and right movements of the trainee 100 caused by the walking mode movements, thereby realizing the translational movement.
That is, in a state where the body regulator 147 of the right horizontal movement support 140B is fixed, the left movement of the trainee 100 is transmitted as a left movement force that applies pressure to the body regulator 147 of the left horizontal movement support 140A, and the left movement force moves along the movement rod 141a and the support rod 141B together with the body regulator 147 along with the left and right movement block 145 of the horizontal movement support 140A. As described above, the left side horizontal movement support 140A described above stably maintains the left side movement of the trainee 100, while the left side robot weight support 130A exhibits a translational movement effect independent of the wearable robot 1-1 corresponding to the left side movement of the trainee 100.
In contrast, in a state where the body regulator 147 of the left side horizontal movement support 140A is fixed, the right side movement of the trainee 100 is achieved by the right side horizontal movement support 140B, and the course of action thereof is the same as that of the left side horizontal movement support 140A except for the opposite direction.
As an example, the function of stabilizing the center of gravity shift is achieved by maintaining the center of gravity of the trainee 100 formed in the same manner as in the normal walking mode.
That is, the left side horizontal movement support 140A and the right side horizontal movement support 140B assist in the instability of the posture caused by the walking movement of the trainee 100 wearing the fixed wearable robot 1-1 by the repulsive force of the springs, and the repulsive force of the springs assists in stabilizing the center of gravity of the left and right movements of the trainee 100, respectively, so that the trainee 100 can perform the walking movement stably even in the state of wearing the wearable robot 1-1.
As an example, the above-mentioned size adjustment is achieved by opening or closing the body adjusters 147 of the left and right horizontal movement supporters 140A and 140B. That is, the body regulator 147 performs a width adjusting operation of expanding or contracting according to the size of the trainee 100, the width adjusting operation of the body regulator 147 is transmitted to the left and right moving blocks 145 by the elastic deformation of the biaxial elastic member 143, and the left and right moving blocks 145 move together with the body regulator 147 through the moving rod 141a and the supporting rod 141B, thereby expanding or contracting the left and right horizontal movement supporters 140A and 140B ""shape to achieve a size suitable for the trainee 100.
Referring to fig. 6, the wearable robot 1-1 configured in the front robot loading manner provides the trainee 100 moving in front of the running machine 1-5 with convenience of wearing the robot, and at the same time, the following operations and effects are achieved based on the left side robot weight supporter 130A, the right side robot weight supporter 130B, and the left side horizontal movement supporter 140A, the right side horizontal movement supporter 140B, with which the robot frame 110 is associated with the wearable robot 1-1.
As an example, the treadmill 1-5 shortens the path required to grasp the P-bar 1-2 by moving the trainee 100 from the rear to the front. Also, the wearable robot 1-1 is located in front of the treadmill 1-5, thereby improving the proximity of the trainee 100.
Further, the harness 50 is connected to the wire 31, so that the movement of the trainee 100 wearing the harness 50 is greatly reduced, and the length of the wire is adjusted by the control of the robot controller 1-3 in the robot frame 110, the robot controller 1-3 being located on the left side of the robot frame 110.
Therefore, since the walking automatic robot system 1 is applied to the left robot weight supporter 130A, the right robot weight supporter 130B, the left horizontal movement supporter 140A, and the right horizontal movement supporter 140B, the path for the trainee 100 to wear the wearable robot 1-1 can be shortened.
As described above, the extended wearable robot system applied to the walking automatic robot system 1 of the present embodiment is characterized by comprising: a robot weight supporter (RWS, robot Weight Support) 130 that reduces a robot load and assists up and down movement by a Counter-Balancing Effect of a single-axis motion generated by up and down springs; and a biaxial movement supporter 140 stabilizing the movement of the center of gravity by translational movement of biaxial movement generated by left and right springs so that the left and right movement can be automatically performed, whereby when the wearable robot 1-1 performs walking movement, a Counter-Balancing/reverse force minimizing/translational movement/center of gravity stabilizing/size adjusting effect can be provided, and in particular, by applying springs assisting the up/down/left movement with a change in an elastic coefficient in the effect of the robot weight supporter 130 and the biaxial movement supporter 140, compared to the existing actuator device, the manufacturing cost can be reduced and the structure can also be simplified.
Claims (14)
1. A wearable robotic system, comprising:
a wearable robot that generates walking motion by actuator power; and
a two-degree-of-freedom manual mechanism device for generating a vertical movement associated with the wearable robot as a single-axis movement and a horizontal movement independent of the wearable robot as a double-axis movement, for respectively realizing a vertical movement direction tracking for the single-axis movement and a horizontal movement direction tracking for the double-axis movement by a spring force change,
the two-degree-of-freedom manual mechanism device includes:
a robot weight supporter generating a balancing effect on the wearable robot through the single-axis motion; and
a biaxial movement support for stabilizing the movement of the center of gravity of the wearable robot due to the lateral movement in the inner space of the wearable robot by the biaxial movement,
the above-mentioned biaxial movement support includes:
a body adjuster that allows a left-right movement of the wearable robot with respect to a walking motion;
a horizontal guiding rod for guiding the movement of the body regulator;
a left and right moving block coupled to the horizontal guide bar with a space from the body adjuster; and
and a biaxial elastic member coupled to the horizontal guide rod and adapted to generate the spring force change along the left-right movement direction of the body regulator.
2. The wearable robotic system of claim 1, wherein the robotic weight-support comprises:
a vertical movement block that moves vertically to compensate for a vertical movement of the weight of the robot for height adjustment of the wearable robot and walking movement of the wearable robot;
a single-shaft elastic member elastically supporting a lower portion of the up-and-down moving block to generate the spring force variation along an up-and-down moving direction of the up-and-down moving block; and
and a vertical guide rod combined with the up-and-down moving block to guide up-and-down movement and fix the position of the single-axis elastic member.
3. The wearable robot system according to claim 2, wherein the uniaxial elastic member is formed by combining a plurality of coil springs.
4. The wearable robot system of claim 3, wherein the spring assembly is a series arrangement and a parallel arrangement of the coil springs.
5. The wearable robot system according to claim 2, wherein the vertical guide bar and the uniaxial elastic member are respectively formed as a pair of two.
6. The wearable robot system of claim 2, wherein the robot weight supporter has a fixing bracket for forming an up-down movement space of the up-down moving block, the fixing bracket being combined with a single-shaft mounting frame for covering the robot weight supporter.
7. The wearable robotic system of claim 1, wherein the robotic weight-support comprises:
a left robot weight supporter connected to the wearable robot at the left side; and
and the right robot weight support is connected with the wearable robot on the right side.
8. The wearable robot system according to claim 1, wherein the horizontal guide bar is separated into a moving bar and a support bar, the biaxial elastic member and the body adjuster are coupled to the moving bar, and as one side portion of the left and right moving blocks is coupled to the moving bar, the other side portion is coupled to the support bar.
9. The wearable robot system according to claim 1, wherein the biaxial elastic member is located between the left and right moving blocks and the body adjuster.
10. The wearable robot system according to claim 9, wherein the biaxial elastic member is formed of a coil spring.
11. The wearable robot system of claim 1, wherein the body adjuster protrudes along an interior space of the wearable robot.
12. The wearable robot system of claim 1, wherein the biaxial movement support is combined with a biaxial mounting frame for fixing both end portions of the horizontal guide bar.
13. The wearable robotic system of claim 1, wherein the biaxial motion support comprises:
a left side horizontal movement support device positioned at the left side in the inner space of the wearable robot; and
and the right side horizontal movement support is positioned on the right side in the inner side space of the wearable robot.
14. The wearable robotic system of claim 1, wherein the two-degree-of-freedom manual mechanism device is coupled to a robotic frame, the robotic frame having wires such that the harness is located in an interior space of the wearable robot.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2019-0078995 | 2019-07-01 | ||
| KR1020190078995A KR102162455B1 (en) | 2019-07-01 | 2019-07-01 | Widen Walk Robot System |
| PCT/KR2020/008565 WO2021002662A1 (en) | 2019-07-01 | 2020-07-01 | Extendable wearable robot system |
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| CN113226243A CN113226243A (en) | 2021-08-06 |
| CN113226243B true CN113226243B (en) | 2023-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202080007237.6A Active CN113226243B (en) | 2019-07-01 | 2020-07-01 | Extension type wearable robot system |
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|---|---|
| KR (1) | KR102162455B1 (en) |
| CN (1) | CN113226243B (en) |
| WO (1) | WO2021002662A1 (en) |
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| KR102162455B1 (en) | 2020-10-08 |
| WO2021002662A1 (en) | 2021-01-07 |
| CN113226243A (en) | 2021-08-06 |
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