KR101259522B1 - Robot for man's walking reproduction - Google Patents

Abstract

PURPOSE: A pelvic limb robot for reproducing human body walking is provided to extensively apply to exercise prescription for health and footwear production by reproducing the human body with an efficient and simple structure. CONSTITUTION: A pelvic limb robot for reproducing human body walking comprises a robot casing, a dummy, a dummy support(130), an up/down driving unit(140), and a tilting driving unit(170). The up/down driving unit includes a plurality of first up/down guide units(149) and a plurality of second up/down guide units(150). A up/down guide plate is formed between a first fixing plate and a second fixing plate with the second up/down guide unit. A load cell is formed on the up/down guide plate.

Description

Robot for man's walking reproduction

The present invention relates to a lower limb robot for human body reproducing, more specifically, it is possible to reproduce human body walking with a simple and efficient structure, which can be applied scientifically throughout the manufacture of shoes for health and manufacturing shoes. It relates to a lower limb robot for human body walking reproduction.

For humans, the importance of walking is very important. Walking is also a significant scientific factor in the manufacture of shoes, including the exercise prescription for walking or running for health.

For example, in the case of a famous marathoner, the walking of a human body may actually affect not only the health reasons but also the manufacturing aspects of the shoes, such as separately manufacturing shoes according to its own walking state.

For this reason, the necessity of a leg robot for reproducing human walking has always been recovered, but until now, the robot for reproducing human walking has not been developed. .

Korean Patent Office Application No. 10-2007-0041942 Korean Patent Office Application No. 10-2008-0133917

An object of the present invention is to provide a lower limb robot for human body walking reproduction that can be scientifically applied to the human body walking can be reproduced with a simple yet efficient structure, including the exercise prescription for health, to manufacture shoes.

The object is a robot casing (robot casing) is provided with a force platform (force platform); A dummy detachably coupled to the shoe and walking on the force platform; Dummy support for supporting the dummy; An up / down generator partially connected to the dummy support and driving the dummy up / down to walk the dummy on the force platform; And a tilting generator, partially connected to the dummy support, for tilting the dummy while interacting with the up / down driver for walking the dummy on the force platform. It is achieved by the lower limb robot for human body walking reproduction.

The dummy support may include a dummy shaft directly connected to the dummy; And it may include a hinge provided at the end of the dummy shaft.

The hinge is fixed; And a rotation part that is relatively rotated with respect to the fixing part.

The up / down driving unit may include an up / down servo actuator providing power for up / down operation of the dummy; An up / down ball screw rotated by the up / down servo actuator in the forward / downward direction; And an up / down frame operated by the up / down ball screw and connected to the dummy support at one side.

The up / down frame includes: a first up / down plate as a wide plate-like body disposed on the dummy side; And a second up / down plate connected to the first up / down plate and disposed in multiple stages in a central area of the first up / down plate.

The up / down driving unit may further include an up / down guide unit for guiding an up / down operation of the up / down frame.

The up / down guide part may include: a plurality of first up / down guide parts at both ends connected to the first fixing plate and the force platform to guide the up / down operation of the first up / down plate; And a plurality of second up / down guide parts connected at both ends to a second fixing plate and the second up / down plate to guide an up / down operation of the second up / down plate.

The first and second fixing plates may be interconnected by fixing brackets, and an up / down guide plate may be further provided between the first and second fixing plates to operate together with the second up / down guide parts. have.

A load cell may be further provided on the up / down guide plate.

The up / down servo actuator may be supported by a predetermined height spaced apart from the second fixed plate.

The tilting driver may include a tilting servo actuator that provides power for tilting the dummy; A tilting ball screw rotated in a forward and reverse direction by the tilting servo actuator; Left and right movable body coupled to the tilting ball screw is moved along the longitudinal direction of the tilting ball screw when the tilting ball screw is rotated and connected to the dummy support at one side; And a plurality of sliders connected to the up / down frame and operated together with the up / down frame.

The tilting driving unit may be disposed in parallel with the tilting ball screw and may further include a pair of left and right guide bars for guiding the movement of the left and right moving bodies.

Both ends of the left and right guide bars may be restrained by the slider.

A foot part supporting the robot casing from below; And a control panel disposed at one side of the robot casing.

When the up / down operation of the up / down driving unit, the tilting driving unit may be up / down driven together.

According to the present invention, the human body can be reproduced with a simple and efficient structure, and there is an effect that can be applied scientifically throughout the manufacture of shoes, including exercise prescription for health.

1 is a side structure diagram of a lower limb robot for human body walking reproduction according to an embodiment of the present invention.
2 is a cross-sectional structural view taken along line AA of FIG. 1.
3 is an enlarged perspective view of main parts of FIG. 2.
Figures 4a to 4d is a step-by-step image showing the operation of the lower limb robot for human walking according to an embodiment of the present invention, respectively.
5A to 5D are diagrams corresponding to FIGS. 4A to 4D, respectively, and show diagrams of operations of a lower leg robot for reproducing human walking.

Hereinafter, with reference to the accompanying drawings will be described a preferred embodiment of the present invention.

1 is a side structural view of the lower limb robot for human walking according to an embodiment of the present invention, Figure 2 is a cross-sectional structural view along the line AA of Figure 1, Figure 3 is an enlarged perspective view of the main portion of Figure 2, Figure 4a to Figure 4d is a step-by-step image showing the operation of the human body walking reproduction robot according to an embodiment of the present invention, respectively, and FIGS. 5A to 5D are diagrams corresponding to FIGS. 4A to 4D, respectively, Figures show the operation of the robot step by step.

For reference, in the case of FIGS. 4A to 4D, only the operation without the reference numerals is inserted into the image.

Referring to these drawings, but mainly referring to Figures 1 to 3, the human body walking reproduction robot of the present embodiment is to reproduce the human walking,

Robot casing 110, a dummy 120, a dummy support 130, an up / down generator 140 having a force platform 111, and And a tilting generator 170.

First, the robot casing 110 forms the appearance of the equipment. It can be made of stainless steel, which is mainly corrosion resistant.

Foot portions 112a and 112b supporting the robot casing 110 with respect to the ground are provided under the robot casing 110. One of the foot portions 112a and 112b is the cloud movement foot portion 112a, and the other is the stopper foot portion 112b.

The control panel 113 is disposed at an upper side of the robot casing 110. Through the input means 114 of the control panel 113, overall control of the lower limb robot of the present embodiment may be performed. The advanced result values may be output to the monitor 115.

The dummy 120 is walked on the force platform 111 as a portion to which the shoe is detachably coupled, as shown in the image of FIGS. 4A-4D. Of course, the walking of the dummy 120 is made possible by the following configurations.

The dummy support 130 is a structure for supporting the dummy 120. The dummy support 130 includes a dummy shaft 131 directly connected to the dummy 120, and a hinge 132 provided at an end of the dummy shaft 131. In this case, the hinge 132 may include a fixing part 133 and a rotating part 134 rotated relative to the fixing part 133.

Due to the hinge 132 structure, the shoes 120 may walk on the force platform 111 as if a person walks in shoes, as shown in the image of FIGS. 4A to 4D.

The up / down driving unit 140 is partially connected to the dummy support 130 and serves to drive the dummy 120 up / down for walking of the dummy 120 on the force platform 111. do.

The up / down driving unit 140 is an up / down servo actuator 141 that provides power for the up / down operation of the dummy 120, and an up / down servo actuator 141 which is rotated in the forward and reverse directions. Up / down ball screw 142, and up / down operation by the up / down ball screw 142, but includes an up / down frame 143 connected to the dummy support 130 on one side.

It may be considered to use other driving means instead of the up / down servo actuator 141, for example, a general motor or a cylinder. However, since the human body walking of the lower leg robot of the present embodiment must be accurately reproduced, it may be applied to a relatively precise servomotor. Would be preferred.

The combination of the servomotor and the up / down ball screw 142 can be more precisely controlled linear movement, which can be more advantageous to increase the accuracy and reliability of the measurement.

The up / down servo actuator 141 is spaced apart by a predetermined height with respect to the second fixing plate 148 to be described later. That is, the support plate 155 has a structure in which the support plate 155 is fixed to the second fixing plate 148 by the plurality of separation legs 156 while the servo actuator 141 is supported by the support plate 155.

The up / down frame 143 is connected to the first up / down plate 144 and the first up / down plate 144 as a wide plate body disposed on the dummy 120 side, and the first up / down plate 144. And a second up / down plate 145 arranged in multiple stages in the central region of FIG.

In this embodiment, the first up / down plate 144 and the second up / down plate 145 are separated, but considering that they are operated together, the first up / down plate 144 and the second up. The down plate 145 may be an integral structure of one body.

As described above, the up / down driving unit 140 is partially connected to the dummy support 130 and serves to drive the dummy 120 up / down for walking the dummy 120 on the force platform 111. In this case, the tilting driver 170 is also up / down driven together with the up / down driving unit 140.

As described above, since many structures are driven up / down together when the up / down driving unit 140 operates, the up / down guide unit 146 is further provided to stably implement the up / down operation.

In other words, the up / down guide unit 146 serves to guide the up / down operation of the up / down frame 143.

The up / down guide part 146 having such a role is connected at both ends to the first fixing plate 147 and the force platform 111 to guide the up / down operation of the first up / down plate 144. Up / down operation of the second up / down plate 145 by connecting the plurality of first up / down guide parts 149 and both ends thereof to the second fixing plate 148 and the second up / down plate 145. It includes a plurality of second up / down guide portion 150 to guide.

In this case, the first and second fixing plates 147 and 148 are connected to each other by the fixing bracket 151. In addition, an up / down guide plate 152 that is operated together with the second up / down guide part 150 is provided between the first and second fixing plates 147 and 148.

A load cell 153 is provided on the up / down guide plate 152. The load cell 153 checks the weight (pressure) when the dummy 120 treads on the force platform 111.

Finally, the tilting driver 170 is partially connected to the dummy support 130, and interacts with the up / down driving unit 140 to walk the dummy 120 on the force platform 111 to move the dummy 120. It serves to drive tilting.

The tilting driver 170 may include a tilting servo actuator 171 that provides power for the tilting operation of the dummy 120, a tilting ball screw 172 rotated in the forward and reverse directions by the tilting servo actuator 171, and tilting. The left and right movable body 173 coupled to the ball screw 172 and moved along the longitudinal direction of the tilting ball screw 172 when the tilting ball screw 172 is connected, and connected to the dummy support 130 at one side, and up / down And a plurality of sliders 174 connected to the first up / down plate 144 of the frame 143 and operated together with the first up / down plate 144.

The tilting servo actuator 171 may also be considered to use a general motor or a cylinder, for example. However, since the human body walking of the lower leg robot of the present embodiment must be accurately reproduced, it may be preferable to use the servo motor 171 as a relatively precise servo motor.

The tilting servo actuator 171 is connected to the first up / down plate 144 by the bracket B. Therefore, when the first up / down plate 144 is up / down driven, the tilting servo actuator 171 may also be up / down driven together.

In addition to these configurations, the tilting driver 170 of the present exemplary embodiment is disposed in parallel with the tilting ball screw 172 and further includes a pair of left and right guide bars 175 for guiding the movement of the left and right moving bodies 173. At this time, both ends of the left and right guide bar 175 may be restrained by the slider 174.

The operation of the leg robot for human body walking reproduction having such a configuration will be briefly described.

In the initial state as shown in FIGS. 4A and 5A, the up / down driving unit 140 and the tilting driving unit 170 are mostly operated together. That is, when the up / down driving unit 140 is operated to operate down the majority of components including the tilting driving unit 170, the heel portion of the dummy 120 is supported on the force platform 111 as shown in FIGS. 4B and 5B. do.

As the up / down driving unit 140 and the tilting driving unit 170 continue to operate, the up / down driving unit 140 operates the tilting driving unit 170 while operating the majority of components including the tilting driving unit 170. By moving the left and right movable bodies 173 a predetermined distance to the right in the drawing, the entire sole of the dummy 120 is supported on the force platform 111 as shown in FIGS. 4C and 5C.

In response to the operation of the up / down driving unit 140 and the tilting driving unit 170, the up / down driving unit 140 operates the tilting driving unit (up and down) while operating a plurality of components including the tilting driving unit 170 more up. 170 moves the left and right moving body 173 a predetermined distance to the right in the drawing so that the front heel portion of the dummy 120 is supported on the force platform 111 as shown in FIGS. 4D and 5D.

After the operation of FIGS. 4D and 5D, the tilting driver 170 moves the left and right moving bodies 173 while the up / down driving unit 140 operates the majority of the components including the tilting driver 170. By moving a predetermined distance to the left, the dummy 120 returns to the initial state as shown in FIGS. 4A and 5A, and the operation is repeated for a predetermined number of times.

In this case, the load cell 153 checks the weight (pressure) when the dummy 120 treads on the force platform 111, thereby accurately reproducing human walking.

As described above, according to the present embodiment, the human body can be reproduced with a simple and efficient structure, and thus it can be scientifically applied to the manufacture of shoes, including exercise prescription for health.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Therefore, such modifications or variations will have to be belong to the claims of the present invention.

110: robot casing 111: force platform
112a and 112b: foot 113: control panel
114: input means 115: monitor
120: dummy 130: dummy support
131: dummy shaft 132: hinge
133: fixing part 134: rotating part
140: up / down drive unit 141: up / down servo actuator
142: up / down ball screw 143: up / down frame
144: first up / down plate 145: second up / down plate
146: up / down guide part 147: first fixing plate
148: second fixing plate 149: first up / down guide part
150: second up / down guide part 151: fixing bracket
152: up / down guide plate 153: load cell
170: tilting driver 171: tilting servo actuator
172: tilting ball screw 173: left and right moving body
174: slider 175: left and right guide bar

Claims (15)

A robot casing equipped with a force platform;
A dummy detachably coupled to the shoe and walking on the force platform;
Dummy support for supporting the dummy;
An up / down generator partially connected to the dummy support and driving the dummy up / down to walk the dummy on the force platform; And
A tilting generator partially connected with the dummy support, the tilting driver driving the dummy while interacting with the up / down drive for walking the dummy on the force platform,
Wherein the up /
An up / down servo actuator providing power for the dummy up / down operation;
An up / down ball screw rotated by the up / down servo actuator in the forward / downward direction;
An up / down frame operated up / down by the up / down ball screw and connected to the dummy support at one side; And
It includes an up / down guide unit for guiding the up / down operation of the up / down frame,
The up / down frame,
A first up / down plate as a wide plate-like body disposed on the dummy side; And
A second up / down plate connected to the first up / down plate and disposed in multiple stages in a central area of the first up / down plate;
The up / down guide part,
A plurality of first up / down guides connected at both ends to a first fixing plate and the force platform to guide an up / down operation of the first up / down plate; And
Both ends are connected to a second fixing plate and the second up / down plate and includes a plurality of second up / down guides for guiding the up / down operation of the second up / down plate,
The first and second fixing plate is interconnected by a fixing bracket,
An up / down guide plate which is operated together with the second up / down guide part is provided between the first and second fixing plates.
A human body walking reproduction robot, characterized in that a load cell is provided on the up / down guide plate.
The method of claim 1,
The dummy support,
A dummy shaft directly connected to the dummy; And
A human body walking reproduction robot, characterized in that it comprises a hinge provided at the end of the dummy shaft.
The method of claim 2,
The hinge includes:
Fixed government; And
A human body walking reproduction robot, characterized in that it comprises a rotating part that is relatively rotated relative to the fixing part. delete delete delete delete delete delete The method of claim 1,
The up / down servo actuator is a human body walking reproduction robot, characterized in that the support is spaced apart a predetermined height relative to the second fixed plate.
The method of claim 1,
The tilting driver,
A tilting servo actuator for providing power for tilting the dummy;
A tilting ball screw rotated in a forward and reverse direction by the tilting servo actuator;
Left and right movable body coupled to the tilting ball screw is moved along the longitudinal direction of the tilting ball screw when the tilting ball screw is rotated and connected to the dummy support at one side; And
A lower body robot for reproducing human body walking, characterized in that it comprises a plurality of sliders connected to the up / down frame and operated together with the up / down frame.
The method of claim 11,
The tilting driver,
It is disposed side by side with the tilting ball screw, the lower body robot for human walking reproduction, characterized in that it further comprises a pair of left and right guide bars for guiding the movement of the left and right moving body. The method of claim 12,
Both ends of the left and right guide bar, the lower body robot for human walking reproduction, characterized in that the restraint on the slider. The method of claim 1,
A foot part supporting the robot casing from below; And
The human body walking reproduction robot, characterized in that it further comprises a control panel disposed on one side of the robot casing. The method of claim 1,
The lower body robot for reproducing human body walking, characterized in that when the up / down operation of the up / down driving unit, the tilting driving unit is driven up / down together.

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