KR101429740B1 - Supporting apparatus for wearable robot assisting muscular strength - Google Patents

Abstract

According to another aspect of the present invention, there is provided a wearable robot mounting apparatus for a muscle-supporting support, comprising: a lift block coupled to a base frame mounted on a ground so as to be capable of being elevated; A rotary block mounted on the upper arm supporting robot and coupled to the upper arm in a rotatable manner; Up / down restoring means for applying an upward elastic force to the lift block; And rotation restoring means for applying an elastic force to the rotary block in a direction in which the upper leg strength supporting robot is erected. When the wearable robot mounting device for supporting the muscular support according to the present invention is used, it is possible to support the leg muscles when sitting and standing while wearing the wearable robot for supporting the upper leg muscles, and to perform the operation to bend and stretch the waist It is possible to support the waist strength so as to facilitate the lifting of the object, and it is advantageous in that the operation cost can be reduced because the leg strength and the waist strength can be supported without a separate power source.

Description

TECHNICAL FIELD [0001] The present invention relates to a supporting apparatus for supporting a wearable robot,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a device for mounting a wearable robot for supporting a muscle, and more particularly to a device for lifting a waist by lifting an object, ≪ / RTI >

 In recent years, wearable robots for supporting upper extremity muscles have been actively studied in industrial fields, medical care, and rehabilitation fields. Generally, wearable robots and upper limb exoskeleton robots for supporting upper extremity muscles are fixed to structures or wearable robots And is configured to be combined with the exoskeleton robot to load or transport workpieces. At this time, the wearable robots for supporting upper extremity muscles are often fixed to walls or other structures. Such conventional robots for supporting upper extremity muscles are not suitable for transferring workpieces due to their limited working area. In addition, in the form combined with a wearable robot for supporting leg muscles, it is necessary not only to support the weight of the robot and the workpiece at the same time, but also to realize the waist freedom of the wearer when lifting the work placed on the floor. In order to manufacture a wearable robot for supporting leg muscles satisfying satisfactorily, not only a high level of technical skill is required but also a large cost is required for manufacturing.

 In order to lift the workpiece placed on the floor by wearing the wearable robot for supporting the upper leg strength, the mounting system supports the weight of the workpiece and the robot, and at the same time, the operator moves the robot in the up and down direction Bending motion must be possible. In this case, when the robot moves up and down while overcoming the weight of the robot or bends and stretches the waist, the user's body may be overloaded and the user's waist or knee may be damaged.

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the above problems, and it is an object of the present invention to provide a robot having a wearable robot for supporting upper limb muscular strength, Which is provided with a function of supporting a load so as not to be applied to a wearable robot.

According to another aspect of the present invention, there is provided a wearable robot mounting apparatus for a muscle-supporting support, comprising: a lift block coupled to a base frame mounted on a ground so as to be capable of being elevated; A rotary block mounted on the upper arm supporting robot and coupled to the upper arm in a rotatable manner; Up / down restoring means for applying an upward elastic force to the lift block; And rotation restoring means for applying an elastic force to the rotary block in a direction in which the upper leg strength supporting robot is erected.

The lower side of the rotary block is rotatably coupled to the rotary block, and the upper side strength supporting robot is inclined forward when the rotary block is rotated.

The rotation restoring means is applied as a coil spring, one side of the longitudinal direction is coupled to a point higher than the rotation axis of the rotation block, and the other side of the longitudinal direction is coupled to the lift block.

The lifting / lowering restraining means is applied as a coil spring arranged so that the longitudinal direction thereof is directed upward and downward. One longitudinal side is coupled to the lift block, and the other longitudinal side is coupled to the base frame.

A pair of guide bars whose longitudinal directions are arranged in parallel in the vertical direction, and the lift blocks are mounted in a structure slidable along the guide bars.

A moving wheel coupled to the lower side of the base frame, and locking means for locking or unlocking the rotation of the moving wheel.

When the wearable robot mounting device for supporting the muscular support according to the present invention is used, it is possible to support the leg muscles when sitting and standing while wearing the wearable robot for supporting the upper leg muscles, and to perform the operation to bend and stretch the waist It is possible to support the waist strength so as to facilitate the lifting of the object, and it is advantageous in that the operation cost can be reduced because the leg strength and the waist strength can be supported without a separate power source.

FIG. 1 is a perspective view of a wearable type robot mounting apparatus for strength support according to the present invention.
2 is an exploded perspective view of a wearable type robot mounting apparatus for supporting muscular strength according to the present invention.
FIG. 3 is a partial perspective view of a wearable type robot mounting apparatus for supporting muscular strength according to the present invention.
FIG. 4 to FIG. 6 are views showing the state of use of the wearable type robot mounting apparatus for supporting muscular strength according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a wearable type robot mounting apparatus for a muscle strength support according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view of a wearable type robot mounting apparatus according to the present invention, FIG. 2 is an exploded perspective view of a wearable type robot mounting apparatus according to the present invention, FIG. 3 is a perspective view of a wearable type robot mounting apparatus Fig.

 2. Description of the Related Art In recent years, wearable robots have been actively used in industrial fields, medical care, and rehabilitation fields. Generally, wearable robots for supporting the muscular strength include wearable robots for supporting upper body strength, And wearable robots for supporting leg muscles to support muscular strength. At this time, the industrial robots are widely used for carrying goods or performing various kinds of manufacturing work in the industrial field, and the utilization of the upper body strength type robots is higher than the wearing robots for supporting leg muscles.

In the case of using the upper leg muscle-wearing robot as described above, it is easy to move the robot from one state to another or to support a heavy object, but it is not sufficient to lift the object placed on the floor. In other words, in order to raise the object placed on the floor, it is necessary to bend the leg and bend the waist. Since the upper-arm muscle-worn robot can not support the bending leg and the bending waist, There is a difficulty in lifting.

In order to solve the above-described problems, a wearable robot mounting apparatus for supporting a muscular support according to the present invention may be mounted with a wearable robot for supporting upper extremity muscular strength, The user is able to easily lift the heavy object placed on the floor. The wearable type robot mounting apparatus for supporting a muscle according to the present invention comprises: a base frame (100) which is seated on the ground so as to be able to support the above-mentioned muscular force; A pair of support plates 150 supported by the base frame 100 and spaced apart from each other in the vertical direction; Lifting and restoring means (210) mounted on the pair of support plates (150) between the pair of support plates (150) to provide an elastic force; A lifting block (200) connected to the lifting / lowering means (210) so as to be vertically movable between the pair of supporting plates (150); A rotating block 300 including a fixed piece 300a fixedly mounted on the lifting block 200 and a rotating piece 300b hingedly coupled to the fixed piece 300a and mounted on the upper leg muscle supporting robot 300; And rotation restoring means connected to the pivotal piece of the rotary block for applying an elastic restoring force in a direction in which the fixed piece is mounted. In this case, the upper leg strength supporting robot 400 mounted on the rotary block 300 is a device for supporting the user's pushing and upper body strength by being worn on the upper body of the user, and is not limited to the structure shown in FIGS. 1 and 2 And can be replaced with a superior-limb-strength supporting robot 400 of various structures. The above-described upper limb strength supporting robot 400 is widely used in the technical field of the present invention, and a detailed description of the structure and operation of the upper limb strength supporting robot 400 will be omitted.

The upper extremity muscle strength supporting robot 400 is fixedly mounted on the rotary piece 300b of the rotary block 300 and the lower end of the rotary piece 300b of the rotary block 300 and the lower end of the fixing piece 300a When the user wearing the upper leg strength supporting robot 400 bends his / her waist forward, the upper end of the pivoting piece 300b is rotated in a direction in which the user bends the waist, that is, have. In addition, when the user wearing the long-distance support muscle supporting robot 400 does not flex his / her legs, the upper arm muscle supporting robot 400 is connected to the pivotal piece 300b fixedly mounted and the pivotal piece 300b The fixing piece 300a descends and the elevating block 200 fixedly mounted with the fixing piece 300a also descends. At this time, the turning piece 300b of the rotary block 300 is rotated with respect to the fixing piece 300a and the lift block 200 is raised or lowered independently or simultaneously.

When the waist is bent and unfolded or when the user stands up and stands up, the user must support his or her body weight as well as the load of the upper extremity supporting robot 400, so that the waist or the knee may be overloaded.
The rotation restoration means 310 and the ascending / descending restoration means 210 are components for restraining the user's waist or knees when the user bends and spreads his / her waist and seats and stands up.
One end of the coil spring may be connected to the rotating piece 300b and the other end may be connected to the bracket B mounted on the fixing piece 300a. . Therefore, the rotation restoring means 310 is configured such that when the rotation piece 300b is rotated with respect to the fixing piece 300a, the rotation piece 300b is elastically deformed in the direction in which the fixing piece 300a is mounted Restoring force can be applied.
The lifting / lowering means 210 may also be a coil spring. At this time, the coil springs may be formed as a pair, and may be respectively arranged on the upper side and the lower side of the lift block 200. At this time, one side of the coil spring is coupled to the lift block 200, The support plate 150 of FIG.
Accordingly, the elevating / lowering restraining unit 210 can apply an elastic restoring force to the elevating block 200 in a direction of raising or lowering the elevating block 200 when the elevating block 200 is lowered or raised have.

When the user wearing the upper arm support robot 400 is seated in the seat, the up / down restoration unit 210 can be mounted on the up / down block 200 and the upper / When the user wearing the upper leg strength supporting robot 400 bends his or her waist and applies a force in a direction of pulling up the upper leg strength supporting robot 400 upward, The user can apply a force in a direction to raise the pivoting piece 300b of the upper arm supporting robot 300 and the upper arm support robot 400 coupled thereto.

At this time, if the force of the rotation restoring unit 310 for setting the rotation block 300 is too great, it is difficult for the user wearing the upper leg strength supporting robot 400 to bend the waist, If the force of the lifting / lowering restraining means 210 is too great, it is difficult for the user wearing the upper leg supporting force robot 400 to sit in the sitting position. Therefore, the elastic force of the rotation restoring means 310 and the elastic force of the lifting / The elastic force is preferably set appropriately according to various conditions such as the load and the use of the upper leg strength supporting robot 400. Although the elevation restoration means 210 and the rotation restoration means 310 are applied as a coil spring in the present embodiment, 200 and the rotary block 300 in the direction of returning the rotary block 300 to the home position.

In addition, when the user wearing the upper leg strength supporting robot 400 sits and stands up, the elevation block 200 is paired with a pair of the support plates 150 provided on the pair of support plates 150 so that the user can not be tilted or tilted to one side Between the guide bars 110 of the guide bars 110. 3, a pair of guide bars 110 are provided between the pair of support plates 150 at predetermined intervals, and the lift block 200 includes guide bars 110 In a slidable manner.

Meanwhile, in order to reduce the frictional force between the base frame 100 and the ground when a user wearing the upper extremity strength supporting robot 400 moves, the movement wheel 120 is preferably mounted on the lower side of the base frame 100, When the mobile wheel 120 is mounted on the base frame 100, the base frame 100 may be pushed sideways in the process of bending and stretching the user's waist or sitting and standing on the seat. Therefore, the wearable type robot mounting apparatus for supporting the muscular support according to the present invention can move the mobile wheel 120 only when the user wishes to move the mobile wheel 120, and when the user does not want to move the mobile wheel 120, , And lock means (130) for locking or unlocking the rotation of the mobile wheel (120). Since the locking means 130 for locking and releasing the rolling of the wheels are applied to various kinds of handcarts, baby carriages, etc., detailed description thereof will be omitted.

FIG. 4 to FIG. 6 are views showing the state of use of the wearable type robot mounting apparatus for supporting muscular strength according to the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an example of using a wearable robot for strength sup- port according to the present invention will be described in detail with reference to the accompanying drawings. 4 to 6, the upper arm support robot 400 coupled to the rotation block 300 is not shown so that the operation of the lift block 200 and the rotation block 300 can be clearly shown.

4, the lifting block 200 is positioned at the end of the guide bar 110 and is positioned at the upper end of the rotation block 300, as shown in FIG. 4. In the state where the user wearing the upper extremity strength supporting robot 400 (see FIG. 1) Is kept standing in the vertical direction. 5, the rotation block 300 and the lift block 200 coupled thereto are moved downward. At this time, when the user lifts the lift block 200, The ascending and descending restoring means 210 installed on the lower side is compressed and the ascending and descending restoring means 210 mounted on the upper side of the ascending and descending block 200 is pulled, Thereby generating an elastic force. As described above, the upward elastic force generated by the lifting / lowering means 210 is used to support the leg muscular force when the user stretches the leg, Even if you give only strength, you can easily stand up. Although the elevation restoration means 210 is mounted on the upper and lower sides of the elevation block 200 in the present embodiment, the elevation restoration means 210 may be disposed above and below the elevation block 200, It may be mounted on only one of the two sides.

5, when the user bends the waist to hold the object placed on the floor, the rotating block 300 rotates about the hinge axis coupled with the lifting block 200, as shown in FIG. 6, . 6, the rotation piece 300b of the rotation block 300 is fixed to the fixing piece 300a (see FIG. 6) And a hinge coupled to the hinge. At this time, since the rotation restoring unit 310 connects the rotating piece 300b and the fixing piece 300a at a position higher than the hinge, as shown in FIG. 6, as the rotating piece 300b is rotated, So that an elastic force is generated in a direction in which the rotating piece 300b is returned to its original state (clockwise in the present embodiment). The rotational elastic force generated by the rotation restoring means 310 is used to support the waist strength when the user stretches the bent waist. Thus, the user can easily lift the waist with a relatively small force in the state shown in FIG. 6 .

When lifting an object placed on the floor, the worker must perform an operation of lowering the posture and an operation of bending and stretching the waist. As described above, by using the wearable robot mounting apparatus for supporting the muscular support according to the present invention, ) Can be supported by lowering the posture and then supporting the leg muscles and waist muscles when lifting and lowering the waist. Therefore, it is possible to lift a heavy object placed on the floor without a robot .

In addition, the wearable type robot mounting apparatus for supporting muscular support according to the present invention is configured not to use a separate power device such as a motor but to support the muscular force by using an elastic means such as a coil spring or the like, The manufacturing cost is reduced. In addition, there is an advantage that the operation cost is remarkably reduced if the muscular force is supported by using the self-elasticity of the component rather than using energy such as electricity.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the scope of the present invention is not limited to the disclosed exemplary embodiments. It will also be appreciated that many modifications and variations will be apparent to those skilled in the art without departing from the scope of the present invention.

100: base frame 110: guide bar
120: mobile wheel 130: locking means
200: Lift block 210: Lift /
300: rotation block 310: rotation restoration means
400: Robot supporting upper leg strength

Claims (6)

A base frame seated on the ground;
A pair of support plates supported by the base frame and spaced apart from each other in the vertical direction;
Lifting / lowering means mounted on the pair of supporting plates between the pair of supporting plates to provide an elastic force;
A lifting block connected to the lifting / lowering restricting means and movable up and down between the pair of supporting plates;
A rotating block including a fixed piece fixedly mounted on the ascending / descending block, and a rotating piece hingedly coupled to the fixed piece and mounted with the upper leg muscle supporting robot;
And rotation restoring means connected to the rotation piece of the rotary block for applying an elastic restoring force in a direction in which the fixing piece is mounted,
Wherein the rotation restoring means uses a coil spring,
Wherein one end of the coil spring is connected to the pivotal piece and the other end is connected to a bracket mounted on the pivotal piece to apply an elastic restoring force to the pivotal piece in a direction in which the pivotal piece is mounted when the pivotal piece is rotated A wearable robot mounting device for supporting muscular strength.
delete delete The method according to claim 1,
Wherein the coil spring is arranged such that the longitudinal direction of the coil spring is directed upward and downward, and one side of the coil spring is coupled to the lift block and the other side of the coil spring is coupled to the support plate. Robot mounting device.
The method according to claim 1 or 4,
And a pair of guide bars whose longitudinal directions are arranged in parallel in a vertical direction, wherein the lift blocks are mounted in a structure slidable along the guide bars.
The method according to claim 1 or 4,
A moving wheel coupled to a lower side of the base frame, and a locking means for locking or unlocking the rotation of the moving wheel.

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