KR101486016B1 - Waist support structure for assisting the muscular strength - Google Patents

Abstract

The present invention relates to a pelvis support structure for assisting muscular strength, which includes a T-support part formed of vertical and horizontal parts supporting a rear side of the waist; a side support part fixed on both sides of the horizontal part to support both sides of the waist; a side pitch guide rail, semicircular, having the side support part rotate on the edge in a pitch direction; a hip joint support part vertically extended from both sides of the side pitch guide rail to support a hip joint part; a pelvic limb support part, as a C-support part, connected to the rear end of the hip point support part to rotate in a roll direction; and a pelvic limb assistance support part connected to the pelvic limb support part to rotate in a yaw direction and covering the thigh of a wearer. With the present invention, free rotation in a triaxial direction is enabled so that the movement of the wearer is able to be free and natural and stable and convenient combination structure is able to improve user convenience and wear sensation. Moreover, as a waist size is conveniently adjusted to be suitable for the wearer, a pelvis support structure used for a robot suit for various people is provided and a structure for assisting muscular strength is provided.

Description

[0001] Description [0002] WAIST SUPPORT STRUCTURE FOR ASSISTING THE MUSCULAR STRENGTH [0003]

The present invention relates to a pelvic support structure used in a robot suit, and more particularly, to a pelvic support structure used in a robot suit, which can freely move a wearer and support muscular strength through a free rotation structure in three axial directions, Supporting structure.

In general, a human body wearing strength supporting robot is largely divided into a bio signal input type, a force sensor input type, a rhythm degree sensor input type, and a sensor hybrid type robot depending on the type of a synchronous signal to which a wearer wears, Motor-driven type, hydraulic cylinder driven type, artificial muscle driven type, and the like.

In terms of the wearer synchronous signal input, the bio-signal input type can be expected to have quick response because it uses the wearer's direct muscle signal. However, it is troublesome to wear additional attachments for acquiring a biological signal when the exoskeleton robot is usually worn.

In addition, since the rhythm sensor input type measures the degree of muscle expansion and is used as a synchronous signal of the robot, it is possible to directly acquire the synchronous signal to be moved by the wearer. However, since the degree of muscle expansion is not constant for each wearer, There is a problem that it is impossible to secure an operation performance equal to or higher than a certain level.

In addition, in the classification by the mounted actuator, the hydraulic drive type actuator system realizes a high degree of freedom in a joint like a shoulder joint or a wide range of joint motion in terms of converting a linear motion of a hydraulic cylinder into a rotary motion of a joint There is a problem in that a system equipped with artificial muscles has a problem of causing interference with the wearer at the time of actuator expansion and the peripheral devices of the exoskeletal robot because it utilizes the longitudinal shrinkage characteristics through the expansion of the actuator.

As described above, in the conventional wearable leg-strength supporting robot suit, there is a problem that it is not easy to construct a measuring device for measuring a motion and a muscle-supporting actuator through the same.

In addition, it is not easy to selectively cut off the power transmission to the actuator for natural walking, and the damping structure for mitigating the impact due to a sudden change in the wearer's body is slow and the damping force can not be easily adjusted .

In addition, since the conventional back support structure of the leg-strength supporting robot suits is fixed and fastened, there is no or complicated three-axis rotation structure for three-dimensional natural movement and the movement of the wearer is unnatural, There is a problem in that not only the flexibility of the size change that can be shared by the other person is reduced but also the feeling of fit and the convenience of the user are not high.

Korean Patent No. 10-1222916

SUMMARY OF THE INVENTION [0008] In order to solve the above problems, an object of the present invention is to provide a muscle supporting pelvic support structure which is free from the movement of the wearer and able to support the muscular strength through a free rotation structure in three axial directions, .

According to an aspect of the present invention, there is provided a pelvis support structure for use in a robot suit, comprising: a T-shaped support portion including a horizontal portion and a vertical portion for supporting a waist rear portion; A side support fixed to both side surfaces of the horizontal portion to support both side surfaces of the waist; A side pitch guide rail having a semicircular shape, the side support portion being engaged and pivoted in a pitch direction along the perimeter; A hip joint supporting portion extending vertically from both side pitch guide rails to support a hip joint portion; A C-shaped support portion rotatably connected to a rear end of the hip joint support portion so as to be rotatable in the direction of the roll (ROLL); And a lower limb supporting portion connected to the lower limb to be rotatable in the yaw direction and surrounding the thigh of the wearer.

It is preferable to further include a semicircular center pitch guide rail extending from the vertical portion of the T-shaped support portion and opening upward, wherein the hip joint support portion is extended from the both sides to the center pitch guide rail, And is preferably rotated in the PITCH direction along the center pitch guide rail by the linear motor.

Preferably, the rotation in the PITCH, RALL and YAW directions may be driven by a linear motor, and the side support may include a plate supporting both sides of the waist, And a body adjusting structure capable of adjusting a distance between the T-shaped support and the plate through linear movement of the plate, wherein the plate is vertically connected to both ends of the plate.

In addition, the body-type adjusting structure may include a linear motor provided at the center of the horizontal portion of the T-shaped support portion, a shaft having a male screw structure horizontally connected to the linear motor, and a female screw connecting bar fixedly connected to the plate, And the lower support portion includes two pivot rods connected to the rear end of the hapticsupport portion and pivotally connected to the roll in the roll direction and a second pivot rod extending vertically so as to be opposed to each other, Of the C-shaped support plate.

Preferably, the leg support auxiliary portion is a C-shaped structure which is fastened between the two-stage C-shaped support plates, and is rotatable in the yaw direction by driving the linear motor along the periphery of the support plate, And a strap for supporting and supporting the human body in an inner direction of the side support portion and an inner side direction of the end portion of the center pitch guide rail.

According to the present invention as described above, it is possible to freely rotate in three axial directions, so that the wearer can freely move after being worn and is natural, and has a stable and convenient fastening structure, thereby enhancing the wearing comfort and user convenience.

Further, by allowing the waist size to be adjusted conveniently according to the wearer, it becomes possible to provide a pelvis support structure used in a robot suit suitable for various people.

In addition, a structure capable of supporting muscular strength through an actuator such as a motor is provided for each three-axis rotation structure.

1 is a perspective view of a pelvic support structure for supporting a muscle according to an embodiment of the present invention,
2 and 3 are views illustrating a structure capable of adjusting a wear size according to a body shape of a wearer in a muscle-supported pelvic support structure according to an embodiment of the present invention,
FIG. 4 is a view showing a pivoting structure in the PITCH direction in the muscle supporting pelvis supporting structure according to the embodiment of the present invention,
FIG. 5 is a view showing a structure of a pivotal support structure for a pivot in the RALL direction in the pivot support structure according to the embodiment of the present invention,
FIG. 6 is a view showing a YAW direction pivoting structure in a muscle supporting pelvic support structure according to an embodiment of the present invention,
FIG. 7 is a rear view of a muscle supporting pelvis supporting structure according to an embodiment of the present invention, showing a motor driving and fastening structure in the yaw direction,
FIG. 8 is a view illustrating motor driving in the pitch and roll directions for supporting muscular strength in the muscle supporting pelvis supporting structure according to the embodiment of the present invention,
FIG. 9 is a view showing a structure in which a strap is attached to enhance comfort and stability in a muscle supporting pelvic support structure according to another embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and how to accomplish it, will be described with reference to the embodiments described in detail below with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein but may be embodied in other forms. The embodiments are provided so that those skilled in the art can easily carry out the technical idea of the present invention to those skilled in the art.

In the drawings, embodiments of the present invention are not limited to the specific forms shown and are exaggerated for clarity. Also, the same reference numerals denote the same components throughout the specification.

The expression "and / or" is used herein to mean including at least one of the elements listed before and after. Also, singular forms include plural forms unless the context clearly dictates otherwise. Also, components, steps, operations and elements referred to in the specification as " comprises "or" comprising " refer to the presence or addition of one or more other components, steps, operations, elements, and / or devices.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the drawings.

1 is a perspective view of a muscle supporting pelvic support structure according to an embodiment of the present invention. As shown in FIG. 1, the supporting structure for supporting the muscular strength supporting pelvis according to the embodiment of the present invention is supported on the waist of the human body to support the muscular strength. The supporting structure includes a horizontal portion and a vertical portion for supporting the back portion of the waist, (100); A side support part 200 fixed to both side surfaces of the horizontal part to support both side surfaces of the waist; A side pitch guide rail 300 having a semicircular shape, the side support portion 200 being engaged and pivoted in a pitch direction along a circumference thereof; A hip joint supporting part 400 extending vertically from both sides of the side pitch guide rail 300 to support a hip joint part; A C-shaped support part (500) rotatably connected to a rear end of the hip joint support part (400) so as to be rotatable in the direction of the roll (ROLL); And a lower limb support 600 connected to the lower limb 500 so as to be rotatable in the Yaw direction and to surround the wearer's thighs.

As described above, according to the embodiment of the present invention, the human body is freely rotatable in the pitch, roll, and yaw directions and is supported by the motor drive in turning in various directions, (PITCH, ROLL, YAW) with a combination of semicircular skeletons to improve the stability of the rotation in the three axial directions (PITCH, ROLL, YAW).

That is, a T-shaped support portion 100 supporting and supporting the back portion of the wearer and a side support portion 200 extending to the side and supporting the side surface of the waist of the wearer are disposed along the semicircular side pitch guide rail 300 in the PITCH direction A base support part 500 rotatable in a roll direction is connected to the hip joint support part 400 supporting the back hip joint of the wearer and a YAW direction And a linear motor or the like is provided to each of the pivotal structures to provide a driving force for pivotal movement so that the muscular strength of the wearer in the three axial directions Supports supporting muscular support pelvic support structure.

The supporting structure of the pelvis supporting the muscular support according to the embodiment of the present invention is a supporting structure of the supporting part of the pelvis of a wearable robotic suit supporting muscular strength of the lower limb. The supporting structure includes a rotation in the pitch direction as a rotation for bending the waist of the wearer, So that the wearer can freely and freely rotate in all possible directions. Further, the wearer is allowed to freely rotate in all directions in which the wearer can freely rotate in the YAW direction, And provides a pelvic support structure of a robot suit that supports the wearer's muscular power by driving by a motor or the like in the rotation in each direction.

FIGS. 2 and 3 are views illustrating a structure capable of adjusting a wear size according to a wearer's body shape in a muscle-supported pelvic support structure according to an embodiment of the present invention. 2 and 3, the body-type regulating structure includes a linear motor provided at the center of the horizontal portion 130 of the T-shaped support portion 100, a shaft of a male screw structure horizontally connected to the linear motor, And a female screw connecting bar fixedly connected to the shaft. Since the waist length in the horizontal direction is varied depending on the length of the wearer's waist, the body-side adjustment structure is a connection structure of the T-shaped support portion 100 and the side support portion 200, And the distance between the T-shaped support 100 and the T-shaped support 100 can be adjusted. In addition, since the hip joint support part 400 is also fixedly connected to the pitch guide rail, it is also possible to adjust the distance in both horizontal directions.

3, the T-shaped support portion 100 includes a horizontal portion 130 and a vertical portion 150. The linear motor 210 is provided on both sides of the center of the horizontal portion 130 And the shaft 230 of the male screw structure is fixedly connected to the linear motors 210 of both the linear motors 210 and the connecting bars 230 of the female screw structure are fixedly connected to the shaft 210, And the connecting bar 230 are fastened to each other, and the separation distance in the horizontal direction can be easily adjusted by driving the linear motor.

That is, when the waist size of the wearer is large, the motor can be driven to widen the separation distance so as to be adjusted to the size of the wearer, thereby enhancing the wearing feeling and forming a stable support structure. It is needless to say that the present invention is applicable not only to the configuration of the shaft and the linear motor but also to the actuator capable of linear driving such as solenoid.

FIG. 4 is a view showing a pivoting structure in the PITCH direction in the muscle supporting pelvis supporting structure according to the embodiment of the present invention. As shown in FIG. 4, in the pelvis supporting structure according to the embodiment of the present invention, the rotation in the PITCH direction causes the side support 200 to rotate along the semicircular pitch guide rails when the wearer flexes the waist Structure.

When the wearer flexes the waist, the side support portion 200 fixed to the T-shaped support portion 100 moves along the semi-circular pitch guide rail, (PITCH) direction. Such a fastening structure can be fastened by a rail and a roller, and a fastening structure of a groove and a protruding portion is also possible. In addition, the rotation in the pitch direction can be supported through a linear motor or the like in the fastening structure of the side support portion 200 and the side pitch guide rail 300 to support the muscular strength.

When the wearer flexes his / her waist and rotates in the pitch direction, the side support portion 200 and the fixedly mounted T-shaped support portion 100 are also rotated, and the vertical portion of the T-shaped support portion 100 A semicircular center pitch guide rail 350 extending from the vertical portion 150 and opening upward is formed in order to prevent the fixed hip joint support 400 connected to the hip joint 150 from rotating, The center pitch guide rail 350 is rotated in accordance with the rotation in the pitch direction in a state where the center pitch guide rail 400 is fixed.

Here, the coupling structure of the center pitch guide rail and the hip joint support part 400 is a structure that is coupled to both sides of the center pitch guide rail 350 on both sides of the hip joint support part 400. The pivot support structure of the present invention includes a T-shaped support portion 100 and a horizontal portion 130 of the T-shaped support portion 100. The P- Side support portion 200 and a center pitch guide rail 350 extending from the vertical portion 150.

As described above, the rotation in the pitch direction is performed by forming the side pitch guide rail 300 fastened to the side support portion 200 and the center pitch guide rail 350 fastened to the hip joint support portion 400, It is possible to naturally rotate only the upper body, and by driving the rotation through a motor or the like, it becomes possible to support the muscular strength.

FIG. 5 is a view illustrating a structure of a pivotal support structure for a muscle in a RALL direction in the present invention. 5, in the muscle supporting pelvis supporting structure according to the embodiment of the present invention, the roll-direction rotating structure includes a hip joint supporting part 400 and a bottom supporting part 500 supporting the hip joint at the back side of the supporting structure, So as to form a structure that rotates in the left-right direction.

The bottom support 500 includes a pair of pivot rods connected to the hinge support 400 and connected to the hinge support 400 so as to pivot in the direction of the roll, Shaped support plates 530 and 533 which are vertically fixed and extended so that the portions of the C-shaped support plates 530 and 533 face each other.

As shown in FIG. 5, the bottom support 500 may be formed as a structure in which two stages of C-shaped support plates are extended from one rod, and the pivot support rod 500 is fastened to both center axes of the hip joint support portion 400 Shaped support plates 530 and 533 which are fixedly extended vertically to the respective pivot rods 510 and 513, respectively.

That is, when the C-shaped support plates 430 and 433, which support and support both legs, are moved in both lateral directions by the pivotal movement in the case of spreading to both sides of the wearer's side, A pivoting rod extending vertically and fixed to the support plates 430 and 433 rotates about a shaft fastened to the upper end of the hip joint support part 400 in a RALL direction.

FIG. 6 is a view showing a YAW direction rotating structure in a muscle supporting pelvis supporting structure according to an embodiment of the present invention, FIG. 7 is a rear view of a muscle supporting pel supporting structure according to an embodiment of the present invention, YAW) direction. 6, in the muscle-supporting pelvis supporting structure according to the embodiment of the present invention, the pivoting structure in the yaw direction is configured to pivot about the support plate between the two- And forms a C-shaped support auxiliary support portion 600.

Such a limb auxiliary support portion 600 is a portion that directly contacts both legs of the wearer and is a C-type guide rail structure fastened to the two-stage C-shaped support plates 530 and 533 of the lower support portion 500. That is, a rail structure is formed on the upper surface and the lower surface so as to be fastened to the upper and lower support plates 530 and 533 so as to be able to rotate along the upper and lower two-stage C-shaped support plates of the lower support part 500, Is mounted on the support plates 530 and 533 of the base plate 500, it is possible to rotate in the yaw direction. The auxiliary support portion 600 includes an upper C-shaped guide rail 610 and a lower C-shaped plate 630 which are fastened to the two-stage C-shaped support plates 530 and 533, And a support rod 620 for connecting the support shaft 620 and the support shaft 620.

Here, the rotation in the yaw direction is a rotation that the wearer opens about the axis of each leg, and when the leg support means 600, which is in direct contact with both legs, pivots about the axis of each leg, Type plates 530 and 533 of the first and second plates 500 and 500, respectively.

7, the C-shaped guide rail 610 is fastened to the C-shaped support plates 530 and 533 of the two stages, and the motor is mounted on the fastening portion to drive the lower limb support 600. As a result, (YAW) direction in which the legs are opened.

FIG. 8 is a diagram illustrating motor driving in the pitch and roll directions for supporting muscular strength in a muscle-supported pelvic support structure according to an embodiment of the present invention. 8 (a), the rotation in the pitch direction is driven through the linear motor 270 to the structure in which the side support portion 200 and the side pitch guide rail 300 are fastened to each other, and the roll RALL ) Is driven through the linear motor 450 to the structure in which the hip joint support part 400 and the lower support part are fastened.

8 (b), the linear motor 470 is attached to a position where the center pitch guide rail 350 and the hip joint support portion 400 are engaged with each other in the pitch direction rotating structure It is proposed to construct a system that can be installed and operated to support muscle strength.

As described above, the embodiment of the present invention proposes a fastening structure capable of pivoting in the three-axis (PITCH, RALL, YAW) direction, and an actuator such as a linear motor is provided in the fastening structure in each direction, It is possible to increase the fit of the user, to increase the strength of the movement in each direction, as well as to enhance the user's convenience.

FIG. 9 is a view showing a structure in which straps 101, 103, and 353 for enhancing comfort and stability are mounted in a muscle supporting pelvis supporting structure according to another embodiment of the present invention. 9, the muscle supporting pelvis supporting structure according to the embodiment of the present invention includes a strap supporting and wrapping a human body in an inner direction of the side support portion 200 and an inner side in an end portion of the center pitch guide rail 350, (101, 103, 353) are installed.

The straps 101, 103, and 353 wrap the human body in a circular shape to enhance the fit feeling, tightly support the human body, and provide an auxiliary device capable of naturally transmitting the rotation in various directions according to the movement of the wearer.

While the invention has been shown and described with respect to the specific embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. Anyone with it will know easily.

100: T-shaped support part, 200: side support part, 300: side pitch guide rail
350: center pitch guide rail, 400: hip joint support part,
500: lower support portion, 600: lower auxiliary support portion

Claims (9)

A pelvic support structure for use in a robot suit,
A T-shaped support portion composed of a horizontal portion and a vertical portion for supporting the waist rear portion;
A semicircular center pitch guide rail extending from a vertical portion of the T-shaped support portion and opening upward;
A side support fixed to both side surfaces of the horizontal portion to support both side surfaces of the waist;
A side pitch guide rail having a semicircular shape, the side support portion being engaged and pivoted in a pitch direction along the perimeter;
A hip joint supporting portion extending vertically from both side pitch guide rails to support a hip joint portion;
A C-shaped support portion, which is rotatably connected to a rear end of the hip joint support portion so as to be rotatable in a roll (ROLL) direction; And
And a leg auxiliary supporting portion connected to the leg support portion so as to be rotatable in the yaw direction and surrounding the thigh of the wearer.
delete The method according to claim 1,
The hip joint support portion
Is pivoted in the PITCH direction along the center pitch guide rail by means of rollers and a linear motor as it is extended from both the center pitch guide rails.
The method according to claim 1 or 3,
Wherein the rotation in the PITCH, RALL and YAW directions is driven by a linear motor.
5. The method of claim 4,
The side support portion includes a plate for supporting both side surfaces of the waist portion, and a body structure vertically connecting the plates to both ends of the horizontal portion. The body support portion is capable of adjusting the separation distance between the T-shaped support portion and the plate through linear movement of the plate. And a pelvic support structure for supporting the muscular power.
6. The method of claim 5,
The body-
A linear motor provided at the center of a horizontal portion of the T-shaped support portion, a shaft having a male screw structure horizontally connected to the linear motor, and a female screw connecting bar fixedly connected to the plate and fastened to the shaft. Support structure.
5. The method of claim 4,
The under-
A pair of pivoting rods connected to a rear end of the hapticsupport portion and pivotally connected to the hip joint support portion in a roll direction,
And a pair of C-shaped support plates extending vertically so that portions of the pivoting bar that are opened at the ends thereof face each other.
8. The method of claim 7,
The leg support auxiliary portion includes:
And a C-shaped structure that is fastened between the two-stage C-shaped support plates, and is rotatable in the yaw direction by driving a linear motor along the periphery of the support plate.
5. The method of claim 4,
And a strap for supporting and supporting the human body in an inward direction of the side support portion and an inward direction at an end of the center pitch guide rail.

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