KR101677192B1 - Wearable exoskeleton robot having Knee module using link structure - Google Patents

Wearable exoskeleton robot having Knee module using link structure Download PDF

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Publication number
KR101677192B1
KR101677192B1 KR1020150046885A KR20150046885A KR101677192B1 KR 101677192 B1 KR101677192 B1 KR 101677192B1 KR 1020150046885 A KR1020150046885 A KR 1020150046885A KR 20150046885 A KR20150046885 A KR 20150046885A KR 101677192 B1 KR101677192 B1 KR 101677192B1
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South Korea
Prior art keywords
link
robot
fixing member
exoskeleton robot
instantaneous center
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KR1020150046885A
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Korean (ko)
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KR20160118574A (en
Inventor
한창수
이희돈
임동환
김완수
문현기
김호준
이병규
Original Assignee
한양대학교 에리카산학협력단
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Priority to KR1020150046885A priority Critical patent/KR101677192B1/en
Publication of KR20160118574A publication Critical patent/KR20160118574A/en
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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)
  • Prostheses (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a knee module using a link structure and a wearable exoskeletal robot including the link structure. More particularly, the present invention relates to a knee module of an exoskeletal robot using a link structure that is applied to a passive exoskeleton robot, A movable part provided on the thigh part of the lower extremity skeleton robot; And a link portion provided on the calf portion of the lower extremity exoskeleton robot and connected to the movable portion. The movable portion moves the instantaneous center point of the link portion between the stance section and the instantaneous center point of the link portion in the sweep section And return to the original state.

Description

[0001] The present invention relates to a knee module using a link structure and a wearable type exoskeleton robot including the same,

The present invention relates to a knee module using a link structure and a wearable exoskeletal robot including the same, and more particularly, to a knee module using a link structure that supports a wearer's muscular strength applied to a wearable exoskeletal robot, Robot.

BACKGROUND ART [0002] Lower extremity skeletal robots used in the military and industrial fields require an electric or hydraulic drive source for transporting materials.

As described above, the exoskeleton robot requiring a driving source has disadvantages of expensive production cost due to the use of a driving source per joint, and also has a disadvantage in that the use time is also limited depending on the operation time of the driving source.

Therefore, in recent years, a manual non-human exoskeleton robot has been developed to solve the above problems. A quasi - passive exoskeleton robot is a type of robot that supports the wearer 's strength in place of the driving source by using a spring or a damper on the joint. Therefore, quasi-passive exoskeleton robots are advantageous in that they are inexpensive and light in weight compared to exoskeleton robots using a driving source.

However, the conventional quasi-passive underarm skeletal robot has a disadvantage in that the larger the torque transmitted to the joint is, the larger the amount of the spring or damper designer becomes, and accordingly, the manufacturing cost increases due to the damper cost forming the expensive have.

Therefore, the present applicant has proposed a knee module that is applied to a quasi-passive underskeletal robot and supports the strength of the wearer by using only the characteristics of the mechanical elements, and related prior art documents include Korean Patent Laid- -2014-0134477 'Walking Rehabilitation Robot with Manual Mechanism for Moving Center of Gravity'.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a robotic robot which is distinguished according to a stance phase interval and a swing phase interval using only a kinematic characteristic based on a four- A knee module of an exoskeletal robot using a link structure having an operating mechanism can be provided.

The present invention provides a robot comprising: a movable part provided on a thigh part of a lower extremity skeleton robot; And a link portion provided on the calf portion of the lower extremity exoskeleton robot and connected to the movable portion. The movable portion moves the instantaneous center point of the link portion between the stance section and the instantaneous center point of the link portion in the sweep section And return to the original state.

The instantaneous center of gravity of the link part moved by the movable part in the stance section is moved to the back of the wearer wearing the lower extremity skeleton robot.

In addition, the movable portion may include: a first connection member connected to a thigh part of the lower extremity skeleton robot; A movable body connected to the first linking member and having a pushing protrusion protruded at a lower end thereof; A housing for receiving a lower portion of the movable body; A compression spring provided on the pressing piece disposed inside the housing to elastically press the movable body; And a cam provided on the pressing piece exposed to the outside of the housing.

In addition, the housing may include a first insertion hole into which the pressing piece and the compression spring are inserted; And a second insertion hole communicably connected to the first insertion hole, the second insertion hole having a diameter such that the compression spring is inserted and the compression spring can not be inserted.

A second connecting member connected to the calf part of the lower extremity skeleton robot; A fixing member provided at a lower portion of the housing; A front link in which both ends are pivotally connected to one side of the second linking member and the fixing member, respectively; A rear link to which the opposite ends of the connecting member and the fixing member are pivotally connected, respectively; And a restoring spring having one end connected to the fixing member and the other end connected to the rear link.

In addition, the rear link receives an urging force from the cam in the stance section, and the instantaneous center point is moved to the rear side of the wearer wearing the exoskeletal robot.

In addition, the rear link is released from the cam in the erecting section, and the instantaneous center point is shifted to the front side of the wearer wearing the lower extremity skeleton robot by the restoration spring.

Further, the rear link may be provided with a latching member, and the latching member is received in a guide slot formed on the other side of the latching member.

The wearable type exoskeleton robot including the knee module configured as described above is also characterized.

The knee module of the exoskeleton robot using the link structure of the present invention can reduce the weight and volume of the joint mechanism by using only the link and spring structure as compared with the conventional quasi passive joint mechanism used in the joint of the exoskeletal robot, There is also an inexpensive effect on the side.

Further, since the knee module of the exoskeletal robot using the link structure of the present invention does not require an additional energy source for supporting the load or the weight of the wearer, there is no limitation in the use time.

FIG. 1 is a perspective view showing a state in which a knee module using a link structure according to an embodiment of the present invention is mounted on a base exoskeletal robot. FIG.
2 is a perspective view of a knee module using a link structure according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a knee module using a link structure according to an embodiment of the present invention in a stance section; FIG.
FIG. 4 is a cross-sectional view of a knee module using a link structure according to an exemplary embodiment of the present invention. FIG.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings.

It should be understood, however, that the invention is not limited to the disclosed embodiments, but is capable of many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims.

Hereinafter, a knee module using a link structure according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 4. FIG. In describing the present invention, a detailed description of known functions and configurations incorporated herein will be omitted so as not to obscure the gist of the invention.

1, a knee module 100 using a link structure according to an embodiment of the present invention is disposed between a thigh part 11 and a calf part 12 of a lower extremity skeleton robot 10, Connect the part (11) and the calf part (12).

2 to 4, the knee module 100 arranged as described above includes a movable part 110 provided on the thigh part 11 of the lower extremity skeleton robot 10, And a link portion 130 provided on the calf portion 12 and connected to the movable portion 110. [

The movable part 110 moves the instantaneous center of the link part 130 to the back of the wearer wearing the lower limb skeletal robot 10 in the stance section, ) Is returned to its original state.

2 to 4, the movable unit 110 includes a first connection member 111 connected to the thigh part 11 of the lower extremity skeleton robot 10, a second connection member 111 connected to the first connection member 111, A housing 113 for receiving a lower portion of the movable body 112 and a pressing piece 112 disposed inside the housing 113. The pressing body 112 is provided with a pressing piece 112a, And a cam 114 provided on the pressing piece 112a exposed to the outside of the housing 113. The compression spring S1 elastically presses the movable body 112. The compression spring S1 elastically presses the movable body 112,

The first connecting member 111 may be coupled to a lower end of a frame constituting the thigh part 11 of the lower limb skeletal robot 10 and may include a space portion for accommodating the upper portion of the movable body 112, (111a) is formed.

The upper part of the movable body 112 is engaged with the first connection member 111 in a state of being inserted into the space 111a formed in the first connection member 111, The load of the wearer or the load of the object is transmitted through the first connecting member 111. [

The pushing piece 112a protrudes from the lower end of the movable body 112 while having an area smaller than the area of the movable body 112. Accordingly, A step portion 112b is formed which is brought into contact with one end of the slit S1.

The housing 113 receives the lower portion of the movable body 112 and has a space 113a in which the movable body 112 can be raised or lowered as described above.

The housing 113 is provided with a first insertion hole 113b into which the pressing piece 112a and the compression spring S1 are inserted and a second insertion hole 113b communicably connected to the first insertion hole 113b, A second insertion hole 113c having a diameter that can not be inserted into the compression spring S1 is formed.

Therefore, the pushing piece 112a may be sequentially inserted into the first insertion hole 113b and the second insertion hole 113c, and the tip of the pushing piece 112a may be exposed to the outside of the housing 113.

The compression spring S1 provided on the outer surface of the pressing piece 112a is inserted into the first insertion hole 113b and connected to the first insertion hole 113b and the second insertion hole 113c And the other end can be supported by the step portion 113d formed in the portion.

The cam 114 is fixedly provided at the tip of the pressing piece 112a inserted into the second insertion hole 113c and exposed to the outside of the housing 113. [

2 to 4, the link unit 130 includes a second connection member 131 connected to the calf part 12 of the lower extremity skeleton robot 10, A front link 133 having both ends pivotally connected to one side of the second linking member 131 and the fixing member 132; And a rearward movement of the instantaneous central point to the rear side of the wearer wearing the exoskeletal robot (10) under the pressure of the cam (114) in the straddle section while the opposite ends are pivotally connected to the other side of the fixing member (132) A link 134 is connected to the fixing member 132 at one end and the other end is connected to the rear link 134 so that a momentary center point of the rear link 134 is moved toward the front side of the wearer, (S2).

The second linking member 131 may be connected to a frame constituting the calf part 11 of the lower extremity skeleton robot 10.

The fixing member 132 is fixedly connected to the housing 113 of the movable unit 110 and has a shape that does not interfere with the pressing piece 112a and the cam 114 protruding to the lower portion of the housing 113 Can be produced.

One end of the front link 134 may be pivotally connected to one side of the second connection member 131 and the other end may be pivotally connected to one side of the fixing member 132.

One end of the rear link 134 may be pivotally connected to the other side of the second linking member 131 and the other end may be pivotally connected to the other side of the fixing member 132.

3, the other end of the rear link 134 is pivoted to the rear of the other side of the fixing member 132 under the pressure of the cam 114 in the striking section.

Conversely, the other end of the rear link 134 may be released from the cam 114 in the erecting section, and may be turned to the other side of the fixing member 132, as shown in FIG.

At this time, a guide slot 132a for guiding the movement direction of the other end of the rear link 134 is formed on the other side of the fixing member 132. The other end of the rear link 134 is inserted into the guide slot 132 or the guide slot 132 in the guide slot 132a, 132a, respectively.

2, the front link 134 and the rear link 134 are spaced apart from each other by a predetermined distance so as to stably support the thigh part 11 of the lower extremity skeleton robot 10 It is preferable that they are provided in pairs.

One end of the restoring spring S2 is connected to one side of the fixing member 132 and the other end is connected to the other end of the rear link 134. [

Therefore, the restoring spring S2 is tensioned by the other end of the rear link 134 pivoted to the rear of the other side of the fixing member 132 under the pressure of the cam 114 during the striking period.

The restoring spring S2 is restored to its original state when the other end of the rear link 132 is released from the cam 114 in the erecting section and the other end of the rear link 132 is fixed to the fixing member 132 to the other side.

Hereinafter, an operation process of the knee module 100 using the link structure according to the embodiment of the present invention will be described.

3, when the movable body 112 of the movable part 110 is lowered, the cam 114 provided at the tip of the pressing piece 112a is moved to the link part 130, The other end of the rear link 134 is pressed.

The other end of the rear link 134 is pivoted to the other side of the fixing member 132, that is, to the rear side of the wearer wearing the lower limb skeleton robot 10. As a result, The instantaneous center point of the part 130 is moved to the rear side of the wearer.

Conversely, as the movable body 112 of the movable portion 110 is lifted up, the cam 114 is also lifted to release the other end of the rear link 134 of the link portion 130.

The other end of the rear link 134 is pulled toward the other side of the fixing member 132 by the restoring spring S2, that is, the front side of the wearer wearing the lower limb skeletal robot 10, The instantaneous center point of the link portion 130 is moved toward the front side of the wearer.

Therefore, in the above-described operation, the thigh part 11 and the calf part 12 of the exoskeletal robot 10 are folded at the angular section, It is possible to support the strength of wearer wearing it.

The knee module 100 using the link structure according to the embodiment of the present invention configured as described above can reduce the weight of the knee mechanism by using only the link and spring structure as compared with the conventional quasi passive joint mechanism used in the joint of the lower extremity skeleton robot The volume can be reduced, and the manufacturing cost can be reduced.

Further, since the knee module 100 using the link structure according to the embodiment of the present invention does not require an additional energy source for supporting the loads or heavy objects of the wearer, there is no limitation in the use time.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments.

Therefore, the scope of the present invention should not be limited by the described embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

100: knee module using link structure
110: moving part 111: first connecting member
112: movable body 112a: pressing piece
113: housing 114: cam
130: link portion 131: second link member
132: fixing member 133: forward link
134: rear link S1: compression spring
S2: Restoring spring

Claims (9)

A movable part provided on the thigh part of the lower extremity skeleton robot; And
And a link part provided on the calf part of the foot exoskeleton robot and connected to the movable part,
Wherein the movable part moves the instantaneous center point of the link part during the stance interval and restores the instantaneous center point of the link part in the erect part period,
Wherein the movable part comprises: a first connection member connected to a thigh part of the bottom exoskeleton robot; A movable body connected to the first linking member and having a pushing protrusion protruded at a lower end thereof; A housing for receiving a lower portion of the movable body; A compression spring provided on the pressing piece disposed inside the housing to elastically press the movable body; And a cam provided on the pressing piece exposed to the outside of the housing,
The link portion includes: a second connecting member connected to a calf part of the lower extremity exoskeleton robot; A fixing member provided at a lower portion of the housing; A front link in which both ends are pivotally connected to one side of the second linking member and the fixing member, respectively; A rear link having opposite ends pivotally connected to the other side of the second linking member and the fixing member; And a restoring spring having one end connected to the fixing member and the other end connected to the rear link.
The method according to claim 1,
Wherein the instantaneous center of gravity of the link portion moved in the stance section by the moving part is moved to the back of the wearer wearing the bottom legged skeletal robot.
delete The method according to claim 1,
A first insertion hole into which the pressing piece and the compression spring are inserted; And a second insertion hole communicably connected to the first insertion hole, the second insertion hole having a diameter that allows the compression piece to be inserted and the compression spring to be inserted, are formed on the knee joint of the wearable exoskeletal robot using the link structure. module.
delete The method according to claim 1,
Wherein the rear link is pressed by the cam in the stance section and the instantaneous center point is moved to the rear side of the wearer wearing the exoskeleton robot. [5] The knee module of the wearable type exoskeleton robot using the link structure.
The method according to claim 6,
Wherein the rear link is released from the cam in the erecting section and the instantaneous center point is moved toward the front side of the wearer wearing the underarm skeletal robot by the restoration spring. module.
The method according to claim 1,
Wherein the rear link is provided with a latching member,
And the latching member is received in a guide slot formed on the other side of the fixing member.
A wearable exoskeleton robot comprising the knee module according to claim 1.
KR1020150046885A 2015-04-02 2015-04-02 Wearable exoskeleton robot having Knee module using link structure KR101677192B1 (en)

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Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6584384B2 (en) * 2016-12-27 2019-10-02 本田技研工業株式会社 Operation assistance device
CN109623782B (en) * 2018-12-04 2020-12-08 江苏集萃微纳自动化系统与装备技术研究所有限公司 Wearable power-assisted exoskeleton robot
CN109927016B (en) * 2019-04-15 2023-11-28 河北工业大学 Lower limb exoskeleton with variable axis knee joint
CN110170985A (en) * 2019-05-14 2019-08-27 北京铁甲钢拳科技有限公司 A kind of exoskeleton system
CN114800441B (en) * 2022-03-19 2023-07-07 中国人民解放军空军军医大学 Lower limb exoskeleton heterogeneous knee joint based on parallel elastic bodies

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101221331B1 (en) * 2010-10-28 2013-01-17 (주)트리플씨메디칼 Energy storage-emission type of knee-ankle joint in gait assistance device
KR101388097B1 (en) * 2012-07-12 2014-04-23 대우조선해양 주식회사 Joint torque compensation device using spring and wire
KR101408415B1 (en) * 2012-08-06 2014-06-17 서강대학교산학협력단 Joint actuator for wearable robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101221331B1 (en) * 2010-10-28 2013-01-17 (주)트리플씨메디칼 Energy storage-emission type of knee-ankle joint in gait assistance device
KR101388097B1 (en) * 2012-07-12 2014-04-23 대우조선해양 주식회사 Joint torque compensation device using spring and wire
KR101408415B1 (en) * 2012-08-06 2014-06-17 서강대학교산학협력단 Joint actuator for wearable robot

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