KR101809536B1 - Wearable exoskeletal appraratus - Google Patents

Abstract

The present invention relates to a wearable muscle strength assisting device for easily supporting and controlling a work tool when performing an upper work,
The wearable muscle strength assisting device includes a lower link, an upper link, a first vertical link for rotatably coupling between a lower end of the lower link and one end of the upper link, A second vertical link for rotatably connecting the first link and the second link to each other, and a second vertical link for rotatably coupling the first link and the second link to each other; And an elastic member fixed to any one of the lower link and the upper link in which the elastic driving member is not mounted so that the elastic member is positioned in an oblique direction,
It is possible to adjust the elastic force by moving the position of one end of the elastic member using the stretching and driving unit by using the stretching and driving unit so that it can be unfolded or folded without applying force to facilitate the mounting of the tool, The work load is easily dispersed to improve the work efficiency of the worker, as well as to prevent musculoskeletal diseases.

Description

WEARABLE EXOKELETAL APPRARATUS [0002]

The present invention relates to a wearable muscle strength assisting device for easily supporting and controlling a work tool when performing a tool using operation on an upper surface rather than a floor relative to an operator.

Work tools such as grinders, rivets, sanders, nut runners, etc. used in industrial fields are made to include heavy members such as windings and metal shafts for electric power, so that they have a constant load.

When a work tool having such a load is used to perform operations such as perforation, grinding, or riveting on a wall surface or a ceiling of a certain height or higher, the load applied to the worker becomes larger. In addition, if the load is constantly applied to the worker in operation, there is a great possibility that the worker's musculoskeletal system is damaged.

Therefore, in order to facilitate work using working tools such as a grinder, a rivet gun, a sander, and a nut runner, an EQUIPOIS company (http://www.equipoisinc.com) (see .com), the worker wears the tool in a manner such as by attaching it to the tool, thereby reducing the load by the tool and applying various kinds of tools such as ZEROG and GIMBAL Muscle strength assisting device.

FIGS. 1 and 2 are views showing the unit forceps assisting apparatus A of the zero paper of EQUIPOIS.

As shown in FIGS. 1 and 2, the zero-point muscle force assisting apparatus A includes a lower link 10, a first vertical link 20, a second vertical link 30 and an upper link 40 at their respective ends The upper link 40 and the lower link 10 are coupled to each other by elastic members 50 which are transversely intersecting each other in a diagonal direction. A tool mounting bracket 35 for fixedly mounting a tool is installed on either the left or right vertical link.

The muscle force assisting device A having the above-described structure is rotatably connected in multiple stages in the longitudinal direction so as to extend the working length and to be configured to widen the working radius by the rotational motion between the strength assist devices A have.

The muscle force assisting device A is mounted on a support (not shown) or the like (not shown) on the back of the worker, or is equipped with a separate attaching device, and is attached to the shoulder of the worker. , The operation of the tool is facilitated by the elastic force of the elastic member (50), and the load applied by the tool is buffered to protect the worker.

The operation of the muscle force assisting device A will be described in detail. In the normal state in which the tool is not mounted, the muscle force assisting device A having the above structure has the left and right vertical links 20, and 30 are inclined so that their widths are narrowed.

When the operator wishes to attach tools such as a drill, a sander, a grinder, and a rivet gun, the left and right vertical links 20 and 30 are vertically set by force as shown in FIG. 2, Fit the tool.

In this state, the operator operates the tool, the tool is supported by the strength assisting device A so that the force for operating the tool is small, and the strength assisting device A absorbs the load of the tool, It is possible to prevent the damage of the musculoskeletal system from occurring even during prolonged use.

However, in the above-described conventional muscle force assisting apparatus A, the elastic member 50 is fixed at one position of the upper link 40 and the other end is fixed to the fixed portion of the lower link 10 So that there is a problem that a sudden change in shape occurs due to the elastic restoring force in a state in which the elastic member 50 is fully stretched.

Further, in a state where the elastic member is contracted to the maximum, it is very difficult for a worker to overcome the strain and to deform the strength assisting device A, thus making it difficult to mount the tool.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a wearable muscle strength assisting device which can easily adjust an elastic force of an elastic member mounted on a muscle force assisting device.

It is another object of the present invention to provide a wearable type muscle strength assisting device capable of easily performing attachment and detachment of a tool by easily adjusting the elastic force of the elastic member 50 mounted on the muscle strength assisting device, The purpose.

It is still another object of the present invention to provide a wearable muscle strength assisting device for allowing a muscle force assisting device to adjust a force for supporting a tool in a tool that enables the elasticity of the elastic member of the muscle strength assisting device to be adjusted even during operation .

In order to accomplish the above object, the present invention provides a wearable muscle strength assisting apparatus comprising: a lower link; an upper link; a first vertical link for rotatably coupling the lower link and one end of the upper link, A second vertical link rotatably coupling between the lower link and the other end of the upper link, and an expanding and contracting driver mounted on any one of the surfaces facing the lower link or the upper link, And an elastic member fixed to one of the lower link and the upper link to which the stretchable and contractile driving unit is not mounted so that the elastic member is positioned in an oblique direction.

The elastic driving unit may include a motor, a screw bolt coupled to the motor and rotated in accordance with rotation of the motor, and a nut tube screwed to the screw bolt and coupled to one end of the elastic member. have.

The expansion and contraction driving unit may include a hydraulic cylinder, and a piston mounted on the hydraulic cylinder to be drawn in or pulled out by hydraulic pressure, and a free end coupled to one end of the elastic member.

And a tool mounting bracket for tool mounting is formed on one of the first vertical link and the second vertical link.

The stretching and driving section further includes a switch for retracting and driving.

A hinge shaft having an arcuate cross section is protruded on the side surface of the first vertical link and a hinge shaft having a circular arc cross section along the longitudinal direction is formed on the side surface of the second vertical link, Grooves may be formed to form a connecting muscle force assisting device.

In addition, in the above-described muscle strength assisting device, a hinge shaft having an arcuate cross-section along the longitudinal direction may protrude from the side surface of the first vertical link to form a mounting muscle power assisting device.

The present invention having the above-described configuration enables an operator to variably adjust the elastic force of the elastic member that deforms the angle of engagement of the upper link, the lower link, the first vertical link, and the second vertical link of the strength assisting device, Of the present invention.

Further, the present invention minimizes the action of the semi-bar force due to the force of the tool during the operation by changing the elastic force of the elastic member by stretching or contracting the stretchable and contractive drive unit according to the change of the load generated by the tool during the operation using the tool By minimizing the occurrence of safety accidents to the worker, it is possible to remarkably improve the worker safety of the worker compared to the conventional technique.

Figs. 1 and 2 are diagrams showing a unit force augmenting device A of a zero paper of EQUIPOIS,
3 is a perspective view of a muscle strength assisting apparatus 100 according to an embodiment of the present invention,
4 is a perspective view of a muscle-power assisting apparatus 100 showing a folded state before a tool is mounted,
5 is a perspective view of a muscle-power assisting apparatus 100 showing an unfolded state for tool mounting or after tool mounting,
6 is a perspective view of a muscle force assisting device 200 connected in multiple stages for extending the working length.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings showing embodiments of the present invention.

In the accompanying drawings showing embodiments of the present invention, the components having the same configurations as those in Figs. 1 and 2 are denoted by the same reference numerals.

3 is a perspective view of a muscle strength assisting device 100 according to an embodiment of the present invention.

3, the muscle force assisting apparatus 100 includes a lower link 10, an upper link 40, a first vertical link 20, a second vertical link 30, a hydraulic expansion and contraction driving unit 70, 50).

One of the first vertical link (20) or the second vertical link (30) is equipped with a tool mounting bracket (35) and the other is provided with a catching device A fixed bracket (not shown) is connected. 3 to 5 showing an embodiment of the present invention, a tool mounting bracket 35 is shown mounted on the second vertical link 30.

The hydraulic expansion and contraction driving unit 70 is an embodiment of the expansion and contraction driving unit of the present invention which performs an action of varying the position of one end of the elastic member 50. The hydraulic expansion and contraction driving unit 70 includes a hydraulic cylinder 71, And a fixing clip (77) for coupling one end of the piston (50) to the piston (75). The fixing clip 77 of the hydraulic expansion and contraction drive unit 70 may not be provided when the one end of the elastic member 50 is fixed by forming the recessed groove along the periphery of the end of the piston 75.

Hereinafter, a coupling structure of the muscle strength assisting device 100 having the above-described structure will be described.

The first vertical link 20 is rotatably hinged to the lower end of the lower link 10 at one end of the lower link 10 and the upper link 40 which are opposed to each other, Which is rotatably hinged to an end of the housing.

The second vertical link 30 is rotatably connected to the other end of the lower link 10 which is not engaged with the first vertical link 20 among the mutually opposite end portions of the lower link 10 and the upper link 40 And the upper end is rotatably hinged to the other end of the upper link 40 where the first vertical link 20 is not engaged.

The lower link 10, the upper link 40, the first vertical link 20, and the second vertical link 30 form a deformable quadrangle by the above-described coupling.

The hydraulic expansion and contraction driving unit 70 is mounted on any one of surfaces of the upper link 40 or the lower link 10 which face each other. And in the case of the embodiment of the present invention, it is mounted on the lower link 10.

The elastic member 50 is fixed to the bottom of the upper link 40 so that one end of the elastic member 50 is engaged with the end of the piston 75 which is expanded and contracted by the hydraulic expansion and contraction driving unit 70 and the other end is diagonal . The end of the elastic member 50 engaged with the piston 75 may be coupled to the piston 75 using a fixing clip 77 or may be engaged with a concave groove formed along the circumference of the piston 75 Can be combined.

Although not shown in FIG. 3, a switch 90 for driving the hydraulic cylinder 71 is attached to the hydraulic cylinder 71.

The hydraulic expansion and contraction driving portion 70 varies the position of the combined end portion of the elastic member 50 in response to the external force applied when the strength assisting device 100 is deformed by the above- Thereby varying the elastic force, which will be described with reference to Figs. 4 and 5. Fig.

Fig. 4 is a perspective view of a muscle-power assisting apparatus 100 showing a folded state before mounting the tool, and Fig. 5 is a perspective view of a muscle-power assisting apparatus 100 showing a deployed state for tool mounting or after tool mounting.

3, the first vertical link 20 and the second vertical link 30 are inclined and folded by the elastic force of the elastic member 50 when the tool is not mounted. 5, the operator pushes the hydraulic cylinder 71 of the hydraulic expansion and contraction driving unit 70 and pulls the piston 75 to pull the forceps assistant 100. In this state, (50) to reduce the repulsive force against unfolding. This makes it possible to easily deploy the strength assisting device 100 with a small force. After the muscle strength assisting device 100 is unfolded, the tool is mounted on the tool mounting bracket 35 and then the work is performed.

When a load is applied by the driving of the tool during the execution of the operation, the operator operates the switch 90 for driving the hydraulic cylinder 71 so as to add the opposite force to the hydraulic expansion and contraction drive unit 70 By varying the position of the end fixed to the workpiece W, the impact generated during the work can be mitigated.

The muscle strength assisting device 100 may be connected in multiple stages to increase the working range. The hydraulic expansion and contraction driving unit 70 may be configured to include a screw type expansion and contraction driving unit, and such a construction is shown in FIG.

6 is a perspective view of the muscle strength assisting device 100, which is connected in multiple stages to extend the working length and in which the extensible /

6, the muscle force assisting device 200 includes a connecting muscle force assisting device 100A and a mounting muscle strength assisting device 100B having a shape in which the muscle strength assisting devices 100 of FIG. 3 are coupled to each other, do.

The hinge axis 21 is formed on the side surface of the first vertical link 20 'so as to be circular in cross section along the longitudinal direction, and the second vertical link has a hinge shaft 21 on the side, A hinge groove 31 is formed so as to be recessed in an arcuate shape.

The attached muscle strength assisting device 100B has a first vertical link 20 'and the second vertical link 30 has the same vertical link as the second vertical link 30 of FIGS.

The hinge shaft 21 of the connecting muscle force assisting device 100A is inserted into the hinge grooves 31 of the attached muscle strength assisting device 100B by the above structure and connected in multiple stages.

In this case, if it is desired to extend the length, the hinge groove 31 of the other connection muscle-power auxiliary unit 100A can be extended by hinging to the hinge shaft 21 of the connected muscle-strength assisting apparatus 100A .

Thus, the multi-stage muscular assist device 200 of FIG. 5 is coupled to the hinge shaft 21 via the hinge grooves 31, and thus is coupled to be rotatable relative to each other, thereby extending the left and right operation ranges. In Fig. 6, B indicates the axial direction of the hinge axis, and is coupled to rotate clockwise or counterclockwise about line B.

In addition, in the muscle power assisting apparatus 200 of FIG. 6, the extension / contraction driving unit is composed of a screw expansion / contraction driving unit 80. The screw expansion and contraction driving unit 80 includes a motor 81, a screw bolt 85, and a nut pipe 87.

The motor 81 of the screw expansion and contraction driving unit 80 is fixedly mounted on one side of the upper surface of the lower link 10. The screw bolt 85 is axially coupled to be rotated by the motor 81 and the nut tube 87 is screwed with the screw bolt 85 and is configured to be moved in accordance with the rotational direction of the screw bolt 85. The lower end of the elastic member 50 is fixedly coupled to the nut tube 87 and is moved in accordance with the movement of the nut tube 87.

Although not shown in the drawing, a switch 90 for driving the motors 81 is further provided. 3, the operator drives the motors 81 so as to move the position of the nut tube 87 in the direction of reducing the load exerted by the tool during the operation, similarly to the case of including the hydraulic expansion and contraction drive unit 70 of Fig. The motor 81 is driven so as to move the nut tube 87 to a position for reducing the length of the elastic member 50 when the muscle force assisting device 200 is extended for attaching the tool, .

The hydraulic expansion and contraction driving unit 70 and the screw expansion and contraction driving unit 80 disclosed in the embodiments of the present invention are not limited thereto and may be provided with elastic members 50, Various stretching devices that perform an action of varying the position of the end portion can be applied.

Although the present invention has been described in the context of an embodiment of the present invention as a muscle force assisting device, the present invention can be applied to a wearable or non-wearable industrial robot apparatus such as a joint apparatus or the like for adjusting the load applied during operation of each joint And this also falls within the scope of the present invention.

10: lower link, 20: first vertical link, 40: upper link, 35: tool mounting bracket
30: second vertical link, 50: elastic member
70: Hydraulic expansion and contraction drive unit, 71: Hydraulic cylinder
75: piston, 77: retaining clip
80: screw expansion / contraction driving part, 81: motor, 85: screw bolt, 87: nut tube
90: Switch

Claims (7)

A lower link,
An upper link;
A first vertical link rotatably coupling between the lower link and one end of the upper link,
A second vertical link rotatably coupling between the lower link and the other end of the upper link,
An expanding and contracting driving unit mounted on any one of the surfaces of the lower link or the upper link,
And an elastic member fixed to one of the lower link and the upper link to which the stretchable and contractile driving unit is not mounted so that the elastic member is positioned in an oblique direction,
The expansion /
A motor,
A screw bolt which is axially coupled to the motor and is rotated according to rotation of the motor,
And a nut tube screwed to the screw bolt and coupled to one end of the elastic member.
delete A lower link,
An upper link;
A first vertical link rotatably coupling between the lower link and one end of the upper link,
A second vertical link rotatably coupling between the lower link and the other end of the upper link,
An expanding and contracting driving unit mounted on any one of the surfaces of the lower link or the upper link,
And an elastic member fixed to one of the lower link and the upper link to which the stretchable and contractile driving unit is not mounted so that the elastic member is positioned in an oblique direction,
The expansion /
A hydraulic cylinder;
And a piston mounted on the hydraulic cylinder so as to be drawn in or pulled out by hydraulic pressure, and a free end of which is coupled with one end of the elastic member.
The method according to claim 1 or 3,
Wherein a tool mounting bracket for tool mounting is formed on either the first vertical link or the second vertical link.
The method according to claim 1 or 3,
The expansion /
And further comprising a switch for retraction and movement.
A lower link,
An upper link;
A first vertical link rotatably coupling between the lower link and one end of the upper link,
A second vertical link rotatably coupling between the lower link and the other end of the upper link,
An expanding and contracting driving unit mounted on any one of the surfaces of the lower link or the upper link,
And an elastic member fixed to one of the lower link and the upper link to which the stretchable and contractile driving unit is not mounted so that the elastic member is positioned in an oblique direction,
A hinge shaft having an arcuate cross-section along a longitudinal direction is formed on a side surface of the first vertical link,
And a hinge groove having an arc shape in cross section along the longitudinal direction is formed on the side surface of the second vertical link to form a connecting muscle force assisting device.
The method according to claim 1,
And a hinge shaft having an arc shape in cross section along the longitudinal direction is formed on the side surface of the first vertical link to form a mounting muscle aiding assisting device.

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