KR101922556B1 - Muscular strength assistance device using the shape memory alloy spring - Google Patents

Abstract

The present invention relates to a shape memory alloy spring which is used for a body part such as an arm or a leg so as to take up a repetitive load by using a shrinkage or relaxation action of a shape memory alloy spring, Muscle strength assisting device.
To this end, a muscle force assisting apparatus using a shape memory alloy spring includes a first coupling unit coupled to a first body part, a second coupling unit coupled to a second body part disposed in a direction opposite to the first body part with respect to the joint, A thermal reaction drive unit having a shape memory alloy spring unit in which a shape is deformed while reacting with heat, an intention recognition sensor for sensing motion information for shape deformation of the shape memory alloy spring unit, And a thermal reaction control unit for controlling a current for shape deformation of the shape memory alloy spring unit.

Description

TECHNICAL FIELD [0001] The present invention relates to a muscle assist device using a shape memory alloy spring,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a muscle force assisting device using a shape memory alloy spring, and more particularly, to a muscle force assisting device using a shape memory alloy spring, The present invention relates to a muscle force assisting apparatus using a shape memory alloy spring capable of assisting in the operation and the resting state.

In general, workers at industrial sites, unloading workers, courier workers, and the like often perform an operation of repeatedly carrying heavy heavy objects.

Such work requires inconveniences such as heavy equipment, crane, pulley, and other auxiliary equipment depending on the situation of the person or the situation of the site. In addition, when people work directly, there is a problem of industrial disasters such as musculoskeletal injuries and avoidance of related occupation, as well as increased worker fatigue and work efficiency due to high work intensity. There is a problem that the use range is limited because a relatively large moving space or installation space is required.

Recently, there is a need for a muscle-assisted robot capable of supporting an additional force by using an actuator such as a motor or a hydraulic / pneumatic cylinder.

A conventional muscle force assist robot means a robot which is used by a person to wear or ride on a joint mechanism operated by an actuator, and which allows a force greater than a force that a user can exert with the help of an actuator.

However, in order to control the articulation portion of the conventional muscle-force-assisted robot, it is practically impossible to accurately obtain the physical property information of the robot that is changed between the robot manufacture, assembly, and operation, and the calculation time for generating the torque- There is a problem that it is required to overcome the problem. Such an excessive time required for the calculation causes a time delay between the driving of the robots, which causes the wearer to feel a sense of heterogeneity in wear.

Korean Patent Registration No. 10-1496417 (Muscle Force Assisted Robot for Knee Joints and Its Control Method, Announcement of Feb. 26, 2015)

SUMMARY OF THE INVENTION An object of the present invention is to solve the problems of the prior art, and it is an object of the present invention to provide a shape memory alloy spring which can be used for a body part such as an arm or a leg, And to provide a muscle force assisting device using a shape memory alloy spring that can help.

According to a preferred embodiment of the present invention to achieve the above object, a muscle force assisting apparatus using a shape memory alloy spring according to the present invention includes: a first coupling unit coupled to a first body part; A second coupling unit coupled to a second body part disposed in a direction opposite to the first body part with respect to the joint; A thermal reaction drive unit having a shape memory alloy spring unit that connects the first coupling unit and the second coupling unit, the shape of which is deformed in response to heat; An intention recognition sensor for sensing motion information for shape deformation of the shape memory alloy spring unit; And a thermal reaction control unit for controlling a current for shape deformation of the shape memory alloy spring unit based on the operation intention information.

Here, the thermal reaction drive unit includes a casing unit connected to and deformed together with the shape memory alloy spring unit, and the casing unit may be formed with an internal space in which the shape memory alloy spring unit is embedded.

Here, the casing unit may be formed with a vent hole so that air is passed therethrough in accordance with the shape deformation of the shape memory alloy spring unit.

Here, a first supporting member for connecting one side of the thermal reaction drive unit and the first coupling unit; And a second support member connecting the other side of the thermal reaction drive unit and the second engagement unit.

The muscle force assisting apparatus using the shape memory alloy spring according to the present invention includes a third coupling unit coupled to the first body part between the joint and the first coupling unit and connected to the thermal reaction drive unit; And a fourth coupling unit coupled to the second body part between the joint and the second coupling unit and connected to the thermal reaction drive unit; Or the like.

Here, the thermal reaction drive unit may include a first shape memory alloy spring unit body deforming in response to supplied heat based on operation intention information sensed by the intention recognition sensor, and a second shape memory alloy spring unit body A first thermal reaction drive unit having a first casing unit formed with a first inner space in which the first shape memory alloy spring unit is embedded and deformed together; A second shape memory alloy spring unit which is deformed in response to a supplied heat based on operation intention information sensed by the intention recognizing sensor, and a second shape memory alloy spring unit which is connected to and deformed together with the second shape memory alloy spring unit, A second thermal reaction drive unit having a second casing unit having a second inner space in which the memory alloy spring unit is embedded; And a fluid flow pipe for connecting the first casing unit and the second casing unit to communicate the first inner space and the second inner space.

Here, the fluid moving pipe may include: a first moving pipe connected to the first casing unit; A second moving pipe connected to the second casing unit; And a third moving pipe connecting the first moving pipe and the second moving pipe, the third moving pipe coupled with the first coupling unit.

Here, the shape memory alloy spring unit may include a shape memory alloy spring made of a shape memory alloy material.

The shape memory alloy spring unit may further include a resistance line for supplying heat to the shape memory alloy spring; And an insulating portion disposed between the shape memory alloy spring and the resistance wire to electrically isolate the shape memory alloy spring from the resistance wire.

Here, the thermal reaction control unit may include: a current driver connected to the resistance line to supply a current to the resistance line; And a current control unit for controlling a current supplied to the resistance line in the current driver according to the operation intention information.

According to the muscle force assisting device using the shape memory alloy spring according to the present invention, when the wearer wears the wearer's body such as an arm or a leg, the action of standing up with repetitive load using the contraction or relaxation action of the shape memory alloy spring, Can help.

In addition, the present invention provides a method and apparatus for minimizing computation time, preventing time delay in driving the apparatus, inducing natural movement of a body part on which a muscle force assisting device is installed, It is possible to prevent heterogeneity of the image.

In addition, the present invention can freely deform the shape of the thermal reaction drive unit despite the volume change of the casing unit while protecting the shape memory alloy spring through the casing unit.

In addition, the present invention can arrange a thermal reaction drive unit at a position similar to a user's muscle through the construction and arrangement of the coupling units, so that a light and soft muscle strength assisting device can be easily worn on a body part without interfering with the movement of the body part .

In addition, the present invention has an antagonistic structure in which the cooling fluid existing inside the first and second thermal reaction drive units are mutually shifted, so that the muscle power assisting device has a simple structure and exhibits a fast operation speed .

In addition, the present invention can increase the similarity to the movement of the actual muscles by connecting the two thermal reaction drive units via the fluid flow tube, and can facilitate joint motion by contraction and relaxation of the thermal reaction drive unit.

In addition, the present invention can stabilize the coupling of the thermal reaction drive unit through the coupling between the fluid transfer tube and the coupling unit, make the coupling between the fluid transfer tube and the thermal reaction drive unit and coupling unit robust, You can soften it.

Further, the present invention can electrically insulate the shape memory alloy spring from the resistance wire and the cooling fluid, and prevent current from leaking to the body part.

Further, since the present invention utilizes a large power density of the shape memory alloy spring, a large displacement is generated with respect to the joint motion of the body part, which contributes to miniaturization, weight reduction, and noise reduction of the muscle power assisting device.

Further, the present invention can quickly and accurately control the displacement of the thermal reaction drive unit while corresponding to the displacement of the actual muscle through the thermal reaction control unit.

In addition, the present invention can be easily worn on a body part relative to a joint, such as an arm or a leg, and can improve the utilization of the muscle power assisting device.

1 is a view showing a muscle power assisting apparatus using a shape memory alloy spring according to a first embodiment of the present invention.
2 is a view showing the shrinkage state of the first thermal reaction drive unit in the muscle strength assisting apparatus using the shape memory alloy spring according to the first embodiment of the present invention.
3 is a view showing a muscle force assisting device using a shape memory alloy spring according to a second embodiment of the present invention.
4 is a view showing a contracted state of a first thermal reaction drive unit in a muscle force assisting apparatus using a shape memory alloy spring according to a second embodiment of the present invention.
5 is a view showing a muscle force assisting device using a shape memory alloy spring according to a third embodiment of the present invention.
6 is a view showing a contracted state of the first thermal reaction drive unit in the muscle strength assisting apparatus using the shape memory alloy spring according to the third embodiment of the present invention.

Hereinafter, an embodiment of a muscle force assisting apparatus using a shape memory alloy spring according to the present invention will be described with reference to the accompanying drawings. Here, the present invention is not limited or limited by the examples. Further, in describing the present invention, a detailed description of well-known functions or constructions may be omitted for clarity of the present invention.

It is explained that the muscle force assisting device using the shape memory alloy spring according to each embodiment of the present invention is worn on the arm. When the muscle strength assisting device using the shape memory alloy spring according to each embodiment of the present invention is worn on the arm, the upper arm corresponds to the first body part BU, the lower arm part corresponds to the second body part BD, And the elbow joint corresponds to the joint BJ.

A muscle force assisting apparatus using a shape memory alloy spring according to a first embodiment of the present invention will be described with reference to Figs. 1 and 2. Fig.

The muscle force assisting device using the shape memory alloy spring according to the first embodiment of the present invention is designed to prevent the movement of the wearer by standing up with repetitive load using the contraction or relaxation action of the shape memory alloy spring 411, I can help you.

The muscle strength assisting device using the shape memory alloy spring according to the first embodiment of the present invention includes a first coupling unit 10, a second coupling unit 20, a thermal reaction drive unit, an intention recognition sensor 30 , And a thermal reaction control unit.

The first coupling unit 10 is coupled to the first body part BU.

The first binding unit 10 includes a first band unit 11 arranged to surround the first body part BU and the first band unit 11 is connected to the first body part BU, And a first coupling part 12 for fixing the first band part 11 to the first body part BU in a wrapping state.

The first band part 11 may wrap the first body part BU in a band form. The first band part 11 is made of elastic material such as ring-shaped rubber and can be directly worn on the first body part BU.

The first coupling portion 12 is provided in the first band portion 11 for coupling. The first coupling portion 12 may be formed of a velcro, a clip, a ring, or the like. Then, the first coupling portion 12 may be coupled by a method such as Velcro coupling, interference fit, hook coupling, or the like. The first binding part 12 may fix the first band part 11 to the first body part BU while the first band part 11 surrounds the first body part BU .

At this time, the muscle strength assisting device may include a first supporting member connecting one side of the thermal reaction drive unit and the first coupling unit 10 (or the first band portion 11).

The first support member may connect one side of the thermal reaction drive unit and the first band portion 11 in a wire form. The first support member may have a variable length corresponding to the shape deformation of the thermal reaction drive unit.

The first support member includes a first front support member 131 connecting one side of the first thermal reaction drive unit 40a and the first coupling unit 10 (or the first band unit 11) And a first rear support member 132 connecting one side of the second thermal reaction drive unit 40b and the first coupling unit 10 (or the first band 11).

The second coupling unit 20 is coupled to the second body part BD. The second body part BD is disposed in a direction opposite to the first body part BU with respect to the joint.

The second binding unit 20 includes a second band unit 21 disposed to surround the second body part BD so that the second band unit 21 vibrates the second body part BD And a second coupling part 22 for fixing the second band part 21 to the second body part BD in a wrapping state.

The second band part 21 may wrap the second body part BD in the form of a band. The second band portion 21 is made of elastic material such as ring-shaped rubber and can be directly worn on the second body part BD.

The second coupling portion 22 is provided in the second band portion 21 for coupling. The second engagement portion 22 may be formed of a velcro, a clip, a ring, or the like. Then, the second engaging portion 22 may be coupled by a method such as Velcro coupling, interference fit, hook coupling, or the like. The second coupling portion 22 may fix the second band portion 21 to the second body portion BD in a state in which the second band portion 21 surrounds the second body portion BD .

At this time, the muscle force assisting device may include a second supporting member connecting the other side of the thermal reaction drive unit and the second coupling unit 20 (or the second band portion 21).

The second support member may connect the other end of the thermal reaction drive unit and the second band portion 21 in a wire form. The second support member may have a variable length corresponding to the shape deformation of the thermal reaction drive unit.

The second support member includes a second front support member 231 connecting the other side of the first thermal reaction drive unit 40a and the second coupling unit 20 (or the second band portion 21) And a second rear support member 232 connecting the other side of the second thermal reaction drive unit 40b and the second coupling unit 20 (or the second band unit 21).

The thermal reaction drive unit connects the first coupling unit 10 and the second coupling unit 20 to each other in such a manner that the thermal reaction drive unit is coupled to the first body part BU and the second body part BD, The shape changes during the reaction. The thermal reaction drive unit may contract or relax along the longitudinal direction of the body part in response to heat.

The thermal reaction drive unit includes a shape memory alloy spring unit 41 whose shape is deformed in response to heat. The shape memory alloy spring unit 41 may be provided as one unit, or two or more units may be arranged in parallel to receive a load transmitted to the arm.

The shape memory alloy spring unit 41 includes a shape memory alloy spring 411 made of a shape memory alloy material, a resistance wire 412 for supplying heat to the shape memory alloy spring 411, And an insulating member 413 disposed between the spring 411 and the resistance wire 412 to electrically isolate the shape memory alloy spring 411 from the resistance wire 412.

The shape memory alloy springs 411 can be formed by spring-shaped wires of a shape memory alloy material and can be contracted or relaxed by the heat supplied through the resistance wires 412. The resistance wire 412 can be wound on the shape memory alloy spring 411. The shape memory alloy springs 411 may be formed of various heat reacting materials that react by heat such as shape memory resin, shape memory polymer (SMP), carbon nanotube, And may be made of polyethylene, polyamide, nylon, or the like.

The thermal reaction drive unit may further include a casing unit connected to and deformed together with the shape memory alloy spring unit 41. At this time, an internal space in which the shape memory alloy spring unit 41 is embedded is formed in the casing unit, so that the shape memory alloy spring unit 41 is protected, and the shape deformation is simplified. The casing unit is also deformed together with the shape deformation of the shape memory alloy spring unit 41 so that the casing unit is not interfered with the shape memory alloy spring unit 41. [

Here, in the casing unit according to the first embodiment of the present invention, a through hole 423a is formed so as to allow air to pass through the shape memory alloy spring unit 41 according to the shape change of the shape memory alloy spring unit 41, 41 can be smoothly deformed according to the shape deformation of the casing unit, and the reaction speed of the shape memory alloy spring unit 41 can be prevented from being lowered.

At least two of the thermal reaction drive units are disposed so as to be spaced apart from each other so that one side is coupled to the first coupling unit 10 and the other side is coupled to the second coupling unit 20.

In the first embodiment of the present invention, the thermal reaction drive unit may be divided into a first thermal reaction drive unit 40a and a second thermal reaction drive unit 40b. The shape memory alloy spring unit 41 has the first shape memory alloy spring unit 41a included in the first thermal reaction drive unit 40a and the second shape memory alloy spring unit 41b included in the second thermal reaction drive unit 40b, And the second shape memory alloy spring unit 41b. The casing unit may be divided into a first casing unit 420a included in the first thermal reaction drive unit 40a and a second casing unit 420b included in the second thermal reaction drive unit 40b .

The first thermal reaction drive unit 40a includes a first shape memory alloy spring unit 41a and a second shape memory alloy spring unit 41b which are deformed in response to heat supplied from the intention recognition sensor 30, And a first casing unit 420a connected to the first shape memory alloy spring unit 41a and deformed together. The first housing unit 420a is formed with a first internal space 42a in which the first shape memory alloy spring unit 41a is housed. In addition, the above-described vent hole 423a is formed in the first casing unit 420a.

The first shape memory alloy spring unit 41a has the same configuration as the shape memory alloy spring unit described above, and a description thereof will be omitted.

The first casing unit 420a includes a telescopic expansion pipe 423, a first cap 421 disposed at one end of the expansion pipe 423, a second cap 421 disposed at the other end of the expansion pipe 423, And may include a cap 422. At this time, the expansion pipe 423 is provided with the vent hole 423a.

In the first embodiment of the present invention, a bellows pipe is used as the expansion pipe 423, but the present invention is not limited thereto. If the expansion pipe 423 has a material or structure deformable by an external force, Do.

The first stopper 421 is hermetically coupled to one side of the extension pipe 423 and the second stopper 422 is hermetically coupled to the other end of the extension pipe 423, Thereby forming the inner space.

One end of the first shape memory alloy spring unit 41a is connected to a current driver 52 to be described later while passing through the first stopper 421. The other end of the first shape memory memory alloy spring unit 41a is connected to the And is connected to a current driver 52, which will be described later, through the second cap 422. One end of the first shape memory alloy spring unit 41a is engaged with the first stopper 421 and the other end of the first shape memory alloy spring unit 41a is coupled with the second stopper 422 do.

The first stopper 421 and the second stopper 422 are moved together along the longitudinal direction of the shape memory alloy spring 411 when the first shape memory alloy spring unit 41a is contracted or relaxed, The first stopper 421 and the second stopper 422 move so that the extension pipe 423 coupled with the first stopper 421 and the second stopper 422 is contracted or relaxed.

It is preferable that the first stopper 421 and the second stopper 422 have heat resistance capable of withstanding the temperature change of the first shape memory alloy spring unit 41a.

It is needless to say that the first embodiment of the present invention is not limited to this but the through hole in which one end of the first shape memory alloy spring unit 41a passes and the other end of the first shape memory alloy spring unit 41a A sealing member (not shown) may be provided on the through-hole.

The second thermal reaction drive unit 40b includes a second shape memory alloy spring unit 41b deformed in response to heat supplied from the intention recognition sensor 30, And a second casing unit 420b connected to and deformed together with the second shape memory alloy spring unit 41b. Here, the second casing unit 420b is formed with a second inner space 42b in which the second shape memory alloy spring unit 41b is embedded. In addition, the above-described vent hole 423a is formed in the second casing unit 420b.

The second shape memory alloy spring unit 41b has the same configuration as that of the shape memory alloy spring unit 41 described above, and a description thereof will be omitted.

The second casing unit 420b has the same configuration as that of the first casing unit 420a, and a description thereof will be omitted.

The intention recognizing sensor 30 senses operation intention information for deforming the shape memory alloy spring unit 41. The intention recognizing sensor 30 may include a pressure sensor for sensing the pressure generated between the wearer and the heavy object according to the grip of the heavy object, the movement of the heavy object, and the support of the heavy object. In addition, the intention recognition sensor 30 may include a strain gauge that senses electrical resistance, which is changed by an external force generated by holding a heavy object, moving a heavy object, or supporting a heavy object. In addition, the intention recognition sensor 30 may include an electromyogram sensor for sensing movements of muscles (contraction or expansion of muscles) according to gripping of heavy objects, movement of heavy objects, and support of heavy objects.

Here, the position of the intention recognizing sensor 30 is not limited, and the strength-assisting device can be installed variously according to the position of the muscle-stimulating device on the body part.

For example, the intention recognizing sensor 30 may be installed in at least one of the first combining unit 10 and the second combining unit 20 to sense the operation intention information.

The thermal reaction control unit controls the current for deforming the shape memory alloy spring unit 41 based on the operation intention information.

For example, when the operation intention information is based on a pressure value sensed by the pressure sensor, a current value for deforming the shape memory alloy spring unit 41 is increased as the pressure value is increased, As the pressure value becomes smaller, the current value for deforming the shape memory alloy spring unit 41 can be controlled to be smaller.

As another example, when the operation intention information is based on the resistance value sensed by the strain gauge, the current value for shape deformation of the shape memory alloy spring unit 41 increases as the resistance value increases, As the resistance value decreases, the current value for deforming the shape memory alloy spring unit 41 can be controlled to be small.

As another example, when the motion intention information is based on the motion of the muscle sensed by the electromyogram sensor, the current value for deforming the shape memory alloy spring unit 41 becomes larger as the movement of the muscle becomes larger And the current value for deforming the shape memory alloy spring unit 41 can be controlled to be smaller as the motion of the muscle is smaller.

The thermal reaction control unit includes a current driver 52 connected to the resistance line 412 to supply a current to the resistance line 412 and a resistance line 412 connected to the resistance line 412 in the current driver 52, And a current control unit 53 for controlling the current to be supplied to the control unit. The thermal reaction control unit may further include a power source unit 51 in which the power source is charged to supply the current to the current driver 52.

In the first embodiment of the present invention, the thermal reaction drive unit is divided into a first thermal reaction drive unit 40a and a second thermal reaction drive unit 40b, A second thermal reaction control unit 50a, and a second thermal reaction control unit 50b.

The first thermal reaction control unit 50a includes a current driver 52 connected to the resistance line 412 like the thermal reaction control unit and supplying a current to the resistance line 412, And a current control unit 53 for controlling the current supplied to the resistance line 412 by the current driver 52. The power source unit 51 is charged with power to supply current to the current driver 52, As shown in FIG.

The second thermal reaction control unit 50b includes a current driver 52 connected to the resistance line 412 like the thermal reaction control unit and supplying a current to the resistance line 412, , And a current control unit (53) for controlling the current supplied to the resistance line (412) by the current driver (52) according to the control signal 51).

As shown in FIG. 2, when the wearer bends his / her arm, the intention recognition sensor 30 senses the bending motion of the arm and senses the bending motion of the arm using the shape memory alloy spring according to the first embodiment of the present invention. The current control unit 53 provided in the first thermal reaction control unit 50a controls the corresponding current driver 52 based on the operation intention information, The first thermal reaction drive unit 40a is contracted while the second body part BD is rotated to face the first body part BU with respect to the joint BJ, .

Here, the first thermal reaction drive unit 40a is disposed in front of the first body part BU and the second thermal reaction drive unit 40b is disposed in the rear of the first body part BU The force generated by the shrinkage of the first thermal reaction drive unit 40a can sufficiently act on the second body part BD corresponding to the bending operation of the arm.

The front of the first body part BU means that when the second body part BD is rotated to face the first body part BU in accordance with the bending operation of the arm, ) Of the second body part (BD). The rear of the first body part BU means a part facing the front of the first body part BU.

When the wearer stretches his or her arm, the intention recognizing sensor 30 senses the arm extension action and generates motion intention information for expanding the arm. Accordingly, based on the intention information of the arm, The current control unit 53 provided in the control unit 50b controls the corresponding current driver 52 so that the second thermal reaction drive unit 40b is contracted while the second body part BD is in contact with the joints BJ of the first body part BU, it is possible to simplify the operation of spreading the arms.

The current driver 52 provided in the second thermal reaction control unit 50b controls only the current driver 52 provided in the first thermal reaction control unit 50a when the wearer bends his / The supply can be blocked.

When the wearer stretches his / her arm, only the current driver 52 provided in the second thermal reaction control unit 50b is controlled. In the current driver 52 provided in the first thermal reaction control unit 50a, The supply of current can be cut off.

In the first embodiment of the present invention, the first thermal reaction drive unit 40a is disposed in front of the first body part BU and the second thermal reaction drive unit 40b is disposed in front of the first body part BU, The first body part BU is disposed at the rear of the first body part BU and has an antagonistic structure. However, the present invention is not limited to this, Only the reaction drive unit 40a may be disposed, and only the second thermal reaction drive unit 40b may be disposed behind the first body part BU.

When only the first thermal reaction drive unit 40a is arranged in front of the first body part BU, the second thermal reaction drive unit 40b is disposed behind the first body part BU in place of the second thermal reaction drive unit 40b An elastic spring unit (not shown) can be disposed. The elastic spring unit (not shown) is elastically deformed by an external force.

When only the second thermal reaction drive unit 40b is disposed behind the first body part BU, the first thermal reaction drive unit 40a is disposed in front of the first body part BU, The elastic spring unit (not shown) can be arranged instead.

Although not shown, in the first embodiment of the present invention, when the vent hole 423a is omitted and the cooling fluid is received in the first casing unit 420a, the first thermal reaction drive unit 40a is cooled (Not shown) in which the fluid is stored, and a first fluid connection pipe (not shown) connecting the first fluid tank (not shown) and the first casing unit 420a .

When the first thermal reaction drive unit 40a is contracted, the cooling fluid stored in the first casing unit 420a is transferred to the first fluid tank (not shown) The cooling fluid stored in the first fluid tank (not shown) is moved to the first inner space 42a of the first casing unit 420a. At this time, the first fluid tank (not shown) is elastically deformed according to the movement of the cooling fluid, and the inner volume is changed to smooth the movement of the cooling fluid.

In the first embodiment of the present invention, when the ventilation hole 423a is omitted and the cooling fluid is received in the second casing unit 420b, the second thermal reaction drive unit 40b is provided with the first A second fluid tank (not shown) in which a cooling fluid is stored in the same manner as the thermal reaction drive unit 40a, a second fluid connection pipe (not shown) connecting the second fluid tank and the second casing unit 420b, As shown in FIG.

Now, with reference to Figs. 3 and 4, a description will be given of a muscle force assisting device using a shape memory alloy spring according to a second embodiment of the present invention.

The muscle force assisting device using the shape memory alloy spring according to the second embodiment of the present invention has a structure in which an operation for standing up with a repetitive load using the contraction or relaxation action of the shape memory alloy spring 411 worn on the arm, I can help you.

The muscle force assisting apparatus using the shape memory alloy spring according to the second embodiment of the present invention includes a first coupling unit 10, a second coupling unit 20, a thermal reaction drive unit, an intention recognition sensor 30 , And a thermal reaction control unit.

In the second embodiment of the present invention, the same components as those of the first embodiment of the present invention are denoted by the same reference numerals, and a description thereof will be omitted.

However, in the second embodiment of the present invention, the thermal reaction drive unit may include a first thermal reaction drive unit 40a, a second thermal reaction drive unit 40b, and a fluid transfer pipe 40c.

The first thermal reaction drive unit 40a and the second thermal reaction drive unit 40b are the same as the first and second thermal reaction drive units 40a and 40b described in the first embodiment of the present invention, ), And a description thereof will be omitted.

The fluid moving pipe 40c connects the first casing unit 420a and the second casing unit 420b to communicate the first inner space 42a and the second inner space 42b. The fluid transfer tubes 40c may be provided one or more than two.

The first internal space 42a, the second internal space 42b, and the fluid moving tube 40c are filled with a cooling fluid, and water can be used as the cooling fluid. The second embodiment of the present invention is not limited to this, and any liquid or gaseous substance which can be moved by an external force is applicable.

A first connection hole 421a is formed in the first stopper 421 of the first casing unit 420a and a second connection hole 421b is formed in the second casing unit 420b, And the second connection hole 421b is formed through the first stopper 421 provided in the second housing 421a.

The fluid moving pipe 40c includes a first moving pipe 401 connected to the first casing unit 420a, a second moving pipe 402 connected to the second casing unit 420b, And a third moving pipe 403 connecting the first moving pipe 401 and the second moving pipe 402.

One end of the first moving pipe 401 is connected to the first connecting hole 421a and the other end of the first moving pipe 401 is connected to one end of the third moving pipe 403.

One end of the second moving pipe 402 is connected to the second connecting hole 421b and the other end of the second moving pipe 402 is connected to the other end of the third moving pipe 403.

In addition, the third moving pipe 403 is coupled to the first coupling unit 10 to prevent the fluid moving pipe 40c from interfering with the movement of the arm. The third moving pipe 403 is embedded in the first coupling unit 10 to protect the fluid moving pipe 40c and to prevent the leakage of the cooling fluid moving inside the fluid moving pipe 40c .

As shown in FIG. 4, when the user bends his or her arm as shown in FIG. 4, the intention recognition sensor 30 senses the bending motion of the arm, The current control unit 53 provided in the first thermal reaction control unit 50a controls the corresponding current driver 52 based on the operation intention information, The first thermal reaction drive unit 40a is contracted while the second body part BD is rotated to face the first body part BU with respect to the joint BJ, .

At this time, when the first thermal reaction drive unit 40a shrinks, the cooling fluid stored in the first casing unit 420a flows into the second casing unit 420b provided in the second thermal reaction drive unit 40b, And the second thermal reaction drive unit 40b is relaxed by the cooling fluid moved to the second casing unit 420b.

When the wearer stretches his or her arm, the intention recognizing sensor 30 senses the arm extension action and generates motion intention information for expanding the arm. Accordingly, based on the intention information of the arm, The current control unit 53 provided in the control unit 50b controls the corresponding current driver 52 so that the second thermal reaction drive unit 40b is contracted while the second body part BD is in contact with the joints BJ of the first body part BU, it is possible to simplify the operation of spreading the arms.

In this case, when the second thermal reaction drive unit 40b shrinks, the cooling fluid stored in the second casing unit 420b flows through the first casing unit 420a provided in the first thermal reaction drive unit 40a, And the first thermal reaction drive unit 40a is relaxed by the cooling fluid moved to the first casing unit 420a.

The current driver 52 provided in the second thermal reaction control unit 50b controls only the current driver 52 provided in the first thermal reaction control unit 50a when the wearer bends his / The supply can be blocked.

When the wearer stretches his / her arm, only the current driver 52 provided in the second thermal reaction control unit 50b is controlled. In the current driver 52 provided in the first thermal reaction control unit 50a, The supply of current can be cut off.

In the second embodiment of the present invention, the first thermal reaction drive unit 40a is disposed in front of the first body part BU and the second thermal reaction drive unit 40b is disposed in front of the first body part BU) to have an antagonistic structure.

Hereinafter, referring to Figs. 5 and 6, a description will be given of a strength assisting device using a shape memory alloy spring according to a third embodiment of the present invention. Fig.

The muscle force assisting apparatus using the shape memory alloy spring according to the third embodiment of the present invention is designed to prevent the movement of the wearer's arm by taking up a repetitive load using the contraction or relaxation action of the shape memory alloy spring 411, I can help you.

The muscle force assisting device using the shape memory alloy spring according to the third embodiment of the present invention includes a first coupling unit 10, a second coupling unit 20, a thermal reaction drive unit, an intention recognition sensor 30 , And a thermal reaction control unit.

In the third embodiment of the present invention, the same reference numerals are assigned to the same components as those of the first embodiment or the second embodiment of the present invention, and a description thereof will be omitted.

However, the muscle force assisting apparatus using the shape memory alloy spring according to the third embodiment of the present invention may further include at least one of the third combining unit 60 and the fourth combining unit 70. [

The third coupling unit 60 is coupled to the first body part BU between the joint BJ and the first coupling unit 10. The third coupling unit (60) is connected to the thermal reaction drive unit.

The third coupling unit 60 may be connected to the second coupling unit 20 via the second support member. The first coupling hole (63) through which the second supporting member passes may be formed in the third coupling unit (60). Then, the second support member can move in the first through hole 63 according to the movement of the arm.

The third binding unit 60 includes a third band 61 disposed to surround the first body part BU and a third band 61 surrounding the first body part BU, And a third coupling part 62 for fixing the third band part 61 to the first body part BU.

The third band part 61 may wrap the first body part BU in a band form.

The third coupling portion 62 is provided in the third band portion 61 for coupling. The third coupling portion 62 may be formed of a velcro, a clip, a ring, or the like. Then, the third coupling portion 62 may be coupled by a method such as Velcro coupling, interference fit, hook coupling, or the like. The third coupling part 62 may fix the third band part 61 to the first body part BU while the third band part 61 surrounds the first body part BU .

The first thermal reaction drive unit 40a is configured to move from the front of the first body part BU to the first thermal reaction drive unit 40a while smoothly contracting or relaxing the first thermal reaction drive unit 40a through the third coupling unit 60. [ And can be prevented from being separated. Further, in the bending operation of the arm or the unfolding operation of the arm, the position of the first thermal reaction drive unit (40a) is clarified in front of the first body part (BU) It is possible to prevent dispersion of force caused by contraction or relaxation of the first thermal reaction drive unit 40a and to prevent the first thermal reaction drive unit 40a from interfering with the first body part BU.

The fourth coupling unit 70 is coupled to the second body part BD between the joint BJ and the second coupling unit 20. The fourth coupling unit 70 is connected to the thermal reaction drive unit.

At this time, one side of the second thermal reaction drive unit 40b disposed behind the first body part BU is connected to the first coupling unit 10, and the second thermal reaction drive unit 40b, Is connected to the fourth coupling unit (70) via the second support member.

Although not shown, the fourth coupling unit 70 can be connected to the second coupling unit 20 via the second support member. The fourth coupling unit 70 may be formed with a second through hole 73 through which the second support member passes. Then, the second supporting member can move in the second through hole 73 according to the movement of the arm.

The fourth binding unit 70 includes a fourth band part 71 arranged to surround the second body part BD and a fourth band part 71 surrounding the second body part BD, And a fourth coupling part 72 for fixing the fourth band part 71 to the second body part BD.

The fourth band part 71 may wrap the second body part BD in a band form.

The fourth coupling portion 72 is provided in the fourth band portion 71 for coupling. The fourth engaging portion 72 may be formed of a velcro, a clip, a ring, or the like. Then, the fourth engaging portion 72 may be coupled by a method such as Velcro coupling, interference fit, hook coupling, or the like. The fourth binding portion 72 may fix the fourth band portion 71 to the second body part BD in a state in which the fourth band portion 71 surrounds the second body portion BD .

The second front support member 231 of the second support members is not connected to the fourth engagement unit 70 through the fourth engagement unit 70. Therefore, in the bending operation of the arms or the extension operation of the arms , The shrinking or relaxing operation of the first thermal reaction drive unit 40a can be accurately transmitted to the second body part BD.

Particularly, the other side of the second thermal reaction drive unit 40b is coupled to the fourth coupling unit 70 so that the shrinking or relaxing operation of the second thermal reaction drive unit 40b is performed by the first body part BU To simulate the movement of the muscles formed on the arm, and to clarify the movement of the arm.

Reference numeral 300 denotes a third supporting member 300 connecting the first coupling unit 10 and the second coupling unit 20. The third support member 300 may be disposed between at least one of the third coupling unit 60 and the fourth coupling unit 70 between the first coupling unit 10 and the second coupling unit 20, Thereby improving the accuracy of the motion of the arm with respect to the movement of the arm, and allowing the muscle force assisting device to be stably placed and fixed on the body part.

In this case, when the third support member 300 is connected to the third coupling unit 60, the third support member 300 may be movably passed through the first passage hole 63. In addition, when the third support member 300 is connected to the fourth coupling unit 70, the third support member 300 may be movably passed through the second through hole 73. In addition, the third support member 300 may connect and fix the fourth coupling unit 70 and the second coupling unit 20.

The muscle force assisting device using the shape memory alloy spring according to each embodiment of the present invention is not limited to this and can be worn on the legs. When the muscle force assisting device using the shape memory alloy spring according to each embodiment of the present invention is worn on the leg, the femur corresponds to the first body part BU, the calf corresponds to the second body part BD, The knee joint corresponds to the joint (BJ).

According to the muscle force assisting device using the shape memory alloy spring described above, an operation of standing up by taking up a repetitive load using the contraction or relaxation action of the shape memory alloy spring 411 by being worn on a body part such as an arm or a leg, Bertie can help you with the situation.

Further, in the control of the muscle power assisting device, the calculation time is minimized, time delay is not caused in driving the apparatus, and the natural movement of the body part where the muscle assist device is installed is induced, Can be prevented.

In addition, while the shape memory alloy spring 411 is protected through the casing unit, the shape of the thermal reaction drive unit can be deformed in spite of the volume change of the casing unit.

Further, by arranging and arranging the coupling units, the thermal reaction drive unit can be disposed at the same or similar position as the muscles of the user, so that the light and soft muscle strength assisting device can be easily worn on the body part without interfering with the movement of the body part have.

In addition, since the cooling fluid existing inside the first and second thermal reaction drive units 40a and 40b has an antagonistic structure, the muscle force assisting device has a simple structure It can exhibit a fast operating speed.

Further, since the two thermal reaction drive units are connected to each other via the fluid transfer tube 40c, the degree of similarity to the motion of the actual muscle can be increased, and the thermal reaction drive unit can be easily contracted and relaxed, have.

Further, it is possible to stabilize the coupling of the thermal reaction drive unit through the coupling between the fluid transfer tube 40c and the coupling unit, and to firmly couple the fluid transfer tube 40c, the thermal reaction drive unit, And it is possible to smooth the movement of the cooling fluid.

In addition, it is possible to electrically insulate the shape memory alloy spring 411 from the resistance wire 412 and the cooling fluid, thereby preventing leakage of current to the body part.

Further, since the shape memory alloy spring 411 uses a large power density, large displacement is generated with respect to the joint motion of the body part, which contributes to downsizing, weight saving, and noise reduction of the muscle power assisting device.

In addition, it is possible to control the displacement of the thermal reaction drive unit quickly and accurately while corresponding to the displacement of the actual muscle through the thermal reaction control unit.

In addition, it can be easily worn on a body part relative to a joint, such as an arm or a leg, and the utilization of the muscle power assisting device can be improved.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, Modify or modify the Software.

BU: 1st body part BJ: joint BD: 2nd body part
10: first coupling unit 11: first band portion 12: first coupling portion
131: first front support member 132: first rear support member 20: second coupling unit
21: second band portion 22: second coupling portion 231: second front support member
232: second rear support member 30: intention recognition sensor 40a: first heat reaction drive unit
40b: second column reaction drive unit 40c: fluid moving tube 401: first moving tube
402: second moving pipe 403: third moving pipe
41: shape memory alloy spring unit 41a: first shape memory alloy spring unit
41b: second shape memory alloy spring unit 411: shape memory alloy spring
412: resistance wire 413: insulating member 420a: first casing unit
420b: second casing unit 421: first stopper 421a: first connection hole
421b: second connection hole 422: second stopper 423: extension pipe
423a: vent hole 42a: first inner space 42b: second inner space
50a: first thermal reaction control unit 50b: second thermal reaction control unit
51: power supply unit 52: current driver 53: current control unit

Claims (10)

A first binding unit coupled to the first body part;
A second coupling unit coupled to a second body part disposed in a direction opposite to the first body part with respect to the joint;
A thermal reaction drive unit having a shape memory alloy spring unit connecting the first coupling unit and the second coupling unit and deforming in response to heat corresponding to movement of the first body part and the second body part;
An intention recognition sensor that senses information on the intention of the wearer for contraction or relaxation of the shape memory alloy spring unit; And
And a thermal reaction control unit for controlling a magnitude of a current value for contraction or relaxation of the shape memory alloy spring unit based on the operation intention information,
Wherein the thermal reaction drive unit includes a first thermal reaction drive unit disposed in front of the first body part and a second thermal reaction drive unit disposed behind the first body part, Unit and the second thermal reaction drive unit have an antagonistic structure, and when the first thermal reaction drive unit is contracted, the second thermal reaction drive unit is relaxed. The method according to claim 1,
Wherein the first thermal reaction drive unit includes: a first shape memory alloy spring unit that is deformed in response to a supplied heat based on operation intention information sensed by the intention recognition sensor; and a second shape memory alloy spring unit And a first casing unit having a first internal space in which the first shape memory alloy spring unit is embedded,
Wherein the second thermal reaction drive unit includes: a second shape memory alloy spring unit that deforms while reacting with supplied heat based on the degree of operation information sensed by the intention recognition sensor; and a second shape memory alloy spring unit And a second casing unit formed with a second internal space in which the second shape memory alloy spring unit is embedded, the second internal space being embedded in the second shape memory alloy spring unit. 3. The method of claim 2,
Wherein the first casing unit is formed with a vent hole to allow air to pass therethrough in accordance with the shape deformation of the first shape memory alloy spring unit. The method according to claim 1,
A first support member connecting one side of the first thermal reaction drive unit and one side of the second thermal reaction drive unit to the first engagement unit; And
Further comprising a second support member for connecting the other side of the first thermal reaction drive unit and the other side of the second thermal reaction drive unit to the second engagement unit. . The method according to claim 1,
A third coupling unit coupled to the first body part between the joint and the first coupling unit and connected to the first thermal reaction drive unit and the second thermal reaction drive unit; And a fourth coupling unit coupled to the second body part between the joint and the second coupling unit and connected to the first thermal reaction drive unit and the second thermal reaction drive unit; Wherein the shape memory alloy spring further comprises at least one of the shape memory alloy spring. 3. The method of claim 2,
Wherein the thermal reaction drive unit further comprises a fluid movement pipe for connecting the first casing unit and the second casing unit to communicate the first inner space and the second inner space. . The method according to claim 6,
The fluid flow pipe
A first moving pipe connected to the first casing unit;
A second moving pipe connected to the second casing unit; And
And a third moving pipe connecting the first moving pipe and the second moving pipe, the third moving pipe being coupled to the first coupling unit. The method according to claim 1,
In the shape memory alloy spring unit,
A shape memory alloy spring comprising a shape memory alloy spring made of a shape memory alloy material. 9. The method of claim 8,
In the shape memory alloy spring unit,
A resistance line for supplying heat to the shape memory alloy spring; And
Further comprising: an insulating portion disposed between the shape memory alloy spring and the resistance wire to electrically isolate the shape memory alloy spring from the resistance wire. 10. The method of claim 9,
Wherein the thermal reaction control unit comprises:
A current driver connected to the resistance line to supply a current to the resistance line; And
And a current control unit for controlling a current supplied to the resistance wire by the current driver according to the operation intention information.

Images