KR101930418B1 - Upper limb rehabilitation robot - Google Patents

Abstract

An embodiment of the present invention provides an upper limb rehabilitation robot capable of increasing the efficiency of rehabilitation treatment, reducing the burden on joints during rehabilitation exercise, and providing various output responses. Here, the upper limb rehabilitation robot includes a first driving module, a first base module, a second driving module, and a rotation module. The first drive module includes an output unit coupled to the flex spline of the harmonic drive and outputting a first power, which is a rotational force about the first axis. The output unit includes an output unit and an output unit. Which is a rotational force of the first motor. The first base module is coupled to the output unit and the input unit and rotates about the first axis. The first base module receives the second power from the outside, receives the second power from the first drive module, and receives the first power from the first drive module. The second drive module is coupled to the first base module and outputs a rotational force about a second axis perpendicular to the first axis. The rotation module is coupled to the first base module and rotates about an axial direction parallel to the second axis by a rotational force provided by the second drive module.

Description

{UPPER LIMB REHABILITATION ROBOT}

The present invention relates to an upper limb rehabilitation robot, and more particularly, to an upper limb rehabilitation robot capable of enhancing rehabilitation efficiency, reducing the burden on joints during rehabilitation exercise, and capable of various output responses.

The harmonic drive (Harmonic Drive) is a kind of reducer. Generally, a harmonic drive consists of a cylindrical circular spline, a cup-shaped flex spline and a wave generator. The wave generator usually has an elliptical shape and is installed inside the flex spline. The flex spline equipped with the wave generator is installed on the inner circumference of the circular spline. Generally, the inner circumferential surface of the circular spline and the outer circumferential surface of the flex spline are configured such that the teeth are processed to prevent slippage.

The harmonic drive is widely used for a device for obtaining a precise reduction ratio, for example, a robot of various fields, because it has a small size, a light weight, a high reduction ratio, a large transmission torque capacity and a small backlash.

Recently, the use area of robot, which was mainly used in the industrial field, is expanding. Especially in the aging society, it is being spread and used as a robot for rehabilitation therapy, which can be utilized by the elderly, patients and persons with impaired mobility. The robot for rehabilitation therapy can measure the repeatability of enabling the user to repeat the training, the accuracy that enables the user to train by implementing the motion required by the doctor or the therapist, and the reaction and treatment effect of the user. Due to the advantages of quantitative properties, the range of application is getting wider.

On the other hand, among the robots for rehabilitation, physiological interaction between the user and the robot is important for the robot for rehabilitation therapy, which is used for upper limb rehabilitation treatment such as a hand that is paralyzed by a stroke, arm rehabilitation such as a knee and pelvis. For example, when the user's motion force is not sufficient, it is necessary to reduce the load by providing power to be rotated in the direction of the joint motion in order to prevent injury of the user. In addition, when the user's motion power is sufficient, control such as increasing the load in the opposite direction of the joint motion is required to increase the motion effect. Accordingly, there is a need for a driving device capable of sensing the user's movement force and feeding back the output quickly and variously. In addition, it is required to design for reducing the burden of joints during rehabilitation exercise by improving the rehabilitation efficiency by enabling each joint rotation of the upper limb to be performed naturally.

Open Patent Publication No. 2012-0095585 (Published on 2015.08.29.)

SUMMARY OF THE INVENTION It is an object of the present invention to provide an upper limb rehabilitation robot capable of increasing the efficiency of rehabilitation treatment, reducing the burden of joints during rehabilitation exercise, and providing various output responses.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. There will be.

According to an aspect of the present invention, there is provided a harmonic drive comprising: an output unit coupled to a flex spline of a harmonic drive and outputting a first power as a rotational force about a first axis; A first driving module provided on an outer side of the output portion and having an input portion into which a second power, which is a rotational force externally from the first axis, is input; A second driving unit that is coupled to the output unit and the input unit and rotates about the first axis and receives the second power from the outside to transmit the first power to the first driving module, 1 base module; A second driving module coupled to the first base module and outputting a rotational force about a second axis perpendicular to the first axis; And a rotating module coupled to the first base module and rotating about an axial direction parallel to the second axis by a rotational force provided by the second driving module.

The first base module may include a first base unit connected to the input unit and extending in a direction parallel to the second axis, a second base unit spaced below the first base unit, 2 drive module and a first module mounted on the rotation module, and a guide for connecting the first base part and the first mount part and guiding the first mount part to reciprocate in a direction parallel to the second axis You can have a wealth.

In an embodiment of the present invention, the first base unit may include a first coupling unit coupled to the input unit and rotating together with the input unit, the coupling unit having a through-hole formed such that the output unit is exposed to the outside, A plate portion provided in a direction parallel to the second axis; a second engaging portion provided in the through hole, the second engaging portion being engaged with the output portion and rotating together with the output portion; 2 reinforcing portion which is tightly provided between the engaging portions to provide a resilient force so that the shapes of the first engaging portion and the second engaging portion are not deformed and that the first engaging portion and the second engaging portion are independently rotated, And a cover portion provided at an upper portion of the first engaging portion and covering the reinforcing portion to prevent the reinforcing portion from departing.

In the embodiment of the present invention, the guide portion includes a first rail coupled to a lower surface of the first base portion in a direction parallel to the second axis and moved together with the first base portion, and a second rail mounted on the upper surface of the first mount portion A first guide block coupled to the first rail and guiding the first rail to be moved in a direction parallel to the second axis, and a second guide block provided on the first mount, And a stopper portion for selectively restricting the movement of the first base portion.

In the embodiment of the present invention, the stopper portion includes a pair of support blocks provided on the upper surface of the first mount portion, a support plate connecting the support blocks, a rotation bar provided through the support plate, And a second support member provided on the other end of the rotation bar positioned between the support blocks and rotating together with the rotation bar, And may have a pressure block that selectively presses the side surface.

In the embodiment of the present invention, the rotation module is connected to the second drive module and rotates about the second axis in response to the rotational force output from the second drive module, and a spiral groove in the circumferential direction A second rail provided on one side of the ring body along a circumferential direction of the ring body; and a second rail provided on the first mount, A second guide block which is coupled to the second rail so as to be slid in the circumferential direction, and a second guide block which is provided to be wound on the spiral groove, and has one end extending in one direction on the outer circumferential surface of the ring body, And the other end portion is fixed to the other end portion of the ring body portion by extending along the other direction on the outer peripheral surface of the ring body portion and is wound and loosened when the drive wheel portion rotates And a wire portion for rotating the ring body portion.

In the embodiment of the present invention, the ring body may include a control block to which the other end of the wire is coupled, a control block coupled to the control block and the ring body to control the tension of the wire, As shown in FIG.

In the embodiment of the present invention, the outer circumferential surface of the ring body may be further formed with a seating groove in the circumferential direction so that one end and the other end of the wire are respectively coupled.

The third driving module may include a third driving module coupled to the rotation module and configured to output a rotational force about a third axis perpendicular to the first axis and the second axis, And a second base module rotating about the third axis by a rotational force provided by the third drive module.

In an embodiment of the present invention, a rotational force, which is coupled to the first drive module and is centered in an axial direction parallel to a third axis perpendicular to the first axis and the second axis, is provided to the first drive module And a fourth drive module for driving the second drive motor.

According to the embodiment of the present invention, the controller can control one or more of the rotational direction and the rotational speed of the drive shaft to be adjusted based on the strain of the deformation portion, thereby allowing physical interaction with the user and various output responses have.

In addition, according to the embodiment of the present invention, the reinforcement unit can prevent the deformation of the first and second coupling parts, so that only the rotational force about the first axis can be inputted to the input unit. Can output a more accurate first power.

It should be understood that the effects of the present invention are not limited to the effects described above, but include all effects that can be deduced from the description of the invention or the composition of the invention set forth in the claims.

FIG. 1 is a perspective view of a limb rehabilitation robot according to an embodiment of the present invention. FIG.
2 and 3 are perspective views illustrating a first drive module and a first base module of a limb rehabilitation robot according to an embodiment of the present invention.
4 is a sectional view taken along the line AA in Fig.
5 is a cross-sectional view of a first drive module of a limb rehabilitation robot according to an embodiment of the present invention.
FIG. 6 is an exploded perspective view of FIG. 2. FIG.
7 is a view illustrating an operation of a first driving module and a first base module of a upper limb rehabilitation robot according to an embodiment of the present invention.
8 and 9 are perspective views illustrating a second drive module and a rotation module of a limb rehabilitation robot according to an embodiment of the present invention.
10 is an exploded perspective view mainly showing a second drive module and a rotation module of a limb rehabilitation robot according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is referred to as being "connected" (connected, connected, coupled) with another part, it is not only the case where it is "directly connected" "Is included. Also, when an element is referred to as " comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

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

FIG. 1 is a perspective view of an upper limb rehabilitation robot according to an embodiment of the present invention, and FIGS. 2 and 3 are views showing a first driving module and a first base module of a upper limb rehabilitation robot according to an embodiment of the present invention FIG. 4 is a cross-sectional view taken along the line AA of FIG. 2, and FIG. 5 is a sectional view of the first drive module of the upper limb rehabilitation robot according to an embodiment of the present invention.

1 to 5, the upper limb rehabilitation robot may include a first driving module 100, a first base module 200, a second driving module 300, and a rotation module 400.

The first driving module 100 may include a driving unit 110, a harmonic drive 130, an input / output unit 150, a measuring unit 170, and a controller 180.

The driving unit 110 may have a stator 111 and a rotor 112. The stator 111 may have a coil shape so that an electromagnetic force is generated, and an electromagnetic force may be generated when a current flows through the coil. The rotor 112 may be a magnet and may be rotated by the electromagnetic force generated by the stator 111. [ The rotor 112 may be coupled to the drive shaft 113 such that when the rotor 112 is rotated, the drive shaft 113 may rotate with the rotor 112. The drive shaft 113 may be supported by the first bearing 114 and the second bearing 115 so as to be rotatable.

The drive shaft 113 may have a through hole 116 formed in the axial direction and the core tube portion 117 may be formed in the through hole 116. The core tube portion 117 may be provided so as to have the same central axis as that of the drive shaft 113. The core tube portion 117 may be provided such that the outer circumferential surface of the core tube portion 117 is spaced apart from the inner circumferential surface of the drive shaft 113. So that the drive shaft 113 can be rotated independently of the core tube portion 117. The core tube portion 117 may have a passage portion 118 formed in an axial direction. The passage portion 118 can function as a passage for allowing a cable (not shown) to pass inward. The cable may include a power cable and a communication cable, and may be installed to pass through a passage formed in each drive module.

The driving unit 110 may have a first housing 120, a second housing 121, and a cover housing 122, and the housings 120, 121, and 122 may be coupled and fixed to each other. When the rotor 112 of the driving unit 110 rotates, the core tube portion 117, the first housing 120, the second housing 121, and the cover housing 122 are fixed, The drive shaft 113 can be rotated by the first bearing 114 and the second bearing 115. [

The harmonic drive 130 may be coupled to the drive shaft 113. The harmonic drive 130 may have a wave generator 131, a circular spline 134, and a flex spline 135.

The wave generator 131 may have a coupling ring portion 132 and a rotating ring portion 133. [ The coupling ring 132 may be coupled to the driving shaft 113 to rotate together with the driving shaft 113. The rotation ring portion 133 may be provided on the outer circumferential surface of the engagement ring portion 132. The rotary ring portion 133 may be a bearing and may be formed in an elliptical shape.

The circular spline 134 may be provided so as to surround the outer circumferential surface of the rotary ring portion 133 in a state where the circumferential surface of the rotary ring portion 133 is spaced from the outer circumferential surface of the wave generator 131, A notch (not shown) may be formed on the inner circumferential surface of the circular spline 134. Further, the circular spline 134 may be fixed to the cover housing 122 so as not to rotate.

The flex spline 135 may have a gear portion 136, a first connection portion 137, a second connection portion 138, and a turning weight portion 139.

The gear portion 136 may be provided between the rotation ring portion 133 of the wave generator 131 and the circular spline 134. The gear portion 136 is rotatably engaged with the circular spline 134 by being engaged with the circular spline 134 by receiving the rotational force from the rotary ring portion 133 of the wave generator 131. Specifically, a tooth (not shown) may be formed on the outer peripheral surface of the gear portion 136 to engage with a tooth formed on the inner peripheral surface of the circular spline 134. When the driving shaft 113 is rotated, the elliptical rotary ring portion 133 is rotated together with the engagement ring portion 132 so that the portion of the gear portion 136 pressed against the longitudinal axial portion of the rotary ring portion 133 is sequentially outward It is pushed out. Then, the portion of the gear portion 136 pushed outward is engaged with the teeth of the circular spline 134. The number of teeth of the gear portion 136 may be smaller than the number of teeth of the circular spline 134 so that the gear portion 136 is rotated by the amount of rotation of the wave generator 131 smaller than the rotation amount of the wave generator 131, As shown in Fig.

The first connection portion 137 may be connected to the gear portion 136 and may be formed parallel to the drive shaft 113. The second connection portion 138 may be connected to the first connection portion 137 and may be formed in the center of the drive shaft 113.

The rotation weight portion 139 may be connected to the second connection portion 138. The rotation weight portion 139 may be coupled to the connection support portion 140 and the connection support portion 140 may support the rotation of the rotation weight portion 139.

The connection support portion 140 may have a fixed connection portion 141, a rotation connection portion 142, and a third bearing 143. The fixed connection portion 141 may be coupled to the core tube portion 117 and the third bearing 143 may be coupled to the outer peripheral surface thereof.

The rotation connection part 142 may be coupled to the third bearing 143 so that the rotation connection part 142 may be rotatably coupled to the fixed connection part 141. The rotary connection portion 142 can be tightly coupled to the inner circumferential surface of the rotary weight portion 139 of the flex spline 135 and rotated together with the flex spline 135.

In addition, a groove 144 may be formed along the circumferential direction on the outer circumferential surface of the fixed connection portion 141. A plurality of grooves 144 may be formed along the longitudinal direction of the fixed connection portion 141.

A grease such as grease may be filled in the space between the inner space S of the flex spline 135 and the space between the drive shaft 113 and the core tube portion 117 to smoothly rotate the drive shaft 113 . A plurality of grooves 144 formed in the fixed connection portion 141 are formed so as to accommodate a part of the lubricating oil so that the lubricating oil does not flow more than necessary even if the viscosity of the lubricating oil is lowered due to heat generated during rotation of the driving shaft 113 .

The input / output unit 150 may have an output unit 151, an input unit 152, and a transform unit 153.

The output 151 may be coupled with the rotating weight 139 of the flex spline 135 through which the output 151 may rotate with the flex spline 135. In the output unit 151, the first power, which is a rotational force provided from the flex spline 135, may be output. The first coupling holes 154 may be formed in the output portion 151 at predetermined intervals along the circumferential direction.

The input unit 152 may be formed to have a second diameter larger than the first diameter. Second input holes 155 may be formed in the input unit 152 at predetermined intervals along the circumferential direction. The first base module 200 may be coupled to the second coupling hole 155 by a coupling member (not shown). The second power, which is a rotational force generated as the first base module 200 rotates, may be input to the input unit 152. [ The first power and the second power may be rotational forces about the first axis 10.

The fourth bearing 160 may be coupled to the outer circumferential surface of the input unit 152 and the fixed housing 161 may be provided on the outer circumferential surface of the fourth bearing 160. The fixed housing 161 may be formed such that the flex spline 135 and the input / output unit 150 are located inside. One end of the fixed housing 161 can be coupled with the circular spline 134 and the fixed ring 162 can be coupled to the other end of the fixed housing 161. The fixed ring 162 may be provided to press the one side of the fourth bearing 160 to prevent the fourth bearing 160 from being separated.

The transforming unit 153 may connect the input unit 152 and the output unit 151. [ The deformed portions 153 may be formed at predetermined intervals along the circumferential direction. When the first power outputted from the output unit 151 and the second power inputted to the input unit 152 are different from each other or rotational forces in different directions, the deforming unit 153 may be deformed.

The measuring unit 170 may have a sensing unit 171 and a processing unit 172. The sensing unit 171 may be provided on the deformation unit 153 and may measure the deformation rate of the deformation unit 153. [ The sensing unit 171 may be a strain gage. The sensing unit 171 can transmit the strain of the deformation unit 153 as a measurement signal. A plurality of sensing units 171 may be provided.

The processing unit 172 can process the measurement signal transmitted from the sensing unit 171. For example, the processing unit 172 may process an analog measurement signal transmitted from the sensing unit 171 as a digital signal. The processing unit 172 may include a processing element (not shown) for processing a measurement signal, wiring, and the like, and may include a substrate on which processing elements and wiring are mounted. The substrate may be a printed circuit board (PCB).

The control unit 180 may control the operation of the driving unit 110 based on the measurement signal transmitted from the processing unit 172. The processing unit 172 and the control unit 180 may be connected by wire or wirelessly. The control unit 180 may control one or more of the rotational direction and the rotational speed of the driving shaft 113 to be adjusted based on the measurement signal transmitted from the processing unit 172, that is, the strain of the deforming unit 153.

In the present invention, the first power is output from the first drive module 100 and the second power is generated by the user (for example, rehabilitation therapist) through the first base module 200 to the first drive module 100 ). ≪ / RTI > For example, when the user's motion force is not sufficient, it is necessary to reduce the load by providing power to be rotated in the direction of the joint motion in order to prevent injury of the user. In this case, the controller 180 controls the rotational direction and the rotational speed of the driving unit 110 to adjust the size of the first power so as to output the first power in the same direction as the second power transmitted from the user . If the user's motion power is sufficient, the load can be increased to increase the exercise effect. In this case, the control unit 180 controls the rotational direction of the driving unit 110 so that the first power in the opposite direction to the user's joint motion can be output, and can further control the number of rotations if necessary. As described above, the control unit 180 can adjust the output force based on the force input through the input / output unit 150, thereby enabling physical interaction with the user and various output responses. In the present invention, the second drive module 300, the third drive module 500, and the fourth drive module 700 may have the same configuration as the first drive module 100. Further, the control unit may be controlled to be controlled for each of the driving modules 100, 300, 500, and 700, or may be integrated to control the driving modules 100, 300, The control unit can control power input to and output power from each of the driving modules 100, 300, 500, and 700.

FIG. 6 is an exploded perspective view of FIG. 2, and FIG. 7 is a view illustrating an operation of a first drive module and a first base module of a upper limb rehabilitation robot according to an embodiment of the present invention.

Hereinafter, Fig. 6 and Fig. 7 will be further described.

The first base module 200 may have a first base portion 210, a first mount portion 230, and a guide portion 240.

The first base portion 210 may have a first coupling portion 211, a plate portion 212, a second coupling portion 220, a reinforcing portion 224, and a cover portion 225.

The first coupling portion 211 may be formed to correspond to the input portion 152 of the first driving module 100. A third coupling hole 213 may be formed in the first coupling portion 211 to correspond to the second coupling hole 155 of the input portion 152. In addition, a through hole 214 may be formed in the first coupling portion 211. When the first coupling portion 211 is coupled to the input portion 152, the output portion 151 may be exposed through the through hole 214 to the outside. The first stepped portion 215 may be formed on the inner circumferential surface of the first coupling portion 211 and the second stepped portion 216 may be formed on the upper portion of the first coupling portion 211.

The plate portion 212 can be engaged with the first engaging portion 211. The plate portion 212 may extend in a direction parallel to the second shaft 20. Here, the second axis 20 means an axis perpendicular to the first axis 10, and may correspond to the center axis of the second driving module 300.

The second coupling portion 220 may be inserted into the through hole 214 of the first coupling portion 211 and coupled with the output portion 151. The second coupling portion 220 may have a coupling flange portion 221 and a reinforcing barrier portion 222.

The coupling flange portion 221 may be formed in a shape corresponding to the output portion 151. The coupling flange portion 221 may be formed in a shape corresponding to the first coupling hole 154 of the output portion 151 along the circumferential direction. 4 coupling hole 223 can be formed and the coupling flange portion 221 is connected to the output portion 151 by a coupling member (not shown) coupled to the first coupling hole 154 and the fourth coupling hole 223, And can rotate together with the output unit 151. [

The reinforcing barriers 222 may be disposed in the through holes 214 and spaced apart from the inner circumferential surface of the first engaging portions 211.

The reinforcing portion 224 may be closely attached between the first engaging portion 211 and the second engaging portion 220. The reinforcing portion 224 may be coupled to the first stepped portion 215 formed on the inner circumferential surface of the first engaging portion 211 to be in close contact with the reinforcing barriers 222. The reinforcing portion 224 may be provided on the outer side of the reinforcing barrier portion 222. Accordingly, the reinforcing barrier portion 222 can be supported such that the lower portion thereof is coupled to the output portion 151 and the upper portion thereof is firmly supported by the reinforcing portion 224 so that the shape thereof is not deformed.

In the present invention, when the user moves the upper limb, the first base module 200 is rotated, and the rotational force of the first base module 200, that is, the second power is inputted through the input unit 152. However, when the user moves the upper limbs, not only the rotational force centered on the first axis 10 but also rotational forces around various axes can be generated. Accordingly, the first base portion 210 may be provided with a rotational force about the first axis 10 and a rotational force about the various axes. The reinforcing portion 224 may prevent the first coupling portion 211 and the second coupling portion 220 from being deformed so that the rotational force about the first shaft 10 may be input to the input portion 152 , Whereby the first driving module 100 can output a more accurate first power.

The reinforcing portion 224 may support the first and second coupling portions 211 and 220 so that the first coupling portion 211 and the second coupling portion 220 are independently rotated. That is, when the first base unit 210 rotates, the second coupling unit 220 may not rotate due to the rotational force of the first base unit 210. Therefore, when the input / output unit 150 is stopped, the second power is input to the input unit 152 by the rotation of the first base unit 210, and the input second power is output through the deformation unit 153 The inertia force to maintain the stationary state is applied to the output unit 151 and the deformation occurs in the deformation unit 153 and the generated deformation can be measured.

The first power output according to the strain of the deforming unit 153 is output to the output unit 151. The first power output from the output unit 151 is transmitted to the input unit 152 through the deforming unit 153 The first base unit 210 may be rotated to rotate the first base unit 210.

The cover part 225 may be coupled to the second step 216 of the first coupling part 211 and the third coupling hole 213 formed in the first coupling part 211 may be coupled to the cover part 225, A fifth coupling hole 226 corresponding to the second coupling hole 226 may be formed. A coupling member (not shown) may be coupled to the third coupling hole 213 and the fifth coupling hole 226 so that the cover portion 225 can be coupled to the first coupling portion 211. The cover portion 225 may be coupled to the first coupling portion 211 to cover the reinforcing portion 224 to prevent the reinforcing portion 224 from being separated.

The first mount 230 may be spaced below the first base 210. The second drive module 300 and the rotation module 400 may be coupled to the first mount 230. The second drive module 300 may be connected to the first mount 230 by the first bracket 231. [ The first mounting portion 230 may be provided with a connecting flange 232.

The guide portion 240 may have a first rail 241, a first guide block 242, and a stopper portion 243.

The first rail 241 may be provided on a lower surface of the plate portion 212. The first rail 241 may be provided in a direction in which the first shaft 241 is expanded in the second shaft 20 and may be moved together with the first base portion 210. The first rails 241 may be provided as a pair or may be spaced apart from each other.

The first guide block 242 may be provided on the upper surface of the first mount 230. The first guide block 242 can be engaged with the first rail 241 and can guide the first rail 241 to move in the direction in which the first rail 241 is expanded in the second axis 20.

The stopper portion 243 may be provided on the first mounting portion 230 and may include a support block 244, a support plate 245, a rotation bar 246, a lever 247, have.

The support block 244 may be provided on the upper surface of the first mount 230 and may be formed as a pair. The support plate 245 can connect the support block 244.

The rotation bar 246 may be provided through the support plate 245. One end of the rotation bar 246 may be located outside the support plate 245 and the other end of the rotation bar 246 may be located between the support blocks 244.

The lever 247 may be provided at one end of the rotation bar 246 located outside the support plate 245 in the rotation bar 246. The user can rotate the lever 247 to rotate the rotating bar 246. [

The press block 248 may be provided at the other end of the rotary bar 246 located between the support blocks 244. The pressurizing block 248 may rotate with the rotating bar 246. The pressing block 248 may have a rectangular cross-sectional shape perpendicular to the axial direction of the rotating bar 246. [ The pressing block 248 can selectively press the side surface of the first rail 241 selectively in accordance with the rotation angle. 6, when the angled portion of the pressing block 248 is in the upper side, the pressing block 248 can press the side surface of the first rail 241 in tight contact with it, The first base portion 210 can be restrained from moving. 7, when the lever 247 and the rotating bar 246 rotate and the upper surface of the pressing block 248 can not press the side surface of the first rail 241, the first rail 241 The first mount part 230 coupled to the first base block 210 and the first guide block 242 coupled with the first guide block 242 can move relative to the second shaft 20 in the direction of the second axis 20.

FIG. 8 is a perspective view illustrating a second drive module and a rotation module of the upper limb rehabilitation robot according to an embodiment of the present invention. FIG. Module and a rotary module.

8 to 10, the rotation module 400 may have a driving wheel portion 410, a ring body portion 420, a second rail 430, and a wire portion 440.

The driving wheel part 410 may be connected to the second driving module 300 and may be rotated about the second axis 20 in response to the rotational force output from the second driving module 300. A helical groove 411 may be formed in the circumferential direction on the outer circumferential surface of the driving wheel portion 410.

The ring body 420 may be formed in a semicircular ring shape. At one end of the ring body 420, a coupling groove 421 may be formed. The engaging groove 421 may be formed inside the ring body 420. The coupling groove 421 may have an inner diameter corresponding to the outer diameter of the wire portion 440, and the wire portion 440 may be inserted and fixed. A first fixing groove 422 connected to the coupling groove 421 may be formed at one end of the ring body 420. The first fixing groove 422 may be formed on the surface of the ring body 420 in the direction toward the outer circumferential surface of the ring body 420. At the other end of the ring body 420, a second fixing groove 423 may be formed on the surface of the ring body 420 in a direction toward the outer circumferential surface of the ring body 420.

The second rail 430 may be provided on one side of the ring body 420. The second rail 430 may be provided along the circumferential direction of the ring body 420.

The second guide block 431 may be coupled to the connection flange 232 of the first mount 230. The second guide block 431 may have a guide groove 432 and the second rail 430 may be coupled to the guide groove 432. The second rail 430 can be moved in a state of being coupled to the guide groove 432 so that the second rail 430 can be slid in the circumferential direction while being coupled to the second guide block 431 .

The wire portion 440 may be provided to be wound on the helical groove 411 of the driving wheel portion 410. One end of the wire portion 440 may be inserted into the coupling groove 421 formed at one end of the ring body portion 420 and extending along one direction to the outer peripheral surface of the ring body portion 420. At this time, one end of the wire 440 may be coupled to the first fixing groove 422 to be stably coupled to the ring body 420.

The other end of the wire 440 may extend along the other direction on the outer circumferential surface of the ring body 420 and may be fixed to the other end of the ring body 420. At this time, the other end of the wire portion 440 may be coupled to the second fixing groove 423 to be stably coupled to the ring body portion 420.

When the second driving module 300 outputs a rotational force about the second axis 20, the driving wheel portion 410 can rotate left and right about the second axis 20. [ Accordingly, the wire portion 440 wound on the driving wheel portion 410 can be simultaneously wound and unwound. 9, when the driving wheel portion 410 rotates clockwise, a portion extending from the wire portion 440 to be fixed to one end of the ring body portion 420 is wound around the driving wheel portion 410 And the portion of the wire 440 extending to be fixed to the other end of the ring body 420 is released from the driving wheel 410. Accordingly, the ring body 420 rotates in the counterclockwise direction about the axial direction parallel to the second shaft 20. Likewise, when the drive wheel portion 410 is rotated counterclockwise, the ring body portion 420 can be rotated clockwise.

A connecting ring 424 can be coupled to both ends of the ring body 420. A belt (not shown) for fixing the user's upper limb may be connected to the connection ring 424.

The ring body portion 420 may further have an adjusting block 425 and an adjusting member 426. [

The adjustment block 425 may be provided at the other end of the ring body portion 420 and the other end of the wire portion 440 may be coupled to the adjustment block 425.

The adjustment member 426 may be coupled to the adjustment block 425 and the ring body 420. The adjustment member 426 can be screwed into the ring body portion 420. The adjustment block 425 is moved together with the adjustment member 426 so that the wire 440 is pulled to the wire 440 while the adjustment block 425 is moved together with the adjustment member 426. [ Can be increased. When the adjusting member 426 is adjusted in the direction of coming out of the ring body portion 420, the tension of the wire portion 440 may be reduced while the adjusting block 425 moves with the adjusting member 426 .

On the other hand, a seating groove 427 may be formed on the outer peripheral surface of the ring body 420 in the circumferential direction of the ring body 420. The wire portion 440 wound on the outer circumferential surface of the ring body portion 420 can be coupled to the seating groove 427 so that the wire portion 440 can be more stably coupled to the ring body portion 420.

Referring to FIG. 1, since the rotation module 400 can rotate about an axis parallel to the second axis 20, it is possible to perform a rotation operation corresponding to rotational movement of the upper limb during rehabilitation movement , Which can reduce the burden of joints during rehabilitation exercise.

The upper limb rehabilitation robot may further include a third driving module 500, a second base module 600, and a fourth driving module 700.

The third drive module 500 may be coupled to the rotation module 400. Specifically, the third driving module 500 may be connected to the other end of the rotation module 400 by the second bracket 510. The third driving module 500 can output a rotational force about the third axis 30. [ Here, the third axis 30 refers to an axis perpendicular to the first axis 10 and the second axis 20, and may correspond to the center axis of the third drive module 500.

The third bracket 520 may be coupled to one end of the rotation module 400.

The second base module 600 may have a second base portion 610 and a second mount portion 620.

The second base 610 may be coupled to the second mount 620 and may be reciprocated in a direction parallel to the second shaft 20.

One end of the second mount portion 620 may be coupled to the third drive module 500 and the other end thereof may be coupled to the third bracket 520. The second mounting portion 620 and the third bracket 520 may be connected to each other via a joint portion 630 that allows rotational movement.

The second mount 620 can be rotated by the rotational force provided by the third drive module 500 so that the second base module 600 can rotate about the third axis 30 .

The fourth drive module 700 may be coupled to the first drive module 100 by a fourth bracket 710. The fourth drive module 700 can provide the first drive module 100 with a rotational force about an axis direction parallel to the third axis 30. The fourth drive module 700 may be coupled to a main frame (not shown) where the upper limb rehabilitation robot is installed.

The first, second, and third drive modules 100, 300, and 500, the first and second base modules 200 and 600, and the rotation module 400 may rotate about the center axis of the fourth drive module 700. The second and third driving modules 300 and 500, the first and second base modules 200 and 600, and the rotation module 400 may rotate based on the first axis 10. In addition, the third driving module 500 and the second base module 600 can rotate based on the rotation center axis of the rotation module 400, so that various types of rotation operations can be effectively implemented.

The second driving module 300, the third driving module 500, and the fourth driving module 700 may have the same configuration as the first driving module 100.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

10: 1st axis 20: 2nd axis
30: third axis 100: first drive module
130: Harmonic drive 131: Wave generator
134: Circular spline 135: Flex spline
150: input / output unit 151: output unit
152: Input unit 153:
170: measuring unit 180:
200: first base module 210: first base part
211: first coupling portion 220: second coupling portion
221: coupling flange portion 222: reinforcing barrier portion
224: reinforcement part 240: guide part
300: second driving module 400: rotation module
410: drive wheel part 420: ring body part
430: second rail 440: wire part
500: third drive module 600: second base module
700: fourth drive module

Claims (10)

An output unit coupled to the flex spline of the harmonic drive and outputting a first power that is a rotational force about the first axis, and an output unit provided integrally with the output unit and disposed outside the output unit, A first driving module having an input unit to which a second power as a rotational force is input;
A second driving unit that is coupled to the output unit and the input unit and rotates about the first axis and receives the second power from the outside to transmit the first power to the first driving module, 1 base module;
A second driving module coupled to the first base module and outputting a rotational force about a second axis perpendicular to the first axis; And
And a rotation module coupled to the first base module and rotating about an axial direction parallel to the second axis by a rotational force provided by the second drive module,
The first base module
A first base unit connected to the input unit and extending in a direction parallel to the second axis,
A first mount part provided below the first base part and coupled with the second drive module and the rotation module,
And a guide portion connecting the first base portion and the first mount portion and guiding the first mount portion to reciprocate in a direction parallel to the second axis,
The guide
A first rail coupled to a lower surface of the first base portion in a direction parallel to the second axis and moved together with the first base portion,
A first guide block provided on an upper surface of the first mount and coupled with the first rail to guide the first rail to be moved in a direction parallel to the second axis,
And a stopper portion provided on the first mount portion and having a stopper portion for selectively restricting movement of the first base portion by pressing the side surface of the first rail. delete The method according to claim 1,
The first base portion
A first coupling unit coupled to the input unit and rotatable together with the input unit, the through-hole being formed to expose the output unit,
A plate portion coupled to the first engaging portion and disposed in a direction parallel to the second axis,
A second coupling unit provided in the through hole and coupled to the output unit and rotated together with the output unit,
The first engaging portion and the second engaging portion are tightly provided between the first engaging portion and the second engaging portion to prevent the shape of the first engaging portion and the second engaging portion from being deformed, A reinforcing portion for supporting the rotor so as to rotate independently,
And a cover portion provided at an upper portion of the first engaging portion and covering the reinforcing portion to prevent the reinforcing portion from departing. delete The method according to claim 1,
The stopper portion
A pair of support blocks provided on an upper surface of the first mount,
A support plate connecting the support blocks,
A rotating bar provided through the supporting plate,
A lever provided at one end of the rotary bar located outside the support plate,
And a pressing block provided at the other end of the rotary bar located between the support blocks for rotating together with the rotary bar and selectively urgingly pressing the side surface of the first rail in accordance with the rotation angle. robot. The method according to claim 1,
The rotation module
A drive wheel connected to the second drive module and rotatable about the second axis in response to the rotational force output from the second drive module and having a spiral groove formed in a circumferential direction on an outer circumferential surface thereof;
A ring body portion formed in a semicircular ring shape,
A second rail provided on one side surface of the ring body portion along the circumferential direction of the ring body portion,
A second guide block provided on the first mount and coupled to the second rail so as to slide in the circumferential direction,
And one end portion of the ring body is inserted and fixed in an engaging groove (421) formed in one end of the ring body portion and extending in one direction on the outer circumferential surface of the ring body portion, and the other end is fixed to the outer peripheral surface of the ring body portion And a wire portion extending along the other direction and fixed to the other end portion of the ring body portion and rotating the ring body portion while being simultaneously wound and unwound when the drive wheel portion is rotated. The method according to claim 6,
The ring body
An adjustment block to which the other end of the wire portion is coupled,
Further comprising an adjustment member coupled to the adjustment block and the ring body and configured to adjust a tension of the wire by adjusting a position of the adjustment block. The method according to claim 6,
Wherein the outer circumferential surface of the ring body further has a seating groove formed in the circumferential direction so that one end and the other end of the wire are respectively coupled. The method according to claim 1,
A third drive module coupled to the rotation module and configured to output a rotational force about a third axis perpendicular to the first axis and the second axis;
Further comprising a second base module coupled to the third drive module and rotated about the third axis by a rotational force provided by the third drive module. The method according to claim 1,
And a fourth drive module coupled to the first drive module and providing a rotational force about an axis direction parallel to a third axis perpendicular to the first axis and the second axis to the first drive module And the upper limb rehabilitation robot.

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