KR102334392B1 - Wearable gravity compensation apparatus capable of multiple degrees of freedom of movement - Google Patents

Abstract

A wearable gravity compensating device capable of multiple degrees of freedom movement according to an embodiment includes: a main frame that can be fixed to a user's back; a base link rotatably connected to the main frame about a first axis of rotation; a forward extension link having one end rotatably connected to the base link with respect to a second axis of rotation intersecting the first axis of rotation and extending forward of the base link; a rear extension link connected to the base link and extending rearward of the base link; a guide positioned above the base link and provided on the main frame; a slider slidable along the guide; a gravity compensating elastic body having one end fixed to the main frame and the other end fixed to the slider; and a coupling link rotatably connected to each of the rear extension link and the slider.

Description

Wearable GRAVITY COMPENSATION APPARATUS CAPABLE OF MULTIPLE DEGREES OF FREEDOM OF MOVEMENT

The present invention relates to a wearable gravity guarantee device that can move in multiple degrees of freedom.

The gravity compensating device is generally composed of a combination of a plurality of links and an elastic body such as a spring, and refers to a device that compensates for the weight of a load provided at the end of the device. This is a device designed to support the weight of the load provided at the end of the device without a driver even if it is high at any position within the working radius, and is used as a desk light stand device and a camera weight compensation device. Since the gravity compensator can support the weight of a load at any position without a motor without a actuator, the system configuration is simple, has high reliability, and is inexpensive compared to the power type composed of multiple actuators and links, such as a robot arm. have

Due to these advantages, the gravity compensating device technology is being applied as a form of an upper exoskeleton device that can be worn by a person to assist the upper extremity operation of a heavy object. In other words, conventionally, it has been developed in the form of an upper exoskeleton robot using a actuator and a controller to assist the upper extremity work of industrial site workers. limits existed.

The upper exoskeleton device can be particularly useful for soldiers performing mine detection. A mine detection soldier carries a mine detector that weighs about 4 kg to perform mine detection. In particular, in Korea, a situation frequently occurs where a mine detection soldier has to work mainly on a slope such as a mountain. At this time, the weight of the mine detector during the mine detection operation increases the fatigue of the soldier's arm and acts as a factor that interferes with the mine detection operation that requires a high level of concentration. Therefore, there is a need for a technology for a wearable gravity compensating device capable of supporting the weight of the mine detector and capable of accommodating various movements of a user and capable of multiple degrees of freedom.

The above-mentioned background art is possessed or acquired by the inventor in the process of deriving the disclosure of the present application, and it cannot be said that it is necessarily known technology disclosed to the general public prior to the present application.

The present invention is to provide a wearable gravity guarantee device capable of multiple degrees of freedom for realizing a non-motorized upper exoskeleton device, thereby enabling gravity compensation within a certain working radius range.

A wearable gravity compensating device capable of multiple degrees of freedom movement according to an embodiment includes: a main frame that can be fixed to a user's back; a base link rotatably connected to the main frame about a first axis of rotation; a forward extension link having one end rotatably connected to the base link with respect to a second axis of rotation intersecting the first axis of rotation and extending forward of the base link; a rear extension link connected to the base link and extending rearward of the base link; a guide positioned above the base link and provided on the main frame; a slider slidable along the guide; a gravity compensating elastic body having one end fixed to the main frame and the other end fixed to the slider; and a coupling link rotatably connected to each of the rear extension link and the slider.

The rear extension link is fixed to the base link and can move integrally with the base link.

The forward extension link is movable in two degrees of freedom with respect to the main frame.

The wearable gravity compensating device capable of moving in multiple degrees of freedom may further include a support part connected to the other end of the forward extension link, capable of supporting a user's arm, and capable of movement in two degrees of freedom with respect to the forward extension link. can

The support part may include a support base rotatable about a third rotation axis on the front extension link; a support plate provided on the upper side of the support base and capable of movement in two degrees of freedom with respect to the support base; and a support joint connecting the support base and the support plate.

The support joint may be a universal joint or a ball joint.

The third rotation axis may be parallel to the second rotation axis.

It may further include an arm support band connected to the support part and surrounding the user's arm.

The front extension link is formed in plurality, and the plurality of front extension links include: a first forward extension link having one end rotatably connected to the base link; and a second forward extension link having one end rotatably connected to the other end of the first forward extension link.

A rotation axis of the second forward extension link with respect to the first forward extension link may be parallel to the second axis of rotation.

The wearable gravity compensating device capable of multiple degrees of freedom may further include a connection elastic body having one end connected to the first forward extension link and the other end connected to the second forward extension link.

The plurality of forward extension links further include a third forward extension link having one end rotatably connected to the other end of the second forward extension link, and one end of the second forward extension link is a portion of the first forward extension link. It may be connected to the lower side, and the other end may be connected to the lower side of the third forward extension link.

While the front extension link and the rear extension link rotate about the first rotation axis, the slider may slide along the guide, and the elastic body may be deformed.

The wearable gravity compensating device capable of multiple degrees of freedom may further include a body support band connected to the main frame and surrounding the user's body.

A wearable gravity compensating device capable of multiple degrees of freedom movement according to an embodiment includes: a main frame; a base link rotatably connected to the main frame about a first axis of rotation; a forward extension link having one end rotatably connected to the base link with respect to a second axis of rotation intersecting the first axis of rotation and extending forward of the base link; a rear extension link connected to the base link and extending rearward of the base link; a guide positioned above the base link and provided on the main frame; a slider slidable along the guide; a gravity compensating elastic body having one end fixed to the main frame and the other end fixed to the slider; a coupling link rotatably connected to each of the rear extension link and the slider; and a support part connected to the other end of the forward extension link, capable of supporting a user's arm, and capable of movement in two degrees of freedom with respect to the forward extension link.

The support part may include a support base rotatable about a third rotation axis on the front extension link; a support plate provided on the upper side of the support base and capable of movement in two degrees of freedom with respect to the support base; and a support joint connecting the support base and the support plate.

A wearable gravity compensating device capable of multiple degrees of freedom movement according to an embodiment includes: a main frame; a base link rotatably connected to the main frame about a first axis of rotation; a forward extension link having one end rotatably connected to the base link with respect to a second axis of rotation intersecting the first axis of rotation and extending forward of the base link; a rear extension link connected to the base link and extending rearward of the base link; a guide positioned above the base link and provided on the main frame; a slider slidable along the guide; a gravity compensating elastic body having one end fixed to the main frame and the other end fixed to the slider; and a coupling link rotatably connected to each of the rear extension link and the slider, wherein the front extension link is formed in plurality, and the plurality of front extension links have one end rotatably connected to the base link. a first forward extending link; and a second front extension link having one end rotatably connected to the other end of the first forward extension link.

The wearable gravity compensating device capable of multiple degrees of freedom movement according to an embodiment may compensate for the load of a load while allowing freedom of movement by accommodating the wearer's multiple degrees of freedom.

In addition, the wearable gravity compensator capable of moving in multiple degrees of freedom according to an embodiment does not include a separate elastic body near the user's arm, but includes an elastic body for gravity compensation on the back side, thereby interfering with the user's body. By providing a compact size of the device near a portion where there is, for example, an arm, it is possible to minimize interference with the user's body.

In addition, the wearable gravity compensator capable of moving in multiple degrees of freedom according to an embodiment provides a support provided as a separate ball joint in a portion supporting the user's arm, thereby increasing the degree of freedom and improving the user's wearing comfort. can do it

1 and 2 are diagrams schematically showing a user wearing a wearable gravity compensating device capable of moving in multiple degrees of freedom according to an embodiment of the present invention. In FIG. 2, the mine detector is omitted.
3 is an enlarged and schematic view of a portion for performing gravity compensation in a wearable gravity compensation device capable of multiple degrees of freedom movement according to an exemplary embodiment.
4 to 6 are views schematically illustrating a state in which a plurality of links and support parts are deformed according to a user's movement according to an embodiment.
7 and 8 are enlarged and schematic views of a support part of a wearable gravity compensator capable of multiple degrees of freedom movement according to an exemplary embodiment.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, since various changes may be made to the embodiments, the scope of the patent application is not limited or limited by these embodiments. It should be understood that all modifications, equivalents and substitutes for the embodiments are included in the scope of the rights.

The terms used in the examples are used for description purposes only, and should not be construed as limiting. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiment belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

In addition, in the description with reference to the accompanying drawings, the same components are given the same reference numerals regardless of the reference numerals, and the overlapping description thereof will be omitted. In the description of the embodiment, if it is determined that a detailed description of a related known technology may unnecessarily obscure the gist of the embodiment, the detailed description thereof will be omitted.

In addition, in describing the components of the embodiment, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the components from other components, and the essence, order, or order of the components are not limited by the terms. When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but between each component another component It will be understood that may also be "connected", "coupled" or "connected".

Components included in one embodiment and components having a common function will be described using the same names in other embodiments. Unless otherwise stated, a description described in one embodiment may be applied to another embodiment, and a detailed description in the overlapping range will be omitted.

1 and 2 are diagrams schematically showing a user wearing a wearable gravity compensating device capable of moving in multiple degrees of freedom according to an embodiment of the present invention. In FIG. 2, the mine detector is omitted. 3 is an enlarged and schematic view of a portion for performing gravity compensation in a wearable gravity compensation device capable of multiple degrees of freedom movement according to an exemplary embodiment. The mine detector (M) may include a handle (H) gripped by the user's hand, and a forearm fixing band (G) that can be fixed to the user's forearm.

1 to 3 , a wearable gravity compensator (hereinafter referred to as “gravity compensating device”) capable of multiple degrees of freedom movement according to an embodiment operates in a non-powered form that does not receive power separately from the outside. do. The gravity compensating device 1 largely includes a support part that is a distal end connected to the user U's arm or a load, a forward extension link that is a motion realizing part for realizing the movement of the arm, and a load load transmitted through the motion realizing part It includes a slider and an elastic body that is a gravity compensator for supporting the . The support part and the forward extension link of the gravity compensating device 1 have a compact structure while realizing the user's multiple degrees of freedom.

The gravity compensating device 1 makes the motion realizing part that realizes multiple degrees of freedom movement, the forward extension link, and the gravity compensating mechanism part, the slider and the elastic body, non-ductile, so that the motion realizing part that moves closely with the wearer's arm is simpler and slimmer. can The gravity compensating device 1 can minimize interference during work between the wearer's arm or an operating weight and the gravity compensating device. Gravity compensating device (1) can implement the multiple degrees of freedom movement of the wearer's arm with minimal interference as a whole by arranging the elastic body for gravity compensation on the back where the user's arm movement does not reach, as well as providing a gravity compensation function. have.

The gravity compensating device 1 includes a main frame 11 , a body support band 191 , a base link 10 , a front extension link 12 , a rear extension link 13 , a guide 14 , and a slider 15 . , a gravity compensating elastic body 16 , a coupling link 17 , a support part 18 and an arm support band 192 .

The main frame 11 can be fixed to the user's back. The main frame 11 may be provided so that its longitudinal direction is parallel to the longitudinal direction of the user's back. In the drawing, the vertical direction refers to the longitudinal direction of the main frame 11 . The main frame 11 may be fixed to the user's back through a body support band 191 connected to the main frame 11 .

The base link 10 may be rotatably connected to the main frame 11 about the first rotation axis A1 . The base link 10 can move in one degree of freedom on the main frame 11 . The base link 10 may support a front extension link 12 and a rear extension link 13 to be described later. The front extension link 12 may extend forward of the base link 10 , and the rear extension link 13 may extend rearward of the base link 10 . The base link 10 and the front extension link 12 are capable of relative movement, and the relative movement of the base link 10 and the rear extension link 13 is limited.

One end of the forward extension link 12 may be rotatably connected to the base link 10 . The front extension link 12 may be rotatably connected to the base link 10 with the second axis of rotation A2 intersecting the first axis of rotation A1 as a center. The forward extension link 12 is movable in two degrees of freedom with respect to the main frame 11 . The front extension link 12 may move in such a way that a plurality of segments rotate with each other as the user moves the arm left or right, and the base link 10 is centered as the user moves the arm upward or downward. can be rotated with

The forward extension link 12 may be rotatably connected directly to the base link 10 or may be rotatably connected to the base link 10 through a separate connecting member, although not shown. The front extension link 12 may be formed in plurality.

The plurality of front extension links 12 may include a first forward extension link 121 , a second forward extension link 122 , and a third forward extension link 123 . Of course, it should be noted that the plurality of front extension links 12 may be provided in two or four or more. Hereinafter, the plurality of front extension links 12 will be described based on the configuration of three.

The first forward extension link 121 , the second forward extension link 122 , and the third forward extension link 123 may be provided in parallel in a forward direction from the base link 10 . One end of the first forward extension link 121 may be rotatably connected to the base link 10 , and the other end may be rotatably connected to the second forward extension link 122 . One end of the second forward extension link 122 may be rotatably connected to the first forward extension link 121 , and the other end may be rotatably connected to the third forward extension link 123 . One end of the third forward extension link 123 may be rotatably connected to the second forward extension link 122 , and the other end may rotatably support the support part 18 .

A rotation axis of the second forward extension link 122 with respect to the first forward extension link 121 may be parallel to the second rotation axis A2 . In other words, a rotation shaft rotatably connecting the first forward extension link 121 and the second forward extension link 122 to each other may be parallel to the above-described second rotation axis A2 . Similarly, a rotation shaft rotatably connecting the second forward extension link 122 and the third forward extension link 123 to each other may be parallel to the second rotation axis A2 . According to this structure, since the second rotation axis A2 and the rotation axis connecting two adjacent forward extension links of the plurality of front extension links 12 are all provided in parallel, the user can freely move his arm left or right. can

In addition, as a plurality of front extension links 12 are provided, the user can independently move the multiple joints of the arm. For example, the user may move the arm left or right around the shoulder joint in a state where the elbow joint is fixed. In this case, the first front extension link 121 and the second front extension link 122, and the second front extension link 122 and the third front extension link 123 do not move relatively, and the first front extension link 123 does not move. Only the extension link 121 may be driven in such a way that it rotates with respect to the base link 10 . As another example, when the user intends to use only the elbow joint with the shoulder joint fixed, only the relative movement between the first forward extension link 121 and the second forward extension link 122 may be implemented.

The rear extension link 13 is connected to the base link 10 and may extend to the rear of the base link 10 . The rear extension link 13 may be integrally fixed to limit movement relative to the base link 10 . Since the rear extension link 13 is fixed to the base link 10 and moves integrally, the rear extension link 13 , the coupling link 17 and the slider 15 can implement movement in one degree of freedom. Since unnecessary movement is restricted except for movement for compensating for gravity, durability of the device may be improved.

The guide 14 is positioned above the base link 10 , and may be provided on the main frame 11 . The guide 14 may have a longitudinal direction disposed along the longitudinal direction of the main frame 11 . The guide 14 may be part of the main frame 11 . The main frame 11 may include movement limiting members 81 , 82 for defining the zone of the guide 14 . The first movement limiting member 81 may be provided at the upper end of the guide 14 , and the second movement limiting member 82 may be provided at the lower end of the guide 14 .

The slider 15 is slidable along the guide 14 . The slider 15 is slidable between the first movement limiting member 81 and the second movement limiting member 82 .

The gravity compensating elastic body 16 may have one end fixed to the main frame 11 and the other end fixed to the slider 15 . For example, the gravity compensating elastic body 16 may have one end connected to the first movement limiting member 81 and the other end connected to the upper surface of the slider 15 . The gravity compensation elastic body 16 may apply a force for gravity compensation.

One end of the coupling link 17 may be rotatably connected to the rear extension link 13 , and the other end may be rotatably connected to the slider 15 . The coupling link 17 may transmit power to the slider 15 to rotate the rear extension link 13 about the first rotation axis A1 . For example, when the rear extension link 13 rotates counterclockwise based on the drawing, the slider 15 may slide upward along the guide 14 .

The support part 18 may be provided at an end of the front extension link 12 that is farthest from the base link 10 . The support part 18 may support the user's arm. The support part 18 is capable of two degrees of freedom of movement relative to the forward extension link 12 . The support part 18 includes a support base 181 rotatably connected to the front extension link 12 , and a support plate provided above the support base 181 and capable of movement in two degrees of freedom with respect to the support base 181 . 182 , and a support joint 183 connecting the support base 181 and the support plate 182 may be included. The support joint 183 may be a universal joint or a ball joint. The support joint 183 may assist the support plate 182 to move in two degrees of freedom with respect to the support base 181 .

A rotation shaft (third rotation shaft, A3) to which the support base 181 is rotatably connected to the front extension link 12 may be parallel to the second rotation shaft A2. According to this structure, interference of the gravity compensating device 1 with the user's arm can be reduced when the user raises and lowers his or her arm around the shoulder joint. In addition, since the support plate 182 is connected to the support base 181 through the support joint 183 , the support plate 182 is a rotation shaft through which two adjacent front extension links among the plurality of front extension links 12 are connected to each other. It can rotate about an axis of rotation parallel to According to this structure, when the user moves the arm to the left or right, it is possible to reduce the interference of the gravity compensating device 1 with the user's arm.

The arm support band 192 may secure the support part 18 to the user's arm. The arm support band 192 is connected to the support part 18 and may surround the user's arm.

The gravity compensating device 1 can implement a motion implementation that moves closely with the user's arm by making the base link 10, the front extension link 12, and the support part 18 non-ductile to implement a multi-degree of freedom movement, In implementing this operation, the base link 10, the front extension link 12, and the support part 18 are not provided with an elastic body for gravity compensation, so a simpler and slimmer design is possible. Through this, interference between the user's arm or load and the gravity compensating device can be minimized. The elastic body for compensating for gravity is disposed on the back side, so that it can be implemented by minimizing the interference of the movement of the user's arm in multiple degrees of freedom.

The gravity compensating device may include a connection elastic body 71 that is respectively fixed to two adjacent forward extension links among the plurality of forward extension links to provide a cushioning force. For example, the connection elastic body 71 includes a first connection elastic body 711 having one end connected to the first front extension link 121 and the other end connected to the second front extension link 122, and one end connected to the second front A second connection elastic body 712 connected to the extension link 122 and the other end connected to the third front extension link 123 may be included. The connection elastic body 71 may assist the front extension link 12 to maintain a default posture in a situation where no external force is applied. It should be noted that the connecting elastic body 71 is not an elastic body for compensating for gravity. The gravity compensating device according to an embodiment is characterized in that the portion provided near the user's arm is provided in a compact manner by arranging an elastic body for gravity compensation on the back side.

Hereinafter, the gravity compensation mechanism of the gravity compensation device 1 will be described in detail with reference to FIG. 3 . When the front extension link 12 of the gravity compensating device 1 rotates according to the movement of the user's arm, the base link 10 connected to the front extension link 12 rotates about the first rotation axis A1. can rotate Hereinafter, for convenience of description, the base link 10 will be described based on the counterclockwise rotation. When the base link 10 rotates counterclockwise about the first rotation axis A1 , the coupling link 13 may rotate in the clockwise direction of the base link 10 . The coupling link 13 may slide the slider 15 upward while rotating in a clockwise direction. As the slider 15 slides upward, the gravity compensating elastic body 16 may be compressed. The compressed gravity compensating elastic body 16 may transmit the gravity compensating force to the forward extension link 12 through a restoring force. In this way, the gravity compensating elastic body 16 can provide a support moment to the forward extending link 12 and the support part 18 .

라 하고, 이 토크 입력에 따라 슬라이더(15)를 통해 중력 보상 탄성체(16)에 가해지는 힘을

라고 하면, 아래와 같은 관계식을 구할 수 있다.A load applied to the user's arm, such as a mine detector, passes through the user's arm, and the front extension link 12 generates a torque to rotate the base link 10 . this torque

and the force applied to the gravity compensating elastic body 16 through the slider 15 according to this torque input

Then, the following relational expression can be obtained.

는 커플링 링크(17)의 가상의 연장선과 가이드(14) 사이의 각도를 의미한다.

는 중력 보상 탄성체(16)의 강성을 의미하고,

는 중력 보상 탄성체(16)가 변위되기 전 초기 길이를,

은 중력 보상 탄성체(16)의 현재 길이를 의미한다. 위 식에 기초하여, 작업 영역 내에서 입력되는 일정한 토크에 대한 중력 보상 값을 갖는 중력 보상 장치(1)를 설계할 수 있다.3, h means the vertical distance from the center of the base link 10 to the coupling link 17,

denotes an angle between the imaginary extension line of the coupling link 17 and the guide 14 .

is the stiffness of the gravity compensating elastic body 16,

is the initial length before the gravity compensating elastic body 16 is displaced,

is the current length of the gravity compensating elastic body 16 . Based on the above equation, it is possible to design the gravity compensation device 1 having a gravity compensation value for a constant torque input within the work area.

4 to 6 are views schematically illustrating a state in which a plurality of links and support parts are deformed according to a user's movement according to an embodiment.

4 to 6 , the user can freely move his arm left or right while wearing the gravity compensating device. For example, in a state in which the user extends the arm in the forward (+y) direction, the forward extension link 12 may extend in a direction parallel to the arm. On the other hand, when the user moves the arm to the left (+x direction) or to the right (-x direction), the plurality of front extension links 12 may be deformed according to the movement of the arm. Specifically, the first forward extension link 121 may rotate about the second rotation axis A2 , and the second forward extension link 122 has a second rotation axis A2 with respect to the first forward extension link 121 . ) and may rotate about a rotational axis parallel to, and the third forward extension link 123 may rotate about a rotational axis parallel to the second rotational axis A2 with respect to the second forward extension link 122 .

7 and 8 are enlarged and schematic views of a support part of a wearable gravity compensator capable of multiple degrees of freedom movement according to an exemplary embodiment.

7 and 8 , the support part 18 may provide a degree of freedom of movement of the user. For example, the support base 181 of the support part 18 is rotatably connected to the forward extension link 12 , and the support plate 182 is connected to the support base 181 via the support joint 183 . It may be connected to enable two-degree-of-freedom movement. According to such a structure, the user can perform relatively free movement without interference with the gravity compensating device.

As described above, although the embodiments have been described with reference to the limited drawings, those skilled in the art may apply various technical modifications and variations based on the above. For example, the described techniques are performed in a different order than the described method, and/or the described components of the system, structure, apparatus, circuit, etc. are combined or combined in a different form than the described method, or other components Or substituted or substituted by equivalents may achieve an appropriate result.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

1: Wearable gravity compensating device with multiple degrees of freedom
11: main frame
10: base link
12: front extension link
121: first front extension link
122: second front extension link
123: third forward extension link
13: rear extension link
14: Guide
15: slider
16: gravity compensation elastic body
17: coupling link
18: support part
181: support base
182: support plate
183: support joint

Claims (17)

a main frame that can be secured to the user's back;
a base link rotatably connected to the main frame about a first axis of rotation;
a forward extension link having one end rotatably connected to the base link with respect to a second axis of rotation intersecting the first axis of rotation and extending forward of the base link;
a rear extension link connected to the base link and extending rearward of the base link;
a guide positioned above the base link and provided on the main frame;
a slider slidable along the guide;
a gravity compensating elastic body having one end fixed to the main frame and the other end fixed to the slider; and
a coupling link rotatably connected to each of the rear extension link and the slider;
The rear extension link is fixed to the base link, moving integrally with the base link, wearable gravity compensating device capable of multiple degrees of freedom. delete The method of claim 1,
The front extension link is a wearable gravity compensating device capable of movement in two degrees of freedom with respect to the main frame, allowing movement in multiple degrees of freedom. The method of claim 1,
Connected to the other end of the forward extension link, capable of supporting a user's arm, and further comprising a support part capable of moving in two degrees of freedom with respect to the forward extension link, wearable gravity compensating device capable of multiple degrees of freedom movement. 5. The method of claim 4,
The support part is
a support base rotatable about a third rotation axis on the front extension link;
a support plate provided on the upper side of the support base and capable of movement in two degrees of freedom with respect to the support base; and
A wearable gravity compensating device that can move in multiple degrees of freedom, including a support joint connecting the support base and the support plate. 6. The method of claim 5,
The support joint is a universal joint or a ball joint, a wearable gravity compensating device capable of multiple degrees of freedom. 6. The method of claim 5,
The third axis of rotation is parallel to the second axis of rotation, a wearable gravity compensator capable of movement in multiple degrees of freedom. 5. The method of claim 4,
A wearable gravity compensating device connected to the support part and further comprising an arm support band surrounding the user's arm, allowing multiple degrees of freedom of movement. The method of claim 1,
The forward extension link is formed in plurality,
A plurality of forward extension links,
a first forward extension link having one end rotatably connected to the base link; and
A wearable gravity compensating device capable of multiple degrees of freedom of movement, including a second forward extension link having one end rotatably connected to the other end of the first forward extension link. 10. The method of claim 9,
The rotation axis of the second forward extension link with respect to the first forward extension link is parallel to the second rotation axis, a wearable gravity compensating device capable of movement in multiple degrees of freedom. 10. The method of claim 9,
A wearable gravity compensating device capable of multiple degrees of freedom of movement, further comprising a connecting elastic body having one end connected to the first forward extension link and the other end connected to the second forward extension link. 10. The method of claim 9,
The plurality of forward extension links further include a third forward extension link having one end rotatably connected to the other end of the second forward extension link,
One end of the second forward extension link is connected to a lower side of the first forward extension link, and the other end is connected to a lower side of the third forward extension link. The method of claim 1,
While the front extension link and the rear extension link rotate about the first rotation axis, the slider slides along the guide, and the elastic body is deformed, a wearable gravity compensating device capable of multiple degrees of freedom. The method of claim 1,
A wearable gravity compensating device connected to the main frame and further comprising a body support band surrounding the user's body, allowing multiple degrees of freedom of movement. main frame;
a base link rotatably connected to the main frame about a first axis of rotation;
a forward extension link having one end rotatably connected to the base link with respect to a second axis of rotation intersecting the first axis of rotation and extending forward of the base link;
a rear extension link connected to the base link and extending rearward of the base link;
a guide positioned above the base link and provided on the main frame;
a slider slidable along the guide;
a gravity compensating elastic body having one end fixed to the main frame and the other end fixed to the slider;
a coupling link rotatably connected to each of the rear extension link and the slider; and
It is connected to the other end of the forward extension link, it is possible to support the user's arm, and includes a support part capable of movement in two degrees of freedom with respect to the forward extension link,
The rear extension link is fixed to the base link, moving integrally with the base link, wearable gravity compensating device capable of multiple degrees of freedom. 16. The method of claim 15,
The support part is
a support base rotatable about a third rotation axis on the front extension link;
a support plate provided on the upper side of the support base and capable of movement in two degrees of freedom with respect to the support base; and
A wearable gravity compensating device that can move in multiple degrees of freedom, including a support joint connecting the support base and the support plate. main frame;
a base link rotatably connected to the main frame about a first axis of rotation;
a forward extension link having one end rotatably connected to the base link with respect to a second axis of rotation intersecting the first axis of rotation and extending forward of the base link;
a rear extension link connected to the base link and extending rearward of the base link;
a guide positioned above the base link and provided on the main frame;
a slider slidable along the guide;
a gravity compensating elastic body having one end fixed to the main frame and the other end fixed to the slider; and
a coupling link rotatably connected to each of the rear extension link and the slider;
The forward extension link is formed in plurality,
A plurality of forward extension links,
a first forward extension link having one end rotatably connected to the base link; and
A wearable gravity compensating device capable of multiple degrees of freedom of movement, including a second forward extension link having one end rotatably connected to the other end of the first forward extension link.

Images