KR102340736B1 - Assist muscular apparatus of wearing lower body - Google Patents

Abstract

A wearable lower extremity strength support device according to an embodiment of the present invention includes: a first support mounted on a user's waist and bent to both sides up to a hip joint; a second support connected to the lower end of the first support and extended to the knee joint; a third support connected to the lower end of the second support and extended to the rear of the calf through the side of the calf; a first control module and a second control module provided on both sides of the rear surface of the first support; a first rolling joint provided in the coupling portion of the first support and the second support; a second rolling joint provided in the coupling portion of the second support and the third support; and a wire fixedly mounted to the lower end of the third support through the first rolling joint and the second rolling joint from each of the first control module and the second control module.

Description

Wearable lower extremity strength support device {Assist muscular apparatus of wearing lower body}

The present invention relates to a wearable lower extremity strength support device, and more particularly, to a wearable lower extremity muscle strength support device using a series elastic actuator that can be applied and released and a tendon driven mechanism.

In the past, attempts to introduce wearable robots to industrial sites are increasing thanks to continuous research on wearable robots and the development of base technologies. Among them, chair-type wearable robots developed to maintain the working posture of workers in industrial fields have been developed, and some of them are being introduced to the market.

These wearable robots have an exoskeleton-type wear in which the robot mechanism is fastened to the human body, so it is difficult to match the rotation axis of the exoskeleton and the human body joint, and lacks the degree of freedom of a person. Because it affects the balance, the wearer not only feels a sense of alienation, but the weight increase of the wearable robot system by the exoskeleton mechanism increases the capacity of the actuator.

In particular, the conventional wearable robot has a problem in that it is difficult to reduce the weight because motors are added according to the number of joints to support the hip and knee joints.

Patent Literature: Registered Patent Publication No. 10-1324502

The present invention has been devised to solve the above problems, and an object of the present invention is to provide a lightweight wearable lower extremity muscle strength support device by applying a releasable serial elastic actuator and a tendon driven mechanism.

A wearable lower extremity strength support device according to an embodiment of the present invention includes: a first support mounted on a user's waist and bent to both sides up to a hip joint; a second support connected to the lower end of the first support and extended to the knee joint; a third support connected to the lower end of the second support and extended to the rear of the calf through the side of the calf; a first control module and a second control module provided on both sides of the rear surface of the first support; a first rolling joint provided in the coupling portion of the first support and the second support; a second rolling joint provided in the coupling portion of the second support and the third support; and a wire fixedly mounted to the lower end of the third support through the first rolling joint and the second rolling joint from each of the first control module and the second control module.

In the wearable lower extremity muscle strength support device according to an embodiment of the present invention, the first rolling joint part is mounted to a first rotary joint mounted on the front end of the first support, and one front end of the second support, and the first rotary joint It characterized in that it comprises a first pulley spaced apart from the second rotation joint and the first rotation joint and the second rotation joint rotated in engagement with the wire.

In the wearable lower extremity strength support device according to an embodiment of the present invention, the second rolling joint part is mounted on a third rotation joint mounted on the other tip of the second support, and is mounted on the tip of one side of the third support, and the third rotation It characterized in that it comprises a fourth rotational joint and the third rotational joint and the second rotational joint spaced apart from the second rotational joint to rotate in engagement with the second pulley for mounting the wire.

In the wearable lower extremity strength support apparatus according to an embodiment of the present invention, the first control module and the second control module are provided in the form of boxes on both sides of the rear side of the first support, respectively, and the wires are fixedly connected therein. and a control unit for controlling the actuator.

In the wearable lower extremity muscle strength support device according to an embodiment of the present invention, the actuator includes a first stage on which a motor is mounted to the outside; a second end spaced apart from the first end and connected to the first end with two guide rods; a wire block through which the two guide rods pass and having a wire fixing end for fixing the wire on one side; a movable body provided between the two guide rods and provided to engage a screw shaft connected to the motor of the first stage; a reference block provided integrally with the movable body and through which the two guide rods pass; and a spring provided on each of the two guide rods between the wire block and the reference block.

In the wearable lower extremity muscle strength support device according to an embodiment of the present invention, the control unit is connected to the motor of the actuator and controls the operation of the motor to the position of the reference block integrally provided with the movable body provided to engage the screw shaft. and to adjust the movement speed.

The features and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

Prior to this, the terms or words used in the present specification and claims are conventional and should not be interpreted in a dictionary meaning, and the concept of the term is appropriately defined in order for the inventor to best describe his invention. It should be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle that it can be done.

The wearable lower extremity muscle strength support device according to an embodiment of the present invention supports the extension movement of the hip joint and the knee joint simultaneously with one motor, and the specification of the motor 210 can be lowered by supporting the muscle strength by the elastic force of the spring to achieve weight reduction. can have an effect.

In addition, the wearable lower extremity muscle strength support device according to an embodiment of the present invention applies a rolling joint similar to a human joint to reduce the mismatch with the joint axis of the human body, applies a tendon driven mechanism using a wire and an actuator, and applies the actuator to the upper body and lower back It has the effect of improving the wearer's fit by reducing the weight of the lower extremity coupling part of the human body.

1 is a block diagram showing the configuration of a wearable lower extremity strength support device according to an embodiment of the present invention.
Figure 2 is an exemplary view showing a second rolling joint constituting the wearable lower extremity strength support device according to an embodiment of the present invention.
Figure 3 is an exploded perspective view of the actuator constituting the wearable lower extremity strength support device according to the embodiment of the present invention.
4A to 4D are operational exemplary views showing the operation of the actuator constituting the wearable lower extremity muscle support apparatus according to the embodiment of the present invention.
5 is an exemplary view showing a driving mode state of the wearable lower extremity muscle strength support device according to an embodiment of the present invention.
6 is an exemplary view showing an energy regeneration mode state of the wearable lower extremity muscle strength support device according to an embodiment of the present invention.
7 is an exemplary view showing a free mode state of the wearable lower extremity strength support device according to an embodiment of the present invention.

The objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments taken in conjunction with the accompanying drawings. In the present specification, in adding reference numbers to the components of each drawing, it should be noted that only the same components are given the same number as possible even though they are indicated on different drawings. Also, terms such as first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. In addition, in describing the present invention, if it is determined that a detailed description of a related known technology may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. 1 is a block diagram showing the configuration of a wearable lower extremity strength support device according to an embodiment of the present invention, Figure 2 is an example showing a second rolling joint constituting the wearable lower extremity muscle strength support device according to an embodiment of the present invention 3 is an exploded perspective view of the actuator constituting the wearable lower extremity strength support device according to the embodiment of the present invention, and FIGS. 4A to 4D are the wearable lower extremity strength support device according to the embodiment of the present invention. It is an exemplary operation view showing the operation of the actuator, FIG. 5 is an exemplary view showing the driving mode state of the wearable lower extremity muscle strength support device according to an embodiment of the present invention, and FIG. 6 is a wearable lower extremity muscle strength according to the embodiment of the present invention. It is an exemplary view showing the energy regeneration mode state of the support device, Figure 7 is an exemplary view showing the free mode state of the wearable lower extremity muscle support device according to an embodiment of the present invention.

A wearable lower extremity strength support device according to an embodiment of the present invention is a first supporter 101 that is mounted on a user's waist and bent to both sides up to the hip joint, and a second supporter 101 connected to the lower end of the first supporter 101 and extended to the knee joint. A first control module ( 110) and the second control module 120, the first rolling joint 130, the second support 102 and the third support 103 provided in the coupling portion of the first support 101 and the second support 102. ) from each of the second rolling joint part 140 and the first control module 110 and the second control module 120 provided in the coupling part of the first rolling joint part 130 and the second rolling joint part 140 through the second rolling joint part 140 3 includes a wire 105 fixedly mounted to the lower fixed end of the support 103 .

The first rolling joint 130 is a member provided in the user's hip joint, and is a first rotary joint mounted on the distal end of the first support 101 at the coupling portion of the first support 101 and the second support 102 . (131), a second rotary joint 132 and a first rotary joint 131 and a second rotary joint 132 mounted on one end of the second support 102 and engaged with the first rotary joint 131 to rotate and a first pulley 133 spaced apart from and carrying the wire 105 .

Here, the first rotation joint 131 and the second rotation joint 132 are in the form of a disk having a plurality of teeth on one edge, and are rotated by meshing with each other through the teeth according to the user's hip joint motion. The toothed portion may be formed in a circumferential range where the first rotational joint 131 and the second rotational joint 132 engage in correspondence to the rotational angle range of the hip joint motion.

The second rolling joint 140 is a member provided in the user's knee joint and has the same configuration as the first rolling joint 130, but has a symmetrical structure, and a third rotation joint mounted on the other end of the second support 102 ( 141), a fourth rotational joint 142 and a third rotational joint 141 and a fourth rotational joint 142 that are mounted on one end of the third support 103 and rotate in engagement with the third rotational joint 141 from and a second pulley 143 that is spaced apart and carries the wire 105 .

Here, the third rotation joint 141 and the fourth rotation joint 142 have a disk shape having a plurality of teeth on one edge like the first rotation joint 131 and the second rotation joint 132, and the user's knee joint According to the movement, it rotates by meshing with each other through the toothed part. At this time, the toothed portions of the third rotary joint 141 and the fourth rotary joint 142 are symmetrically opposite to the toothed portions of the first rotary joint 131 and the second rotary joint 132 as shown in FIG. 2 . It can be formed in the circumferential range engaged in response to the rotation angle range of the knee joint motion.

The second pulley 143 also holds the wire 105 like the first pulley 133 , but the first pulley 133 is provided behind the first rotary joint 131 and the second rotary joint 132 . On the other hand, there is a difference that the second pulley 143 is provided in front of the third rotation joint 141 and the fourth rotation joint 142 .

The first control module 110 and the second control module 120 are provided in the form of boxes on both sides of the rear surface of the first support 101, respectively, and the wire 105 is fixedly connected to the driver 200 and the driver therein. It may include a controller (not shown) for controlling the 200 .

Specifically, as shown in FIG. 3 , the actuator 200 includes a first stage on which the motor 210 is mounted on the outside, a second stage 209 spaced apart corresponding to the first stage and connected by two guide rods 203 and 204 . ), a wire block 201 having a wire fixing end 202 through which the two guide rods 203 and 204 pass through and fixing the wire 105 to one side, and provided between the two guide rods 203 and 204 and the first A movable body 207 provided to engage the screw shaft 206 connected to the stage and the motor 210, a reference block 208 provided integrally with the movable body 207 and through which two guide rods 203 and 204 pass, and a wire block 201 ) and the reference block 208 between the two guide rods 203 and 204, and includes springs 205-1 and 205-2 provided on each.

The control unit is connected to the motor 210 of the actuator 200 and controls the operation of the motor 210 according to the sensing information received from an external sensor (not shown) to adjust the rotation direction and the rotational force of the screw shaft 206 . do. Accordingly, the control unit can adjust the position and movement speed of the reference block 208 with respect to the two guide rods 203 and 204 through the movable body 207 provided to engage the screw shaft 206 .

The actuator 200 configured as described above uses the displacement of the springs 205-1 and 205-2 by the movement of the reference block 208 through the tensile force of the wire 105 and the driving of the motor 210 under the control of the controller. It is characterized by supporting lower extremity muscle strength.

That is, as shown in FIGS. 4A to 4D , the actuator 200 moves the reference block 208 through the tensile force of the wire 105 and the driving of the motor 210 , thereby displacing the springs 205 - 1 and 205 - 2 . can be determined to support the user's lower extremity muscle strength in various modes.

First, as shown in FIG. 4A as the wearable lower extremity muscle support device is worn on the user and moves, the actuator 200 converts the wire block 201 into the reference block 208 by the tensile force of the fixedly connected wire 105. The springs 205-1 and 205-2 begin to compress.

When the compression of the springs 205-1 and 205-2 is maximized, the wire block 201 is the reference block 208 as shown in FIG. 4b to the maximum compression of the springs 205-1 and 205-2. will press

At this time, the control unit rotates the screw shaft 206 by controlling the operation of the motor 210 according to the detection information received from an external sensor (not shown), and is attached to the screw shaft 206 as shown in FIG. 4C . It is possible to create an elastic release state in which the position of the reference block 208 is moved downward by d1 through the movable body 207 provided in engagement.

Accordingly, the wire block 201 of the actuator 200 does not compress the springs 205 - 1 and 205 - 2 , and as shown in FIG. 4D , it is possible to create a state having a free section of d2 . Due to the free section of d2, the movement of the wire block 201 is not restricted, so that the user can move freely.

The actuator 200 operating in this way adjusts the position of the reference block 208 by the control unit to adjust the compression start position and the elastic release position of the springs 205-1 and 205-2, so that the 3 of the wearable lower extremity muscle strength support device It can support two modes.

Specifically, the first mode is a driving mode, and as shown in FIG. 5 , a spring ( 205-1,205-2) can be applied to the stance phase during walking by supporting the extension movement of the hip and knee joints.

That is, as the user extends the hip and knee joints, the wire 105 is stretched or stretched while the wire block 201 moves the springs 205-1 and 205-2 to increase the elastic force of the springs 205-1 and 205-2. It supports the extension or tension of the wire 105, and thus allows the user to smoothly perform extension movements of the hip and knee joints.

The second mode is an energy regeneration mode, in which the position of the reference block 208 is adjusted so that the springs 205-1 and 205-2 are compressed in a specific joint motion section as shown in FIG. 6, and energy is applied to the springs 205-1 and 205 In the state of being stored as elastic energy of -2), it can be regenerated as kinetic energy by supporting the operation process of the user sitting and standing.

To this end, the controller controls the driving of the motor 210 to set the position of the reference block 208, and the wire block 201 is the compression start position of the springs 205-1 and 205-2 in the direction of the reference block 208. can be adjusted.

And the third mode is a free mode, which adjusts the position of the reference block 208 so that the springs 205-1 and 205-2 are not compressed during joint movement of the human body as shown in FIG. It can be applied to the swing phase when walking.

That is, as shown in FIGS. 4C and 4D, the control unit controls the operation of the motor 210 to rotate the screw shaft 206, and through the movable body 207 provided to engage the screw shaft 206, the reference block ( 208) can be moved down by d1 to create an elastic release state, thereby creating a state with a free section of d2. Due to the free section of d2, the movement of the wire block 201 is not restricted, so that the user can move freely.

The wearable lower extremity muscle strength support device according to an embodiment of the present invention, including the actuator 200 operating in this way, supports the extension movement of the hip joint and the knee joint simultaneously with one motor 210 and uses the springs 205-1 and 205-2 It is possible to lower the specification of the motor 210 by supporting the muscular strength by the elastic force, so that weight reduction can be obtained.

In addition, the wearable lower extremity muscle strength support device according to an embodiment of the present invention applies a rolling joint similar to a human joint to reduce mismatch with the joint axis of the human body, and a tendon driven mechanism using the wire 105 and the actuator 200 . By applying the actuator 200 to the upper body waist and reducing the weight of the lower body coupling part, it is possible to improve the wearer's fit.

Although the technical idea of the present invention has been specifically described according to the above preferred embodiments, it should be noted that the above-described embodiments are for the purpose of explanation and not for the limitation thereof.

In addition, those skilled in the art will understand that various implementations are possible within the scope of the technical idea of the present invention.

101: first support 102: second support
103: third support 105: wire
110: first control module 120: second control module
130: first rolling joint 131: first rotation joint
132: second rotation joint 133: first pulley
140: second rolling joint 141: third rotation joint
142: fourth rotation joint 143: second pulley
200: actuator 201: wire block
202: wire fixed end 203, 204: guide rod
205-1,205-2: spring 206: screw shaft
207: moving object 208: reference block
209: second stage 210: motor

Claims (6)

a first support mounted on the user's waist and bent to both sides up to the hip joint;
a second support connected to the lower end of the first support and extended to the knee joint;
a third support connected to the lower end of the second support and extended to the rear of the calf through the side of the calf;
a first control module and a second control module provided on both sides of the rear surface of the first support;
a first rolling joint provided in the coupling portion of the first support and the second support;
a second rolling joint provided in the coupling portion of the second support and the third support;
a wire fixedly mounted to the lower end of the third support through the first rolling joint and the second rolling joint from each of the first control module and the second control module; and
The first control module and the second control module are provided in the form of boxes on both sides of the rear surface of the first support, respectively, and include a driver to which the wire is fixedly connected therein, and a controller for controlling the driver,
The actuator is
a first stage with a motor mounted on the outside;
a second end spaced apart from the first end and connected to the first end with two guide rods;
a wire block through which the two guide rods pass and having a wire fixing end for fixing the wire on one side;
a movable body provided between the two guide rods and provided to engage a screw shaft connected to the motor of the first stage;
a reference block provided integrally with the movable body and through which the two guide rods pass; and
a spring provided on each of the two guide rods between the wire block and the reference block; including,
In the actuator, the wire block compresses the spring to the reference block by the tensile force of the fixedly connected wire,
When the compression of the spring is made to the maximum, the wire block is pressed in the state of maximum compression of the spring with the reference block,
When the control unit rotates the screw shaft by controlling the operation of the motor according to the sensing information received from the external sensor, the position of the reference block is moved downward by a predetermined distance through the movable body provided to engage the screw shaft. create an elastic release state,
If the wire block of the actuator does not compress the spring, a wearable lower extremity strength support device that creates a state having a predetermined free section and does not restrict movement of the wire block due to the predetermined free section.
The method of claim 1,
The first rolling joint portion is a first rotary joint mounted on the front end of the first support, a second rotary joint mounted on one end of the second support and rotated in engagement with the first rotary joint, and the first rotary joint And a wearable lower extremity strength support device, characterized in that it is spaced apart from the second rotary joint and comprises a first pulley for mounting the wire.
The method of claim 1,
The second rolling joint portion is a third rotary joint mounted on the other end of the second support, a fourth rotary joint mounted on one end of the third support, and rotated in engagement with the third rotary joint, and the third rotation A wearable lower extremity strength support device, which is spaced apart from the joint and the second rotational joint and includes a second pulley for mounting the wire.
delete delete The method of claim 1,
The control unit is connected to the motor of the actuator and controls the operation of the motor to adjust the position and movement speed of the reference block integrally provided with the movable body provided to engage the screw shaft. support device.

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