KR102498970B1 - Bidirectional power transmission device and exoskeleton robot including the same - Google Patents

Abstract

According to an embodiment, a bidirectional power transmission device connected to different first and second parts of a user to transmit force thereto comprises: a housing having a sliding space extending in a sliding direction; a sliding rail crossing the sliding space in the sliding direction; a first slider installed to be movable along the sliding rail; a first drive wire having one end connected to the first slider and the other end extending outside the housing to be connected to the first part of the user; a second slider installed to be movably along the sliding rail; a second drive wire having one end connected to the second slider and the other end extending outside the housing to be connected to the second part of the user; and a driving actuator installed in the housing to slidingly drive the second slider along the sliding rail. Therefore, the bidirectional power transmission device can transmit power to different body parts via two independent wires by using one driving actuator, thereby being advantageous in designing a compact and lightweight structure.

Description

BIDIRECTIONAL POWER TRANSMISSION DEVICE AND EXOSKELETON ROBOT INCLUDING THE SAME}

The following description relates to a bidirectional power transmission device and an exoskeleton robot including the same.

Many exoskeleton robots have been developed to help assist the human body. Among them, the active-driven exoskeleton robot uses electric/hydraulic actuators to support the force required by the human body. In addition, exoskeleton robots that flexibly generate force using wires have recently been developed.

In the existing research on active exoskeleton robots, actuators are placed for each joint to be supported to assist the human body using driving force. However, when supporting the walking of the human body, there was a characteristic that effective support was provided only for a specific time in a specific angular area of the joint and no significant support was provided in the other areas.

In particular, when assisting joints (ankle, knee, hip joint, elbow, etc.) of the human body using wires, etc., power is not required for all sections of joint movement, but only in a specific section or direction (bending or stretching) Transmission is required, and in the rest of the section, it is not possible to assist due to the nature of the wire, and it is required to simply follow the movement.

In this case, power is wasted. In addition, when a multi-joint structure such as an arm or leg of the human body is assisted, when one motor is used per joint, the cost and weight of the assistive device increase, which acts as a factor impeding the operability of the assistive device.

The above background art is possessed or acquired by the inventor in the process of deriving the present invention, and cannot necessarily be said to be known art disclosed to the general public prior to filing the present invention.

An object of one embodiment is to provide a bi-directional power transmission device and an exoskeleton robot including the same.

A bi-directional power transmission device according to an embodiment connected to different first and second parts of a user to transmit force includes a housing having a sliding space extending along a sliding direction; a sliding rail crossing the sliding space along the sliding direction; a first slider movably installed along the sliding rail; a first drive wire having one end connected to the first slider and the other end extending out of the housing and connected to a first part of the user; a second slider movably installed along the sliding rail; a second drive wire having one end connected to the second slider and the other end extending out of the housing and connected to a second part of the user; and a driving actuator installed in the housing and slidingly driving the second slider along the sliding rail.

The first slider is positioned to be spaced apart from the second slider in a first driving direction among the sliding directions, and the first driving wire is fixed to the first slider and extends to the housing along the first driving direction. , and the second driving wire may extend outside the housing along a second driving direction opposite to the first driving direction among the sliding directions while being fixed to the second slider.

When the second slider slides in the first driving direction and contacts the first slider by the driving of the driving actuator, the first slider and the second slider may be coupled to each other and driven together.

The first slider may include a first body movably installed on the sliding rail; and a gripper protruding from the first body in the second driving direction, wherein the second slider includes: a second body movably installed on the sliding rail; and a gripping step that is formed on the second body and can be fastened when in contact with the gripper.

The housing is installed at a set position in the section of the sliding space based on the sliding direction, and interferes with the first slider on the set position to limit the sliding movement of the first slider, but interferes with the second slider. A stopper that does not become may be further included.

The housing further includes a guide slot formed through a side perpendicular to the sliding direction so as to communicate with the sliding space and extending along the sliding direction, and the first slider extends from the first body in the sliding direction. Further comprising a guide pin protruding in a direction away from the axis of and accommodated in the guide slot, wherein the stopper is installed to interfere with the guide pin at a set position among the sections of the guide slot based on the sliding direction there is.

The guide slot includes a plurality of grooves in which the stopper can be installed at a plurality of grooves spaced apart from each other along the sliding direction, and the stopper is detachable from the groove on the set position among the plurality of grooves can possibly be installed.

When the second slider slides in the first driving direction by the driving of the driving actuator and contacts the first slider, the gripper and the gripping step are coupled to each other in a snap fit manner, coupled to the second slider When the first slider slides in the second driving direction and contacts the stopper, the second slider may be separated from the first slider due to interference between the stopper and the first slider.

The bidirectional power transmission device according to an embodiment includes: a first sensor installed at at least one point of a section in which the first slider slides in the sliding space to measure a movement of the first slider; a second sensor installed at at least one point in the sliding space, relatively spaced from the first sensor in the second driving direction, to measure the movement of the second slider; a third sensor attached to the first slider to measure whether or not it is engaged with the second slider; and a controller configured to determine an exercise state of the user based on a signal measured by the first sensor, the second sensor, or the third sensor, and to control driving of the driving actuator based on the exercise state.

An exoskeleton robot according to an embodiment for assisting a user's walking motion includes a proximal fixing unit fixed to a user's thigh; a distal fixing part fixed to a user's heel part connected from the thigh part; and a bi-directional power transmission device connected to each of the proximal and distal fixing parts to transmit power required for walking.

The bi-directional power transmission device includes a housing having a sliding space extending along a sliding direction; a sliding rail crossing the sliding space along the sliding direction; a first slider movably installed along the sliding rail; a first driving wire having one end connected to the first slider and the other end extending out of the housing and connected to the proximal fixing part; a second slider movably installed along the sliding rail; a second driving wire having one end connected to the second slider and the other end extending out of the housing and connected to the distal fixing part; and a driving actuator installed in the housing and slidingly driving the second slider along the sliding rail.

The housing may be wearably fixed to the user's back, and the sliding direction may be oriented in a direction perpendicular to the ground.

The first slider is spaced apart from the second slider in a first driving direction, which is an upward direction among the sliding directions, and the first driving wire is fixed to the first slider and is positioned in the first driving direction. Therefore, it extends to the outside of the housing and is connected to the proximal fixing part, and the second driving wire extends outside the housing along a second driving direction, which is a downward direction among the sliding directions, while being fixed to the second slider, It may be connected to the distal fixation part.

The bi-directional power transmission device may include: a first sensor installed at at least one point of a section in which the first slider slides in the sliding space to measure a movement of the first slider; a second sensor installed at at least one point in the sliding space, relatively spaced from the first sensor in the second driving direction, to measure the movement of the second slider; and a third sensor attached to the first slider to measure whether or not it is engaged with the second slider, wherein the exoskeleton robot responds to signals measured by the first sensor, the second sensor, or the third sensor. Based on the walking state of the user, and based on the walking state, the control unit for controlling the driving of the driving actuator may further include.

The first slider may include a first body movably installed on the sliding rail; and a gripper protruding downward from the first body, wherein the second slider includes: a second body movably installed on the sliding rail; and a gripping step formed on the second body and capable of being fastened when in contact with the gripper, and when the second slider slides upward by the driving of the driving actuator and contacts the first slider, the gripper and The gripping steps may be coupled to each other in a snap fit manner.

Based on the signal measured by the first sensor, the second sensor, or the third sensor, the control unit determines that the gait state of the user's legs installed with the proximal fixing unit and the distal fixing unit is in a stance phase. In this case, the control unit may slide the second slider upward by driving the driving actuator and slide the second slider upward together in a state of being in contact with the first slider.

When the control unit determines that the gait state of the user's legs installed with the proximal fixing unit and the distal fixing unit is at the end of the stance phase, the control unit moves the second slider downward through the drive actuator. By driving the first slider in a direction to slide the first slider downward, the first driving wire may be tensioned to assist in lifting the user's foot fixed to the distal fixing unit upward from the ground.

The housing is installed at a set position in the section of the sliding space based on the sliding direction, and interferes with the first slider on the set position to limit the sliding movement of the first slider, but interferes with the second slider. and a stopper that does not function, and when the first slider coupled to the second slider slides downward and contacts the stopper, the stopper and the first slider interfere, so that the second slider moves to the first slider. It can be separated from the slider.

According to the bidirectional power transmission device and the exoskeleton robot including the same according to an embodiment, power can be transmitted to different body parts through two independent wires using one drive actuator, so the structure is designed to be compact and lightweight The following advantageous advantages exist.

1 is a view showing a user wearing an exoskeleton robot including a bi-directional power transmission device according to an embodiment.
2 is a block diagram of a bi-directional power transmission device according to an embodiment.
3 is a perspective view showing the structure of a bi-directional power transmission device according to an embodiment.
4 is a perspective view illustrating an internal slider structure of a bi-directional power transmission device according to an exemplary embodiment.
5 is a diagram illustrating a driving state of a bi-directional power transmission device according to walking steps of a user wearing an exoskeleton robot according to an embodiment.
6 is a perspective view illustrating a state in which an inner slider of a bi-directional power transmission device is coupled according to an exemplary embodiment.
7 is a diagram illustrating a driving state of a bi-directional power transmission device according to walking steps of a user wearing an exoskeleton robot according to an embodiment.
8 is a front view illustrating a state in which an inner slider of the bi-directional power transmission device is maximally raised according to an exemplary embodiment.
9 is a rear perspective view illustrating a shock absorber according to an embodiment.
10 is a diagram illustrating a driving state of a bi-directional power transmission device according to walking steps of a user wearing an exoskeleton robot according to an embodiment.
11 is a perspective view illustrating a state in which an inner slider of a bi-directional power transmission device is driven in a coupled state according to an embodiment.
12 is a front view illustrating a state in which inner sliders of the bi-directional power transmission device are separated from each other according to an exemplary embodiment.

Hereinafter, embodiments will be described in detail through exemplary drawings. In adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing the embodiment, if it is determined that a detailed description of a related known configuration or function hinders understanding of the embodiment, the detailed description will be omitted.

In addition, in describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. When an element is described as being “connected,” “coupled to,” or “connected” to another element, that element may be directly connected or connected to the other element, but there may be another element between the elements. It should be understood that may be "connected", "coupled" or "connected".

Components included in one embodiment and components having common functions will be described using the same names in other embodiments. Unless stated to the contrary, descriptions described in one embodiment may be applied to other embodiments, and detailed descriptions will be omitted to the extent of overlap.

1 is a diagram showing a user wearing an exoskeleton robot including a bi-directional power transmission device according to an embodiment, FIG. 2 is a block diagram of a bi-directional power transmission device according to an embodiment, and FIG. 3 is an embodiment. It is a perspective view showing the structure of a bi-directional power transmission device according to an embodiment, and FIG. 4 is a perspective view showing a slider structure inside the bi-directional power transmission device according to an embodiment.

1 to 4, the exoskeleton robot 1 according to an embodiment is a bi-directional power transmission device that individually drives wires independently connected to joints in different parts while being worn on a user's body ( 11), and through this, it is possible to provide the necessary force for each motion of the two joints.

In the following description, the bidirectional power transmission device 11 according to an embodiment and the exoskeleton robot 1 including the same are connected to the thigh and heel portions of the user's leg, respectively, so that the user's hip joint, knee joint or It will be described as a configuration that transmits the force required for motion of the ankle joint.

However, it is revealed that this is only an example and that the bidirectional power transmission device 11 and the exoskeleton robot 1 of the present invention can be connected to other body parts or other joint parts of the user to assist in various joint movements. put

An exoskeleton robot 1 according to an embodiment includes a bi-directional power transmission device 11 that is worn on a user and provides force necessary for movement of at least one joint through one driving source, and a user's joint to assist movement. A proximal fixing part 12 fixed to a relatively proximal part and connected to the bi-directional power transmission device 11, and a distal fixing part fixed to a relatively distal part based on the joint and connected to the bi-directional power transmission device 11 (13) and a control unit 14 that controls driving of the bi-directional power transmission device 11 to selectively provide force to the proximal fixing part 12 or the distal fixing part 13.

As shown in FIG. 1 , when the exoskeleton robot 1 is installed to assist a user's walking motion, the bi-directional power transmission device 11 may be worn by the user. For example, the bi-directional power transmission device 11 may have the form of a bag worn behind a user's back or waist.

In this case, the proximal fixing part 12 may be fixed to the user's thigh, and the distal fixing part 13 may be fixed to the user's calf or heel.

The bi-directional power transmission device 11 according to an embodiment may transmit power by being connected to each of the first and second parts of the user.

As shown in FIGS. 1 to 4 , when the bi-directional power transmission device 11 is configured to assist the user in walking, the first and second parts that are different from each other are the proximal fixing part 12 and the distal fixing part 13. can

The bidirectional power transmission device 11 according to an embodiment includes a housing 111, a sliding rail 112, a first slider 113, a first driving wire 115a, a first wire guide 116a, a driving actuator ( 119), the second slider 114, the second driving wire 115b, the second wire guide 116b, the buffer 117, the first sensor 118a, the second sensor 118b, and the third sensor ( 118c).

The housing 111 may be a case-type member worn on a user's body. For example, as shown in FIG. 1 , the housing 111 may include a separate strap member that can be fixed to the user in the form of a bag.

For example, the housing 111 has a sliding space 1111 in which the first slider 113 and the second slider 114 can slide inside, and the sliding space 1111 outside the housing 111 is exposed. A guide slot 1112 formed as a space in communication as much as possible and accommodating the guide pin 1133 of the first slider 113 to guide the guide pin 1133 along the sliding direction, and a guide slot 1112 based on the sliding direction ) It may include a stopper 1113 installed in the section and interfering with the guide pin 1133 to limit the sliding driving displacement of the first slider 113.

The sliding direction is a direction in which the first slider 113 and the second slider 114 perform uniaxial translational motion along the sliding rail 112, and the first slider 113 moves relative to the second slider 114. Conversely, a spaced apart first driving direction and a second driving direction in which the second slider 114 is relatively spaced apart from the first slider 113 may be included.

For example, when the exoskeleton robot 1 is configured to assist a user's walking motion, the housing 111 is oriented upward in the first driving direction and downward in the second driving direction, as shown in FIGS. 1 to 4 . It can be mounted on the user with a structured structure.

The guide slot 1112 may be a slot hole that penetrates the side of the housing 111 and extends along the sliding direction. For example, the guide slot 1112 may be formed on the opposite sidewall of the housing 111 in the sliding direction as shown in FIGS. 1 to 4, and thus the guide pin of the first slider 113. 1133 may also have a pair of symmetrical structures protruding on both sides in the sliding direction.

The stopper (1113, see FIG. 11) is installed on a set position of the guide slot 1112 extending in the sliding direction to prevent the movement of the guide pin 1133 moving in the sliding direction while inserted into the guide slot 1112. can be limited

For example, the stopper 1113 is installed on the set position of the guide slot 1112 and may interfere with the first slider 113 to limit the sliding movement of the first slider 113, but 2 may not interfere with the slider 114.

For example, when the first slider 113 coupled to the second slider 114 slides in the second driving direction (downward direction) and contacts the stopper 1113, the stopper 1113 and the first slider 113 ) interfere with each other, the second slider 114 may be separated from the first slider 113 in the second driving direction (downward direction).

For example, the stopper 1113 may be detachably installed in the guide slot 1112 so that the guide slot 1112 may be interposed and installed in a set position by the user during the interval.

For example, when the guide slot 1112 and the guide pin 1133 are formed as a pair of structures that face each other with respect to a sliding axis, the stopper 1113 also faces each other in the pair of guide slots 1112. It may have a pair of configurations installed in a viewing position.

In the above case, the guide slot (1112, see FIG. 11) may include a plurality of grooves in which the stoppers 1113 may be installed at locations spaced apart from each other along the sliding direction.

According to the above structure, since the stopper 1113 can limit the sliding movement of the first slider 113 at a set position desired by the user in the sliding space 1111, the motion assisted through the bi-directional power transmission device 11 There is an advantage in that the stopper 1113 can be installed at an appropriate location according to the type of the stopper or the structural characteristics of the user's body.

The sliding rail 112 is a member that extends along the sliding direction to cross the sliding space 1111, and is connected to the first slider 113 and the second slider 114 so that the first slider 113 and the second The slider 114 may be guided to be driven along the sliding direction.

The first slider 113 may be slidably driven along the sliding rail 112 while connected to the first driving wire 115a. For example, the first slider 113 may move along the same sliding rail 112 as the second slider 114, and the first slider 113 may move in a first direction away from the second slider 114 in a sliding direction. It may be connected from the first driving wire 115a in the driving direction (upward direction on the drawing).

For example, the first slider 113 is connected to a first body 1131 that is guided by the sliding rail 112 and moves along the sliding direction, and is fixed to the first body 1131 and connected from the outside of the housing 111. A first wire fixing part 1132 for fixedly holding one end of the first driving wire 115a, and a guide protruding from the first body 1131 in a direction away from the sliding axis and passing through the guide slot 1112 The pin 1133 protrudes from the first body 1131 in a direction facing the second slider 114, and when it comes into contact with the second slider 114, the gripper engages with the second slider 114 to hold it fixedly. (1134).

The guide pins 1133 are formed as a pair of members protruding from the first body 1131 to the outside of the housing 111, as shown in FIGS. 1 to 4, and are formed on opposite sides of the housing 111. It can be slid along the sliding direction along with the first body 1131 while being inserted into the guide slots 1112 of one phase.

The gripper 1134 may protrude from the first body 1131 in the second driving direction and be engaged with the gripping step 1143 of the second slider 114 .

For example, the end of the gripper 1134 may have a step corresponding to or matching the step shape of the grip step 1143 of the second slider 114 .

For example, as shown in FIG. 4 , the grippers 1134 may be a pair of protruding members spaced apart in a direction perpendicular to the sliding direction to hold the second slider 114 on both sides.

For example, a pair of guide pins 1133 and a pair of grippers 1134 spaced apart along a direction perpendicular to the sliding direction may be connected to each other at respective positions. In other words, any one gripper 1134 installed at a position spaced apart in one direction based on the sliding axis and any one guide pin 1133 are connected to each other, and the other gripper installed at a position spaced apart in the other direction ( 1134) and the other guide pin 1133 may also have a structure connected to each other.

For example, as shown in FIGS. 3 and 4, the pair of guide pins 1133 may protrude at an oblique angle in a direction away from the first body in the first driving direction (upward direction), The pair of grippers 1134 connected from each of the pair of guide pins 1133 may have a structure protruding in a second driving direction parallel to the sliding direction.

According to the above structure, as shown in FIGS. 11 and 12, after the first slider 113 and the second slider 114 in a coupled state reach the top dead center, they move in the second driving direction (downward direction). When the sliding guide pin 1133 reaches the point where it interferes with the stopper 1113, the pair of guide pins 1133 connected from each pair of grippers 1134 have an oblique angle along the first driving direction. Since it has a bent shape, the pair of stoppers 1113 may provide force in a direction of pushing the pair of guide pins 1133 inward, respectively.

At the same time, each of the pair of stoppers 1113 serves as a fulcrum of a lever that causes each of the pair of guide pins 1133 to rotate inward, so that the pair of grippers 1134 connected from the guide pins 1133 Each of them is opened outward so that the gripping state between the gripper 1134 and the gripping step 1143 can be easily released.

The first driving wire 115a has one end connected to the first slider 113 and the other end guided to the outside of the housing 111 along the first wire guide 116a and connected to the proximal fixing part 12. .

According to the above structure, as the first slider 113 is slidably driven in the sliding space 1111, a force is generated between the first slider 113 and the proximal fixing part 12 via the first driving wire 115a. this can be transmitted.

For example, based on the exterior of the housing 111, the first driving wire 115a may pass through the housing 111 from the first driving direction and enter the sliding space 1111, and the sliding space 1111 It may be connected to the first wire fixing part 1132 of the first slider 113 from the first driving direction even inside.

In the sliding space 1111, one end of the first driving wire 115a extends in the first driving direction while being fixed to the first wire fixing part 1132 of the first slider 113, and the housing 111

From the first driving direction (upper side in the drawing) through the housing 111 into the sliding space 1111

The first wire guide 116a may be a tubular member that surrounds the outer side of the housing 111 to guide the first driving wire 115a to the proximal fixing part 12 .

For example, the first wire guide 116a may extend outward from a first driving direction among parts of the housing 111 .

The driving actuator 119 may be installed in the sliding space 1111 to slide and drive the second slider 114 along the sliding rail 112 .

For example, the driving actuator 119 may slide and drive the second slider 114 in the first driving direction.

For example, the driving actuator 119 may be a motor installed on the sliding rail 112, and in this case, the sliding rail 112 may be coupled to the second slider 114 in a screw method or a linear guide method.

The second slider 114 may be slidably driven along the sliding rail 112 while connected to the second driving wire 115b. For example, the second slider 114 may be guided by the sliding rail 112 and driven in a sliding direction according to the driving of the driving actuator 119 .

For example, the second slider 114 may be connected from the second driving wire 115b in a second driving direction away from the first slider 113 (a downward direction in the drawing) of the sliding direction.

For example, the second slider 114 is connected to a second body 1141 that is guided by the sliding rail 112 and moves along the sliding direction, and is fixed to the second body 1141 and connected from the outside of the housing 111. The second wire fixing part 1142 for holding one end of the second driving wire 115b fixedly and the first slider 113 formed on the second body 1141 and in contact with the first slider 113 It may include a grip step 1143 formed to engage with the gripper 1134 of the.

The grip step 1143 may be formed on the side of the second body 1141 so as to be engaged with the gripper 1134 of the first slider 113 .

For example, when the control unit 14 drives the driving actuator 119 to slide the second slider 114 in the first driving direction (upward direction) to bring it into contact with the first slider 113, the gripper 1134 and the grip step 1143 may be coupled to each other in a snap-fit manner.

For example, as the gripper 1134 is formed as a pair, the grip step 1143 may also be formed as a pair formed on both sides of the second body 1141, respectively.

For example, when the gripper 1134 is in contact with the second slider 114 and the first slider 113, the pair of grippers 1134 are attached to both sides of the second body 1141 of the second slider 114. It can be coupled through a snap fit method that is coupled to the grip step 1143 formed on both sides of the second body 1141 by approaching in a state of wrapping.

The second drive wire 115b has one end connected to the second slider 114 and the other end guided to the outside of the housing 111 along the second wire guide 116b and connected to the distal fixing part 13. .

According to the above structure, as the second slider 114 slides in the sliding space 1111, the force between the first slider 113 and the proximal fixing part 12 via the second driving wire 115b this can be transmitted.

The second wire guide 116b may be a tubular member that surrounds the outer side of the housing 111 to guide the second driving wire 115b to the distal fixing part 13 .

For example, based on the outside of the housing 111, the second driving wire 115b may pass through the housing 111 from the second driving direction and enter the sliding space 1111, and the sliding space 1111 It may be connected to the second wire fixing part 1142 of the second slider 114 from the second driving direction even inside.

For example, the second wire guide 116b may extend outward from the second driving direction of the portion of the housing 111 .

The buffer part 117 is installed at the end of the sliding space 1111 in the first driving direction, and when the first slider 113 slides with the maximum displacement in the first driving direction, the sliding space 1111 can buffer the collision of

For example, the buffer unit 117 includes a buffer frame 1172 installed in a portion of the housing 111 facing the first driving direction, and a housing installed in the buffer frame 1172 and sliding along the sliding direction ( 111) and a buffer spring 1173 installed in the buffer frame 1172 to provide elastic force to the buffer bar 1171 and a buffer bar 1171 at least partially protruding into the sliding space 1111. can

The first sensor 118a is installed at at least one point in the sliding space 1111 where the first slider 113 slides, and can measure the sliding position or motion state of the first slider 113.

The second sensor 118b is installed at at least one point in the sliding space 1111 where the second slider 114 slides, and can measure the sliding position or movement state of the second slider 114.

The third sensor 118c is installed on the first slider 113 and can measure a coupling state with the second slider 114 .

For example, the third sensor 118c may be a sensor installed on the rear surface of the first slider 113 to measure a relative distance to the second slider 114 .

The control unit 14 may determine the user's exercise state based on the signal measured by the first sensor 118a, the second sensor 118b or the third sensor 118c, and determine the motion state of the driving actuator based on the motion state. drive can be controlled.

For example, when the exoskeleton robot 1 has a configuration that assists a user's walking as shown in FIGS. Based on the signal measured through 118c), the walking state of the user's legs to which the proximal fixing part 12 and the distal fixing part 13 are connected can be grasped.

As another example, the control unit 14 may be included as an internal component of the bi-directional power transmission device 11, and the control unit 14 itself may respond to signals measured by the first sensor 118a, the second sensor 118b, or the third sensor 118c. It should be noted that the driving of the drive actuator 119 can be controlled based on this.

5 is a diagram showing a driving state of a bi-directional power transmission device according to walking steps of a user wearing an exoskeleton robot according to an embodiment, and FIG. 6 is a state in which an internal slider of the bi-directional power transmission device is coupled according to an embodiment. FIG. 7 is a view showing a driving state of a bi-directional power transmission device according to a walking step of a user wearing an exoskeleton robot according to an embodiment, and FIG. 8 is a diagram of a bi-directional power transmission device according to an embodiment. This is a front view showing a state in which the inner slider is maximally raised, and FIG. 9 is a rear perspective view showing a shock absorber according to an embodiment.

5 to 9, the driving process of the bi-directional power transmission device 11 during the stance phase in which the user wearing the exoskeleton robot 1 according to an embodiment is in contact with the ground during walking. can confirm.

The control unit 14 is based on the signal measured by the first sensor 118a, the second sensor 118b or the third sensor 118c, and the user's legs on which the proximal fixing part 12 and the distal fixing part 13 are installed. It is possible to determine whether the gait state is in a stance phase or a swing phase.

First, in the process of moving forward while swinging the opposite foot forward as shown in FIG. 5 based on FIG. 1 and the state in which the user puts the foot forward, the control unit 14 drives the driving actuator 119 to remove the second slider 114. It can be slid in one driving direction (upward direction in the drawing), and accordingly, the second driving wire (115b) is tensioned and pulls the proximal fixing part 12 from the back, so that the user's femoral joint is bent backward. can assist

Thereafter, the second slider 114 may be slidably driven in the first driving direction by the continuous driving of the driving actuator 119, and eventually the second slider 114 moves to the position of the first slider 113 and mutually At the same time as being in contact, as shown in FIG. 6 , the gripper 1134 of the first slider 113 is engaged with the gripping step 1143 of the second slider 114 through a snap-fit coupling, so that each other can be combined for

Thereafter, as shown in FIG. 7 , the second slider 114 is coupled to the first slider 113 until the user pushes the step foot backward, and the driving actuator 119 drives the maximum similarity in the first driving direction. 8, the second slider 114 comes into contact with the buffer bar 1171 protruding from the end of the sliding space 1111 in the first driving direction to remove the buffer bar 1171, as shown in FIG. 1 can be pushed in the driving direction.

For example, the controller 14 may determine the end point of the stance phase of the gait state of the user's legs based on whether the first slider 113 and the second slider 114 have reached top dead center. The driving direction of the driving actuator 119 may be switched when the controller 14 determines that the stance phase ends.

In this way, when the first slider 113 and the second slider 114 reach the top dead center, the proximal fixing part 12 is pulled backward as much as possible so that the user's femoral joint also achieves the maximum backward flexion angle. Assisted, it is possible to form a posture in which the toe of the stepping foot pushes the ground as shown in FIG. 7 .

As shown in FIG. 9, as the buffer bar 1171 is pushed in the first driving direction, the buffer spring 1173 installed in the buffer frame 1172 is compressed by the buffer bar 1171 in the sliding direction, The sliding motion of the first slider 113 and the second slider 114 may be buffered by forming a restoring force in the second driving direction at 1171 .

According to the above structure, immediately after the driving direction of the driving actuator 119 is switched, the first slider 113 and the second slider 114 are coupled to each other by the restoring force of the buffer spring 1173 and the driving actuator 119 As it starts to slide in the second driving direction (downward direction) in the state, the first driving wire 115a connected from the first slider 113 is tensioned and pulls the distal fixing part 13, through which the user's As a result of assisting the ankle joint to flex backward, it is possible to assist the user's toe to perform a toe-off motion of pushing the ground backward.

10 is a diagram showing a driving state of a bi-directional power transmission device according to walking steps of a user wearing an exoskeleton robot according to an embodiment, and FIG. 11 is a state in which an internal slider of the bi-directional power transmission device is coupled according to an embodiment. 12 is a front view showing a state in which the inner sliders of the bi-directional power transmission device are separated from each other according to an embodiment.

10 to 12, in a swing phase in which a user wearing an exoskeleton robot 1 moves forward with one foot away from the ground during a walking process, a bi-directional power transmission device 11 ) can be checked.

After the user's stepping foot pushes the ground in the stance phase, the corresponding stepping foot is separated from the ground, and then the first slider 113 and the second slider 114 are combined with each other as shown in FIG. It slides in the second driving direction by driving the driving actuator 119 .

Accordingly, as the tensile force applied to the second driving wire 115b is released, the proximal fixing part 12 pulled backward, that is, the user's thigh naturally moves forward, and on the contrary, the first slider 113 moves forward. 1 By stretching the driving wire 115a, the distal fixing part 13, that is, the user's foot may be lifted apart from the ground.

According to the above structure, in the process of swinging the user's leg away from the ground after the stance phase is finished, the toe tip droops downward to provide a force to lift the foot from the ground so as not to interfere with the ground.

Thereafter, in the process of the user pushing the leg forward as shown in FIG. 10, the first slider 113 slides in the second driving direction (downward direction) while being coupled with the second slider 114, as shown in FIG. 11. The guide pin 1133 of the first slider 113 may reach a position where it interferes with the stopper 1113 installed in the guide slot 1112 .

At the same time, the second slider 114 is continuously operated through the tensile force by which the proximal fixing part 12 pulls the second driving wire 115b as the user's femoral joint flexes forward along with its own gravity. A force in the second driving direction (downward direction) may be applied.

Therefore, the first slider 113 and the second slider 114, which moved together along the sliding rail 112 in a coupled state, slide in the second driving direction, and the guide pin of the first slider 113 When the stopper 1133 interferes with the stopper 1113, it can be separated again, and as shown in FIG. 11, the second slider 114 can be separated from the first slider 113 and slid along the second driving direction.

At the same time, as the force that the first slider 113 used to tension the first driving wire 115a is released, the distal fixing part 13 lifted off the ground, that is, the user's foot returns to the ground so that it can step on the ground again. can be moved towards

As a result, as shown in FIG. 1 described above, the user's leg moves forward while simultaneously stepping on the ground, and the user's leg may end the swing phase and enter the stance phase again.

As described above, although the embodiments have been described with limited drawings, those skilled in the art can make various modifications and variations from the above description. For example, the described techniques may be performed in an order different from the described method, and/or components of the described structure, device, etc. may be combined or combined in a different form from the described method, or other components or equivalents may be used. Appropriate results can be achieved even if substituted or substituted by

Claims (18)

In the bi-directional power transmission device that is connected to each of the different first and second parts of the user to transmit force,
a housing having a sliding space extending along a sliding direction;
a sliding rail crossing the sliding space along the sliding direction;
a first slider movably installed along the sliding rail;
a first drive wire having one end connected to the first slider and the other end extending out of the housing and connected to a first part of the user;
a second slider movably installed along the sliding rail;
a second drive wire having one end connected to the second slider and the other end extending out of the housing and connected to a second part of the user; and
and a driving actuator installed in the housing and slidingly driving the second slider along the sliding rail.
According to claim 1,
The first slider is spaced apart from the second slider in a first driving direction among the sliding directions,
The first driving wire extends to the outside of the housing along a first driving direction while being fixed to the first slider,
The second driving wire is fixed to the second slider and extends outside the housing along a second driving direction opposite to the first driving direction among the sliding directions.
According to claim 2,
When the second slider slides in the first driving direction by the driving of the driving actuator and contacts the first slider, the first slider and the second slider are coupled to each other and driven together to slide. power train.
According to claim 3,
The first slider,
a first body movably installed on the sliding rail; and
And a gripper protruding from the first body in the second driving direction,
The second slider,
a second body movably installed on the sliding rail; and
A bi-directional power transmission device comprising a gripping step formed on the second body and capable of being fastened when in contact with the gripper.
According to claim 4,
the housing,
A stopper installed at a set position in the section of the sliding space based on the sliding direction and interfering with the first slider on the set position to limit the sliding movement of the first slider, but not interfering with the second slider. A bi-directional power transmission device further comprising.
According to claim 5,
the housing,
Further comprising a guide slot formed through a side perpendicular to the sliding direction to communicate with the sliding space and extending along the sliding direction,
The first slider,
Further comprising a guide pin protruding from the first body in a direction away from the axis of the sliding direction and accommodated in the guide slot;
The stopper is a two-way power transmission device, characterized in that installed to interfere with the guide pin at a set position in the section of the guide slot based on the sliding direction.
According to claim 6,
The guide slot,
The stopper includes a plurality of grooves in which the stopper can be installed at a plurality of grooves spaced apart from each other along the sliding direction,
The stopper is a two-way power transmission device, characterized in that detachably installed in the groove on the set position among the plurality of grooves.
According to claim 5,
When the second slider slides in a first driving direction by the driving of the driving actuator and comes into contact with the first slider, the gripper and the gripping step are coupled to each other in a snap-fit manner,
When the first slider coupled to the second slider slides in the second driving direction and contacts the stopper, the second slider is separated from the first slider as the stopper and the first slider interfere. A bidirectional power transmission device, characterized in that.
According to claim 4,
a first sensor installed at at least one point of a section in which the first slider slides in the sliding space to measure a motion of the first slider;
a second sensor installed at at least one point in the sliding space, relatively spaced from the first sensor in the second driving direction, to measure the movement of the second slider;
a third sensor attached to the first slider to measure whether or not it is engaged with the second slider; and
A bi-directional power transmission device further comprising a control unit that determines a user's movement state based on a signal measured by the first sensor, the second sensor, or the third sensor, and controls driving of the driving actuator based on the movement state .
In the exoskeleton robot that assists the walking motion of the user,
A proximal fixing unit fixed to the user's thigh;
a distal fixing part fixed to a user's heel part connected from the thigh part; and
A bi-directional power transmission device connected to each of the proximal fixing part and the distal fixing part to transmit power required for walking,
The bi-directional power transmission device,
a housing having a sliding space extending along a sliding direction;
a sliding rail crossing the sliding space along the sliding direction;
a first slider movably installed along the sliding rail;
a first driving wire having one end connected to the first slider and the other end extending out of the housing and connected to the proximal fixing part;
a second slider movably installed along the sliding rail;
a second driving wire having one end connected to the second slider and the other end extending out of the housing and connected to the distal fixing part; and
and a driving actuator installed in the housing and slidingly driving the second slider along the sliding rail.
delete According to claim 10,
The exoskeleton robot of claim 1 , wherein the housing is wearably fixed to the back of the user, and the sliding direction is oriented in a direction perpendicular to the ground.
According to claim 12,
The first slider is spaced apart from the second slider in a first driving direction, which is an upward direction among the sliding directions,
The first driving wire extends to the outside of the housing along a first driving direction in a state fixed to the first slider and is connected to the proximal fixing part;
The exoskeleton robot of claim 1 , wherein the second driving wire is fixed to the second slider and extends out of the housing along a second driving direction, which is a downward direction among the sliding directions, and is connected to the distal fixing part.
According to claim 13,
The bi-directional power transmission device,
a first sensor installed at at least one point of a section in which the first slider slides in the sliding space to measure a motion of the first slider;
a second sensor installed at at least one point in the sliding space, relatively spaced from the first sensor in the second driving direction, to measure the movement of the second slider; and
A third sensor attached to the first slider to measure whether or not it is engaged with the second slider;
The exoskeleton robot,
The exoskeleton robot further comprises a control unit that determines a walking state of the user based on a signal measured by the first sensor, the second sensor, or the third sensor, and controls driving of the driving actuator based on the walking state.
15. The method of claim 14,
The first slider,
a first body movably installed on the sliding rail; and
And a gripper protruding downward from the first body,
The second slider,
a second body movably installed on the sliding rail; and
It is formed on the second body and includes a gripping step that can be fastened when in contact with the gripper,
The exoskeleton robot of claim 1 , wherein, when the second slider slides upward and contacts the first slider by the driving of the driving actuator, the gripper and the gripping step are coupled to each other in a snap-fit manner.
15. The method of claim 14,
Based on the signal measured by the first sensor, the second sensor, or the third sensor, the control unit determines that the gait state of the user's legs installed with the proximal fixing unit and the distal fixing unit is in a stance phase. , the control unit slides the second slider upward by driving the drive actuator, and slides and drives the second slider upward together in a state of being in contact with the first slider.
17. The method of claim 16,
When the control unit determines that the gait state of the user's legs installed with the proximal fixing unit and the distal fixing unit is at the end of the stance phase, the control unit moves the second slider downward through the drive actuator. driven in the direction so that the first slider slides downward by gravity, thereby tensioning the first driving wire to assist in lifting the user's foot fixed to the distal fixing part upward from the ground. exoskeleton robot.
18. The method of claim 17,
the housing,
A stopper installed at a set position in the section of the sliding space based on the sliding direction and interfering with the first slider on the set position to limit the sliding movement of the first slider, but not interfering with the second slider. contain more,
When the first slider coupled to the second slider slides downward and contacts the stopper, the second slider is separated from the first slider as the stopper and the first slider interfere exoskeleton robot.

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