KR102508195B1 - A wearable suit powered by a single motor - Google Patents

Abstract

A wearable suit driven by a single motor according to the technical idea of the present invention is a wearable suit provided to provide an assisting force to the wearer when the wearer lifts an object, and includes a main body portion formed elongated in the vertical direction from the wearer, etc. A power generation unit provided as a single motor inside the unit to generate power, a rotation unit connected to the power generation unit and provided to rotate, and a pair connected to the circumference of the rotation unit and a portion extending toward both hands of the wearer, respectively. A pair of power transmission units are fixed and spaced apart from each other on the circumference of the rotation unit, and may provide an auxiliary force to both hands of the wearer while being wound around the rotation unit.

Description

A wearable suit driven by a single motor {A WEARABLE SUIT POWERED BY A SINGLE MOTOR}

The present invention relates to a wearable suit, and more particularly, to a wearable suit driven by a single motor that provides an assistive force to a wearer by adjusting the length of a wire using a single motor.

In an industrial or agricultural environment, work that requires manpower to be essential includes repetitive hard labor as well as moving heavy objects. Musculoskeletal disorders, especially shoulder and joint disorders, frequently occur because repetitive tasks are performed with poor posture, such as lifting the arms to harvest crops or carrying objects in a high position.

Therefore, there are assistive devices such as various chairs or supports that can assist the user's position, and posture is corrected through these devices. So there was a problem with not being able to use it well.

On the other hand, as a conventional technique for solving the above problems, the gait intention estimation base enables the gait intention to be controlled by accurately sensing the wearer's gait intention by reducing the error by converging the dynamic dynamics method and the HRI sensing method. It relates to a wearable robot and its control method.

In addition, the walking intention estimation-based wearable robot includes a backpack part worn by the wearer, a hydraulic pressure supply part installed in the backpack part and supplying hydraulic pressure, and robot legs installed on both left and right sides of the bottom of the backpack part and fixed to the wearer's legs. And, according to the wearer's walking intention, the required torque required for the operation of each movable part is calculated, and a controller for controlling the operation of the hydraulic pressure supply unit is described in Patent Registration No. 10-1490885 have been known as well.

However, the prior art as described above is inevitably heavy because an actuator is mounted on each joint, as well as formed of various sensors and link structures. Therefore, it has been pointed out as a problem that the elderly who engage in agricultural activities wear such a heavy wearable suit.

In addition, the most difficult part of agricultural activities is fixed posture or repetitive movements, but the above can be overcome to some extent by stretching. However, moving the harvested vegetables or fruits is not something that can be done alone, so a robot that is easy to carry is needed as needed.

The technical problem to be achieved by the technical idea of the present invention is to provide a wearable suit driven by a single motor that is relatively easy to carry through light weight.

In order to solve the above problems, the technical idea of the present invention is a wearable suit provided to provide an assistive force to the wearer when the wearer lifts an object, a body portion formed elongated in the vertical direction from the wearer and the like, and the body portion A pair of a power generating unit provided as a single motor inside to generate power, a rotating unit connected to the power generating unit and provided to rotate, and a pair connected to the circumference of the rotating unit, a portion of which extends toward both hands of the wearer, respectively. A power transmission unit may be included, and a pair of power transmission units may be spaced apart and fixed on the circumference of the rotation unit, and may provide an auxiliary force to both hands of the wearer while being wound around the rotation unit.

And it may further include a tension holding unit formed on the power transmission unit to maintain tension of the power transmission unit, and to transmit the size of the auxiliary force provided to the wearer in a distinguished manner according to a moving position while being wound on the rotation unit. .

In addition, the tension holding unit is provided on the path along which the power transmission unit is moved, and when moved upward, a power connection block that returns to a predetermined position through elastic force, and is fixed on the power transmission unit and moved through the power generator It is formed to move in the vertical direction together with the power transmission unit and connects the power connection block and the main body and an elastic return block that moves together in contact with the power connection block from the top of the main body to the predetermined position, When the power connection block is moved to the predetermined position from the top, it may include an elastic body that provides a uniform force for each moving position to be returned.

The tension maintaining part may include a limiter formed in a section in which the elastic return block is moved in the main body and limiting a position to which the elastic return block is returned due to the elastic body.

It may also include a wireless control unit provided to enable wireless communication with the power generation unit and controlling driving and stopping of the motor in response to a signal generated from a part of the wearer's body.

And the wireless control unit is formed to be worn on the wearer's hand, and includes a button for controlling driving of the power generation unit in a part, and a holding member for providing a stop signal or a drive signal to the power generation unit through the button. A stop member for providing the stop signal to the power generator so that the power generator stops while the wearer is holding the object may be included.

In addition, it may include a support band made of an elastic material to be worn on the wearer's body and a wearing module 200 having a connecting pipe formed on the support band and serving as a passage through which the power transmission unit moves.

And the body portion may include a storage box formed on both sides of the rotating portion and accommodating the power transmission portion that is not wound around the rotating portion, and guide protrusions formed inside the storage box in the main body portion and guiding a movement path of the power transmission portion to be moved. can

The wearable suit driven by a single motor of the present invention has the advantage of being easy to carry and wear by achieving structural weight reduction so as to provide auxiliary force to both arms through a single motor.

1 is a conceptual diagram in which a wearer wearing a wearable suit driven by a single motor is holding a heavy object according to an embodiment according to the technical idea of the present invention.
2 is a view showing a state wearing a wearable suit driven by a single motor according to an embodiment according to the technical idea of the present invention.
3 is a view showing an active module mounted on a wearer's back in a wearable suit driven by a single motor according to an embodiment according to the technical idea of the present invention.
4 is a view showing a power generating unit, a rotation unit, a power transmission unit, and a tension holding unit mounted on a main body in a wearable suit driven by a single motor according to an embodiment according to the technical idea of the present invention.
5 and 6 are views for explaining the form in which the power connection block, the elastic return block, and the elastic body operate to explain the tension maintaining part of the wearable suit driven by a single motor according to an embodiment according to the technical idea of the present invention am.
7 is a view showing a storage box for guiding a path along which a power transmission unit moves in a wearable suit driven by a single motor according to an embodiment according to the technical concept of the present invention and accommodating an unwound power transmission unit.
8 is a view showing a wearing module 200 and a wireless control unit in a wearable suit driven by a single motor according to an embodiment according to the technical idea of the present invention.
9 is a view showing a specific form of a holding member in a wearable suit driven by a single motor according to an embodiment according to the technical idea of the present invention.

In order to fully understand the configuration and effects of the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and may be implemented in various forms and various changes may be applied. However, the description of the present embodiments is provided to complete the disclosure of the present invention, and to completely inform those skilled in the art of the scope of the invention to which the present invention belongs. Components in the accompanying drawings may be exaggerated or reduced for convenience of description.

It should be understood that when an element is described as being “on” or “adjacent to” another element, it may be in direct contact with or connected to the other element, but another element may exist in the middle. something to do. On the other hand, when a component is described as being “directly on” or “directly in contact with” another component, it may be understood that another component does not exist in the middle. Other expressions describing the relationship between components, such as "between" and "directly between", can be interpreted similarly.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms may only be used for the purpose of distinguishing one component from another. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention.

Singular expressions include plural expressions unless the context clearly dictates otherwise. The terms "include" or "has" are used to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, and includes one or more other features or numbers, It can be interpreted that steps, actions, components, parts, or combinations thereof may be added.

Terms used in the embodiments of the present invention may be interpreted as meanings commonly known to those skilled in the art unless otherwise defined.

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

The configuration of the wearable suit driven by a single motor according to an embodiment according to the technical idea of the present invention largely includes a body part 110, a power generating part 120, a rotating part 140 and a power transmission part 160.

Referring to the drawings, FIGS. 1 and 2 are diagrams of a wearable suit driven by a single motor according to an embodiment according to the technical idea of the present invention, and to describe the drawings in more detail, FIG. A conceptual diagram in which a wearer wearing a wearable suit driven by a single motor according to an embodiment according to the idea is holding a heavy object, and FIG. 2 is a wearable suit driven by a single motor according to an embodiment according to the technical idea of the present invention This is a drawing showing how to wear it.

In FIGS. 1 and 2 and FIGS. 3 to 9 to be described later, components of the suit are diagrammed for convenience of explanation, and some components may be omitted or exaggerated, unlike the actual form.

Referring to FIGS. 1 and 2 , it is provided so that the wearer of the present invention can wear it and may include a wearing module 200 made of an elastic material. Wearing module 200, as shown, the support band 220 in the form of a band covering a part of the wearer's shoulder, arm, chest, and abdomen and the power transmission unit 160 to be described later on the support band 220 are penetrated. It may include a connecting pipe 240 to.

The connection pipe 240 serves as a path through which the power transmission unit 160 moves when the support band 220 attached to the arm and hand is pulled toward the wearer's body through the power transmission unit 160 .

Specifically, the support band 220 according to an embodiment according to the technical idea of the present invention may be provided to be worn on the shoulder, elbow, wrist, and hand, and is mounted on the wearing module 200 to provide power to the wearing module 200 ), the active module 100 is formed by being coupled with the wearing module 200 behind the wearer's back, and can provide an assisting force to the wearer. In addition, the active module 100 extends to the wearable module 200 and passes through the connector 240 of the wearer's shoulder and the connector 240 of the elbow to provide a power transmission unit 160 whose end is fixed to the wearer's wrist or hand. As the power generating unit 120 is pulled towards the wearer's back, the wearer's hand is pulled.

Here, the power generating unit 120 is driven by a switch that allows the power generating unit 120 to be driven through remote communication by the wireless control unit 170 formed on the wearer's hand and chest.

The wireless control unit 170 will be described later.

The structure for generating the assisting force as described above will be continuously described with reference to FIGS. 3 to 7 .

3 is a view showing an active module mounted on the wearer's back in a wearable suit driven by a single motor according to an embodiment according to the technical concept of the present invention, and FIG. 4 is a view showing an active module according to an embodiment according to the technical concept of the present invention 5 and 6 are diagrams showing a power generating unit, a rotating unit, a power transmission unit, and a tension holding unit mounted on the main body in a wearable suit driven by a single motor according to the present invention, and FIGS. In order to explain the tension holding part of the wearable suit driven by the motor, it is a diagram for explaining the form in which the power connection block, the elastic return block, and the elastic body operate, and FIG. 7 is a single motor according to an embodiment according to the technical idea of the present invention It is a view showing a storage box for guiding a path along which a power transmission unit is moved in a wearable suit driven by and accommodating an unwound power transmission unit.

As shown, the active module 100 may include a main body 110 disposed on the wearer's back and composed of a panel and a chassis, and a power generator 120 therein. , The rotation unit 140, the power transmission unit 160 and the tension holding unit 180 are disposed. In addition, a battery pack (BATTERY-PACK) capable of supplying power to the power generator 120 may be further included.

At the center of the body portion 110, the power generating unit 120 is disposed downward, and the lower portion of the power generating unit 120 is rotated according to the rotation of the power generating unit 120, and the rotational shaft of the power generating unit 120 A rotation unit 140 that rotates with a rotation axis orthogonal to may be disposed.

In addition, a power transmission unit 160 extending toward both arms of the wearer may be coupled to the rotation unit 140 .

The present invention is to transmit assistive force to both arms through one motor, and has the effect of supplying the necessary assistive force while minimizing the weight of the suit.

Subsequently, the power transmission unit 160 may be coupled to positions spaced apart from each other on the circumference of the rotation unit 140 to supply auxiliary force to the wearer when the rotation unit 140 rotates in one direction. Accordingly, in the power transmission unit 160 , the rear power transmission unit 160 may have a longer length than the front power transmission unit 160 along the rotational direction of the rotation unit 140 .

And the power transmission unit 160 extends long to both sides around the power generation unit 120, starting with the rotation unit 140, extending beyond the shoulder of the wearer to the hand, and on the power transmission unit 160, the tension holding unit ( 180) may be formed.

The tension maintaining unit 180 maintains the tension of the power transmission unit 160 so as to facilitate transmission of the auxiliary force. The tension holding unit 180 can transmit the size of the auxiliary force provided to the wearer with distinction according to the position where the power transmission unit 160 is moved while the power transmission unit 160 is wound around the rotation unit 140 .

The tension holding unit 180 is provided on the path along which the power transmission unit 160 is moved, and when moved upward, the elastic return block 182 and the power transmission unit 160 return to a preset position through elastic force. It is fixed to and is formed to move in the vertical direction together with the power transmission unit 160 moving through the power generation unit 120, and is in contact with the elastic return block 182 from the top of the main body 110 to the preset position The power connection block 184 and the elastic return block 182, which are moved together, connect the main body 110, and when the elastic return block 182 is moved from the top to the preset position, a uniform force is applied to each moving position. It may include an elastic body 186 to provide a return.

The elastic return block 182 and the power connection block 184 are penetrated by the power transmission unit 160, and the elastic return block 182 is formed on the main body 110 and moves downward from the preset position. The movement to the lower part may be limited by a limiter (not shown) that prevents it from happening.

Since the elastic body 186 is connected to the lower portion of the elastic return block 182, the tension of the power transmission unit 160 at the upper portion of the elastic return block 182 can be expanded. In addition, the power transmission unit 160 can be pulled by the force returned to the preset position by the elastic body 186, so that a separate auxiliary force can be generated.

Meanwhile, the power connection block 184 may be moved in direct response to rotation of the power generator 120 . Here, the power generator 120 provides auxiliary force through one-way rotation, and in an embodiment of the present invention, it will be described as being rotated in the left direction.

In FIGS. 5 and 6, the operation of the tension maintaining unit 180 according to the wearer's movement will be described.

5 shows that a wearer wearing a wearable suit according to an embodiment of the present invention is in a state where both arms are stretched downward, and accordingly, the tension maintaining unit 180 can be moved upward from the preset position ( S1).

At this time, the power connection block 184 maintains the tension of the power transmission unit 160 in an expanded state by the elastic body 186, and when the power generation unit 120 is driven, auxiliary force can be immediately provided to both arms of the wearer. there is.

Therefore, the auxiliary force that can be applied to the wearer's arm here is the force 182f that the elastic return block 182 is pulled by the elastic body 186 and the power transmission unit that passes through the rotation unit 140 through the power generator 120. 160 may be the pulling force 184f.

Next, as shown in FIG. 6, the power transmission unit 160 is wound around the rotation unit 140 while the rotation unit 140 is rotated in one direction by the driving of the power generation unit 120, and an auxiliary force for lifting the wearer's arm can be provided. .

Here, the power connection block 184 is moved downward together with the power transmission unit 160 being wound, and the elastic return block 182 causes the elastic body 186 to be pulled to the power connection block 184 to the predetermined position. It can be pulled together (S2).

At this time, as the auxiliary force transmitted to the wearer, the power by the power generator 120 and the force by the elastic body 186 may be provided as auxiliary force.

Subsequently, at the predetermined position, the elastic return block 182 is stopped through the limiter, and only the power connection block 184 is moved below the predetermined position, providing only the power by the power generator 120 as an auxiliary force to the wearer. It can be (S3).

Meanwhile, the main body 110 may include a storage box 112 capable of accommodating the power transmission unit 160 that is lowered by the movement of the wearer's arm.

According to an embodiment of the present invention, when the wearer lifts the object (T), it provides an auxiliary force, but when the wearer's will moves the arm, the power generation unit 120 is in a stationary state, so the power transmission unit 160 In this situation, twisting of the line or twisting of the two power transmission units 160 in the rotating unit 140 may occur.

Therefore, it is possible to accommodate the power transmission unit 160 hanging down in the holder 112 .

In addition, guide protrusions 114 for guiding a direction in which the power transmission unit 160 hangs may be further included in the passage moving upward from the holder 112 .

Details will be described with reference to FIG. 7 .

As shown in FIG. 7, in the wearable suit according to an embodiment of the present invention, the power generating unit 120 can be rotated to the left, and through this, the power transmission unit 160 on the left is wound around the rotating unit 140 The shape and the shape in which the power transmission unit 160 on the right side is wound may be different.

Specifically, since the power transmission unit 160 on the left is vertically coupled to the rotation unit 140 from the top, the guide protrusion 114a protrudes toward the space of the left holder 112a.

The power transmission unit 160 on the right side may be coupled with the rotation unit 140 formed on the left side inside the right holder 112b and wound in the left direction.

Accordingly, the guide protrusion 114b formed on the inner upper portion of the right holder 112b protrudes downward so that when the power transmission unit 160 is stretched, it can be allowed to hang into the right holder 112b.

Above, structural features for providing an assisting force to the wearer according to an embodiment of the present invention have been described.

Hereinafter, it will be described with reference to FIGS. 8 and 9 .

8 is a view showing the wearing module 200 and the wireless control unit in a wearable suit driven by a single motor according to an embodiment according to the technical idea of the present invention, and FIG. 9 is a view showing an embodiment according to the technical idea of the present invention. It is a drawing showing the specific form of the gripping member in the wearable suit driven by a single motor according to FIG.

The wearable suit driven by a single motor according to an embodiment according to the technical idea of the present invention operates the power generation unit 120 to provide an auxiliary force to the wearer as described above by using the wireless controller 170 described above. can include more.

The wireless control unit 170 may include a holding member 172 mounted on the wearer's arm and a stop member 174 formed on the wearer's chest.

The holding member 172 is formed on a glove 172c made of an elastic material so as to be worn on the wearer's hand and the glove 172c, and a button and an object T for controlling the driving of the power generator 120 by pressing the wearer's finger with a finger. ) is extended from the glove 172c and is bent corresponding to the direction in which the wearer's fingers are bent, so that the wearer folds the fingers to include a seating protrusion 172b protruding toward the object T without lifting the object T. .

The stop member 174 may be provided in the form of a button that controls the driving of the power generator 120 at a portion formed on the wearing module 200 on the chest or stomach.

Here, the stop member 174 is provided to be wearable in the form of a buckle in which the wearing module 200 can be coupled while wrapping around the wearer's stomach, and electricity is applied to the stop member 174 only when the buckle is fastened. can have the form of In other words, when the buckle is fastened, the stop member 174 may stop the power generating unit 120 .

Meanwhile, the holding member 172 may transmit at least one of a driving signal for driving the power generating unit 120 and a stop signal for stopping the power generating unit 120 through the button. For example, in a state where the wearer holds the object T with both arms to lift the object T, pressing the button of the holding member 172 drives the power generating unit 120 to receive assistive force. . And when the wearer lifts the object (T) to a desired position, pressing the button of the gripping member 172 again may stop the driving of the power generating unit 120.

The stop member 174 may provide a stop signal to the power generator 120 through an operation of pressing the button.

For example, in a state in which the wearer presses the button of the holding member 172 to lift the object T, the button of the holding member 172 is pressed while moving the object T close to the wearer's stomach or chest can

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art can implement the present invention in other specific forms without changing its technical spirit or essential features. You will understand that there is Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

100: active module
110: body part
120: power generator
140: rotating part
160: power transmission unit
170: wireless control unit
172: gripping member
174: stop member
180: tension maintaining unit
182: elastic return block
184: power connection block
186: elastic body
200: wearing module
220: support band
240: connector
T: object

Claims (8)

A wearable suit provided to provide an assisting force to the wearer when the wearer lifts an object,
a main body portion formed elongated in the vertical direction from the wearer;
a power generator provided as a single motor inside the main body to generate power;
a rotation unit connected to the power generation unit and provided to rotate; and
A pair of power transmission units connected to the circumference of the rotation unit and a portion extending toward both hands of the wearer,
A pair of power transmission units are fixed at a predetermined distance on the circumference of the rotation unit, and provide auxiliary power to both hands of the wearer while being wound around the rotation unit;
Further comprising a tension holding unit formed on the power transmission unit to maintain tension of the power transmission unit and to differentiately transmit the magnitude of the auxiliary force provided to the wearer according to a moving position while being wound on the rotation unit. doing,
A wearable suit powered by a single motor. delete According to claim 1,
The tension holding unit,
a power connection block provided on a path along which the power transmission unit is moved and returned to a predetermined position through elastic force when moved upward;
Elastic return that is fixed on the power transmission unit and is formed to move in the vertical direction together with the power transmission unit moving through the power generation unit, and moves together in contact with the power connection block from the upper part of the main body to the predetermined position block; and
Characterized in that it comprises an elastic body that connects the power connection block and the main body and returns by providing a uniform force for each moving position when the power connection block is moved to the predetermined position from the top.
A wearable suit powered by a single motor. According to claim 3,
The tension holding unit,
Characterized in that it includes a limiter formed in a section in which the elastic return block is moved in the main body and limiting a position to which the elastic return block is returned due to the elastic body.
A wearable suit powered by a single motor. According to claim 1,
Including a wireless control unit provided to be capable of wireless communication with the power generator and controlling driving and stopping of the motor in response to a signal generated from a part of the wearer's body,
A wearable suit powered by a single motor. According to claim 5,
The wireless control unit,
It is formed to be wearable on the wearer's hand, and a button for controlling driving of the power generating unit is formed on a part, and any of a driving signal for driving the power generating unit by pressing the button or a stop signal for stopping the power generating unit a holding member providing one to the power generating unit; and
Including a stop member for providing the stop signal to the power generator so that the power generator stops while the wearer is holding the object,
A wearable suit powered by a single motor. According to claim 1,
a support band formed of an elastic material to be worn on the wearer's body; and
Characterized in that it comprises a wearing module formed on the support band and having a connection pipe formed as a passage through which the power transmission unit is moved.
A wearable suit powered by a single motor. According to claim 1,
The body part,
Boxes formed on both sides of the rotating unit to accommodate the power transmission unit not wound around the rotating unit; and
Characterized in that it comprises a guide protrusion for guiding the movement path of the power transmission unit to be formed and moved in the main body unit.
A wearable suit powered by a single motor.

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