KR102543753B1 - Power assisting robot having improved waist support structure - Google Patents

Abstract

The present invention relates to a muscle assist robot having an improved waist support structure. In addition, a muscle assist robot according to an embodiment of the present invention includes a main frame unit formed to surround the user's pelvis, a sub-frame unit installed on the front of the main frame unit to fix the user's waist, and both ends of the main frame unit, respectively. It includes a leg unit installed to extend downward along the user's leg and generating an auxiliary force to assist the user's muscle strength, and a shoe fixing unit installed at the lower end of the leg unit to support the user's feet, The unit includes a main waist support that supports the user's back waist, a first sub-waist support that is hinged to one end of the main waist support and supports one side of the user's waist and has a coupling groove formed at the end, and the other end of the main waist support. It includes a second sub-waist support that is hinged to support the user's other waist, and a belt coupling portion that is detachably installed in the coupling groove through a coupling protrusion protruding from an end portion and to which one end of the belt is coupled.

Description

Muscular assist robot with improved back support structure {POWER ASSISTING ROBOT HAVING IMPROVED WAIST SUPPORT STRUCTURE}

The present invention relates to a muscle assist robot having an improved waist support structure.

Recently, according to the wide application of robot-related technologies, walking assistance devices for people who have difficulty walking due to reduced muscle strength due to disabilities or aging have been widely used.

In general, walking assistance devices include a boarding device that is electrically driven after a user rides on the device, and a wearable device that is worn by a user and assists in rehabilitation training such as walking.

A wearable type device is a kind of robot having a multi-joint skeletal structure, and serves to assist the user's muscle strength when worn by the user. The wearable device assists muscle strength by providing a driving force (ie, assisting force) generated from a driving device such as a motor to the user.

Here, referring to Japanese Patent (JP2006-087533A), a conventional walking assistance device (ie, a muscle power assist robot) is shown. Referring to this, a conventional walking assistance device will be reviewed.

1 is a perspective view illustrating a waist support device (ie, a waist support device) of a conventional walking assistance device.

For reference, FIG. 1 is a view shown in Japanese patent (JP2006-087533A), and for convenience of description, the reference numbers described in Japanese patent (JP2006-087533A) are partially changed and used.

As shown in FIG. 1, the waist support 11 of the conventional walking assistance device is formed in a C shape, and the right and left opening and closing parts 11b and 11c are made of a material capable of elastic deformation, and the gap between them is open. has been

Accordingly, the user can apply force to the right and left opening and closing parts 11b and 11c to elastically deform them in the A direction, thereby sufficiently opening the right and left opening and closing parts 11b and 11c to put his or her waist in the waist support 11. can

That is, even when the width of the user's waist is wider than the width between the right and left opening and closing parts 11b and 11c, the user applies force to the right and left opening and closing parts 11b and 11c to hold the waist support 11 on his/her waist. can be fitted

However, in this case, since the user's waist is fixed while the stomach is open, the walking assistance device may be shaken without being properly fixed to the user.

In addition, when the user tries to take off the walking aid, the right and left opening and closing parts 11b and 11c must be elastically deformed in the direction A to take off. There is also a problem that it is difficult to actually take off the walking aid because it is in the state.

In addition, when the waist is properly fixed, the assistive force of the walking aid device generated under the hip joint can properly play a role, and it is difficult to provide the proper assistive force to the user due to incomplete waist fixation with the conventional lumbar support (11). there is a problem. Furthermore, there is a problem that the user cannot walk due to the incompletely transmitted assisting force or the user walks in an unstable state.

In addition, since the user's waist size and shape are different for men and women of all ages, there is also a problem that it is difficult to flexibly respond to various waist sizes and shapes with the conventional waist support 11 having an open front shape. Due to this, there is also a problem that the conventional lumbar support 11 can be applied only to a personalized walking assistance device, and it is difficult to apply it to a general-purpose walking assistance device.

Meanwhile, recently, a waist support structure different from the above-described lumbar support 11 (ie, a structure for fixing a user's waist using a belt and Velcro) has been devised. That is, the belt is wrapped around the user's waist and stomach, passed through a loop, and then secured with Velcro.

However, in the case of this method, there is a problem in that preparation time is required because the walking aid must be worn after arranging the length and position of the Velcro part and the belt in advance. In addition, there is also a problem that it is difficult to fasten or separate the belt when putting on or taking off the walking aid due to the Velcro fixing method. In addition, if the user does not clean the belt separately, the belt may slack down. Therefore, there is a burden of having to always clean up the belt and Velcro parts after using the walking assistance device.

An object of the present invention is to provide a muscle assist robot capable of fixing a user's waist while minimizing shaking.

Another object of the present invention is to provide a muscle assist robot capable of easily fixing a waist support structure to a user's waist or removing it from the user's waist.

Another object of the present invention is to provide a muscle power assist robot that can flexibly respond to various waist sizes and shapes.

In addition, another object of the present invention is to provide a muscle power assist robot that is easy to organize and use a belt.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention not mentioned above can be understood by the following description and will be more clearly understood by the examples of the present invention. It will also be readily apparent that the objects and advantages of the present invention may be realized by means of the instrumentalities and combinations indicated in the claims.

The muscle strength assist robot according to the present invention is coupled to a belt coupling part and can be drawn out of the first sub-waist support through a belt lead-out hole, and a belt that is detached from the end of the first sub-waist support and is detachable from the end of the first sub-waist support through an insertion hole to the second sub-waist support. It is possible to fix the user's waist while minimizing shaking by including a belt coupling part that can be coupled to the wire winding structure installed inside the end of the.

In addition, the muscle power assist robot according to the present invention is provided on the upper surface of the wire winding body so as to protrude from the second sub-waist support unit, and includes a button-type dial that can be drawn in and out to easily fix the waist support structure to the user's waist or to the user's waist. can be removed from

In addition, the muscle strength assist robot according to the present invention is installed at one end of the main lumbar support to enable hinge coupling of the first sub-lumbar support and a first hinge coupling unit installed at the other end of the main lumbar support to enable hinge coupling of the 2nd sub-lumbar support It is possible to respond flexibly according to various waist sizes and shapes by including a second hinge coupling part enabling coupling.

In addition, the muscle power assist robot according to the present invention is detachably installed in the coupling groove through the first sub-waist support having a coupling groove formed at the end and a coupling protrusion protruding from the end (hereinafter, the end will be used interchangeably with the end), and a belt By including a belt coupling portion to which one end is coupled, the belt can be easily arranged and used.

The muscle assist robot according to the present invention can fix the user's waist while minimizing shaking, and thus can provide a stable assisting force to the user. Through this, the user can walk stably with the help of the assisting force.

In addition, in the muscular assist robot according to the present invention, since the waist support structure can be easily fixed to or removed from the user's waist, the user can easily put on or take off the muscular assist robot. In addition, through this, the time to put on or take off the muscle power assist robot is reduced, so that more patients can use the muscle power assist robot during the same amount of time. Therefore, the profitability of hospitals where muscle assist robots are used can be improved.

In addition, since the muscle strength assist robot according to the present invention can flexibly respond to various waist sizes and shapes, it can be used universally regardless of gender and age, and the convenience of use can be improved. Furthermore, since the strength assist robot can be designed for general use rather than individual customization, the profitability of the hospital in which the strength assist robot is used can be improved.

In addition, since the belt is easy to organize and use in the muscle power assist robot according to the present invention, the user does not need to separately organize the belt before or after wearing the muscle power assist robot, and thus, the convenience of use can be improved. Furthermore, it is possible to prevent a problem in which the muscle assist robot looks messy due to a belt sagging phenomenon, and the like, so that the appearance can be improved.

In addition to the effects described above, specific effects of the present invention will be described together while explaining specific details for carrying out the present invention.

1 is a perspective view illustrating a waist support device (ie, a waist support device) of a conventional walking assistance device.
2 is a perspective view illustrating a muscle power assist robot according to an embodiment of the present invention.
3 is a side view illustrating the muscle power assist robot of FIG. 2 .
FIG. 4 is a front view illustrating the subframe unit of FIG. 2 .
FIG. 5 is a front view of the subframe unit of FIG. 4 with some components omitted.
6 is a rear view of the sub frame unit of FIG. 5;
FIG. 7 is a side view of the sub frame unit of FIG. 5 .
FIG. 8 is another side view of the sub frame unit of FIG. 5 .
9 is a cross-sectional view of the subframe unit of FIG. 4 taken along line EE.
Figure 10 is a partial cross-sectional view explaining the detachable state of the belt coupling portion of Figure 9.
FIG. 11 is a plan view in which some components of the subframe unit of FIG. 4 are omitted.
12 is a cross-sectional view of the sub frame unit of FIG. 11;
13 and 14 are schematic diagrams illustrating a method of fixing a user's waist with the subframe unit of FIG. 4 .
15 to 17 are schematic diagrams illustrating a method of using a dial according to wearing and unwearing a belt.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to indicate the same or similar components.

Recently, a wearable type muscle strength assisting robot worn on the body has been developed and used for people who have difficulty walking due to reduced muscle strength due to disability or aging.

Hereinafter, the structure will be briefly described by taking a lower body wearable muscle strength assist robot for a user with reduced lower body muscle strength as an example (hereinafter, the user is a person wearing a muscle power assist robot, and the assistant wears a muscle power assist robot). It is defined as a person who assists or transports a muscle-assisted robot).

2 is a perspective view illustrating a muscle power assist robot according to an embodiment of the present invention. 3 is a side view illustrating the muscle power assist robot of FIG. 2 .

Referring to FIGS. 2 and 3 , the user may wear the muscle assist robot 1 according to an embodiment of the present invention on the lower body when performing rehabilitation training such as walking, and the muscle power assist robot 1 is the user's It can support lower body strength.

This muscular assist robot (1) includes a main control unit (2) and a sub-control unit (3) for function control, a main frame unit (4) and a sub-frame unit (5) mounted on the user's pelvis and waist, respectively. It may include a leg unit 6 mounted on a user's leg and a shoe fixing unit 7 for fixing shoes.

The main control unit 2 is provided on the main frame unit 4, is located on the back side of the user's waist, and adjusts the width of the main frame unit 4 in the left and right directions (ie, horizontal direction) according to the user's body size. can In addition, the main control unit 2 may include a battery pack that provides power for the operation of the muscle power assist robot 1 . Also, a sub frame unit 5 may be coupled to the front of the main control unit 2 .

The sub frame unit 5 is installed on the front of the main frame unit 4 to fix the user's waist. In addition, the sub frame unit 5 can fix the user's waist to the muscle power assist robot 1 through a belt whose length can be adjusted in a one-touch manner. In particular, a material capable of absorbing shock (for example, a soft foam material) is attached to a portion in contact with the user's waist, thereby improving the user's wearing comfort. Details of the sub frame unit 5 will be described later.

The main frame unit 4 supports the main control unit 2 and may have a shape that surrounds the user's pelvis from one side to the other side. In addition, the main frame unit 4 has a substantially 'U' shape, and the main control unit 2 is mounted on the bent portion, and the bent portion of the main frame unit 4 is located at the user's waist. In addition, both ends of the main frame unit 4 are disposed downward toward the user's legs, and inclined portions exist on both sides of the main frame unit 4, in which the sub control units 3 are respectively provided. can

The sub control unit 3 is a unit that adjusts the intensity of the assisting force to assist the user's muscular strength. A driving means for providing an auxiliary force may be provided inside the sub control unit 3, and the corresponding auxiliary force may be adjusted in a rotary dial manner. In addition, the sub control unit 3 may be provided with an indicator indicating the degree of assisting force by means of a lamp, and a leg unit 6 may be coupled to the lower side of the sub control unit 3 .

The leg units 6 are installed at both ends of the main frame unit 4 to extend downward along the user's legs, and generate an auxiliary force to assist the user's muscle strength.

Specifically, since the leg units 6 must be worn on both legs of the user, they are provided as a pair and include an upper leg frame 6a mounted on the user's thigh and a lower leg frame 6d mounted on the user's calf and a leg driving unit 6b provided between the upper leg frame 6a and the lower leg frame 6d to provide an auxiliary force, and a belt 6c surrounding the user's leg.

The upper leg frame 6a, the lower leg frame 6d, and the leg driving unit 6b are disposed on the side of the user's leg for smooth bending of the joint during walking.

Here, the upper leg frame 6a and the lower leg frame 6d may each be provided with a belt 6c whose length is adjusted in a one-touch dial method, and the user's legs may be fixed through the belt 6c. . In addition, the upper leg frame 6a and the lower leg frame 6d are rotatable in a direction corresponding to the movement direction of the user's knee joint with respect to the leg driving unit 6b.

Also, the upper side of the upper leg frame 6a may be widened outward at a predetermined angle due to the hip joint structure of the main frame unit 4 . In addition, the upper leg frame 6a and the lower leg frame 6d may have a multi-joint structure capable of adjusting angles inward or outward in response to the user's leg angle.

In addition, the leg driving unit 6b may include a motor and a gear set, and may generate an assisting force to assist the user's muscle strength when the user moves the leg. Of course, the leg drive unit 6b may be replaced with components other than a motor and a gear set capable of generating an appropriate auxiliary force. Also, the shoe fixing unit 7 may be coupled to the lower end of the lower leg frame 6d.

The shoe fixing unit 7 is installed at the lower end of the leg unit 6 to support the user's feet (eg, the user's feet in a state of wearing shoes). For reference, the shoe fixing unit 7 can adjust the length of the portion where the user's shoes are inserted, and thus can fix all users' shoes regardless of shoe size.

As described above, since the muscle power assist robot 1 includes various components, it may weigh several to several tens of kg. Therefore, the muscle power assist robot 1 is generally stored in a separate place, and can be transported from the storage place and provided to the user if necessary.

For reference, the muscle power assist robot 1 according to an embodiment of the present invention may be mounted on a multifunctional composite support device (not shown). This multifunctional composite support device can serve as a user's walking aid when the user wears the muscle power assist robot 1 and walks, and can also function as a chair that can be worn while sitting when the user wears the muscle power assist robot. Bar, the specific details thereof will be omitted.

As such, the muscle power assist robot 1 according to an embodiment of the present invention may have the above-described features and configuration.

Hereinafter, with reference to FIGS. 4 to 12, the characteristics and configuration of the sub-frame unit 5 provided in the above-described muscular assist robot 1 will be described in more detail.

FIG. 4 is a front view illustrating the subframe unit of FIG. 2 . FIG. 5 is a front view of the subframe unit of FIG. 4 with some components omitted. 6 is a rear view of the sub frame unit of FIG. 5; FIG. 7 is a side view of the sub frame unit of FIG. 5 . FIG. 8 is another side view of the sub frame unit of FIG. 5 . 9 is a cross-sectional view of the subframe unit of FIG. 4 taken along line E-E. Figure 10 is a partial cross-sectional view explaining the detachable state of the belt coupling portion of Figure 9. FIG. 11 is a plan view in which some components of the subframe unit of FIG. 4 are omitted. 12 is a cross-sectional view of the sub frame unit of FIG. 11;

For reference, some components omitted in FIGS. 5 to 8, 11 and 12 may be, for example, the handle unit 1150 and the support module 1120.

4 to 12, the sub frame unit 5 includes a main waist support part 1100, a first sub waist support part 1200, a second sub waist support part 1300, and first hinge coupling parts 1210 and 1210. '), second hinge coupling parts 1310 and 1310', a handle unit 1150, a belt coupling unit 1230, and a wire winding structure 1330.

The main waist support part 1100 may support the user's back waist.

Specifically, the main waist support unit 1100 includes a central module 1110 hinged to the first and second sub-waist support units 1200 and 1300, respectively, and is mounted on the front surface of the central module 1110 to provide protection against the back waist of the user. It may include a support module 1120 in direct contact.

Here, at one end of the central module 1110, first hinge coupling parts 1210 and 1210' enabling hinge coupling with the first sub-lumbar support 1200 are installed, and at the other end of the central module 1110, a first Second hinge coupling parts 1310 and 1310' enabling hinge coupling with the 2 sub-waist support units 1300 may be installed.

For reference, a shock absorber made of a soft foam material may be attached to the front of the support module 1120 to minimize impact on the user's back and waist.

In addition, a belt 1250 and a wire 1350, which will be described later, are accommodated and moved inside the main waist support 1100 (that is, inside the central module 1110) (ie, the first guide passage 1105). can be formed

The first sub-waist support 1200 is hinged to one end of the main waist support 1100 to support the waist of one side of the user, and coupling grooves 1229 and 1229' may be formed at the ends.

Specifically, the first sub-lumbar support 1200 may be hinged to one end of the central module 1110, and a first shock absorber made of soft foam material ( 1220) may be attached.

That is, the first sub-waist support 1200 is hinged to the first hinge coupling parts 1210 and 1210' installed at one end of the central module 1110, and the first shock absorber 1220 is the first sub-waist support It can be attached to the inner surface of the 1200 in a Velcro manner to facilitate cleaning and replacement.

In addition, a guide passage (ie, a second guide passage 1205) through which a belt 1250 and a wire 1350, which will be described later, are accommodated and moved may be formed inside the first sub-waist support 1200.

In addition, the first sub-waist support 1200 may be made of, for example, duraluminum alloy, titanium alloy, or carbon fiber material to secure durability and lightness, but is not limited thereto.

In addition, a belt coupling part 1230 may be detachably installed at an end of the first sub-waist support part 1200 . In addition, a belt lead-out hole 1232 is formed at the end of the first sub-waist support 1200 to couple one end of the belt 1250 stored in the second guide passage 1205 to the belt coupling part 1230. It can be. That is, the belt 1250 coupled to the belt coupling part 1230 can be drawn out of the first sub-waist support 1200 through the belt lead-out hole 1232 .

In addition, coupling grooves 1229 and 1229' may be engraved at the ends of the first sub-waist support 1200.

Specifically, the belt lead-out hole 1232 is formed in the middle of the coupling grooves 1229 and 1229', and the first and second belt lead-out holes 1232 are located on both sides of the belt lead-out hole 1232. Two coupling grooves 1229 and 1229' may be formed.

That is, the coupling grooves 1229 and 1229' are coupled with the first coupling groove 1229 coupled to the first coupling protrusion 1234 described later and the second coupling projection 1234′ described later, and the first coupling groove ( 1229 may include a second coupling groove 1229' formed to face. That is, as the coupling protrusions 1234 and 1234' of the belt coupling portion 1230 described later are gripped in the coupling grooves 1229 and 1229', the belt coupling portion 1230 is attachable and detachable to the coupling grooves 1229 and 1229'. can be installed

In addition, the coupling grooves 1229 and 1229' allow the coupling protrusions 1234 and 1234' to naturally sit in the coupling grooves 1229 and 1229' regardless of the left and right movement of the belt coupling part 1230 (ie, left and right movement). It can be processed into a curved surface so that it can be molded.

Meanwhile, the second sub waist support 1300 is hinged to the other end of the main waist support 1100 to support the user's other waist.

Specifically, the second sub-waist support 1300 may be hinged to the other end of the central module 1110, and on the inner surface there is a second shock absorber made of soft foam material to minimize impact on the user's other waist. 1320) may be attached.

That is, the second sub-waist support 1300 is hinged to the second hinge coupling parts 1310 and 1310' installed at the other end of the central module 1110, and the second shock absorber 1320 is the second sub-waist support It can be attached to the inner surface of the 1300 in a Velcro manner to facilitate cleaning and replacement.

In addition, a guide passage (ie, a third guide passage 1305) through which a belt 1250 and a wire 1350, which will be described later, are accommodated and moved may be formed inside the second sub-waist support 1300.

A wire winding structure 1330 for winding or unwinding the wire 1350 connected to the other end of the belt 1250 may be installed inside the end of the second sub-waist support 1300 . In addition, an insertion hole 1332 may be formed at an end of the second sub-waist support 1300 to couple the belt coupling part 1230 to the wire winding structure 1330 therein.

For reference, the second sub-waist support 1300 may be made of, for example, a duralumin alloy, a titanium alloy, or a carbon fiber material to secure durability and lightness, but is not limited thereto.

The first hinge coupling parts 1210 and 1210' are installed at one end of the main waist support part 1100 to enable hinge coupling of the first sub waist support part 1200.

Specifically, the first hinge coupling parts 1210 and 1210′ are configured as a pair, are installed on the upper and lower ends of the central module 1110, respectively, and the first sub-lumbar support 1200 can be hinged.

In addition, a first stopper 1211 for limiting a rearward rotation range of the first sub-waist support 1200 may be formed to protrude rearward from the first hinge coupling parts 1210 and 1210′. That is, the range in which the first sub-waist support 1200 can rotate backward can be limited by the first stopper 1211 .

In addition, when the first sub-lumbar support 1200 rotates forward, it is caught on one end of the central module 1110, so that the forward rotation range may be limited.

That is, the first sub-waist support 1200 can be rotated in the front-back direction within a certain angular range by the first hinge coupling parts 1210 and 1210', so that the user wants to wear the muscle power assist robot 1, the sub-frame unit. When the user's waist is fixed at (5), the first sub-waist support 1200 can be naturally tilted forward and backward within a certain angular range in accordance with the user's waist.

Accordingly, the first sub-waist support 1200 can flexibly respond to various waist sizes and shapes.

Meanwhile, the second hinge coupling parts 1310 and 1310′ may be installed at the other end of the main waist support part 1100 to enable the second sub waist support part 1300 to be hinged.

Specifically, the second hinge coupling parts 1310 and 1310′ are configured as a pair, installed on the upper and lower sides of the other end of the central module 1110, respectively, and the second sub-waist support 1300 can be hinged.

In addition, a second stopper 1311 for limiting a rearward pivotable range of the second sub-waist support 1300 may be formed to protrude rearward at the second hinge coupling parts 1310 and 1310′. That is, the range in which the second sub-waist support 1300 can rotate backward can be limited by the second stopper 1311 .

In addition, when the second sub-lumbar support 1300 rotates forward, it is caught on the other end of the central module 1110, so that the forward rotation range may be limited.

That is, the second sub-waist support 1300 is capable of rotating in the forward and backward directions within a certain angular range by the second hinge coupling parts 1310 and 1310', so that the user wants to wear the muscle strength assist robot 1, the sub-frame unit. When the user's waist is fixed at (5), the second sub-waist support 1300 can be naturally tilted forward and backward within a certain angular range according to the user's waist.

Accordingly, the second sub-waist support 1300 can flexibly respond to various waist sizes and shapes.

The handle part 1150 is installed on the top of the main waist support part 1100 and may be formed to be bent in a parabolic shape.

Specifically, the handle portion 1150 is formed to form a parabola upward, and may be used when an assistant assists the user to wear the muscle power assist robot 1 or transports the muscle power assist robot 1.

The belt coupling portion 1230 is detachably installed in the coupling grooves 1229 and 1229' through coupling protrusions 1234 and 1234' protruding from the ends, and one end of the belt 1250 may be coupled thereto.

Specifically, the belt coupling portion 1230 is coupled to the belt coupling body 1233 having one end coupled to the belt 1250 and the other end of the belt coupling body 1233 so that a portion protrudes from the other end of the belt coupling body 1233. It may include a belt coupling plate 1236 having a latch ring 1237 and coupling protrusions 1234 and 1234' protruding from one end of the belt coupling body 1233.

Here, in the case of the belt coupling plate 1236, a portion may be coupled to the other end of the belt coupling body 1233, and the remaining portion may protrude from the other end of the belt coupling body 1233 to the outside. And the latch ring 1237 may be formed on the remaining portion of the belt coupling plate 1236 (ie, a portion protruding outward from the other end of the belt coupling body 1233).

In addition, a belt coupling hole 1235 for coupling one end of the belt 1250 to the belt coupling portion 1230 may be formed at an end of the belt coupling portion 1230 (ie, one end of the belt coupling portion 1230). .

Specifically, the belt coupling hole 1235 is formed in the middle of the coupling protrusions 1234 and 1234', and one end of the belt 1250 may be coupled to the belt coupling portion 1230 through the belt coupling hole 1235. . In addition, first and second coupling protrusions 1234 and 1234' may be formed on both sides of the belt coupling hole 1235 based on the belt coupling hole 1235 .

That is, the coupling protrusions 1234 and 1234' are formed to face the first coupling protrusion 1234 coupled to the aforementioned first coupling groove 1229 and the first coupling protrusion 1234, and the second coupling groove ( 1229') may include a second coupling protrusion 1234'.

Through this, the coupling protrusions 1234 and 1234' of the belt coupling portion 1230 are gripped in the coupling grooves 1229 and 1229', so that the belt coupling portion 1230 is detachably installed in the coupling grooves 1229 and 1229'. It can be.

In addition, the coupling protrusions 1234 and 1234' are coupled to the coupling grooves 1229 and 1229 so that they can be naturally seated or molded into the coupling grooves 1229 and 1229' regardless of the left and right movement of the belt coupling part 1230 (ie, left and right movement). 1229'), it can be processed into a curved surface.

For reference, the first coupling protrusion 1234 may be spaced apart from the second coupling protrusion 1234' by a first distance, and the first coupling groove 1229 is separated from the second coupling groove 1229' by a second interval. can be separated

Here, the second interval may be, for example, greater than or equal to the first interval, and the first interval may be equal to the thickness of the belt 1250 .

In addition, since tension is applied to the belt 1250 by the wire winding structure 1330 that automatically winds the belt 1250, when the belt coupling part 1230 is installed at the end of the first sub-waist support part 1200 The coupling protrusions 1234 and 1234' may be stably fixed to the coupling grooves 1229 and 1229'. Furthermore, the belt through the tension of the belt 1250, the weight of the belt 1250, the vertical structure of the belt lead-in/out hole 1232 and the belt coupling hole 1235 (that is, the structure in which it is difficult for the belt 1250 to move up and down), etc. When the coupling part 1230 is coupled to the end of the second sub-waist support part 1300, the belt 1250 may be prevented from sagging.

For reference, the belt 1250 may be accommodated in the guide passages (eg, the first and second guide passages 1105 and 1205) as described above, and may be made of a material having tensile force. However, when the belt 1250 coupled to the belt coupling part 1230 is pulled out of the first sub-waist support part 1200 through the belt lead-out hole 1232, only a part of the belt 1250 is in the second guide passage. (1205) may remain.

In addition, a third shock absorbing part 1238 made of a soft foam material may be attached to the inner surface of the belt coupling part 1230 to minimize impact on the user's stomach. That is, the third shock absorbing portion 1238 may be attached to the inner surface of the belt coupling portion 1230 in a Velcro manner to facilitate cleaning and replacement.

Meanwhile, the wire winding structure 1330 may be installed inside the end of the second sub-waist support 1300 to wind or unwind the wire 1350 connected to the other end of the belt 1250 .

Specifically, the wire winding structure 1330 includes a wire winding body 1338 equipped with a plate spring 1339 around which the wire 1350 is wound, and a wire winding body located near the end of the second sub-waist support 1300 ( 1338), a belt coupling member 1336 on which a latch hook 1337 is formed, and a button type provided on the upper surface of the wire winding body 1338 so as to protrude from the second sub-waist support 1300 and capable of being drawn in and out. Dial 1340 may be included.

Here, the wire 1350 may be accommodated in the guide passages (eg, the first and third guide passages 1105 and 1305) as described above, and may be made of a metal material or a reel wire. However, when the belt 1250 coupled to the belt coupling part 1230 is pulled out of the first sub-waist support part 1200 through the belt lead-in/out hole 1232, the wire 1350 connected to the belt 1250 also As it is unwound from the wire winding structure 1330 , the wire 1350 may be present across the first to third guide passages 1105 , 1205 , and 1305 .

In addition, the plate spring 1339 provided in the wire winding body 1338 is configured in a circularly rolled shape and may serve to pull the wire 1350. In addition, the wire winding body 1338 is connected to or separated from the button dial 1340 according to the withdrawal of the button type dial 1340, and when connected to the button type dial 1340, the rotation direction of the button type dial 1340. can rotate in the same direction as

For example, when the user or assistant turns the button-type dial 1340 in one direction (eg, clockwise), the wire winding body 1338 coupled to the button-type dial 1340 also turns in one direction. Through this, the wire 1350 may be wound while the plate spring 1339 provided in the wire winding body 1338 is contracted.

Of course, when the user or assistant turns the button-type dial 1340 in one direction and the opposite direction (eg, counterclockwise), the wire winding body 1338 coupled to the button-type dial 1340 also rotates in the opposite direction. Through this, the wire 1350 can be unwound while the plate spring 1339 provided in the wire winding body 1338 is extended.

In addition, when the user or assistant draws the button-type dial 1340 downward (ie, 'L' direction) or withdraws it upward (ie, 'UL' direction), the latch hook 1337 is attached to the latch hook 1237. can be engaged or disengaged. For reference, the button-type dial 1340 can be withdrawn upward (ie, in the 'UL' direction) step by step (ie, one-step withdrawal and two-step withdrawal (a step more upward than the first step)).

That is, as shown in FIG. 12 , when the belt coupling portion 1230 is detached from the end of the first sub-waist support 1200 and inserted into the insertion hole 1332 to fix the user's waist, the belt coupling portion The belt 1250 coupled to 1230 is drawn out of the first sub waist support 1200 through the belt lead-in/out hole 1232, and the belt coupling part 1230 passes through the insertion hole 1332 into the second sub-waist support 1200. It may be coupled to the wire winding structure 1330 installed inside the end of the waist support 1300 .

More specifically, the belt coupling plate 1236 is coupled to the belt coupling member 1336 through the insertion hole 1332, and the latch ring 1237 of the belt coupling plate 1236 is the latch hook of the belt coupling member 1336. (1337).

That is, when the user withdraws the button-type dial 1340 upward (ie, in the 'UL' direction) by one step, the button-type dial 1340 and the wire winding body 1338 are disconnected and the wire winding body 1338 The plate spring 1339 provided in ) is released, and the wire 1350 wound around the plate spring 1339 is unwound. Accordingly, the user can pull the belt coupling portion 1230, and when the pulled belt coupling portion 1230 is inserted into the insertion hole 1332, the belt coupling member 1336 is moved by the belt coupling plate 1236. While being tilted, the latch hook 1337 can be fastened to the latch ring 1237.

Through this, the user can easily fix his/her waist to the muscle power assist robot 1 .

In addition, when the button type dial 1340 is drawn downward (ie, 'L' direction) in a state where the belt coupling plate 1236 is coupled to the belt coupling member 1336, and then rotates in the winding direction of the wire 1350 , the wire 1350 may be wound into the leaf spring 1339 within the tension range of the belt 1250.

That is, when the user pulls the button-type dial 1340 downward (ie, in the 'L' direction), the button-type dial 1340 and the wire winding body 1338 are connected, and the button-type dial 1340 and the wire When the button-type dial 1340 is rotated in the winding direction of the wire 1350 while the winding body 1338 is connected, the belt 1250 is tightened more tightly as the wire 1350 is wound by the leaf spring 1339. can

Through this, the user can adjust the degree of tightening of the belt 1250 without loosening the belt 1250 .

On the other hand, when the button type dial 1340 is withdrawn upward (ie, in the 'UL' direction) while the belt coupling plate 1236 is coupled to the belt coupling member 1336, the latch of the belt coupling member 1336 As the hook 1337 is separated from the latch ring 1237 of the belt coupling plate 1236, the wire 1350 may be wound around the plate spring 1339 again.

That is, when the user withdraws the button-type dial 1340 upward (ie, in the 'UL' direction) in two stages, the axis for fixing the belt coupling member 1336 interlocks with the button-type dial 1340 to move upward (ie, in the 'UL' direction). , 'UL' direction) while the latch hook 1337 is separated from the latch ring 1237. In addition, as the latch hook 1337 is separated from the latch hook 1237, the belt coupling part 1230 is also detached from the insertion hole 1332, and is unwound by the restoring force of the leaf spring 1339 provided in the wire winding body 1338. The wire 1350 that has been removed can be automatically wound around the leaf spring 1339 again.

Through this, the user can easily loosen the belt 1250. In addition, since the belt 1250 is automatically wound and stored inside the subframe unit 5, the user or an assistant may prepare for the next wearing without separate cleaning work.

As such, the subframe unit 5 of the muscle assist robot 1 according to an embodiment of the present invention may have the above-described features and configuration.

Hereinafter, with reference to FIGS. 13 to 17, a process of fixing the subframe unit 5 of the above-described muscle strength assist robot 1 to the user's waist will be described in more detail.

13 and 14 are schematic views illustrating a method of fixing a user's waist with the subframe unit of FIG. 4 . 15 to 17 are schematic diagrams illustrating a method of using a dial according to wearing and releasing a belt.

First, as shown in FIG. 13 , the first and second sub-waist support parts 1200 and 1300 are rotated forward and backward at a predetermined angle by the first and second hinge coupling parts 1210, 1210', 1310 and 1310', respectively. Since it is rotatable within the range, the user can fit the first and second sub-waist supporters 1200 and 1300 to his or her waist to suit the size and shape of the user's waist.

When the fitting process is completed, as shown in FIG. 14 , the user detaches the belt coupling part 1230 from the end of the first sub-waist support part 1200 to insert the hole formed at the end of the second sub-waist support part 1300. (1332 in FIG. 9), and at this time, the belt coupling plate 1236 can be coupled to the belt coupling member 1336 through the insertion hole (1332 in FIG. It can be fixed by unit 5.

Here, referring to FIGS. 9 and 15 to 17, a method of using a dial according to wearing and releasing the belt 1250 is as follows.

First, when the fitting process reviewed in FIG. 13 is completed, the user (USER) pulls out the button-type dial 1340 one step upward (ie, in the 'UL' direction), and then inserts the belt coupling part 1230 in the first By detaching from the sub waist support 1200, the belt 1250 accommodated inside the sub frame unit 5 can be drawn out.

In addition, the user (USER) adjusts the belt 1250 pulled out to cover the front of his or her waist, and then attaches the belt coupling plate 1236 of the belt coupling portion 1230 to the end of the second sub-waist support portion 1300. The latch hook 1337 may be fastened to the latch ring 1237 by being inserted into the formed insertion hole 1332 .

Thereafter, the user (USER) moves the button-type dial 1340 downward (ie, 'L' direction) in the winding direction of the wire 1350 (eg, 'WD' direction) with the button-type dial ( 1340), the belt 1250 can be tightened more tightly according to one's own waist size.

Of course, the user loosens the belt 1250 according to his/her waist size by turning the button-type dial 1340 in the unwinding direction of the wire 1350 (eg, the opposite direction of 'WD'). may be

When the use of the muscular assist robot 1 is completed, the user (USER) withdraws the button-type dial 1340 upward (ie, in the 'UL' direction) in two steps to remove the latch hook 1337 from the latch ring 1237. can get away In addition, when the latch hook 1337 is separated from the latch hook 1237, the wire 1350 connected to the belt 1250 is automatically re-wound by the leaf spring 1339 provided in the wire winding body 1338, and the belt 1250 ) is also automatically accommodated into the sub frame unit 5.

As described above, the muscular assist robot 1 according to an embodiment of the present invention can fix the user's waist while minimizing shaking, and thus can provide a stable assisting force to the user. Through this, the user can walk stably with the help of the assisting force.

In addition, in the muscular assist robot 1 according to an embodiment of the present invention, the waist support structure can be easily fixed to or removed from the user's waist, so that the user can easily wear the muscular assist robot 1. Or you can take it off. In addition, through this, the time to put on or take off the muscle power assist robot 1 is reduced, so that more patients can use the muscle power assist robot 1 during the same time. Therefore, the profitability of the hospital in which the muscle assist robot 1 is used can be improved.

In addition, since the muscle power assist robot 1 according to an embodiment of the present invention can flexibly respond to various waist sizes and shapes, it can be used universally regardless of age or gender, and convenience of use can be improved. Furthermore, since the strength assist robot 1 can be designed for general purpose rather than personalized, the profitability of the hospital in which the strength assist robot 1 is used can be improved.

In addition, in the muscular assist robot 1 according to an embodiment of the present invention, since it is easy to arrange and use the belt 1250, the user does not need to separately organize the belt 1250 before or after wearing the muscular assist robot 1. Therefore, convenience of use may be improved. Furthermore, it is possible to prevent a problem that the muscular assist robot 1 looks messy due to a belt sagging phenomenon, and the like, so that the appearance can be improved.

The above-described present invention, since various substitutions, modifications, and changes are possible to those skilled in the art without departing from the technical spirit of the present invention, the above-described embodiments and accompanying drawings is not limited by

5: subframe unit 1100: main waist support
1150: handle part 1200: first sub waist support part
1230: belt coupling part 1300: third sub waist support part
1330: wire winding structure

Claims (18)

A main frame unit formed to surround a user's pelvis;
a sub-frame unit installed on the front of the main frame unit to fix the user's waist;
leg units installed at both ends of the main frame unit to extend downward along the user's leg and generating auxiliary force to assist the user's muscle strength; and
A shoe fixing unit installed at the lower end of the leg unit to support the user's feet,
The subframe unit,
A main waist support for supporting the user's back waist, a first sub-waist support that is hinged to one end of the main waist support to support the user's one side waist and has a coupling groove formed at an end thereof, and the other end of the main waist support A second sub-waist support portion hinged to and supporting the user's other waist, and a belt coupling portion detachably installed in the coupling groove through a coupling protrusion protruding from an end portion and coupled to one end of the belt,
The first and second sub waist supports,
It is provided to be rotatable with respect to the main waist support and fixes the user's waist to the subframe unit in contact with the user's waist side portion.
A power-assisted robot.
According to claim 1,
The coupling groove is formed intaglio at the end of the first sub-waist support,
The belt is accommodated in guide passages formed inside the main waist support part and the first and second sub-waist support parts,
A belt lead-out hole is formed at an end of the first sub-waist support part to couple one end of the belt stored in the guide passage to the belt coupling part.
The belt lead-out hole is formed in the middle of the coupling groove,
The belt coupled to the belt coupling part is withdrawable to the outside of the first sub-waist support unit through the belt lead-in/out hole.
A power-assisted robot.
According to claim 1,
At the end of the belt coupling portion, a belt coupling hole for coupling one end of the belt to the belt coupling portion is formed.
The belt coupling hole is formed in the middle of the coupling protrusion,
One end of the belt is coupled to the belt coupling part through the belt coupling hole.
A power-assisted robot.
According to claim 1,
The coupling groove is machined into a curved surface,
The coupling protrusion is processed into a curved surface based on the shape of the coupling groove.
A power-assisted robot.
According to claim 1,
The coupling protrusion includes a first coupling protrusion and a second coupling protrusion formed to face the first coupling protrusion and spaced apart from the first coupling protrusion by a first distance,
The coupling groove includes a first coupling groove coupled to the first coupling projection, coupled to the second coupling projection, formed to face the first coupling groove, and spaced apart from the first coupling groove by a second distance. Including a coupling groove,
The second interval is greater than or equal to the first interval,
The first interval is equal to the thickness of the belt.
A power-assisted robot.
According to claim 1,
The belt coupling part,
A belt coupling body having one end coupled to the belt;
A belt coupling plate coupled to the other end of the belt coupling body so that a portion thereof protrudes from the other end of the belt coupling body and having a latch ring formed thereon;
Including a coupling protrusion protruding from one end of the belt coupling body
A power-assisted robot.
According to claim 1,
A first shock absorbing part made of a soft foam material is attached to an inner surface of the first sub-waist support part,
A second shock absorber made of a soft foam material is attached to an inner surface of the second sub-waist support,
A third shock absorber made of a soft foam material is attached to the inner surface of the belt coupling part,
The first and second shock absorbers are respectively attached to inner surfaces of the first and second sub-waist supporters in a Velcro manner, and the third shock absorbers are attached to an inner surface of the belt coupling part in a Velcro manner.
A power-assisted robot.
According to claim 1,
The subframe unit,
a first hinge coupling portion installed at one end of the main waist support portion to enable hinge coupling of the first sub-waist support portion;
A second hinge coupling part installed at the other end of the main waist support unit to enable hinge coupling of the second sub waist support unit;
The first sub-waist support portion is rotatable in a forward and backward direction within a predetermined angular range by the first hinge coupling portion,
The second sub-waist support is rotatable in the forward and backward directions within the predetermined angular range by the second hinge coupling part.
A power-assisted robot.
According to claim 1,
The subframe unit,
Further comprising a wire winding structure installed inside the end of the second sub-waist support and winding or unwinding a wire connected to the other end of the belt,
The belt and the wire are accommodated in guide passages formed inside the main waist support part and the first and second sub-waist support parts,
An insertion hole for coupling the belt coupling part to the wire winding structure is formed at an end of the second sub-waist support part,
The wire winding structure includes a wire winding body having a plate spring around which the wire is wound, a belt fixing member provided at an end of the wire winding body located near an end of the second sub-waist support unit and having a latch hook, It is provided on the upper surface of the wire winding body to protrude from the second sub-waist support and includes a button-type dial that can be withdrawn.
A power-assisted robot.
According to claim 1,
The subframe unit,
It is installed on the upper end of the main waist support and further comprises a handle formed to be bent in a parabolic shape.
A power-assisted robot. delete delete delete delete delete delete delete delete

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