KR102604936B1 - Strength support module and wearable suit including same - Google Patents

Abstract

The muscle strength assistance module according to the technical idea of the present invention and the wearable suit including the same are muscle strength assistance modules that assist the wearer's muscle strength when the wearer performs a second movement that resists gravity in a first movement that conforms to gravity, A housing fixed to the body, an elastic return portion rotatably formed inside the housing, and provided to rotate together in response to the wearer's movement, and formed to press the elastic return portion from the top so that the elastic return portion returns to its initial position. It may include an elastic part that provides force and a force transmission part that is coupled around the elastic return part and transmits the force by which the elastic return part rotates to the wearer.

Description

Strength support module and wearable suit including same {STRENGTH SUPPORT MODULE AND WEARABLE SUIT INCLUDING SAME}

The present invention relates to a wearable suit, and more specifically, to a posture assistance wearable suit that is wearable and is designed to respond to the wearer's movements and provide PASSIVE assistance.

Recently, robot-related technology has been applied to a wide range of fields. Among these, wearable robots are being used for people who have difficulty walking due to reduced muscle strength due to disability or aging.

Wearable robots are a type of muscle assistance device that assists the wearer's muscles.

More specifically, the wearable robot serves to assist the wearer's muscle strength when the wearer walks or lifts a heavy load while wearing the wearable robot.

To this end, the muscle strength assist device can assist the wearer's movements by providing the wearer with assistive force generated from a driving device such as a motor.

These wearable robots can be worn on the wearer's waist and legs. A strength assist device has multiple components to be worn on each part of the wearer's body. Among the plurality of components, a driving part such as a motor plays an important role in transmitting assistive force to the joints of the wearer's body.

Previous literature related to this includes a Korean registered patent (KR 10-1219795) and a US published patent (US 2015-0134080).

In the above prior patent, a motor is formed at each joint, so not only is it heavy, but it does not take into account the convenience of the wearer. Before providing assistance to the wearer, efforts must be made to address the perception that the wearer is carrying a hard, heavy object.

If it is a weight that cannot be worn simply to provide assistance, it has no choice but to not be used.

The technical problem to be achieved by the technical idea of the present invention is to provide a muscle strength assistance unit and a wearable suit including the same for providing comfort after wearing even though it has a shape corresponding to the wearer's skeleton.

In addition, the purpose is to provide a muscle strength assistance unit and a wearable suit including the same to provide PASSIVE assistance by using the elasticity of the spring and the elasticity of the fiber rather than motor power.

In order to solve the above problem, the technical idea of the present invention is a muscle strength assistance module that assists the wearer's muscle strength when the wearer takes a second movement that resists gravity in a first movement that conforms to gravity, and is fixed to the body. A housing and an elastic return portion rotatably formed inside the housing and provided to rotate together in response to the movement of the wearer, and a portion formed to press the elastic return portion from the top to provide force to return the elastic return portion to its initial position. It may include a force transmission part that is coupled around the elastic part and the elastic return part and transmits the force by which the elastic return part rotates to the wearer.

In addition, the elastic return portion is formed with a pair of support protrusions spaced equally apart from the center on both sides to transmit the force of the elastic portion, and at least one of the support protrusions may be in contact with the elastic portion.

Additionally, when the wearer moves, the elastic return unit may provide force for the wearer to return to the second motion while only one of the pair of support protrusions comes into contact with the elastic unit.

In addition, the elastic portion may include a shaft that is formed to extend from the upper inner side of the housing toward the lower portion and is flexible and flexible, and a block formed at an end of the shaft and in contact with the support protrusion.

Additionally, at least one shaft may be provided to provide a repulsive force to the block.

In addition, the housing may have at least one rotation axis formed inside the center of the elastic return unit and may further include a guide that prevents the elastic return unit from being separated in response to the diameter of the elastic return unit.

It also includes a joint unit including a muscle strength assistance module, a posture support unit extending from the wearer's waist to the pelvis to support the posture, and a deformable joint unit connected to the posture support unit and capable of multi-directional deformation in response to joint movement of the wearer. The muscle auxiliary modules are provided as a pair to be connected to the wearer's right leg and left leg, respectively, and when the wearer takes a second motion of standing from a first motion of bending down, the force generated by the force transmission unit Assisting force can be provided to the deformable joint.

In addition, the muscle strength assistance module may be rotated around the wearer's joint through the deformable joint unit so that the wearer takes the second motion in response to the rotation of the elastic return unit.

In addition, the deformable joint unit may be disposed at a position corresponding to the wearer's hip joint, and may further include an auxiliary force generator therein that rotates in response to the rotation of the elastic return unit through the force transmission unit.

In addition, the auxiliary force generating unit is provided in a pair corresponding to the right leg and the left leg of the wearer, and the two force transmission units extending from the elastic return unit are formed to be connected, so that the rotation direction of the elastic return unit and It can be rotated the same way.

The strength assistance module of the present invention, the strength assistance unit containing the same, and the wearable suit containing the same do not require power such as a battery because the muscle strength assistance module generates assistance force through elasticity and provides assistance force centered on the wearer's joints. , it has the advantage of being light to wear by removing the motor and battery.

Additionally, it has the advantage of being applicable to various joints depending on the location of the connection between the muscle auxiliary module and the force transmission unit.

1 is a diagram showing a wearer standing up on his back using a muscle strength assistance module and a wearable suit including the same according to an embodiment according to the technical idea of the present invention;
Figure 2 is a diagram showing a muscle strength assistance module and a skeletal module in a wearable suit including a muscle power assistance module and the same according to an embodiment according to the technical idea of the present invention;
Figure 3 is a diagram showing a wearer wearing a muscle strength assistance module and a wearable suit including the same according to an embodiment according to the technical idea of the present invention trying to move a heavy object;
Figure 4 is a diagram showing the muscle strength assistance module in the situation of Figure 3 in a wearable suit including the muscle strength assistance module and the same according to an embodiment according to the technical idea of the present invention;
Figure 5 is a diagram showing a wearer wearing a muscle strength assistance module and a wearable suit including the same according to an embodiment according to the technical idea of the present invention, standing up while holding an object;
Figure 6 is a diagram showing the muscle strength assistance module in the situation of Figure 5 in a wearable suit including a muscle strength assistance module and the same according to an embodiment according to the technical idea of the present invention;
Figure 7 is a diagram showing a structure in which an elastic return unit and an assistive force generation unit are connected in a muscle strength assistance module and a wearable suit including the same 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 attached 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 made. However, the description of the present embodiments is provided to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the present invention of the scope of the invention. In the attached drawings, components may be exaggerated or reduced for convenience of explanation.

When a component is described as being “on” or “adjacent to” another component, it should be understood that it may be in direct contact with or connected to the other component, but that another component may exist in between. something to do. On the other hand, when a component is described as being “right above” or “directly in contact” with another component, it can be understood that there is no other component in the middle. Other expressions that describe relationships between components, such as “between” and “directly between,” can be interpreted similarly.

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

Singular expressions include plural expressions unless the context clearly dictates otherwise. Terms such as “comprises” or “has” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, including one or more other features or numbers, It can be interpreted that steps, operations, components, parts, or combinations of these can be added.

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

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

1 to 2 are drawings of a muscle strength assistance module and a wearable suit including the same according to an embodiment according to the technical idea of the present invention. To describe the drawings in more detail, Figure 1 is a drawing according to the technical idea of the present invention. It is a diagram showing a wearer standing up on his back through a muscle strength assistance module and a wearable suit including the same according to an embodiment, and FIG. 2 shows a muscle strength assistance module according to an embodiment according to the technical idea of the present invention and a wearable suit including the same. This is a diagram showing the muscle assistance module and skeletal module in a wearable suit.

In FIGS. 1 and 2, the muscle strength assistance module and the components of the wearable suit including the same are schematized for convenience of explanation, and some components may be omitted or exaggerated, unlike their actual form.

Looking at Figure 1, it can be seen that a heavy object is lifted while wearing the muscle strength assistance module of the present invention and a wearable suit including the same. The purpose of the present invention may be to provide assistive force to the wearer's pelvis as the upper body bends to approach the lower body (first operation) and the upper body straightens (second operation).

Here, the first action is an action to lift the object (T) while bending the upper body toward the floor, and the second action refers to an action to straighten the upper body against gravity while holding the object (T).

The configuration of the present invention for this purpose will be explained with reference to FIG. 2.

Referring to FIG. 2, it can be seen that it may include a skeletal module 300 that supports the wearer's skeleton on the wearer's back, and that a muscle auxiliary module 400 is formed on the upper part of the skeletal module 300. there is.

First, the skeleton module 300 extends from the wearer's back to the pelvis and may have a shape that supports the wearer's spine and waist. In addition, a portion is formed to be bendable so that the wearer can move freely even while wearing the skeletal module 300.

And as the muscle strength assistance module 400 formed in the skeleton module 300 generates assistive force, the skeleton module 300 supports the wearer, and the muscle assistance module 400 can provide assistance to the wearer's movements. There will be. The muscle auxiliary module 400 may largely include a housing 410, an elastic return part 420, an elastic part 430, and a force transmission part 440.

A space is formed inside the housing 410, and the elastic return portion 420 is axially coupled to the inside of the housing 410 to rotate.

Additionally, a guide may be formed in the housing 410 to prevent the elastic return portion 420 axially coupled therefrom from being separated by an external force, and the housing 410 may be moved through the first space 412 through the guide. and a second space 414 is formed, and an elastic return portion 420 and an elastic portion 430 are disposed in the first space 412 and the second space 414, respectively, and are connected to the wearer's right leg and left leg. It may be in the form of

Additionally, the elastic return unit 420 may be rotated in response to the wearer's movement.

Subsequently, the elastic part 430 is provided to be in contact with the upper part of the elastic return part 420 and is provided to press downward with a preset force so that the elastic return part 420 moves to the initial position, and the force transmission part 440 Can transmit the torque generated as the elastic return part 420 rotates to the wearer. Specifically, the torque that returns to the initial position as the elastic part 430 presses the elastic return part 420 can be transmitted to the wearer. there is.

The initial position referred to here refers to the shape of the elastic return unit 420 when the wearer is standing. Since the elastic return unit 420 is rotated as the wearer moves the legs, the rotated elastic return unit 420 returns to the initial position. The torque generated when the device is used is provided as an assistive force to the wearer.

Here, the force transmission unit 440 may be a wire that is formed to be long and coupled to be spaced apart from each other on the circumference of the elastic return unit 420. The force transmission unit 440 is placed on the upper arm around the heel of the wearer's body. , When another one is connected to the forearm and the wearer's elbow is folded, the elastic return part 420 may be rotated.

Alternatively, it may be possible to rotate the elastic return unit 420 as the shoulder rotates forward around the wearer's shoulder.

In explaining an embodiment of the present invention, it will be explained that the elastic return unit 420 rotates in response to leg movement around the wearer's hip joint.

Subsequently, the elastic return portion 420 may include a pair of support protrusions 422 formed at equal intervals from the center to both sides to transmit the force of the elastic portion 430. In addition, the elastic portion 430 can provide assisting force to the wearer while pressing the support protrusion 422 so that it comes into contact with all of the support protrusions 422 so that they are horizontal.

Specific details will be explained through Figures 3 to 6.

Figure 3 is a diagram showing a wearer wearing a muscle strength assistance module and a wearable suit including the same according to an embodiment according to the technical idea of the present invention while trying to move a heavy object, and Figure 4 is a diagram showing the wearer trying to move a heavy object according to the technical idea of the present invention. It is a diagram showing a muscle strength assistance module in the situation of Figure 3 in a wearable suit including a muscle strength assistance module and the same according to an embodiment, and Figure 5 shows a muscle strength assistance module according to an embodiment according to the technical idea of the present invention and a wearable suit including the same. It is a diagram showing a wearer wearing a wearable suit standing up while holding an object, and FIG. 6 shows a muscle strength assistance module according to an embodiment according to the technical idea of the present invention and a wearable suit including the same in the situation of FIG. 5. This is a drawing showing .

As described above, when the wearer is standing, the pair of support protrusions 422 can be kept absolutely horizontal so that they are disposed on the left and right sides on the elastic return portion 420.

When the wearer spreads his legs forward or bends his waist, the elastic return part 420 rotates together and the position of the support protrusion 422 changes.

3 and 4, as shown in FIG. 3, the wearer is bending down to lift the object T.

At this time, the elastic return portion 420 is rotated so that the support protrusions 422 move from a position where they face each other left and right to a position where they face each other in the up and down direction, and the elastic portion is connected to one of the pair of support protrusions 422. only comes into contact.

Here, the elastic portion 430 presses one of the support protrusions 422 downward to rotate the elastic return portion 420 so that both of the pair of support protrusions 422 are in contact with the elastic portion 430. 422) can provide a pushing force.

Specifically, the elastic portion 430 is formed to be long from the upper part of the inner housing 410 toward the lower part, and is formed at the end of the shaft 432 and the shaft 432, which has elastic force and can be expanded, and includes the support protrusion 422 and It may include a block 434 that is in contact.

Through this, the shaft 432 is contracted upward when the wearer bends. In this case, when the wearer bends, a force greater than the elasticity of the shaft 432 is applied, causing the shaft 432 to contract.

Meanwhile, when the wearer stands up, the shaft 432 returns and provides a repulsive force to the support protrusion 422.

In Figure 5, when the wearer raises the upper body while holding an object T, the elastic part 430 presses the elastic return part 420 to provide assisting force.

In the state shown in FIG. 5, as the shaft 432 returns in the vertical direction as shown in FIG. 6, the block 434 pushes one of the support protrusions 422 to move downward, and the pair of support protrusions continues. All 422 provide assistive force to the wearer while being the initial position in contact with the block 434.

As shown, an elastic return part 420a is formed to rotate in the first space 412 formed on the left, and a support protrusion 422a is formed on the elastic return part 420a.

And the second space 414 formed on the right side is formed so that the elastic return part 420b rotates, and a support protrusion 422a is formed on the elastic return part 420b.

Therefore, when the wearer walks, the legs cross, and at this time, the muscle strength assistance module 400 of the present invention can provide assistance force to the left and right sides separately.

In this embodiment, two elastic parts 430 are shown as being formed on the upper part of the block 434, but the number of elastic parts 430 can be changed in various ways, and the elasticity of the elastic parts 430 can be made of various spring materials. can be adopted, and of course this does not limit the scope of rights.

Next, in order to explain an embodiment of the present invention, the structure applied to the hip joint will be described.

Figure 7 is a diagram showing a structure in which the elastic return unit 420 and the assistive force generating unit 470 are connected in a muscle strength assistance module and a wearable suit including the same according to an embodiment according to the technical idea of the present invention.

The muscle auxiliary module 400 may be combined with the skeletal module 300 or may be formed integrally with the skeletal module 300, and the skeletal module 300 may be formed in the form of a pipe connected from the wearer's back to the waist, pelvis, and thighs.

Accordingly, a space in which the force transmission unit 440 and the skeletal module 300 can move is formed, and the force transmission unit 440 extending from the muscle auxiliary module 400 may extend to the wearer's hip joint.

First, two elastic return parts 420 and two elastic parts 430 are formed inside the muscle strength assistance module 400, so that assistance force can be individually transmitted to the left leg and right leg.

Then, the force transmission unit 440 is connected from the muscle assistance module 400, extends long into the internal space according to the shape of the skeletal module 300, and is connected to the assistance force generation unit 470 formed at the wearer's hip joint.

The assisting force generating unit 470 is formed in the skeleton module 300 at a position corresponding to the hip joint, and the skeleton module 300 is hinged at the hip joint to assist the skeleton when the wearer's legs move forward and backward. It can be formed into a structure.

Additionally, the auxiliary force generating unit 470 may be rotatably coupled to the inside of the skeleton module 300 of the hinged portion.

The auxiliary force generating unit 470 may have the shape of a disk, and the force transmitting units 440 may be spaced apart from each other and combined along the circumference.

Therefore, as the elastic return unit 420 rotates, the auxiliary force generating unit 470 may also rotate through the force transmission unit 440.

For example, when the wearer takes the action of bending down as shown in FIG. 3, the elastic return part 420 rotates from its initial position and rotates so that one of the support protrusions 422 that are absolutely horizontal moves upward. And, the auxiliary force generating unit 470 may also be rotated in response to the rotation of the elastic return unit 420.

Again, as shown in Figure 5, when the wearer takes the action of straightening the waist, the elastic part 430 presses the support protrusion 422 downward and the elastic return part 420 rotates. At this time, the elastic part 430 presses and The torque generated by the elastic return unit 420 is transmitted to the assisting force generating unit 470, thereby transmitting assisting force to the wearer's hip joint.

The purpose of the strength assistance unit and the wearable suit including the same according to an embodiment of the present invention is to provide a robot in the form of a suit that can be worn by the wearer. To this end, the skeletal module 300 and the muscle auxiliary module 400 may be coupled to the wearable module 200 of an elastic harness structure.

Therefore, in addition to the assistance force generated from the muscle assistance module 400, some assistance force can also be provided through the elastic force of the harness.

Above, embodiments of the present invention have been described with reference to the attached drawings, but those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical idea or essential features. You will understand that it exists. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive.

200: Wearing module
300: Skeleton module
400: Muscle auxiliary module
410: housing
420: Elastic return unit
422: Support protrusion
430: Expansion part
432: shaft
434: block
440: Force transmission unit
470: Auxiliary force generation unit

Claims (10)

A muscle strength assistance module that assists the wearer's muscle strength when the wearer performs a second movement that resists gravity in a first movement that conforms to gravity,
a housing fixed to the body;
an elastic return portion rotatably formed inside the housing and provided to rotate together in response to the wearer's movement;
an elastic portion formed to press the elastic return portion from an upper portion and provide force to return the elastic return portion to its initial position;
It includes a force transmission unit coupled around the elastic return unit to transmit the force that causes the elastic return unit to rotate to the wearer,
The elastic return portion is formed with a pair of support protrusions spaced equally apart from the center on both sides to transmit the force of the elastic portion, and at least one of the support protrusions is in contact with the elastic portion. Characterized by,
Strength assistance module. delete According to paragraph 1,
The elastic return unit,
Characterized in that when the wearer moves, only one of the pair of support protrusions is in contact with the elastic portion and provides force for the wearer to return to the second motion.
Strength assistance module. According to paragraph 1,
The expansion and contraction section,
A shaft formed to be long from the upper inner part of the housing toward the lower part and provided to be elastic and stretchable;
Comprising a block formed at the end of the shaft and in contact with the support protrusion,
Strength assistance module. According to clause 4,
The shaft is,
Characterized in that at least one is formed and provided to provide a repulsive force to the block,
Strength assistance module. According to paragraph 1,
The housing is,
At least one rotation axis is formed inside so that the center of the elastic return unit is coupled, and further includes a guide that prevents the elastic return unit from being separated in response to the diameter of the elastic return unit,
Strength assistance module. The muscle auxiliary module of any one of paragraphs 1, 3 to 6;
A joint unit comprising a posture support unit extending from the wearer's waist to the pelvis to support a posture, and a deformable joint unit connected to the posture support unit and capable of multi-directional deformation in response to joint movement of the wearer,
The muscle strength assistance module is provided in a pair to be connected to the wearer's right leg and left leg, respectively, and when the wearer takes a first action of bending down and a second action of standing up, the assistive force generated by the force transmission unit Characterized in that provided to the deformable joint,
Muscle assist module and wearable suit containing the same. In clause 7,
The muscle auxiliary module is,
Characterized in that the wearer's joint is rotated around the wearer's joint through the deformable joint portion so that the wearer takes the second motion in response to the rotation of the elastic return portion.
Muscle assist module and wearable suit containing the same. In clause 7,
The deformable joint part,
Characterized in that it is disposed at a position corresponding to the wearer's hip joint, and further includes an auxiliary force generating unit internally rotated in response to the rotation of the elastic return unit through the force transmission unit,
Muscle assist module and wearable suit containing the same. According to clause 9,
The auxiliary force generator,
It is provided as a pair corresponding to the wearer's right leg and left leg, and is formed in a shape in which two force transmission parts extending from the elastic return part are connected, respectively, and rotates in the same direction as the rotation direction of the elastic return part. to,
Muscle assist module and wearable suit containing the same.

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