KR102686443B1 - Auxiliary Equipment For Worker - Google Patents

Abstract

The present invention is a non-powered device that minimizes weight and cost, simplifies the structure, and provides load-bearing power to assist the load of baggage on the wearer's arms and waist, while also providing freedom of rotation or bending of the upper and lower body. It concerns assistive devices for workers.

Description

Auxiliary Equipment For Worker}

The present invention relates to auxiliary devices for workers. More specifically, the present invention minimizes weight and cost in a non-powered manner, simplifies the structure at the same time, provides load bearing capacity to assist the load of baggage on the wearer's arms and waist, and at the same time increases the freedom of rotation or bending of the upper and lower body. It concerns assistive devices for workers that can be provided.

Recently, powered wearable robots for workers have been introduced. Wearable robots for workers are being introduced to support repetitive loads applied to the worker's body when repeating specific movements or to assist the worker's movements.

However, most conventional wearable robots are equipped with electric actuators to generate a force greater than the wearer's physical ability, provide assistive force to protect joints and muscles during repetitive movements, or perform tasks that require maintaining an uncomfortable posture for a long period of time. Due to its nature, it can play a role in reducing body fatigue by providing assistive force to assist the worker's posture. In addition, equipment (equipment for vehicle assembly or construction work, etc.) that provides assistance against gravity in a specific posture rather than an electric actuator has been introduced, but such products are designed to support a specific posture and allow for various movements and It is not appropriate for work that requires a degree of freedom.

The loading and unloading work of parcels performed in logistics complexes involves loading and unloading baggage through continuous repetitive movements in a narrow space, where the items being handled are not standardized in size or weight, and must withstand the weight of the baggage. There is also a gap between the conveyor belt and the vehicle. The actions of repeatedly twisting the body, bending and erecting the upper body, and lifting heavy baggage using arm and wrist strength are repeated for a long time, and the number of workers is also operated flexibly depending on the volume of goods.

There is a great demand for worker assistance devices that can reduce the fatigue and injuries of workers loading and unloading parcels and increase work efficiency while minimizing cost, weight, and size.

The present invention relates to auxiliary devices for workers. More specifically, the present invention minimizes weight and cost in a non-powered manner, simplifies the structure at the same time, provides load bearing capacity to assist the load of baggage on the wearer's arms and waist, and at the same time increases the freedom of rotation or bending of the upper and lower body. The problem to be solved is to provide auxiliary devices for workers that can be provided.

In order to solve the above problem, the present invention includes a connection unit mounted across the rear of the wearer's waist; a pair of waist mounting units mounted at both ends of the connection unit to respectively surround the wearer's waist; Hand supports respectively mounted on both hands of the wearer; And, one end is mounted on each of the waist mounting units, the other end is connected to the pair of hand supports, and includes a plurality of link members connected by a hinge axis to provide load assisting force to the upper extremity of the wearer. An auxiliary device for the workplace including an upper limb auxiliary unit may be provided.

In this case, the upper limb auxiliary unit includes a first link member rotatably mounted on the waist mounting unit via a first upper limb rotation axis, the first link member and the second upper limb rotation axis connected to each other, and the hand support unit 250. ) may include a second link member connecting the.

Additionally, the upper limb auxiliary unit connected to the waist mounting unit connects the waist mounting unit and the hand support unit, but may operate in a state spaced apart from the wearer's arm.

And, a traction wire mounted to connect the first upper limb rotation axis and the second upper limb rotation axis, and providing elastic support to the first link member and the second link member in the opposite direction of the load applied to the hand support unit. is provided, and an elastic member may be provided on the second upper limb rotation axis.

Here, elastic members may be provided on each of the first upper limb rotation axis and the second upper limb rotation axis to provide elastic support in the opposite direction of the load applied to the hand support unit.

Here, the first upper limb rotation axis or the second upper limb rotation axis may be composed of a universal joint.

In this case, it may further include a lower limb auxiliary unit including a thigh wearing part worn around the wearer's thigh and a thigh link mounted on the lower portion of the thigh wearing part and mounted via a link rotation axis on the connection unit side.

In addition, the femoral link may be rotatably connected to the connection unit about the x-axis through a connection member.

In addition, the femoral link can provide an elastic assisting force in the direction in which the wearer straightens the waist with respect to the connection unit by an elastic member provided on the link rotation axis.

According to the worker assistance device according to the present invention, the weight and cost are minimized and the structure is simplified by applying elastic or pneumatic passive elements, and at the same time, it provides load bearing capacity to assist the wearer's baggage load and provides upper body and An auxiliary device for workers that can provide freedom of rotation or bending of the lower extremities can be provided.

In addition, according to the worker assistance device according to the present invention, it is configured to simultaneously assist the wearer's arms and waist in the loading and unloading of parcels performed in a logistics complex, and is capable of lifting heavy baggage of 10 kg or more upward or placing it on the ground. It provides the effect of reducing the load transmitted to the wearer by more than 40%.

In addition, according to the worker's orthosis according to the present invention, in order to assist arm strength, an upper limb auxiliary unit with a suspension structure rather than an exoskeleton structure surrounding the arm is applied, thereby minimizing interference with arm movement and protecting against the load applied to the arm. Auxiliary power can be provided.

In addition, according to the worker's aid according to the present invention, it provides most joint freedom by allowing left and right tilt of the upper body, rotation around the spine of the upper body, rotation of the hip and knee joints, and rotation of the elbow and wrist joints, especially for delivery. The movements required at the work site can be performed without discomfort.

Figure 1 shows a side view of a worker holding box-shaped baggage to explain the concept of the worker assistance device according to the present invention.
Figure 2 shows a body model wearing an assistive device for workers according to the present invention.
Figure 3 shows a front view of the worker assistance device with part of the lower extremity assistance unit according to the present invention removed.
Figure 4 shows a front perspective view of a body model wearing an operator assistance device with a portion of the lower extremity assistance unit according to the present invention removed.
Figure 5 shows a rear perspective view of a body model wearing an operator assistance device with a portion of the lower extremity assistance unit according to the present invention removed.
Figure 6 shows the direction of transmission of assistive force of the worker auxiliary device according to the present invention when the wearer of the worker auxiliary device bends down to handle baggage.
Figure 7 shows the direction of transmission of assistive force of the worker assistance device according to the present invention when the wearer extends his arm and handles baggage.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosure will be thorough and complete, and so that the spirit of the invention can be sufficiently conveyed to those skilled in the art. Like reference numerals refer to like elements throughout the specification.

Figure 1 shows a side view of a worker (w) holding box-shaped luggage (p) to explain the worker assistance device (1) according to the present invention.

Loading and unloading of delivery baggage involves repeatedly loading and unloading numerous pieces of baggage between the conveyor belt and delivery vehicle, making the work quite tiring. In addition, the location of baggage and its weight and shape vary when loading or unloading baggage.

As shown in Figure 1, when a worker carries luggage and performs loading and unloading operations, the worker's arms are directed forward and the center of gravity (g) of the baggage is located in front of the worker. Therefore, compared to the state in which the worker stands upright without baggage, the weight of the baggage and the moment due to the weight of the baggage are applied to the worker's body through the worker's arms, shoulders, spine, and lower extremities including hip and knee joints.

In particular, the worker (w) requires a relatively large load in the motion of bending the waist (spine) and lifting heavy baggage during the loading and unloading of the parcel, resulting in accumulated fatigue. The waist and arms of a worker's body are areas where fatigue increases rapidly during baggage handling work, and the frequency of injuries is also high.

Therefore, the present invention uses passive elements such as springs (pneumatic actuators are also possible) to reduce fatigue caused by the weight load that occurs during the repetitive work of lifting and lowering luggage by workers applying it to the arms and waist. By applying a gravity compensation mechanism, the perceived workload can be lowered by providing assistance to the worker. This will be described in detail with reference to Figure 2 below.

Figure 2 shows a body model wearing the worker assistance device 1 according to the present invention, and Figure 3 shows a front view of the worker assistance device 1 with a part of the lower limb auxiliary unit according to the present invention removed. 4 shows a front perspective view of a body model wearing the worker assistance device (1) with part of the lower limb auxiliary unit according to the present invention removed, and Figure 5 shows the worker assistance device (1) with part of the lower limb auxiliary unit according to the present invention removed. ) shows a rear perspective view of a body model wearing a body model.

The worker assistance device (1) according to the present invention includes a connection unit (140) mounted across the rear of the wearer's waist; A pair of waist mounting units 121 mounted at both ends of the connection unit to surround the wearer's waist, respectively; Hand supports 250 each mounted on both hands of the wearer; And, one end is mounted on each of the waist mounting units, the other end is connected to the pair of hand supports, and includes a plurality of link members connected by a hinge axis to provide load assisting force to the upper extremity of the wearer. It may be configured to include an upper limb auxiliary unit 200.

The connection unit 140 is mounted across the rear of the wearer's waist, and a pair of waist mounting units 121 may be provided at both ends of the connection unit 140 to surround the wearer's waist. The waist mounting unit may be mounted in a curved shape to surround the wearer's waist.

In addition, each waist mounting unit 121 is connected to the upper limb auxiliary unit 200 and the lower limb auxiliary unit 300, which will be described later, to assist the wearer's upper and lower body, respectively.

The waist mounting unit 121 may be provided with a suit-shaped band member 110 that is worn on the wearer's upper body. The band member 110 may be made of an elastic material and may have a shape whose size can be adjusted according to the size of the wearer's torso.

A pair of the waist mounting units 121 are connected by a connection unit 140, and the connection link and the waist mounting unit 121 are centered on the inner and outer anterior axis 150 in the x-axis (axis parallel to the walking direction) direction. It can be rotatably connected to allow adduction or abduction of the wearer's lower extremities.

The upper limb assistance unit 200 is a component for reducing the load of the baggage by assisting the wearer's muscle strength with the arm or wrist in the process of lifting or placing heavy baggage on the ground.

In addition, a hand support portion 250 may be provided at the end of the upper limb auxiliary unit 200 and is mounted on the wearer's hand and transmits the assistive force of the upper limb auxiliary unit 200 to the worker's hand.

In addition, in the case of the worker assistance device according to the present invention, in order to assist arm strength, the first and second link members of a suspension structure, rather than an exoskeleton structure surrounding the arm, are applied to minimize interference with arm movement. It can provide assistive power for the load applied to the arm.

Specifically, the upper limb auxiliary unit 200 includes a first link member 210 rotatably mounted on the connection unit 1402 about a first upper limb rotation axis 220, and the first link member 210. It may include a second link member 230 that is connected via the second upper limb rotation axis 240 and connects the first link member 230 and the hand support unit 250.

The worker assistance device 1 is configured to secure a certain degree of joint freedom by ensuring free movement of the wearer's body, including the arms, torso, hip joints, and knee joints, when loading and unloading. Accordingly, the upper limb auxiliary unit 200 connected to the waist mounting unit 121 connects the waist mounting unit 121 and the hand support unit 250, but has the characteristic of operating in a state spaced apart from the wearer's arm.

The upper limb auxiliary unit 200 is rotatably connected to the side of the connection unit 140 by a joint member such as a universal joint, and is rotatable to the first link member 210 supporting both arms and the first link member. It may be configured to include a second link member 230 that is connected and has a hand support portion 250 at the end to surround the hand of the wearer holding the baggage and provide load-bearing force.

And, in order to provide a load assist force, it is mounted to connect the first upper limb rotation axis 220 and the second upper limb rotation axis 240, and the first link member 230 and the second link member 230 are connected to each other. A traction wire 211 is provided to provide elastic support in the opposite direction of the load applied to the hand support unit 250, and the first upper limb rotation axis 220 or the second upper limb rotation axis 240 is the traction wire ( 211), a universal joint may be provided with an elastic member in the form of a passive element that provides elastic traction.

Therefore, the second link member 230 and the hand support portion 250 are rotatably connected to each other by a bearing member such as a ball joint, so that they can be used in the elbow or wrist, etc., which require particularly complex movements when loading and unloading the wearer. Sufficient joint freedom can be provided.

The upper limb auxiliary unit 200 provides assistance through a traction wire that is elastically pulled by an elastic member mounted on a rotation axis in the direction opposite to gravity, regardless of the shoulder or elbow angle, in order to reduce the load transmitted to the arm when the wearer lifts baggage. power can be provided.

In addition to the method of interlocking and towing the first link member 230 and the second link member 230 using a traction wire pulled by an elastic member provided on the first upper limb rotation shaft 220, each rotation axis It is also possible to apply a method of providing load assistance to the wearer's upper extremities by providing an elastic member or a pneumatic device (hydraulic device), respectively.

As shown in FIG. 3, the first link member 220 and the second link member 230 have a traction wire 211 provided with an elastic spring connected to the first upper limb rotation axis 220 and the second upper limb, respectively. By connecting the rotation axis 240 with a two-joint muscle simulating structure, the elastic support force of the first link member 210 can be provided in the direction opposite to the load regardless of the rotation angle of the wearer's shoulder or arm, that is, the position of the wearer's hand.

The hand support portion 250 is connected to the end of the upper limb auxiliary unit 200 and is configured in a glove shape so that the wearer's hand can be mounted thereon.

The first link member 210 and the second link member 230 constituting the upper limb auxiliary unit 200 connected to the waist mounting unit 121 connect the waist mounting unit 121 and the hand support unit 250. Since it can be connected but driven at a distance from the wearer's arm, interference or friction between the worker's arm and the link members can be prevented, improving work convenience and reducing the risk of injury.

As shown in Figures 4 and 5, the first link member 220 is connected to the first upper limb rotation axis 220 in the form of a universal joint so as to be capable of multi-axis rotation, allowing free rotational movement (free flexion and extension) of the wearer's arm. degrees, degrees of freedom of internal/external rotation) can be allowed.

In addition to assisting the movement of the upper limbs with the upper limb auxiliary unit 100, the worker assistance device according to the present invention can also provide a function of assisting the worker's lower limbs during load work by providing a lower limb auxiliary unit.

Specifically, a thigh wearing portion 310 that is worn surrounding the wearer's thigh, and the thigh wearing portion 310 is mounted at the lower portion and a femoral link mounted on the connection unit 140 via a link rotation axis 342 ( It may further include a lower limb auxiliary unit 200 including 340).

The lower limb auxiliary unit 300 is connected downward to the connection unit 140 and may be provided with a pair of femoral links 340 that provide elastic auxiliary force to the wearer's lower limbs, including both hip joints. The femoral link 340 may be disposed in the wearer's hip joint area to provide assistive force during lumbar flexion or extension movements.

To this end, the lower limb auxiliary unit 200 includes a thigh wearing part 310 that is worn surrounding the wearer's thigh, and the thigh wearing part 310 is mounted at the lower part, and a link rotation axis 342 is provided on the connection unit 140 side. It may be configured to include a femoral link 340 mounted via.

The femoral link 340 may be rotatably connected to the connection unit 140 via the connection member 120 about the x-axis (forward-backward direction) by the internal/abduction axis 150 to allow internal/abduction movement.

As shown in Figures 4 and 5, the femoral link 340 is centered around the link rotation axis 342 and the y-axis (perpendicular to the front x-axis and the vertical z-axis) during flexion or extension of the hip joint. Auxiliary force or auxiliary torque can be provided.

An elastic member 344, such as a separate coil spring, is provided inside the thigh link 340 of the lower limb auxiliary unit 300 or on the link rotation axis 342, so that elastic auxiliary force can be provided in the direction in which the wearer straightens the waist. .

Of course, auxiliary force or auxiliary torque may be provided in the direction of bending of the hip joint depending on the direction or timing of providing the elastic force of the elastic member, and in the case of a load worker, auxiliary force is provided in the direction of extension of the hip joint to relieve the burden of the load. It can be minimized.

In addition, the lower limb auxiliary unit 300, which constitutes the worker auxiliary device 1 shown in FIG. 1, includes a thigh support member 320, a lower leg link 360, and a lower leg support member 340 below the thigh link 340. ) and an ankle link 350 and a footrest member 370, and each lower leg link 360 or ankle link 350 is similarly provided with an elastic member as a passive element to protect the body when moving according to the worker's load movement. Assistive force can be provided in the direction of standing up or extending.

In addition, the lower leg link 360 may also be provided with a lower leg wearing portion 330 that surrounds the wearer's lower leg.

FIG. 6 shows the direction of transmission of assistive force of the worker auxiliary device 1 according to the present invention when the wearer bends his waist to handle baggage, and FIG. 7 shows the direction of transmission of the assistive force of the worker auxiliary device 1 according to the present invention. The auxiliary device 1 shows the direction of transmission of assistive force of the auxiliary device 1 for workers when the wearer extends his arm and handles baggage.

The elastic member or pneumatic device (hydraulic device) provided on each rotation axis or femoral link can be installed to generate an elastic restoring force in the direction in which the wearer is lifting the load, and the wearer bends the upper body to lift the load. In operation, the load is approached by overcoming the restoring force of the elastic member as above, but the repulsion force of the elastic member can be easily offset by the weight of the worker's upper body, etc., and in the process of lifting the load, the elasticity applied to the rotation axis or traction wire The load of the load can be partially offset by the restoring force or restoration torque of the member, thereby reducing the worker's fatigue and sense of weight.

Although this specification has been described with reference to preferred embodiments of the present invention, those skilled in the art may make various modifications and changes to the present invention without departing from the spirit and scope of the present invention as set forth in the claims described below. It will be possible to implement it. Therefore, if the modified implementation basically includes the elements of the claims of the present invention, it should be considered to be included in the technical scope of the present invention.

1: Auxiliary devices for workers
140: connection unit
200: Upper limb auxiliary unit
300: lower limb auxiliary unit

Claims (9)

A connection unit mounted across the rear of the wearer's waist;
a pair of waist mounting units mounted at both ends of the connection unit to surround the wearer's waist;
Hand supports respectively mounted on both hands of the wearer; and,
One end is mounted on each of the waist mounting units, the other end is connected to the pair of hand supports, and includes a plurality of link members connected to a hinge axis to provide load assistance to the wearer's upper limbs. Includes a unit;
The upper limb auxiliary unit includes a first link member rotatably mounted on the waist mounting unit about a first upper limb rotation axis, and a second link member connected to the first link member and a second upper limb rotation axis and connecting the hand support unit. An auxiliary device for a workplace, including a link member, wherein the upper limb auxiliary unit connected to the waist mounting unit connects the waist mounting unit and the hand support unit, but operates in a state spaced apart from the wearer's arm. delete delete According to paragraph 1,
It is mounted to connect the first upper limb rotation axis and the second upper limb rotation axis, and the first link member and the second link member are provided with a traction wire for providing an elastic support force in the opposite direction of the load applied to the hand support unit. An auxiliary device for work, characterized in that an elastic member is provided on the second upper limb rotation axis. According to paragraph 1,
An auxiliary device for a workplace, characterized in that elastic members are provided on each of the first upper limb rotation axis and the second upper limb rotation axis to provide elastic support in a direction opposite to the load applied to the hand support unit. According to clause 4 or 5,
An auxiliary device for a workplace, characterized in that the first upper limb rotation axis or the second upper limb rotation axis is composed of a universal joint. According to paragraph 1,
An assistant for the workplace, characterized in that it further comprises a lower limb auxiliary unit including a thigh wearing part worn around the wearer's thigh and a thigh link mounted on the lower part of the thigh wearing part and mounted via a link rotation axis on the connection unit side. Device. In clause 7,
An auxiliary device for a workplace, characterized in that the femoral link is rotatably connected to the connection unit about the x-axis through a connection member. According to clause 8,
The femoral link is an auxiliary device for the workplace, characterized in that it provides an elastic assistance force in the direction in which the wearer straightens the waist with respect to the connection unit by an elastic member provided on the link rotation axis.