KR20130128672A - Human power assistant apparatus supporting tool handling - Google Patents

Abstract

A muscular strength assisting device is disclosed. The muscular strength assisting device according to the present invention includes a plurality of links which relatively rotates or linearly rotates and a tool mounting unit joined to one end portion of one among the links and have characteristics moving the links by using a driving member or remarkably reducing power required by a user by using a load compensating member. According to the present invention, working convenience is improved as the user moves a tool joined to the muscular strength assisting device to a working position without a large amount of power and performs a task so that the fatigue of the user is reduced and musculoskeletal injuries are prevented. Furthermore, the user easily poses for working by utilizing a skeletal structure similar to a human body.

Description

Human power assistant apparatus supporting tool handling

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a muscle strength assisting device, and more particularly, to a muscle strength assisting device capable of mitigating a heavy tool load and impact generated during work.

In general, various types of tools are used in industrial sites, and many of them are heavy enough to be difficult to use for a long time.

For example, tools such as drills, rivet hammers, and nail guns can be lifted by the operator, but they are relatively heavy and require a lot of work by the operator to withstand the repulsion that occurs during use.

Therefore, the use of such a tool for a long time is not only easy to fatigue the operator due to its weight, but also high risk of damage to the musculoskeletal system due to the repulsive force in use.

In order to solve this problem, it is preferable to use a separate jig or structure to assist the manpower, but since there is no dedicated equipment, the worker has no choice but to make and use the required structure at the site. In addition, there is a problem that it is difficult to use a fixed auxiliary structure when you need to work while moving a large space.

In addition, wearable strength-enhancing robots have recently been introduced, but this is developed as a whole-body wearable type, so that the auxiliary device for using a tool is too large and heavy and has limited mobility. In addition, due to the application of the robot control technology there is a problem that is difficult to commercialize because the purchase cost is very expensive.

The present invention has been made to solve such a problem, and an object thereof is to provide a muscle strength assisting device for a tool which can be easily used by a worker and excellent in mobility.

In addition, an object of the present invention is to provide a muscle strength assist device that can easily access a desired working position, to compensate for the load of the tool and to absorb and relieve the repulsive force to prevent fatigue and musculoskeletal injury of the operator.

In order to achieve the above object, the present invention provides a muscle assisting apparatus for supporting a user by mounting a heavy tool to move to a desired working position, comprising: a tool mounting unit for coupling the tool; A skeletal portion supporting the tool mounting portion, the skeletal portion including one or more joint portions coupled to the two links by relative rotational movement or relative linear movement; Drive means for operating the joint; Motion recognition means for recognizing the motion intention of the user; It provides a muscle strength assistance device including a control means for controlling the drive means by using the detection result of the motion recognition means.

In another aspect, the present invention, a muscle strength assist device for mounting a heavy tool to move to the user's desired work position, the tool mounting portion for coupling the tool; A skeletal portion supporting the tool mounting portion, the skeletal portion including one or more joint portions coupled to the two links by relative rotational movement or relative linear movement; Provided by the user to operate the joint portion, a muscle strength assistance device including a control means installed in the skeleton portion.

The muscle strength assisting apparatus according to the present invention may be characterized in that it comprises a locking means provided in the joint to stop the tool in the working position.

In addition, the muscle strength assisting device according to the present invention includes a first link and a second link coupled to the rotation axis, the load compensation means for compensating the load of the tool and the skeleton portion between the first link and the second link. It may be characterized in that it is installed.

The load compensating means may be an elastic means having one end coupled to the first link and the other end coupled to the rotation shaft fixed to the second link. In addition, the load compensation means, one end is connected to the first link spring; One end is connected to the other end of the spring, and the other end of the wire is fixed to the second link; The wire is wound, it may be characterized in that it comprises a pulley provided so that the length of the winding wire is different as the first link and the second link is rotated.

In addition, the muscle strength assist device according to the invention, it may be characterized in that it further comprises a height adjusting unit for elevating the skeleton portion.

The height adjusting portion includes a lifting shaft connected to the lower end of the skeleton portion and a load compensation means for compensating the load of the lifting shaft, the load compensation means, one end is fixed to the case; A pulley positioned above the elastic means; One end is connected to the other end of the elastic means, and the other end is wound around the pulley to change direction and extends downwards, characterized in that it comprises a wire connected to the lifting shaft, the elastic means is an equal load spring It may be characterized by.

In addition, the height adjustment portion includes a lifting shaft connected to the lower end of the skeletal portion and the load compensation means for compensating the load of the lifting shaft, the load compensation means, the pulley; One end is connected to the lifting shaft, and the other end is wound around the pulley to change direction and extends downward; It may be characterized in that it comprises a weight connected to the other end of the wire.

In addition, the muscle strength assisting device according to the present invention includes a first link and a second link coupled to the rotating shaft, the buffer means for absorbing the impact due to the repulsive force or external force of the tool between the first link and the second link It may be characterized in that it further comprises.

The buffer means, the wing portion formed on the rotating shaft; A space portion formed in the second link, the blade portion being inserted and rotating; One end may be connected to the wing portion, and the other end may include an elastic means connected to an inner wall of the space portion or a protrusion block protruding from the inner wall of the space portion. In addition, the buffer means, the wing portion formed on the rotating shaft; A space portion formed in the second link, the blade portion being inserted and rotating; One side is fixed to the inner wall of the space portion, the other side is at least one protruding block coupled to the rotating shaft through a sealing member; It may be characterized in that it comprises a fluid filled in the interior of the space.

According to the present invention, since the user can work by moving to a working position without a great force in a state in which the tool is coupled to the muscle assisting apparatus, the work convenience is increased, thereby reducing the fatigue of the worker and preventing the musculoskeletal injury.

In addition, by using a skeleton structure similar to the human body it is easy to take the operator posture desired by the user.

1 is a view showing a state of use of the muscle strength assistance apparatus according to a first embodiment of the present invention
Figure 2 is a perspective view of the skeletal structure of the muscle strength assisting apparatus according to the first embodiment of the present invention
3 is a view showing an embodiment of a position fixing part
4 is a view showing the operation of the position fixing
5 is a view showing another embodiment of position fixing
6 is a view showing a buffer structure using a spring
7 is a view showing a buffer structure using a spring and a fluid
8 is a view showing the installation of the brakes;
9 shows the operation of the brake.
10 is a view showing another installation of the brake
11 is a perspective view of a muscle strength assisting apparatus according to a second embodiment of the present invention
12 is a view showing an embodiment of a load compensation means;
13 is a view showing another embodiment of the load compensation means;
14 is a view showing an embodiment of the vertical load compensation means;
15 is a view showing another embodiment of the vertical load compensation means;
16 and 17 are perspective views each showing a modified example of the muscle strength assisting apparatus according to the second embodiment of the present invention.

The present invention relates to a muscle strength assisting device capable of moving a heavy tool to a working position as intended by a user and supporting the tool even during work. Hereinafter, with reference to the drawings will be described a preferred embodiment of the present invention.

First Embodiment

In the muscle strength assisting device 100 according to the first embodiment of the present invention, as shown in the use state diagram of FIG. It can be moved to the desired working position.

2 illustrates a skeleton structure of the muscle strength assisting device 100. Accordingly, the muscle strength assisting device 100 is composed of a plurality of links, the skeleton having a joint structure similar to the human body 110, the tool mounting portion 140, coupled to one end of the skeleton portion 110, skeleton portion 110 Position fixing portion 160 coupled to the bottom of the), the drive means for operating the skeleton portion 110 (not shown).

Skeletal portion 110 includes a mainframe 118 located on the front and / or side of the user's upper body and a plurality of links connected to the mainframe 118.

Specifically, one end of the first link 111 is connected to the upper end of the main frame 118 through the first joint part 121, and the other end of the first link 111 is connected through the second joint part 122. It is connected to one end of the second link 112. The other end of the second link 112, the tool mounting portion 140 is connected.

In addition, one end of the third link 113 is connected to the lower end of the main frame 118 through the third joint part 123, and the other end of the third link 113 is connected to the fourth link through the fourth joint part 124. One end of 114 is connected. The other end of the fourth link 114 is connected to the position fixing unit 160 through the fifth joint (125).

The first link 111, the second link 112, the first joint 121, and the second joint 122 correspond to the humerus, forearm, shoulder, and elbow joints of the human body, respectively. In addition, the third link 113, the fourth link 114, the third joint 123, the fourth joint 124, the fifth joint 125 is the femoral skeleton of the human body, the lower leg skeleton, hip joint, knee joint, ankle Corresponds to each joint.

Each joint portion is preferably individually controlled through a separate driving means, but is not limited thereto. The type of the driving means is not limited, and for example, the joint may be operated by connecting a reducer, a wire, a gear, or the like to an actuator such as a motor or a cylinder. In some cases, the joints may be configured such that the two connected links perform relative linear motion without relative rotation.

Skeleton 110 may be mounted to the restraint mechanism for restraining the user's arm, leg, upper body, etc., Figure 1 illustrates a case in which the restraint mechanism is mounted. In addition, the skeleton portion 110 may be equipped with a handle that allows the user to move the link to the work position by holding the hand.

In addition, the above-described skeleton structure is only an example and may be modified in various forms. For example, in FIG. 2, two degrees of freedom are shown to the first and second joint parts 121 and 123 corresponding to the shoulder and hip joints of the human body, respectively, but three degrees of freedom may be provided. In some cases, only one degree of freedom may be granted.

In addition, depending on the type of work, the tool mounting unit 140 may be connected to have at least one degree of freedom with respect to the second link 112 through a joint corresponding to the wrist joint of the human body. In addition, the fifth joint 125 corresponding to the ankle joint of the human body may be omitted.

In addition, the portion corresponding to the lower frame may be configured to simply adjust the height without applying the link structure. In this case, it has a structure similar to FIG. 11 associated with the second embodiment. In addition, the joint portion may be configured to rotate about a vertical axis, in which case it has a structure similar to that of FIG.

As a result, the number or degrees of freedom of the joints included in the skeleton 110 may be appropriately selected according to the characteristics of the work, the type of the tool, and the like.

Tool mounting unit 140 is provided with a mounting means for fixing or mounting tools, such as a drill, rivet hammer, nail gun. The mounting means may be in the form of a mounting groove for inserting a tool, may be a fixing device such as a clamp, or various other means may be used.

The tool mounting unit 140 may replace and use the tool mounting unit 140 suitable for the tool every time a plurality of tools are manufactured and used according to the shape of various tools.

In addition, the tool mounting portion 140 may be further provided with a pressing means for pressing the mounted tool 10 at a constant pressure. For example, by pressing the tool 10 by using a cylinder, a motor or the like or by using an elastic means such as a spring, the tool 10 may maintain a constant pressure on the working surface at the time of work.

The position fixing unit 160 is a means for fixing the position of the muscle strength assisting device 100 with respect to the ground. 3 illustrates an embodiment of the position fixing unit 160. A base 161 having a through part 161 a connected to and connected to a lower end of the fourth link 114 through a fifth joint part 125 and formed up and down. ), A wheel 163 mounted on the base 161 for mobility, a stepping plate 165 inserted into the through part 161a, and a stepping plate 165 installed between the stepping plate 165 and the base 161. It includes an elastic means 167 to provide an upward restoring force.

As shown in FIG. 3, the elastic means 167 may be installed between the protruding end 165a and the base 161 which are formed laterally from the top of the tread plate 165.

In this case, if the user puts his foot on the tread 165 as shown in FIG. 4, the tread 165 descends and comes into contact with the ground, thereby preventing the muscle assisting apparatus 100 from moving and fixing its position. At this time, by attaching the ground member 169 made of a high coefficient of friction on the bottom surface of the tread plate 165 may increase the grounding force.

When the user releases the foot from the tread 165 after the work, the tread 165 rises due to the restoring force of the elastic means 167, so that the muscle strength assisting device 100 can be conveniently moved to another work position using the wheel 163. Can be.

5 shows another type of elastic means 167 'installed between the base 161 and the tread 165, one end of the elastic means 167' is rotatably connected to the base 161 and the other end thereof. It is rotatably connected to the tread 165.

At this time, the height of one end of the elastic means 167 'is connected to the base 161, should be located between the top dead center and the bottom dead center of the point where the other end of the elastic means (167') in the tread 165. When installed in this way, the elastic means 167 'passes the maximum compression section while the tread 165 moves up and down, so that the elastic means 167' pushes the tread 165 upward when the tread 165 is at the top dead center. When the tread 165 is in contact with the ground, the elastic means 167 ′ pushes the tread 165 downward, thereby increasing the traction force.

In addition, in order for the tread 165 to move up and down stably, it is preferable to install a vertical guide 164 on the base 161, and couple the vertical guide 164 to the tread 165.

The elastic means 167 ′ may be used together with the elastic means 167 of FIG. 4, or may be used independently.

Since it is not necessary to install the elastic means 167 and 167 'in the position fixing part 160, a separate support mechanism may be used to support the base 161 while the wheel 163 is spaced apart from the ground. For example, the base 161 may be raised so that the wheel 163 is spaced apart from the ground by using a cylinder for elevating the supporting feet.

On the other hand, in order to protect the skeletal structure and the user of the muscle strength assisting device 100 from the impact generated during the use of the tool, appropriate cushioning means are required.

As an example, as shown in FIG. 2, a shock absorber 150 may be installed between the main frame 118 and the first link 111, or between the main frame 118 and the second link 112. Alternatively, the shock absorber 150 may be installed between the first link 111 and the second link 112. However, since the movement of the links 111 and 112 should not be limited due to the shock absorber 150, the installation position and type of the shock absorber 150 should be appropriately selected in consideration of the operation range of the links 111 and 112.

As another example, the cushioning means may be implemented in the manner as shown in FIG. 6. That is, if any of the first link 111 and the second link 112 is connected to the rotary shaft 115 and the driving means for rotating the rotary shaft 115 is fixed relative to the first link 111, the rotary shaft 115 ) And the second link 112 may be connected to the spring 157.

Specifically, the wing portion 116 is coupled to the rotation shaft 115, and the wing portion 116 is inserted into the second link 112 to form a space portion 112a capable of rotating. At this time, the wing portion 116 is disposed symmetrically with respect to the rotation axis 115, the inner wall of the space portion 112a has a protruding block 155 having a side surface parallel to the wing portion 116 or opposed at a minimum angle. It is preferable to form.

In this state, if the spring 157 is installed between the protruding block 155 and the wing 116, the wing portion (when the rotating shaft 115 is rotated by the driving means fixed to the first link 111) As the 116 rotates together, the second link 112 rotates as the protruding block 155 is pushed by the spring 157 positioned at the front end of the rotation direction.

On the contrary, when an impact is applied to the second link 112 while the rotating shaft 115 is stopped, the shock is absorbed by the spring 157.

At this time, the spring 157 is preferably a very large elastic modulus and very small displacement. In this case, since deformation hardly occurs in a normal state, the rotational force of the rotating shaft 115 may be immediately transmitted to the second link 112. When the rotating shaft 115 stops, the second link 112 stops immediately, and positioning is performed. It becomes easy. The specific modulus of elasticity should be appropriately selected according to the type of tool, skeletal structure of the apparatus, and the like.

In addition, a spring, a torsion spring, or the like, which connects the rotating shaft 115 and the inner wall of the space 112a may be used instead of the coil-shaped spring 157. In addition, other members having elasticity may be used instead of the spring 157.

Protruding block 155 is preferably arranged symmetrically about the rotation axis 155 as shown, but is not limited thereto.

On the other hand, when the spring 157 is used as a cushioning means, there is a problem that the compressed spring 157 vibrates for a predetermined time in the process of absorbing shock. In order to solve such a problem, as shown in FIG. 7, it is preferable to fill a fluid 159 such as air or oil in the space portion 112a in which the spring 157 is installed. The fluid filled in the space 112a serves to attenuate external shock while absorbing vibration of the spring 157 as kinetic energy.

However, in order to use the fluid 159 as a buffer means, it is necessary to limit the range in which the fluid 159 is filled in the space portion 112a. To this end, one side of the protruding block 155 is fixed to the inner wall of the space portion 112a and the other side is in contact with the rotation shaft 115, and the wing portion 116 should be positioned in the space filled with the fluid 159. At this time, the rotating shaft 115 and the protruding block 155 should not be fixed to each other, so that the protruding block 155 is rotatable with respect to the rotating shaft 115 using the sealing member.

An end of the wing 116 is spaced apart from the inner wall of the space 112a, and the fluid 159 moves through the gap to obtain a buffer effect.

Therefore, when the rotating shaft 115 is stopped, when the impact or external force is applied during the operation and the second link 112 receives the rotational force in the arrow direction (clockwise) of FIG. 7, the shock is reduced while the spring 157 is compressed. On the other hand, the vibration of the spring 157 is absorbed by the kinetic energy of the fluid 159 to obtain a stable buffering effect.

Although the spring 157 is installed in one space 112a and the fluid 159 is filled in the above, the buffer structure using the spring 157 and the fluid 159 may be separated from each other. For example, the second link 112 is formed by dividing the space portion in which the spring 157 is installed and the space portion in which the fluid is filled, and installing the spring 157 in the first space portion as shown in FIG. 6, As shown in FIG. 7, the second space may be filled with the fluid 159, but the spring may be omitted.

Meanwhile, the muscle strength assisting apparatus 100 according to the first embodiment of the present invention operates the joint part by using a driving means, so that the tool 10 may be fixed to the working position without a separate locking means. However, in order to reduce the load of the driving means and to operate stably, it is more preferable to additionally install the locking means in the joint part.

The locking means may be a conventional pneumatic, hydraulic or electric brake used in a winch, hoist, or the like, or may be a stop pin inserted into a joint to prevent rotation.

FIG. 8 illustrates a case in which a brake 190 is installed at a joint portion connecting the first link 111 and the second link 112. The brake 190 has one side fixed to the second link 112. It is installed to be selectively coupled to the first link 111 in the state. For example, the friction pad (191 of FIG. 9) provided in the brake 190 is installed to selectively contact the drum provided in the first link 111.

Accordingly, when the second link 112 is rotated with respect to the first link 111, the friction pad 191 of the brake 190 is separated from the drum of the first link 111 as shown in FIG. 9 (a). In order to fix the second link 112, the friction pad 191 of the brake 190 may be in contact with the drum of the first link 111 as shown in FIG. 9B.

Since the position of the brake 190 is not limited between the first link 111 and the second link 112, as shown in FIG. 10, the rotating shaft 115 or the rotating shaft is disposed at one side of the second link 112. The friction pad 191 may be installed to selectively contact the drum coupled to the 115.

Meanwhile, since the friction pad 191 is not necessarily used for the brake 190, other means such as an engagement gear may be used.

9 and 10 show a case in which the shock absorbing structure as shown in FIG. 6 is applied to the joint part, and thus, when the rotation of the second link 112 is prevented through the brake 190, the tool 10 or other external force is used. The impact may be absorbed through the spring 157 of the joint.

As described above, the space part 112a may be filled with a fluid for absorbing the vibration of the spring 157, and the space part in which the spring 157 is installed may be separately installed in the space part in which the fluid is filled.

In addition, even when the rotary shaft 115 of the driving means mounted on the first link 111 is directly connected to the second link 112 without transmitting rotational force to the second link 112 through the spring 157. As described above, a buffer effect can be obtained using the fluid 159. Also in this case, the space 112a is formed in the second link 112, and the end of the protruding block 155 formed on the inner wall of the space 112a is rotatably contacted with the rotation shaft 115 via the sealing member. In this case, the fluid 159 may be filled in the space 112a, and the wing 116 may be coupled to the rotation shaft 115 so that an end portion thereof is spaced apart from the inner wall of the space 112a.

In the meantime, in order to move the tool 10 to the work position according to the user's intention in the muscle strength assisting apparatus 100 according to the first embodiment, it is necessary to recognize the intention of the user and to control the driving means based thereon.

The intention of the user can be recognized by measuring the EMG signal of the user and estimating the movement of the muscle or by estimating the movement of the muscle by measuring the change in muscle hardness. In addition, by installing a force torque sensor between the restraint mechanism for restraining the user's arm and the skeleton of the muscle strength assisting device 100 may use the output value of the force torque sensor to estimate the user's operation intention. In addition, by installing a torque sensor in the first joint portion 121, the second joint portion 122, it is also possible to detect the torque change caused by the user's movement to estimate the user's intention.

Second Example

The first embodiment of the present invention described above operates each joint portion of the skeletal portion 110 by using a driving means, and accordingly, the manufacturing cost increases due to the application of the robot control technology.

The second embodiment of the present invention is to solve this problem, so that the user can easily access the tool 10 to the working position by appropriately utilizing the height adjusting means and the load compensation means without using the driving means. It is designed.

As such, if a load compensating means is applied without using a separate driving means for each joint part, a device for recognizing a user's intention is not required, and a user can use the apparatus with little force within a range of load compensable operation. There is an advantage to this.

FIG. 11 illustrates a muscle strength assisting apparatus 100 ′ according to a second embodiment of the present invention, which is composed of a plurality of links and has a joint structure similar to the upper limb skeleton of the human body, and a skeletal portion 110. Tool mounting portion 140 coupled to one end of the, height adjustment unit 130 is coupled to the bottom of the skeleton portion 110, the position fixing portion 160 is coupled to the bottom of the height adjustment unit 130.

Skeleton 110 is the main link 118, which is located on the front and / or side of the upper body of the user, the first link 111 is connected to one end of the main frame 118 through the first joint portion 121 One end includes a second link 112 connected to the other end of the first link 111 through the second joint part 122. The other end of the second link 112, the tool mounting portion 140 is connected.

Even in this case, the restraining means for restraining the user's arm or upper body may be mounted on the skeleton part 110, and a handle may be mounted to hold the user's hand and move the link to the working position.

Also in the second embodiment, the number or degrees of freedom of the joints included in the skeleton 110 may be appropriately selected according to the characteristics of the work, the type of the tool, and the like.

In addition, the lifting shaft 131 of the height adjusting unit 130 is connected to the lower end of the main frame 118. The lifting shaft 131 and the main frame 118 may be connected to be rotatable about the vertical axis.

Since the tool mounting unit 140, the shock absorber 150, and the position fixing unit 160 are the same as described in the first embodiment, description thereof will be omitted.

Meanwhile, since the muscle assisting apparatus 100 ′ according to the second embodiment does not use a separate driving means, it is preferable to install locking means for fixing posture after reaching the working position in each joint part. In addition, the buffer structure can be applied to the joint.

Types and structures of the locking means and the shock absorbing structure are the same as described above with reference to FIGS. 6 to 10, and thus description thereof will be omitted.

In addition, since the muscle assisting apparatus 100 ′ according to the second embodiment does not use the driving means, the user should be able to approach the tool 10 to the working position without applying a large force.

To this end, the spring spring 170 may be used as a load compensation means, as illustrated in FIG. 12. That is, when the spring spring 170 is mounted on the rotating shaft 112a connecting the first link 111 and the second link 112, the second link 112 is connected to the first link due to the load of the tool 10. While rotating the predetermined angle with respect to the 111, the second link 112 is stopped at the point where the restoring force and the rotational force of the spring spring 170 are in equilibrium. In this position, therefore, the operator does not need to exert a force to lift the tool 10. Torsion springs may be used in place of the springs 170.

As another method, as shown in FIG. 13, one end of the spring 171 is fixed to the first link 111, and one end of the wire 172 is connected to the other end of the spring 171. The wire 172 is wound around the pulley 174 installed in the joint portion connecting the first link 111 and the second link 112, the other end is fixed to the second link (112).

In this case, the second link 112 rotates by a predetermined angle with respect to the first link 111 due to the load of the tool 10, and then the second link (at the point where the restoring force and the rotational force of the spring 171 form an equilibrium state). 112 stops. In this position, therefore, the operator does not need to exert a force to lift the tool 10.

Here, the pulley 174 is not necessarily installed coaxial with the rotation axis of the joint portion. However, when the first and second links 111 and 112 rotate, the length of the wire 172 wound on the pulley 174 is changed, so that the displacement of the spring 171 may occur. Should be installed.

In addition, the position of the spring 171 is not limited to that shown, and may be installed anywhere in the middle of the wire.

The elastic modulus of the spring spring 170 or the spring 171 should be appropriately selected in consideration of the skeletal structure of the device, the load of the tool, and the like.

On the other hand, if only the operation of the skeleton portion 110 corresponding to the upper limb skeleton of the human body does not reach the work height quickly, using the height adjustment unit 130 to adjust the overall height of the skeleton portion 110 It is preferable.

The lifting shaft 131 of the height adjusting unit 130 may be elevated using an actuator such as a pneumatic / hydraulic cylinder and a motor.

However, it is also possible to adjust the height without using the driving means as in the second embodiment of the present invention.

For example, as shown in FIG. 14, a constant-force spring 180 that exhibits a constant restoring force may be used.

Specifically, the lifting shaft 131 is coupled to the linear guide 175 in the vertical direction, and the equal load spring 180 is installed on the side of the linear guide 175. In addition, one end of the equal load spring 180 is fixed to the case bottom of the height adjustment unit 130, and the other end is connected to one end of the wire 172. In addition, the wire 172 is wound around the pulley 174 positioned at the upper portion of the equal load spring 180 to be turned downward, and the other end thereof is connected to the lifting shaft 131 or the guide block coupled to the lifting shaft 131. Fix it.

If the restoring force of the equal load spring 180 is equal to the load that the lifting shaft 131 presses, the lifting shaft 131 does not move anymore due to the balance of force, even if the user raises or lowers the lifting shaft 131. The lifting shaft 131 stops at the raised or lowered position because the force balance is maintained at the position.

Due to this principle, the user can raise or lower the lifting shaft 131 without applying great force, thereby making it easier to access the working position of the tool 10.

The same effect can be obtained by using a weight equal to the load that the lifting shaft 131 presses in place of the equal load spring 180.

Meanwhile, the case in which the equal load spring 180 is used to adjust the height of the elevating shaft 131 has been described. However, this principle may be applied to two links having relative linear motion.

FIG. 15 shows the height adjustment unit 130 in which the equal load spring 180 of FIG. 14 is replaced with a spring 170 in the form of a conventional coil.

In this case, since the lifting shaft 131 stops at the point where the restoring force of the spring 170 is in balance with the load pressed by the lifting shaft 131, the user may raise the lifting shaft 131 with a relatively small force. However, even if the user raises the lifting shaft 131, it returns to the force balance point again, so in order to prevent this, the height of the lifting shaft 131 must be fixed by using a locking means such as a brake and a stop pin.

12 to 15 may be applied to the muscle strength assisting apparatus 100 according to the first embodiment using the joint driving means. When the load compensation means is applied, the drive means of low output can be used, so the power consumption is low, the mobility is enhanced, and the design freedom of the device can be increased.

In FIG. 11, the skeletal portion 110 of the muscle assisting device 100 ′ has a link structure similar to the upper limb skeleton of the human body. However, the number, degrees of freedom, coupling structure, etc. of the links constituting the framework 110 are not limited thereto.

For example, as shown in the muscle strength assisting device 100 ″ of FIG. 16, one end of the first link 111 is connected to the upper end of the lifting shaft 131 through the first joint 121 of the vertical axis, and the first link The other end of the 111 may be connected to the second link 112 through the second joint 122 of the vertical axis, that is, the link may be configured to only rotate in the horizontal direction. ) May be fixed to or rotatably coupled to the second link 112.

Also in this case, after approaching the tool 10 to the working position, the work should be performed in a state in which the operation of each of the joint parts 121 and 122 is blocked using the locking means.

In addition, the first link 111 and the second link 112 may be connected so that the relative linear movement, not relative rotation. In this case, the locking means for maintaining the position after moving the second link 112 should be installed. Similarly, the tool mounting part 140 may be fixed to the second link 112 or may be rotatably coupled.

In addition, as shown in Fig. 17, two or more skeleton portions 110a and 110b may be configured to operate independently, so that two or more skeletons work simultaneously.

In addition, although the above-described first and second embodiments have shown that the skeleton portion 110 of the muscle strength assisting device has a structure corresponding to only one arm and / or one limb of the user, It can also be manufactured in a corresponding structure.

In the above description of the preferred embodiment and various modifications of the present invention, the present invention is not limited to the above-described embodiment, and may be modified or modified in various ways. However, if the modified or modified embodiment also includes the technical spirit of the present invention disclosed in the claims to be described later will belong to the scope of the present invention.

10: tool 100: muscle aid
111, 112, 113, 114: first, second, third, fourth link
112a: space 115: rotation axis
116: wing 118: mainframe
121, 122, 123, 124, 125: first, second, third, fourth, fifth joint portion
130: height adjustment unit 131: lifting shaft
140: tool mounting portion 150: shock absorber
155: protruding block 157: spring
159: fluid 160: position fixing
161: base 163: wheels
165: tread 167, 171: spring
169: ground member 170: spring spring
172: wire 174: pulley
175: linear guide 180: constant load spring

Claims (16)

It is a muscle strength assist device that supports by moving heavy tool to user's desired working position.
A tool mounting portion for coupling the tool;
A skeletal portion supporting the tool mounting portion, the skeletal portion including one or more joint portions coupled to the two links by relative rotational movement or relative linear movement;
Drive means for operating the joint;
Motion recognition means for recognizing the motion intention of the user;
Control means for controlling the driving means using the detection result of the motion recognition means
Muscle aids, including It is a muscle strength assist device that supports by moving heavy tool to user's desired working position.
A tool mounting portion for coupling the tool;
A skeletal portion supporting the tool mounting portion, the skeletal portion including one or more joint portions coupled to the two links by relative rotational movement or relative linear movement;
Control means provided for the user to operate the joint portion, the skeleton portion
Muscle aids, including 3. The method according to claim 1 or 2,
And a locking means installed on the joint to stop the tool in the working position. 3. The method according to claim 1 or 2,
It comprises a first link and a second link coupled to the rotation axis,
A muscle strength assisting device is provided between the first link and the second link, the load compensation means for compensating the load of the tool and the skeleton portion. The method of claim 4, wherein the load compensation means,
One end is coupled to the first link, the other end is a muscle strength device characterized in that the elastic means coupled to the rotating shaft fixed to the second link The method of claim 4, wherein the load compensation means,
A spring connected at one end to the first link;
One end is connected to the other end of the spring, and the other end of the wire is fixed to the second link;
As the wire is wound, the pulley is installed so that the length of the wire is changed as the first link and the second link is rotated.
Muscle strength assist device comprising a 3. The method according to claim 1 or 2,
Muscle assisting device further comprises a height adjustment unit for elevating the skeleton portion The method of claim 7, wherein
The height adjusting portion includes a lifting shaft connected to the lower end of the skeleton portion and a load compensation means for compensating the load of the lifting shaft, the load compensation means,
Elastic means, one end of which is fixed to the case;
A pulley positioned above the elastic means;
One end is connected to the other end of the elastic means, the other end is wound around the pulley to change the direction and extends downward to the wire connected to the lifting shaft
Muscle strength assist device comprising a 9. The method of claim 8,
The elastic means is a muscle strength assisting device, characterized in that the equal load spring The method of claim 7, wherein
The height adjusting portion includes a lifting shaft connected to the lower end of the skeleton portion and a load compensation means for compensating the load of the lifting shaft, the load compensation means,
Pulleys;
One end is connected to the lifting shaft, and the other end is wound around the pulley to change direction and extends downward;
Weight connected to the other end of the wire
Muscle strength assist device comprising a 3. The method according to claim 1 or 2,
It comprises a first link and a second link coupled to the rotation axis,
Muscle assisting device further comprises a buffer means for absorbing the impact due to the repulsive force or external force of the tool between the first link and the second link. The method of claim 11, wherein the buffer means,
A wing portion formed on the rotation shaft;
A space portion formed in the second link, the blade portion being inserted and rotating;
One end is connected to the wing portion, the other end is elastic means connected to the protruding block protruding on the inner wall of the space portion or the inner wall of the space portion
Muscle strength assist device comprising a The method of claim 11, wherein the buffer means,
A wing portion formed on the rotation shaft;
A space portion formed in the second link, the blade portion being inserted and rotating;
One side is fixed to the inner wall of the space portion, the other side is at least one protruding block coupled to the rotating shaft through a sealing member;
Fluid filled in the space part
Muscle strength assist device comprising a The method according to claim 1 or 3,
Muscle strength assist device comprising a position fixing for fixing the position relative to the ground of the skeleton portion The method of claim 14, wherein the position fixing portion,
A base connected to the frame part and having a vertically penetrating portion therein and having wheels mounted thereon;
A stepping plate installed to move up and down inside the through part;
Elastic means provided between the tread plate and the base
And, if the user puts the foot on the treadmill muscle strength device, characterized in that the position of the skeleton portion is fixed by touching the treadboard to the ground 3. The method according to claim 1 or 2,
The muscle strength assisting device, characterized in that the restraining means is installed to restrain the user's body

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