KR20170021018A - Frame Structure Of Lower Limb Assistance Robot - Google Patents

Abstract

The present invention relates to a frame structure of a lower limb assistance robot, which effectively transmits a driving force and realizes composite joint operation by a polyarticular muscle which enables a wearer to naturally move to minimize a volume and a weight of a lower limb assistance robot.

Description

[0001] The present invention relates to a frame structure of a lower limb assistance robot,

BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to a skeletal structure of a leg- More specifically, the present invention realizes complex joint drive by multi-joint roots that efficiently transmit driving force and enables natural movement of a wearer, and is capable of minimizing the volume and weight of the leg- As shown in FIG.

A robot is a machine that automatically processes or operates a given task by its own abilities, and is widely used in various fields in recent years.

Among these robots, robots equipped with a moving function and robots worn by users to assist the movement of the body are being variously introduced.

The robots equipped with the moving function are robots having a moving function in the conventional wheel-rolling method. However, since the robot is limited in the road surface condition, robots having a multi-joint skeletal structure in robots such as defense, relief, Is being introduced.

In addition, robots with a multi - joint skeletal structure worn by humans are being studied.

Generally, a wearable robot is generally called a wearable robot and is called various names such as a power suit, a powered exoskeleton and an exosuit according to its characteristics, May assist or support the force to perform certain actions to enable the behavior of the wearer.

Examples of wearable robots include a muscle strengthening wearable robot for supporting the power of workers who frequently handle heavy objects, a wearable robot for supporting the walking and lifestyle of the elderly, a wearable robot for patient assistance, And a military robot for improving the combat power by making use of military behavior. These wearable robots can be applied to various fields in various fields.

Also, as an example of a multi-joint auxiliary robot in a manner of being worn on the body, there has been studied a multi-articulated joint auxiliary robot for assisting the behavior of the legs whose functions have deteriorated.

The multi-articulated auxiliary robot is a robot that assists the legs, injured person or the elderly person in using the joint torque to assist the weak leg force, so that the robot can use the walking similar to that of the normal person.

When a driving device is mounted on each joint and a rotation torque necessary for driving is generated, a reaction rotation torque is applied at the adjacent joint to cause movement of the body or animal and awkward and exaggerated movement Lt; / RTI > That is, it is not easy to realize the natural movement of the articulated robot by simply driving the driving device mounted on each joint to generate a necessary torque to rotate the joint.

In addition, when the driving device is mounted on each joint, the weight and volume of the joint are increased, so that the power consumption supplied by the battery or the like is increased and the electrical wiring connecting the joints becomes complicated.

Robots for enhancing or assisting the function of the body should be simulated with natural movement of the body before reinforcing the force and speed.

Therefore, the present invention is capable of simulating complex joint drive by multi-joint roots that efficiently transmit driving force and enable natural movement of the wearer, and is capable of minimizing the volume and weight of the lower limb- Is required.

The present invention realizes complex joint drive by multi-articulated muscles that efficiently transmit driving force and enables natural movement of the wearer, and can minimize the volume and weight of the leg-supporting robot, In order to solve the problem.

According to an aspect of the present invention, there is provided a skeleton structure of a leg-supporting robot provided with a driving force in a driving device mounted on a hip region of a user, wherein one end is connected to a driving device of the leg- A plurality of knee joint members connected to the other ends of the plurality of thigh support members, one end is mounted to the knee joint members, and the plurality of knee joint members are driven A supporting structure for supporting the leg-supporting robot can be provided.

In addition, the thigh support member may include a first thigh support member, which is connected to the drive unit of the base-assistant robot and is operable in a predetermined range, and a first end, which is independent from the first thigh support member, And the other end is connected to the knee joint member separately from the first femoral support member and can be driven in a predetermined range.

The first and second femoral support members may connect the drive unit and the knee joint members in parallel.

Here, the first thigh support member and the lower support member may be configured to surround the femur and the lower limb of the wearer of the undergarment assist robot.

In this case, the first and second femoral support members are connected to the first and second joint driving members and the second joint driving members, respectively, of the driving device, and the first joint driving member and the second joint driving member The member may be independently driven by the first or second hammock support members or may be traction driven by rotation.

In addition, the lower support member may be rotated by a rotation angle deviation of the first and second joint driving members.

The rotational angle of the femur relative to the user's hips may be determined according to the rotational angle of the first joint driving member connected to the first femoral support member.

The rotational angle of the first joint driving member connected to the first femoral support member and the rotational angle deviation of the second joint driving member connected to the second femoral support member may determine a rotation angle of the lower support member with respect to the knee joint member, Can be determined.

In this case, when the rotational angle deviation is increased, the rotation angle of the lower support member with respect to the knee joint member may be increased.

Further, each of the hinge shafts rotatably connecting the other ends of the first and second thigh support members and the lower support member to the knee joint member is installed so as to pass through the knee joint members in parallel .

The piercing points of the three hinge shafts rotatably connecting the other end of the first femoral support member, the other end of the second femoral support member and the upper end of the lower support member to the knee joint member are arranged in the form of a triangle vertex .

Here, the penetration points of the three hinge shafts are arranged in a right triangle shape, and the other end of the first thigh support member may be connected to a vertex corresponding to a right angle among the vertices of the right triangle.

In this case, the other end of the first hammock support member and one end of the lower support member may be rotatable about respective hinge shafts, and the respective hinge shafts may be connected by gears so that mutual rotation is dependent on them.

Further, the knee joint member may be provided with a stopper for restricting the rotation angle of the other end of the first thigh support member and the lower support member.

The skeleton structure of the leg-resting robot according to the present invention is constructed by mimicking the articulated skeletal structure and the joint structure of the body such as the body, so that the motion of the joint of the under-arm robot can be simulated as the movement of the joint of the body by the joint joint roots .

In addition, according to the skeleton structure of the lower limb-assisted robot according to the present invention, the motion of the joint of the lower limb-assisted robot is simulated as the movement of the joints of the joint caused by the joint joints.

Further, according to the skeleton structure of the leg-assistance robot according to the present invention, since the driving force can be transferred to the knee joint by the link member or the like by concentrating the driving device on the hip joint region, the skeletal structure or the electrical wiring can be simplified.

In addition, since the skeleton structure of the leg-assistance robot according to the present invention can minimize the number of driving devices, the volume and weight of the leg-supporting robot including the skeleton structure can be minimized.

FIG. 1 is a schematic view illustrating a grounding behavior of a user wearing a leg-supporting robot to which a skeletal structure of a leg-supporting robot according to an embodiment of the present invention is applied.
FIG. 2 is a schematic view illustrating a leg-restoring behavior of a wearer wearing a leg-resting robot to which a skeleton structure of a leg-resting robot according to an embodiment of the present invention is applied.
3 is an exploded view of a joint structure of a lower limb-assisted robot according to an embodiment of the present invention.
FIG. 4 shows an internal construction of a driving apparatus for controlling the driving of the joint structure of the lower limb-assisted robot according to the embodiment of the present invention.
FIG. 5 illustrates a skeleton structure of a leg-supporting robot applied to a leg supporting the user's body after contacting the ground according to an embodiment of the present invention.
FIG. 6 illustrates a skeleton structure of a leg-supporting robot applied to a leg so as to support the ground according to an embodiment of the present invention and push the ground backward to advance the user's body forward.
FIG. 7 shows a skeletal structure of a leg-resting robot applied to a leg which moves forward and crosses a user's weight center after leaving the ground.
8 shows the skeletal structure of the underarm-assisted robot applied to the legs moving forward while crossing the center of gravity of the user in a state away from the ground.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein but may be embodied in other forms. Rather, the embodiments disclosed herein are provided so that the disclosure can be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like reference numerals designate like elements throughout the specification.

The present invention relates to a skeleton structure of a lower limb-assisted robot, and in order to facilitate understanding of the present invention, a limb-assisted robot to which the skeletal structure of the limb-assisted robot is applied will be discussed.

FIG. 1 is a perspective view of a right lower limb of a user wearing a leg-supporting robot to which a skeletal structure of a leg-supporting robot according to an embodiment of the present invention is applied. FIG. 4 is a view showing the ground motion of the right lower limb of the user wearing the lower limb robot to which the skeletal structure of the limb-supporting robot according to the present invention is applied.

The leg-resting robot shown in FIGS. 1 and 2 is mounted on the user's body through the body part 300 and is provided in the hip area of the user and provided with a driving device 200 The driving unit 200 may be connected to the base-supporting robot 1000 or a power unit (not shown, battery or the like) that can be attached to the user's body, and may be driven by receiving power.

The driving device 200 is configured to provide rotation torque to each joint of the user when the user of the leg-well-supporting robot 1000 is walking, and is provided with power supplied from the power source, The motor 210 and the like can be driven to provide the rotational torque of the user's joint.

The rotational driving force provided from the driving device 200 may drive a plurality of the pivot supporting members 110 and 120, which may be provided along the femoral portion of the user. The plurality of the above-mentioned thigh support members 110 and 120 connect between the knee support members 130 provided on the knee side of the person and are connected to the lower portion by the rotation torque, Thereby assisting the user's backbone behavior using the leg-supporting robot 1000 or supporting the user from the ground.

As described above, the leg-supporting robot 1000 provides a skeleton structure similar to the skeleton structure of the user's lower limb, so that the motion of the leg-supporting robot 1000 can be smooth.

That is, the skeleton structure of the lower limb supporting robot 1000 provided with the haptic support members 110 and 120, the knee joint member 130, and the lower support member 140 may have a skeleton structure When the user wears the underfoot auxiliary robot 1000, the user can be provided with assistance for the inconvenient behavior from the underfoot auxiliary robot 1000. [

The undergarment auxiliary robot 1000 may be provided with only one drive device 200 in the hip joint region of the user's lower body and may be involved in rotation of the user's joints, 200 can contribute to the overall behavior of the user's lower limb, thereby contributing to the reduction of the volume and weight of the lower limb-assisted robot and further improving the safety of the user using the limb-assisted robot 1000 .

One driving device 200 is involved in the driving of the plurality of the haptic support members 110 and 120, the knee joint member 130 and the lower support member 140 to assist the overall behavior of the user's lower limb The interconnecting relationship between the knee joint members 130 and the lower support member 140 and the driving characteristics of the knee joint members 130 and 140 are very important. The skeletal structure of the leg-supporting robot according to one embodiment will be described.

3 is an exploded view of a joint structure of a lower limb-assisted robot according to an embodiment of the present invention.

1 to 3, the skeleton structure of the lower limb-assisted robot according to an embodiment of the present invention is a skeleton structure of the lower limb-assisted robot 1000 provided with a driving force by the driving device 200, A plurality of haptic support members 110 and 120 each having one end connected to the driving device 200 of the robot 1000 and driven in a predetermined range and a knee support member 120 connected to the other end of the plurality of haptic support members 110 and 120, The knee joint member 130 includes a knee joint member 130 and a knee joint member 130. The knee joint member 130 is coupled to the knee joint member 130, 140).

The plurality of the haptic support members 110 and 120 are provided along the thighs of the user who mounts the underarm-supporting robot 1000 to assist the movement of the thighs. It must be driven within a predetermined range, i.e., a range in which the user's thighs can move.

When the thigh support members 110 and 120 are driven beyond the range of movement of the user's thighs that can move around the hip joint of the user, the user can not achieve a natural restraining behavior and can move the thighs of the user The user can be forced to deviate from the range to cause a fatal problem of damaging the user's body.

The first and second thigh support members 110 and 120 are connected to one end of the driving device 200 of the leg support robot 1000 to be driven in a predetermined range, One end is connected to the driving device 200 of the leg-supporting robot 1000 independently from the member 110 and the other end is connected to the knee joint member 130 separately from the first femoral support member 110, And a second hammock support member 120 that can be driven in a range.

The first femoral support member 110 includes an upper link 111 connected to the driving device 200 at an upper end thereof and an upper knee joint 113 connected to the knee joint member 130 at a lower end thereof And a femoral fixation part 115 having a shape to surround the user's femur so that the first femoral support member 110 is supported by the user's femur.

Therefore, the first femoral support member 110 is fixed to the femur of the user wearing the underarm-supporting robot 1000, and acts to directly affect the behavior of the femur.

The second femoral support member 120 includes an upper link joint 121 connected to the driving device 200 at an upper end thereof and a lower link joint 122 connected to the knee joint member 130 at a lower end thereof. can do.

The second femoral support member 120 does not include a structure that can be supported and fixed to the femur of the user unlike the first femoral support member 110. Accordingly, Can be driven with a weight on the behavior of the knee joint rather than the user's femoral behavior. A detailed description thereof will be described later.

The first and second femoral support members 110 and 120 are independently connected to the drive unit 200 of the underarm-supporting robot 1000 so that they can be independently driven, The knee joint member 130 in which the other ends of the first and second femoral support members 110 and 120 are independently connected to the first and second femoral support members 110 and 120, The driving can be controlled in accordance with the independent driving of the thigh support member 120, and as a result, the lower support member 140 mounted on the knee joint member 130 can be driven.

FIG. 4 shows an internal configuration diagram of a driving device 200 for controlling the driving of the joint structure of the lower limb-assisted robot 1000 according to an embodiment of the present invention.

The first and second femoral support members 110 and 120 are connected to the first joint drive member 240 constituting the drive device 200 to be independently connected to the drive device 200, And the second joint driving member 250, respectively.

The first joint drive member 240 and the second joint drive member 250 are configured to drive the first and second femoral support members 110 and 120, respectively.

According to an embodiment of the present invention, the driving apparatus 200 includes at least one motor 210, a rotational driving force provided from the motor 210 to the first joint driving member 240, At least one gear portion 220 for transmitting the rotation of the first joint driving member 240 to the member 250 and the first joint driving member 240 rotationally driven by the rotational driving force transmitted by the gear portion 220, (250).

Only one motor 210 may be required to rotationally drive the first and second joint driving members 240 and 250. In this case, Since the driving force can be transmitted to the first and second joint driving members 240 and 250 in the same manner as the first and second joint driving members 240 and 250, Rotation drive control may be difficult, and furthermore, the structure of the driving device 200 may also be complicated.

Accordingly, the motor 210 may include a plurality of, preferably, the first and second joint drive members 240 and 250, respectively, which can be independently driven, and a pair of motors (not shown) 210 are preferably provided.

The gear portion 220 may include at least one gear 221 or 222 and may be formed directly or through engagement of a plurality of the gears 221 and 222 And may transmit the rotational driving force provided by the motor 210 to the first and second joint driving members 240 and 250 through the transmission path of the rotational driving force.

The gear unit 220 may include a worm gear 221 for changing the direction of a rotational driving force provided from the motor 210. A plurality of gear units 220 may be meshed with each other for the purpose of decelerating and increasing the rotational driving force. It can be.

However, since the gear portion 220 can be constructed by combining various types of gears in various structures according to the structure of the driving device 200 and the driving force required by the base supporting robot 1000, A plurality of gears constituting the gear unit 220 and their coupling relationship are excluded.

Like the motor 210, the gear 220 may include a pair of gears 220 corresponding to the first and second thigh support members 110 and 120, respectively, The first and second femoral support members 110 and 120 transmit the rotational driving force independently through the rotational driving force transmission path formed through the motor 210 and the gear unit 220, And can be rotationally driven.

The first joint drive member 240 and the second joint drive member 250 are configured to drive the first and second femoral support members 110 and 120, The first thigh support member 110 and the second thigh support member 120 are rotatably driven by a rotational driving force generated by the first and second thigh support members 210 on the basis of a rotational axis hj existing in the driving apparatus 200, Can be driven.

Here, the first and second joint driving members 240 and 250 may be rotationally driven about the same rotational axis hj.

That is, the driving device 200 is provided in the hip region of the user wearing the underarm-supporting robot 1000 to drive the first and second femoral support members 110 and 120 The first joint drive member 240 and the second joint drive member 250 can be rotated in the direction of the user's hip joint rotation because the first joint drive member 240 and the second joint drive member 250 can support the user's thigh motion, In order to participate simultaneously, it is preferable to share the same rotational axis hj.

That is, it is understood that one rotation axis hj, which is located in the driving device 200 and shared by the first and second joint driving members 240 and 250, corresponds to the hip joint of the user Independent rotational drive of the first and second joint drive members 240 and 250 can be achieved by rotating the first and second femoral support members 110 and 120 and the knee joint members 130 ) And the driving of the lower support member 140 to assist the movement of the user's thighs, knees and lower legs and also affect the rotation of the user's hips.

In other words, the rotation of the first and second joint driving members 240 and 250 may be related to the overall behavior of the user's lower limb to wear the lower limb-assisted robot 1000.

The driving device 200 is not limited to the structure according to the embodiment described above and may be connected to the first and second thigh support members 110 and 120 to correspond to the hip region of the user Any structure may be used as long as it can form the configuration hj and independently drive the first and second femoral support members 110 and 120. [

The first thigh support member 110 and the second thigh support member 120 independently rotate by the rotational driving force independently provided in the driving device 200 and the driving device 200 .

The other end of the first and second femoral support members 110 and 120, one end of which is connected to the first and second joint driving members 240 and 250, And may be connected to the member 130 to drive the knee joint member 130.

In order to precisely control the knee joint member 130 through independent driving of the first and second femoral support members 110 and 120, And the other end of each of the two femoral support members 120 may be connected to each other at different positions in the knee joint member 130.

The upper knee joint 113 of the first femoral support member 110 may be connected to the front portion of the knee joint member 130 and the lower link joint 122 of the second femoral support member 120 May be connected to the rear portion of the knee joint member 130.

Accordingly, each of the first and second femoral support members 110 and 120 can transmit the driving force through the different regions of the knee joint member 130, that is, the front portion and the rear portion, Can be driven differently by selective independent drive of the first and second femoral support members (110, 120).

Here, the first and second thigh support members 110 and 120, which are connected to each other through a separate region of the knee joint member 130 through a front portion and a rear portion of the knee joint member 130, (120) may be coupled such that one end thereof is located at a different position in the driving device (200).

The upper link 111 of the first femoral support member 110 having the other end connected through the front portion of the knee joint member 130 is connected to a straight connection portion And the upper link joint 121 of the second femoral support member 120 to which the lower link joint 122 is connected through the rear portion of the knee joint member may be connected to the second joint drive member 250 And may be connected to the connecting member 251 in the shape of 'A' bent in the backward direction.

One end and the other end of the first femoral support member 110 are connected to the front portion of the driving device 200 through the front portion of the knee joint member 130, The first and second ends of the first and second thigh support members 110 and 120 are connected to each other via the rear portion of the knee joint member 130 from the rear region of the driving device 200, The apparatus 200 and the knee joint member 130 may be connected in parallel.

As described above, the knee joint member 130 can be controlled to be driven by selective independent drive of the first and second femoral support members 110 and 120, The lower support member 140 mounted on the knee joint member 130 may be driven around the knee joint member 130 in accordance with the rotation of the knee joint member 130.

The lower support member 140 may include a lower knee joint 143 connected to the upper knee joint member 130 so that the lower support member 140 is supported on the lower leg of the user. And a lower fixing part 145 having a shape that wraps around the user's lower part.

The knee joint member 130 acts as a connection medium between the first and second support members 120 and 140 so that the first and second support members 110 and the second femoral support member 120 so as to drive the lower support member 140.

The connection structure between the knee joint member 130 and the first and second thigh support members 110 and 120 and the lower support member 140 is formed by the connection of the leg support robot 1000, Can greatly affect the driving of the skeletal structure.

If the first and second femoral support members 110 and 120 are connected to the knee joint member 130 in a simple fixed form, It is not possible to implement the deformation of the angle of the support member 110 and / or the driving of the second thigh support member 120 and the driving of the lower support member 140 therethrough, The first joint drive member 240 and the second joint drive member 250, which are rotationally driven by sharing the first joint drive member 240 and the second joint drive member 250,

That is, if the first and second femoral support members 110 and 120 are connected to the knee joint member 130 in a simple fixed form, the knee joint member 130 may be connected to the knee joint member 130, The flexion and extension of the knee joint member 130 may be impossible due to selective independent drive of the first and second support members 110 and 120. Therefore, 130 may also be disabled.

Accordingly, the other ends of the first and second femoral support members 110 and 120 and the upper end of the lower support member 140 may be hinged to the knee joint.

Specifically, each of the first and second femoral support members 110 and 120 and the lower end of the lower support member 140 are rotatably connected to the knee joint member 130, The hinge shaft may be installed to pass through the knee joint member 130 in parallel.

3, the knee joint member 130 includes a first knee joint cover 131 and a second knee joint cover 132, and the first knee joint cover 131 and the second knee joint 132, The lower link joint 130 of the first thigh support member 110 and the lower link joint 130 of the first thigh support member 110 between the first knee joint cover 131 and the second knee joint cover 132 when the cover 132 is engaged, The upper knee joint 113 of the two femoral support members 120 and the lower knee joint 143 of the lower support member 140 may be hinged.

The knee joint member 130 connected to the first and second femoral support members 120 and 120 supports the first femoral support member 110, 110 and / or through the hinge shaft connected to the lower link joint 130 of the second femoral support member 120. The first and second femoral support members 110, The driving force is transmitted from the second femoral support member 120 so that the driving angle can be formed forward or rearward so that the lower support member 140 also affects the driving angle formation of the knee joint member 130 And can be driven.

The upper knee joint 113 of the first femoral support member 110, the lower link joint 130 of the second femoral support member 120 and the lower knee joint 143 of the lower support member 140 The piercing points of the three hinge shafts that are rotatable on the knee joint member 130 may be arranged in the shape of a triangle, or preferably a vertex of a triangle shape.

1 to 3, the knee joint member 130 is formed by combining the first knee joint cover 131 and the second knee joint cover 132, respectively, The penetration points of the three hinge shafts provided in the knee joint member 130 are formed to be perpendicular to the right triangle And may be arranged in a vertex shape of a shape.

In this case, the upper knee joint 113 of the first femoral support member 110 may be connected to the penetration point corresponding to a right angle among the vertices of the right triangular shape, The lower knee joint of the second thigh support member 120 is connected to the penetrating point extending from the penetrating point to the straight line extending in the backward direction so that the first and second thigh support members 110, The driving device 200 and the knee joint member 130 may be connected in parallel.

In addition, among the vertexes of the right triangular shape, a penetration point extending in a straight downward direction from a penetration point hinged to the upper knee joint 113 of the first femoral support member 110 is formed at a piercing point of the lower support member 140 A lower knee joint 143 may be connected.

Accordingly, the lower support member 140 may be on a line extending from the first femoral support member 110 to provide an extension or a curved shape of the knee joint member 130.

The other end of the first hammock support member 110 and one end of the lower support member 140 are rotatable about respective hinge shafts and the respective hinge shafts are connected by gears 114 and 144 have.

The upper knee joint 113 of the first femoral member and the lower knee joint 143 of the lower support member 140 are positioned such that the upper knee spur gear 114 and the lower knee spur gear 144 And can be hinged to the knee joint member 130 in an engaged state.

The upper knee joint 113 and the lower knee joint 143 are positioned such that the upper knee spur gear 114 and the lower knee spur gear 144 are engaged with the knee joint member 130 When the upper knee joint 113 is rotated by the knee joint member 130 in accordance with the driving of the first femoral support member 110, the lower knee joint 143 is rotated by the upper knee joint 113). ≪ / RTI >

The rotation of the lower knee joint 143 of the lower support member 140 in response to the rotation of the upper knee joint 113 of the first hammock support member 110 causes the first hammock support member 110 and / or the driving of the lower support member 140 according to the driving of the second femoral support member 120 can be more accurately controlled.

That is, the lower support member 140 is driven under the influence of the driving of the knee joint member 130, and is driven according to the driving of the first hammock support member 110 connected to the spur gears 114 and 144 As a result, the lower support member 140 is not limited to the knee joint member 130, but also to the first and second femoral support members 110 and 110, The driving of the second thigh support member 120 that shares the knee joint member 130 can be effected and driven, so that more precise drive control can be performed.

As described above, according to the structure of the knee joint member 130, the first and second femoral support members 110 and 120 support the first and second joint driving members 240 and 240, respectively, And may be selectively driven according to the selective drive of the first joint drive member 240 and the second joint structure.

However, either one of the first and second femoral support members 110 and 120 may be driven by driving force from the driving device 200, and the other one may be pulled and driven.

For example, when the first femoral support member 110 is driven by driving the first joint drive member 240, the knee joint member 130 is moved in accordance with the driving of the first femoral support member 110 The second femoral support member 120 sharing the knee joint member 130 together with the first femoral support member 110 is driven in accordance with the driving of the knee joint member 130 .

Since the first and second thigh support members 120 and 120 share the same knee joint member 130 at the other ends of the first and second thigh support members 110 and 120, The driving force independently provided to the support member 110 and the second femoral support member 120 can be transmitted to the one knee joint member 130. Therefore, when one of the first and second femoral support members 110 and 120 is driven, the other one may also be traction driven according to the driving of the knee joint member 130. [

Since the knee joint member 130 is connected to the first and second thigh support members 110 and 140 to form a skeleton structure corresponding to the structure of the thigh, the knee joint, and the back of the user, The angle formed by the first femoral support member 110 and the lower support member 140 about the knee joint member 130 needs to be limited within an appropriate range, that is, within the rotation range of the knee joint of the user .

If the angle at which the first femoral support member 110 and the lower support member 140 are rotatable about the knee joint member 130 exceeds the user's knee joint rotation angle, Which may cause a serious safety problem.

The knee joint member 130 restricts the rotation angle of the upper knee joint 113 of the first femoral support member 110 about the knee joint member 130, And a stopper (not shown) capable of restricting a rotation angle at which the knee joint member 130 is rotationally driven about the knee joint member 130.

Hereinafter, according to various embodiments of the present invention, it can be seen that the skeletal structure of the leg-well sub-robot is driven in accordance with the user's walking with the leg-supporting robot 1000.

The walking cycle of the user can be roughly divided into a stomach (Fig. 1) and a non-stomatoscler (Fig. 2) where the lower limb is in contact with the floor, and each stomach and lean is subdivided The hips, the thighs, the knee joints, and the lower legs are individually moved to make a walk.

Therefore, the joint structure of the lower limb-assisted robot can be driven such that the user wearing the underarm-supporting robot 1000 can behave similarly to the walking of the normal person in each walking cycle, (240) and the second joint drive member (250).

FIG. 5 illustrates a skeleton structure of a leg-supporting robot applied to a leg supporting the user's body after contacting the ground according to an embodiment of the present invention, and FIG. 6 is a cross- And the backrest is pushed back to advance the user's body forward.

Figs. 1, 5 and 6 show a state in which, after one of the legs of the user's both legs starts to come into contact with the ground (Fig. 1 (a), Fig. 5 1 (b) and 5 (b) of FIG. 1) and pushing the paper backward (FIG. 1 (c) And moves the other legs forward to show that the user's body is moving forward.

In this case, the extremity of the user in contact with the ground must support the user's body weight so that the user can move forward, and push the ground backward, and thus the user's hips must rotate in the backward direction to orient the extension.

1 and 5 to 6, the first joint driving member 240 can be rotated backward, and as a result, the first joint driving member 240 The first femoral support member 110 is rotationally driven to rotate rearward about the rotation axis so that the user's femur is rotationally driven backward about the hip joint so that the user's hip can be rotated in the extension direction.

Here, when the first femoral support member 110 is driven by the rotational driving force provided by the first joint drive member 240, the second femoral support member 120 is rotated by the first femoral support member 110 The second joint drive member 240 may be pulled and driven according to the driving of the knee joint member 130 driven by the driving of the first joint drive member 240. Further, 250, and can be driven independently of the first hammock support member 110. [0050] As shown in FIG.

However, the second femoral support member 120 may be configured such that the first femoral support member 110 is pulled and driven by the driving of the second femoral support member 120 so that the rotation angle of the femur relative to the user's hip Except when it is formed, its own drive alone may not affect the rotation angle of the femur relative to the user's hips.

In other words, the second femoral support member 120 is more important than the rotational angle of the femur relative to the hip joint of the user in forming the rotational angle of the lower support member 140 with respect to the knee joint member 130 Can be driven.

Specifically, the lower support member 140 includes the first joint drive member 240 for driving the first femoral support member 110 and the second joint drive member 240 for driving the second femoral support member 120, Can be rotated by the rotation angle deviation of the member (250).

FIG. 7 shows a skeleton structure of a leg-resting robot applied to a leg which moves forward and crosses a user's body center of gravity after leaving the ground, FIG. 8 is a cross- And shows the skeletal structure of the applied lower limb robot.

Figs. 2, 7, and 8 show a state in which one of the limbs of the user's limbs begins to fall from the ground surface (Fig. 2A, Fig. 7A) (Fig. 2 (c) and Fig. 8 (b)), the body of the user moves forward.

Therefore, as shown in the drawings subsequent to FIG. 2 and FIG. 7 to FIG. 8, in the walking cycle of the user during the swinging period, the swinging legs must move forward without contacting the ground, The leg support member 140 rotates rearward about the knee joint member to allow a natural walking without touching the ground while the leg is in the swinging motion .

Specifically, when the leg starting from the swinging leg is moved so as to intersect the base of the stance, the first and second femoral support members (110, 120) The first joint drive member 240 and the second joint drive member 250 may be driven forward through the second joint drive member 250 and the second joint drive member 250, The rotation angle of the first joint drive member 240 and the second joint drive member 250 is widened so that the lower support member 140 is moved to the knee joint member 130, As shown in Fig.

In addition, it is necessary to prepare for the stance phase by rotating the stance forward when the stance that overtakes the stance during the stance phase is overturned. If the stance that advances over the stance during the stance phase advances, the lower stance supporting member 140 Can be rotated forward about the knee joint member 130 to enable natural walking.

The first and second femoral support members 110 and 120 are coupled to the first joint drive member 120 and the second joint drive member 120. When the first and second femoral support members 110 and 120 are rotated forward, The first joint driving member 240 and the second joint driving member 250 may be driven so as to be directed forward, and the second joint driving member 250 may be driven to move forward through the first joint driving member 240, The rotation angle of the first and second joint driving members 240 and 250 is reduced so that the lower supporting member 140 can be moved to the knee joint member 130, As shown in Fig.

As described above, the lower support member 140 can be rotated by a rotation angle deviation of the first and second joint driving members 240 and 250, and consequently, The rotational angle of the first joint driving member 240 connected to the first knee joint member 110 and the rotational angle deviation of the second joint driving member 250 connected to the second knee joint member 120 The rotation angle of the lower support member 140 can be determined.

The amount of deviation of the rotational angles of the first and second joint driving members 240 and 250 is proportional to the amount of increase in rotational angle of the lower supporting member 140 with respect to the knee joint member 130 Can be.

5, when there is almost no rotational angle deviation between the first and second joint driving members 240 and 250, the lower supporting member (not shown) of the knee joint member 130 140 may also vary little.

7, when the rotational angular deviation of the first and second joint driving members 240 and 250 increases, the lower supporting member (not shown) of the knee joint member 130 140 may also increase.

The skeleton structure of the leg-assistance robot according to the present invention is constructed by mimicking the muscle structure of a human being. The skeleton structure of the leg-assisted robot according to the present invention is configured to connect all the joints and respective joints through a transmission path of a driving force, It is possible to minimize the volume and the weight of the underfitting auxiliary robot 1000 to be applied while allowing a more natural movement, have.

The embodiments of the present invention are not intended to limit the scope of the present invention but to limit the scope of the present invention. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: skeletal structure of lower limb robot 110: first femoral support member
120: second femoral support member 130: knee joint member
140: lower supporting member 200: driving device
240: first joint drive member 250: second joint drive member
1000: Not Assisted Robot

Claims (14)

A skeleton structure of a leg-supporting robot provided with a driving force in a driving device mounted on a hip region of a user,
A plurality of thigh support members each having one end connected to a drive unit of the base support robot and driven in a predetermined range;
A knee joint member connected to the other end of the plurality of the above-described thigh support members;
And a lower supporting member which is installed at one end of the knee joint member and is driven to move about the knee joint member in accordance with the movement of the plurality of the hammering support members. The method according to claim 1,
The hammock support member is connected to the first hammock supporting member, which is connected to the drive unit of the underfoot assistant robot and is operable in a predetermined range, and to the drive unit of the underfoot assist robot independently from the first hammert support member And the other end includes a second thigh support member connected to the knee joint member separately from the first thigh support member and drivable in a predetermined range. 3. The method of claim 2,
Wherein the first and second thigh support members connect the drive unit and the knee joint members in parallel. 3. The method of claim 2,
Wherein the first thigh support member and the lower support member are configured to surround the femur and the lower limb of the wearer of the undergarment assistant robot. 3. The method of claim 2,
The first and second joint drive members and the second joint drive member are respectively connected to the first joint drive member and the second joint drive member constituting the drive device, Wherein the first and second thigh support members are independently driven for rotation or traction driven by rotation. 6. The method of claim 5,
Wherein the lower support member is rotated by a rotation angle deviation of the first joint drive member and the second joint drive member. 6. The method of claim 5,
Wherein the rotation angle of the femur relative to the hip joint of the user is determined according to the rotation angle of the first joint drive member connected to the first femoral support member. The method according to claim 6,
The rotation angle of the lower support member relative to the knee joint member is determined according to the rotation angle of the first joint drive member connected to the first femoral support member and the rotation angle deviation of the second joint drive member connected to the second femoral support member Wherein the first and second legs are connected to each other. 9. The method of claim 8,
Wherein a rotation angle of the lower support member with respect to the knee joint member is increased when the rotation angle deviation is increased. 3. The method of claim 2,
And each of the hinge shafts rotatably connecting the other end of the first and second hammock support members and the upper end of the lower support member to the knee joint member is installed so as to pass through the knee joint member in parallel The skeletal structure of the lower limb. 11. The method of claim 10,
The piercing points of the three hinge shafts rotatably connecting the other end of the first femoral support member, the other end of the second femoral support member, and the upper end of the lower support member to the knee joint member are arranged in the shape of a triangle Features of skeletal structure of lower limb robot. 12. The method of claim 11,
Wherein the pivot points of the three hinge shafts are arranged in a right triangle shape and the other end of the first pivot support member is connected to a vertex corresponding to a right angle among the vertexes of the right triangle. 13. The method of claim 12,
Wherein each of the hinge shafts is connected to the hinge shafts by gears so that the other end of the first hammock support member and one end of the lower support member are rotatable about respective hinge shafts, . 3. The method of claim 2,
And a stopper for restricting a rotation angle of the other end of the first thigh support member and a rotation angle of the lower support member to the knee joint member.

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