KR20170033128A - Knee exoskeleton robot device - Google Patents

Knee exoskeleton robot device Download PDF

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Publication number
KR20170033128A
KR20170033128A KR1020150131061A KR20150131061A KR20170033128A KR 20170033128 A KR20170033128 A KR 20170033128A KR 1020150131061 A KR1020150131061 A KR 1020150131061A KR 20150131061 A KR20150131061 A KR 20150131061A KR 20170033128 A KR20170033128 A KR 20170033128A
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KR
South Korea
Prior art keywords
link
knee
shank
coupled
extracorporeal
Prior art date
Application number
KR1020150131061A
Other languages
Korean (ko)
Inventor
조홍식
박용우
Original Assignee
(주)젬텍
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Publication date
Application filed by (주)젬텍 filed Critical (주)젬텍
Priority to KR1020150131061A priority Critical patent/KR20170033128A/en
Publication of KR20170033128A publication Critical patent/KR20170033128A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a knee extracorporeal robotic device, and more particularly, to a knee extracorporeal robotic device capable of assisting a user in walking by using a sliding structure and a driving part.
The knee extracorporeal robot apparatus according to the present invention comprises: a thigh member formed in a plate shape; A shank member formed in a bar shape and provided at a lower portion of the thigh member; A driving part formed in a long bar shape and fixed to the thigh member in a downward inclined direction and having a motor part on one side; A ball screw nut portion moving along a ball screw shaft portion formed in the longitudinal direction inside the driving portion; An elastic part coupled to be rotatable in a direction inclining upward from a lower end of the shank member; A first link portion connecting the lower end of the thigh member to the upper end of the shank member and connected to rotate the shank about the thigh member; And a lower end of the second link is coupled to the elastic portion, and a second link having a rail portion formed at one side thereof in the longitudinal direction is formed in a shape of a rod having a "part; And a third link portion coupled to the rail portion of the second link portion and moving along the rail portion and coupled to be rotatable with the first link portion and the shank member, When the knee is bent, the ball screw nut moves to the lower portion of the driving unit, and the third link unit moves to the lower portion of the second link unit, .
According to one embodiment of the present invention, there is provided a knee extracorporeal robotic device that assists a force required when a user is walking or sitting, by providing a driving part that operates by the power of the motor.
Further, by applying the sliding structure, a knee extracorporeal robotic device is provided in which the legs can move freely.

Description

{Knee exoskeleton robot device}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a knee extracorporeal robotic device, and more particularly, to a knee extracorporeal robotic device capable of assisting a user in walking by using a sliding structure and a driving part.

Generally, a knee orthosis is used, which protects the knee and acts as an assistant when the knee is injured or arthritis is a problem when walking. Korean Patent No. 10-1141905 discloses a technique related to the above contents. However, the conventional knee orthosis has a problem that the movement of the leg is inconvenient when walking while concentrating on wearing firmly on the knee.

Korean Patent No. 10-1316259

SUMMARY OF THE INVENTION The present invention is conceived to solve the problems of the prior art as described above, and it is an object of the present invention to provide a knee extracorporeal robotic device that assists a force required when a user is walking or sitting, to provide.

Further, by applying the sliding structure, a knee extracorporeal robot apparatus in which the legs can move freely is provided.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other problems to be solved by the present invention, which are not mentioned here, can be understood by referring to the following description to those skilled in the art It will be understood clearly.

The knee extracorporeal robot apparatus according to the present invention comprises: a thigh member formed in a plate shape; A shank member formed in a bar shape and provided at a lower portion of the thigh member; A driving part formed in a long bar shape and fixed to the thigh member in a downward inclined direction and having a motor part on one side; A ball screw nut portion moving along a ball screw shaft portion formed in the longitudinal direction inside the driving portion; An elastic part coupled to be rotatable in a direction inclining upward from a lower end of the shank member; A first link portion connecting the lower end of the thigh member to the upper end of the shank member and connected to rotate the shank about the thigh member; And a lower end of the second link is coupled to the elastic portion, and a second link having a rail portion formed at one side thereof in the longitudinal direction is formed in a shape of a rod having a " part; And a third link portion coupled to the rail portion of the second link portion and moving along the rail portion and coupled to be rotatable with the first link portion and the shank member, When the knee is bent, the ball screw nut moves to the lower portion of the driving unit, and the third link unit moves to the lower portion of the second link unit, .

According to one embodiment of the present invention, there is provided a knee extracorporeal robotic device that assists a force required when a user is walking or sitting, by providing a driving part that operates by the power of the motor.

Further, by applying the sliding structure, a knee extracorporeal robotic device is provided in which the legs can move freely.

1 is a view showing a knee extracorporeal robotic device of the present invention worn on a body.
2 is a view showing a knee extracorporeal robotic device of the present invention.
FIG. 3A is a view showing a state of the elastic part of the knee extracorporeal robotic device of the present invention and a state in which the second elastic part axis is reduced.
FIG. 3B is a view showing a state of the elastic part of the knee extracorporeal robotic device of the present invention and a state in which the second elastic part shaft is extended.
4 is a view showing a state bent the knee exoskeletal robot apparatus according to the present invention as long as 120 ο.

The above and other objects, features and advantages of the present invention will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in more detail with reference to the accompanying drawings.

1 to 4 are views for explaining a knee exoskeletal robot apparatus according to the present invention. More specifically, FIG. 1 is a view showing a knee extracorporeal robotic device of the present invention worn on a body, and FIG. 2 is a view showing a knee extracorporeal robotic device of the present invention. FIG. 3A is a view showing a state of the elastic part of the knee extracorporeal robot apparatus of the present invention and a state in which the axis of the second elastic part is reduced, FIG. 3B is a view showing the state of the elastic part of the knee- Fig. 4 is a view showing a state bent the knee exoskeletal robot apparatus according to the present invention as long as 120 ο.

1 to 4, a knee extracorporeal robot apparatus according to the present invention includes a thigh member 10, a shin member 20, a driving unit 30, an elastic member 40, a first link unit 50, A second link portion 60, and a third link portion 70, as shown in FIG.

The thigh member 10 is formed in a plate shape. The thigh member 10 is positioned at the thigh when the user wears it.

The shank member 20 is formed in a bar shape and is provided at the lower portion of the thigh member 10. The upper and lower portions of the shank member 20 are separately formed to be adjustable in length in accordance with the body shape of the user. The shin member 20 is positioned at the shin part when the wearer wears it.

The driving part 30 is formed in a long rod shape and has a motor part on one side. The driving unit 30 is fixed to the thigh member 10 in an inclined downward direction. The driving unit 30 includes a ball screw shaft portion 31 and a ball screw nut portion 32. It is also as shown in Figure 1, the angle θ is 10 to 15 to the thigh member 10 to be the driving unit 30 is securely fixed ο is preferred. The reason to the thigh member 10 and the angle θ which the drive section 30 is securely fixed in 10 ~ 15 ο is, if the angle is smaller than 10 o, a link portion constituting the knee exoskeletal robot apparatus according to the present invention (the 1 link portion 50, the second link portion 60, and the third link portion 70). When the angle is greater than 15 o , the driving unit 30 moves away from the center of rotation of the knee when the user is walking, and the user is overloaded when the user operates. Further, when the knee of the user is stretched, the driving unit 30 is protruded forward, resulting in a bad appearance and a problem of being caught by other people or objects. Thus, the angle is preferably formed in the range of 10 ~ 15 o.

The ball screw shaft portion 31 is formed in the shape of a long screw and installed in the driving portion 30 in the longitudinal direction.

The ball screw nut portion 32 is engaged with the ball screw shaft portion 31. The ball screw nut portion 32 moves in the longitudinal direction of the driving unit 30 along the ball screw shaft portion 31.

As shown in Fig. 3, the elastic portion 40 is formed in a two-layer structure having two springs on one layer. The four springs 41 are joined to the dividing middle part 44 of the layer. The lower end of the elastic part 40 is coupled to the upper end of the shank 20 and the upper end of the elastic part 40 is coupled to the lower end of the second link part 60 do. The shaft constituting the elastic part 40 is formed separately from a second elastic part shaft connected to the second link part 60 and a first elastic part shaft connected to the shin member 20, And the middle part 44 is coupled to the lower portion of the elastic auxiliary shaft. When the second link part 60 moves, the first elastic part shaft does not move in a fixed state and the second elastic part shaft moves in the vertical direction. At this time, the movement of the middle part 44 causes the spring 41 are contracted and the impact due to the movement of the second link portion 60 is alleviated.

The shin member and the elastic member may rotate up to 120 o with respect to the driving unit 30. Wherein when the knee is bent, the second elastic portion shaft 43 of the shank member 20 and the elastic portion of the elastic portion 40 to 40 is able to rotate up to 120 ο will increase (Fig. 3b). When the knee is extended, the second elastic part shaft 43 of the elastic part 40 is reduced (FIG. 3A). At this time, the shock of the spring 41 of the elastic part 40 is absorbed.

The first link portion 50 connects the lower end of the thigh member 10 and the upper end of the shank member 20 and connects the shank member 10 to the shank member 10 do.

The second link portion 50 is formed in a bar shape having a "c" shape in section. The upper end of the second link portion 50 is rotatably coupled to the ball screw nut portion 32 and the lower end portion thereof is engaged with the elastic portion 40. A rail portion 61 is formed at one side of the second link portion 50 in the longitudinal direction.

One side of the third link portion 70 is coupled to the rail portion 61 of the second link portion 60 to move along the rail portion 61 and the other side of the third link portion 70 is moved 1 link portion 50 and the shank member 20 so as to be rotatable.

Further, a foot member may be further provided to protect the user's foot below the shank member 20. [

Hereinafter, the operation of the knee extracorporeal robotic device according to the present invention will be described in detail.

When the user's knees are bent, the ball screw nut portion 32 moves downward along the ball screw shaft portion 31, and the third link portion 70 moves upward of the second link portion 60. The ball screw nut portion 32 moves upward along the ball screw shaft portion 31 and the third link portion 70 moves downward of the second link portion 60 when the user's knee is extended. When the ball screw nut portion 32 moves along the ball screw shaft portion 31, the power is transmitted from the motor portion 33 provided in the driving portion 30 to assist the screw nut portion 32 to move. And this serves to assist the user in walking the necessary power.

As shown in Figure 4, the shank member 20 and the elastic part 40 can be rotated up to 120 ο relative to the drive section (30). Wherein when the knee is bent, the second elastic portion shaft 43 of the shank member 20 and the elastic portion of the elastic portion 40 to 40 is able to rotate up to 120 ο will increase (Fig. 3b). When the knee is extended, the second elastic part shaft 43 of the elastic part 40 is reduced (FIG. 3A). At this time, the shock of the spring 41 of the elastic part 40 is absorbed.

As described above, it is to be understood that the technical structure of the present invention can be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention.

Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than the foregoing description, All changes or modifications that come within the scope of the equivalent concept are to be construed as being included within the scope of the present invention.

10: thigh member
20: Shank member
30:
31: Ball Screw Shaft
32: Ball screw nut part
33:
40:
41: spring
42: first elastic member shaft
43: second elastic part shaft
44: The middle part
50: first link portion
60: second link portion
61: Le Mans
70: third link portion

Claims (5)

A thigh member formed in a plate shape;
A shank member formed in a bar shape and provided at a lower portion of the thigh member;
A driving part formed in a long bar shape and fixed to the thigh member in a downward inclined direction and having a motor part on one side;
A ball screw nut portion moving along a ball screw shaft portion formed in the longitudinal direction inside the driving portion;
An elastic part coupled to be rotatable in a direction inclining upward from a lower end of the shank member;
A first link portion connecting the lower end of the thigh member to the upper end of the shank member and connected to rotate the shank about the thigh member;
And a lower end of the second link is coupled to the elastic portion, and a second link having a rail portion formed at one side thereof in the longitudinal direction is formed in a shape of a rod having a "part; And
And a third link portion coupled to the rail portion of the second link portion and moving along the rail portion, the third link portion being rotatably coupled to the first link portion and the shank member,
Wherein the driving unit is operated to reduce a load acting on the knee and to assist a necessary force when the user is walking or sitting and standing up. The method according to claim 1,
Wherein the upper and lower portions of the shank member are separated and joined to each other so that the length of the shank member can be adjusted in the vertical direction. The method according to claim 1,
To the thigh member knee exoskeleton robot, characterized in that the angle at which the drive section is fixed installation of 10 ~ 15 ο. The method according to claim 1,
The elastic portion
Wherein the spring is formed in a two-layer structure with two springs on one side, and the four springs are joined to the middle part dividing the layer. The method according to claim 1,
Wherein a foot member capable of protecting a user's foot from below the shin member can be further provided.
KR1020150131061A 2015-09-16 2015-09-16 Knee exoskeleton robot device KR20170033128A (en)

Priority Applications (1)

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KR1020150131061A KR20170033128A (en) 2015-09-16 2015-09-16 Knee exoskeleton robot device

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KR20170033128A true KR20170033128A (en) 2017-03-24

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110393651A (en) * 2019-07-23 2019-11-01 公安部第一研究所 One kind having apery kneed knee joint assistance exoskeleton robot

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101316259B1 (en) 2007-09-04 2013-10-08 두산인프라코어 주식회사 Auto door device for machine tool

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101316259B1 (en) 2007-09-04 2013-10-08 두산인프라코어 주식회사 Auto door device for machine tool

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110393651A (en) * 2019-07-23 2019-11-01 公安部第一研究所 One kind having apery kneed knee joint assistance exoskeleton robot

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