KR20220044010A - Power Assistive Robot for Human Upper Limb - Google Patents

Abstract

Disclosed is an assistive robot for the human upper limb. According to the present invention, the assist robot comprises a first support frame, a rotation frame, a first arm, a second arm, a fastening part, a first actuator, and a second actuator. The first actuator and the second actuator are formed of rotary tandem elastic actuators. Only the fastening part supporting a user's lower arm is coupled to the user's upper limb. Accordingly, gravity compensation and muscle strength assistance are performed by the first actuator and the second actuator when the human upper limb moves, and the assistive robot for the human upper limb capable of minimizing the number of active joints, facilitating design and control, and having six degrees of freedom can be provided.

Description

Power Assistive Robot for Human Upper Limb

The present invention relates to a robot used in combination with a human body, and more particularly, it can be used by being coupled to the upper limb (arm) of the human body, and can be used to assist the muscle strength of the upper limb of the human body or to be used for the rehabilitation of the upper limb of the human body. It is about the upper extremity assisting robot.

Rehabilitation robots, which can be worn on the human body and used, are being developed in various forms such as upper extremity rehabilitation robots, lower extremity rehabilitation robots, and gait rehabilitation robots.

The robot worn on the human body may be used for the purpose of rehabilitation, as well as assisting the muscle strength of the human body.

In relation to the rehabilitation robot, Korean Patent Registration No. 10-1930418 (hereinafter, 'prior literature') discloses an 'upper limb rehabilitation robot'.

The upper extremity rehabilitation robot of the prior literature is mechanically designed to have four degrees of freedom (shoulder, elbow) excluding the wrist degree of freedom among the upper extremities of the human body, and it is closely coupled to the user's upper extremity and operates in response to the motion of each joint. It is possible.

The upper extremity rehabilitation robot of the prior literature was designed mechanically to enable joint rehabilitation exercise by designing the joints of the human body and the joints of the robot to coincide with each other. That is, the upper extremity rehabilitation robot was designed to have a robot degree of freedom that directly corresponds to the joint degree of freedom of the human body.

However, since the upper limbs of the human body have more degrees of freedom than the robot mechanism, and there are individual differences in design factors such as the length of the upper and lower arms and the range of rotation of the joints, it is practically impossible to perfectly match the rotation axes of the human and the robot. Do.

Mismatch of the joint and rotation axis between the human and the robot may cause slip or angular mismatch at the fastening part (the part where the human and robot are fastened), which may make the user feel different. In addition, as the number of robot joints increases, design complexity and manufacturing cost may increase, and control difficulties may increase.

Korean Patent Registration No. 10-1930418 (Registration Date: December 12, 2018)

The present disclosure describes an upper extremity assisting robot that can be structurally simplified by a robot mechanism that can implement the position and orientation of the coupling part where the human body and the robot are coupled to each other, instead of making all rotation axes of the human upper extremities and the robot's joints coincide. .

The present disclosure includes two active actuators so that gravity compensation is achieved, the axis of rotation of one active actuator is located at a point lower than the shoulder, and the axis of rotation of the other active actuator is located at a point lower than the elbow, and has 6 degrees of freedom. Branch describes an upper extremity assisting robot.

The present disclosure describes an upper extremity assisting robot that is coupled with the robot only in the lower arm of the human body, and has a means by which the internal and external rotation characteristics of the lower arm of the human body can be made naturally.

The present disclosure provides upper extremity support including a rotation type elastic actuator in which a moment arm is constant and can directly measure an angle according to the relative rotation when an external force is applied to the load side and a relative rotation occurs between the motor and the load side describe the robot.

The upper extremity assistance robot according to one aspect of the subject matter described in the present application may include a first support frame, a rotation frame, a first arm, a second arm, a fastening unit, a first actuator, and a second actuator.

The upper extremity assisting robot may include a connection frame.

The rotation frame is rotatably coupled to the first support frame about the first robot rotation axis in the vertical direction.

The first arm is configured to be relatively rotatable with the rotation frame about a second horizontal axis of rotation of the robot.

The second arm is configured to be rotatable relative to the first arm about a third robot rotation axis in the horizontal direction, and includes a moving point.

The connection frame may be rotatably coupled to the second arm about a fourth robot rotation axis in a horizontal direction passing through the moving point.

The coupling part may be rotatably coupled to the connection frame about a fifth robot rotation axis orthogonal to the fourth robot rotation axis.

The fastening part may be coupled to the second arm to be rotatable in all directions about the moving point.

The first actuator may be a rotary type series elastic actuator, and may form a joint between the rotary frame and the first arm.

The second actuator may be a rotary series elastic actuator, and may form a joint between the first arm and the second arm.

In the upper extremity assisting robot, only the fastening part may be coupled to the upper limb of the user, and the fastening part may be configured to closely support the lower arm of the user.

In some implementations, the fastening portion may include a connecting plate and a front plate.

The connecting plate is a portion connected to the second arm. The connection plate, a surface in contact with the user's lower arm may form a concave curved surface.

The front plate extends from the connection plate toward the wrist of the user. The front plate, a surface in contact with the user's lower arm may form a concave curved surface.

The upper extremity assisting robot may further include a fastening band.

The fastening band may be fixedly coupled to the fastening portion and surround the user's lower arm.

The upper extremity assisting robot may include a chair.

The chair is provided with a seating unit configured to allow the user to sit.

In some implementations, the first support frame is formed along a left and right direction at the back of the chair.

In some implementations, the first robot axis of rotation is located outside the user's shoulder in the left and right direction, and the second robot axis of rotation is located below the user's shoulder.

In some implementations, the first robot rotation axis and the second robot rotation axis are spaced apart from each other in a horizontal direction so that the second robot rotation axis is located in front of or outside the first robot rotation axis in the left and right direction.

In some implementations, a height of the second robot axis of rotation is lower than the user's shoulder, and a length from the second axis of rotation of the robot to the third axis of rotation of the robot is longer than a length from a shoulder to an elbow with the user. .

The upper extremity assisting robot may include a base plate and a height adjusting device.

The base plate is located below the first support frame.

The height adjusting device includes a first connecting bar fixedly connected to the base plate, and a second connecting bar fixedly connected to the first support frame and elevating against the first connecting bar, the first connecting bar The height of the second connecting bar against the other may be adjusted and fixed.

In some implementations, the length between the second robot axis of rotation and the third robot axis of rotation is 350-450 mm, and the length between the third robot axis of rotation and the moving point is 230-330 mm. In some implementations, the length between the second robot axis of rotation and the third axis of rotation of the robot is 400 mm, and the length between the third axis of rotation of the robot and the moving point is 280 mm.

In some implementations, the range of the rotation angle of the first arm with respect to the rotation frame is 120° forward and backward with respect to the state in which the third robot rotation axis is positioned vertically below the second robot rotation axis. It is made to be 40°.

In some implementations, the rotation angle range of the second arm with respect to the first arm is configured such that the moving point is 140° forward with respect to a state in which the moving point is located vertically below the third robot rotation axis.

The first support frame includes a first point forming the first robot rotation axis, and a second point spaced apart from the first point in a horizontal direction.

The upper extremity assisting robot may include a plurality of wheels and a second support frame.

The wheel is fixed to the lower side of the base plate, and supports the upper extremity assisting robot to move on the floor surface.

The chair is located right in front of the second point and is fixed to the upper side of the base plate.

The second support frame is located in the center of the back of the chair, the lower side is fixed to the base plate, and the upper side is coupled to the second point of the first support frame.

In some implementations, the first support frame is rotatable with respect to the second support frame.

In some implementations, the first actuator and the second actuator each include a first body, a motor, a pulley, a second body, a wire, a first adjuster, a second adjuster, a first spring, and a second spring is done by

The motor includes a stator and a rotor, and the stator is fixed to the first body.

The pulley is made to rotate about a first robot rotation axis when the rotor is rotated, and a seating portion forming an arc about the first robot rotation axis is provided.

The second body is made to be rotatable about the first robot rotation axis.

The wire includes a central portion curved around the seating portion, and first and second extension portions extending from both ends of the central portion to form a straight line.

The first adjustment device is coupled to the first extension to move together with the first extension.

The second adjustment device is coupled to the second extension to move together with the second extension.

The first spring elastically supports the first adjustment device from the second body so that the wire is pulled, and is assembled in a preloaded state.

The second spring elastically supports the second adjustment device from the second body so that the wire is pulled, and is assembled in a preloaded state.

In some implementations, the pulley includes a fixing groove concave from the seating portion toward the first rotation axis, and the wire includes a fixing portion inserted into the fixing groove from the center of the central portion.

In some implementations, the series elastic actuator includes a fixing pin fastened to the pulley in the fixing groove to be in close contact with the fixing part so that the fixing part is fixed to the fixing groove.

In one embodiment, in the upper extremity assisting robot, the fastening part moves together with the lower arm and the fastening part rotates with respect to the moving point. At this time, the behavior of each of the first arm, the second arm, the second robot axis of rotation, and the third robot axis of rotation does not correspond to the behavior of the user's upper arm, lower arm, shoulder, and elbow, and does not correspond to the behavior of the user's upper arm, lower arm, shoulder, and elbow. Each of the 2nd robot rotation axis and the 3rd robot rotation axis moves and rotates spaced apart from the user's upper extremities. In the embodiment of the present invention, the joints of the upper extremity assisting robot and the user's joints do not match each other, the behavior of the upper extremity assisting robot and the user's upper extremity do not match each other, and the matching and behavior of the joints between the upper extremity assisting robot and the user There is no need to design or control for the matching of In addition, the position and orientation of the fastening portion can be implemented, and an upper extremity assisting robot can be provided that conforms to the degree of freedom of the upper extremities.

In an embodiment, the upper extremity assisting robot includes the above-described first support frame, rotation frame, first arm, second arm, fastening unit, first actuator, and second actuator. As described above, the first actuator and the second actuator are made of a rotary series elastic actuator. The height of the second robot axis of rotation constituting the axis of rotation of the rotating frame and the first arm is lower than the user's shoulder, and the length from the second axis of rotation of the robot to the axis of rotation of the third robot is longer than the length from the user and the shoulder to the elbow. . Accordingly, while including two active actuators to compensate for gravity, the rotation axis of one active actuator is located at a point lower than the shoulder, and the rotation axis of the other active actuator is located at a point lower than the elbow, and the number of active actuators It is possible to minimize and provide an upper extremity assisting robot having 6 degrees of freedom.

In one embodiment, the fastening unit for supporting the user's lower arm is made to rotate biaxially or rotates in all directions with respect to the second arm, and the user's lower arm may rotate against the fastening unit in a state in close contact with the fastening unit. Accordingly, it is possible to provide an upper extremity assisting robot that is coupled with the robot only on the lower arm of the human body and can naturally perform internal rotation and external rotation characteristics of the lower arm of the human body.

In one embodiment, each of the first and second actuators comprises a first body, a motor, a pulley, a second body, a wire, a first adjuster, a second adjuster, a first spring and a second spring. . The fixing part of the wire is fixed to the fixing groove of the pulley, the central part of the wire is bent around the seating part of the pulley, and the first extension part and the second extension part of the wire are respectively extended from both ends of the central part to form a straight line, a first adjusting device and It is coupled to the second body through the second adjustment device. When an external force (external force acting to rotate the second body relative to the first body about the first rotational axis) is applied to the second body, relative rotation is made between the pulley and the second body. At this time, any one of the first spring and the second spring is compressed and the other is tensioned, and the first extension part and the second extension part move along a direction formed by each line. By checking the spring constant and the relative rotation angle of the first spring and the second spring, the torque according to the external force may be measured. As such, in the series elastic actuator according to the embodiment of the present invention, when torque is generated about the first rotational axis, there is no slip between the wire and the pulley, the moment arm is constant, and the angle according to the relative rotation can be directly measured. , it is possible to measure the torque accurately and easily.

1 is a perspective view showing an upper extremity assisting robot.
Figure 2a is a perspective view showing a state in which the upper limb assistance robot and the user's lower arm are fastened.
FIG. 2B is a view showing the upper extremity assisting robot shown in FIG. 2A.
Figure 2c is a perspective view showing a state in which the upper limb assistance robot and the user's lower arm are fastened according to an embodiment different from that of Figure 2a.
3 is a view showing the rotation angle range of the first arm with respect to the rotating frame in the upper extremity assisting robot, and FIG. 4 is a view showing the rotation angle range of the second arm against the first arm in the upper extremity assisting robot.
5A, 5B, and 5C are diagrams illustrating the use of the upper extremity assisting robot when viewed from different directions, respectively.
6A, 6B, and 6C are diagrams illustrating the use state of the upper extremity assisting robot 1 viewed from different directions when the user lowers the upper extremity (arm), respectively.
7A, 7B, and 7C are diagrams illustrating the use of the upper extremity assisting robot when viewed from different directions when the user extends the upper extremity (arm) forward, respectively.
8A, 8B, and 8C are diagrams illustrating the use of the upper extremity assisting robot as viewed from different directions when the user extends the upper extremity (arm) upward, respectively.
9A, 9B, and 9C are views showing the use of the upper extremity assisting robot when viewed from different directions when the user bends the upper extremity (arm) in front of the chest, respectively.
10 is a diagram schematically showing an upper extremity assisting robot equipped with a height adjusting device.
11A and 11B are diagrams schematically illustrating an upper extremity assisting robot in which a first support frame rotates with respect to a second support frame.
12 is a perspective view illustrating an actuator (a first actuator or a second actuator) according to an embodiment of the present invention.
13 is a cross-sectional view schematically illustrating a state of use of the actuator shown in FIG. 12 .
FIG. 14 is an exploded perspective view showing the actuator shown in FIG. 12 , and FIG. 15 is an exploded perspective view showing the configuration of a part of the actuator of FIG. 14 .
FIG. 16A is a cross-sectional view illustrating the actuator shown in FIG. 12 , and FIG. 16B is a diagram schematically and conceptually illustrating a relationship between components constituting the actuator and a control unit.
17 is a cross-sectional view illustrating the actuator in a state in which a separate external force is not applied.
18A is a cross-sectional view illustrating a state in which an external force is applied so that the second body rotates clockwise with respect to the first body in the actuator of FIG. 17, and FIG. 18B is a second body against the first body in the actuator of FIG. 17 It is a cross-sectional view showing a state in which an external force is applied to rotate counterclockwise.
19 is a perspective view illustrating an actuator according to an embodiment of the present invention, and FIG. 20 is a cross-sectional view schematically illustrating a state of use of the actuator shown in FIG.

Hereinafter, in order to describe the present invention in more detail, embodiments according to the present invention will be described in more detail with reference to the accompanying drawings. Like reference numerals refer to like elements throughout the detailed description.

In describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

Terms including an ordinal number such as 1st, 2nd, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

When an element is referred to as being "coupled" to another element, unless otherwise specifically limited, it is directly coupled to the other element or fixedly coupled to the other element; or It may be coupled to other components so that they do not move relative to each other.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as “comprises” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

1 is a perspective view showing an upper extremity assisting robot (1).

Figure 2a is a perspective view showing a state in which the upper limb assistance robot (1) and the lower arm (FA) of the user (H) are fastened.

FIG. 2B is a view showing the upper extremity assisting robot 1 shown in FIG. 2A.

Figure 2c is a perspective view showing a state in which the upper limb assistance robot (1) and the lower arm (FA) of the user (H) are fastened according to an embodiment different from that of Figure 2a.

3 is a view showing the rotation angle range of the first arm 40 against the rotation frame 30 in the upper extremity assisting robot 1, and FIG. 4 is the upper extremity assisting robot 1 showing the first arm 40 in the It is a figure which shows the rotation angle range of the 2nd arm 50 facing.

5A, 5B, and 5C are views showing the use state of the upper extremity assisting robot 1 viewed from different directions, respectively.

An embodiment of the present invention relates to the upper extremity assisting robot 1, and more particularly, it can be used by being coupled to the upper extremities (arms) of the human body, and can be used to assist the muscle strength of the upper extremities of the human body or to be used for the rehabilitation of the upper extremities of the human body. It relates to an upper extremity assisting robot (1) that can.

Accordingly, the upper extremity assisting robot 1 is fixedly coupled to the upper extremity of the human body in at least one part (fastening portion 90).

The upper limb assistance robot 1 according to an embodiment of the present invention may also be referred to as an 'upper limb muscle strength assistance robot' or an 'upper limb rehabilitation robot'.

The upper extremities of the human body have a high degree of freedom. In addition, it is very difficult to match the joint or rotation axis of the human body and the robot due to the individual physical difference of the user (H). When slip or torsion occurs in the fastening part 90 due to mismatch of the rotational axis between the human body and the robot, the user H may feel discomfort due to a sense of heterogeneity or receive unnecessary load.

In order to solve this problem, in the embodiment of the present invention, instead of matching all the rotation axes of the joints of the upper extremity assisting robot 1 with the human upper extremity, a robot mechanism is devised so that the position and orientation of the locking part can be realized. (1) is structurally simplified.

The upper extremity assisting robot 1 according to an embodiment of the present invention is used by being fastened to the upper extremity of the user H. The forward direction (X1), the left direction (Y1), and the upward direction (Z1) of the upper extremity assistance robot 1 are understood as directions based on the body of the user H, respectively, except when otherwise specifically limited. it could be The front direction (X1), the rear direction, the left direction (Y1) and the right direction of the upper extremity assistance robot (1) can be understood as directions parallel to the ground (floor surface (B)), respectively, and the directions parallel to the horizontal direction can be understood as The upper direction Z1 and the lower direction of the upper extremity assistance robot 1 may be understood as a direction perpendicular to the ground (floor surface B), and may be understood as a direction parallel to the vertical direction. The forward direction (X1), the left direction (Y1), and the upward direction (Z1) of the upper extremity assistance robot 1 may be understood as directions orthogonal to each other, respectively.

The front direction X1 is a direction parallel to the front-rear direction, the left direction Y1 is a direction parallel to the left-right direction, and the upper direction Z1 is a direction parallel to the vertical direction.

The upper extremity assistance robot 1 according to the embodiment of the present invention includes a first support frame 20 , a rotation frame 30 , a first arm 40 , a second arm 50 , a fastening unit 90 , and a first The first actuator 70 and the second actuator 80 may be included.

The upper extremity assisting robot 1 may include a connecting frame 60 .

The upper extremity assisting robot 1 may include a base plate 10 , a chair 12 , and a second support frame 13 .

The base plate 10 forms the basis of the upper extremity assistance robot (1). The base plate 10 may be made flat in a horizontal direction. The base plate 10 may be formed in a flat plate shape along a horizontal direction. Other components constituting the upper extremity assisting robot 1 may be fixedly coupled to the base plate 10 or coupled to move relative to the base plate 10 .

The upper extremity assisting robot 1 may be made to be movable, and for this purpose, the upper extremity assisting robot 1 may include a plurality of wheels 11 .

The wheel 11 may be coupled to the lower side of the base plate 10 . The wheel 11 may be coupled to the bottom surface of the base plate 10 . In one embodiment, four wheels 11 are provided, and each wheel 11 may be coupled adjacent to each vertex portion of the base plate 10 .

The chair 12 is fixedly coupled to the upper side of the base plate 10 . The chair 12 is provided with a seating portion 12a so that the user H can sit.

The second support frame 13 is formed to be generally elongated vertically. The second support frame 13 may be elongated in the vertical direction.

The second support frame 13 may be located behind the chair 12 . The second support frame 13 may be located at the center in the left and right directions. That is, when the user H sits on the chair 12 , the second support frame 13 may be formed along the user's H's spine.

In the second support frame 13 , a lower portion 13a constituting the lower side thereof may be fixed to the base plate 10 , and an upper portion 13b constituting the upper side thereof may be fixed to the first support frame 20 . .

The first support frame 20 is made elongated in the horizontal direction. The first support frame 20 may be elongated in the left and right directions.

The first support frame 20 includes a first point 21 and a second point 22 . The first point 21 and the second point 22 may form both ends of the first support frame 20 .

The first point 21 and the second point 22 are spaced apart from each other in the horizontal direction. The first point 21 and the second point 22 are spaced apart from each other in the left-right direction.

The first support frame 20 is coupled to the second support frame 13 at the second point 22 .

The first support frame 20 may be fixedly coupled to the upper portion 13b of the second support frame 13 at the second point 22 .

In one embodiment, the first support frame 20 may be formed to protrude to the left with respect to the second support frame 13 . That is, the first point 21 may be formed to protrude to the left with respect to the second support frame 13 . In this case, the upper extremity assistance robot 1 according to the embodiment of the present invention may be used by being coupled to the left arm of the user H.

In another embodiment, the first support frame 20 may be formed to protrude to the right with respect to the second support frame 13 . That is, the first point 21 may be formed to protrude to the right with respect to the second support frame 13 . At this time, the upper extremity assistance robot 1 according to the embodiment of the present invention may be used by being coupled to the right arm of the user H.

The first support frame 20 may be rotatably coupled to the upper portion 13b of the second support frame 13 at the second point 22 . Further description of this will be provided later.

The rotation frame 30 is rotatably coupled to the first support frame 20 about the first robot rotation axis RA1 in the vertical direction. The first robot rotation axis RA1 is a rotation axis passing vertically through the first point 21 . That is, the rotation frame 30 is configured to rotate about the first robot rotation axis RA1 at the first point 21 of the first support frame 20 .

A portion of the first robot rotation axis RA1 forms one joint in the upper extremity assistance robot 1 . A portion of the first robot rotation axis RA1 may form one passive joint in the upper extremity assistance robot 1 . Here, the passive joint may be understood to correspond to an active actuator, and a separate power does not act, and may be understood as a joint in which relative rotation can be made freely according to an external force applied.

The upper extremity assistance robot 1 may include a bearing for smooth rotation between the first support frame 20 and the rotation frame 30 on the first robot rotation axis RA1.

The rotating frame 30 is made to have a predetermined length along the horizontal direction. Accordingly, while the rotation frame 30 rotates with respect to the first robot rotation axis RA1 , a significant portion of the rotation frame 30 may be located in front of the first support frame 20 , or of the rotation frame 30 . A significant portion may be located outside the left or right side of the first support frame 20 .

The first arm 40 has a predetermined length, one end thereof is rotatably coupled to the rotation frame 30 , and the other end thereof is rotatably coupled to the second arm 50 .

The first arm 40 includes an arm housing 41 so that other components constituting the upper extremity assistance robot 1 can be accommodated therein. The arm housing 41 has an accommodation space therein. In one embodiment, components for operation and control of the first actuator and the second actuator may be accommodated in the receiving space of the arm housing 41 . The control unit 101 to be described later may be accommodated in the accommodating space (internal space) of the arm housing 41 . A power supply or battery for supplying power to the first actuator and the second actuator may be provided in the receiving space of the arm housing 41 .

The first actuator 70 forms a joint between the rotation frame 30 and the first arm 40 between the rotation frame 30 and the first arm 40 . That is, the rotation frame 30 and the first arm 40 are coupled to face each other around the first actuator 70 , and the rotation frame 30 and the first arm 40 are coupled with the first actuator 70 as the center. These rotate relative to each other.

The first arm 40 is made to be relatively rotatable about the second robot rotation axis RA2 on the rotation frame 30 .

The second robot rotation axis RA2 is a rotation axis forming the rotation center of the first actuator 70 and is made parallel to the horizontal direction.

The first actuator 70 forms one joint in the upper extremity assistance robot 1 . The first actuator 70 is made of an active actuator so that gravity compensation is achieved. When a load in the gravitational direction is applied to one side of the first arm 40 to generate a torque around the first robot rotation axis RA1, power to resist the load is generated by the first actuator 70 can

In the upper extremity assistance robot 1, the first robot rotation axis RA1 may be positioned outside the shoulder HS of the user H in the left and right direction.

To this end, the first support frame 20, the length between the first point 21 and the second point 22 may be made longer than half the length of the shoulder width of the user (H).

When the half length of the shoulder width of the user (H) using the upper extremity assistance robot 1 is d1, the length between the first point 21 and the second point 22 is 1.2 times to 2 times the size of d1. can be done

When the half length of the average shoulder width of the users (H) of the group using the upper extremity assistance robot 1 is d2, the length between the first point 21 and the second point 22 is 1.2 to 2 times d1 may be of the size of

A length between the first point 21 and the second point 22 may be 300 to 500 mm.

In the upper extremity assisting robot 1, the second robot rotation axis RA2 may be positioned below the shoulder HS of the user H.

To this end, the height of each component may be determined such that the height from the floor to the second robot rotation axis RA2 is lower than the shoulder height of the user H.

When the height from the floor (B) to the shoulder (HS) of the user (H) using the upper extremity assistance robot 1 is d3, the height from the floor surface (B) to the second robot rotation axis RA2 is d3 It can be made with a size of 0.7 to 0.9 times of

When the average value of the shoulder heights of the users (H) of the group using the upper extremity assistance robot 1 from the floor surface (B) is d4, the height from the floor surface (B) to the second robot rotation axis (RA2) is d4 It may be made in a size of 0.7 to 0.9 times.

The height from the bottom surface B to the second robot rotation axis RA2 may be 800 to 120 mm.

The second arm 50 has a predetermined length, one end thereof is rotatably coupled to the first arm 40 , and the other end thereof is rotatably coupled to the fastening part 90 .

The second actuator 80 forms a joint of the first arm 40 and the second arm 50 between the first arm 40 and the second arm 50 . That is, the first arm 40 and the second arm 50 are coupled to face each other with the second actuator 80 as the center, and the first arm 40 and the second arm 50 with the second actuator 80 as the center 50) are relative to each other.

The second arm 50 is rotatable relative to the first arm 40 about the third robot rotation axis RA3 .

The third robot rotation axis RA3 forms a rotation center of the second actuator 80 and is parallel to the horizontal direction.

The second actuator 80 forms one joint in the upper extremity assistance robot 1 . The second actuator 80 is made of an active actuator so that gravity compensation is achieved. When a load in the direction of gravity acts on one side of the second arm 50 to generate a torque around the second robot rotation axis RA2, the power to resist the load is generated by the second actuator 80. can

The second arm 50 includes a moving point 51 .

The moving point 51 may form one end of the second arm 50 .

As the second arm 50 rotates relative to the first arm 40 , the moving point 51 rotates about the third robot rotation axis RA3 .

In one embodiment, the length from the second robot rotation axis RA2 to the third robot rotation axis RA3 is longer than the length from the user H and the shoulder HS to the elbow HE.

When the length of the upper arm (HA) of the user (H) using the upper extremity assistance robot (1) (the length from the shoulder (HS) to the elbow (HE)) is d5, the third robot at the second robot rotation axis (RA2) The length to the rotation shaft RA3 may be 1.1 times to 2 times larger than d5.

When the average of the lengths of the upper arms (HA) of the users (H) of the group using the upper extremity assistance robot 1 is d6, the length from the second robot rotation axis RA2 to the third robot rotation axis RA3 is d6 It can be made in the size of 1.1 times to 2 times.

In some implementations, the length ad1 between the second robot rotation axis RA2 and the third robot rotation axis RA3 is 350 to 450 mm, and the length ad2 between the third robot rotation axis RA3 and the moving point 51 is It may be made from 230 to 330 mm.

In some implementations, the length ad1 between the second robot rotation axis RA2 and the third robot rotation axis RA3 is 400 mm, and the length ad2 between the third robot rotation axis RA3 and the moving point 51 is 280 mm. can be done

In some implementations, the rotation angle range of the first arm 40 relative to the rotation frame 30 is such that the rotation frame 30 lies in a horizontal direction and the third robot rotation axis RA3 is the second robot rotation axis RA2 ) based on a state located vertically downward, it is 120° forward (120° counterclockwise in FIG. 3), and 40° backward (40° clockwise in FIG. 3). (See FIG. 3) To this end, the first actuator 70 may be provided with a first stopper device 75 that provides a range of rotation angles.

By the first stopper device 75 , an angle between the rotation frame 30 and the first arm 40 about the second robot rotation axis RA2 may be deformed between 50° and 210°.

The first stopper device 75 may include a first locking part 75a and a second locking part 75b.

The first locking part 75a may be fixed to the rotation frame 30 and the second locking part 75b may be fixed to the first arm 40, and the rotation frame 30 and the first arm 40 are first 2 When rotating with each other about the robot rotation axis RA2, the first locking part 75a and the second locking part 75b are engaged with each other to suggest the rotation angle of the rotation frame 30 and the first arm 40. can

Each of the first and second locking parts 75a and 75b may be provided two by one, and accordingly, the first stopper device 75 prevents rotation between the rotating frame 30 and the first arm 40 . It can be proposed to be made in a predetermined angle range.

In some implementations, the range of rotation angles of the second arm 50 relative to the first arm 40 is such that the third robot axis of rotation RA3 is positioned vertically below the second axis of rotation of the robot RA2 . 40 is placed in the vertical direction, and the moving point 51 is 140° forward (140° counterclockwise in FIG. 4 ) based on the state located vertically below the third robot rotation axis RA3. (See FIG. 4) For this, the second actuator 80 may be provided with a second stopper device 85 that proposes a range of rotation angles.

By the second stopper device 85 , the angle between the first arm 40 and the second arm 50 about the third robot rotation axis RA3 may be deformed between 40° and 180°.

The second stopper device 85 may include a third locking part 85a and a fourth locking part 85b.

The third locking part 85a may be fixed to the first arm 40 and the fourth locking part 85b may be fixed to the second arm 50 , and the first arm 40 and the second arm 50 . When the third robot rotation axis RA3 rotates with each other, the third locking part 85a and the fourth locking part 85b engage with each other to increase the rotation angle of the first arm 40 and the second arm 50 . can be made to suggest.

Two of the third and fourth locking parts 85a and 85b may be provided, respectively. Accordingly, the second stopper device 85 rotates between the first arm 40 and the second arm 50 . It can be proposed to be made in this predetermined angle range.

The fastening part 90 is coupled to the second arm 50 at the moving point 51 .

The fastening part 90 and the second arm 50 are coupled to each other to be rotatable relative to each other.

The upper extremity assisting robot 1 according to the embodiment of the present invention may include a connection frame 60 that mediates the coupling between the second arm 50 and the fastening part 90 .

The connection frame 60 is rotatably coupled to the second arm 50 about the fourth robot rotation axis RA4 in the horizontal direction passing through the moving point 51 .

And the fastening part 90 may be rotatably coupled to the connection frame 60 about the fifth robot rotation axis RA5 orthogonal to the fourth robot rotation axis RA4.

The fourth robot axis of rotation (RA4) and the fifth robot axis of rotation (RA5) form a joint in the upper extremity assisting robot (1), respectively. The fourth robot axis of rotation (RA4) and the fifth robot axis of rotation (RA5) may form one manual joint in the upper extremity assisting robot (1), respectively.

The upper extremity assistance robot 1 may include a bearing for smooth rotation between the second arm 50 and the connection frame 60 on the fourth robot rotation axis RA4.

In addition, the upper extremity assisting robot 1 may include a bearing for smooth rotation between the connecting frame 60 and the fastening part 90 on the fifth robot rotating shaft RA5.

Meanwhile, the fastening part 90 may be coupled to the second arm 50 rotatably in all directions about the moving point 51 . To this end, the second arm 50 and the fastening part 90 may be coupled to each other via the joint means 65 (see FIG. 2C). In one embodiment, the joint means 65 is a ball joint. In another embodiment, the joint means 65 may be made of a universal joint.

The first actuator 70 and the second actuator 80 may be formed of a rotary series elastic actuator. An additional description thereof will be provided later.

The fastening part 90 is made to be in close contact with the lower arm FA of the user H. The fastening part 90 may be formed to support the lower side of the lower arm FA when the user H stretches the lower arm FA forward.

The fastening part 90 may be formed in a relatively flat plate shape, and in particular, may be formed in a plate shape having a concave curved surface.

The fastening part 90 may include a fastening surface forming a concave high surface along the longitudinal direction (the direction from the elbow HE to the wrist HW) of the lower arm FA.

The fastening part 90 may be divided into a connection plate 90a and a front plate 90b.

The connection plate 90a and the front plate 90b may be formed integrally with each other.

The connection plate 90a is a part connected to the second arm 50 . Connection plate (90a), the surface in contact with the lower arm (FA) of the user (H) may form a concave curved surface.

The front plate (90b) extends from the connection plate (90a) toward the wrist (HW) side of the user (H). The front plate 90b may form a concave curved surface in contact with the lower arm FA of the user H.

The upper extremity assisting robot 1 may further include a fastening band 95 . A plurality of fastening bands 95 may be provided.

The fastening band 95, one side of which is fixedly coupled to the fastening part 90, may be formed to surround the lower arm FA of the user H.

According to an embodiment, the fastening band 95 may be made of cloth, leather, rubber, or the like.

The fastening band 95 may include fastening means such as Velcro (velcro, registered trademark), a button, a hook, a buckle, etc. so that the state closely surrounding the lower arm FA is maintained.

Through the fastening band 95, the lower arm FA is stably coupled to the fastening part 90 and can move together with the fastening part 90. That is, in the upper extremity assisting robot 1, the position and orientation of the fastening part 90 may be implemented to match the position and orientation of the lower arm FA.

During the internal rotation or external rotation of the lower arm FA, the Ulna and Radius intersect to generate rotation, so even if the lower arm FA is firmly fixed with the upper extremity assistance robot 1 in the fastening part 90 , , the rotation of the lower arm (FA) against the fastening portion (90) can be made. That is, the rotational operation of the lower arm FA may be performed by using the longitudinal direction (the longitudinal direction of the lower arm FA) of the fastening part 90 as the central axis (the sixth robot rotation axis RA6).

In this way, in a state in which the lower arm FA is closely coupled to the fastening part 90 , the lower arm FA may rotate about the sixth robot rotation axis RA6 .

6A, 6B, and 6C are diagrams illustrating the use state of the upper extremity assisting robot 1 viewed from different directions when the user H lowers the upper extremity (arm), respectively.

7A, 7B, and 7C are diagrams illustrating the use of the upper extremity assisting robot 1 viewed from different directions when the user H extends the upper extremity (arm) forward, respectively.

8A, 8B, and 8C are diagrams illustrating the use of the upper extremity assisting robot 1 viewed from different directions when the user H extends the upper extremity (arm) upward, respectively.

9A, 9B, and 9C are views illustrating the use of the upper extremity assisting robot 1 viewed from different directions when the user H bends the upper extremity (arm) in front of the chest, respectively.

As shown in FIGS. 5A to 9C , the arm (right arm) of the user H can be placed in various positions and orientations in a state in which it is fastened with the fastening unit 90, and at this time, the upper extremity assisting robot 1 and There is no interference from the user (H), and the user (H) can freely and naturally move his arm.

In addition, in the upper extremity assisting robot 1 , the fastening part 90 moves together with the lower arm FA, and the fastening part 90 rotates against the moving point 51 . At this time, the behavior of each of the first arm 40 , the second arm 50 , the second robot rotation axis RA2 and the third robot rotation axis RA3 is the upper arm HA and the lower arm FA of the user H , does not correspond to the behavior of the shoulder (HS) and the elbow (HE), and each of the first arm 40 , the second arm 50 , the second robot rotation axis RA2 and the third robot rotation axis RA3 is a user (H) The upper extremities are spaced apart to move and rotate.

In the embodiment of the present invention, the joint of the upper extremity assisting robot 1 and the joint of the user H do not coincide with each other, and the behavior of the upper extremity assisting robot 1 and the upper extremity of the user H do not match with each other. , there is no need to design or control the joint between the upper extremity assisting robot 1 and the user H, and to match the behavior.

In addition, the position and orientation of the fastening part 90 can be implemented in the upper extremity assisting robot 1, and the upper extremity assisting robot 1 can be provided corresponding to the degree of freedom of the upper extremities.

10 is a diagram schematically showing the upper extremity assisting robot 1 provided with the height adjusting device 15 .

The upper extremity assisting robot 1 according to an embodiment may include a height adjusting device 15 . In this case, the above-described second support frame 13 may be configured such that the upper portion 13b moves up and down with respect to the lower portion 13a so that the overall length in the vertical direction is variable.

The height adjusting device 15 includes a first connecting bar 15a and a second connecting bar 15b.

The first connecting bar 15a and the second connecting bar 15b have a predetermined length in the vertical direction, respectively. The first connecting bar 15a is fixedly connected to the base plate 10 , and the second connecting bar 15b is fixedly connected to the first support frame 20 .

The first connecting bar 15a may be fixed to the lower portion 13a of the second support frame 13 , and the second connecting bar 15b may be fixed to the upper portion 13b of the second support frame 13 . In addition, the first connecting bar 15a and the second connecting bar 15b may be coupled to each other so that the second connecting bar 15b moves up and down against the first connecting bar 15a.

The first connecting bar 15a and the second connecting bar 15b of the height adjusting device 15 may be provided inside the second support frame 13 .

The height adjusting device 15 may be configured such that the height of the second connecting bar 15b with respect to the first connecting bar 15a is adjusted and fixed. To this end, the height adjusting device 15 may be formed in the form of a gas-type height adjusting device 15 . The height adjusting device 15 may include a lever 15c for operating the height adjusting device.

Here, the gas-type height adjustment device 15 is a device configured to move the piston relative to the cylinder while the gas moves through the chamber, and refers to a device used for height adjustment of the chair 12, table, and the like. The gas-type height adjustment device 15 is also introduced in European Publication EP 0133524 A3, Korean Utility Model Publication KR 20-0096764 Y1, Korean Patent Publication KR 10-0351589 B1, etc., which is a known means, so detailed information on this A description is omitted.

As the upper extremity assisting robot 1 includes the height adjusting device 15, the first actuator 70 is located at a point lower than the shoulder HS of the user H, and the second actuator 80 is the elbow ( HE) can be easily adjusted to be positioned at a lower point than HE), and thus, interference between the upper extremities and the upper extremity assisting robot 1 is effectively excluded, and the upper extremity assisting robot 1 having 6 degrees of freedom can be provided.

11A and 11B are views schematically illustrating the upper extremity assisting robot 1 in which the first support frame 20 rotates with respect to the second support frame 13 .

In the upper extremity assisting robot 1 according to the embodiment of the present invention, the first support frame 20 is to be rotatably coupled against the upper portion 13b of the second support frame 13 at the second point 22 . can The first support frame 20 is located on the upper part 13b of the second support frame 13 around the central rotation axis RA7 (the central rotation axis RA7 in the vertical direction) passing up and down through the second point 22 . It may be rotatably coupled.

That is, in a state in which the first point 21 protrudes to the right with respect to the second support frame 13, the first support frame ( 20) can be rotated.

In a state where the first point 21 protrudes to the right with respect to the second support frame 13, the rotation frame 30 is rotated against the first support frame 20 to the first arm 40, the second arm ( 50) can be adjusted to be positioned in front of the first support frame 20, and in this case, the fastening part 90 can be fastened to the right arm of the user (H). And by rotating the first support frame 20 against the second support frame 13, the first point 21 is protruded to the left with respect to the second support frame 13 to remove the rotation frame 30 1 By rotating against the support frame 20, the first arm 40, the second arm 50, etc. can be adjusted to be positioned in front of the first support frame 20, and in this case, the fastening part 90 is the user ( It can be fastened to the left arm of H).

That is, the upper extremity assisting robot 1 according to an embodiment of the present invention may be used by being fastened to the left or right arm of the user H, if necessary.

The first actuator 70 and the second actuator 80 according to the embodiment of the present invention are formed of a rotary series elastic actuator. A series elastic actuator (SEA) is a device in which an elastic component such as a spring is coupled between an actuator and a load connected in series.

The first actuator 70 and the second actuator 80 according to an embodiment of the present invention may have the same shape and structure as each other, and hereinafter, the first actuator 70 and the second actuator 80 are used as actuators ( 70 and 80 , the first actuator 70 and the second actuator 80 will be described together.

Hereinafter, the first direction X2 , the second direction Y2 , and the third direction Z2 shown in the accompanying drawings are directions orthogonal to each other, respectively. In the description of the actuators 70 and 80 and each of the components constituting them, each direction is in a state in which no external force is applied to the actuators 70 and 80, except when otherwise specifically limited (first body ( 110) and the second body 120 (the state in which there is no relative rotation) is the reference.

12 is a perspective view illustrating actuators 70 and 80 according to an embodiment of the present invention.

13 is a cross-sectional view schematically illustrating a state of use of the actuators 70 and 80 shown in FIG. 12 .

14 is an exploded perspective view showing the actuators 70 and 80 shown in FIG. 12 , and FIG. 15 is an exploded perspective view showing the configuration of a part of the actuators 70 and 80 of FIG. 14 .

16A is a cross-sectional view illustrating the actuators 70 and 80 shown in FIG. 12 , and FIG. 16B is a diagram schematically and conceptually illustrating the relationship between the components constituting the actuators 70 and 80 and the control unit 101 .

Actuators 70 and 80 according to an embodiment of the present invention are made of a rotary type series elastic actuator (Rotary Type Series Elastic Actuator).

As described above, the actuators 70 and 80 are applied and used to the joints of the upper extremity assisting robot 1 .

The actuators 70 and 80, the first body 110, the motor 200, the wheel 410, the second body 120, the wire 420, the first adjusting device 500, the second adjusting device ( 600), a first spring 560 and a second spring 660 may be included.

The actuators 70 and 80 may include a reduction gear 300 , a first encoder 150 , a second encoder 160 , a first bearing 130 , and a second bearing 140 .

The first body 110 and the second body 120 are rotatably coupled to each other about the first rotation axis S1.

The first rotation shaft S1 may be the same rotation axis as the second robot rotation axis RA2, or may be the same rotation axis as the third robot rotation axis RA3.

The first body 110 and the second body 120 may form the overall shape of the actuators 70 and 80, and are made rigidly to support other components constituting the actuators 70 and 80. The components constituting the actuators 70 and 80 may be fixedly coupled to the first body 110 or the second body 120 , or to move relative to the first body 110 or the second body 120 . It may be coupled to the first body 110 or the second body 120 .

The first body 110 may include a first inner case 111 , a second inner case 112 , and a first bracket 113 .

The first inner case 111 and the second inner case 112 are combined with each other to form the first housings 111 and 112 in the form of a housing.

The first inner case 111 and the second inner case 112 may form the first housings 111 and 112 while being fixedly coupled to each other. The first inner case 111 and the second inner case 112 may be formed in a circular shape around the first rotation shaft S1.

The first housings 111 and 112 have a space therein, and the motor 200 is accommodated in the inner space of the first housings 111 and 112 .

The first housings 111 and 112 may have a circular shape about the first rotational shaft S1 and have a predetermined length along the longitudinal direction of the first rotational shaft S1.

The first bracket 113 may be fixed to the first inner case 111 or may be fixed to the second inner case 112 . The first bracket 113 may be formed integrally with the first inner case 111 or the second inner case 112 .

The first bracket 113 protrudes to the outside of the first inner case 111 or the second inner case 112 .

When the actuators 70 and 80 form the first actuator 70 , the first bracket 113 may be fixedly coupled to the rotation frame 30 .

When the actuators 70 and 80 form the second actuator 80 , the first bracket 113 may be fixedly coupled to the second arm 50 .

The second body 120 may include a first outer case 121 , a second outer case 122 , and a second bracket 123 .

The first outer case 121 is located on either side of the first housings 111 and 112 on the other side of the wheel 410 (the pulley 410b) with respect to the first housings 111 and 112 . The first outer case 121 may be located outside the first inner case 111 . The first outer case 121 may be formed in a circular shape about the first rotation shaft S1.

The second outer case 122 is positioned on the opposite side of the first outer case 121 with respect to the wheel 410 (the pulley 410b) and is fixed to the first outer case 121 . The second outer case 122 may be located outside the pulley 410b. The second outer case 122 may be formed in a circular shape about the first rotation shaft S1.

The first outer case 121 , the second outer case 122 , and the second bracket 123 are combined with each other to form the second housings 121 , 122 , 123 in the form of a housing.

The first outer case 121 , the second outer case 122 , and the second bracket 123 may form a second housing while being fixedly coupled to each other.

The second housing has a space therein, and the first housings 111 and 112 are accommodated in the inner space of the second housing. A first inner case 111 and a second inner case 112 are positioned between the first outer case 121 and the second outer case 122 . Between the first outer case 121 and the second outer case 122, the first housings 111 and 112 (including the motor 200 coupled to the inside of the first housings 111 and 112), a speed reducer 300 and wheel 410 (pulley 410b) are located.

The second housing may have a circular shape about the first rotational shaft S1 and has a predetermined length along the longitudinal direction of the first rotational shaft S1.

The second bracket 123 may be fixed to the first outer case 121 and/or the second outer case 122 , or may be formed integrally with the first outer case 121 or the second outer case 122 . can

The second bracket 123 protrudes to the outside of the first outer case 121 or the second outer case 122 .

When the actuators 70 and 80 form the first actuator 70 , the second bracket 123 may be fixedly coupled to the first arm 40 .

When the actuators 70 and 80 form the second actuator 80 , the second bracket 123 may be fixedly coupled to the first arm 40 .

The motor 200 according to the embodiment of the present invention may be formed of a DC motor, an AC motor, a synchronous motor, an induction motor, a BLDC motor, or a step motor.

The motor 200 may include a stator 210 , a rotor 220 , and a rotating shaft 230 . The rotating shaft 230 is fixed to the center of the rotor 220 , and rotates together with the rotor 220 .

The stator 210 of the motor 200 is fixed to the first body 110 inside the first body 110 , and when the motor 200 is operated, the rotor 220 and the rotating shaft 230 are first It rotates against the body 110 . The rotor 220 and the rotary shaft 230 rotate with the first rotary shaft S1 as the rotary shaft.

The stator 210 and the rotor 220 of the motor 200 are accommodated in the first body 110 , and the rotating shaft 230 protrudes to the outside of the first body 110 and is fixed to the reducer 300 . are combined

The rotating shaft 230 may be rotatably supported by the first housings 111 and 112 on both sides of the axial direction. To this end, the actuators 70 and 80 may include a first inner bearing 171 and a second inner bearing 172 .

The first inner bearing 171 and the second inner bearing 172 have the first rotational shaft S1 as their central axis, respectively.

The first inner bearing 171 is coupled between the first inner case 111 and the rotary shaft 230 , and the second inner bearing 172 is coupled between the second inner case and the rotary shaft 230 .

The reducer 300 may be formed of a combination of gears that rotate in engagement with each other. The reducer 300 may be configured such that at least some components thereof are rotated with the first rotating shaft S1 as its central axis.

The reducer 300 is configured to connect the rotor 220 of the motor 200 and the wheel 410 (the pulley 410b). The reducer 300 is configured to connect the rotating shaft 230 of the motor 200 and the wheel 410 (a pulley 410b). The reducer 300 transmits the rotational force of the rotor 220 (rotating shaft 230) to the wheel 410 (pulley 410b), and rotates the rotor 220 (rotating shaft 230). The speed is decelerated while passing through the speed reducer 300 and transmitted to the wheel 410 (pulley 410b).

In one embodiment, the reducer 300 may be formed in the form of a planetary gear system.

In another embodiment, the reducer 300 may be formed of a harmonic gearing (strain wave gearing).

When the reducer 300 is a harmonic reducer, the reducer 300 may include a wave generator 310 , a flex spline 330 , and a circular spline 320 .

The flex spline 330 and the circular spline 320 have teeth that mesh with each other, respectively.

The wave generator 310 may have an elliptical shape, and is fixed to the rotating shaft 230 and rotates together with the rotating shaft 230 . Since the fastening plate 340 is fixedly coupled between the wave generator 310 and the rotating shaft 230 , the wave generator 310 and the rotating shaft 230 may be fixed to each other. The wave generator 310 may include a bearing.

The flex spline 330 is coupled to the outer circumferential surface of the wave generator 310 and may be bent in an elliptical shape by the wave generator 310 . Teeth (first teeth) are formed on the outer peripheral surface of the flex spline 330, and while the flex spline 330 rotates inside the circular spline 320, the teeth (first teeth) formed on the outer peripheral surface of the flex spline 330 are It meshes with the teeth (second teeth) formed on the inner circumferential surface of the circular spline 320 .

When the reducer 300 is a harmonic reducer, it may have a relatively large reduction ratio, there is no backlash, and the reducer 300 advantageous for miniaturization and weight reduction may be formed.

The circular spline 320 may be fixedly coupled to the first body 110 (first inner case 112), and the flex spline 330 may be fixedly coupled to the wheel 410 (base 410a). can Accordingly, when the motor 200 operates, the wave generator 310 rotates together with the rotating shaft 230, and the flex spline 330 rotates with the wheel 410 (pulley 410b) together with the first body 110 ). will rotate against

The wheel 410 rotates about the first rotation axis S1 when the rotor 220 rotates.

The wheel 410 is generally formed in a circular shape centered on the first rotation axis S1.

The wheel 410 includes a base 410a and a pulley 410b. The base 410a and the pulley 410b may be formed integrally with each other, and each has a circular shape about the first rotational shaft S1.

The outer diameter of the base 410a may be greater than the outer diameter of the pulley 410b. The base 410a may be formed closer to the motor 200 side than the pulley 410b.

The base 410a of the wheel 410 is fixedly coupled to the flex spline 330 of the reducer 300 .

A pulley hole 414, which is a hole penetrating the center, is formed in the wheel 410 . That is, the pulley hole 414 passes through the center of the base 410a and the pulley 410b.

A seating portion 411 is formed on the outer peripheral surface of the pulley 410b. The seating portion 411 is formed in the form of a concave groove. The seating part 411 is formed in the form of an arc centered on the first rotation shaft S1.

In one embodiment, the seating portion 411 may form a complete circle (the angular range of the seating portion 411 is 360°), and in another embodiment, the seating portion 411 may form a part of the circle ( The angular range formed by the seating portion 411 is an angular range smaller than 360°).

In one embodiment, the seating portion 411 may form a continuous arc about the first rotational axis S1. In another embodiment, the seating part 411 may form a discontinuous arc (a plurality of arcs separated from each other having the same radius of curvature) around the first rotation axis S1 .

A fixing groove 413 may be formed in the pulley 410b.

The fixing groove 413 is formed in the form of a concave groove toward the first rotation shaft S1 in the seating portion 411 . The fixing groove 413 is located closer to the first rotation shaft S1 than the seating part 411 .

The wire 420 may be made of or include metal. The wire 420 may include a steel wire, and may be formed in a form in which a plurality of steel wires are bundled together or spirally combined.

The wire 420 may be extended in a straight line along its longitudinal direction in a state not coupled to the actuators 70 and 80, and may have a constant or substantially constant cross-section along the longitudinal direction.

The wire 420 may be partially or entirely bent over its entire section.

The wire 420 includes a central portion 422 , a first extension 425 , and a second extension 426 . The wire 420 includes a fixing part 421 , a first connection part 423 , a second connection part 424 , a first bending part 427 , and a second bending part 428 .

The fixing part 421 , the central part 422 , the first connection part 423 , and the second connection part 424 include the first extension part 425 , the second extension part 426 , the first bent part 427 and The second bent portion 428 is formed integrally with each other.

The wire 420 forming the actuators 70 and 80 is bent in a U-shape as a whole.

The central portion 422 forms a section of a curve in the middle in the wire 420 bent in a U-shape. The central portion 422 is inserted into the seating portion 411 to be in close contact with the outer peripheral surface of the pulley 410b. The central portion 422 coupled to the pulley 410b is bent with the same curvature as the curvature formed by the seating portion 411 .

The central portion 422 is inserted into the seating portion 411 in the form of a concave bone and is coupled to the pulley 410b. Accordingly, the central portion 422 can be coupled to the pulley 410b without protruding in the radial direction of the pulley 410b, so that the other components constituting the actuators 70 and 80 and the central portion 422 interfere with each other. is prevented, the central portion 422 is prevented from being separated from the pulley 410b, the wire 420 can move in a certain direction when the actuators 70 and 80 are operated, and the wire 420 and the pulley 410b) Stable coupling is maintained while further preventing slippage.

The fixing part 421 may form the most central portion of the wire 420 . The central portion 422 is divided into two sides with the fixing portion 421 as the center. That is, the central portion 422 extends to both sides around the fixing portion 421 , respectively.

The fixing part 421 is configured to be inserted into the fixing groove 413 . The fixing part 421 is bent or bent in the central part 422 and is inserted into the fixing groove 413 differently from the curve (arc) formed by the central part 422 .

The actuators 70 and 80 include a fixing pin 415 . The fixing pin 415 is fastened to and fixed to the pulley 410b in the fixing groove 413 .

The fixing part 421 inserted into the fixing groove 413 is firmly sandwiched between the fixing pin 415 and the pulley 410b, and thus the fixing part 421 is fixed to the fixing groove 413 of the pulley 410b. do. The fixing part 421 of the wire 420 is fixed to the wheel 410 without leaving the fixing groove 413 of the pulley 410b.

The first extension 425 extends from either end of the central portion 422 , and the second extension 426 extends from the other end of the central portion 422 . The first extension portion 425 and the second extension portion 426 are portions extending opposite to each other with respect to the fixing portion 421 and the central portion 422 .

The first extension 425 and the second extension 426 form a straight line.

The first extension 425 and the second extension 426 may be parallel to each other.

The first extension part 425 and the second extension part 426 may be formed in parallel to a direction orthogonal to the direction of the first rotation axis S1, respectively. The first extension 425 and the second extension 426 may be parallel to each other in the first direction X2 .

Also, the first extension 425 and the second extension 426 may be spaced apart from each other in the second direction Y2 . The separation distance between the first extension part 425 and the second extension part 426 may be the same as the diameter 2r of the arc formed by the seating part 411 .

The first rotation axis S1 may be formed parallel to the third direction Z2.

The first connection part 423 is a part that connects the central part 422 and the first extension part 425 . That is, the central portion 422 , the first connection portion 423 , and the first extension portion 425 are connected in this order.

When the actuators 70 and 80 operate, the first connection part 423 may have a straight shape or a curved shape, or some may have a straight shape and some may have a curved shape.

The second connection part 424 is a part that connects the central part 422 and the second extension part 426 . That is, the central portion 422 , the second connection portion 424 , and the second extension portion 426 are connected in this order.

In operation of the actuators 70 and 80, the second connection portion 424 may have a straight shape, or may have a curved shape, or some may have a straight shape and another part may have a curved shape.

The first bent portion 427 extends from the first extension 425 and forms either end of the wire 420 , and the second bent portion 428 extends from the second extension 426 and forms the wire 420 . ) form the other end of

The first bent part 427 is formed in a shape bent by the first extension part 425 , and the second bent part 428 is formed in a shape bent by the second extension part 426 .

The actuators 70 and 80 may include a first adjusting housing 550 and a second adjusting housing 650 .

The first adjustment housing 550 is formed in the form of a container opened to the outside. The first adjustment housing 550 may be formed in the form of a container opened along a direction parallel to the first direction X2.

A through hole 551 is formed in the first adjustment housing 550 in the first direction X2, and the first extension 425 of the wire 420 through this hole 551 is connected to the first adjustment housing. (550) through and fitted.

In one embodiment, the first adjustment housing 550 may be fixedly coupled to the second body 120 .

The second adjustment housing 650 is formed in the form of a container opened to the outside. The second adjustment housing 650 may be formed in the form of a container opened along a direction parallel to the first direction X2.

A through hole 651 is formed in the second adjustment housing 650 in the second direction Y2, and the second extension portion 426 of the wire 420 is connected to the second adjustment housing through the hole 651. It is inserted through the (650).

In an embodiment, the second adjustment housing 650 may be fixedly coupled to the second body 120 .

The first adjustment housing 550 and the second adjustment housing 650 may be formed to be identical to each other, or may be formed to be symmetrical to each other.

Each of the first spring 560 and the second spring 660 may be formed in the form of a coil spring. The first spring 560 and the second spring 660 may be formed to have the same size, material, and shape as each other. The first spring 560 and the second spring 660 may have the same spring constant as each other.

The first spring 560 is accommodated in the first adjustment housing 550 , and the second spring 660 is accommodated in the second adjustment housing 650 .

The first adjustment device 500 is coupled to the first extension 425 to move together with the first extension 425 . The first adjusting device 500 may be fixedly coupled to the first extension 425 .

The first adjusting device 500 includes a first tensioner 510 , a first wire fixing piece 520 and a first adjusting nut 530 . The first adjustment device 500 may include a first auxiliary nut 540 .

The first tensioner 510 includes a first neck portion 511 , a first head portion 513 , and a first central hole 515 .

The first neck portion 511 may be elongated in a direction parallel to the first direction X2 , and a cross-section thereof may be substantially constant in the first direction X2 . The first neck portion 511 has a screw thread formed on its outer peripheral surface. The first neck portion 511, a portion of which is located inside the first adjustment housing 550, is fitted in the center of the first spring 560 formed in the form of a coil spring.

The first head part 513 has a shape in which a diameter is expanded from the outside of the first neck part 511 .

The first central hole 515 is a hole passing through the center of the first tensioner 510 in a direction parallel to the first direction X2 . That is, the first central hole 515 is formed in the form of a hole penetrating the first neck portion 511 and the first head portion 513 .

The first extension 425 of the wire 420 is inserted into the first central hole 515 and fixed to the first tensioner 510 .

The first wire fixing piece 520 is located outside the first head portion 513 of the first tensioner 510 and is fixedly coupled to the first head portion 513 . When the first wire fixing piece 520 and the first head portion 513 are coupled, the first bending portion 427 of the wire 420 between the first wire fixing piece 520 and the first head portion 513 ) is pressed and interposed, the fixing between the first bent portion 427 of the wire 420 and the first adjusting device 500 is made.

A first slot 513a that is a concave groove in a direction perpendicular to the first direction X2 may be formed on the outer surface of the first head unit 513 . The first bent portion 427 may be inserted into the first slot 513a, and in this state, the first bent portion 427 of the wire 420 is connected to the first wire fixing piece 520 and the first head portion ( 513) can be pressed between

The first adjustment nut 530 is generally formed in the same shape as a nut, and is screwed to the outer circumferential surface of the first neck portion 511 .

A portion of the first adjustment nut 530 is inserted into the first adjustment housing 550 , and the outer peripheral surface of the first adjustment nut 530 is in close contact with the inner peripheral surface of the first adjustment housing 550 . The first adjustment nut 530 may move (reciprocate) relative to the first adjustment housing 550 in a direction parallel to the first direction X2 .

The first spring 560 accommodated in the first adjustment housing 550 has one end supported on the inner surface of the first adjustment housing 550 and the other end in contact with the first adjustment nut 530 and supported.

When the first adjustment nut 530 is rotated against the first neck portion 511, the first neck portion 511 moves along a direction parallel to the first direction X2, and accordingly, the first spring 560 ) can be adjusted, and the tension of the wire 420 (such as the first connection part 423 and the first extension part 425) can be adjusted. At this time, since the first tensioner 510 is not rotated, twisting of the wire 420 (such as the first connection part 423 and the first extension part 425 ) is prevented.

The first auxiliary nut 540 has the same shape as a nut and may be screwed to the outer circumferential surface of the first neck portion 511 . The first auxiliary nut 540 may be coupled to the first neck portion 511 in a state in close contact with the first adjustment nut 530 , and accordingly, the first adjustment nut 530 and the first neck portion 511 . The screw loosening of the liver may be prevented, and the first adjustment nut 530 may be stably coupled to the first neck portion 511 .

The first spring 560 is coupled to the first adjusting device 500 and the first adjusting housing 550 in a preloaded state. The first spring 560 formed in the form of a coil spring is coupled to the first adjusting device 500 and the first adjusting housing 550 in a compressed form in a certain portion, and accordingly, the central portion 422 of the wire 420, the second A predetermined tension is applied to the first connection part 423 and the first extension part 425 .

The second adjustment device 600 is coupled to the second extension 426 to move with the second extension 426 . The second adjustment device 600 may be fixedly coupled to the second extension part 426 .

The second adjustment device 600 includes a second tensioner 610 , a second wire fixing piece 620 and a second adjustment nut 630 . The second adjustment device 600 may include a second auxiliary nut 640 .

The second tensioner 610 includes a second neck portion 611 , a second head portion 613 , and a second central hole 615 .

The second neck part 611 may be elongated in a direction parallel to the first direction X2 , and a cross-section thereof may be substantially constant in the first direction X2 . The second neck portion 611 is threaded on its outer peripheral surface. The second neck part 611, a part of which is located inside the second adjustment housing 650, is fitted in the center of the second spring 660 in the form of a coil spring.

The second head part 613 is formed in a shape in which a diameter is expanded from the outside of the second neck part 611 .

The second central hole 615 is a hole passing through the center of the second tensioner 610 in a direction parallel to the first direction X2 . That is, the second central hole 615 is formed in the form of a hole passing through the second neck portion 611 and the second head portion 613 .

The second extension portion 426 of the wire 420 is inserted into the second central hole 615 and fixed to the second tensioner 610 .

The second wire fixing piece 620 is located outside the second head portion 613 of the second tensioner 610 and is fixedly coupled to the second head portion 613 . When the second wire fixing piece 620 and the second head part 613 are coupled, the second bending portion 428 of the wire 420 between the second wire fixing piece 620 and the second head part 613 . ) is pressed and interposed, the fixing between the second bent portion 428 of the wire 420 and the second adjusting device 600 is made.

A second slot 613a that is a concave groove may be formed on an outer surface of the second head 613 in a direction perpendicular to the first direction X2. The second bent portion 428 may be inserted into the second slot 613a, and in this state, the second bent portion 428 of the wire 420 is connected to the second wire fixing piece 620 and the second head portion ( 613) can be pressed between

The second adjustment nut 630 is generally made in the same shape as a nut, and is screwed to the outer circumferential surface of the second neck portion 611 .

A portion of the second adjustment nut 630 is inserted into the second adjustment housing 650 , and the outer peripheral surface of the second adjustment nut 630 is in close contact with the inner peripheral surface of the second adjustment housing 650 . The second adjustment nut 630 may move (reciprocate) relative to the second adjustment housing 650 in the first direction X2.

The second spring 660 accommodated in the second adjustment housing 650 has one end supported on the inner surface of the second adjustment housing 650 and the other end in contact with the second adjustment nut 630 and supported.

When the second adjustment nut 630 is rotated against the second neck portion 611, the second neck portion 611 moves in a direction parallel to the first direction X2, and accordingly, the second spring 660 ) can adjust the degree of compression, and the tension of the wire 420 (such as the second connection part 424 and the second extension part 426) can be adjusted. At this time, since the second tensioner 610 is not rotated, twisting of the wire 420 (such as the second connection part 424 and the second extension part 426) is prevented.

The second auxiliary nut 640 has the same shape as a nut and may be screwed to the outer circumferential surface of the second neck portion 611 . The second auxiliary nut 640 may be coupled to the second neck portion 611 in a state in close contact with the second adjustment nut 630, and accordingly, the second adjustment nut 630 and the second neck portion 611. The screw loosening of the liver can be prevented, and the second adjustment nut 630 can be stably coupled to the second neck part 611 .

The second spring 660 is coupled to the second adjusting device 600 and the second adjusting housing 650 in a preloaded state. The second spring 660 in the form of a coil spring is coupled to the second adjusting device 600 and the second adjusting housing 650 in a partially compressed form, and accordingly, the central portion 422 of the wire 420, the first A predetermined tension is applied to the second connection part 424 and the second extension part 426 .

The first bearing 130 and the second bearing 140 have the first rotational shaft S1 as their central axis, respectively.

The first bearing 130 is coupled between the first housings 111 and 112 and the first outer case 121 . In particular, the first bearing 130 is coupled between the first inner case 111 and the first outer case 121 . The first bearing 130 facilitates relative rotation between the first body 110 and the second body 120 .

The second bearing 140 is coupled between the pulley 410b and the second outer case 122 , and the second bearing 140 enables smooth relative rotation between the pulley 410b and the second body 120 . . The second bearing 140 may be coupled to the pulley 410b in the form of being inserted into the pulley hole 414 of the pulley 410b.

In the axial direction of the first rotational shaft S1 , the first bearing 130 and the second bearing 140 are the first body 110 and the second body 120 from the outside of the motor 200 and the reducer 300 . ) to support relative rotation. The first bearing 130 and the second bearing 140 on the outside of the motor 200 for generating rotational power and the reducer 300 for transmitting the rotational power is between the first body 110 and the second body 120 . By supporting the relative rotation, stable relative rotation of the first body 110 and the second body 120 may be achieved.

The encoders 150 and 160 described in the embodiment of the present invention may be formed like a conventional encoder. An encoder consists of an electronic device that measures motion or position. In an embodiment of the present invention, each encoder may be configured to measure whether a specific configuration is rotated, a rotation angle, and the like.

The encoder described in the embodiment of the present invention may use an optical sensor that provides a vibratory signal in the form of a pulse train. The encoder described in the embodiment of the present invention may be configured as a rotary encoder, and may be configured to measure a rotation angle with respect to a rotation axis.

The first encoder 150 is fixed to the first housings 111 and 112 and rotates about the first rotation axis S1, the rotor 220 or the rotation shaft 230 can be configured to detect the rotation. there is.

The second encoder 160 is provided inside the second outer case 122 to measure the relative rotation angle between the pulley 410b and the second body 120, which rotates about the first rotation axis S1. can be done In one embodiment, the second encoder 160 may be fixed inside the second outer case 122 to measure the rotation angle of the pulley 410b rotating with respect to the second body 120 .

The actuators 70 and 80 may include the control unit 101 , or may be configured to be coupled to a separate control unit 101 .

The control unit 101 may include a device capable of processing data or a computer program. The control unit 101 may include a central processing unit of a computer system.

The controller 101 may be connected to the motor 200 to control the operation of the motor 200 .

Also, the control unit 101 is connected to the first encoder 150 and the second encoder 160 , and receives information from the first encoder 150 and the second encoder 160 .

The control unit 101 can grasp the rotation angle of the second body 120 with respect to the first body 110 by the information provided by the first encoder 150 and the second encoder 160, The relative rotation angle between the pulley 410b and the second body 120 may be determined.

When the motor 200 operates in the actuators 70 and 80 , the second body 120 rotates together with the pulley 410b. That is, the second body 120 and the pulley 410b coupled by the wire 420, the first adjusting device 500 and the second adjusting device 600 rotate together against the first body 110, In this case, relative rotation between the second body 120 and the pulley 410b may not be performed.

When the motor 200 does not operate in the actuators 70 and 80 and a separate external force is applied to the actuators 70 and 80, the second body 120 rotates relative to the pulley 410b and the first body 110. can be, and this will be described below.

17 is a cross-sectional view illustrating the actuators 70 and 80 in a state where a separate external force is not applied.

18A is a cross-sectional view illustrating a state in which an external force is applied so that the second body 120 rotates clockwise with respect to the first body 110 in the actuators 70 and 80 of FIG. It is a cross-sectional view illustrating a state in which an external force is applied to the actuators 70 and 80 so that the second body 120 rotates counterclockwise with respect to the first body 110 .

As shown in FIG. 17 , even in a state where a separate external force is not applied, the first spring 560 and the second spring 660 are preloaded and assembled.

The first spring 560 is compressed by x0 to be coupled between the first adjusting device 500 and the first adjusting housing 550 , and the second spring 660 is also compressed by x0 to be compressed by the second adjusting device 600 . ) and the second adjustment housing 650 may be coupled between.

If the spring constant of the first spring 560 and the spring constant of the second spring 660 are respectively k, the first spring 560 stores an elastic force of k·x0, and the second spring 660 also k · Stores elastic force equal to x0.

When ignoring the frictional force acting between the first adjusting nut 530 and the first adjusting housing 550 , the tension F01 acting on the first extension 425 is k·x0.

In addition, when ignoring the frictional force acting between the second adjusting nut 630 and the second adjusting housing 650 , the tension F02 acting on the second extension 426 is k·x0.

When the radius from the first rotational axis S1 to the arc formed by the seating part 411 is r, the torque τ1 acting around the first rotational axis S1 is as follows [Equation 1] can be expressed

[Equation 1] τ1=F01·r+ F02·r

Since F01 and F02 have the same size and opposite directions, the torque τ1 acting about the first rotation axis S1 becomes zero.

As shown in FIG. 18A in the state of FIG. 17 , when an external force F1 acts to rotate the second body 120 clockwise by a predetermined angle Δθ1 with respect to the first body 110 , the first spring 560 ) is compressed and the second spring 660 is tensioned.

In the actuators 70 and 80 according to the embodiment of the present invention, the central portion 422 of the wire 420 is accommodated in the concave bone-shaped seating portion 411, and the fixing portion 421 of the wire 420 is Since it is stably fixed to the fixing groove 413 , when the second body 120 rotates relative to the first body 110 , slipping between the wire 420 and the pulley 410b is prevented.

The first connection part 423 of the wire 420 is in close contact with the seating part 411 by Δθ1·r, and the first extension part 425 moves by Δθ1·r. That is, the length of the portion forming a straight line of the wire 420 from the side of the first extension 425 is shortened by Δθ1·r.

The central portion 422 of the wire 420 on the side connected to the second connection portion 424 is spaced apart from the seating portion 411 by Δθ1·r, and the second extension portion 426 moves by Δθ1·r. That is, the length of the portion forming a straight line of the wire 420 from the side of the second extension portion 426 is increased by Δθ1·r.

When Δθ1·r is x1, the first spring 560 is compressed by x0+x1, and the second spring 660 is compressed by x0-x1. (x0>x1) That is, the first spring 560 is compressed more by x1, and the second spring 660 is compressed less by x1.

At this time, the elastic force of k(x0+x1) is stored in the first spring 560 and the elastic force of k(x0-x1) is stored in the second spring 660 .

When the frictional force acting between the first adjusting nut 530 and the first adjusting housing 550 is neglected, the tension F11 acting on the first extension 425 is k(x0+x1), and the second adjusting nut When ignoring the frictional force acting between the 630 and the second adjusting housing 650 , the tension F12 acting on the second extension 426 is k(x0-x1).

The torque τ2 acting about the first rotation shaft S1 may be expressed as in [Equation 2] below.

[Equation 2] τ2=F11·r+ F12·r

Since the directions F11 and F12 are opposite to each other, the torque τ2 can be expressed as in [Equation 3] below.

[Equation 3] τ2=k(x0+x1)r-k(x0-x1)r

Accordingly, the torque τ2 has a value of 2k·x1·r.

As shown in FIG. 18b in the state of FIG. 17, when an external force F2 acts to rotate the second body 120 counterclockwise by a predetermined angle Δθ2 with respect to the first body 110, the first spring ( 560 is tensioned and the second spring 660 is compressed.

The central portion 422 of the wire 420 connected to the first connection portion 423 is spaced apart from the seating portion 411 by Δθ2·r, and the first extension portion 425 moves by Δθ2·r. That is, the length of the portion forming a straight line of the wire 420 from the side of the first extension 425 is increased by Δθ2·r.

The second connection portion 424 of the wire 420 is in close contact with the seating portion 411 by Δθ2·r, and the second extension portion 426 moves by Δθ2·r. That is, the length of the portion forming a straight line of the wire 420 from the second extension portion 426 side is shortened by Δθ2·r.

When Δθ2·r is x2, the first spring 560 is compressed by x0-x2, and the second spring 660 is compressed by x0+x2. (x0>x2) That is, the first spring 560 is compressed less by x2, and the second spring 660 is compressed more by x2.

At this time, the elastic force of k(x0-x2) is stored in the first spring 560 and the elastic force of k(x0+x2) is stored in the second spring 660 .

When the frictional force acting between the first adjustment nut 530 and the first adjustment housing 550 is neglected, the tension F21 acting on the first extension 425 is k(x0-x2), and the second adjustment nut When the frictional force acting between the 630 and the second adjusting housing 650 is neglected, the tension F22 acting on the second extension 426 is k(x0+x2).

The torque τ2 acting about the first rotation shaft S1 may be expressed as in [Equation 4] below.

[Equation 4] τ3=F21·r+ F22·r

Since the directions of F21 and F22 are opposite to each other, the torque τ3 can be expressed as in [Equation 5] below.

[Equation 5] τ3=-k(x0-x2)r+k(x0+x2)r

Accordingly, the torque τ3 has a value of 2k·x2·r.

The spring constants of the first spring 560 and the second spring 660 are known in advance, and the relative rotation angle of the second body 120 with respect to the first body 110 is determined by the first encoder 150 . Since it can be confirmed, the acting torque can be easily and accurately derived.

As such, in the actuators 70 and 80 according to the embodiment of the present invention, the moment arm r is constant when a torque is generated about the first rotational shaft S1, and the first body 110 is 2 The angle according to the relative rotation of the body 120 can be directly measured, and the torque can be measured accurately and easily.

In the embodiment of the present invention, the degree of compression of the first spring 560 can be adjusted by rotating the first tensioner 510 against the first adjusting nut 530 in the first adjusting device 500 , and the second adjustment The compression degree of the second spring 660 may be adjusted by rotating the second tensioner 610 against the second adjusting nut 630 in the device 600 . Accordingly, the magnitude of the tension acting on the first extension 425 and the second extension 426 of the wire 420 may be adjusted to be the same, and may be adjusted to be different from each other.

In a state in which a separate external force is not applied to the actuators 70 and 80, the first adjustment is made so that the magnitudes of the tension acting on the first extension part 425 and the second extension part 426 of the wire 420 are equal to each other. By adjusting the device 500 and the second adjusting device 600 , it is possible to measure the torque acting by checking the relative rotation angle between the pulley 410b and the second body 120 .

19 is a perspective view showing the actuators 70 and 80 according to an embodiment of the present invention, and FIG. 20 is a cross-sectional view schematically illustrating the use state of the actuators 70 and 80 shown in FIG. 19 .

In one embodiment, the first adjustment housing 550 may be rotatably fixed to the second body 120 with the second rotation shaft S2 forming the extension line of the first extension part 425 as a center.

In one embodiment, the second adjustment housing 650 may be rotatably fixed to the second body 120 with the third rotation shaft S3 as the center of the extension line of the second extension part 426 .

Also, the first adjustment device 500 may be rotatable about the second rotation shaft S2 , and the second adjustment device 600 may be configured to be rotatable about the third rotation shaft S3 .

Even if the first extension 425 partially rotates based on the second rotation shaft S2, the tension acting on the first extension 425 may be constantly maintained as it is, and the second body 120, the first The coupling relationship between the extension part 425 , the first adjustment device 500 and the first adjustment housing 550 is maintained as it is.

In addition, even if the second extension 426 is partially rotated with respect to the third rotation axis S3, the tension acting on the second extension 426 may be constantly maintained as it is, and the second body 120, The coupling relationship between the second extension part 426 , the second adjustment device 600 , and the second adjustment housing 650 is maintained as it is.

That is, the first extension 425 , the first adjustment device 500 , or the first adjustment housing 550 rotates based on the second rotation shaft S2 , or the second extension portion 426 , the second adjustment device Even if 600 or the second adjustment housing 650 rotates based on the third rotation shaft S3, it does not affect the measurement of the torque when an external force is applied, and the accurate torque measurement is made.

In the actuators 70 and 80 according to the embodiment of the present invention, the first adjustment device 500 or the first adjustment housing 550 has the first extension part 425 (the second rotation shaft S2) as a central axis. may not be made in a rotationally symmetrical form, and also, the second adjustment device 600 or the second adjustment housing 650 may have the second extension part 426 (third rotation shaft S3) as a central axis. Therefore, it may not be formed in a rotationally symmetrical form.

At this time, when the actuators 70 and 80 are assembled on the arm of the robot and used, the first adjustment device 500 and the first The adjustment housing 550 may be partially rotated based on the second rotation shaft S2, and the second adjustment device 600 and the second adjustment housing 650 may be partially rotated based on the third rotation shaft S3. there is.

As such, the actuators 70 and 80 according to the embodiment of the present invention can eliminate or alleviate restrictions such as installation and assembly of the rotary actuators 70 and 80, and accurate torque measurement can be made.

In the foregoing, specific embodiments of the present invention have been described and illustrated, but the present invention is not limited to the described embodiments, and those of ordinary skill in the art may make various changes to other specific embodiments without departing from the spirit and scope of the present invention. It will be appreciated that modifications and variations are possible. Accordingly, the scope of the present invention should not be defined by the described embodiments, but should be defined by the technical idea described in the claims.

1: upper extremity assisting robot 10: base plate
11: wheel 12: chair
13: second support frame 13a: lower part
13b: upper part 15: height adjustment device
15a: first connecting bar 15b: second connecting bar
20: first support frame 21: first point
22: second point 30: rotating frame
40: 1st arm 50: 2nd arm
60: connection frame 65: ball joint
70: first actuator 80: second actuator
90: fastening part 90a: connecting plate
90b: front plate 95: fastening band
110: first body
111: first inner case 112: second inner case
113: first bracket 120: second body
121: first outer case 122: second outer case
123: second bracket 130: first bearing
140: second bearing 150: first encoder
160: second encoder 171: first internal bearing
172: second inner bearing 200: motor
210: stator 220: rotor
230: rotary shaft 300: reducer
410: wheel 410a: base
410b: pulley 411: seating part
413: fixing groove 415: fixing pin
420: wire 421: fixed part
422: central part 423: first connection part
424: second connection part 425: first extension part
426: second extension 427: first bent part
428: second bent part 500: first adjustment device
510: first tensioner 511: first neck portion
513: first head 515: first central hole
520: first wire fixing piece 530: first adjusting nut
540: first auxiliary nut 550: first adjustment housing
560: first spring 600: second adjustment device
610: second tensioner 611: second neck portion
613: second head portion 615: second central hole
620: second wire fixing piece 630: second adjusting nut
640: second auxiliary nut 650: second adjustment housing
660: second spring
RA1: first axis of rotation of robot RA2: axis of second rotation of robot
RA3 : 3rd robot rotation axis RA4 : 4th robot rotation axis
RA5: 5th robot rotation axis RA6: 6th robot rotation axis
H: user
HA: upper arm FA: lower arm
HS: Shoulder HE: Elbow

Claims (12)

a first support frame;
a rotation frame rotatably coupled to the first support frame about a first robot rotation axis in a vertical direction;
a first arm rotatable relative to the rotation frame about a second robot rotation axis in the horizontal direction;
a second arm rotatable relative to the first arm about a third robot rotation axis in the horizontal direction and including a moving point;
a connection frame rotatably coupled to the second arm about a fourth robot rotation axis in a horizontal direction passing through the moving point;
a fastening part rotatably coupled to the connection frame about a fifth robot rotation axis orthogonal to the fourth robot rotation axis;
a first actuator comprising a rotary series elastic actuator and forming a joint between the rotary frame and the first arm; and
A rotation type series elastic actuator comprising a second actuator forming a joint of the first arm and the second arm;
Only the fastening part is coupled to the upper limb of the user, and the fastening part is made to closely support the user's lower arm,
Upper extremity assisting robot. a first support frame;
a rotation frame rotatably coupled to the first support frame about a first robot rotation axis in a vertical direction;
a first arm rotatable relative to the rotation frame about a second robot rotation axis in the horizontal direction;
a second arm rotatable relative to the first arm about a third robot rotation axis in the horizontal direction and including a moving point;
a fastening part coupled to the second arm to be rotatable in all directions about the moving point;
a first actuator comprising a rotary series elastic actuator and forming a joint between the rotary frame and the first arm; and
A rotation type series elastic actuator comprising a second actuator forming a joint of the first arm and the second arm;
Only the fastening part is coupled to the upper limb of the user, and the fastening part is made to closely support the user's lower arm,
Upper extremity assisting robot. 3. The method of claim 1 or 2,
The fastening part,
a connection plate connected to the second arm and having a surface in contact with the user's lower arm forming a concave curved surface; and
and a front plate extending from the connection plate toward the wrist of the user and forming a concave curved surface with a surface in contact with the user's lower arm,
The upper extremity assisting robot,
Further comprising a fastening band fixedly coupled to the fastening portion, and configured to surround the user's lower arm,
Upper extremity assisting robot. 3. The method of claim 1 or 2,
The upper extremity assisting robot,
and a chair provided with a seating unit configured to allow the user to sit;
The first support frame is formed along the left and right direction from the back of the chair,
The first robot rotation axis is located outside the user's shoulder in the left and right direction,
The second robot rotation axis is located below the user's shoulder,
Upper extremity assisting robot. 3. The method of claim 1 or 2,
The first robot rotation axis and the second robot rotation axis are spaced apart from each other in a horizontal direction so that the second robot rotation axis is located in front of or outside the left and right direction of the first robot rotation axis,
Upper extremity assisting robot. 3. The method of claim 1 or 2,
The height of the second robot axis of rotation is made to be lower than the shoulder of the user,
The length from the second robot rotation axis to the third robot rotation axis is made longer than the length from the user and the shoulder to the elbow,
Upper extremity assisting robot. 3. The method of claim 1 or 2,
a base plate positioned below the first support frame; and
A first connecting bar fixedly connected to the base plate, and a second connecting bar fixedly connected to the first support frame and elevating against the first connecting bar, wherein the second connecting bar is connected to the first connecting bar Containing a height adjustment device configured to adjust and fix the height of the bar,
Upper extremity assisting robot. 3. The method of claim 1 or 2,
A length between the second robot axis of rotation and the third axis of rotation of the robot is 350 to 450 mm,
The length between the third robot rotation axis and the moving point is 230 to 330 mm,
Upper extremity assisting robot. 3. The method of claim 1 or 2,
The rotation angle range of the first arm with respect to the rotation frame is 120° forward and 40° backward, based on a state in which the third robot rotation axis is positioned vertically below the second robot rotation axis,
The rotation angle range of the second arm with respect to the first arm is 140° forward with respect to the state in which the moving point is located vertically below the third robot rotation axis,
Upper extremity assisting robot. 3. The method of claim 1 or 2,
The first support frame,
a first point forming the first robot axis of rotation; and
Including a second point spaced apart from the first point in the horizontal direction,
The upper extremity assisting robot,
a base plate positioned below the first support frame;
a plurality of wheels fixed to the lower side of the base plate;
a chair positioned right in front of the second point, provided with a seating unit configured to allow the user to sit, and fixed to an upper side of the base plate; and
It is located in the center of the back of the chair, the lower side is fixed to the base plate, and the upper side comprises a second support frame coupled to the second point of the first support frame,
The first support frame is made rotatably based on the second support frame,
Upper extremity assisting robot. 3. The method of claim 1 or 2,
Each of the first actuator and the second actuator,
a first body;
a motor including a stator and a rotor, wherein the stator is fixed to the first body;
a pulley configured to rotate about a first robot rotation axis when the rotor is rotated, and provided with a seating portion forming an arc around the first robot rotation axis;
a second body rotatable about the first robot rotation axis;
a wire having a central portion curved around the seating portion, and a first extension portion and a second extension portion extending from both ends of the central portion to form a straight line;
a first adjustment device coupled to the first extension to move together with the first extension;
a second adjustment device coupled to the second extension to move together with the second extension;
a first spring preloaded for resiliently supporting the first adjustment device from the second body so that the wire is pulled; and
A preloaded second spring resiliently supporting the second adjustment device from the second body so that the wire is pulled.
Upper extremity assisting robot. 12. The method of claim 11,
The pulley includes a fixing groove concave toward the first rotation shaft in the seating portion,
The wire includes a fixing part inserted into the fixing groove from the center of the central part,
The series elastic actuator includes a fixing pin that is fastened to the pulley in the fixing groove to be in close contact with the fixing part so that the fixing part is fixed to the fixing groove,
Upper extremity assisting robot.

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