KR20240056009A - Femoral support module of muscle suppoert robot - Google Patents

Abstract

The thigh support module of the muscle strength support robot according to the disclosed invention is connected to the strength support robot, and includes a shaft portion that transmits energy for muscle strength support, a pad portion that is in close contact with the user's body, and a guide that prevents the pad portion from being separated from the shaft portion. It includes a stopper portion, and the pad portion is connected to the shaft portion so as to move in a straight direction along the shaft portion or rotate around the shaft portion in response to the user's movement. According to this configuration, it is possible to maintain close contact with the user's movements at all times, thereby improving the user's safety and usability.

Description

Femoral support module of muscle support robot {FEMORAL SUPPORT MODULE OF MUSCLE SUPPOERT ROBOT}

The present invention relates to a thigh support module of a muscle strength support robot, and more specifically, to a thigh support module of a strength support robot that can improve usability and safety by maintaining close contact with the thigh at all times during various movements of the user. will be.

In tasks that require a lot of force momentarily, such as moving heavy objects, strength support robots are applied to assist workers' strength. These strength support robots are provided in the style of wearable robots that are worn on the worker's body, and the worker generally performs work while wearing them. Here, the wearable robot, along with the exoskeleton robot, supports the worker's muscle strength as a type of joint drive system to assist the joint movements of the human body.

Meanwhile, wearable robots for muscle strength support have muscle strength support pads directly attached to the worker's body and are linked to the worker's work movements. Accordingly, in work that requires a large amount of load momentarily, such as heavy material handling work, malfunctions in which the muscle strength support pad of the wearable robot deviates from the state in which the worker is wearing it often occur. Malfunction of the strength support robot during work, such as separation of the strength support pad, can cause safety accidents. For this reason, in recent years, various studies have been continuously conducted to improve the safety of use of wearable robots for muscle-supporting movements.

Republic of Korea Patent Publication No. 10-2032500 (Applicant: Agency for Defense Development) Republic of Korea Patent Publication No. 10-1653100 (Applicant: Hyundai Rotem Co., Ltd.)

The purpose of the present invention is to provide a thigh support module of a muscle strength support robot that can improve adaptability to the user's movements and improve usability and safety by maintaining close contact with the user's thigh at all times.

The thigh support module of the muscle strength support robot according to the present invention for achieving the above object includes a shaft portion that is connected to the muscle strength support robot and transmits energy for muscle strength support, a pad portion that is in close contact with the user's body, and the shaft portion from the shaft portion. It includes a stopper portion that guides the pad portion so that it does not come off, and the pad portion is connected to the shaft portion so that it can move in a straight direction along the shaft portion or rotate around the shaft portion in response to the user's movement.

In addition, the shaft portion includes a first shaft member whose end is connected to the muscle strength support robot to transmit the energy, and a second shaft member that is bent and extended from the other end of the first shaft member and is connected to the pad portion. Included, the first and second shaft members may be provided as one body.

Additionally, the first and second shaft members may be connected at an angle of 90 degrees.

Additionally, the pad portion may have a curved close contact pad so as to come into close contact with the thigh of the human body.

In addition, the pad portion includes a close contact pad provided on one side with a curved contact surface that is in close contact with the thigh of the human body, and a connecting protrusion protruding to be connected to the shaft portion is provided on the other surface facing the close contact surface of the close contact pad, A connection hole into which the shaft portion is inserted may be formed through the connecting protrusion.

Additionally, the stopper portion may be coupled to the end of the second shaft member to prevent the pad portion from being separated from the end of the second shaft member.

In addition, the stopper part is provided with an insertion protrusion inserted at a predetermined depth at the end of the second shaft member, and the insertion protrusion is inserted by an interference member inserted in a direction perpendicular to the insertion direction with respect to the second shaft member. Posture can be fixed.

In addition, the first axis member extends parallel to the Y-axis direction, the second axis member extends parallel to the However, it includes a close contact pad connected to the second axis member in the axial direction, and the close contact pad moves linearly in the X-axis direction along the second shaft member, or Rotational movement in the Y-axis direction may be possible.

In addition, a protruding connecting protrusion is provided on the other surface facing the contact surface of the adhesive pad to be connected to the shaft portion, and a connecting hole into which the shaft portion is inserted may be formed through the connecting protrusion.

Additionally, the pad portion may be in close contact with the user's thigh.

According to another preferred aspect of the present invention, the thigh support module of the muscle strength support robot is connected to the muscle strength support robot, has a shaft portion that transmits energy for muscle strength support, and is in close contact with the thigh portion in conjunction with the user's movement. It includes a pad portion movably connected to the pad portion, and a stopper portion that guides the pad portion to prevent it from being separated from the shaft portion.

In addition, the shaft portion includes a first shaft member whose end is connected to the muscle strength support robot to transmit the energy, and a second shaft member that is bent and extended from the other end of the first shaft member and is connected to the pad portion. Included, the first and second shaft members may be provided as one body.

In addition, the first axis member extends in the Y-axis direction, the second axis member extends in the X-axis direction from the first axis member, and the pad portion has a curved contact surface on one side that is in close contact with the thigh. However, it includes a close contact pad connected to the second axis member in the axial direction, and the close contact pad moves linearly in the X-axis direction along the second shaft member, or Rotational movement in the Y-axis direction may be possible.

In addition, a protruding connecting protrusion is provided on the other surface facing the contact surface of the adhesive pad to be connected to the shaft portion, and a connecting hole into which the shaft portion is inserted may be formed through the connecting protrusion.

Additionally, the stopper portion may be coupled to the end of the second shaft member to prevent the pad portion from being separated from the end of the second shaft member.

In addition, the stopper part is provided with an insertion protrusion inserted at a predetermined depth at the end of the second shaft member, and the insertion protrusion is inserted by an interference member inserted in a direction perpendicular to the insertion direction with respect to the second shaft member. Posture can be fixed.

According to the present invention having the above configuration, the pad portion can always be maintained in close contact with the user's thigh in conjunction with the user's various movements, thereby preventing safety accidents due to the pad portion being separated during use. As a result, user safety can be improved and work efficiency can be improved.

In addition, it is possible to support muscle strength for various movements of the user, thereby improving usability. Accordingly, the worker's work movements are not limited, and the usability of the muscle support robot can be improved in various fields.

Figure 1 is a perspective view schematically showing a thigh support module of a muscle strength support robot according to a preferred embodiment of the present invention.
Figure 2 is an exploded perspective view schematically showing the thigh support module of the muscle strength support robot according to an embodiment shown in Figure 1.
Figures 3 and 4 are perspective views schematically showing movement in the X-axis direction of the thigh support module of the muscle strength support robot according to an embodiment shown in Figure 1. and,
FIG. 5 is a perspective view schematically showing rotational movement around the X-axis of the thigh support module of the muscle strength support robot according to an embodiment shown in FIG. 1.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the attached drawings. However, the spirit of the present invention is not limited to such embodiments, and the spirit of the present invention may be proposed differently by adding, changing, or deleting components constituting the embodiments, but this is also included in the spirit of the invention. It will happen.

Figure 1 is an exploded perspective view schematically showing the thigh support module 1 of the muscle strength support robot according to a preferred embodiment of the present invention, and Figure 2 is a muscle strength support robot according to an embodiment of the present invention shown in Figure 1. This is an exploded perspective view schematically showing the thigh support module 1.

Referring to Figures 1 and 2, the thigh support module 1 of the muscle strength support robot according to a preferred embodiment of the present invention includes a shaft part 10, a pad part 20, and a stopper part 30.

For reference, the thigh support module 1 of the muscle strength support robot described in the present invention is connected to a muscle strength support robot (not shown) worn directly by the user performing the task of lifting the load. Here, the strength support robot (not shown) is one of the wearable robots. The thigh support module (1) of the strength support robot described in the present invention, which is connected to this strength support robot (not shown), stores the user's strength, that is, energy, when working with the load, and supports the user's strength when working with the load. .

The shaft portion 10 is connected to a muscle strength support robot (not shown) and transmits energy for muscle strength support. This shaft portion 10 includes first and second shaft members 11 and 12.

The first axis member 11 is connected to a muscle strength support robot (not shown). More specifically, the first axis member 11 has one end connected to a muscle strength support robot (not shown) and has a bar shape extending in the first axis direction. Here, the first axis member 11 is connected to the elastic energy storage module (not shown) of the muscle strength support robot (not shown), and receives energy for muscle strength support during the user's work, and the second axis member (to be described later) 12) Delivered to.

The second shaft member 12 is bent and extended from the other end of the first shaft member 11 and is connected to the pad portion 20. The second shaft member 12 is bent and extended from the other end of the first shaft member 11 at an angle of 90 degrees, and has a bar shape extending in the second axis direction. Here, the first and second shaft members 11 and 12 may be provided as one body.

For reference, based on the illustration in FIG. 1, the first axis direction corresponds to the Y-axis direction, and the second axis direction corresponds to the X-axis direction orthogonal to the Y-axis.

The pad portion 20 is in close contact with the user's body. In this embodiment, the pad portion 20 includes a curved close contact pad 21 so as to come into close contact with the thigh of the human body. Here, the contact pad 21 is provided with an ergonomically curved contact surface on one side, and this contact surface has a predetermined area so as to have a sufficient contact area with respect to the thigh.

In addition, the contact pad 21 is provided with a protruding connecting protrusion 22 on the other side facing the one side so as to be connected to the shaft portion 10. Here, the connecting protrusion 22 integrally protrudes and extends from the contact pad 21 of the pad portion 20, and a connecting hole 23 into which the second shaft member 12 of the shaft portion 10 is inserted is formed through. .

Meanwhile, in response to the user's movement, the pad portion 20 is connected to the shaft portion 10 to enable linear movement parallel to the X-axis or rotational movement about the Y-axis around the X-axis. More specifically, the second axis member 12 extending parallel to the It is connected to the two-axis member 12 to enable linear or rotational movement. The linear and rotational movements of the pad portion 20 will be described in more detail later with reference to FIGS. 3 to 5.

The stopper portion 30 guides the pad portion 20 to prevent it from being separated from the shaft portion 10. This stopper portion 30 is coupled to the end of the second shaft member 12 and blocks the pad portion 20 from being separated from the end of the second shaft member 12. Here, one side of the stopper part 30 is provided with an insertion protrusion 31 inserted into the end of the second shaft member 12 at a predetermined depth, and the exposed end of the insertion protrusion 31 is expanded in diameter to be inserted into the end of the second shaft member 12. It is provided as an interference end (311) to prevent it from being inserted into (12).

In addition, the interference member 32 is inserted in a direction perpendicular to the insertion direction in which the insertion protrusion 31 is inserted with respect to the second shaft member 12. As a result, the inserted posture of the insertion protrusion 31 with respect to the second shaft member 12 is fixed by the interference member 32.

The muscle strength support operation of the thigh support module 1 of the strength support robot according to the present invention having the above configuration will be described with reference to FIGS. 3 to 5.

As shown in FIGS. 3 to 5, the close contact pad 21 of the pad portion 20 is connected to the second shaft member 12 of the shaft portion 10. At this time, although not shown in detail, the first shaft member 11 of the shaft portion 10 is connected to the elastic energy storage module of the muscle strength support robot (not shown) to transmit energy for muscle strength support. In addition, the close contact pad 21 of the pad portion 20 is connected through the connection hole 23 of the connection protrusion 22 in the X-axis direction parallel to the second axis member 12.

Meanwhile, when a user performs heavy work with the contact pad 21 in close contact with the thigh, the contact pad 21 moves along the second shaft member 12 in conjunction with the movement of the thigh. More specifically, based on the illustration in FIG. 3, when the thigh moves to the left, the contact pad 21 moves the second axial member 12 in a straight line in the axial direction, that is, in the X-axis direction. Additionally, when the user's thigh moves to the right as shown in FIG. 4, the contact pad 21 moves linearly along the second axis member 12 in the right X-axis direction opposite to that shown in FIG. 3. In addition, as shown in FIG. 5, when rotational movement occurs in the Y-axis direction of the thigh as the user walks, the contact pad 21 is also connected to the second axis member 12 and moves in the X-axis direction. It rotates around the axis direction and rotates around the Y axis.

As described above, while the adhesive pad 21 is in close contact with the user's thigh, the adhesive pad 21 also moves in response to multidirectional movement, so that the adhesive force of the adhesive pad 21 to the user can be maintained at all times. do. Accordingly, muscle strength support energy transmitted from the strength support robot (not shown) can be transmitted to the user through maintaining adhesion between the contact pad 21 and the user, thereby improving usability and safety.

As described above, although the present invention has been described with reference to preferred embodiments, those skilled in the art may make various modifications and changes to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. You will understand that you can do it.

1: Femoral support module of the muscle support robot
10: shaft
11: 1st axis member
12: Second axis member
20: Pad part
21: Adhesion pad
22: Connecting protrusion
23: Connection hole
30: Stopper part
31: Insertion protrusion
32: Interference member

Claims (16)

A shaft portion that is connected to the muscle strength support robot and transmits energy for muscle strength support;
A pad portion that is in close contact with the user's body; and
a stopper portion that guides the pad portion to prevent it from being separated from the shaft portion;
Includes,
The thigh support module of the muscle strength support robot, wherein the pad unit is connected to the shaft unit so as to move in a straight direction along the shaft unit or rotate around the shaft unit in response to the user's movement. According to paragraph 1,
The shaft part,
A first axis member, one end of which is connected to the muscle strength support robot and transmits the energy; and
a second shaft member bent and extended from the other end of the first shaft member and connected to the pad portion;
Includes,
The first and second axis members are a thigh support module of a muscle strength support robot in which the first and second axis members are provided as one body. According to paragraph 2,
A thigh support module of a muscle strength support robot connected between the first and second axis members at a 90 degree angle. According to paragraph 1,
The pad portion is a thigh support module of a muscle strength support robot having a curved close contact pad so as to come into close contact with the thigh of the human body. According to paragraph 1,
The pad portion includes a close contact pad provided on one side with a curved close contact surface that is in close contact with the thigh of the human body,
The thigh support module of the muscle strength support robot has a connecting protrusion protruding to be connected to the shaft portion on the other surface facing the adhesive surface of the adhesive pad, and a connection hole through which the shaft portion is inserted is formed through the connecting protrusion. According to paragraph 2,
The stopper part is coupled to the end of the second axis member to prevent the pad part from being separated from the end of the second axis member. According to clause 6,
The stopper portion is provided with an insertion protrusion inserted to a predetermined depth at the end of the second shaft member,
A thigh support module of a muscle strength support robot in which the inserted posture is fixed by an interference member in which the insertion protrusion is inserted in a direction perpendicular to the insertion direction with respect to the second axis member. According to paragraph 2,
The first axis member extends parallel to the Y-axis direction, and the second axis member extends parallel to the X-axis direction,
The pad portion includes a close contact pad provided on one surface with a curved contact surface in close contact with the thigh of the human body, and connected in the axial direction with respect to the second shaft member,
The adhesion pad is capable of moving linearly in the X-axis direction along the second axis member or rotating in the Y-axis direction around the second axis member. According to clause 8,
The thigh support module of the muscle strength support robot has a connecting protrusion protruding to be connected to the shaft portion on the other surface facing the adhesive surface of the adhesive pad, and a connection hole through which the shaft portion is inserted is formed through the connecting protrusion. According to paragraph 1,
The pad portion is a thigh support module of a muscle strength support robot that is in close contact with the user's thigh. A shaft portion that is connected to the muscle strength support robot and transmits energy for muscle strength support;
a pad portion movably connected to the shaft portion in close contact with the thigh portion in response to the user's movement; and
a stopper portion that guides the pad portion to prevent it from being separated from the shaft portion;
A femoral support module of a muscle support robot comprising a. According to clause 11,
The shaft part,
A first axis member, one end of which is connected to the muscle strength support robot and transmits the energy; and
a second shaft member bent and extended from the other end of the first shaft member and connected to the pad portion;
Includes,
The first and second axis members are a thigh support module of a muscle strength support robot in which the first and second axis members are provided as one body. According to clause 12,
The first axis member extends in the Y-axis direction, and the second axis member extends in the X-axis direction from the first axis member,
The pad portion includes a close contact pad provided on one surface with a curved contact surface in close contact with the thigh, and connected in the axial direction with respect to the second shaft member,
The adhesion pad is capable of moving linearly in the X-axis direction along the second axis member or rotating in the Y-axis direction around the second axis member. According to clause 13,
The thigh support module of the muscle strength support robot has a connecting protrusion protruding to be connected to the shaft portion on the other surface facing the adhesive surface of the adhesive pad, and a connection hole through which the shaft portion is inserted is formed through the connecting protrusion. According to clause 12,
The stopper part is coupled to the end of the second axis member to prevent the pad part from being separated from the end of the second axis member. According to clause 15,
The stopper portion is provided with an insertion protrusion inserted to a predetermined depth at the end of the second shaft member,
A thigh support module of a muscle strength support robot in which the inserted posture is fixed by an interference member in which the insertion protrusion is inserted in a direction perpendicular to the insertion direction with respect to the second axis member.

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