201231232 六、發明說明： 【發明所屬之技術領域】 本發明係關於一種可穿戴式機械手臂，尤其是關於一 種無需使用主動驅動源即可提供使用者進行肩部三自由 度及肘部一自由度之旋轉運動’並達成裝置靜力平衡之可 穿戴式機械手臂。 【先前技術】 一般中風或肢體受創的病人’需要透過長時間的復健 過程’以期能將肢體恢復到原本健康的狀態，或可執行肢 體原有的功能；而在此復健過程中，往往需要藉著使用對 應該肢體部位的復健訓練裝置來進行復健。常見的復健訓 練裝置’依照其驅動方式來做區分，大致上可概分為主動 式驅動以及被動式驅動等兩種主要類型。 μ上肢的復健為例，針對主動式驅動之復健訓練裝 置，是採用馬達、致動器等做為主要驅動元件，其可提供 裝置所需之動力，以操控病人復健部位之對應元件產生運 動效果，達到復健功能。先前技術如美國第74〇9882號專 利，其標的為一肩關節復健裝置，裝置本身設置有電動馬 ，及滑輪系統’透過職€動馬達可㈣滑輪系統之繩 索’以-控制$索所對應連結之裝置關節等部位，協助使用 ^進行肩’之運動訓練。前述採用主動驅動源之設計， 可於病人復健時達到省力效果，然而此類裝置需要外接 ^源或其他動力源驅動，其本身設置成本較高且較耗能 ^、，並且裝置體積龐大而佔空間。 201231232 採用被動式驅動源之復健訓練裝置，因 提供元件，其組成結構上較為簡化且輕便，；需毁薏動力 戴訓練。先前技術如美國第5042799號專利，便使用者穿 數桿部件組成，可結合於使用者手臂或腳部，·^巢置由噢 行手肘之伸展收合訓練時，藉由對應關節的、=利用其進 得桿件間相對旋轉，且透過調整彈性裝置可改1^轉件可使 中所提供之阻力大小，以達到不同之訓練致果變訓練過程 裝置僅能提供手臂進行單一自由度旋轉的 ^而，此 欲進行手臂側向抬舉等涉及其他自由度旋轉之動=用者 須更換其他訓練器材，如此將造成使用者困擾。時’就 又如美國第4772015號專利，其裝置結構上以桿件可旋 轉地連接於阻力機構，使用者則苛藉由握持桿件之握把處 進行手臂運動，並利用阻力機構提供運動所需之阻力以達 到運動訓練效果。然而此裝置雖然能提供肩部多自由度旋 轉之運動訓練，但由於裝置本身之結構限制，並無法即時 依使用者動作因應調整裝置於其他自由度之旋轉方向，必 須透過調整阻力機構的擺設位置，甚至移動裝置的整體位 • 置才能進行肩部其他自由度之訓練，使用上多有不便。 因此，有必要提供一種無須使用主動式驅動源，且利 用單一裝置即可進行肩部之多自由度旋轉之機械手臂，以 改善先前技術所存在的問題。 【發明内容】 本發明之主要目的係在提供一種無需使用主動驅動源 即可輔助使用者進行肩部三自由度之旋轉及肘部一自由 201231232 度之旋轉’並達成裝置及使用者手臂靜力、〜 機械手臂，藉由平衡使用者手臂重力 平衡之可穿戴式 Λ , 運到辅助效果 為達成上述之目的，本發明之可穿 。 第一桿件組、第二桿件組、第一移動件及"第機械手臂包括 二桿件組係藉由第一迴轉件以樞接第一浐一移動件。第 件包括第一主體部及第一滑動部，第一牛、’且’第一移動 迴轉件樞接第二桿件組；第一滑動部可相體部係藉由第二 沿第一軸向移動，且第一滑動部包括严’於第一主體部 係實質上垂直於第一軸向；第二移動件勺干β扣之中心輛 轉動部，第二主體部係藉由第三迴轉^第二主體部及 部’轉動部係樞接於第二主體部以相對w樞接第-主體 轉，且滑桿貫穿轉動部並可相對於轉動f第二主體部旋 主體部相對於第二主體部旋轉時 ^移，，使得第一 第-主體部旋轉，且第-滑動部。卩可藉由滑桿隨著 本發明之可穿戴式機械手臂更°包者括第；轴向移動。 彈性件、第三彈性件及第四彈 —彈性件、第二 件組與第二桿件組間之張力:第卜供 第一桿件組與第一滑動部間之張 件用以提供 第-滑動部與轉動部間之張力四用提供 =組:=r張力。藉由第 丨王仟第二弹性件及第四彈性 卞第二彈 桿件組、第一移動件及第二移動件級'第二 並且當本發明之可穿戴式機械供 ^平衡狀態； 前述各彈性件亦使得第—桿件級、第二桿件組戴^，藉由 •^一 201231232 :、第二移動件及使用者穿戴之 態。 M立呈一重量平衡狀 本發明之可穿戴式機械手臂之第— =之總位移，係為第-主體部相對；^部相對於第〜 角位移之正弦函數。 、第二主體部之總 * /’I二發明自之戴式機械手臂可提 被動彈性元件以達到震置整體之靜運動’且利用 之結構得以簡化，且無須使用驅動源以置 【實施方式】 為讓本發明之上述和 易懂’下文特舉出本發明之且體的實施^和優點能更明顯 式，作詳細說明如下。二出^ 臂之-實施例來詳加說明，：之可穿戴式機械手 不以此實施例為限。 … k件之實施態樣並 明參考圖1係本發明之可 之結構爆炸圖。如圖㈣ 二：：1之-實施例 包括第一桿件組1〇 :月之可穿戴式機械手臂！ 移動件40。第一浐侏干件組2〇、第一移動件30及第二 二:用各桿件組以單-桿件或複數桿件 ^本㈣所欲達到之功效。第二桿件組20係藉由第^ 以樞接第一桿件組1〇，使得第一桿件組ι〇可相對= 第-杯件組20旋轉。第二桿件組2〇更包括迴轉件調整農置 22’在本實施例中’迴轉件調整襄置22可為一滑轨與滑塊 201231232 之組合，當第一迴轉件51係設置於滑塊上時，藉由調整滑 塊相對於滑軌之位置，可改變第一迴轉件51之設置位置， 進而可根據使用者上臂部位之長度來對應調整第二桿件 組20至適當長度，但迴轉件調整裝置22之型式並不以此為 限。 ‘ 其中第一桿件組10更包括第一固定件U，且第二桿件 組20更包括第二固定件21，藉由第一固定件u及第二固定 件21用以結合於使用者之肢體部位，以方便使用者穿戴本 發月之可穿戴式機械手臂i，進行手臂部位 相;;動作。前述第-固定件n及第二固定件21可^# 束帶或其他具有類似固定功能之元件。 =請—併參考圖i至圖3。圖2係本發明之可穿戴式機 械手jl之一實施例之第一移動件3〇及第二移動件牝之結 合示^圖。圖3係本發明之可穿戴式機械手臂1之一實施& 之第一移動件30及第二移動件4〇結合後之立體圖。如圖i 及圖2所示，本發明之可穿戴式機械手们之第—移動件％ 及第二移動件40係構成一個整體作動機構。第一 包括第—主體部3丨及第-滑動部32,第一主體部31係藉由 第匕轉件52極接第二桿件組2〇，使得第二桿件組可相 對；第主體部31旋轉，在本實施例中，第一主體部31 係呈近似L型之結構件，但本發明不以此為限。 如圖3所示，第一滑動部32可相對於第一主體部31沿第 軸向χΐ移動，在本實施例中，第一主體部31包括主體部 滑桿3U，且主體部滑桿311之中心軸方向即為前述第一車由 白 第滑動部32係可移動地設置於主體部滑桿311 201231232 上，使得第一滑動部32可相對於第一主體部3丨移動。且 一滑動部32包括滑動部滑桿321，滑動部滑桿321之中心 係實質上垂直於第一軸向χΐ。 又如圖1至圖3所示，第二移動件40包括第二主體部41 及轉動部42,第二主體部41係藉由第三迴轉件53以樞接 一主體部31，使得第一主體部31可相對於第二主體部ο 旋轉。轉動部42係樞接於第二主體部41，以相對於第二 體部41旋轉。 、一 如圖2及圖3所示，在本實施例中，第二主體部41 括調整件411’且第二主體部41是藉由調整件411以一第= 迴轉件54樞接轉動件42，調整件411用以調整轉動件“相 對於第二主體部42移動之位置。此處調整件411可為一導 螺桿，其係沿著一第二軸向x2移動以對應調整轉動件“ 相對於第二主體部41之位置，此第二軸向χ2係實質上平行 於前述第一滑動部32可滑動之第一軸向χ1，但調整件4ιΤ 並不以此為限，亦可使用其他具有位移調整功能之元件 取代。 如圖3所示，滑動部滑桿321係貫穿轉動部42，♦第一 主，部3丨相對於第二主體部41旋轉時，滑動部滑桿^21會 隨著第一主體部31而旋轉，因此轉動部42可藉由滑動部滑 桿321所帶動而隨之旋轉；由於轉動部42與第三迴轉件μ 對應不同旋轉軸，使得滑動部滑桿321在轉動過程中，可 相對於轉動部42沿著滑動部滑桿321之中心軸方向進行移 動調整，以因應轉動部42與第一主體部31之間的距離改 變；此時第一滑動部32亦會因應第一主體部31相對於第二 201231232 主體部41之旋轉而沿第一轴向χΐ移動。而藉由調整調整件 411相對於第二主體部41之位置，第一滑動部32相對於第 一主體部31之位置亦實質上平行地對應改變。 請參考圖4係本發明之可穿戴式機械手臂1之一實施例 於組合後之示意圖。如圖4所示，在本實施例中，本發明 之可穿戴式機械手臂1之第二桿件組20枢接於第一桿件組 10，使得第一桿件組10可藉由第一迴轉件51之旋轉軸si相 對於第二桿件組20旋轉，以對應使用者肘部之伸展收縮動 作。第一主體部31樞接於第二桿件組2〇，使得第二桿件組 20可藉由第二迴轉件52之旋轉軸S2相對於第一主體部31 旋轉，以對應使用者肩部之伸展收縮動作；且第一迴轉件 51之旋轉軸si與第二迴轉件52之旋轉軸S2係實質上彼此 平行且位於同一平面上。 第二主體部41樞接於第一主體部31，使得第一主體部 31可藉由第三迴轉件53之旋轉軸S3相對於第二主體部41 旋轉，以對應使用者肩部之外展内敛動作；其中第二迴轉 件52之旋轉軸s2係實質上垂直於第三迴轉件53之旋轉軸 S3。轉動部42樞接於第二主體部41 ’使得轉動部42藉由第 四迴轉件54之旋轉軸s4相對於第二主體部41旋轉，其中第 四迴轉件54之旋轉軸s4與第三迴轉件53之旋轉軸S3係實 質上彼此平行且位於同一平面上。 此外’本發明之可穿戴式機械手臂1更包括支撐架7〇， 第二主體部42係藉由第五迴轉件55柩接支撐架70,使得第 二主體部42可藉由第五迴轉件55之旋轉軸S5相對於支撐 架70旋轉，以對應使用者肩部之外旋内旋動作；其中第五 201231232 迴轉件55之旋轉軸s5係實質上垂直於第三迴轉件53之旋 轉轴S3，並與地面垂直。支撐架7〇係可結合於一物體上， 例如柱體、牆壁、框架或其他固定式物體等，以便提高使 用者穿戴本發明之機械手臂丨進行運動訓練時之穩定性。 本發明之可穿戴式機械手臂丨藉由前述結構設計，在實 際使用上，第一迴轉件51係對應於使用者手臂之肘關節， 以便於進行肘部之伸展收縮訓練，提供肘部一自由度旋轉 之運動效果；而第二迴轉件52、第三迴轉件53及第五迴轉 φ 件55可對應於使用者手臂之肩關節，以便於進行肩部之伸 展收縮、外展内斂或外旋内旋等訓練，提供肩部三自由度 旋轉之運動效果。 又如圖4所示，本發明之可穿戴式機械手臂丨更包括第 一彈性件61、第二彈性件62、第三彈性件63及第四彈性件 64，各彈性件可採用一拉伸彈簀。在本實施例中，本發明 之機械手臂1更包括滑輪定位件，滑輪定位件係可移 動地設置於第一桿件組10上；其中第一彈性件61之一端係 連接於第二桿件組20之接點23，於繞經第二桿件組2〇之滑 輪組24後，將第一彈性件61之另一端則連接於滑輪定位件 80，使得第一彈性件61用以提供第一桿件組1〇與第二桿件 組20間之張力；而藉由移動該滑輪定位件8〇可調整第一彈 性件61所提供之張力大小。 第二彈性件62之一端係連接於第一滑動部32，於繞經 滑輪定位件80後，將第二彈性件62之另一端連接於第一桿 件組10之接點12’使得第二彈性件62用以提供第一桿件組 10與第一滑動部32間之張力；而藉由移動滑輪定位件8〇 11 201231232 或經調整件411帶動第一滑動部32，可對應調整第二彈性 件62所提供之張力大小。 轉動部42更包括支撐件421，第三彈性件63之一端係連 接於第一滑動部32之第一接點322，第三彈性件63於繞經 轉動部42之支撐件421及再繞經第一滑動部32之滑輪件 323後，第三彈性件63之另一端才與第一滑動部32上不同 位置之第二接點324相連接，使得第三彈性件63用以提供 第一滑動部32與轉動部42間之張力。 以下請一併參考圖4及圖5。圖5係本發明之可穿戴式機 械手臂1之一實施例之第一移動件3〇及第二移動件4〇之結 籲 構俯視圖。如圖4及圖5所示，在本實施例中，第四彈性件 64之一端係連接於第二主體部41之調整件411，於繞經第 一主體部31之滑輪件312、313及第二迴轉件52後，第四彈 性件64之另一端再連接於第二桿件組2〇之接點25，使得第 四彈性件64用以提供第二桿件組20與第二主體部41間之 張力；而藉由移動調整件411可對應調整第四彈性件64所 提供之張力大小。 藉由前述第一彈性件61、第二彈性件62、第三彈性件 鳙 63及第四彈性件64，將使得第一桿件組1〇、第二桿件組 2〇、第一移動件30及第二移動件40係呈一重量平衡狀態， 並且於使用者於穿戴本發明之可穿戴式機械手臂丨時^透 過各彈性件使得使用者之肢體部位、各桿件組及各移動件 之重量均可完全被支撐，讓使用者更容易操作本發明之可 穿戴式機械手臂1來進行各項運動訓練。201231232 VI. Description of the Invention: [Technical Field] The present invention relates to a wearable robot arm, and more particularly to providing a user with three degrees of freedom of the shoulder and one degree of freedom of the elbow without using an active driving source. The rotary motion 'and achieves a wearable robotic arm that is statically balanced. [Prior Art] Patients with general stroke or limb trauma need to go through a long-term rehabilitation process in order to restore the limb to its original healthy state, or to perform the original function of the limb; in this rehabilitation process, Rehabilitation is often required by using a rehabilitation training device that corresponds to the limb site. The common rehabilitation training devices are distinguished according to their driving methods, and can be roughly divided into two main types: active driving and passive driving. For example, the rehabilitation of the upper limbs is based on the active driving rehabilitation training device, which uses a motor, an actuator, etc. as the main driving component, which can provide the power required by the device to manipulate the corresponding components of the patient's rehabilitation site. Produces a sporty effect and achieves a rehabilitation function. The prior art, such as the US Patent No. 74,9882, is labeled as a shoulder joint rehabilitation device, the device itself is provided with an electric horse, and the pulley system 'through the motor of the motor can (4) the rope system of the pulley system to control the cable house For the joints and other parts of the connected device, assist in the exercise of the shoulder's exercise. The above-mentioned design of the active driving source can achieve labor-saving effect when the patient is rehabilitated. However, such a device needs to be driven by an external source or other power source, and the setting cost itself is relatively high and the energy consumption is large, and the device is bulky. Take up space. 201231232 Rehabilitation training device with passive drive source, because of the components, its structure is simple and light, and it needs to be destroyed. The prior art, such as the US Patent No. 5042799, is composed of a user wearing a plurality of rod members that can be coupled to the user's arms or feet, and the nesting is performed by the stretching of the elbows, by the corresponding joints, = With its relative rotation between the rods, and by adjusting the elastic device, the resistance can be changed to achieve the different training and the training process. The device can only provide the arm with a single degree of freedom. Rotating ^, this is intended to carry out lateral lifting of the arm and other movements involving other degrees of freedom = the user has to replace other training equipment, which will cause user trouble. At the same time, as in U.S. Patent No. 4772015, the device is structurally rotatably coupled to the resistance mechanism by a lever member, and the user is bravely moved by the grip of the grip member and provides motion by using a resistance mechanism. The required resistance to achieve athletic training results. However, although the device can provide exercise training with multiple degrees of freedom of rotation of the shoulder, due to the structural limitation of the device itself, it is not possible to adjust the rotation direction of the device in other degrees of freedom according to the user's motion, and it is necessary to adjust the position of the resistance mechanism. Even the overall position of the mobile device can be used to train other degrees of freedom of the shoulder, which is inconvenient to use. Therefore, it is necessary to provide a robotic arm that can perform multi-degree of freedom rotation of the shoulder without using an active drive source, and to improve the problems of the prior art. SUMMARY OF THE INVENTION The main object of the present invention is to provide a three-degree-of-freedom rotation of the shoulder and a free rotation of the elbow at a time of 201231232 degrees without using an active driving source to achieve the device and the user's arm static. ~ Mechanical arm, by the wearable Λ which balances the gravity balance of the user's arm, transported to the auxiliary effect for the above purposes, the present invention can be worn. The first rod set, the second rod set, the first moving member and the "the first arm comprise a two-piece assembly for pivoting the first first moving member by the first rotating member. The first member includes a first body portion and a first sliding portion, the first cow, and the first moving rotating member is pivotally connected to the second rod member group; the first sliding portion can be phased by the second along the first axis Moving toward the movement, and the first sliding portion comprises: the first main body portion is substantially perpendicular to the first axial direction; the second moving member scoops the central vehicle rotating portion of the β buckle, and the second main body portion is rotated by the third The second main body portion and the portion 'rotating portion are pivotally connected to the second main body portion to pivot relative to the main body, and the sliding rod penetrates the rotating portion and is rotatable relative to the second main body portion relative to the rotation When the main body portion is rotated, the first first main body portion is rotated and the first sliding portion is rotated. The wearer can be moved by the slider along with the wearable robot arm of the present invention; The tension between the elastic member, the third elastic member and the fourth elastic-elastic member, the second member group and the second member member: the first member between the first member group and the first sliding portion is used to provide the first member - Tension between the sliding portion and the rotating portion is provided = group: = r tension. The second elastic member and the fourth elastic second elastic member group, the first movable member and the second movable member member are second and are in a state of being balanced by the wearable machine of the present invention; Each of the elastic members also allows the first member and the second member to be worn by the second member and the second moving member and the wearer. M is in a weight balance. The total displacement of the wearable robot arm of the present invention is the sinusoidal function of the first body portion relative to the first angular displacement. The total body of the second main body is invented by the wearable mechanical arm to achieve the static motion of the whole body, and the structure utilized is simplified, and the driving source is not required to be used. In order to make the present invention and the advantages of the present invention more obvious, the following description will be made in detail. The second embodiment of the arm is described in detail, and the wearable robot is not limited to this embodiment. The embodiment of the k-piece is described with reference to Figure 1 which is a structural exploded view of the present invention. Figure (4) 2::1 - Example Includes the first member set 1〇: The wearable robot arm of the month! Moving member 40. The first dry member set 2〇, the first moving member 30 and the second two: use each rod member group to achieve the effect of a single-rod member or a plurality of rod members (4). The second rod set 20 is pivotally connected to the first rod set 1〇 such that the first rod set ι can be rotated relative to the first set of cups 20. The second member set 2〇 further includes a rotary member adjustment agricultural device 22'. In the embodiment, the rotary member adjustment device 22 can be a combination of a slide rail and a slider 201231232, and the first rotary member 51 is disposed on the slide. When the block is adjusted, the position of the first rotating member 51 can be changed by adjusting the position of the slider relative to the slide rail, and the second rod member group 20 can be adjusted correspondingly according to the length of the upper arm portion of the user to an appropriate length, but The type of the rotary member adjusting device 22 is not limited thereto. The first member set 10 further includes a first fixing member U, and the second member group 20 further includes a second fixing member 21 for coupling to the user by the first fixing member u and the second fixing member 21 The limb part is convenient for the user to wear the wearable robot arm i of the month to perform the arm part phase; The first fixing member n and the second fixing member 21 may be belts or other components having similar fixing functions. = Please - and refer to Figures i to 3. Fig. 2 is a view showing the combination of the first moving member 3'' and the second moving member 之一 in one embodiment of the wearable robot j1 of the present invention. 3 is a perspective view showing the combination of the first moving member 30 and the second moving member 4 of one of the wearable robot arms 1 of the present invention. As shown in FIGS. 1 and 2, the first moving member % and the second moving member 40 of the wearable robot of the present invention constitute an integral actuating mechanism. The first body includes a first body portion 3 and a first sliding portion 32. The first body portion 31 is connected to the second rod group 2〇 by the second rotating member 52 so that the second rod group can be opposite; the first body The portion 31 is rotated. In the present embodiment, the first body portion 31 is a substantially L-shaped structural member, but the invention is not limited thereto. As shown in FIG. 3, the first sliding portion 32 is movable relative to the first main body portion 31 in the axial direction. In the present embodiment, the first main body portion 31 includes a main body portion sliding bar 3U, and the main body portion sliding bar 311 The central axis direction is such that the first vehicle is movably disposed on the main body portion slider 311 201231232 by the white first sliding portion 32 such that the first sliding portion 32 is movable relative to the first main body portion 3丨. And a sliding portion 32 includes a sliding portion slider 321 having a center substantially perpendicular to the first axial direction. As shown in FIG. 1 to FIG. 3 , the second moving member 40 includes a second main body portion 41 and a rotating portion 42 . The second main body portion 41 is pivotally connected to the main body portion 31 by the third rotating member 53 . The body portion 31 is rotatable relative to the second body portion ο. The rotating portion 42 is pivotally coupled to the second body portion 41 to rotate relative to the second body portion 41. As shown in FIG. 2 and FIG. 3 , in the present embodiment, the second main body portion 41 includes an adjusting member 411 ′ and the second main body portion 41 is pivotally connected to the rotating member by a third rotating member 54 . The adjusting member 411 is configured to adjust the position of the rotating member relative to the second main body portion 42. Here, the adjusting member 411 can be a lead screw that moves along a second axial direction x2 to adjust the rotating member. The second axial χ 2 is substantially parallel to the first axial χ 1 slidable by the first sliding portion 32 with respect to the position of the second main body portion 41, but the adjusting member 4 Τ is not limited thereto, and may be used. Replaced by other components with displacement adjustment. As shown in FIG. 3, the slide portion slider 321 passes through the rotating portion 42, and when the first main portion 3 is rotated relative to the second main body portion 41, the slide portion slider 21 follows the first main body portion 31. Rotating, so that the rotating portion 42 can be rotated by the sliding portion sliding rod 321; since the rotating portion 42 and the third rotating member μ correspond to different rotating shafts, the sliding portion sliding rod 321 can be rotated relative to The rotating portion 42 is moved and adjusted along the central axis direction of the sliding portion slider 321 to change the distance between the rotating portion 42 and the first main body portion 31; at this time, the first sliding portion 32 also responds to the first main body portion 31. Moving in the first axial direction relative to the rotation of the second 201231232 body portion 41. By adjusting the position of the adjusting member 411 with respect to the second main body portion 41, the position of the first sliding portion 32 with respect to the first main body portion 31 also changes substantially in parallel. Referring to Figure 4, there is shown a schematic view of one embodiment of the wearable robot arm 1 of the present invention. As shown in FIG. 4, in the embodiment, the second rod set 20 of the wearable robot arm 1 of the present invention is pivotally connected to the first rod set 10, so that the first rod set 10 can be first The rotation axis si of the rotary member 51 is rotated relative to the second rod set 20 to correspond to the stretching and contracting action of the user's elbow. The first body portion 31 is pivotally connected to the second rod group 2〇 such that the second rod group 20 is rotatable relative to the first body portion 31 by the rotation axis S2 of the second rotating member 52 to correspond to the user's shoulder. The stretching and contracting motion of the first rotating member 51 and the rotating shaft S2 of the second rotating member 52 are substantially parallel to each other and on the same plane. The second main body portion 41 is pivotally connected to the first main body portion 31 such that the first main body portion 31 is rotatable relative to the second main body portion 41 by the rotation axis S3 of the third revolving member 53 to correspond to the user's shoulder. The inward motion; wherein the rotation axis s2 of the second revolving member 52 is substantially perpendicular to the rotation axis S3 of the third revolving member 53. The rotating portion 42 is pivotally connected to the second main body portion 41 ′ such that the rotating portion 42 is rotated relative to the second main body portion 41 by the rotating shaft s4 of the fourth rotating member 54 , wherein the rotating shaft s4 and the third rotating portion of the fourth rotating member 54 The axis of rotation S3 of the member 53 is substantially parallel to each other and on the same plane. In addition, the wearable robot arm 1 of the present invention further includes a support frame 7〇, and the second body portion 42 is coupled to the support frame 70 by the fifth rotating member 55, so that the second body portion 42 can be rotated by the fifth body. The rotation axis S5 of the 55 rotates relative to the support frame 70 to rotate the inner rotation of the shoulder of the user; wherein the rotation axis s5 of the fifth 201231232 rotation member 55 is substantially perpendicular to the rotation axis S3 of the third rotation member 53. And perpendicular to the ground. The support frame 7 can be coupled to an object such as a cylinder, a wall, a frame or other fixed object to enhance the stability of the wearer wearing the mechanical arm of the present invention for exercise training. The wearable mechanical arm of the present invention is designed by the foregoing structure. In practical use, the first rotating member 51 corresponds to the elbow joint of the user's arm, so as to perform the stretching and contraction training of the elbow, and provide the elbow free. The second rotating member 52, the third rotating member 53 and the fifth turning member 55 can correspond to the shoulder joint of the user's arm, so as to facilitate the stretching and contraction of the shoulder, the abduction and contraction or the outside. Training such as spinner rotation provides the three-degree-of-freedom rotation of the shoulder. As shown in FIG. 4, the wearable robot arm of the present invention further includes a first elastic member 61, a second elastic member 62, a third elastic member 63 and a fourth elastic member 64. Each elastic member can be stretched. Impeachment. In this embodiment, the robot arm 1 of the present invention further includes a pulley positioning member, and the pulley positioning member is movably disposed on the first rod member group 10; wherein one end of the first elastic member 61 is coupled to the second rod member The contact point 23 of the group 20, after passing around the pulley block 24 of the second rod set 2〇, connects the other end of the first elastic member 61 to the pulley positioning member 80, so that the first elastic member 61 is used to provide the first The tension between the rod set 1〇 and the second rod set 20; and by moving the pulley positioning member 8〇, the tension provided by the first elastic member 61 can be adjusted. One end of the second elastic member 62 is connected to the first sliding portion 32. After passing around the pulley positioning member 80, the other end of the second elastic member 62 is connected to the joint 12' of the first rod member group 10 so that the second The elastic member 62 is configured to provide the tension between the first rod set 10 and the first sliding portion 32. The second sliding portion 32 can be adjusted by moving the pulley positioning member 8〇11 201231232 or the adjusting member 411. The amount of tension provided by the resilient member 62. The rotating portion 42 further includes a supporting member 421. One end of the third elastic member 63 is connected to the first contact 322 of the first sliding portion 32, and the third elastic member 63 is supported by the supporting member 421 and the rewinding around the rotating portion 42. After the pulley member 323 of the first sliding portion 32, the other end of the third elastic member 63 is connected with the second contact 324 at different positions on the first sliding portion 32, so that the third elastic member 63 is used to provide the first sliding member. The tension between the portion 32 and the rotating portion 42. Please refer to Figure 4 and Figure 5 below. Figure 5 is a top plan view of the first moving member 3'' and the second moving member 4'' of the embodiment of the wearable mechanical arm 1 of the present invention. As shown in FIG. 4 and FIG. 5, in the present embodiment, one end of the fourth elastic member 64 is connected to the adjusting member 411 of the second main body portion 41, and the pulley members 312, 313 passing through the first main body portion 31 and After the second rotating member 52, the other end of the fourth elastic member 64 is further connected to the contact 25 of the second member set 2, so that the fourth elastic member 64 is used to provide the second member set 20 and the second main body portion. The tension between the 41 pieces can be adjusted by adjusting the tension provided by the fourth elastic member 64 by moving the adjusting member 411. By the first elastic member 61, the second elastic member 62, the third elastic member 63 and the fourth elastic member 64, the first member group 1〇, the second member group 2〇, and the first moving member are caused to be made. 30 and the second moving member 40 are in a weight balance state, and when the user wears the wearable robot arm of the present invention, through the elastic members, the user's limb parts, the rod sets and the moving parts are The weight can be fully supported, making it easier for the user to operate the wearable robot arm 1 of the present invention for various exercise training.
S 12 201231232 以下4-併參考圖6⑻、 明之可穿戴式機械手 "_6⑷係本發 二移動件實％例之第1動件30與第 、、-σ s後之側視圖。圖6(b)係本發明 機械手fl之—實施例於第-移動件30相對於 40之總角位移為θ之側視圖。圖6(e)係本發明之可 機械^臂1之第—滑動部32相對於主體部滑桿311之總位" 移與第:移動件3_對於第二移動件4()之總角^ 车们維m () 在本發明之可穿戴式機械S 12 201231232 The following 4 - and referring to FIG. 6 (8), the wearable manipulator of the present invention is a side view of the first movable member 30 and the first and the - σ s. Fig. 6(b) is a side view showing the total angular displacement of the first movable member 30 with respect to 40 in the embodiment of the present invention. Figure 6 (e) is the total position of the first sliding portion 32 of the mechanical arm 1 of the present invention relative to the main body sliding bar 311 & shifting: the total of the moving member 3_ for the second moving member 4 () Corner ^ car wem () in the wearable machine of the present invention
手，隹料衡之狀態下，假設職件川（或轉動部4 第二迴轉件63之相對垂直距離為A，而第-滑動部32相對 於第一主體部31之初始總位移亦為A，此時第_滑動部32 停留在一起始位置P0 ;如圖6(b)所示，當第一主體部31相 對於第一主體部41旋轉時，第一滑動部32會沿著主體部滑 桿311移動，直到第—移動件3_對於第二軸件做總 角位移為Θ時’第-滑動部32會停留在一對應位置，此 時第一滑動部3 2自起始點P 〇相對於第一主體部3丨之總位 移L。如圖6(c)所示，初始總位移a、總位移L與總角位移 0之對應關係如下式所述： L = A * sin θ 亦即’第一滑動部32相對於第一主體部31之總位移L， 係為第一主體部31相對於第二主體部41之總角位移0之 正弦函數，與第一滑動部32相對於第一主體部31之初始總 位移A之乘積。 藉由前述設計，使得使用者進行肩部之外展内斂運動 時’依據使用者抬舉手臂之角度大小’第一主體部31會相 13 201231232 對於第二主體部41旋轉對應角度，第一滑動部32亦會隨著 旋轉角度而相對進行位移調整，提供彈性元件62在肩部之 外展内敛運動時其伸長量變化，該伸長量變化所產生之外 展内斂旋轉運動靜力矩，會補償手臂重力所產生之外展内 斂旋轉運動靜力矩，而達到平衡效果，藉此減少使用者在 外展内斂旋轉運動下的肌肉出力。而依需求或狀況不同， 使用者亦可藉由調整第二主體部41之調整件411，來改變 轉動件42之設置位置，進而改變連動之第一滑動部32之初 始總位移A，使彈性元件62有不同的預拉張力，以達到不 同之平衡效果。 綜上所陳，本發明無論就目的、手段及功效，在在均 顯示其迥異於習知技術之特徵，懇請貴審查委員明察， 早曰賜准專利，俾嘉惠社會，實感德便。惟應注意的是， 上述諸多實施例僅係為了便於說明而舉例而已，本發明所 主張之權利範圍自應以申請專利範圍所述為準，而非僅限 於上述實施例。 【圖式簡單說明】 圖1係本發明之可穿戴式機械手臂之一實施例之結構爆炸 圖。 圖2係本發明之可穿戴式機械手臂之一實施例之第一移動 件及第二移動件之結合示意圖。 圖3係本發明之可穿戴式機械手臂之一實施例之第一移動 件及第二移動件結合後之立體圖。In the state of the hand and the weight, it is assumed that the relative vertical distance of the second piece of the rotating member 4 is A, and the initial total displacement of the first sliding portion 32 with respect to the first body portion 31 is also A. At this time, the first sliding portion 32 stays together with the starting position P0; as shown in FIG. 6(b), when the first main body portion 31 is rotated relative to the first main body portion 41, the first sliding portion 32 is along the main body portion. The sliding rod 311 moves until the first moving member 3_ makes a total angular displacement of the second shaft member Θ 'the first sliding portion 32 will stay at a corresponding position, at which time the first sliding portion 3 2 starts from the starting point P The total displacement L of 〇 relative to the first body portion 3丨. As shown in Fig. 6(c), the correspondence between the initial total displacement a, the total displacement L and the total angular displacement 0 is as follows: L = A * sin θ That is, the total displacement L of the first sliding portion 32 relative to the first body portion 31 is a sinusoidal function of the total angular displacement 0 of the first body portion 31 with respect to the second body portion 41, as opposed to the first sliding portion 32. The product of the initial total displacement A of the first body portion 31. With the foregoing design, the user performs the indirect movement of the shoulder when the user performs the movement according to the user. The angle of the arm is increased. The first body portion 31 will be in phase 13 201231232. For the second body portion 41 to rotate by a corresponding angle, the first sliding portion 32 will also be relatively displaced with the rotation angle to provide the elastic member 62 at the shoulder. During the abduction and introversion movement, the amount of elongation changes, and the change in the amount of elongation produces an inflated rotational static moment, which compensates for the static moment of the inflated motion caused by the gravity of the arm, thereby achieving a balance effect, thereby reducing The user exerts the muscle output under the abduction and rotation motion, and the user can change the setting position of the rotating member 42 by adjusting the adjusting member 411 of the second main body portion 41 according to the demand or the situation, thereby changing the linkage. The initial total displacement A of the first sliding portion 32 causes the elastic members 62 to have different pre-tensioning tensions to achieve different balance effects. In summary, the present invention displays its differences in terms of purpose, means and efficacy. In view of the characteristics of the know-how, you are kindly requested to review the examinations, and grant the patents as early as possible. In the Jiahui society, it is really sensible. However, it should be noted that many of the above embodiments The scope of the claims is intended to be illustrative only and not limited to the above embodiments. FIG. 1 is a wearable type of the present invention. Figure 2 is a schematic view showing the combination of the first moving member and the second moving member of one embodiment of the wearable robot arm of the present invention. Figure 3 is a wearable machine of the present invention. A perspective view of the first moving member and the second moving member of one embodiment of the arm.
S 14 201231232 圖4係本發明之可穿戴式機械手臂之一實施例於組合後之 示意圖。 圖5係本發明之可穿戴式機械手臂之一實施例之第一移動 件及第二移動件之結構俯視圖。 圖6(a)係本發明之可穿戴式機械手臂之一實施例之第一移 動件與第二移動件結合後之側視圖。 圖6(b)係本發明之可穿戴式機械手臂之一實施例於第一移 動件相對於第二移動件之總角位移為0之側視圖。 圖6(c)係本發明之可穿戴式機械手臂之第一滑動部相對於 主體部滑桿之總位移L與第一移動件相對於第二移動件之 總角位移0之對應關係示意圖。 【主要元件符號說明】 可穿戴式機械手臂1 第一桿件組10 第一固定件11 第二桿件組20 第二固定件21 迴轉件調整裝置22 接點23 滑輪組24 接點25 第一移動件30 第一主體部31 主體部滑桿311 15 201231232 滑輪件312、313 第一滑動部32 滑動部滑桿321 第一接點322 滑輪件323 第二接點324 第二移動件40 第二主體部41 調整件411 轉動部42 · 支撐件421 第一迴轉件51 第二迴轉件52 第三迴轉件53 第四迴轉件54 第五迴轉件55 第一彈性件61 第二彈性件62 · 第三彈性件63 第四彈性件64 支撐架70 滑輪定位件80 旋轉軸 si、s2、s3、s4、s5 第一軸向x 1 第二軸向x2S 14 201231232 Figure 4 is a schematic illustration of one embodiment of a wearable robot arm of the present invention after assembly. Fig. 5 is a plan view showing the structure of a first moving member and a second moving member of an embodiment of the wearable robot arm of the present invention. Figure 6 (a) is a side elevational view of the first moving member of the embodiment of the wearable robot arm of the present invention in combination with the second moving member. Figure 6 (b) is a side elevational view of one embodiment of the wearable robot of the present invention with the total angular displacement of the first moving member relative to the second moving member being zero. Fig. 6(c) is a view showing the correspondence relationship between the total displacement L of the first sliding portion of the wearable robot arm of the present invention with respect to the main body slider and the total angular displacement 0 of the first moving member with respect to the second moving member. [Main component symbol description] Wearable robot arm 1 First lever set 10 First fixing member 11 Second lever group 20 Second fixing member 21 Rotary member adjusting device 22 Contact 23 Pulley block 24 Contact 25 First movement Member 30 First main body portion 31 Main body portion sliding rod 311 15 201231232 Pulley member 312, 313 First sliding portion 32 Slide portion sliding rod 321 First joint 322 Pulley member 323 Second joint 324 Second moving member 40 Second body Part 41 Adjustment member 411 Rotation portion 42 · Support member 421 First revolving member 51 Second revolving member 52 Third revolving member 53 Fourth revolving member 54 Fifth revolving member 55 First elastic member 61 Second elastic member 62 · Third Elastic member 63 fourth elastic member 64 support frame 70 pulley positioning member 80 rotating shaft si, s2, s3, s4, s5 first axial direction x 1 second axial direction x2
初始總位移AInitial total displacement A
S 16 201231232 總位移L 總角位移θ 起始位置ΡΟ 對應位置Ρ1S 16 201231232 Total displacement L Total angular displacement θ Starting position 对应 Corresponding position Ρ1