WO2021002662A1

WO2021002662A1 - Extendable wearable robot system

Info

Publication number: WO2021002662A1
Application number: PCT/KR2020/008565
Authority: WO
Inventors: 김호준; 박정규; 지영훈; 조정호; 박수현; 최동은; 안철웅; 한창수
Original assignee: 주식회사 헥사휴먼케어
Priority date: 2019-07-01
Filing date: 2020-07-01
Publication date: 2021-01-07
Also published as: CN113226243B; CN113226243A; KR102162455B1

Abstract

An extendable wearable robot system of the present invention, which is applied to a walking automation robot system (1), comprises a robot weight support (RWS) (130) capable of reducing robot's weight and assisting up and down movement, with a counter-balancing effect of 1-axis motion by a vertical spring, and a 2-axis motion supporter (140) capable of voluntarily moving left and right through stabilization of movement of center of gravity by translational motion of 2-axis motion by a horizontal spring, and thereby, during a walking motion of a wearable robot (1-1), providing effects of counter-balancing/reverse force minimization/translational motion/stabilization of center of gravity/size adjustment, in particular, reducing manufacturing costs and simplifying a structure, compared to existing actuator equipment by applying, to the effects of the RWS (130) and the 2-axis motion supporter (140), a spring for assisting the up and down/left and right movement through a change in an elastic modulus.

Description

Extended Wearable Robot System

The present invention relates to a wearable robot for walking training, and in particular, an expandable wearable that provides convenience to wear the robot through a front robot mounting method while solving instability of movement of the center of gravity and the weight burden of the robot by using a spring combination. It relates to a robot system.

In general, a wearable robot enables walking with a reduced load burden on a walking trainer by generating walking motion with an actuator (or motor) as a power source.

To this end, the wearing robot is composed of a joint frame worn on the lower body of a walking trainer, and a motor or actuator that moves the joint portion of the joint frame for walking motion.

Therefore, the wearing robot moves the knee area of the walking trainer with the power of an actuator to help the walking trainer practice the walking pattern in place.

In this way, the wearing robot can effectively obtain a bipedal walking posture experience that is helpful for walking training through brain plasticity by weakening the load burden that the walking trainer receives with the power of the actuator.

However, the wearing robot can only provide passive training with left and right movements using the power of an actuator, and furthermore, stabilization of the center of gravity movement is insufficient because it cannot generate an opposite reaction force that can assist the left and right movement.

In addition, the wearable robot lifts the worn robot together to perform a walking motion, so that the weight of the robot acts as a load. Furthermore, since the robot is worn by the rear robot mounting method, the robot wearability of the walking trainer who is inconvenient to move and move is inconvenient.

For this reason, the wearable robot does not provide convenience in use, has a low walking training effect, and cannot but implement various walking training.

Accordingly, the present invention in consideration of the above points provides spontaneous training by left and right movement by stabilizing the center of gravity movement using the translational movement of the left and right springs, as well as the robot weight compensation using the counter-balancing effect of the upper and lower springs. It is possible to reduce the burden on vertical movement, and in particular, by implementing a front robot mounting method with a two-degree of freedom manual mechanism device implemented with a spring combination, it is used to provide an extended wearable robot system that provides user convenience for riding and wearing the robot. There is a purpose.

The extended wearable robot system of the present invention for achieving the above object includes: a wearable robot in which a walking motion is generated by actuator power; The vertical movement associated with the wearing robot is a 1-axis motion, and the horizontal movement independent of the wearing robot is generated as a 2-axis motion, and the vertical movement direction for the 1-axis motion is followed and the left and right movement for the 2-axis motion It is characterized in that it includes a two-degree of freedom manual mechanism device that implements direction tracking by changing the spring elastic force, respectively.

In a preferred embodiment, the two-degree of freedom manual mechanism device is RWS connected to the wearing robot to achieve the one-axis motion, and two axes separated from the wearing robot so as to achieve the two-axis motion and arranged in the inner space of the wearing robot. It consists of motion supporters.

In a preferred embodiment, the RWS is a vertical movement block connected to the wearing robot to adjust the height of the wearing robot and compensate the weight of the robot for the vertical movement for the walking motion of the wearing robot, and the vertical movement block A uniaxial elastic member for elastically supporting the lower portion of the vertical movement block so that the spring elastic force change occurs according to the vertical movement direction of the uniaxial elastic member, coupled with the vertical movement block to guide the vertical movement while fixing the position of the uniaxial elastic member The main consists of a vertical guide rod.

In a preferred embodiment, the uniaxial elastic member is formed by combining a plurality of coil springs in series and parallel arrangements. Each of the vertical guide rod and the uniaxial elastic member is composed of a pair of two.

In a preferred embodiment, the RWS is provided with a fixing bracket that forms an up-and-down space of the vertical movement block, and the fixing bracket is coupled to a one-axis mounting frame that covers the RWS.

In a preferred embodiment, the RWS is composed of a left RWS connected from the left to the wearing robot, and a right RWS connected from the right to the wearing robot.

In a preferred embodiment, the two-axis motion supporter is a body adjuster protruding into the inner space of the wearing robot while allowing the movement of left and right movement relative to the walking motion of the wearing robot, a horizontal guide for guiding the movement of the body adjuster A rod, a left and right movable block coupled to the horizontal guide rod at a distance from the body adjuster, and a biaxial elastic member coupled to the horizontal guide rod to generate a change in the spring elastic force according to the left and right movement direction of the body adjuster. Is composed.

In a preferred embodiment, the horizontal guide rod is separated into a movable rod and a support rod, the biaxial elastic member and the body adjuster are coupled to the movable rod, and one of the left and right movable blocks is coupled to the movable rod. While the other part is coupled to the support rod.

In a preferred embodiment, the biaxial elastic member is made of a coil spring positioned between the left and right movable blocks and the body adjuster.

In a preferred embodiment, a two-axis mounting frame is coupled to the two-axis elastic member, and the two-axis mounting frame fixes both ends of the horizontal guide rod.

In a preferred embodiment, the two-axis motion supporter includes a left horizontal motion supporter positioned to the left in the inner space of the wearing robot, and a right horizontal motion supporter positioned to the right in the inner space of the wearing robot.

In a preferred embodiment, the two-degree-of-freedom manual mechanism device is coupled to a robot frame, and the robot frame includes a wire so that the harness is positioned in the inner space of the wearing robot.

The expandable wearing robot system of the present invention implements the following actions and effects in connection with the wearing robot.

First, by using a combination of left and right/upper and lower springs, a two-degree of freedom manual mechanism device is implemented with only a simple mechanical configuration. Second, it is a two-degree of freedom manual mechanism device that has translational motion of the left and right springs and counter-balancing effect of the upper and lower springs, and stabilizes the movement of the center of gravity in the wearing robot, compensates for the weight of the robot, and provides convenience for riding and wearing the robot. It can overcome and solve all the limitations of existing wearable robots. Third, by stabilizing the movement of the center of gravity of the wearing robot, it is possible to obtain a voluntary gait training and high gait training effect for the left and right movement of the center of gravity. Fourth, walking training can provide diversity by excluding the robot load as the robot weight compensation of the worn robot. Fifth, by arranging the front robot mounting method of the wearing robot by a layout combination of the wearing robot and the 2-degree of freedom manual mechanism device, user convenience can be maximized for boarding and wearing the robot.

1 is an example in which an extended wearable robot system according to the present invention is applied to an automated walking robot system, and FIG. 2 is a configuration diagram of a robot weight support (RWS) of a two-degree of freedom manual mechanism device constituting an extended wearable robot system according to the present invention. 3 is an operation state of a robot weight support (RWS) that generates a counter-balancing effect according to the present invention, and FIG. 4 is a two-degree of freedom manual constituting the extended wearable robot system according to the present invention. It is a configuration diagram of the left and right motion supporter of the mechanism device, FIG. 5 is an operation state of the left and right motion supporter for stabilizing the movement of the center of gravity according to the present invention, and FIG. 6 is a two-degree of freedom manual mechanism device according to the present invention. This is an example that is arranged in a front robot mounting method.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying illustrative drawings, and such embodiments are described herein as examples because those of ordinary skill in the art may be implemented in various different forms. It is not limited to this embodiment.

Referring to Figure 1, the wearing robot (1-1) and the 2-degree of freedom manual mechanism device 120 constitutes an expandable wearable robot system, and the extended wearable robot system is a walking automation robot system (1) together with a walking training basic system. ).

Specifically, the configuration of the wearing robot 1-1 and the two-degree of freedom manual mechanism device 120 is as follows.

For example, the wearing robot 1-1 is located in front of the treadmill 1-5 (that is, the direction of entering and moving), and a pair of support links 2 located to the left and right of the treadmill 1-5 ) And a pair of support links (2) connected to each of the joint links (3). In particular, the wearing robot 1-1 moves up and down to generate walking motion in a fixed position using the robot frame 110, and an actuator for generating the walking motion power is provided at the connection part of the joint link 3 do.

Therefore, the wearing robot 1-1 has an arrangement of a front robot mounting method tailored to the position of the walking trainer, and this arrangement of the front robot mounting method eliminates the disadvantages of the rear robot mounting arrangement arrangement that is not aligned with the position of the existing walking trainer. In this case, “forward” means the direction that the trainee 100 wearing the wearing robot 1-1 looks at.

For example, the two-degree of freedom manual mechanism device 120 includes a robot weight support (RWS) 130 and a two-axis motion supporter 140.

The RWS 130 is a robot weight using a counter-balancing effect while linking the walking motion of the wearing robot 1-1 connected via the support link 2 to the vertical movement provided as a 1-axis motion. As a compensation, the weight of the robot is not applied as a load. On the other hand, the 2-axis motion supporter 140 generates a translational motion that assists the left and right movement of the walking motion in the opposite direction in the inner space of the wearing robot 1-1, thereby generating the center of gravity of the trainee caused by unstable left and right movement. It stabilizes the movement, and provides voluntary walking training and high walking training effect by stable center of gravity movement of the wearing robot (1-1).

In particular, the RWS 130 and the two-axis motion supporter 140 have a two-degree of freedom movement mechanism of up and down/left and right, in addition to the function of assisting the walking motion of the wearing robot 1-1 by a spring combination that generates a spring reaction force. It stabilizes the movement.

Therefore, the two-degree of freedom manual mechanism device 120 is a combination of the RWS 130 and the two-axis motion supporter 140, thereby reducing the cost of the existing expensive actuator equipment for assisting the walking motion of the wearing robot 1-1. Reduction and simplification of the structure relieves it. Furthermore, the two-degree of freedom manual mechanism device 120 is a combination of the RWS 130 and the two-axis motion supporter 140, so that the uncomfortable robot wearability due to the rear robot mounting method of the conventional wearable robot 1-1 It is solved by a robot-mounted method. From this, the RWS 130 and the two-axis motion supporter 140 enable the existing wearable robot system as an extended wearable robot system.

Furthermore, the two-degree of freedom manual mechanism device 120 further includes a motion supporter frame 150 for integrating the RWS 130 and the two-axis motion supporter 140, and the motion supporter frame 150 is a one-axis mounting The frame 150-1, the two-axis mounting frame 150-2, and the frame connecting member 150-3 may be used as components.

For example, the single-axis mounting frame 150-1 is composed of a structure that wraps and couples the RWS 130 to prevent and protect the RWS 130 from being exposed to the outside, while the two-axis mounting frame 150-2 ) Is composed of a structure that wraps and couples the two-axis motion supporter 140 to prevent exposure and protect the two-axis motion supporter 140 to the outside. In addition, the frame connecting member 150-3 is composed of a bolt, a nut, and a fixing bracket to connect the one-axis mounting frame 150-1 and the two-axis mounting frame 150-2.

On the other hand, the walking training basic system is a P-bar (1-2), a robot controller (1-3), a display (1-4), a treadmill (1-5), and a harness (Harness) ( 50), consisting of a robot frame 110, and these components are applied as essential devices for a walking automated robot system.

Therefore, the gait training basic system is P-bar (1-2), robot controller (1-3), display (1-4), treadmill (1-5), harness (Harness) ( 50), the configuration of the robot frame 110 is as follows.

For example, the P-bar 1-2 is positioned to the left and right of the treadmill 1-5 so that the trayy 100 (see FIG. 4) raised to the treadmill 1-5 can be held by hand. The robot controller 1-3 is positioned on either side of the left and right side of the treadmill 1-5, the actuator for the joint of the wearing robot 1-1, the screen transmission of the display 1-4, and the treadmill 1- An electric circuit is constructed for reproducing the walking speed of 5) and the wire 31 of the harness 50. The display (1-4) is located in front of the treadmill (1-5) and reproduces the screen under the control of the robot controller (1-3). The treadmill 1-5 reproduces the walking speed.

In addition, the P-bar (1-2) is composed of a “”-shaped bar and is composed of a pair installed on the left and right sides of the wearing robot (1-1) from the left and right of the treadmill (1-5), and a safety rod for walking motion. Functions as. The robot controller 1-3 is composed of a micro controller unit or a computer, and has logic or programs for adjusting wire tension and reproducing the difference in walking speed, controlling screen playback and controlling actuators, and A matching map may be provided.

In addition, the display 1-4 may be a monitor that reproduces a screen under the control of the robot controller 1-3 or a TV that independently reproduces the screen. The treadmill 1-5 may be driven under the control of the robot controller 1-3 or may be independently driven.

For example, the harness 50 has a seat on which the trayy 100 (see Fig. 4) is mounted, and the seat has a harness band connected to a harness plate connected to a wire 31 (see Fig. 4).

As an example, the robot frame 110 is coupled with the manual mechanism device 120 of 2 degrees of freedom, is positioned in front of the treadmill 1-5, and contains a wire 31 connected to the harness 50. In particular, the robot frame 110 includes an electric winch for adjusting the length of the wire 31 and is driven and controlled by the robot controller 1-3, thereby adjusting the height of the harness 50 and the tension of the wire 31. It is possible to adjust the walking training intensity for the trainee 100 by adjustment.

2 to 6 will be described in detail the RWS 130 and the two-axis motion supporter 140.

First, FIGS. 2 and 3 illustrate detailed configurations and operations of the RWS 130 and the 2-axis motion supporter 140. In this case, the trainee 100 is illustrated in FIG. 6.

Referring to FIG. 2, the RWS 130 includes a fixing bracket 131, a vertical guide rod 133, a single-axis elastic member 135, and a vertical movement block 137.

For example, the fixing bracket 131 is coupled to the one-axis mounting frame 150-1, and provides a space in which the vertical guide rod 133, the one-axis elastic member 135, and the vertical movement block 137 are assembled. . The vertical guide rod 133 is vertically erected on the fixing bracket 131 and is coupled to the vertical movement block 137. The uniaxial elastic member 135 surrounds the vertical guide rod 133 and elastically supports the lower end of the vertical movement block 137 to provide an elastic repulsion force according to the movement of the vertical movement block 137. The up and down movement block 137 is connected to the support link 2 of the wearing robot 1-1, so that the wearing robot 1-1 in a fixed state enables a one-axis motion in which the height is adjusted by moving the vertical position. give.

In particular, the fixing bracket 131 has a “c” shape with one open so that the support link 2 of the wearing robot 1-1 is positioned. The vertical guide rod 133 includes a pair of first rods ( 133a) and the second rod 133b, and are coupled with the vertical movement block 137 at spaced intervals to stably guide the vertical movement of the vertical movement block 137. The uniaxial elastic member 135 is a pair of elastic members 135 Consisting of a first elastic member 135a and a second elastic member 135b, they are coupled to each of the first rod 133a and the second rod 133b The vertical movement block 137 has a structure protruding from the block body. A connection flange (137a) is formed, and the connection flange (137a) provides a space for fastening bolts and nuts, thereby strengthening the connection state of the support link (2) of the wearing robot (1-1) and the vertical movement block (137). Keeps you going.

Furthermore, each of the first elastic member 135a and the second elastic member 135b arranges six coil springs in series and parallel structures. For this reason, the spring elastic modulus values of the first and second

elastic members

135a and 135b allow additional force to be transmitted to the wearing robot 1-1 in the downward direction of the up and down movement block 137, and add a reverse direction. This is because the force generates a reaction to the wearing robot (1-1) that impairs the stability of the walking motion.

Therefore, since each of the first elastic member 135a and the second elastic member 135b consists of six series and parallel coil springs, the generation of reverse additional force is reduced to a lower elastic modulus compared to one integrated series coil spring. Minimize it.

In addition, the up and down movement block 137 is moved up and down to compensate for the weight of the robot for the vertical movement of the trainee 100 for the walking motion of the wearing robot (1-1) along with the height adjustment of the wearing robot (1-1) As a result, it performs the main function to prevent the walking training of the trainee 100 wearing the wearing robot 1-1 from being affected or disturbed by the robot's own weight.

Meanwhile, the RWS 130 is placed on the left side of the treadmill (1-5) and is placed on the left RWS (130A) protected by the 1-axis mounting frame (150-1) and the right side of the treadmill (1-5). It consists of the right RWS (130B) protected by the shaft mounting frame (150-1). In this case, the left RWS (130A) and the right RWS (130B) have the same components as the fixing bracket 131, the vertical guide rod 133, the one-axis elastic member 135, and the vertical movement block 137, respectively. .

Therefore, the left RWS (130A) can adjust the height of the left portion of the wearing robot (1-1), and the right RWS (130B) can adjust the height of the right portion of the wearing robot (1-1), and further The spring reaction force of the left RWS (130A) and the right RWS (130B) performs a counter-balancing against the robot weight of the wearing robot (1-1) so that the wearing robot (1-1) is stabilized. do.

Referring to FIG. 3, the wearing robot 1-1 is linked with the left and

right RWSs

130A and 130B, so that the training robot 1-1 has a counter-balancing effect and It enables the action of minimizing adverse force according to the movement of the walking pattern.

For example, the counter balance action is implemented by the movement of the walking pattern of the wearing robot 1-1 by the vertical motion of the left and right RWS (130A, 130B). That is, the movement in the downward direction according to the walking pattern movement of the wearing robot 1-1 lowers the vertical movement block 137 of the left and right RWS (130A, 130B) in the downward direction, and the downward movement of the vertical movement block 137 Stabilizes the downward movement of the wearing robot (1-1). In addition, the upward movement according to the movement of the walking pattern of the wearing robot (1-1) is by raising the vertical movement block 137 of the left and right RWS (130A, 130B) in the upward direction to prevent the upward movement of the wearing robot (1-1). Stabilizes it.

For example, the action of minimizing the occurrence of reverse force is caused by the downward movement of the vertical movement block 137 in which the one-axis elastic member 135 of the left and right RWS (130A, 130B) is connected with the walking pattern movement of the wearing robot (1-1). It is implemented by buffering the reaction of walking motion with elastic compressive force and elastic restoring force by upward movement. That is, the vertical movement block 137 through which the first and second

elastic members

135a and 135b in series and parallel arrangement of six coil springs constituting the one-axis elastic member 135 are transmitted to the wearing robot 1-1 It stabilizes the motion of the wearing robot (1-1) that implements the walking pattern movement by absorbing most of the additional force in the reverse direction caused by the vertical movement of the robot.

Therefore, the adverse force generation minimization action compensates for the weight of the robot during the vertical movement of the wearing robot 1-1 according to the walking training of the trainee 100, and such compensation for the weight of the robot is performed by wearing the wearing robot 1-1. The trainee 100 allows walking training in a state that is not affected by the robot's own weight.

4 and 5 illustrate detailed configurations and operations of the 2-axis motion supporter 140. In this case, the trainee 100 is illustrated in FIG. 6.

4, the two-axis motion supporter 140 includes a horizontal guide rod 141 and a two-axis elastic member 143, a left and right movement block 145, a body adjuster 147, a stopper 148 and an auxiliary It consists of a spring (149).

For example, the horizontal guide rod 141 is coupled to the two-axis mounting frame 150-2, and the two-axis elastic member 143, the left and right movable blocks 145, and the body adjuster 147 are coupled. The biaxial elastic member 143 is formed of a coil spring having a spring elastic modulus value and is coupled to the horizontal guide rod 141. The left and right movement block 145 is coupled to the horizontal guide rod 141 while supporting one side of the biaxial elastic member 143 and moves to the left or right. The body adjuster 147 is coupled to the horizontal guide rod 141 while supporting the other side of the biaxial elastic member 143 and moves to the left or right. The stopper 148 is connected to the body adjuster 147 and, when moving to the left or right, contacts the support link 2 of the wearing robot 1-1 to limit the movement. The auxiliary spring 149 provides a spring elastic force to the body adjuster 147.

In particular, the horizontal guide rod 141 is composed of a movable rod 141a and a support rod spaced therebetween 141b, and each of the movable rod 141a and the support rod 141b has a biaxial end portion. By being fixed to the mounting frame 150-2, it is arranged in the longitudinal direction of the two-axis mounting frame 150-2.

And the biaxial elastic member 143 is coupled to the moving rod (141a). The left and right movable blocks 145 are coupled to the movable rod 141a to support one side of the biaxial elastic member 143 and are also coupled to the support rod 141b. When the body adjuster 147 is coupled to the moving rod 141a to support the other side of the biaxial elastic member 143, “

It protrudes into the inner space of the wearing robot (1-1) in shape. The stopper 148 protrudes to a length outside the body adjuster 147 while being fixed to the coupling portion of the moving rod 141a of the body adjuster 147.

In addition, the auxiliary spring 149 is formed of a torsion spring and is positioned between the body adjuster 147 and the stopper 148.

Therefore, the two-axis motion supporter 140 is located independently of the wearing robot 1-1 in the inner space of the wearing robot 1-1, so that the trainee 100 wearing the wearing robot 1-1 ) Assists to maintain the center of gravity of the Trainee 100 stably by buffering and absorbing the left and right movements that cause posture instability when moving in a walking pattern.

Meanwhile, the two-axis motion supporter 140 includes a left horizontal motion supporter 140A positioned to the left in the inner space of the wearing robot 1-1 and a right horizontal motion supporter 140A positioned to the right in the inner space of the wearing robot 1-1. It is composed of a motion supporter (140B). In this case, the left horizontal motion supporter 140A and the right horizontal motion supporter 140B each have a horizontal guide rod 141 and a biaxial elastic member 143, a left and right movement block 145, a body adjuster 147, The stopper 148 and the auxiliary spring 149 are the same components.

Therefore, the "" of the left horizontal motion supporter 140A

“The shape of the body adjuster 147 and the right horizontal motion supporter 140B”

“The shape body adjusters 147 face each other so that “

It occupies the inner space of the wearing robot (1-1) by shape. Accordingly, the movement of the

horizontal motion supporters

140A and 140B in the opposite direction or the approach movement in the same direction implements a two-axis motion for the left and right positions. As a result, the left and right

horizontal motion supporters

140A and 140B enable a stable walking training posture of the Trainee 100 regardless of the size difference of the Trainee 100 in the inner space of the wearing robot 1-1.

Referring to FIG. 5, the wearing robot 1-1 is connected with the left and right

horizontal motion supporters

140A and 140B, so that the translation of the trainee 100 having a walking movement while wearing the action robot 1-1 It enables movement and stabilization of the center of gravity and size adjustment for the trainee 100.

For example, in the translational movement, the left and right

horizontal motion supporters

140A and 140B holding the trainee 100 wearing the wearing robot 1-1 in a fixed state with the body adjuster 147 are trained according to the walking pattern movement. It is achieved by absorbing and buffering the movement of (100) left and right.

That is, the left movement of the trainee 100 is a left movement force that presses the body adjuster 147 of the left horizontal motion supporter 140A while the body adjuster 147 of the right horizontal motion supporter 140B is fixed. The left moving force is transferred along the moving rod 141a and the support rod 141b along with the body adjuster 147 by the left and right movement blocks 145 of the left horizontal motion supporter 140A. In this way, the left horizontal motion supporter 140A stably maintains the left movement of the trainee 100, and at the same time, the left RWS 130A is independent of the wearing robot 1-1 in accordance with the left movement of the trainee 100. It appears as a translational exercise effect.

On the other hand, the right movement of the trainee 100 is implemented with the right horizontal motion supporter 140B while the body adjuster 147 of the left horizontal motion supporter 140A is fixed, and the final process is the left horizontal motion supporter 140A. ), the direction is the same, but only the opposite direction.

For example, the stabilization of the movement of the center of gravity is implemented by maintaining the center of gravity of the trainee 100 made the same as the normal walking pattern.

That is, the left horizontal motion supporter 140A and the right horizontal motion supporter 140B assist in posture instability due to the walking movement of the trainee 100 wearing the fixed wearing robot 1-1 with a spring reaction force, The spring reaction force assist acts to stabilize the center of gravity for each of the left and right movements of the trainee 100, thereby enabling stable walking movement even in the state where the trainee 100 is wearing the wearing robot 1-1.

For example, the size adjustment is implemented by opening or narrowing the body adjusters 147 of the left and right

horizontal motion supporters

140A and 140B. That is, the body adjuster 147 generates a width adjustment movement that opens or narrows according to the size of the trainee 100, and the width adjustment movement of the body adjuster 147 is the elasticity of the biaxial elastic member 143 It is transmitted to the left and right movement block 145 through deformation, and the left and right movement block 145 moves through the movement rod 141a and the support rod 141b together with the body adjuster 147 to move the left and right horizontal motion supporters 140A. ,140B) of “

”It fits the size of the trainee 100 by opening or narrowing the shape.

Referring to FIG. 6, the wearing robot 1-1 is arranged in a front robot mounting manner, thereby providing convenience of wearing the robot of the trainee 100 moved to the front of the treadmill 1-5 while providing the robot frame ( 110), the left and right RWS (130A, 130B) and the left and right horizontal motion supporters (140A, 140B) linked to the wearing robot (1-1) implement the following actions and effects.

For example, the treadmill (1-5) shortens the line of movement reached to grab the P-bar (1-2) by moving the trainee (100) from the rear to the front. In addition, the wearing robot (1-1) is located in front of the treadmill (1-5) to increase the accessibility of the trainee (100).

And the harness 50 is connected to the wire 31 that is adjusted in length in the robot frame 110 by the control of the robot controller (1-3) located to the left of the robot frame 110 for wearing the harness 50. It greatly reduces the operation of the trainee 100.

Therefore, by applying the left and right RWS (130A, 130B) and left and right horizontal motion supporters (140A, 140B) to the walking automation robot system (1), it is possible to reduce the movement of the trainee 100 for wearing the wearing robot (1-1). Do.

As described above, the extended wearable robot system applied to the walking automation robot system 1 according to the present embodiment is capable of reducing the load of the robot and assisting the vertical movement with the counter-balancing effect of the one-axis motion by the vertical spring. A wearable robot (1-1) by including a possible RWS (Robot Weight Support) 130, a 2-axis motion supporter 140 capable of voluntarily moving left and right through stabilization of the center of gravity movement through translational movement of 2-axis motion by left and right springs. It can provide the effect of counter-balancing/reverse force minimization/translational movement/gravity center stabilization/size adjustment during the walking motion of the RWS (130) and the two-axis motion supporter (140). By applying a spring that assists the left and right movement by changing the elastic modulus, it is possible to reduce manufacturing cost and simplify the structure compared to existing actuator equipment.

Claims

A wearable robot that generates a walking motion with actuator power;

The vertical movement associated with the wearing robot is a 1-axis motion, and the horizontal movement independent of the wearing robot is generated as a 2-axis motion, and the vertical movement direction for the 1-axis motion is followed and the left and right movement for the 2-axis motion A two-degree of freedom manual mechanism device that implements directional follow-up with each spring elastic force change;

Wearing robot system, characterized in that it includes.
The method according to claim 1, wherein the two-degree of freedom manual mechanism device is RWS (Robot Weight Support) generating a counter-balancing effect for the wearing robot by the 1-axis motion, the wearing robot by the 2-axis motion Wearing robot system, characterized in that consisting of a two-axis motion supporter that stabilizes the movement of the center of gravity according to the horizontal movement in the inner space of the.
The method according to claim 2, wherein the RWS is a vertical movement block that is moved up and down to compensate for the weight of the robot for height adjustment of the wearing robot and the vertical movement for the walking motion of the wearing robot, according to the vertical movement direction of the vertical movement block. Consist of a uniaxial elastic member for elastically supporting the lower portion of the up-and-down movement block so that the spring elastic force change occurs, and a vertical guide rod that is coupled with the up-and-down movement block to guide the vertical movement while fixing the position of the uniaxial elastic member Wearing robot system, characterized in that the.
The wearable robot system of claim 3, wherein the uniaxial elastic member is formed by combining a plurality of coil springs with springs.
The wearable robot system of claim 4, wherein the spring combination is a series and parallel arrangement of the coil springs.
The wearable robot system of claim 3, wherein each of the vertical guide rod and the uniaxial elastic member is configured as a pair of two.
The wearable robot system according to claim 3, wherein the RWS is provided with a fixing bracket that forms an up-and-down space of the vertical movement block, and the fixing bracket is coupled to a one-axis mounting frame that covers the RWS.
The wearing robot system according to claim 2, wherein the RWS is composed of a left RWS connected to the wearing robot from a left and a right RWS connected to the wearing robot from a right.
The method according to claim 2, wherein the two-axis motion supporter is a body adjuster that allows the movement of left and right movement relative to the walking motion of the wearing robot, a horizontal guide rod guiding the movement of the body adjuster, and a distance between the body adjuster and A wearable robot system comprising: a left and right movable block coupled to the horizontal guide rod, and a biaxial elastic member coupled to the horizontal guide rod to generate a change in the spring elastic force according to the left and right movement direction of the body adjuster. .
The method according to claim 9, wherein the horizontal guide rod is separated into a movable rod and a support rod, the biaxial elastic member and the body adjuster are coupled to the movable rod, and one part of the left and right movable block is coupled to the movable rod. Wearing robot system, characterized in that while the other part is coupled to the support rod.
The wearable robot system of claim 9, wherein the biaxial elastic member is positioned between the left and right movable block and the body adjuster.
The wearable robot system of claim 11, wherein the biaxial elastic member comprises a coil spring.
The wearable robot system of claim 9, wherein the body adjuster protrudes into the inner space of the wearable robot.
The wearable robot system of claim 9, wherein a two-axis mounting frame is coupled to the two-axis motion supporter, and the two-axis mounting frame fixes both ends of the horizontal guide rod.
The wearing according to claim 2, wherein the two-axis motion supporter comprises a left horizontal motion supporter positioned to the left in the inner space of the wearing robot, and a right horizontal motion supporter positioned to the right in the inner space of the wearing robot. Robot system.
The wearable robot system of claim 1, wherein the two-degree of freedom manual mechanism device is coupled to a robot frame, and the robot frame includes a wire so that a harness is positioned in an inner space of the wearable robot.