Support arm device

Abstract

According to one embodiment, the arm support device may include: a fixed part, fixed to an external object; a horizontal moving module, one end of which is rotatably connected to the above-mentioned fixed part, and the other end of which can perform a two-degree-of-freedom translational action on the above-mentioned fixed part; and an arm support module, which can be arranged to perform a two-degree-of-freedom rotational action on the other end of the above-mentioned horizontal moving module.

Description

Technical Field

[0001] The following description relates to a support arm device. Background Art

[0002] The arm rest supports the user's arm and part of the hand, improves the movement accuracy of the arm, improves the shaking of the arm, and reduces the fatigue caused by the movement of the arm.

[0003] However, most conventional arm supports simply support a portion of the arm and have a structure that makes it difficult to fix and stably support the arm even when the position and angle of the arm change within the workspace, that is, in various arm postures.

[0004] Therefore, ergonomic activities can be achieved according to the movement or posture changes of the user's arm, and there is an increasing trend in the necessity of arm support devices that can accurately guide the arm movements and effectively relieve the user's fatigue.

[0005] The aforementioned background technology is what the inventor possesses or masters in the process of deriving the present invention, and it cannot be regarded as necessarily being the known technology disclosed to the public before the application of the present invention. Summary of the invention

[0006] Technical issues

[0007] An object of one embodiment is to provide an arm support device.

[0008] Solutions to the problem

[0009] According to one embodiment, the arm support device may include: a fixed part, fixed to an external object; a horizontal moving module, one end of which is rotatably connected to the above-mentioned fixed part, and the other end of which can perform a two-degree-of-freedom translational action on the above-mentioned fixed part; and an arm support module, which can be set to perform a two-degree-of-freedom rotational action on the other end of the above-mentioned horizontal moving module.

[0010] The horizontal moving module may include: a central connecting portion rotatably connected to the fixing portion via a plurality of connecting rods; and a rotating end portion rotatably connected to the central connecting portion via a plurality of connecting rods, and the arm supporting module is rotatably disposed.

[0011] The above-mentioned horizontal moving module may include: a first driving frame, including a first connecting rod whose one end is rotatably connected to the above-mentioned fixed part based on a first rotating axis, and whose other end is rotatably connected to the above-mentioned central connecting part based on a second rotating axis parallel to the above-mentioned first rotating axis; and a second driving frame, including a driving connecting rod rotatably connected to the above-mentioned fixed part based on the above-mentioned first rotating axis, a second connecting rod rotatably connected to the above-mentioned driving connecting rod based on a third rotating axis parallel to the above-mentioned first rotating axis, and a third connecting rod whose one end is rotatably connected to the above-mentioned second connecting rod based on a fourth rotating axis separated in a state parallel to the above-mentioned third rotating axis, and whose other side is rotatably connected to the above-mentioned central connecting part based on the above-mentioned second rotating axis.

[0012] The first driving frame and the second driving frame may maintain a parallelogram shape.

[0013] The above-mentioned horizontal moving module may also include a fourth connecting rod, one end of which is rotatably connected to the above-mentioned central connecting part based on the above-mentioned second rotating axis, and the other end is rotatably connected to the above-mentioned rotating end part based on the fifth rotating axis parallel to the above-mentioned first rotating axis. The above-mentioned fourth connecting rod is fixed to the above-mentioned third connecting rod and can rotate together based on the above-mentioned second rotating axis.

[0014] According to one embodiment, the arm device further includes a damping part, which forms a resistance to the rotational movement of the first driving frame based on the first rotation axis, and forms a resistance to the rotational movement of the second driving frame based on the first rotation axis.

[0015] The above-mentioned first driving frame may also include a first protruding component, which is fixed to the above-mentioned first connecting rod, rotates based on the above-mentioned first rotating axis, and has an edge shape that at least partly protrudes radially based on the above-mentioned first rotating axis. The above-mentioned driving connecting rod has an edge shape that at least partly protrudes radially based on the above-mentioned first rotating axis. The above-mentioned damping part may include a first damping component that contacts the above-mentioned first protruding component and a second damping component that contacts the edge of the above-mentioned driving connecting rod.

[0016] The resistance formed in the damping portion can be adjusted.

[0017] The above-mentioned horizontal moving module may also include a 5th connecting rod, one end of the above-mentioned 5th connecting rod is rotatably connected to the above-mentioned fixed part based on a 6th rotating axis separated from the above-mentioned 1st rotating axis in a state parallel to the above-mentioned 1st rotating axis, and the other end of the above-mentioned 5th connecting rod is rotatably connected to the above-mentioned central connecting part based on a 7th rotating axis separated from the above-mentioned 2nd rotating axis in a state parallel to the above-mentioned 2nd rotating axis. The above-mentioned 5th connecting rod is parallel to the above-mentioned 1st connecting rod, and the length of the above-mentioned 5th connecting rod may be the same as the length of the above-mentioned 1st connecting rod.

[0018] The above-mentioned horizontal moving module also includes a 6th connecting rod, one end of the above-mentioned 6th connecting rod is rotatably connected to the above-mentioned central connecting part based on the 8th rotating axis separated in a state parallel to the above-mentioned 2nd rotating axis, and the other end is rotatably connected to the above-mentioned rotating end part based on the 9th rotating axis separated in a state parallel to the above-mentioned 5th rotating axis. The above-mentioned 6th connecting rod is parallel to the above-mentioned 4th connecting rod, and the length of the above-mentioned 6th connecting rod can be the same as the length of the above-mentioned 4th connecting rod.

[0019] The arm support module may include: a first support portion, rotatably connected based on an arm rotation axis formed at the rotation end; a rotation link, rotatably arranged based on a tilt adjustment axis formed at the first support portion; and a gravity compensation portion, providing an elastic restoring force that increases as the rotation link is spaced apart in a direction perpendicular to the ground.

[0020] The gravity compensation part may include: an elastic body, whose length changes with the angle of the rotating link and is arranged in a direction parallel to the length direction of the rotating link; and a metal wire, one end of which is fixed to the other side of the elastic body and the other end of which is connected to a part of the first support part that is above the tilt adjustment axis.

[0021] The rotating link may include a guide wheel for guiding the metal wire so that the tension transmitted from the metal wire to the elastic body is parallel to the length direction of the rotating link.

[0022] According to one embodiment, the arm support device may include: a first four-section linkage structure, including a fixed linkage fixed to an external object; a second four-section linkage structure, sharing any one of the linkages in the first four-section linkage structure; a third four-section linkage structure, sharing another linkage in the first four-section linkage structure, and having a linkage fixed to any one of the linkages in the second four-section linkage structure; and an arm support module, arranged in the second four-section linkage structure, capable of supporting the arm of the user.

[0023] In the first four-section connecting rod structure, the fixed connecting rod, any one of the connecting rods and the other connecting rod may be different.

[0024] The three four-link structures mentioned above can all have a parallelogram shape.

[0025] The first four-section connecting rod structure may include the fixed connecting rod, a central connecting portion separated from the fixed connecting rod, and a pair of first connecting rods mutually connecting the fixed connecting rod and the central connecting portion.

[0026] The second four-link structure may include the central connecting portion, a rotating end portion separated from the central connecting portion and connected to the arm supporting module, and a pair of second links mutually connecting the central connecting portion and the rotating end portion.

[0027] The other link may be any one of the pair of first links.

[0028] Any one of the links in the third four-link structure rotates around the same axis as any one of the links in the first four-link structure.

[0029] Effects of the Invention

[0030] According to the arm support device of one embodiment, all postures on the workspace can support the user's arm movements, thereby reducing fatigue caused by the user's arm movements.

[0031] According to an arm support device of one embodiment, horizontal movement suitable for fixation and damping can be realized, thereby allowing the user to perform precise arm movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a three-dimensional diagram showing the use of the arm device according to one embodiment.

[0033] Figure 2 It is a three-dimensional view of an arm device according to one embodiment.

[0034] Figure 3 is a block diagram of a damping unit according to an embodiment.

[0035] Figure 4 FIG. 4 is a perspective view of a horizontal movement module according to an embodiment.

[0036] Figure 5 The figure is a top view briefly showing the operating structure of the horizontal moving module according to one embodiment.

[0037] Figure 6 is a perspective view of an arm support module according to an embodiment.

[0038] Figure 7 and Figure 8 is a side view of an arm support module according to one embodiment. DETAILED DESCRIPTION

[0039] The following is a detailed description of the embodiments through exemplary drawings. When adding reference numerals to the structural elements of each drawing, it should be noted that the same structural elements should be given the same reference numerals as much as possible even if they are shown in other drawings. In addition, when describing the embodiments, if it is determined that the specific description of the relevant known structure or function hinders the understanding of the embodiments, the detailed description thereof will be omitted.

[0040] Furthermore, when describing the structural elements of the embodiments, terms such as 1st, 2nd, A, B, (a), (b) etc. may be used. These terms are only used to distinguish the structural elements from other structural elements, and do not mean that the nature, order or sequence of the related structural elements are limited to the terms. When certain structural elements are described as being "connected", "combined" or "connected" to other structural elements, although the structural elements may be directly connected or connected to other structural elements, it should be understood that the structural elements may also be "connected", "combined" or "connected" to other structural elements.

[0041] The structural elements including the same functions as the structural elements included in any one embodiment are described in other embodiments using the same names. Unless there is any contrary record, the description recorded in any one embodiment can also be applied to other embodiments, so the specific description within the scope of duplication is omitted.

[0042] Figure 1 is a perspective view showing the use of the support arm device according to one embodiment, Figure 2 It is a three-dimensional view of an arm device according to one embodiment.

[0043] Reference Figure 1 and Figure 2 According to one embodiment, the arm support device 1 can support the movement of the user's arm in the workspace.

[0044] For example, the support arm device 1 is as follows Figure 1 As shown, the arm support device 1 is fixed to an external object 9 such as a desk, and can support the user's arm movements in all postures on the workspace. The arm support device 1 can relieve the fatigue caused by the user's arm movements, and can achieve horizontal movements suitable for fixing and damping, thereby allowing the user to move the arm precisely.

[0045] The arm support device 1 according to an embodiment may include a fixing portion 11 , a horizontal moving module 13 , a damping portion 12 and an arm supporting module 14 .

[0046] The fixing portion 11 is fixed to the external object 9 and can provide a driving reference position of the arm device 1 .

[0047] For example, the fixing portion 11 may include: a fixing base 112 that can be fixed to an external object; and a supporting base 111 connected to the fixing base 112 to drivably support a horizontal moving module 13 and an arm supporting module 14 to be described later.

[0048] Fixed base 112 Figure 1 As shown, it can be fixed to an external object 9 such as a desk, shelf, table, etc.

[0049] The supporting base 111 is fixed to the fixing base 112 , and can provide a relative rotation or movement reference point for the horizontal moving module 13 .

[0050] The horizontal moving module 13 can move horizontally with two degrees of freedom based on the fixed part 11. For example, one end of the horizontal moving module 13 is rotatably connected to the support base 111, and the other end rotatably supports the arm support module 14 while moving horizontally relative to the fixed part 11.

[0051] The damping unit 12 is connected to the horizontal moving module 13, and can form a resistance based on the movement of the horizontal moving module 13. For example, the resistance formed by the damping unit 12 can be adjusted, thereby not only preventing the horizontal moving module 13 from moving at all, but also making the moving speed of the horizontal moving module 13 different even if the user applies the same force.

[0052] The arm support module 14 is movably supported on the horizontal moving module 13 to support the user's arm. For example, the arm support module 14 may include two arm brackets 143 and 147 rotatably disposed between each other based on rotation axes parallel to the horizontal direction in which the horizontal moving module 13 moves.

[0053] In the description and drawings of the present application, based on the fixing part 11, the horizontal direction is the direction within a plane parallel to the ground (the xy plane of the drawing), and the vertical direction is the direction perpendicular to the ground (the z-axis direction of the drawing), but it is revealed that the above-mentioned horizontal direction and vertical direction may be different from the coordinate axis of the ground depending on the fixing position of the fixing part 11.

[0054] For detailed description of the horizontal moving module 13, the damping unit 12 and the arm supporting module 14, refer to Figures 3 to 8 This will be described later.

[0055] Figure 3 is a block diagram of a damping unit according to an embodiment, Figure 4 is a perspective view of a horizontal movement module according to an embodiment, Figure 5 The figure is a top view briefly showing the operating structure of the horizontal moving module according to one embodiment.

[0056] Reference Figures 3 to 5 , the specific structures of the horizontal moving module 13 and the damping part 12 according to one embodiment can be confirmed.

[0057] According to an embodiment, the horizontal moving module 13 may include a first driving frame 131 , a second driving frame 132 , a central connecting portion 133 , a rotating end portion 134 , and a plurality of connecting rods 135 , 136 , and 137 .

[0058] The first driving frame 131 is rotatable on the fixed portion 11 based on the first rotation axis A. For example, one end of the first driving frame 131 is rotatably connected to the support base 111 based on the first rotation axis A, and the other end of the first driving frame 131 is rotatably connected to the central connection portion 133 based on the second rotation axis B parallel to the first rotation axis A.

[0059] For example, the first driving frame 131 may include: a first connecting rod 1311 connected between the first rotation axis A and the second rotation axis B; and a first protruding member 1312 fixed to the first connecting rod 1311 and rotating based on the first rotation axis A.

[0060] The first protruding member 1312 may have an arc-shaped edge shape at least partially protruding radially from the first link 1311 based on the first rotation axis A. For example, the first protruding member 1312 is connected to the first damping unit 121 described later, and may form resistance to the rotational motion of the first link 1311 .

[0061] For example, the first protruding member 1312 may include a first contact surface 13121 that contacts the first damping member 1213 of the first damping unit 121 along an arc-shaped edge.

[0062] The second driving frame 132 may have a structure of three-section links 1322 , 1321 , and 1323 rotatably connected between the first rotation axis A of the fixed portion 11 and the second rotation axis B of the central connection portion 133 .

[0063] For example, the second driving frame 132 may include: a driving link 1322, which is rotatably connected to the fixed part based on the first rotation axis A; a second link 1321, which is rotatably connected to the driving link 1322 based on the third rotation axis G parallel to the first rotation axis A; a third link 1323, one end of which is rotatably connected to the second link 1321 based on the fourth rotation axis H separated from the third rotation axis G in a state parallel to the third rotation axis G, and the other end of which is rotatably connected to the central connecting part 133 based on the second rotation axis B.

[0064] The driving link 1322 is rotatably connected to the first rotation axis A, and may have a shape including an arc-shaped edge that at least partially protrudes radially. For example, the driving link 1322 may also be referred to as a second protruding member 1322 .

[0065] For example, the second protruding member 1322 may include a second contact surface 13221 that contacts the second damping member 1223 of the second damping unit 122 along an arc-shaped edge.

[0066] The first driving frame 131 and the second driving frame 132 can be formed into a four-section connecting rod structure connecting the fixing part 11 and the central connecting part 133, the length of the second connecting rod 1321 can be the same as the length of the first connecting rod 1311, and the length of the driving connecting rod 1322 can be the same as the length of the third connecting rod 1323.

[0067] According to the above structure, each connecting rod 1311, 1321, 1322, 1323 can form a parallelogram shape in which the connecting rods facing each other remain parallel. The above parallelogram structure can have higher rigidity (stiffness) than other transmission structures, so even if relatively light raw materials are used, equivalent rigidity can be ensured. For example, at least a portion of each connecting rod 1311, 1321, 1322, 1323 can be made into a carbon fiber pipe (carbon fiber pipe) with excellent rigidity 5 to 10 times higher than aluminum or steel, thereby providing a lighter and stronger structure.

[0068] The central connection portion 133 is connected from the fixed portion 11 to the first driving frame 131 and the second driving frame 132 , and is movable in a direction parallel to the fixed portion 11 .

[0069] The rotating end portion 134 is rotatably and movably connected to the central connecting portion 133 through a plurality of connecting rods 135 and 137, and an arm rotating axis C of the arm supporting module 14 described later can be rotatably provided. For example, the arm rotating axis C can be parallel to the first rotating axis A. A damping portion that forms resistance to relative rotational movement between components connected to the arm rotating axis C can be provided on the arm rotating axis C. According to such a damping portion, damping of the movement on the plane of the arm support device 1 can be achieved.

[0070] The plurality of links 135 , 136 , 137 may include a fourth link 135 , a fifth link 136 , and a sixth link 137 .

[0071] One end of the fourth link 135 is rotatably connected to the central connection portion 133 based on the second rotation axis B, and the other end is rotatably connected to the rotation end portion 134 based on the fifth rotation axis F parallel to the first rotation axis A.

[0072] For example, the fourth link 135 may be fixed to the third link 1323, and when the third link 1323 rotates based on the second rotation axis B, the fourth link 135 may rotate simultaneously. In other words, the fourth link 135 and the third link 1323 may perform a rigid body motion, and in this viewpoint, the fourth link 135 and the third link 1323 may also be understood to refer to different parts of the same link.

[0073] One end of the fifth link 136 is rotatably connected to the fixed portion 11 based on the sixth rotation axis D spaced apart in parallel with the first rotation axis A, and the other end is rotatably connected to the central connection portion 133 based on the seventh rotation axis E spaced apart in parallel with the second rotation axis B.

[0074] For example, the length of the fifth link 136 may be the same as the length of the first link 1311. For example, the distance and direction of the sixth rotation axis D from the first rotation axis A on the fixed portion 11 may be the same as the distance and direction of the seventh rotation axis E from the second rotation axis B on the central connecting portion 133.

[0075] According to the above structure, the first link 1311 and the fifth link 136 can always maintain a parallel state, so that the first link 1311 and the fifth link 136 can provide a parallelogram joint structure connecting the first rotation axis A, the second rotation axis B, the seventh rotation axis E and the sixth rotation axis D between the fixing portion 11 and the central connecting portion 133. For example, at least a portion of each of the links 1311 and 136 forming the parallelogram can be made of a carbon fiber pipe.

[0076] One end of the 6th link 137 is rotatably connected to the central connection portion 133 based on the 8th rotation axis I separated from the 2nd rotation axis B in a state of being parallel to the 2nd rotation axis B, and the other end is rotatably connected to the rotation end portion 134 based on the 9th rotation axis J separated from the 5th rotation axis F in a state of being parallel to the 5th rotation axis F.

[0077] For example, the length of the sixth link 137 may be the same as that of the fourth link 135. For example, the distance and direction of the eighth rotation axis I from the second rotation axis B on the central connecting portion 133 may be the same as the distance and direction of the ninth rotation axis J from the fifth rotation axis F on the rotating end portion 134.

[0078] According to the above structure, the fourth link 135 and the sixth link 137 can always maintain a parallel state, so that between the central connecting portion 133 and the rotating end portion 134, the fourth link 135 and the sixth link 137 can provide a parallelogram joint structure connecting the second rotation axis B, the fifth rotation axis F, the eighth rotation axis I, and the ninth rotation axis J. For example, at least a portion of each of the links 135 and 137 forming the parallelogram can be made of a carbon fiber pipe.

[0079] For example, the arm rotation axis C may be formed at a location on the rotation end portion 134 that is spaced apart in parallel with the fifth rotation axis F and the ninth rotation axis J, and the arm support module 14 may be rotatably provided on the rotation end portion 134 based on the arm rotation axis C.

[0080] On the other hand, it is disclosed that the support base 111, the central connection part 133 and the rotating end part 134 can be supported as "connecting rods" respectively. For example, the support base 111 can also be called a "fixed connecting rod" in terms of not moving relative to the external object 9. As described above, according to the connection structure of three parallelograms 111-1311-133-136, 1311-1322-1321-1323, and 133-135-134-137 formed by a plurality of connecting rods, the rotating end part 134 of the arm support module 14 can realize two degrees of freedom movement toward the horizontal direction relative to the fixed part 11.

[0081] Below, refer to Figure 5 The conceptual diagram is organized from the perspective of the connecting rod structure. The supporting arm device 1 may include: (i) "a first four-section connecting rod structure"; (ii) "a second four-section connecting rod structure" which shares any one connecting rod with the "first four-section connecting rod structure"; (iii) "a third four-section connecting rod structure" which shares another connecting rod with the "first four-section connecting rod structure" and has a connecting rod fixed to any one connecting rod in the "second four-section connecting rod structure".

[0082] Among them, any one of the four links constituting the "first four-link structure" can be a support base 111 fixed to the external object 9 and functioning as a reference frame.

[0083] As a specific example, the "first four-link structure" may be composed of a support base 111, a central connecting portion 133 separated from the support base 111, and a pair of connecting rods 1311 and 136 mutually connecting the support base 111 and the central connecting portion 133. According to the above structure, the central connecting portion 133 can move with one degree of freedom relative to the support base 111. For example, the length of each of the pair of connecting rods 1311 and 136 can be longer than the maximum distance between the pair of connecting rods 1311 and 136. According to the above structure, the moving radius of the central connecting portion 133 relative to the support base 111 can be fully ensured.

[0084] One connecting rod in the “first four-link structure” shared with the “second four-link structure” may be the central connecting portion 133 that is not directly connected to the support base 111 .

[0085] As a specific example, the "second four-link structure" can be composed of a central connecting portion 133, a rotating end portion 134 separated from the central connecting portion 133, and a pair of connecting rods 135 and 137 that connect the central connecting portion 133 and the rotating end portion 134. According to the above structure, the rotating end portion 134 can move with one degree of freedom relative to the central connecting portion 133, and finally, the rotating end portion 134 can move with two degrees of freedom relative to the support base 111. For example, the length of each of the pair of connecting rods 135 and 137 can be longer than the maximum distance between the pair of connecting rods 135 and 137. According to the above structure, the working area of ​​the rotating end portion 134 relative to the support base 111 can be fully ensured.

[0086] Generally, the four-link structure has greater rigidity than the linear mechanism, but on the contrary, it has the limitation of narrow working area. However, as in the present application, if two four-link structures sharing one link are used, the above limitation is overcome, and the support arm device 1 can be provided with high rigidity in a wide working area.

[0087] The connecting rod shared with the "3rd four-section connecting rod structure" in the "1st four-section connecting rod structure" is any one of the connecting rods 1311 and 136 directly connected to the support base 111, and the connecting rod fixed and moving as a whole with any one of the connecting rods 1323 of the "3rd four-section connecting rod structure" in the "2nd four-section connecting rod structure" can be any one of the connecting rods 135 and 137 directly connected to the central connecting part 133.

[0088] As a specific example, the "third four-link structure" can be formed by the first link 1311, the second link 1321 separated from the first link 1311, and a pair of links 1322 and 1323 connecting the first link 1311 and the second link 1321. Among them, any one of the pair of links 1322 and 1323 is fixed to any one of the pair of links 135 and 137 of the "second four-link structure" and can move as a whole. According to the above structure, since the rigidity of the rotating end 134 of the support base 111 can be strengthened, a more stable structure can be provided. In addition, as described below, the damping part for forming resistance to the movement of the "second four-link structure" can be arranged at a position close to the fixed part 11 (for example, a specific position on the fixed part 11 or a specific position on the external object 9), so that the inertia moment of the arm device 1 can be prevented from increasing.

[0089] For example, the three four-link structures can each have a parallelogram structure. According to the above design, singularities are prevented from being generated during the movement of each four-link structure, thereby reducing the problem of limited working area of ​​the rotating end 134. On the other hand, the present invention is not necessarily limited to the above, and discloses that some or all of the three four-link structures may not be parallelogram structures.

[0090] As described above, according to the present invention, a plurality of links guide and support mutual movement and rotation, thereby effectively dispersing the vertical load of the arm support module 14 including the weight of the user's arm, thereby improving durability and movement stability.

[0091] For example, the plurality of connecting rods may be formed of a hollow member having a hollow interior in order to reduce the weight and inertia of the horizontal moving module 13 .

[0092] The damping part 12 may include a first damping part 121, a second damping part 122, a control part 123, and an input part 124. For example, at least a portion of the damping part 12 is disposed on the fixed part 11, which is a non-moving portion of the supporting arm device 1, thereby preventing the increase of the inertia moment of the supporting arm device 1. As another example, at least a portion of the damping part 12 may also be disposed on the external object 9.

[0093] The first damping portion 121 may form resistance to the rotational movement of the first driving frame 131 .

[0094] For example, the first damping portion 121 may include: a first damping component 1213, connected to the first protruding component 1312, transmitting resistance based on the rotational movement of the first driving frame 131; a first driving source 1211, connected to the first damping component 1213, forming resistance, and adjusting the size of the above resistance; and a first brake 1212, firmly fixing the first damping component 1213 to prevent the first driving frame 131 from rotating.

[0095] The first damping member 1213 may contact the circular first contact surface 13121 of the first protruding member 1312. For example, it is disclosed that the connection between the first damping member 1213 and the first contact surface 13121 may be formed by various rotation transmission factors such as gear meshing, bolt connection, friction sub-engagement, etc.

[0096] The first driving source 1211 forms a rotational resistance in the first damping member 1213 connected to the first contact surface 13121, and the magnitude of the resistance can be adjusted. For example, the first driving source 1211 may include a driving source such as a motor or a cylinder that can form a rotational force as energy such as electricity, air pressure or hydraulic pressure.

[0097] The first brake 1212 fixes the first damping member 1213 connected to the first contact surface 13121 to prevent rotation, thereby preventing the first driving frame 131 from rotating about the first rotation axis A. For example, the first brake 1212 may be an electromagnetic brake that operates electromagnetically to strongly pressurize the first damping member 1213 .

[0098] The second damping portion 122 can generate resistance to the rotational movement of the second driving frame 132 .

[0099] For example, the second damping portion 122 may include: a second damping component 1223, connected to the second protruding component 1322, transmitting resistance based on the rotational movement of the second driving frame 132; a second driving source 1221, connected to the second damping component 1223, forming resistance, and adjusting the above-mentioned resistance; and a second brake 1222, firmly fixing the second damping component 1223 to prevent the rotation of the second driving frame 132.

[0100] The second driving source 1221 forms a rotational resistance in the second damping member 1223 connected to the second contact surface 13221, and the magnitude of the resistance can be adjusted. For example, the second driving source 1221 may include a driving source such as a motor or a cylinder that can form a rotational force as energy such as electricity, air pressure or hydraulic pressure.

[0101] The second brake 1222 fixes the second damping member 1223 connected to the second contact surface 13221 to prevent rotation, thereby preventing the second driving frame 132 from rotating about the first rotation axis A. For example, the second brake 1222 may be an electromagnetic brake that operates electromagnetically to strongly pressurize the second damping member 1223 .

[0102] According to the structure of the first damper part 121 and the second damper part 122 , it is possible to generate resistance based on the horizontal two-degree-of-freedom movement of the arm support module 14 .

[0103] Specifically, the first damper portion 121 provides resistance to the movement of the first driving frame 131 with the first rotational degree of freedom (θ1) about the first rotation axis A, thereby suppressing the tendency of the central connection portion 133 to rotate relative to the fixing portion 11 .

[0104] The second damper portion 122 provides resistance to the movement of the second driving frame 132 , ie, the driving link 1322 , in the second rotational degree of freedom (θ2) about the first rotation axis A, thereby suppressing the tendency of the rotating end portion 134 to rotate relative to the central connecting portion 133 .

[0105] Finally, the damping unit 12 generates a damping force against the force applied to the rotating end portion 134 according to the movement of the user's arm and the change of posture, thereby guiding the user to move his arm more precisely and slowly.

[0106] Furthermore, by adjusting the magnitude of the resistance formed by the first damping part 121 or the second damping part 122 , appropriate damping control can be achieved according to the type of work, accuracy, or preference of the user.

[0107] Furthermore, as required, the first brake 1212 or the second brake 1222 is driven to inhibit the rotation of the first driving frame 131 or the second driving frame 132, thereby preventing the horizontal movement of the rotating end 134. As a result, the position or posture of the user's arm supported by the arm support module 14 can be fixed in the horizontal direction, which is effective for work that requires precise movements of small muscles below the wrist.

[0108] On the other hand, the first damping part 121 and the second damping part 122 are driven independently of each other, that is, the degree of suppression of the first rotational degree of freedom (θ1) and the second rotational degree of freedom (θ2) is different, thereby inducing selective arm movement according to the type of work or work area according to the movement trajectory of the arm.

[0109] The control unit 123 operates the first damping unit 121 or the second damping unit 122 , and the first driving frame 131 or the second driving frame 132 can form resistance to the rotational motion performed based on the first rotation axis A, and the magnitude of the resistance can be adjusted.

[0110] The control unit 123 operates the first brake 1212 or the second brake 1222 , so that the first driving frame 131 or the second driving frame 132 can suppress the rotational motion based on the first rotation axis A.

[0111] The input unit 124 may include an interface for a user to apply an input signal for controlling the first damping unit 121 or the second damping unit 122 .

[0112] On the other hand, it is disclosed that the first damping part 121 and the second damping part 122 do not necessarily have to form resistance to the rotational motion of different driving frames 131 and 132 separately. Figure 4As shown in the figures, when a portion 1312 of the first driving frame 131 and a portion 1322 of the second driving frame 132 rotate around the same rotation axis A, a damping force can be provided to both the first driving frame 131 and the second driving frame 132 by using the same damping portion. For example, it can be understood that the first damping member 1213 in contact with the first protruding member 1312 and the second damping member 1223 in contact with the second protruding member 1322 are parts of the same structure.

[0113] Figure 6 is a perspective view of an arm support module according to an embodiment, Figure 7 and Figure 8 is a side view of an arm support module according to one embodiment.

[0114] Reference Figures 6 to 8 , the specific structure of the arm supporting module 14 according to one embodiment can be confirmed.

[0115] The arm supporting module 14 according to an embodiment may include a connecting portion 141 , a first supporting portion 144 , a first arm bracket 143 , a rotating link 145 , a second supporting portion 146 , a second arm bracket 147 and a weight compensating portion 148 .

[0116] The connection portion 141 is rotatably provided on the rotating end portion 134 based on the arm rotating axis C.

[0117] The first support portion 144 may be fixed to the connection portion 141, and may support the first arm bracket 143. For example, the first support portion 144 and the connection portion 141 are formed integrally, and are rotatable together based on the arm rotation axis C.

[0118] The first arm support 143 can support the user's arm. For example, the first arm support 143 can support the portion of the user's arm adjacent to the elbow.

[0119] For example, the surface of the first arm support 143 may have a curved shape so that the edge portions on both sides face upward, thereby being stably placed to support the user's arm.

[0120] For example, Figure 7 and Figure 8 As shown, the first arm support 143 can overlap with the arm rotation axis C, thereby stably guiding the rotational movement of the forearm part based on the elbow joint.

[0121] The rotating link 145 may be a link having one side rotatably connected to the first support portion 144 and the other side connected to the second support portion 146 .

[0122] For example, the rotating link 145 can rotate relative to the first supporting part 144 based on the tilt adjustment axis K, and the tilt adjustment axis K can be perpendicular to the arm rotation axis C. A damping part that forms resistance to relative rotational movement between components connected to the tilt adjustment axis K can be provided on the tilt adjustment axis K. According to this damping part, damping can be achieved for the spatial movement of the support arm device 1.

[0123] The second support portion 146 may be connected to the rotating link 145 , and may support the second arm bracket 147 .

[0124] The second arm support 147 can support the arm of the user. For example, the second arm support 147 can support the part of the user's arm adjacent to the wrist.

[0125] For example, the surface of the second arm support 147 may have a curved shape so that the edge portions on both sides face upward, thereby being stably placed to support the user's arm.

[0126] The weight compensation part 148 can compensate for the influence of the weight of the user's arm and the weight of the arm support module 14 during the rotational movement of the rotation link 145 with respect to the first support part 144 .

[0127] For example, the weight compensation portion 148 may include an elastic body 1481 disposed on the rotating link 145 and a metal wire 1482 connected between the elastic body 1481 and the first supporting portion 144 .

[0128] One end of the elastic body 1481 can be fixed to the rotating link 145, and the other end can be connected to the metal wire 1482. For example, the elastic body 1481 can be fixed to the rotating link 145. Figures 6 to 8 As shown, it may be a spring that is expandably arranged along the length direction of the rotating link 145 .

[0129] The wire 1482 can apply a tensile force to the elastic body 1481 between the elastic body 1481 and the first support portion 144. According to the structure of the wire 1482, the tensile force applied to the elastic body 1481 can be adjusted according to the rotation angle of the rotating link 145 about the tilt adjustment axis K.

[0130] For example, the portion where the wire 1482 is connected to the first support portion 144 may be formed vertically above the portion where the tilt adjustment shaft is located on the first support portion 144. The portion where the wire 1482 is fixed to the first support portion 144 may be referred to as a wire fixing portion 1441.

[0131] According to the above structure, the farther the rotating link 145 is from the direction perpendicular to the ground (z-axis direction), the longer the distance between the wire fixing portion 1441 and the end of the elastic body 1481 becomes.

[0132] In other words, the rotating link 145 is Figure 8 In the upward tilted state shown in FIG. Figure 7 As shown, the elastic body 1481 is rotated in a horizontal state, thereby increasing the tension applied to the elastic body 1481 and also increasing the restoring force formed by the elastic body 1481.

[0133] Finally, the restoring force of the elastic body 1481 can form a force that tends to move the second arm support 147 upward relative to the first arm support 143. Therefore, when the posture of the user's forearm is converted upward, the influence caused by the weight of the arm support module 14 including the weight of the user's arm can be reduced or compensated.

[0134] For example, in order to keep the direction of the tensile force transmitted from the metal wire 1482 to the elastic body 1481 parallel to the direction of the rotating link 145, the rotating link 145 may also include a guide wheel 1451 that guides the connection direction of the metal wire 1482 between the first support portion 144 and the elastic body 1481.

[0135] According to the guide wheel 1451, Figure 7 and Figure 8 As shown, the metal wire 1482 extending from the metal wire fixing portion 1441 is wound around a portion of the guide wheel 1451 and can be connected to the elastomer 1481 in a state parallel to the extension direction of the rotating link 145. Therefore, the tensile force applied to the elastomer 1481 can be roughly linearly adjusted according to the rotation angle of the rotating link 145.

[0136] For example, the rotating link 145 may further include an interference portion 1452 that interferes with the first supporting portion 144 to prevent the rotating link 145 from rotating relative to the first supporting portion 144 at an angle greater than a set angle.

[0137] For example, when the first arm support 143 and the second arm support 147 are kept horizontal to each other, or Figure 7 When the rotating link 145 rotates in a horizontal direction based on the tilt adjustment axis, the interference portion 1452 interferes with the first support portion 144 to prevent the rotating link 145 from rotating in a downward tilted direction based on the tilt adjustment axis.

[0138] According to an embodiment of the arm support device 1, the horizontal moving module 13 can stably guide the two-degree-of-freedom movement along the horizontal direction while supporting the user's arm. At the same time, the arm supporting module 14 tilts toward the vertical direction according to the posture of the arm, and adopts a gravity compensation mechanism, which can stably compensate the weight of the arm even in a variety of postures.

[0139] Finally, the arm support device 1 according to one embodiment can ergonomically support all postures of the user's arm while minimizing the user's fatigue caused by activities.

[0140] According to the arm device 1 of one embodiment, since the damping part 12 can perform damping control based on the horizontal movement of the arm, precise and accurate movement can be achieved according to the working characteristics.

[0141] For example, when the arm support device 1 is used in a surgical environment, the user can increase the damping force of the horizontal moving module 13 to slowly and precisely move the end of the surgical tool held by the hand near the patient's lesion, thereby filtering unintentional fast and large arm movements, thereby preventing unexpected scars from appearing on the lesion.

[0142] According to the arm support device 1 of one embodiment, since the horizontal position of the arm support module 14 can be fixed by the brakes 1212 and 1222, it is very effective for precise work using small muscles below the wrist.

[0143] As described above, although the embodiments are described according to the limited drawings, it is possible for a person skilled in the art to realize various modifications and variations from the above-described contents. For example, even if the described techniques are performed in a different order from the described methods, and / or the described structures, devices and other structural elements are combined or combined in a different form from the described methods, or are replaced or substituted by other structural elements or equivalent technical solutions, appropriate results can be achieved.

Claims

1. A supporting arm device, It is characterized in that include: The fixed part is fixed to an external object; A horizontal moving module, one end of which is rotatably connected to the fixed part, and the other end of which is capable of performing a two-degree-of-freedom translational motion on the fixed part; as well as The arm support module is capable of setting the other end of the horizontal moving module to perform a two-degree-of-freedom rotation action. The horizontal movement module comprises: a central connecting portion rotatably connected to the fixing portion via a plurality of connecting rods; and The rotating end portion is rotatably connected to the central connecting portion through a plurality of connecting rods, and the arm supporting module is rotatably arranged. The arm support module comprises: a first support portion rotatably connected based on an arm rotation axis formed at the rotation end portion; a rotating link rotatably provided based on a tilt adjustment axis formed on the first supporting portion; and The gravity compensation part provides an elastic restoring force that increases as the rotating link is spaced apart in a direction perpendicular to the ground. The gravity compensation unit comprises: The elastic body changes in length as the angle of the rotating link changes, and is arranged in a direction parallel to the length direction of the rotating link; and The metal wire has one end fixed to the other side of the elastic body and the other end connected to a portion of the first support portion above the tilt adjustment shaft.

2. The support arm device according to claim 1, It is characterized in that The horizontal movement module comprises: a first driving frame including a first link having one end rotatably connected to the fixed portion based on a first rotating axis and the other end rotatably connected to the central connecting portion based on a second rotating axis parallel to the first rotating axis; and The second driving frame includes a driving link rotatably connected to the fixed portion based on the first rotating axis, a second link rotatably connected to the driving link based on a third rotating axis parallel to the first rotating axis, and a third link rotatably connected to the second link at one end based on a fourth rotating axis spaced apart in a state parallel to the third rotating axis and rotatably connected to the central connecting portion at the other side based on the second rotating axis.

3. The support arm device according to claim 2, It is characterized in that The first driving frame and the second driving frame maintain a parallelogram shape.

4. The support arm device according to claim 2, It is characterized in that The horizontal movement module further includes a fourth connecting rod, one end of which is rotatably connected to the central connecting portion based on the second rotating axis, and the other end of which is rotatably connected to the rotating end portion based on a fifth rotating axis parallel to the first rotating axis. The fourth link is fixed to the third link and rotates together with the third link based on the second rotation axis.

5. The support arm device according to claim 4, It is characterized in that The device further includes a damper portion that forms a resistance to the rotational motion of the first driving frame based on the first rotation axis and forms a resistance to the rotational motion of the second driving frame based on the first rotation axis.

6. The support arm device according to claim 5, It is characterized in that The first driving frame further includes a first protruding member, the first protruding member being fixed to the first connecting rod, rotating based on the first rotating shaft, and having an edge shape in which at least a portion of the edge protrudes radially based on the first rotating shaft. The driving link has an edge shape that at least a portion of the edge protrudes radially from the first rotation axis. The damping portion includes a first damping member contacting the first protruding member and a second damping member contacting an edge of the driving link.

7. The support arm device according to claim 5, It is characterized in that The resistance formed at the damping portion can be adjusted.

8. The support arm device according to claim 4, It is characterized in that The horizontal movement module further includes a fifth link, one end of which is rotatably connected to the fixed portion based on a sixth rotation axis spaced apart in a state parallel to the first rotation axis, and the other end of which is rotatably connected to the central connection portion based on a seventh rotation axis spaced apart in a state parallel to the second rotation axis. The fifth connecting rod is parallel to the first connecting rod, and the length of the fifth connecting rod is the same as the length of the first connecting rod.

9. The support arm device according to claim 8, It is characterized in that The horizontal movement module further includes a sixth link, one end of which is rotatably connected to the central connection portion based on an eighth rotation axis spaced apart in a state parallel to the second rotation axis, and the other end of which is rotatably connected to the rotation end portion based on a ninth rotation axis spaced apart in a state parallel to the fifth rotation axis. The sixth connecting rod is parallel to the fourth connecting rod, and the length of the sixth connecting rod is the same as that of the fourth connecting rod.

10. The support arm device according to claim 1, It is characterized in that The rotating link comprises a guide wheel, and the guide wheel is used to guide the metal wire so that the tension transmitted from the metal wire to the elastic body is parallel to the length direction of the rotating link.

11. A support arm device, It is characterized in that include:

1. a four-link structure, including a fixed link fixed to an external object; A second four-section connecting rod structure shares any one connecting rod of the first four-section connecting rod structure; A third four-link structure, sharing another link in the first four-link structure, having a link fixed to any one link in the second four-link structure; as well as The arm support module is arranged on the second four-link structure and can support the user's arm. The arm support module comprises: A first support portion rotatably connected based on an arm rotation axis formed in the second four-link structure; a rotating link rotatably provided based on a tilt adjustment axis formed on the first supporting portion; and The gravity compensation part provides an elastic restoring force that increases as the rotating link is spaced apart in a direction perpendicular to the ground. The gravity compensation unit comprises: The elastic body changes in length as the angle of the rotating link changes, and is arranged in a direction parallel to the length direction of the rotating link; and The metal wire has one end fixed to the other side of the elastic body and the other end connected to a portion of the first support portion above the tilt adjustment shaft.

12. The support arm device according to claim 11, It is characterized in that In the first four-section connecting rod structure, the fixed connecting rod, any one connecting rod and the other connecting rod are all different.

13. The support arm device according to claim 11, It is characterized in that The first four-section connecting rod structure to the third four-section connecting rod structure all have a parallelogram shape.

14. The support arm device according to claim 11, It is characterized in that The first four-section connecting rod structure includes the fixed connecting rod, a central connecting portion separated from the fixed connecting rod, and a pair of first connecting rods mutually connecting the fixed connecting rod and the central connecting portion.

15. The support arm device according to claim 14, It is characterized in that The second four-link structure includes the central connecting portion, a rotating end portion separated from the central connecting portion and connected to the arm supporting module, and a pair of second links mutually connecting the central connecting portion and the rotating end portion.

16. The support arm device according to claim 15, It is characterized in that Any one of the links in the third four-link structure rotates around the same axis as that of any one of the links in the first four-link structure.

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