Shoulder training device

Abstract

The present invention relates to a shoulder training device for providing a rotational motion corresponding to the movement of a shoulder joint in response to various shoulder training modes and body size, the shoulder training device comprising: a support part provided between a first position for training the right shoulder of a trainee and a second position for training the left shoulder of the trainee; a horizontal driving arm rotatably connected to the support part; a connection part which has one end connected to the horizontal driving arm and rotates with the horizontal driving arm; a vertical driving arm rotatably connected to the other end of the connection part; and an upper limb fixing part provided on the vertical driving arm and fixed to a part of the upper limb of the trainee.

Description

Shoulder training device

[0001] The present invention relates to a shoulder training device, and more specifically, to a shoulder training device that provides rotational movement corresponding to the movement of the shoulder joint in response to various shoulder training modes and body size.

[0002] Generally, a shoulder training device is a device designed to assist in the rehabilitation of trainees who have symptoms of shoulder paralysis or abnormalities in the shoulder joint, muscle strength, or muscle endurance.

[0003] Since most trainees with limited shoulder movement find it difficult to move their arms on their own, they perform shoulder training by wearing a shoulder training device and moving their arms along the movement patterns induced by the device. Such shoulder training devices have movement trajectories based on their unique structures. However, conventional shoulder training devices not only struggle to secure movement trajectories sufficient for training that correspond to the movement of the shoulder joint, but also have difficulty providing effective shoulder training in response to left-right shoulder training modes, body size, and differences in the trainee's posture.

[0004] To address these issues, conventional shoulder training devices have made various attempts, such as including additional joints; however, the addition of joints can lead to new problems, such as complicating the structure of the device or making it difficult to wear.

[0005] (Patent Document 1) Published Patent No. 10-2024-0136728

[0006] The present invention provides a shoulder training device capable of securing various exercise trajectories corresponding to the movement of the shoulder.

[0007] The present invention provides a shoulder training device capable of selectively providing right shoulder training and left shoulder training in response to various body sizes.

[0008] A shoulder training device according to an embodiment of the present invention may include: a support member provided between a first position for training the right shoulder of a trainee and a second position for training the left shoulder of a trainee; a horizontal drive arm rotatably connected to the support member; a connecting member having one end connected to the horizontal drive arm and rotating together with the horizontal drive arm; a vertical drive arm rotatably connected to the other end of the connecting member; and an upper limb fixing member provided to the vertical drive arm and fixed to a part of the upper limb of a trainee.

[0009] The above support member comprises: a vertical column member extending in a vertical direction; a horizontal support member extending in a horizontal direction toward the front with one end connected to the upper part of the vertical column member; a first rotation axis connected to the other end of the horizontal support member; and a first rotation actuator providing rotational driving force to the first rotation axis; and the horizontal driving arm is connected to the first rotation axis and can rotate.

[0010] A chair member may further include a first chair support member provided at the first position; a second chair support member provided at the second position; a first chair connected to the first chair support member; and a second chair connected to the second chair support member.

[0011] The first chair support member comprises: a first guide member extending forward and backward; a first linear movable body movably connected to the first guide member; and a first chair connecting member that moves together with the first linear movable body and supports the first chair; and the second chair support member comprises: a second guide member extending forward and backward; a second linear movable body movably connected to the second guide member; and a second chair connecting member that moves together with the second linear movable body and supports the second chair; and the support member may further include a first linear actuator that selectively linearly moves the first linear movable body or the second linear movable body.

[0012] The first chair is connected to the first chair connecting part in a height-adjustable manner, and the second chair can be connected to the second chair connecting part in a height-adjustable manner.

[0013] The above support member may further include a second linear actuator that linearly moves the horizontal support member in a vertical direction.

[0014] The above connecting part may include a connecting plate extending vertically from the horizontal driving arm.

[0015] It includes a second rotating shaft connected to the other end; and a second rotating actuator that provides rotational driving force to the second rotating shaft; and the vertical driving arm can be connected to the second rotating shaft and rotate.

[0016] During shoulder training, the shoulder of the trainee may be provided at a position where the extension line of the first rotation axis and the extension line of the second rotation axis intersect.

[0017] The above support member may further include a first rotation stopper that limits the rotation range of the horizontal drive arm.

[0018] The first rotary stopper comprises: a fixed stopper member fixed to either the vertical column portion or the horizontal support portion; and a rotary moving pin that rotates by the rotary driving force provided by the first rotary actuator; and the rotation of the rotary moving pin may be restricted by the fixed stopper member.

[0019] The first rotary stopper may further include a first pin moving member connected to the rotary moving pin to change the position of the rotary moving pin and adjust the interference between the fixed stopper member and the rotary moving pin.

[0020] The first rotation stopper further includes a movable stopper member provided between the fixed stopper member and the rotational movable pin to additionally restrict the rotation of the rotational movable pin, and the position of the movable stopper member may change depending on the right shoulder training mode and the left shoulder training mode.

[0021] The above connection may further include a second rotation stopper that limits the rotation range of the vertical drive arm.

[0022] The second rotation stopper includes a stopper pin that is connected to and fixed to the other end of the connecting part, and the rotation of the vertical drive arm may be restricted by the stopper pin.

[0023] The second rotary stopper may further include a second pin moving member that controls interference between the stopper pin and a part of the vertical drive arm that rotates by changing the position of the stopper pin and the stopper pin.

[0024] The upper limb fixing member may include an arm fixing member for fixing the trainer's arm, and the arm fixing member may include: a coupling member coupled to the vertical drive arm; a first fixing member connected to the coupling member to move linearly in a second direction intersecting a first direction in which the vertical drive arm extends; a second fixing member having a moving connection member provided to enable linear movement on a base member; and a rotating member connecting the first fixing member and the second fixing member so that the second fixing member can rotate parallel to the plane formed by the first direction and the second direction.

[0025] The first fixing member may include: a first-1 elastic member extending in the second direction, connecting one side of the first fixing member and one side of the coupling member; and a first-2 elastic member extending in the second direction, connecting the other side of the first fixing member and the other side of the coupling member.

[0026] The second fixed member may further include: a second-1 elastic member that connects one side of the movable connecting part and one side of the base part and extends parallel to the linear movement direction of the movable connecting part; and a second-2 elastic member that connects the other side of the movable connecting part and the other side of the base part and extends parallel to the linear movement direction of the movable connecting part.

[0027] The vertical drive arm may include: a first fixed pipe extending in a first direction; a first movable pipe extending in the first direction and partially inserted and connected inside the first fixed pipe so as to be linearly movable along the first direction; a first shaft fixed to the first movable pipe and linearly moving together with the first movable pipe; a first fixed member fixed inside the first fixed pipe; a third-1 elastic member provided between one end of the first shaft and one end of the first fixed member; and a third-2 elastic member provided between the other end of the first shaft and the other end of the first fixed member.

[0028] The vertical drive arm may further include: a second fixed pipe connected to the end of the first moving pipe and extending in a second direction intersecting the first direction; a second moving pipe partially inserted and connected inside the second fixed pipe to allow linear movement along the second direction and extending in the second direction; a second shaft fixed to the second moving pipe and moving linearly together with the second moving pipe; a second fixed member fixed inside the second fixed pipe; a 4-1 elastic member provided between one end of the second shaft and one end of the second fixed member; a 4-2 elastic member provided between the other end of the second shaft and the other end of the second fixed member; and a handle rotatably connected to the end of the second moving pipe.

[0029] According to the shoulder training device of the embodiment of the present invention, the position of the horizontal drive arm and the vertical drive arm, etc., can be varied in accordance with the body size of the trainee and the shoulder training mode, thereby providing a natural movement trajectory that corresponds to the movement of the shoulder joint having a ball and socket joint, so that the trainee can safely perform shoulder training without feeling discomfort.

[0030] Depending on the right shoulder training mode and the left shoulder training mode, the position of the horizontal drive arm and the vertical drive arm can be easily switched, allowing a single shoulder training device to provide both the right shoulder training and the left shoulder training desired by the trainee.

[0031] By limiting the rotation range of the horizontal drive arm and the vertical drive arm using the first rotation stopper and the second rotation stopper, excessive shoulder movement that may occur during shoulder training can be effectively suppressed. Additionally, when switching between the right shoulder training mode and the left shoulder training mode, the rotation range limit of the horizontal drive arm and the vertical drive arm is released, and after the mode switch, the rotation is limited to the range modified to suit the new mode, allowing for stable progress in right and left shoulder training.

[0032] Not only can the center of rotation of the shoulder be easily positioned at the centers of rotation of the horizontal and vertical drive arms according to the trainee's various body sizes, but even if the center of rotation of the shoulder becomes misaligned with the centers of rotation of the horizontal and vertical drive arms during shoulder training, this can be compensated for by the vertical drive arm and the attached arm fixing part, thereby preventing strain on the trainee's shoulder and allowing the trainee to proceed with shoulder training in accordance with natural movements.

[0033] Since it does not feature an arm structure containing multiple joints like conventional shoulder training devices, the structural complexity of the shoulder training device is reduced. As structural complexity is improved, manufacturing productivity for the upper limb training device is enhanced, and manufacturing costs can also be reduced.

[0034] FIG. 1 is a drawing showing the state of using a shoulder training device according to an embodiment of the present invention.

[0035] FIG. 2 is a partial perspective view of a shoulder training device according to an embodiment of the present invention.

[0036] FIG. 3 is a diagram showing the connection state of a shoulder training device according to an embodiment of the present invention.

[0037] FIG. 4 is a drawing showing an arm fixing part according to an embodiment of the present invention.

[0038] FIG. 5 is a drawing showing a vertical drive arm according to an embodiment of the present invention.

[0039] Embodiments of the present invention will be described in more detail below with reference to the attached drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms; these embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention. In the description, the same reference numerals are assigned to identical components, and the drawings may be partially exaggerated in size to accurately describe the embodiments of the present invention, and the same reference numerals in the drawings refer to the same elements.

[0040] FIG. 1 is a drawing showing the state of using a shoulder training device according to an embodiment of the present invention, FIG. 2 is a partial perspective view of a shoulder training device according to an embodiment of the present invention, FIG. 3 is a drawing showing the connection state of a shoulder training device according to an embodiment of the present invention, FIG. 4 is a drawing showing an arm fixing part according to an embodiment of the present invention, and FIG. 5 is a drawing showing a vertical drive arm according to an embodiment of the present invention. Also, FIG. 1(a) and FIG. 3(a) are drawings in the right shoulder training mode, and FIG. 1(b) and FIG. 3(b) are drawings in the left shoulder training mode.

[0041] Referring to FIGS. 1 to 5, a shoulder training device according to an embodiment of the present invention may include: a support member (100) provided between a first position (P1) for training the right shoulder of a trainee and a second position (P2) for training the left shoulder of a trainee; a horizontal drive arm (200) rotatably connected to the support member (100); a connecting member (300) having one end connected to the horizontal drive arm (200) and rotating together with the horizontal drive arm (200); a vertical drive arm (400) rotatably connected to the other end of the connecting member (300); and an upper limb fixing member provided to the vertical drive arm (400) and fixed to a part of the upper limb of a trainee (T).

[0042] The shoulder joint possesses movement in all three planes. Although anatomically classified as a ball-and-socket joint, it is actually the joint with the greatest range of motion among all joints in the human body, as it is stabilized by muscles and ligaments with minimal bone fixation. The movement of the shoulder joint provides flexion, extension, abduction, adduction, external rotation, and internal rotation of the arm (upper arm). A shoulder training device is a device designed to assist in the rehabilitation of trainees who have symptoms of shoulder paralysis or who have abnormalities in the shoulder joint, muscle strength, or muscle endurance.

[0043] In right shoulder training mode, the shoulder training device must be placed to the right of the trainee to allow training of the right shoulder, and in left shoulder training mode, it must be placed to the left of the trainee to allow training of the left shoulder. Furthermore, since the right and left shoulder joints have different movements and ranges of motion during right and left shoulder training, the shoulder training device must be able to provide appropriate rotational movements depending on whether the shoulder joint to be trained is the right or the left. Therefore, shoulder training is generally performed using a dedicated shoulder training device for either the right or the left shoulder. Since separate right and left shoulder training devices must be provided, not only does the installation space increase, but there may also be the problem that the trainee must move to each dedicated shoulder training device to train both shoulders.

[0044] The support member (100) is a structure that supports a horizontal drive arm (200) and a vertical drive arm (400), etc., which provide various rotational movements for shoulder joint training, and can be provided between a first position (P1) for training the trainer's right shoulder and a second position (P2) for training the trainer's left shoulder. The support member (100) can be connected to a plate-shaped base frame (170) provided on the floor surface so that it can be stably supported on the floor surface where the shoulder training device is installed.

[0045] The horizontal drive arm (200) is rotatably connected to the support member (100) and can rotate in a horizontal direction. The horizontal drive arm (200) not only provides rotational movement while the trainee is doing shoulder training, but can also switch the direction of the upper arm drive unit, such as the horizontal drive arm (200) and the vertical drive arm (400), which moves the trainee's upper arm when alternating between right shoulder training and left shoulder training.

[0046] One end of the connecting part (300) is fixedly connected to the horizontal drive arm (200), and the other end of the connecting part (300) is rotatably connected to the vertical drive arm (400), so that the connecting part (300) and the vertical drive arm (400) can rotate together as a single unit with the horizontal drive arm (200) according to the rotational movement of the horizontal drive arm (200).

[0047] Natural spherical movement corresponding to various shoulder joint movements of the trainee can be provided through two independent rotational movements: the rotational movement of the horizontal drive arm (200) and the rotational movement of the vertical drive arm (400). Since the horizontal drive arm (200) and the vertical drive arm (400) are not directly connected to each other but are connected so as to be spaced apart from each other by a connecting part (300), sufficient space can be provided for the trainee to move the shoulder joint or upper arm stably without the burden of physical contact during shoulder training.

[0048] The upper limb fixing part is provided on the vertical drive arm (400) to fix a part of the trainee's upper limb so that the trainee can perform shoulder training according to the rotational movement of the horizontal drive arm (200) and the vertical drive arm (400). The upper limb fixing part may include an arm fixing part (500), a shoulder fixing part, etc., for fixing the trainee's arm or shoulder during shoulder training. The upper limb fixing part may include a covering member (e.g., a cuff, a pad, etc.) that wraps around a part of the trainee's arm or shoulder so as to stably fix the trainee's arm or shoulder during shoulder training.

[0049] The shoulder training device of the present invention allows the horizontal driving arm (200), the connecting part (300), the vertical driving arm (400), and the upper limb fixing part to be switched between a first position (P1) and a second position (P2) centered on the support part (100) depending on the right shoulder training mode and the left shoulder training mode. In other words, in the right shoulder training mode, the upper arm driving part, such as the horizontal driving arm (200), is directed toward the first position (P1) (see FIG. 1(a)), and in the left shoulder training mode, the upper arm driving part, such as the horizontal driving arm (200), is directed toward the second position (P2) (see FIG. 1(b)), so that a trainee can effectively perform right shoulder training and left shoulder training using a single shoulder training device.

[0050] The support member (100) may include: a vertical column member (110) extending in a vertical direction; a horizontal support member (120) extending forward with one end connected to the upper part of the vertical column member (110); a first rotation shaft (130) connected to the other end of the horizontal support member (120); and a first rotation actuator (140) providing rotational driving force to the first rotation shaft (130). Additionally, the horizontal driving arm (200) may be connected to the first rotation shaft (130) and rotate.

[0051] In the shoulder training device of the present invention, the center of rotation of the upper arm drive unit providing spherical movement must coincide with the center of rotation of the trainee's shoulder to enable comfortable and stable shoulder training. Since the spherical movement provided by the upper arm drive unit is performed by the rotation of the horizontal drive arm (200) and the rotation of the vertical drive arm (400), the virtual line passing through the center of rotation of the horizontal drive arm (200) and the virtual line passing through the center of rotation of the vertical drive arm (400) can pass through the center of rotation of the trainee's shoulder.

[0052] The vertical column (100) can be extended vertically so that the center of rotation of the vertical drive arm (400) can be provided at a predetermined height (e.g., a height equal to (or similar to) the center of rotation of the trainee's shoulder) and can be fixed to a plate-shaped base frame (170) to ensure structural stability.

[0053] The most problematic area for aligning the rotational center of the upper arm drive unit with the center of the trainee's shoulder may be the trainee's pelvis. It is easier to align the rotational center between the trainee and the upper arm drive unit when the shoulder width is wider than or similar to the pelvic width; however, if the pelvic width is wider than the shoulder width, it may be difficult to align the rotational center due to interference between the shoulder training device and the trainee's pelvis. Therefore, it is necessary to secure space to accommodate the trainee's pelvis.

[0054] Accordingly, in order to form a space to accommodate the pelvic area of ​​the trainee, one end of the horizontal support member (120) is connected to the upper part of the vertical column member (110) and can be extended horizontally toward the front. By accommodating the pelvic area of ​​the trainee in the space formed below the horizontal support member (120), the trainee can stably approach a virtual line passing through the center of rotation of the horizontal drive arm (200) without interference with the shoulder training device.

[0055] One end of the horizontal support member (120) is connected to the vertical column member (100), and the other end of the horizontal support member (120) may be provided with a first rotation axis (130) for rotating the horizontal drive arm (200). The first rotation axis (130) is provided vertically at the other end of the horizontal support member (120), so that even if the horizontal drive arm (200) is connected to the first rotation axis (130) and rotates in the horizontal direction, it can be stably supported by the horizontal support member (120).

[0056] The first rotary actuator (140) may be a motor or the like that provides rotational driving force to the first rotation axis. The first rotary actuator (140) may be directly connected to the first rotation axis to provide rotational driving force, but the first rotary actuator (140) may be provided to the vertical column (110) so as not to hinder the trainee from approaching the upper arm drive part, such as the horizontal drive arm (200). That is, the first horizontal pulley connected to the drive shaft (141) of the first rotary actuator (140) provided to the vertical column (110) and the second horizontal pulley connected to the first rotation axis (130) are connected by a transmission member such as a timing belt, so that the drive shaft (141) of the first rotary actuator (140) and the first rotation axis are provided to be separated from each other at both ends of the horizontal support (120). The first horizontal pulley connected to the drive shaft (141) and the second horizontal pulley connected to the first rotation shaft (130) can rotate at the same ratio in a 1:1 correspondence.

[0057] Since comfortable and stable shoulder training is possible only when the center of rotation of the upper arm drive unit providing spherical movement coincides with the center of rotation of the trainee's shoulder, the shoulder training device of the present invention may further include a chair part (600) so that the trainee can be positioned in the correct position according to the shoulder training mode (right shoulder training mode and left training mode). That is, in order to allow the trainee to perform shoulder training while seated in a first position (P1) or a second position (P2) according to the right shoulder training mode and the left training mode, the chair part (600) may include a first chair support part (630) provided at the first position (P1); a second chair support part (640) provided at the second position (P2); a first chair (610) connected to the first chair support part (630); and a second chair (620) connected to the second chair support part (640).

[0058] The first chair support (630) and the second chair support (640) may be provided at the first position (P1) and the second position (P2) on both lower sides of the vertical column (110). The first chair support (630) and the second chair support (640) may be supported on the base frame (170) so as to be structurally stable. The trainee may sit on the first chair (610) in the right shoulder training mode and sit on the second chair (620) in the left shoulder training mode, and stably perform right shoulder training or left shoulder training using an upper arm drive unit that changes direction according to the shoulder training mode.

[0059] In order to align the center of rotation of the trainee's shoulder with the center of rotation of the upper arm drive unit that provides spherical motion (the position where the virtual line passing through the center of rotation of the horizontal drive arm (200) and the virtual line passing through the center of rotation of the vertical drive arm (400) intersect) for stable shoulder training, it is necessary to move the position of the trainee's shoulder in the horizontal and vertical directions.

[0060] In order to move the position of the trainee's shoulder in a horizontal direction in the right shoulder training mode, the first chair support member (630) may include: a first guide member (631) extending parallel to the horizontal support member (120); a first linear moving body (632) movably connected to the first guide member (631); and a first chair connecting member (633) that moves together with the first linear moving body (632) and supports the first chair (610).

[0061] In order to move the position of the trainee's shoulder in a horizontal direction in the left shoulder training mode, the second chair support (640) may include: a second guide part (641) extending parallel to the horizontal support part (120); a second linear moving body (642) movably connected to the second guide part; and a second chair connecting part (643) that moves together with the second linear moving body (642) and supports the second chair (620).

[0062] The chair part (600) may further include a first linear actuator (650) that provides a driving force to selectively linearly move the first linear moving body (632) or the second linear moving body (643).

[0063] The first horizontal guide section (631) and the second horizontal guide section (641) are extended horizontally in the forward and backward directions parallel to the horizontal support section (120) to guide the first linear moving body (632) and the second linear moving body (642) to move linearly in the horizontal direction. The first horizontal guide section (631) and the second horizontal guide section (641) may be rod-shaped, with both ends supported by a pair of guide support members (660).

[0064] The first chair connecting part (633) and the second chair connecting part (643) are horizontally movably connected to the first chair connecting rod (634) and the second chair connecting rod (644), which extend in a direction perpendicularly intersecting the extension direction of the first guide part (631) and the second guide part (641), so as to be able to adjust the distance in the left and right directions from the vertical column part (110) or the horizontal support part (120).

[0065] In order to move the position of the trainee's shoulder in a vertical direction, the first chair (610) can be height-adjustably connected to the first chair connecting part (633), and the second chair (620) can be height-adjustably connected to the second chair connecting part (643).

[0066] To this end, the first chair support member (630) is equipped with a first chair height adjustment member (635) and a first height adjustment lever (636) that can adjust the seated height of the trainee, and by allowing the height of the upper part of the chair height adjustment member (635) to be adjusted by the first height adjustment lever (636), the height of the first chair (610) connected to the upper part of the first chair height adjustment member (635) can be adjusted. The first chair height adjustment member (635) can adjust the height of the first chair (610) by adjusting the extension length by a gas spring member driven by the first height adjustment lever (636), and a hollow shaft and a bushing structure that movably supports the hollow shaft can be provided in a parallel structure with the gas spring member to reinforce a stable structure and secure a wiring path for a driving signal.

[0067] The first chair support (630) may further include a first parallel bar (637) connected to the top of the first chair height adjustment part (635) that can be grasped by a trainee, and a first operation button (638) provided at the end of the first parallel bar (638) that enables various operations such as emergency stopping of the shoulder training device or adjusting the rotation angle of the horizontal drive arm (200) or the vertical drive arm (400).

[0068] In order to adjust the height of the second chair (620), the second chair support (640) may be equipped with a second chair height adjustment part, a second height adjustment lever, a second parallel bar, a second operation button, etc., so as to correspond to the structure of the first chair support (630). Since these components of the second chair support (640) are identical to the corresponding components of the first chair support (630), a description thereof is omitted.

[0069] After the horizontal and vertical positions of a trainee sitting on the first chair (610) or the second chair (610) are primarily aligned using the first chair support (630) or the second chair support (640), it is necessary to more precisely align the trainee's shoulder rotation center to the rotation center of the upper arm drive unit. To this end, the support (100) may further include a second linear actuator (150) that linearly moves the horizontal support (120) in the vertical direction.

[0070] The second linear actuator (150) is supported at one end by a plate-shaped base frame (170) and connected at the other end to a horizontal support member (120), so that the height of the horizontal support member (120) can be adjusted by changing the extension length. In order to stably support the horizontal support member (120) which moves linearly in the vertical direction by the second linear actuator (150) and to prevent shaking or sagging, the vertical column member (110) may include a vertical guide member (111) that extends in the vertical direction. The vertical guide member (111) connected to allow the horizontal support member (120) to move linearly in the vertical direction may be provided in the shape of a plurality (e.g., four) rods symmetrically around the first rotary actuator (140).

[0071] Meanwhile, the connecting part (300) may include a connecting plate (310) that extends vertically from the horizontal driving arm (200).

[0072] One end of the horizontal drive arm (200) is connected to the first rotation axis (130) so that the horizontal drive arm (200) rotates along the first rotation axis (130), and one end of the connecting part (300) extending in the vertical direction can be connected to the other end of the horizontal drive arm (200). Additionally, the vertical drive arm (400) can be rotatably connected to the other end of the connecting part (300). Due to the connection structure of the horizontal drive arm (200), the connecting part (300), and the vertical drive arm (400), the rotation center of the horizontal drive arm (200) and the rotation center of the vertical drive arm (400) can be separated from each other, and spherical motion can be provided to the shoulder joint of the trainee by the horizontal drive arm (200) and the vertical drive arm (400), which can rotate and move independently of each other. Furthermore, the connection structure of the horizontal drive arm (200), the connecting part (300), and the vertical drive arm (400) can provide a space where the trainee's shoulder joint can move autonomously without interfering with the shoulder training device during shoulder training.

[0073] Since the upper arm drive unit changes direction between the first position (P1) and the second position (P2) depending on the shoulder training mode, the connecting plate (310) must form a shape that extends vertically from the horizontal drive arm (200) so that the connection structure is maintained consistently regardless of the change in direction, thereby stably supporting the load of the trainee's arm, etc., fixed to the vertical drive arm (400) and the arm fixing part (500).

[0074] The connecting part (300) further includes a second rotating shaft (321) connected to the other end of the connecting part (300); and a second rotating actuator (320) that provides rotational driving force to the second rotating shaft (321), and the vertical driving arm (400) can be connected to the second rotating shaft (321) and rotate.

[0075] Since the second rotation axis (321) and the second rotation actuator (320) that rotate the vertical drive arm (400) are supported by the connecting part (300) and the horizontal drive arm (200), they need to be provided as compactly as possible so that deformation does not occur in the connecting part (300) and the horizontal drive arm (200) due to loads or loads applied during shoulder training. Therefore, unlike providing the first rotation axis (130) that rotates the horizontal drive arm (200) and the drive axis of the first rotation actuator (140) separately, the drive axis of the second rotation axis (321) and the second rotation actuator (320) are formed as a single unit so that the rotational driving force provided by the second rotation actuator (320) can be directly transmitted to the second rotation axis (321).

[0076] By using the chair part (600) and the support part (100) to adjust the horizontal and vertical positions of the trainee's shoulder, the trainee's shoulder can be provided at a position (CP) where the extension line of the first rotation axis (130) and the extension line of the second rotation axis (321) intersect.

[0077] Since the trainee's shoulder training is performed by the rotational movement of the horizontal drive arm (200) and the vertical drive arm (400), the center of rotation of the upper arm drive unit for shoulder training may be the position (CP) where the extension line of the first rotation axis (130) and the extension line of the second rotation axis (321) intersect. By placing the trainee's shoulder at the position (CP) where the extension line of the first rotation axis (130) and the extension line of the second rotation axis (321) intersect, the center of rotation of the trainee's shoulder can be aligned with the center of rotation of the upper arm drive unit, thereby allowing the trainee to perform comfortable and stable shoulder training.

[0078] Generally, a shoulder training device is intended to assist in the rehabilitation of a trainee who has symptoms of shoulder paralysis or has abnormalities in the strength and endurance of the shoulder joint or shoulder. If excessive rotation of the horizontal drive arm (200) and / or the vertical drive arm (400) occurs, serious injury to the trainee may occur. Therefore, it is necessary to limit the rotation range (or rotation angle) of the horizontal drive arm (200) and / or the vertical drive arm (400) in the shoulder training device.

[0079] The first rotary actuator (140) and the second rotary actuator (320), which drive the horizontal drive arm (200) and the vertical drive arm (400) respectively, can be driven by a control signal provided by a control unit. The control unit can generate a control signal that controls at least one of the rotational speed, rotational acceleration, rotational angle, rotational range, rotational force (or torque), and the trainer's training pattern of the horizontal drive arm (200) and the vertical drive arm (400), and provide it to the first rotary actuator (140) or the second rotary actuator (320). By means of the control signal provided by the control unit, the first rotary actuator (140) and the second rotary actuator (320) can limit the rotational range (or rotational angle) of the horizontal drive arm (200) and the vertical drive arm (400). However, since the method of limiting the rotation range of the horizontal drive arm (200) and the vertical drive arm (400) by the control unit can cause serious injury to the trainee if an error in the control signal occurs, a means to absolutely limit the rotation range of the horizontal drive arm (200) and the vertical drive arm (400) may be required.

[0080] As a means to absolutely limit the rotation range of the horizontal drive arm (200), the support member (100) may further include a first rotation stopper (160) that limits the rotation range of the horizontal drive arm (200). The first rotation stopper (160) can absolutely limit the rotation range of the horizontal drive arm (200) by physically blocking the rotation of the horizontal drive arm (200) at both ends of the rotation range. To prevent damage to the shoulder training device, the rotation range limitation by the control member and the rotation range limitation by the first rotation stopper (160) may be used in parallel.

[0081] The first rotation stopper (160) may include a fixed stopper member (161) fixed to either the vertical column portion (110) or the horizontal support portion (120); and a rotational moving pin (162) that rotates by the rotational driving force provided by the first rotational actuator (140). Additionally, the rotation of the rotational moving pin (162) may be restricted by the fixed stopper member (161).

[0082] The fixed stopper member (161) can be fixed to either the vertical column part (110) or the horizontal support part (120). For example, the fixed stopper member (161) can be fixed to the upper part of the first rotary actuator (140) or the upper part of the vertical column part (110) so as not to be moved by the rotating rotary moving pin (162). The fixed stopper member (161) can have an arc shape extending along the circumference of the drive shaft (141) of the first rotary actuator (140).

[0083] The rotary moving pin (162) may be directly connected to the drive shaft (141), or connected to the drive shaft (141) or the first rotary shaft (130) by a drive belt or the like, and may rotate by the rotary driving force provided by the first rotary actuator (140).

[0084] That is, the rotary moving pin (162) can rotate (revolve) around the drive shaft (141) and the fixed stopper member (161) can be provided on the movement path of the rotary moving pin (162) that rotates (revolves) around the drive shaft (141).

[0085] Since the drive shaft (141), the first rotation shaft (130), and the rotational movement pin (162) are connected to each other such that their rotation ratio is 1:1:1, when the horizontal drive arm (200) connected to the first rotation shaft (130) rotates, the rotational movement pin (162) can rotate at the same ratio (rotational speed, rotational acceleration, rotational angle, rotational section, etc.). When the rotational movement pin (162), which is connected to be linked with the horizontal drive arm (200), rotates along the circumference of the drive shaft (141) and comes into contact with the fixed stopper member (161), they interfere with each other and stop rotating further, so the horizontal drive arm (200) connected to the rotational movement pin (162) can also stop rotating. In this way, the rotation of the rotational moving pin (162) can be restricted by the fixed stopper member (161), and the rotation range of the horizontal driving arm (200) can be restricted by the size of the center angle or the arc length of the fixed stopper member (161). When the rotational moving pin (162) comes into contact with the fixed stopper member (161) while rotating, the control unit can measure the increase in the load of the first rotational actuator (140) or detect the contact state using a separate sensor, and generate a control signal to stop the rotation of the drive shaft (141) and reverse rotation, and provide it to the first rotational actuator (140). In addition, to adjust the rotation range of the horizontal driving arm (200), the fixed stopper member (161) having various sizes of center angles or arc lengths may be replaced and mounted.

[0086] In the present invention, depending on the right shoulder training mode and the left shoulder training mode, the upper arm driving part, such as the horizontal driving arm (200), must be switched between the first position and the second position centered on the support part (100) and its direction must be reversed. Therefore, when switching the shoulder training mode, the horizontal driving arm (200) needs to rotate beyond the rotation range of the horizontal driving arm (200) that is limited during shoulder training.

[0087] In order to temporarily release the first rotation stopper (160) from restricting the rotation range of the horizontal drive arm (200), the first rotation stopper (160) may further include a first pin moving member (165) connected to a rotation moving pin (162) to change the position of the rotation moving pin (162) and adjust the interference between the fixed stopper member (161) and the rotation moving pin (162).

[0088] Since the fixed stopper member (161) on the movement path of the rotational movement pin (162) blocks the movement of the rotational movement pin (162), if the position of the rotational movement pin (162) is changed to deviate from the movement path of the normal case, interference between the fixed stopper member (161) and the rotational movement pin (162) does not occur, so the horizontal drive arm (200) can rotate beyond the rotation section.

[0089] The first pin moving member (165) connected to the rotational moving pin (162) can be in the form of a lever. When the first pin moving member (165) is lifted, the rotational moving pin (162) connected to the first pin moving member (165) also changes its vertical position (e.g., moves upward) so that it can pass through without interfering with the fixed stopper member (161). Meanwhile, even if the vertical position of the rotational moving pin (162) changes, it is not disconnected from the drive shaft (141) or the first rotation shaft (130) but maintains a connected state. When the horizontal drive arm (200) rotates while the height of the rotational moving pin (162) has changed, the rotational moving pin (162) also rotates together and passes through the fixed stopper member (161) to continue rotating.

[0090] In the present invention, depending on the right shoulder training mode and the left shoulder training mode, the upper arm driving part, such as the horizontal driving arm (200), must be switched between a first position and the second position centered on the support part (100) and its direction must be reversed; therefore, even if the rotational range is the same (e.g., 180 degrees), the rotational range may be set at different angular positions depending on the shoulder training mode. For example, when the rotational range of the horizontal driving arm (200) in the shoulder training device is limited to 180 degrees, in the right shoulder training mode, the horizontal driving arm (200) may be set to rotate in the range of 0 to 180 degrees (see FIG. 3(a)), whereas in the left shoulder training mode, it may be reversed centered on the support part (100) and set to rotate in the range of 180 to 360 degrees (see FIG. 3(b)).

[0091] In cases where the rotation range of the rotational movement pin (162) is limited by only the fixed stopper member (161), the fixed stopper member (161) must be replaced with a different shape or the fixed position of the fixed stopper member (161) must be changed depending on the switching of the shoulder training mode. However, if the fixed stopper member (161) is reassembled every time the shoulder training mode is switched frequently, it may not only cause excessive time waste during shoulder training but also reduce the stability of the shoulder training device.

[0092] To solve these problems, the first rotation stopper (160) of the present invention may further include a movable stopper member (163) provided between the fixed stopper member (161) and the rotational movable pin (162) to additionally restrict the rotation of the rotational movable pin (162). In addition, the position of the movable stopper member (163) may change depending on the right shoulder training mode and the left shoulder training mode.

[0093] The movable stopper member (163) may be formed in an arc shape extending along the circumference of the drive shaft (141). The movable stopper member (163) is provided between the fixed stopper member (161) and the rotational movable pin (162), and one end of the arc-shaped movable stopper member (163) may be fixed by contacting one end of the fixed stopper member (161). The rotational movable pin (162) may rotate along a movement path in the free space formed between the other end of the movable stopper member (163) and the other end of the fixed stopper member (163). Since the rotational movable pin (162) is rotatable in the angle section of the free space, the horizontal drive arm (200) connected to the rotational movable pin (162) may also rotate in conjunction. On the other hand, if the rotational moving pin (162) comes into contact with the other end of the moving stopper member (163) or the other end of the fixed stopper member (163), it can stop without rotating any further.

[0094] When a switch to a shoulder training mode is required, the moving stopper member (163) can rotate along the circumference of the drive shaft (141) to change the position provided. For example, in the right shoulder training mode, the moving stopper member (163) is provided on the lower side (left side of the drive shaft (141)), but in the left shoulder training mode, the moving stopper member (163) can rotate along the circumference of the drive shaft (141) to be provided on the upper side (right side of the drive shaft (141)). The moving stopper member (163) allows for easy setting of rotation sections at different positions depending on the shoulder training mode.

[0095] If it is necessary to change the position of the moving stopper member (163), the moving stopper member (163) can be rotated using a rotating lever (164) connected to the moving stopper member (163). The moving stopper member (163) is provided on the inner side of a circular support ring connected to a first rotating actuator (140) so as to be rotatable along the circumference of the drive shaft (141), and the rotating lever (164) can be provided on the outer side of the circular support ring. When the moving stopper member (163) is rotated to change the position of the moving stopper member (163) according to the switching of the shoulder training mode, the moving stopper member (163) and the rotating moving pin (162) may come into contact with each other, thereby hindering the rotation of the moving stopper member (163). In this case, the vertical position of the rotational moving pin (162) can be changed using the first pin moving member (165) so that the moving stopper member (163) can pass through.

[0096] As a means to absolutely limit the rotational range of the vertical drive arm (400), the connecting part (300) may further include a second rotation stopper (330) that limits the rotational range of the vertical drive arm (400).

[0097] The second rotation stopper (330) can absolutely limit the rotation range of the vertical drive arm (400) by physically blocking the rotation of the vertical drive arm (400) at both ends of the rotation range. To prevent damage to the shoulder training device, the rotation range limitation by the control unit and the rotation range limitation by the second rotation stopper (330) may be used in parallel.

[0098] The second rotation stopper (330) includes a stopper pin (331) that is connected to and fixed to the other end of the connecting part (300), and the rotation of the vertical drive arm (400) can be restricted by the stopper pin (331).

[0099] The stopper pin (331) can be fixed to the other end of the connecting plate (310) so as not to be moved by the vertical drive arm (400) which is connected to the second rotation axis (321) and rotates. The tip of the stopper pin (331) is provided on the movement path where the vertical drive arm (400) rotates, so that the tip of the stopper pin (331) and the rotating vertical drive arm (400) come into contact and interfere with each other, thereby preventing the vertical drive arm (400) from rotating further and limiting the rotation range of the vertical drive arm (400). For example, when the rotating vertical drive arm (400) is directed vertically upward, a portion of the front side of the vertical drive arm (400) comes into contact with the stopper pin (331) and stops the rotation, and when the rotating vertical drive arm (400) is directed vertically downward, a portion of the rear side of the vertical drive arm (400) comes into contact with the stopper pin (331) and stops the rotation.

[0100] In order to stably stop the rotation of the vertical drive arm (400) by interference between the vertical drive arm (400) and the stopper pin (331), the vertical drive arm (400) may be provided with a rotating body part (410) to which a second rotation axis (321) is connected. A first fixed pipe (420) extending in a first direction is connected to one end of the front side of the rotating body part (410), and a protrusion (411) protruding in the opposite direction of the first direction may be provided at the other end of the rear side of the rotating body part (410). That is, when the vertical drive arm (400) is directed vertically upward, the rotating body part (410) and the stopper pin (331) come into contact, and when the vertical drive arm (400) is directed vertically downward, the protrusion (411) of the body part (410) comes into contact with the stopper pin (331). By physical interference between the spotter pin (331) and the rotating body part (410), the vertical drive arm (400) can limit the rotation range corresponding to approximately 180 degrees in front of the trainee.

[0101] According to the shoulder training mode, when the horizontal drive arm (200) is switched between the first position and the second position centered on the support member (100) and its direction is reversed, the vertical drive arm (400), which is reversed by the horizontal drive arm (200), is directed toward the front of the trainee and then toward the rear of the trainee. Therefore, when the shoulder training mode is switched, the vertical drive arm (400), which is directed toward the rear of the trainee, needs to be rotated beyond the rotation range (e.g., 180 degrees) of the vertical drive arm (400) so that it is directed toward the front of the trainee.

[0102] In order to temporarily release the second rotation stopper (330) from restricting the rotation range of the vertical drive arm (400), the second rotation stopper (330) may further include a second pin moving member (332) connected to the stopper pin (331) to change the position of the stopper pin (331) and adjust the interference between the stopper pin (331) and a part of the vertical drive arm (400) that rotates.

[0103] Since the stopper pin (331) on the rotation path of the rotating body part (410) prevents the rotational movement of the rotating body part (410), if the position of the stopper pin (3310) is changed to deviate from the rotation path of the normal case, interference between the rotating body part (410) and the stopper pin (331) does not occur, so the vertical drive arm (400) can rotate beyond the rotation section.

[0104] The second pin moving member (332) connected to the stopper pin (331) can be in the form of a lever. When the second pin moving member (322) is retracted, the stopper pin (331) connected to the second pin moving member (332) also retracts, moving away from the rotation path or rotation plane of the rotating body part (410), etc., so that the rotating body part (410), etc. can pass through the stopper pin (331) and continue to rotate without interfering with each other. In other words, depending on the shoulder training mode, the direction of the horizontal driving arm (200) is switched to the first position (P1) and the second position (P2), and the vertical driving arm (400), which is facing the rear side, can rotate to face the front side by passing through the stopper pin (331) that has been retracted by the second pin moving member (332). After the vertical drive arm (400) rotates forward, the stopper pin (331) can be positioned again on the rotation path of the vertical drive arm (400) to limit the rotation range of the vertical drive arm (400).

[0105] Even if the trainee's shoulder joint is aligned with the center of rotation of the upper arm drive unit during the preparation phase prior to starting shoulder training, the position of the upper limb, including the shoulder joint, may deviate from the alignment established during the training once the exercise is performed. If the center of rotation of the shoulder joint is misaligned with that of the upper arm drive unit, trainees with symptoms of shoulder paralysis or those with abnormalities in the shoulder joint, muscle strength, or endurance may experience discomfort during training, or in severe cases, suffer injuries. Therefore, it may be necessary to devise measures to smoothly guide the movements of the upper limb induced during shoulder training and to compensate for or offset the misalignment of the center of rotation.

[0106] To this end, the arm fixing part (500) of the present invention may include: a coupling member (510) coupled to a vertical drive arm (400); a first fixing member (520) connected to the coupling member (510) to allow linear movement in a second direction intersecting a first direction in which the vertical drive arm (400) extends; a second fixing member (530) having a movable connecting part (531) provided to allow linear movement on a base part (534); and a rotating member (540) connecting the first fixing member (520) and the second fixing member (530) so that the second fixing member (530) can rotate parallel to the plane formed by the first direction and the second direction. Additionally, a cuff (550) that wraps around a part of the trainer's arm may be coupled to the movable connecting part (531).

[0107] The connecting member (510) can be fixed to a predetermined position (e.g., a first fixed pipe (420)) of the vertical drive arm (400) extending in a first direction so as not to move during shoulder training.

[0108] The first fixed member (520) may be connected to the coupling member (510) to allow linear movement in a second direction that intersects the first direction in which the vertical drive arm (400) extends. The first fixed member (520) may include a shaft (523) extending from the coupling member (510) in the second direction and a bushing supporting the shaft (523) so as to allow stable linear movement in the second direction.

[0109] A second fixed member (530) connected to a first fixed member (520) by a rotating member (540) may include a movable connecting member (531) connected to a base part (534) that is capable of linear movement. A linear guide part extending in the direction of linear movement may be provided on the surface of the base part (534) so ​​that the movable connecting member (531) can move linearly stably.

[0110] The rotating member (540) can rotate around a rotation axis provided perpendicular to the first direction and the second direction so that the second fixed member (530) can rotate parallel to the plane formed by the first direction and the second direction.

[0111] The first fixed member (520), the rotating member (540), and the second fixed member (530) can stably support the arm moving in various directions during shoulder training. However, if the trainee's arm moves excessively, the shoulder joint may deviate from the center of rotation of the upper arm drive unit; therefore, a compensating force may be required to return the first fixed member (520) and / or the second fixed member (530), which are worn so that the center of rotation aligns, to the neutral position if they deviate from the neutral position.

[0112] Accordingly, the first fixing member (520) may include a first-1 elastic member (521) that connects one side of the first fixing member (520) and one side of the coupling member (510) and extends in a second direction; and a first-2 elastic member (522) that connects the other side of the first fixing member (520) and the other side of the coupling member (510) and extends in a second direction. In order to provide a uniform elastic force to the first fixing member (520), the positions where the first-1 elastic member (521) and the first-2 elastic member (522) are provided may be provided symmetrically on both sides with respect to the center of the first fixing member (520) (for example, with respect to the shaft (523) provided in the center of the first fixing member (520)).

[0113] When the first fixed member (520) moves away from the coupling member (510), it can return to a neutral position by the elastic force provided by the first-1 elastic member (521), and when the first fixed member (520) approaches the coupling member (510), it can return to a neutral position by the elastic force provided by the first-2 elastic member (522). To this end, the first-1 elastic member (521) may be a tension spring and the first-2 elastic member (522) may be a compression spring, and the compensation force for return may be greater as the first fixed member (520) moves away from the neutral position by the first-1 elastic member (521) and the first-2 elastic member (522).

[0114] Additionally, the second fixed member (530) may further include: a second-1 elastic member (532) that connects one side of the movable connecting member (531) and one side of the base member (534) and extends parallel to the linear movement direction of the movable connecting member (531); and a second-2 elastic member (533) that connects the other side of the movable connecting member (531) and the other side of the base member (534) and extends parallel to the linear movement direction of the movable connecting member (531). The positions where the second-1 elastic member (532) and the second-2 elastic member (533) are provided can be provided on both sides centered on the movable connecting member (531) so as to provide a uniform elastic force to the movable connecting member (531).

[0115] When the movable connecting part (531) moves away from the neutral position to one side, it can return to the neutral position by the elastic force provided by the second-1 elastic member (532), and when the movable connecting part (531) moves away from the neutral position to the other side, it can return to the neutral position by the elastic force provided by the second-2 elastic member (533). To this end, the second-1 elastic member (532) and the second-2 elastic member (533) may be tension springs that apply tension in opposite directions, and the compensation force for return may be greater as the movable connecting part (531) moves away from the neutral position by the second-1 elastic member (532) and the second-2 elastic member (533).

[0116] Meanwhile, the vertical drive arm (400) may include a first fixed pipe (420) extending in a first direction; and a first moving pipe (430) partially inserted into and connected to the first fixed pipe (420) so as to be linearly movable along the first direction and extending in the first direction.

[0117] The length of the vertical drive arm (400) can be adjusted according to the trainer's arm length by adjusting the length of the portion of the first movable pipe (430) that is inserted into the first fixed pipe (420). To this end, the first fixed pipe (420) and the first movable pipe (430) are extended in a first direction, and the cross-sectional area of ​​the first movable pipe (430) must be smaller than the cross-sectional area of ​​the first fixed pipe (420).

[0118] To more precisely adjust the length of the vertical drive arm (400), the first fixed pipe (420) may include a first-1 fixed pipe (421) having a plurality of fixing holes arranged in a first direction and a first-2 fixed pipe (422) having a plurality of fixing pins (423) protruding from the surface and arranged in a first direction. The protruding plurality of fixing pins (423) may be inserted into the first-2 fixed pipe (422) by having a spring provided underneath. The length of the first fixed pipe (420) can be adjusted by selecting various positions of the fixing holes of the first-1 fixed pipe (421) and the fixing pins of the first-2 fixed pipe (422). In this structure, the first moving pipe (430) may be partially inserted into the first-2 fixed pipe (422).

[0119] When a trainee performs shoulder training, the position of the upper limb, including the shoulder joint, may deviate from the position aligned during the preparation process. At the same time, as the arm connected to the shoulder joint moves together, the position of the arm may also change, causing the distance between the hand and the center of rotation of the upper arm drive unit to change. Therefore, a method may be required to smoothly guide the change in length of the vertical drive arm (400) according to the movement of the upper limb induced during the shoulder training process, and to compensate for or offset the misalignment of the center of rotation.

[0120] The first moving pipe (430) can change the length of the vertical driving arm (400) in the first direction as the length inserted into the first fixed pipe (420) changes while the distance between the hand and the center of rotation of the upper arm driving unit, which is induced during shoulder training, changes as the first moving pipe (430) moves linearly in the first direction.

[0121] If the trainee's arm moves excessively, the shoulder joint may deviate from the center of rotation of the upper arm drive unit; therefore, a compensating force may be required to return the first moving pipe (430), which is worn so that the center of rotation aligns (state before starting shoulder training), to the neutral position when it deviates from the neutral position.

[0122] Accordingly, the vertical drive arm (400) may include: a first shaft (431) fixed to a first moving pipe (540) and moving linearly together with the first moving pipe (430); a first fixing member (440) fixed inside a first fixed pipe (420); a third-1 elastic member (451) provided between one end of the first shaft (431) and one end of the first fixing member (440); and a third-2 elastic member (452) provided between the other end of the first shaft (431) and the other end of the first fixing member (440).

[0123] The first shaft (431) is provided and fixed inside the first movable pipe (430) and can move ahead together with the first movable pipe (430), which moves according to the change in the trainer's arm position. The third-1 elastic member (451) provided between one end of the first shaft (431) and one end of the first fixed member (440), and the third-2 elastic member (452) provided between the other end of the first shaft (431) and the other end of the first fixed member (440), can provide elastic force that changes according to the lengths of the third-1 elastic member (451) and the third-2 elastic member (452) according to the movement of the first shaft (431). To provide uniform elastic force to the first shaft (431), the positions where the third-1 elastic member (451) and the third-2 elastic member (452) are provided can be provided on both sides centered on the first fixed member (440).

[0124] When the first shaft (431) moves away from the neutral position to one side and the length of the vertical drive arm (400) increases, it can return to the neutral position by the elastic force provided by the third-1 elastic member (451), and when the first shaft (431) moves away from the neutral position to the other side and the length of the vertical drive arm (400) decreases, it can return to the neutral position by the elastic force provided by the third-2 elastic member (452). To this end, the third-1 elastic member (451) and the third-2 elastic member (452) may be compression springs that provide elastic force in opposite directions, and the compensation force for return may increase as the first shaft (431) moves away from the neutral position by the third-1 elastic member (451) and the third-2 elastic member (452).

[0125] To enable the trainee to easily grasp the handle (700) at the end of the vertical drive arm (400) provided on the trainee's shoulder and the outer side of the arm, the vertical drive arm (400) may include: a second fixed pipe (460) connected to the end of the first moving pipe (430) and extending in a second direction intersecting the first direction; and a second moving pipe (470) partially inserted and connected inside the second fixed pipe (460) and extending in the second direction so as to be linearly movable along the second direction.

[0126] The second fixed pipe (460) can be connected from the end of the first movable pipe (430) to the inner side where the trainer's arm is located and extended in a second direction. The length of the vertical drive arm (400) in the second direction can be adjusted by adjusting the length of the portion of the second movable pipe (470) that is inserted into the second fixed pipe (460), thereby changing the position where the handle (700) held by the trainer is connected. To this end, the second fixed pipe (460) and the second movable pipe (470) are extended in the second direction, and the cross-sectional area of ​​the second movable pipe (470) must be smaller than the cross-sectional area of ​​the second fixed pipe (460).

[0127] If the trainee's arm moves excessively, the shoulder joint may deviate from the center of rotation of the upper arm drive unit; therefore, a compensating force may be required to return the second moving pipe (470), which is worn so that the center of rotation aligns (state before starting shoulder training), to the neutral position when it deviates from the neutral position.

[0128] To this end, the vertical drive arm (400) may further include: a second shaft (471) fixed to the second moving pipe (470) and moving linearly together with the second moving pipe (470); a second fixing member (480) fixed inside the second fixed pipe (460); a fourth-1 elastic member (491) provided between one end of the second shaft (471) and one end of the second fixing member (480); a fourth-2 elastic member (492) provided between the other end of the second shaft (471) and the other end of the second fixing member (480); and a handle (700) rotatably connected to the end of the second moving pipe (470).

[0129] The second shaft (471) is fixed inside the second moving pipe (470) and can move ahead together with the second moving pipe (470), which moves according to the change in the trainer's arm position. The 4-1 elastic member (491) provided between one end of the second shaft (471) and one end of the second fixed member (480), and the 4-2 elastic member (492) provided between the other end of the second shaft (471) and the other end of the second fixed member (480), can provide elastic force that changes according to the lengths of the 4-1 elastic member (491) and the 4-2 elastic member (492) according to the movement of the second shaft (471). To provide uniform elastic force to the second shaft (471), the positions where the 4-1 elastic member (491) and the 4-2 elastic member (492) are provided can be provided on both sides centered on the second fixed member (480).

[0130] When the second shaft (471) moves away from the neutral position to one side and the length of the second direction of the vertical drive arm (400) increases, it can return to the neutral position by the elastic force provided by the 4-1 elastic member (491), and when the second shaft (471) moves away from the neutral position to the other side and the length of the second direction of the vertical drive arm (400) decreases, it can return to the neutral position by the elastic force provided by the 4-2 elastic member (492). To this end, the 4-1 elastic member (491) and the 4-2 elastic member (492) may be compression springs that provide elastic force in opposite directions, and the compensation force for return may increase as the second shaft (471) moves away from the neutral position by the 4-1 elastic member (491) and the 4-2 elastic member (492).

[0131] The handle (700) is connected to a handle rotation axis (710) parallel to the first direction provided at the end of the second movable pipe (470) so that it can rotate, allowing the trainee to naturally grip it without hindering rotational movement while performing shoulder training.

[0132] The shoulder training device may include a control unit that drives a first rotary actuator (140), a second rotary actuator (320), a first linear actuator (650), and a second linear actuator (150), etc., to align the rotation center of the upper arm drive unit with the shoulder rotation center and rotate the horizontal drive arm (200) and the vertical drive arm (400).

[0133] The control unit may generate a customized control signal according to the trainee's shoulder training. Here, as an example of a customized control signal, it may be a control signal that adjusts the rotational speed or rotational torque of the first rotation actuator (140) and the second rotation actuator (320) so that the intensity of the force moving the trainee's shoulder, or the speed or acceleration of the shoulder rotational movement, is adjusted to an appropriate level according to the condition of the trainee's shoulder muscles or shoulder joint undergoing shoulder training. Additionally, it may be a control signal that adjusts the positions of the first chair (610), the second chair (620), and the horizontal support (120) so that the center of rotation can be aligned to fit the trainee's body size.

[0134] The control unit may include an input / output unit (not shown) that receives a selection regarding exercise execution information from a trainee or the like, or outputs exercise execution information so that the trainee or the like can recognize the exercise execution information. As a form of the input / output unit, a touchscreen that can receive the trainee's selection by touch while viewing information displayed on the screen may be provided. To enable the trainee to understand the content of the exercise execution information, the control unit transmits the exercise execution information to the touchscreen to display the exercise execution information.

[0135] In addition, to enable customized shoulder training for the trainee, the exercise execution information may include information regarding the trainee's past shoulder training history and information regarding the limits of shoulder training that do not strain the trainee.

[0136] The trainee can reset or change the exercise execution information by referring to it. That is, the trainee inputs the items to be changed or reset from the exercise execution information displayed on the touchscreen by touching them. Upon receiving the changed or reset exercise execution information from the trainee, the control unit executes the trainee's shoulder training according to the changed or reset exercise execution information.

[0137] As described above, according to the shoulder training device of the embodiment of the present invention, the position of the horizontal drive arm and the vertical drive arm, etc., can be varied in accordance with the body size of the trainee and the shoulder training mode, thereby providing a natural movement trajectory that corresponds to the movement of the shoulder joint having a ball and socket joint, so that the trainee can safely perform shoulder training without feeling discomfort.

[0138] Depending on the right shoulder training mode and the left shoulder training mode, the position of the horizontal drive arm and the vertical drive arm can be easily switched, allowing a single shoulder training device to provide both the right shoulder training and the left shoulder training desired by the trainee.

[0139] By limiting the rotation range of the horizontal drive arm and the vertical drive arm using the first rotation stopper and the second rotation stopper, excessive shoulder movement that may occur during shoulder training can be effectively suppressed. Additionally, when switching between the right shoulder training mode and the left shoulder training mode, the rotation range limit of the horizontal drive arm and the vertical drive arm is released, and after the mode switch, the rotation is limited to the range modified to suit the new mode, allowing for stable progress in right and left shoulder training.

[0140] Not only can the center of rotation of the shoulder be easily positioned at the centers of rotation of the horizontal and vertical drive arms according to the trainee's various body sizes, but even if the center of rotation of the shoulder becomes misaligned with the centers of rotation of the horizontal and vertical drive arms during shoulder training, this can be compensated for by the vertical drive arm and the attached arm fixing part, thereby preventing strain on the trainee's shoulder and allowing the trainee to proceed with shoulder training in accordance with natural movements.

[0141] Since it does not feature an arm structure containing multiple joints like conventional shoulder training devices, the structural complexity of the shoulder training device is reduced. As structural complexity is improved, manufacturing productivity for the upper limb training device is enhanced, and manufacturing costs can also be reduced.

[0142] The term 'on' as used in the above description includes cases of direct contact as well as cases where it is positioned facing the upper or lower surface without direct contact. It is possible to be positioned facing the entire upper or lower surface, or to be positioned facing it partially; it is used to mean facing it from a distance or in direct contact with the upper or lower surface. Furthermore, terms such as 'up,' 'down,' 'front end,' 'rear end,' 'upper,' 'lower,' 'top end,' and 'bottom end' used in the above description are defined based on the drawings for convenience, and the shape and position of each component are not restricted by these terms.

[0143] Although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the embodiments described above, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible without departing from the gist of the present invention as claimed in the claims. Accordingly, the technical scope of protection of the present invention should be determined by the following claims.

Claims

1. A support provided between a first position for training the trainer's right shoulder and a second position for training the trainer's left shoulder; A horizontal drive arm rotatably connected to the above support; A connecting part that is connected to the horizontal drive arm and rotates together with the horizontal drive arm; A vertical drive arm rotatably connected to the other end of the above-mentioned connecting part; and A shoulder training device comprising: an upper limb fixing part provided to the vertical drive arm and fixed to a part of the trainer's upper limb.

2. In Claim 1, The above support member is, Vertical column section extending in the vertical direction; A horizontal support member connected to the upper part of the vertical column section and extending horizontally toward the front; A first rotation axis connected to the other end of the horizontal support member; and It includes a first rotary actuator that provides rotational driving force to the first rotary shaft; The above horizontal drive arm is a shoulder training device that rotates by being connected to the above first rotation axis.

3. In Claim 1, A first chair support provided at the first position above; A second chair support provided at the second position above; A first chair connected to the first chair support above; and A shoulder training device further comprising a chair part having a second chair connected to the second chair support part.

4. In Claim 3, The above-mentioned first chair support is, A first guide section extending forward and backward; A first linear moving body movably connected to the first guide part; and A first chair connecting part that moves together with the first linear moving body of the commercial building and supports the first chair; and The above second chair support is, A second guide section extending forward and backward; A second linear moving body movably connected to the second guide part above; and It includes a second chair connecting part that moves together with the second linear moving body and supports the second chair; and The above chair part further comprises a first linear actuator that selectively linearly moves the first linear moving body or the second linear moving body.

5. In Claim 4, The first chair is connected to the first chair connecting part in a height-adjustable manner, and The second chair is a shoulder training device that is height-adjustably connected to the second chair connecting part.

6. In Claim 2, The above support member is a shoulder training device further comprising a second linear actuator that linearly moves the above horizontal support member in a vertical direction.

7. In Claim 2, The above connecting part is a shoulder training device including a connecting plate extending vertically from the horizontal driving arm.

8. In Claim 2, The above connecting part is, A second rotating shaft connected to the above-mentioned end; and It includes a second rotary actuator that provides rotational driving force to the second rotary shaft; The above vertical drive arm is a shoulder training device that rotates by being connected to the above second rotation axis.

9. In Claim 8, A shoulder training device provided at a position where the extension line of the first rotation axis and the extension line of the second rotation axis intersect the shoulder of the above-mentioned trainer.

10. In Claim 2, The above support member is a shoulder training device further comprising a first rotation stopper that limits the rotation range of a horizontal drive arm.

11. In Claim 10, The above-mentioned first rotation stopper is, A fixed stopper member fixed to either of the vertical column portion and the horizontal support portion; and It includes a rotary moving pin that rotates by the rotational driving force provided by the first rotary actuator; A shoulder training device in which the rotation of the rotary moving pin is restricted by the fixed stopper member.

12. In Claim 11, The shoulder training device further comprises a first pin moving member connected to the first rotational stopper to change the position of the rotational moving pin and adjust the interference between the fixed stopper member and the rotational moving pin.

13. In Claim 11, The first rotational stopper further includes a movable stopper member provided between the fixed stopper member and the rotational movable pin to additionally restrict the rotation of the rotational movable pin, and The above-mentioned moving stopper member is a shoulder training device in which the provided position changes according to the right shoulder training mode and the left shoulder training mode.

14. In Claim 8, The above connection part is a shoulder training device further comprising a second rotation stopper that limits the rotation range of the vertical drive arm.

15. In Claim 14, The second rotary stopper includes a stopper pin connected to and fixed at the other end of the connecting portion, and A shoulder training device in which the rotation of the vertical drive arm is restricted by the stopper pin.

16. In Claim 15, The shoulder training device further comprises a second pin moving member that controls interference between the stopper pin and a part of the vertical drive arm that rotates by changing the position of the stopper pin, the second rotational stopper.

17. In Claim 1, The upper limb fixing part includes an arm fixing part that fixes the trainer's arm, and The above arm fixing part is, A coupling member coupled to the above-mentioned vertical drive arm; A first fixing member connected to the coupling member to allow linear movement in a second direction intersecting the first direction in which the vertical drive arm extends; A second fixed member having a movable connecting portion provided to enable linear movement on a base portion; and A shoulder training device comprising: a rotating member connecting the first fixed member and the second fixed member so that the second fixed member can rotate parallel to the plane formed by the first direction and the second direction.

18. In Claim 17, The first fixing member above is, A first elastic member extending in the second direction, connecting one side of the first fixed member and one side of the coupling member; and A shoulder training device comprising: a first- and second elastic member extending in the second direction, connecting the other side of the first fixed member and the other side of the coupling member.

19. In Claim 17, The above second fixing member is, A second-1 elastic member connecting one side of the movable connecting part and one side of the base part, and extending parallel to the linear movement direction of the movable connecting part; and A shoulder training device further comprising: a second elastic member that connects the other side of the moving connection part and the other side of the base part and extends parallel to the linear movement direction of the moving connection part.

20. In Claim 1, The above vertical drive arm is, A first fixed pipe extending in a first direction; and A first moving pipe that is partially inserted and connected inside the first fixed pipe and extends in the first direction so as to be linearly movable along the first direction; A first shaft fixed to the first moving pipe and moving linearly together with the first moving pipe; A first fixing member fixed inside the first fixed pipe; A third-1 elastic member provided between one end of the first shaft and one end of the first fixing member; and A shoulder training device comprising: a third-2 elastic member provided between the other end of the first shaft and the other end of the first fixing member.

21. In claim 20, The above vertical drive arm is, A second fixed pipe connected to the end of the first moving pipe and extending in a second direction intersecting the first direction; and A second moving pipe that is partially inserted and connected inside the second fixed pipe and extends in the second direction so as to be linearly movable along the second direction; A second shaft fixed to the second moving pipe and moving linearly together with the second moving pipe; A second fixing member fixed inside the second fixing pipe; A 4-1 elastic member provided between one end of the second shaft and one end of the second fixing member; A fourth-2 elastic member provided between the other end of the second shaft and the other end of the second fixing member; and A shoulder training device further comprising a handle rotatably connected to the end of the second movable pipe.

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