阅读说明：本技术 托臂装置 (Bracket arm device ) 是由 权东秀 金德湘 千昞植 梁芸齐 于 2020-04-02 设计创作，主要内容包括：根据一实施例的托臂装置可包括：固定部,固定于外部物体；水平移动模块,一端可旋转地连接在上述固定部,另一端可对上述固定部进行二自由度平移动作；以及臂支撑模块,可对上述水平移动模块的另一端进行二自由度旋转动作地设置。(The trailing arm device according to an embodiment may include: a fixing portion fixed to an external object; a horizontal moving module, one end of which is rotatably connected with the fixed part and the other end of which can perform two-degree-of-freedom translation motion on the fixed part; and an arm support module which can be arranged to perform two-degree-of-freedom rotation motion on the other end of the horizontal movement module.)

1. A boom apparatus, comprising:

a fixing portion fixed to an external object;

one end of the horizontal moving module is rotatably connected to the fixed part, and the other end of the horizontal moving module can perform two-degree-of-freedom translation motion on the fixed part; and

and an arm support module which is provided so as to be capable of performing two-degree-of-freedom rotation operation on the other end of the horizontal movement module.

2. The corbel device according to claim 1, wherein the horizontal movement module comprises:

a central connection part rotatably connected to the fixing part by a plurality of links; and

a rotation end portion rotatably connected to the central connection portion by a plurality of links, the arm support module being rotatably provided.

3. The corbel device according to claim 2, wherein the horizontal movement module comprises:

a 1 st driving frame including a 1 st link having one end rotatably connected to the fixing portion based on a 1 st rotation shaft and the other end rotatably connected to the center connection portion based on a 2 nd rotation shaft parallel to the 1 st rotation shaft; and

and a 2 nd driving frame including a driving link rotatably connected to the fixing portion based on the 1 st rotation shaft, a 2 nd link rotatably connected to the driving link based on a 3 rd rotation shaft parallel to the 1 st rotation shaft, and a 3 rd link having one end rotatably connected to the 2 nd link based on a 4 th rotation shaft spaced apart from the driving link in a state of being parallel to the 3 rd rotation shaft and the other end rotatably connected to the central connection portion based on the 2 nd rotation shaft.

4. The boom apparatus of claim 3, wherein the 1 st driving frame and the 2 nd driving frame maintain a parallelogram shape.

5. The corbel device according to claim 3,

the horizontal movement module further comprises a 4 th link having one end rotatably connected to the central connection part based on the 2 nd rotation shaft and the other end rotatably connected to the rotation end part based on a 5 th rotation shaft parallel to the 1 st rotation shaft,

the 4 th link is fixed to the 3 rd link and rotates together based on the 2 nd rotation shaft.

6. The bracket arm device according to claim 5, further comprising a damper portion that forms a resistance to the rotational movement of the 1 st drive frame based on the 1 st rotation axis and forms a resistance to the rotational movement of the 2 nd drive frame based on the 1 st rotation axis.

7. The bracket arm device as claimed in claim 6, wherein the 1 st driving frame further comprises a 1 st protrusion part, the 1 st protrusion part being fixed to the 1 st link, rotated based on the 1 st rotation axis, having an edge shape at least a part of which protrudes radially based on the 1 st rotation axis,

the drive link has an edge shape at least a portion of which protrudes radially based on the 1 st rotation axis,

the damping part includes a 1 st damping member contacting the 1 st protrusion member and a 2 nd damping member contacting an edge of the driving link.

8. The corbel device according to claim 6, wherein the resistance formed at the damping portion is adjustable.

9. The bracket arm device as claimed in claim 5, wherein the horizontal movement module further comprises a 5 th link, one end of which is rotatably connected to the fixing part based on a 6 th rotation shaft spaced in a state parallel to the 1 st rotation shaft, and the other end of which is rotatably connected to the central connection part based on a 7 th rotation shaft spaced in a state parallel to the 2 nd rotation shaft,

the 5 th connecting rod and the 1 st connecting rod are parallel, and the length of the 5 th connecting rod is the same as that of the 1 st connecting rod.

10. The bracket arm device as claimed in claim 9, wherein the horizontal movement module further comprises a 6 th link, one end of which is rotatably connected to the central connection part based on an 8 th rotation shaft spaced in a state parallel to the 2 nd rotation shaft, and the other end of which is rotatably connected to the rotation end part based on a 9 th rotation shaft spaced in a state parallel to the 5 th rotation shaft,

the 6 th connecting rod and the 4 th connecting rod are parallel, and the length of the 6 th connecting rod is the same as that of the 4 th connecting rod.

11. The corbel device according to claim 2, wherein the arm support module comprises:

a 1 st support part rotatably connected based on an arm rotation shaft formed at the rotation end part;

a rotation link rotatably provided based on a tilt adjusting shaft formed at the 1 st support portion; and

and a gravity compensation part for providing an elastic restoring force which is increased as the rotating link is spaced from the direction vertical to the ground.

12. The corbel device according to claim 11, wherein the gravity compensation part includes:

an elastic body, the length of which changes along with the change of the angle of the rotating connecting rod, and which is configured in the direction parallel to the length direction of the rotating connecting rod; and

and a wire having one end fixed to the other side of the elastic body and the other end connected to a portion of the 1 st support portion located above the tilt adjustment shaft.

13. The corbel device according to claim 12, wherein the rotating link includes a guide wheel for guiding the wire such that the tension transmitted from the wire to the elastomer is parallel to the length of the rotating link.

14. A boom apparatus, comprising:

the 1 st four-section connecting rod structure comprises a fixed connecting rod fixed on an external object;

a 2 nd four-section connecting rod structure sharing any one connecting rod in the 1 st four-section connecting rod structure;

a 3 rd four-link structure sharing the other link in the 1 st four-link structure and having a link fixed to any one of the links in the 2 nd four-link structure; and

and the arm supporting module is arranged on the 2 nd four-section connecting rod structure and can support the arm of a user.

15. The corbel device according to claim 14, wherein the 1 st four-bar linkage is different for each of the fixed link, the one link, and the other link.

16. The corbel device according to claim 14, wherein the 3 four-bar linkage structures each have a parallelogram shape.

17. The corbel device according to claim 14, wherein the 1 st four-bar linkage arrangement includes the fixed link, a central connecting portion spaced from the fixed link, and a pair of 1 st links interconnecting the fixed link and the central connecting portion.

18. The corbel device according to claim 17, wherein the 2 nd four-bar linkage arrangement includes the central connecting portion, a swivel end portion spaced from the central connecting portion and connected to the arm support module, and a pair of 2 nd links interconnecting the central connecting portion and the swivel end portion.

19. The corbel device according to claim 18, wherein the other link is either one of the pair of 1 st links, and the fixed link is fixed to either one of the pair of 2 nd links.

20. The boom apparatus of claim 19, wherein any one of the links in the 3 rd four-bar linkage rotates about the same axis as any one of the links in the 1 st four-bar linkage.

Technical Field

The following description relates to a boom device.

Background

The arm rest (arm rest) supports the arm and a part of the hand of the user, improves the motion precision of the arm, improves the shaking of the arm, and reduces the fatigue caused by the movement of the arm.

However, most of the conventional corbels are configured to simply support a part of the arm, and have a structure in which it is difficult to stably support the arm in a fixed manner even when the position and angle of the arm change in the working space, that is, even in various postures of the arm.

Therefore, according to the movement of the arm or the change in posture of the user, an ergonomic movement can be realized, and thus the necessity of the arm support device capable of accurately guiding the movement of the arm and effectively relieving the fatigue of the user tends to increase.

The foregoing background is of the content held or grasped by the inventor during the derivation of the invention and should not be taken as an admission that it is necessarily the publicly known technology disclosed to the public prior to the application of the present invention.

Disclosure of Invention

Technical problem

An object of an embodiment is to provide a boom device.

Means for solving the problems

The trailing arm device according to an embodiment may include: a fixing portion fixed to an external object; a horizontal moving module, one end of which is rotatably connected with the fixed part and the other end of which can perform two-degree-of-freedom translation motion on the fixed part; and an arm support module which can perform two-degree-of-freedom rotation motion on the other end of the horizontal movement module.

The horizontal movement module may include: a central connecting part rotatably connected to the fixing part by a plurality of links; and a rotation end portion rotatably connected to the central connection portion by a plurality of links, and rotatably provided with the arm support module.

The horizontal movement module may include: a 1 st driving frame including a 1 st link having one end rotatably connected to the fixing portion based on a 1 st rotation shaft and the other end rotatably connected to the center connecting portion based on a 2 nd rotation shaft parallel to the 1 st rotation shaft; and a 2 nd driving frame including a driving link rotatably connected to the fixing portion based on the 1 st rotation shaft, a 2 nd link rotatably connected to the driving link based on a 3 rd rotation shaft parallel to the 1 st rotation shaft, and a 3 rd link having one end rotatably connected to the 2 nd link based on a 4 th rotation shaft spaced apart from the driving link in a state of being parallel to the 3 rd rotation shaft and the other end rotatably connected to the center connecting portion based on the 2 nd rotation shaft.

The 1 st driving frame and the 2 nd driving frame may maintain a parallelogram shape.

The horizontal movement module may further include a 4 th link, one end of the 4 th link may be rotatably connected to the central connection part based on the 2 nd rotation shaft, the other end of the 4 th link may be rotatably connected to the rotation end part based on a 5 th rotation shaft parallel to the 1 st rotation shaft, and the 4 th link may be fixed to the 3 rd link and may be rotated together based on the 2 nd rotation shaft.

The trailing arm device according to one embodiment further includes a damper unit that generates a resistance to the rotational movement of the 1 st driving frame based on the 1 st rotating shaft and generates a resistance to the rotational movement of the 2 nd driving frame based on the 1 st rotating shaft.

The 1 st driving frame may further include a 1 st protrusion fixed to the 1 st link to rotate on the 1 st rotation shaft and having an edge shape at least a portion of which radially protrudes on the 1 st rotation shaft, the driving link may have an edge shape at least a portion of which radially protrudes on the 1 st rotation shaft, and the damper part may include a 1 st damper contacting the 1 st protrusion and a 2 nd damper contacting an edge of the driving link.

The resistance formed in the damping part can be adjusted.

The horizontal movement module may further include a 5 th link, one end of the 5 th link may be rotatably connected to the fixing part based on a 6 th rotation shaft spaced apart in parallel with the 1 st rotation shaft, and the other end of the 5 th link may be rotatably connected to the central connection part based on a 7 th rotation shaft spaced apart in parallel with the 2 nd rotation shaft, and the 5 th link and the 1 st link may be parallel, and a length of the 5 th link may be identical to a length of the 1 st link.

The horizontal movement module may further include a 6 th link, one end of the 6 th link may be rotatably connected to the central connection part based on an 8 th rotation shaft spaced apart from the 2 nd rotation shaft in parallel, the other end of the 6 th link may be rotatably connected to the rotation end part based on a 9 th rotation shaft spaced apart from the 5 th rotation shaft in parallel, the 6 th link and the 4 th link may be parallel, and a length of the 6 th link may be identical to a length of the 4 th link.

The arm support module may include: a 1 st support part rotatably connected based on an arm rotation shaft formed at the rotation end part; a rotation link rotatably provided based on a tilt adjusting shaft formed at the 1 st support portion; and a gravity compensation unit for providing an elastic restoring force which increases as the rotation link is spaced apart in a direction perpendicular to the ground.

The gravity compensation part may include: an elastic body, the length of which changes along with the change of the angle of the rotating connecting rod, and which is arranged in the direction parallel to the length direction of the rotating connecting rod; and a wire having one end fixed to the other side of the elastic body and the other end connected to a portion of the 1 st supporting portion located above the tilt adjusting shaft.

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

The trailing arm device according to an embodiment may include: the 1 st four-section connecting rod structure comprises a fixed connecting rod fixed on an external object; a 2 nd four-section connecting rod structure sharing any one connecting rod in the 1 st four-section connecting rod structure; a 3 rd four-link structure sharing the other link in the 1 st four-link structure and having a link fixed to any one of the links in the 2 nd four-link structure; and an arm support module, which is arranged on the 2 nd four-section connecting rod structure and can support the arm of the user.

In the fourth link structure of the above 1, the fixed link, the one link, and the other link may be different.

The 3 four-link structures may each have a parallelogram shape.

The 1 st four-link structure may include the fixed link, a center connecting portion spaced apart from the fixed link, and a pair of 1 st links connecting the fixed link and the center connecting portion to each other.

The 2 nd four-link structure may include the center connection part, a rotation end part spaced apart from the center connection part and connected to the arm support module, and a pair of 2 nd links connecting the center connection part and the rotation end part to each other.

The other link may be any one of the pair of 1 st links, and the fixed link may be fixed to any one of the pair of 2 nd links.

Any one of the links of the 3 rd four-link structure rotates about the same axis as any one of the links of the 1 st four-link structure.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the arm supporting device of the embodiment, the arm movement of the user can be supported in all postures on the working space, so that the fatigue caused by the arm movement of the user can be reduced.

According to the arm supporting device of one embodiment, horizontal movement suitable for fixing and damping can be achieved, and therefore a user can perform precise arm movement.

Drawings

Fig. 1 is a perspective view showing a use pattern of a bracket arm device according to an embodiment.

Fig. 2 is a perspective view of a bracket arm device according to an embodiment.

Fig. 3 is a block diagram of a damping portion according to an embodiment.

Fig. 4 is a perspective view of a horizontal movement module according to an embodiment.

Fig. 5 is a plan view schematically showing an operation structure of a horizontal movement module according to an embodiment.

Fig. 6 is a perspective view of an arm support module according to an embodiment.

Fig. 7 and 8 are side views of an arm support module according to an embodiment.

Detailed Description

Hereinafter, embodiments are described in detail with reference to the exemplary drawings. When reference numerals are given to components in each drawing, it should be noted that the same components are denoted by the same reference numerals as much as possible even when they are shown in other drawings. Also, in the case where it is judged that the detailed description of the related well-known structure or function hinders the understanding of the embodiments when the embodiments are explained, the detailed description thereof will be omitted.

In addition, in describing the components of the embodiment, terms such as 1 st, 2 nd, A, B, (a), (b) and the like may be used. These terms are only used to distinguish one structural element from another structural element, and it is not intended that the nature, order, or sequence of the related structural elements be limited to the terms. When some structural elements are described as being "connected," "coupled," or "connected" to other structural elements, it should be understood that other structural elements may also be "connected," "coupled," or "connected" to each other, although the structural elements may be directly connected or connected to the other structural elements.

The constituent elements including the functions common to those included in any one of the embodiments are described with the same names in other embodiments. The description given in any one of the embodiments can be applied to other embodiments as long as there is no description to the contrary, and detailed description in the overlapping range is omitted.

Fig. 1 is a perspective view showing a use pattern of a bracket arm device according to an embodiment, and fig. 2 is a perspective view of the bracket arm device according to an embodiment.

Referring to fig. 1 and 2, a boom device 1 according to an embodiment may support the movement of an arm of a user on a work space.

For example, the arm rest device 1 is fixed to an external object 9 such as a desk as shown in fig. 1, and all postures on the workspace can support arm movements of the user. The arm support device 1 can alleviate fatigue caused by arm movement of a user, and can realize horizontal movement suitable for fixation and damping, thereby enabling the user to precisely move the arm.

The bracket arm device 1 according to an embodiment may include a fixing portion 11, a horizontal movement module 13, a damping portion 12, and an arm support module 14.

The fixing portion 11 is fixed to the external object 9 and provides a driving reference position of the bracket device 1.

For example, the fixing portion 11 may include: a fixing base 112 that can be fixed to an external object; and a support base 111 connected to the fixed base 112 and configured to support the horizontal movement module 13 and the arm support module 14, which will be described later, in a drivable manner.

The fixing base 112 may be fixed to an external object 9 such as a desk, a shelf, a table, etc., as shown in fig. 1.

The supporting base 111 is fixed to the fixing base 112 and provides a reference point for relative rotation or movement of the horizontal movement module 13.

The horizontal movement module 13 is movable 2 degrees of freedom in the horizontal direction based on the fixed portion 11. For example, one end of the horizontal movement module 13 is rotatably connected to the support base 111, and the other end rotatably supports the arm support module 14 while moving in the horizontal direction with respect to the fixed part 11.

The damper 12 is connected to the horizontal movement module 13 and can form a resistance based on the movement of the horizontal movement module 13. For example, the resistance force formed by the damper portion 12 is adjustable, whereby not only the horizontal movement module 13 is not moved at all, but also the moving speed of the horizontal movement module 13 can be made different even if the user applies the same force.

The arm support module 14 is movably supported by the horizontal movement module 13 and supports the arm of the user. For example, the arm support module 14 may include 2 arm brackets 143, 147 rotatably disposed between each other based on rotation shafts respectively parallel to the horizontal direction in which the horizontal movement module 13 moves.

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

The horizontal movement module 13, the damper 12, and the arm support module 14 will be described in detail later with reference to fig. 3 to 8.

Fig. 3 is a block diagram of a damper according to an embodiment, fig. 4 is a perspective view of a horizontal movement module according to an embodiment, and fig. 5 is a plan view schematically illustrating an operation structure of the horizontal movement module according to an embodiment.

Referring to fig. 3 to 5, a specific structure of the horizontal movement module 13 and the damping part 12 according to an embodiment may be confirmed.

The horizontal movement module 13 according to an embodiment may include a 1 st driving frame 131, a 2 nd driving frame 132, a central connection portion 133, a rotation end portion 134, and a plurality of links 135, 136, 137.

The 1 st driving frame 131 is rotatable on the fixed portion 11 based on the 1 st rotation axis a. For example, one end of the 1 st driving frame 131 is rotatably coupled to the supporting base 111 based on the 1 st rotation axis a, and the other end of the 1 st driving frame 131 is rotatably coupled to the central coupling portion 133 based on the 2 nd rotation axis B parallel to the 1 st rotation axis a.

For example, the 1 st driving block 131 may include: a 1 st link 1311 connected between the 1 st rotation axis a and the 2 nd rotation axis B; the 1 st protrusion member 1312 is fixed to the 1 st link 1311 and rotates on the 1 st rotation axis a.

The 1 st protrusion part 1312 may have an edge shape of a circular arc shape at least a portion of which protrudes radially from the 1 st link 1311 based on the 1 st rotation axis a. For example, the 1 st protrusion member 1312 is connected to the 1 st damper 121 described later, and can form resistance to the rotational movement of the 1 st link 1311.

For example, the 1 st protrusion element 1312 may include a 1 st contact surface 13121 contacting the 1 st damping element 1213 of the 1 st damping part 121 along an edge of a circular arc shape.

The 2 nd driving frame 132 may have a structure of three-link levers 1322, 1321, 1323 rotatably connected between the 1 st rotation axis a of the fixing portion 11 and the 2 nd rotation axis B of the center connecting portion 133.

For example, the 2 nd driving block 132 may include: a driving link 1322 rotatably connected to the fixed portion based on the 1 st rotation axis a; a 2 nd link 1321 rotatably connected to the driving link 1322 on the basis of a 3 rd rotation axis G parallel to the 1 st rotation axis a; the 3 rd link 1323 has one end rotatably connected to the 2 nd link 1321 based on the 4 th rotation axis H spaced apart in a state of being parallel to the 3 rd rotation axis G, and has the other end rotatably connected to the center connection part 133 based on the 2 nd rotation axis B.

The driving link 1322 is rotatably coupled to the 1 st rotation axis a, and may have a shape including an edge having a circular arc shape at least a portion of which radially protrudes. For example, drive link 1322 may also be referred to as 2 nd projection member 1322.

For example, the 2 nd projection part 1322 may include the 2 nd contact surface 13221 that contacts the 2 nd damping part 1223 of the 2 nd damping portion 122 along the edge of the circular arc shape.

The 1 st driving frame 131 and the 2 nd driving frame 132 may be formed in a four-link structure connecting the fixing portion 11 and the center connecting portion 133, the length of the 2 nd link 1321 may be the same as the length of the 1 st link 1311, and the length of the driving link 1322 may be the same as the length of the 3 rd link 1323.

With the above configuration, the links 1311, 1321, 1322, and 1323 can be formed in a parallelogram shape in which the links facing each other are kept parallel. The parallelogram structure as above can have a higher rigidity (stiffness) than other transmission structures, and thus an equivalent rigidity can be ensured even with a relatively light raw material. For example, at least a portion of each of the tie bars 1311, 1321, 1322, 1323 may be fabricated as a carbon fiber pipe (carbon fiber pipe) having rigidity 5 to 10 times higher than that of aluminum or steel, thereby providing a lighter and stronger structure.

The center connecting portion 133 is connected to the 1 st driving frame 131 and the 2 nd driving frame 132 from the fixing portion 11 and is movable in a direction horizontal to the fixing portion 11.

The rotating end 134 is rotatably and movably connected to the central connecting portion 133 by a plurality of links 135, 137, and provides an arm rotating shaft C on which the arm support module 14 described later is rotatably provided. For example, the arm rotation axis C may be parallel to the 1 st rotation axis a. A damping portion that forms resistance to relative rotational movement between members connected to the arm rotation shaft C may be provided on the arm rotation shaft C. According to such a damping portion, damping of the movement in the plane of the trailing arm device 1 can be achieved.

The plurality of links 135, 136, 137 may include a 4 th link 135, a 5 th link 136, and a 6 th link 137.

The 4 th link 135 has one end rotatably connected to the center connecting portion 133 based on the 2 nd rotation axis B and the other end rotatably connected to the rotation end portion 134 based on the 5 th rotation axis F parallel to the 1 st rotation axis a.

For example, the 4 th link 135 may be fixed to the 3 rd link 1323, and the 4 th link 135 may be simultaneously rotated when the 3 rd link 1323 is rotated based on the 2 nd rotation axis B. In other words, the 4 th link 135 and the 3 rd link 1323 may make a rigid motion, and in this point of view, the 4 th link 135 and the 3 rd link 1323 may be also understood to mean different portions of the same link.

One end of the 5 th link 136 is rotatably connected to the fixing portion 11 based on a 6 th rotation axis D spaced apart from the 1 st rotation axis a in parallel, and the other end is rotatably connected to the central connection portion 133 based on a 7 th rotation axis E spaced apart from the 2 nd rotation axis B in parallel.

For example, the 5 th link 136 may have the same length as the 1 st link 1311. For example, the distance and direction of the 6 th rotation axis D from the 1 st rotation axis a in the fixing portion 11 may be the same as the distance and direction of the 7 th rotation axis E from the 2 nd rotation axis B in the central connection portion 133.

According to the above structure, the 1 st link 1311 and the 5 th link 136 can always maintain a parallel state, and thus the 1 st link 1311 and the 5 th link 136 can provide a parallelogram joint structure connecting the 1 st rotation axis a, the 2 nd rotation axis B, the 7 th rotation axis E, and the 6 th rotation axis D between the fixing portion 11 and the central connection portion 133. For example, at least a portion of each link 1311, 136 forming a parallelogram may be fabricated as a carbon fiber pipe (carbon fiber pipe).

One end of the 6 th link 137 is rotatably connected to the central connection part 133 based on the 8 th rotation axis I spaced apart from a state parallel to the 2 nd rotation axis B, and the other end is rotatably connected to the rotation end part 134 based on the 9 th rotation axis J spaced apart from a state parallel to the 5 th rotation axis F.

For example, the 6 th link 137 may have the same length as the 4 th link 135. For example, the distance and direction that the 8 th rotation axis I is spaced from the 2 nd rotation axis B may be the same as the distance and direction that the 9 th rotation axis J is spaced from the 5 th rotation axis F at the rotation end 134 at the central connection portion 133.

According to the above structure, the 4 th link 135 and the 6 th link 137 can be constantly maintained in a parallel state, and thus, the 4 th link 135 and the 6 th link 137 can provide a parallelogram joint structure connecting the 2 nd rotation axis B, the 5 th rotation axis F, the 8 th rotation axis I, and the 9 th rotation axis J between the center connection portion 133 and the rotation end portion 134. For example, at least a portion of each of the links 135, 137 forming the parallelogram may be fabricated as a carbon fiber pipe (carbon fiber pipe).

For example, the arm rotation axis C may be formed at a position spaced apart from the rotation end 134 in a state of being parallel to the 5 th rotation axis F and the 9 th rotation axis J, and the arm support module 14 may be rotatably provided at the rotation end 134 based on the arm rotation axis C.

On the other hand, it is disclosed that the support base 111, the central connecting portion 133 and the rotating end portion 134 may be supported as "links", respectively. For example, the support base 111 may also be referred to as a "fixed link" in terms of relative non-movement with respect to the external object 9. As described above, according to the connecting structure of the 3 parallelograms 111, 1311, 133, 136, 1311, 1322, 1323, 133, 135, 137 formed by the plurality of connecting rods, the rotation end 134 of the arm support module 14 can realize the 2-degree-of-freedom movement toward the horizontal direction with respect to the fixing portion 11.

Hereinafter, the concept of the link structure will be summarized with reference to the conceptual diagram of fig. 5. The trailing arm device 1 may include: (i) "the 1 st four sections connecting rod structure"; (ii) the 2 nd four-section connecting rod structure shares any connecting rod with the 1 st four-section connecting rod structure; (iii) the "3 rd fourth link structure" shares another link with the "1 st fourth link structure", and has a link fixed to any one of the links in the "2 nd fourth link structure".

Any of the 4 links constituting the "1 st fourth link structure" may be a support base 111 that is fixed to the external object 9 and functions as a reference frame.

Specifically, the "1 st fourth link structure" may include a support base 111, a central connecting portion 133 spaced apart from the support base 111, and a pair of links 1311, 136 connecting the support base 111 and the central connecting portion 133 to each other. According to the above structure, the central connection part 133 can perform one degree of freedom motion with respect to the support base 111. For example, the pair of links 1311, 136 may each have a length that is longer than the maximum distance between the pair of links 1311, 136. According to the above configuration, the moving radius of the central connection portion 133 with respect to the support base 111 can be sufficiently secured.

One link shared with the "2 nd four-link structure" in the "1 st four-link structure" may be the central connection portion 133 that is not directly connected to the support base 111.

Specifically, the "2 nd four-link structure" may be constituted by a central connecting portion 133, a rotating end portion 134 spaced apart from the central connecting portion 133, and a pair of links 135 and 137 connecting the central connecting portion 133 and the rotating end portion 134 to each other. According to the above configuration, the rotation end 134 can move in one degree of freedom with respect to the central connection portion 133, and finally, the rotation end 134 can move in two degrees of freedom with respect to the support base 111. For example, each length of the pair of links 135, 137 may be longer than a maximum distance between the pair of links 135, 137. According to the above structure, the working area for the rotating end 134 of the support base 111 can be sufficiently secured.

Generally, a four-joint link structure is more rigid (stifness) than a Linear mechanism (Linear mechanism), whereas there is a limit that a working area (Workspace) is narrow. However, if 2 four-link structures sharing one link are used as in the present application, there is an advantage that the bracket arm device 1 can be provided with high rigidity in a wide working area, overcoming the above limitations.

One link shared with the "3 rd four-link structure" in the "1 st four-link structure" is any one link 1311 of the pair of links 1311, 136 directly connected to the support base 111, and the link fixed to and integrally moving with any one link 1323 of the "3 rd four-link structure" in the "2 nd four-link structure" may be any one link 135 of the pair of links 135, 137 directly connected to the central connection portion 133.

Specifically, the "3 rd four-link structure" may be formed of a 1 st link 1311, a 2 nd link 1321 spaced apart from the 1 st link 1311, and a pair of links 1322 and 1323 connecting the 1 st link 1311 and the 2 nd link 1321 to each other. Here, any one of the links 1323 of the pair of links 1322 and 1323 is fixed to any one of the links 135 and 137 of the pair of links 135 and 137 of the "2 nd four-link structure" and is integrally movable. According to the above structure, since the rigidity with respect to the rotation end portion 134 of the support base 111 can be enhanced, a more stable structure can be provided. Further, as described later, the damper portion for forming resistance to the movement of the "2 nd four-link structure" may be disposed at a position close to the fixed portion 11 (for example, a specific position on the fixed portion 11 or a specific position on the external object 9), and therefore the inertia moment of the trailing arm device 1 can be prevented from increasing.

For example, the 3 four-link structures may have a parallelogram structure, respectively. According to the above design, the generation of a singular point (singular) is prevented during the movement of each four-bar linkage structure, whereby the problem of the limitation of the working area of the rotating end portion 134 can be reduced. On the other hand, the present invention is not necessarily limited to the above, and discloses that some or all of the above 3 four-bar linkage structures may not be a parallelogram structure.

As described above, according to the present invention, the plurality of links guide and support the movement and rotation of each other, so that the load in the vertical direction of the arm support module 14 including the weight of the arm of the user can be effectively dispersed, and the durability and the operation stability can be improved.

For example, the plurality of links may be formed of hollow type members having a hollow inside in order to reduce inertia based on the weight and movement of the horizontal movement module 13.

The damping part 12 may include a 1 st damping part 121, a 2 nd damping part 122, a control part 123, and an input part 124. For example, at least a part of the damper portion 12 is provided in the fixing portion 11 that is a portion of the arm rest device 1 that does not move, and thus an increase in the moment of inertia of the arm rest device 1 can be prevented. As another example, at least a part of the damper portion 12 may be provided to the external object 9.

The 1 st damping part 121 may form a resistance to the rotational movement of the 1 st driving frame 131.

For example, the 1 st damping part 121 may include: a 1 st damping member 1213 connected to the 1 st protrusion member 1312 to transmit resistance based on the rotational movement of the 1 st driving frame 131; a 1 st driving source 1211 connected to the 1 st damping member 1213 to form a resistance force, and adjusting the magnitude of the resistance force; the 1 st stopper 1212 firmly fixes the 1 st damping member 1213 to prevent the 1 st driving frame 131 from rotating.

The 1 st damping element 1213 may contact the 1 st rounded contact surface 13121 of the 1 st protruding element 1312. For example, it is disclosed that the connection between 1 st damping element 1213 and 1 st contact surface 13121 may be formed by a variety of rotation transmission factors such as gear engagement, bolt engagement, friction sub engagement, and the like.

The 1 st driving source 1211 forms a rotation resistance in the 1 st damping member 1213 connected to the 1 st contact surface 13121, and the magnitude of the resistance can be adjusted. For example, the 1 st driving source 1211 may include a driving source such as a motor or a cylinder that may form a rotational force as energy such as electricity, air pressure, or hydraulic pressure.

The 1 st stopper 1212 fixes the 1 st damping member 1213 connected to the 1 st contact surface 13121 against rotation, whereby the 1 st driving frame 131 can be prevented from rotating based on the 1 st rotation axis a. For example, the 1 st brake 1212 may be an electromagnetic brake (electromagnetic brake) that operates electromagnetically to strongly pressurize the 1 st damping member 1213.

The 2 nd damper part 122 may form a resistance force in the rotation movement of the 2 nd driving frame 132.

For example, the 2 nd damping part 122 may include: a 2 nd damping member 1223 connected to the 2 nd projection member 1322 to transmit resistance based on the rotational movement of the 2 nd driving frame 132; a 2 nd driving source 1221 connected to the 2 nd damping member 1223 to form a resistance force and adjust the resistance force; the 2 nd stopper 1222 firmly fixes the 2 nd damping member 1223 to prevent the 2 nd driving frame 132 from rotating.

The 2 nd driving source 1221 forms a rotation resistance in the 2 nd damping member 1223 connected to the 2 nd contact surface 13221, and the magnitude of the resistance can be adjusted. For example, the 2 nd 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.

The 2 nd stopper 1222 fixes the 2 nd damping member 1223 connected to the 2 nd contact surface 13221 against rotation, thereby preventing the 2 nd driving frame 132 from rotating based on the 1 st rotation axis a. For example, the 2 nd brake 1222 may be an electromagnetic brake (electromagnetic brake) that operates electromagnetically, strongly pressurizing the 2 nd damping member 1223.

With the configurations of the 1 st damper part 121 and the 2 nd damper part 122, resistance based on the two-degree-of-freedom movement in the horizontal direction of the arm support module 14 can be formed.

Specifically, the 1 st damping part 121 rotates the 1 st rotational degree of freedom (θ) for the 1 st driving frame 131 based on the 1 st rotational axis a₁) The resistance to movement thereby suppresses the tendency of the central connecting portion 133 to rotate with respect to the fixed portion 11.

The 2 nd damper 122 rotates the 2 nd rotational degree of freedom (θ) of the 2 nd driving frame 132, i.e., the driving link 1322, based on the 1 st rotational axis a₂) Resistance to movement, thereby suppressing the tendency of the rotating end portion 134 to rotate with respect to the central connecting portion 133.

Finally, the damping portion 12 generates a damping force against the force applied to the rotating end portion 134 in accordance with the movement and posture change of the user's arm, thereby guiding the user to move the arm more precisely and slowly.

Further, by adjusting the magnitude of the resistance formed by the 1 st damping part 121 or the 2 nd damping part 122, it is possible to realize a proper damping control (damping control) according to the kind of work, the accuracy, or the preference of the user.

Further, if necessary, the 1 st stopper 1212 or the 2 nd stopper 1222 is driven to suppress the rotation of the 1 st driving frame 131 or the 2 nd driving frame 132, thereby preventing the horizontal movement of the rotation end 134. Accordingly, the arm of the user supported by the arm support module 14 can be fixed in position or posture in the horizontal direction, and this is effective for the work requiring application of the fine motion of the small muscle below the wrist.

On the other hand, the 1 st damper part 121 and the 2 nd damper part 122 are driven independently of each other, i.e., the 1 st rotational degree of freedom (θ)₁) Motion and 2 nd rotational degree of freedom (theta)₂) The degree of suppression of the motion is made different, so that selective arm movement can be induced according to the movement locus of the arm in the type of work or the work area.

The control unit 123 operates the 1 st damper unit 121 or the 2 nd damper unit 122, and the 1 st driving block 131 or the 2 nd driving block 132 can form a resistance force with respect to the rotational movement performed based on the 1 st rotational axis a, and can adjust the magnitude of the resistance force.

The control unit 123 operates the 1 st brake 1212 or the 2 nd brake 1222, and the 1 st driving block 131 or the 2 nd driving block 132 suppresses the rotational motion performed based on the 1 st rotational axis a.

The input 124 may include an interface for a user to apply an input signal for controlling the 1 st damping part 121 or the 2 nd damping part 122.

On the other hand, it is not necessary to form resistance forces for the rotational movements of the different driving frames 131 and 132 separately for the 1 st damper part 121 and the 2 nd damper part 122. As shown in fig. 4, etc., when the portion 1312 of the 1 st driving frame 131 and the portion 1322 of the 2 nd driving frame 132 rotate about the same rotation axis a, the damping force can be simultaneously applied to the 1 st driving frame 131 and the 2 nd driving frame 132 by using the same damping portion. For example, it is also understood that the 1 st damping element 1213 in contact with the 1 st protruding element 1312 and the 2 nd damping element 1223 in contact with the 2 nd protruding element 1322 are each part of the same structure.

Fig. 6 is a perspective view of an arm support module according to an embodiment, and fig. 7 and 8 are side views of the arm support module according to an embodiment.

Referring to fig. 6 to 8, a specific structure of the arm support module 14 according to an embodiment may be confirmed.

The arm support module 14 according to an embodiment may include a connection part 141, a 1 st support part 144, a 1 st arm bracket 143, a rotation link 145, a 2 nd support part 146, a 2 nd arm bracket 147, and a weight compensation part 148.

The connecting portion 141 is rotatably provided at the rotating end portion 134 based on the arm rotating shaft C.

The 1 st support part 144 may be fixed to the connection part 141 and may support the 1 st arm bracket 143. For example, the 1 st support part 144 is integrally formed with the connection part 141 to be rotatable together based on the arm rotation axis C.

The 1 st arm support 143 may support the user's arm. For example, the 1 st arm brace 143 may support a portion of the user's arm adjacent to the elbow.

For example, the surface of the 1 st arm support 143 may have a curved shape such that both side edge portions face the upper side, whereby the user's arm can be stably placed to be supported.

For example, as shown in fig. 7 and 8, the 1 st arm support 143 may overlap the arm rotation axis C, whereby the rotation motion of the forearm part based on the elbow joint may be stably guided.

The rotation link 145 may be a link having one side rotatably connected to the 1 st supporting part 144 and the other side connected to the 2 nd supporting part 146.

For example, the rotation link 145 may be rotatable with respect to the 1 st support part 144 based on a tilt adjustment axis K, which may be perpendicular to the arm rotation axis C. A damping portion may be provided on the tilt adjustment shaft K to form a resistance to relative rotational movement between components connected to the tilt adjustment shaft K. According to such a damping portion, damping can be achieved against spatial movement of the trailing arm device 1.

The 2 nd support portion 146 may be connected to the rotation link 145 and may support the 2 nd arm bracket 147.

The 2 nd arm support 147 may support the arm of the user. For example, the 2 nd arm brace 147 may support a portion of the user's arm adjacent the wrist in the region of the user's arm.

For example, the surface of the 2 nd arm bracket 147 may have a curved shape such that both side edge portions face the upper side, whereby the arm of the user can be stably placed to be supported.

The weight compensation part 148 can compensate for the influence of the weight of the arm of the user and the weight of the arm support module 14 in the rotational movement of the rotational link 145 with respect to the 1 st support part 144.

For example, the weight compensation part 148 may include an elastic body 1481 provided to the rotating link 145 and a wire 1482 connected between the elastic body 1481 and the 1 st supporting part 144.

Elastomer 1481 may be fixed at one end to rotating link 145 and at the other end may be connected to wire 1482. For example, as shown in fig. 6 to 8, the elastic body 1481 may be a spring provided to be expandable along the length direction of the rotation link 145.

The wire 1482 may apply a tensile force to the elastic body 1481 between the elastic body 1481 and the 1 st support 144. According to the structure of the wire 1482, the magnitude of the tensile force applied to the elastic body 1481 can be adjusted according to the rotation angle of the rotating link 145 formed for the tilt adjusting shaft K.

For example, a portion where the wire 1482 is connected to the 1 st supporting portion 144 may be formed at a position higher than a portion of the tilt adjusting shaft located at the 1 st supporting portion 144 in the vertical direction. Among them, a portion where the wire 1482 is fixed to the 1 st supporting part 144 may be referred to as a wire fixing part 1441.

According to the above structure, the farther the rotation link 145 is away from the direction perpendicular to the ground (z-axis direction), the farther the distance of separation between the wire fixing portion 1441 and the end of the elastic body 1481 is.

In other words, in a state where rotating link 145 is inclined upward as shown in fig. 8, it is rotated in a horizontal state as shown in fig. 7, whereby the tension applied to elastic body 1481 can be increased and the restoring force by elastic body 1481 can be increased.

Finally, the restoring force of the elastic body 1481 can be a force that tends to move the 2 nd arm support 147 upward relative to the 1 st arm support 143, so that the influence of the weight of the arm support module 14 including the weight of the arm of the user can be reduced or compensated for during the upward-inclined transition of the posture of the forearm of the user.

For example, the rotating link 145 may further include a guide wheel 1451 guiding a connection direction of the wire 1482 between the 1 st support 144 and the elastic body 1481 in order to maintain a direction of tensile force transmitted from the wire 1482 to the elastic body 1481 in parallel with a direction of the rotating link 145.

According to the guide wheel 1451, as shown in fig. 7 and 8, the wire 1482 extended from the wire fixing part 1441 is wound around a portion of the guide wheel 1451 and then coupled to the elastic body 1481 in a state parallel to the extending direction of the rotating link 145, so that the tensile force applied to the elastic body 1481 is substantially linearly adjustable according to the rotation angle of the rotating link 145.

For example, rotation link 145 may further include an interference portion 1452, and the interference portion 1452 interferes with the 1 st supporting part 144 to prevent rotation with respect to the 1 st supporting part 144 by a set angle or more.

For example, when the 1 st arm rest 143 and the 2 nd arm rest 147 are kept horizontal to each other, or when the rotation link 145 is rotated in the horizontal direction based on the tilt adjustment shaft as shown in fig. 7, the interference portion 1452 interferes with the 1 st support portion 144, and the rotation link 145 is prevented from being rotated in a direction inclined downward based on the tilt adjustment shaft.

According to the boom unit 1 of the embodiment, the horizontal movement module 13 can stably guide the two-degree-of-freedom movement in the horizontal direction while supporting the arm of the user, and the arm support module 14 is inclined in the vertical direction in accordance with the posture of the arm, so that the weight of the arm can be stably compensated even in various postures by applying the gravity compensation mechanism.

Finally, the arm rest device 1 according to an embodiment can support all postures of the arm of the user in an ergonomic manner while minimizing fatigue of the user due to the movement.

According to the boom unit 1 of the embodiment, since the damping control based on the horizontal movement of the arm can be performed by the damping unit 12, precise and accurate movement can be realized according to the operation characteristics.

For example, in the case where the boom device 1 is used in a surgical environment, a user may increase the damping force of the horizontal movement module 13 so as to slowly and precisely move the tip of a surgical prop held by hand near a lesion of a patient. This filters out unintentional rapid and large movements of the arm, thereby preventing the occurrence of undesirable scars on the lesion.

According to the arm rest device 1 of an embodiment, since the horizontal position of the arm support module 14 can be fixed by the stoppers 1212 and 1222, it is effective for a precise work using a small muscle below the wrist.

As described above, although the embodiments have been described with reference to the limited drawings, it will be apparent to those skilled in the art that various modifications and variations can be made in the above description. For example, even if the described techniques are performed in a different order from the described methods, and/or components such as the described structures and devices are combined or combined in a different form from the described methods, or replaced or substituted by other components or equivalent means, appropriate results can be achieved.